Robot hip joint structure and robot
By integrating the hip module into the robot hip structure and integrating the installation interface on it, the intermediate adapter is eliminated, and the problems of complex connection and heavy weight in the prior art are solved, achieving compact integration and easy installation.
Patent Information
- Application Number
- CN202422583026.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-24
- Publication Date
- 2025-08-22
- Estimated Expiration
- 2034-10-24
AI Technical Summary
In the prior art, robot hip structures require the use of intermediate adapters, resulting in complex connections, difficult assembly and large weight.
The hip yaw joint module and the hip slanting joint module are integrated into the hip base, and the installation interface is integrated on these modules, the intermediate adapter is eliminated, and the columnar structural parts can be rotated independently, simplifying the connection method.
The compact and integrated design of the robot hip structure is realized, simplifying the assembly process, reducing weight and improving reliability.
Smart Images
Figure CN223253125U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of robot manufacturing, and more specifically, to a robot hip joint structure and a robot. Background Art
[0002] The hip is a crucial component of a humanoid robot, serving as a link between the upper and lower parts. It connects the legs at the bottom and the waist and torso at the top, and is often considered the robot's foundation. Current humanoid robot hip joints mostly use adapters to hold the motor in place before connecting it to the base. This requires an intermediate adapter, resulting in complex structural connections, difficult assembly, and increased weight. Utility Model Content
[0003] One purpose of the present invention is to provide a new technical solution for a robot hip joint structure and a robot, which can at least solve the problems in the prior art such as the need to use intermediate adapters, complex structural connections, difficult assembly, and heavy weight of the entire machine.
[0004] In a first aspect, the present invention provides a robot hip joint structure, comprising: a hip base, wherein the hip base is provided with a mounting cavity; a waist yaw joint module, wherein the waist yaw joint module is integrated with the hip base and a waist support in the middle of the mounting cavity;
[0005] A hip joint yaw joint module, the hip joint yaw joint module is detachably arranged at the front side of the mounting cavity, and the hip joint yaw joint module extends along a first direction relative to the hip base; a hip joint side swing joint module, the hip joint side swing joint module is integrated with the hip joint yaw joint module, and the hip joint side swing joint module is arranged at the rear side of the mounting cavity, and the hip joint side swing joint module extends along a second direction relative to the hip base, and the hip joint yaw joint module and the hip joint side swing joint module are respectively integrated with mounting interfaces on one side facing the hip base to connect to the joint structure of the robot.
[0006] Optionally, the hip joint yaw joint module and the hip joint lateral swing joint module are respectively configured as columnar structural members, and the hip joint yaw joint module and the hip joint lateral swing joint module are respectively rotatable independently along their axial directions.
[0007] Optionally, the hip yaw joint module includes:
[0008] A hip yaw actuator, wherein the mounting interface is integrated on a housing of the hip yaw actuator;
[0009] a hip yaw joint, the hip yaw joint being detachably connected to the hip yaw actuator;
[0010] A hip yaw torque sensor is provided on a side of the hip yaw joint facing away from the hip yaw actuator.
[0011] Optionally, the hip joint lateral swing joint module includes:
[0012] A hip rotation actuator, wherein the mounting interface is integrated on a housing of the hip rotation actuator;
[0013] a hip rotation joint, the hip rotation joint being detachably connected to the hip rotation actuator;
[0014] A hip rotation torque sensor is provided on a side of the hip rotation joint facing away from the hip rotation actuator.
[0015] Optionally, the axes of the hip joint yaw joint module and the hip joint lateral swing joint module are perpendicular to each other.
[0016] Optionally, the waist yaw joint module is provided on a side of the hip base facing away from the hip joint yaw joint module and the hip joint side swing joint module.
[0017] Optionally, there are two hip yaw joint modules and two hip lateral swing joint modules, and each hip yaw joint module corresponds to one hip lateral swing joint module.
[0018] Optionally, the robot hip joint structure further includes: a driver module, wherein the driver module is arranged in the mounting cavity of the hip base to drive the hip joint yaw joint module and the hip joint lateral swing joint module to move.
[0019] Optionally, the robotic hip joint structure further comprises:
[0020] an inertial measurement unit, the inertial measurement unit being arranged on the waist support;
[0021] A radiator module is provided in the mounting cavity of the hip base, and the radiator module and the driver module are arranged side by side.
[0022] A second aspect of the present invention provides a robot comprising the robot hip joint structure described in the above embodiment.
[0023] This new robotic hip joint structure integrates the hip yaw joint module and the hip yaw joint module within the hip base, ensuring a more compact robotic hip joint structure. Furthermore, by integrating mounting interfaces into the hip yaw joint module and the hip yaw joint module, the need for intermediate adapters is eliminated, simplifying the overall connection method and effectively reducing joint weight. This ensures a more integrated robotic hip joint structure, facilitating installation and improving reliability.
[0024] Other features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS
[0025] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.
[0026] Figure 1 This is a schematic structural diagram of a robot hip joint structure according to an embodiment of the present utility model;
[0027] Figure 2 is another structural schematic diagram of the robot hip joint structure according to an embodiment of the present utility model;
[0028] Figure 3 It is a schematic diagram of the assembly of a hip yaw joint module and a hip lateral swing joint module according to an embodiment of the present utility model.
[0029] Reference numerals:
[0030] robotic hip joint structure 100;
[0031] Hip base 10; waist support 11;
[0032] Hip yaw joint module 20; hip yaw actuator 21; hip yaw joint 22; hip yaw torque sensor 23;
[0033] Hip joint lateral swing joint module 30; hip rotation actuator 31; hip rotation joint 32; hip rotation torque sensor 33;
[0034] Mounting interface 40;
[0035] Waist yaw joint module 50;
[0036] Driver module 61 ; Inertial measurement unit 62 ; Radiator module 63 . DETAILED DESCRIPTION
[0037] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangements of components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention.
[0038] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present invention, its application, or uses.
[0039] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.
[0040] In all examples shown and discussed herein, any specific values should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.
[0041] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.
[0042] In the specification and claims of this utility model, references to features using the terms "first" or "second" may explicitly or implicitly include one or more of these features. In the description of this utility model, unless otherwise specified, "plurality" means two or more. Furthermore, in the specification and claims, "and / or" refers to at least one of the connected items, and the character " / " generally indicates an "or" relationship between the connected items.
[0043] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.
[0044] In the description of this utility model, it should be noted that, unless otherwise specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they can refer to fixed connections, removable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; and internal connections between two components. Those skilled in the art will understand the specific meanings of these terms in this utility model based on the specific circumstances.
[0045] The following describes in detail the robot hip joint structure 100 according to an embodiment of the present invention with reference to the accompanying drawings.
[0046] like Figures 1 to 3 As shown, the robot hip joint structure 100 according to an embodiment of the present invention includes a hip base 10 , a waist yaw joint module 50 , a hip yaw joint module 20 and a hip lateral swing joint module 30 .
[0047] Specifically, a mounting cavity is provided in the hip base 10. The hip yaw joint module 20 is detachably provided in the mounting cavity, and the waist yaw joint module 50 is integrated with the hip base 10 and the waist support 11 in the middle of the mounting cavity. The hip yaw joint module 20 is detachably provided at the front side of the mounting cavity, and the hip yaw joint module 20 extends along a first direction relative to the hip base 10. The hip lateral swing joint module 30 is integrated with the hip yaw joint module 20, and the hip lateral swing joint module 30 is provided at the rear side of the mounting cavity, and the hip lateral swing joint module 30 extends along a second direction relative to the hip base 10. The hip yaw joint module 20 and the hip lateral swing joint module 30 are respectively integrated with mounting interfaces 40 on the side facing the hip base 10 to connect the joint structure of the robot.
[0048] In other words, see Figures 1 to 3 The robot hip joint structure 100 is mainly composed of a hip base 10, a hip yaw joint module 20 and a hip lateral swing joint module 30. Among them, a mounting cavity is provided in the hip base 10. The waist yaw joint module 50 can be integrated with the hip base 10 and the waist support 11 in the middle of the mounting cavity. The hip yaw joint module 20 is detachably arranged at the front side of the mounting cavity, and the hip yaw joint module 20 extends along a first direction relative to the hip base 10. The first direction can be understood as the height direction of the robot. The hip lateral swing joint module 30 is integrated with the hip yaw joint module 20 in the hip base 10 to ensure that the robot hip joint structure 100 is more compact. The hip lateral swing joint module 30 is arranged at the rear side of the mounting cavity, and the hip lateral swing joint module 30 extends along a second direction relative to the hip base 10. The second direction can be understood as the horizontal direction of the robot.
[0049] The hip yaw joint module 20 and the hip lateral swing joint module 30 are each integrated with mounting interfaces 40 on the side facing the hip base 10. These integrated mounting interfaces 40 allow for connection to other joint structures of the robot, eliminating the need for intermediate adapters. This simplifies the overall connection method, effectively reduces joint weight, and ensures a more integrated and unified robotic hip joint structure 100, facilitating installation and improving reliability. The present robotic hip joint structure 100 effectively addresses the existing challenges of heavy-duty, lightweight, and integrated hip joint designs in pedestrian robots.
[0050] Thus, according to the robot hip joint structure 100 of the embodiment of the present invention, the hip yaw joint module 20 and the hip yaw joint module 20 are integrated into the hip base 10, ensuring that the robot hip joint structure 100 is more compact. At the same time, by integrating the mounting interface 40 on the hip yaw joint module 20 and the hip yaw joint module 20, there is no need for an intermediate adapter, which simplifies the overall connection method, effectively reduces the weight of the joint, and ensures that the robot hip joint structure 100 is more integrated, which can facilitate installation and improve reliability.
[0051] According to one embodiment of the present invention, the hip yaw joint module 20 and the hip lateral swing joint module 30 are respectively configured as columnar structural members, and the hip yaw joint module 20 and the hip lateral swing joint module 30 can rotate independently along their axes.
[0052] That is to say, if Figure 1 and Figure 2 As shown, the hip yaw joint module 20 and the hip lateral swing joint module 30 are each configured as a columnar structure, achieving a simple axis system design. The hip yaw joint module 20 and the hip lateral swing joint module 30 can each independently rotate along their axis, achieving effective movement of the robotic hip joint structure 100.
[0053] According to one embodiment of the present invention, the hip yaw joint module 20 includes a hip yaw actuator 21 , a hip yaw joint 22 and a hip yaw torque sensor 23 .
[0054] Specifically, a mounting interface 40 is integrated on the housing of the hip yaw actuator 21. The hip yaw joint 22 is detachably connected to the hip yaw actuator 21. The hip yaw torque sensor 23 is provided on a side of the hip yaw joint 22 facing away from the hip yaw actuator 21.
[0055] In other words, Figure 1 and Figure 2As shown, the hip yaw joint module 20 is mainly composed of a hip yaw actuator 21, a hip yaw joint 22 and a hip yaw torque sensor 23. Among them, the housing of the hip yaw actuator 21 is integrated with a mounting interface 40, which does not require the use of an intermediate adapter, simplifies the overall connection method, effectively reduces the weight of the joint, and ensures that the robot hip joint structure 100 is more integrated, which is both convenient for installation and improves reliability. The hip yaw joint 22 is detachably connected to the hip yaw actuator 21, and the hip yaw actuator 21 can control the movement of the hip yaw joint 22. The hip yaw torque sensor 23 is arranged on the side of the hip yaw joint 22 that is away from the hip yaw actuator 21. By arranging the hip yaw torque sensor 23, the movement accuracy of the hip yaw joint 22 can be effectively achieved.
[0056] According to one embodiment of the present invention, the hip lateral swing joint module 30 includes a hip rotation actuator 31 , a hip rotation joint 32 and a hip rotation torque sensor 33 .
[0057] Specifically, a mounting interface 40 is integrated on the housing of the hip rotation actuator 31 . The hip rotation joint 32 is detachably connected to the hip rotation actuator 31 . The hip rotation torque sensor 33 is disposed on a side of the hip rotation joint 32 facing away from the hip rotation actuator 31 .
[0058] In other words, Figures 1 to 3 As shown, the hip lateral swing joint module 30 is mainly composed of a hip rotation actuator 31, a hip rotation joint 32 and a hip rotation torque sensor 33. Among them, the housing of the hip rotation actuator 31 is integrated with a mounting interface 40, which does not require the use of an intermediate adapter, simplifies the overall connection method, effectively reduces the weight of the joint, and ensures that the robot hip joint structure 100 is more integrated, which is convenient for installation and improves reliability. The hip rotation joint 32 is detachably connected to the hip rotation actuator 31, and the hip rotation actuator 31 can control the movement of the hip rotation joint 32. The hip rotation torque sensor 33 is arranged on the side of the hip rotation joint 32 that is away from the hip rotation actuator 31. By arranging the hip rotation torque sensor 33, the movement accuracy of the hip rotation joint 32 can be effectively achieved.
[0059] According to one embodiment of the present invention, Figures 1 to 3 As shown, the axes of the hip yaw joint module 20 and the hip lateral swing joint module 30 are perpendicular to each other, ensuring that the hip yaw joint module 20 and the hip lateral swing joint module 30 can correspond to the movement direction of the human body, thereby facilitating the human-like movement of the robot hip joint structure 100.
[0060] According to one embodiment of the present invention, a waist yaw joint module 50 is provided on a side of the hip base 10 facing away from the hip yaw joint module 20 and the hip lateral swing joint module 30 .
[0061] That is to say, if Figure 1 and Figure 2 As shown, a lumbar yaw joint module 50 is installed within the hip base 10. The lumbar yaw joint module 50 is located on the side of the hip base 10 facing away from the hip yaw joint module 20 and the hip lateral swing joint module 30. The lumbar yaw joint module 50 is integrated with the hip base 10 and the lumbar support 11 within the center of the mounting cavity. By integrating the lumbar yaw joint module 50 within the hip base 10, a more integrated design is achieved for the robot hip joint structure 100, simplifying the structure while reducing the space and weight occupied by the robot hip joint structure 100.
[0062] According to an embodiment of the present invention, there are two hip yaw joint modules 20 and two hip lateral swing joint modules 30 , and each hip yaw joint module 20 corresponds to one hip lateral swing joint module 30 .
[0063] In other words, see Figure 3 The hip yaw joint module 20 and the hip lateral swing joint module 30 together constitute four joint structures. Each hip yaw joint module 20 corresponds to a hip lateral swing joint module 30. The four joint structures and the waist yaw joint module 50 are integrated into the hip base 10 and adopt a detachable installation method, which is convenient for disassembly and assembly while ensuring that the robot hip joint structure 100 is more compact as a whole, which is convenient for miniaturization and lightweight design.
[0064] According to one embodiment of the present invention, Figure 3 As shown, the robot hip joint structure 100 also includes a driver module 61, which is installed in the mounting cavity of the hip base 10. The driver module 61 can drive the movement of the hip yaw joint module 20 and the hip lateral swing joint module 30. The modular design of the driver structure greatly improves the maintainability of the robot.
[0065] According to one embodiment of the present invention, Figure 3 As shown, the robot hip joint structure 100 also includes an inertial measurement unit 62 and a heat sink module 63. The inertial measurement unit 62 is mounted on the waist support 11. The heat sink module 63 is housed within the mounting cavity of the hip base 10 and is arranged side by side with the driver module 61. The modular design of the heat dissipation structure effectively improves the robot's maintainability.
[0066] In summary, according to the embodiment of the present invention, the robot hip joint structure 100 integrates the hip yaw joint module 20 and the hip yaw joint module 20 into the hip base 10, ensuring that the robot hip joint structure 100 is more compact. At the same time, by integrating the mounting interface 40 on the hip yaw joint module 20 and the hip yaw joint module 20, there is no need to use an intermediate adapter, which simplifies the overall connection method, effectively reduces the weight of the joint, and ensures that the robot hip joint structure 100 is more integrated, which can facilitate installation and improve reliability.
[0067] Of course, for those skilled in the art, other structures and working principles of the robotic hip joint structure 100 are understandable and achievable, and will not be described in detail in the present invention.
[0068] According to the second aspect of the present invention, a robot is provided, comprising the robot hip joint structure 100 in the above embodiment. Since the robot hip joint structure 100 according to the embodiment of the present invention has the above technical effects, the robot according to the embodiment of the present invention should also have corresponding technical effects, that is, the robot of the present invention integrates the hip joint yaw joint module 20 and the hip joint yaw joint module 20 in the hip base 10 by adopting the robot hip joint structure 100 in the above embodiment, thereby ensuring that the overall structure of the robot is more compact. At the same time, by integrating the mounting interface 40 on the hip joint yaw joint module 20 and the hip joint yaw joint module 20, there is no need to use an intermediate adapter, which simplifies the overall connection method, effectively reduces the weight of the joint, ensures that the robot is more integrated, and is both easy to install and improves reliability.
[0069] Of course, for those skilled in the art, other structures and working principles of the robot are understandable and achievable, and will not be described in detail in this utility model.
[0070] Although some specific embodiments of the present invention have been described in detail through examples, those skilled in the art will appreciate that the above examples are for illustration only and are not intended to limit the scope of the present invention. Those skilled in the art will appreciate that modifications may be made to the above embodiments without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.
Claims
1. A robot hip joint structure (100), characterized in that: include: A hip base (10), wherein a mounting cavity is provided in the hip base (10); A waist yaw joint module (50), wherein the waist yaw joint module (50), the hip base (10) and the waist support (11) are integrated in the middle of the installation cavity; A hip joint yaw joint module (20), the hip joint yaw joint module (20) being detachably arranged on the front side of the mounting cavity, and the hip joint yaw joint module (20) extending in a first direction relative to the hip base (10); A hip joint lateral swing joint module (30) is provided, wherein the hip joint lateral swing joint module (30) is integrated with the hip joint yaw joint module (20), and the hip joint lateral swing joint module (30) is provided at the rear side of the installation cavity, the hip joint lateral swing joint module (30) extends along a second direction relative to the hip base (10), and the hip joint yaw joint module (20) and the hip joint lateral swing joint module (30) are respectively integrated with a mounting interface (40) on one side facing the hip base (10) to connect the joint structure of the robot.
2. The robot hip joint structure (100) according to claim 1, characterized in that The hip joint yaw joint module (20) and the hip joint lateral swing joint module (30) are respectively configured as columnar structural members, and the hip joint yaw joint module (20) and the hip joint lateral swing joint module (30) are respectively independently rotatable along their axial directions.
3. The robot hip joint structure (100) according to claim 1, characterized in that The hip joint yaw joint module (20) comprises: A hip yaw actuator (21), wherein the mounting interface (40) is integrated on a housing of the hip yaw actuator (21); a hip yaw joint (22), the hip yaw joint (22) being detachably connected to the hip yaw actuator (21); A hip yaw torque sensor (23) is provided on a side of the hip yaw joint (22) facing away from the hip yaw actuator (21).
4. The robot hip joint structure (100) according to claim 1, characterized in that The hip joint lateral swing joint module (30) comprises: A hip rotation actuator (31), wherein the mounting interface (40) is integrated on a housing of the hip rotation actuator (31); a hip rotation joint (32), wherein the hip rotation joint (32) is detachably connected to the hip rotation actuator (31); A hip rotation torque sensor (33) is provided on a side of the hip rotation joint (32) facing away from the hip rotation actuator (31).
5. The robot hip joint structure (100) according to claim 1, characterized in that The axes of the hip joint yaw joint module (20) and the hip joint lateral swing joint module (30) are perpendicular to each other.
6. The robot hip joint structure (100) according to claim 1, characterized in that The waist yaw joint module (50) is provided on a side of the hip base (10) facing away from the hip joint yaw joint module (20) and the hip joint lateral swing joint module (30).
7. The robot hip joint structure (100) according to claim 1, characterized in that The number of the hip joint yaw joint modules (20) and the number of the hip joint lateral swing joint modules (30) are two, respectively, and each of the hip joint yaw joint modules (20) corresponds to one hip joint lateral swing joint module (30).
8. The robot hip joint structure (100) according to claim 1, characterized in that Also includes: A driver module (61) is provided in the mounting cavity of the hip base (10) to drive the hip joint yaw joint module (20) and the hip joint lateral swing joint module (30) to move.
9. The robot hip joint structure (100) according to claim 8, characterized in that: Also includes: an inertial measurement unit (62), the inertial measurement unit (62) being arranged on the waist support (11); A radiator module (63) is provided in the installation cavity of the hip base (10), and the radiator module (63) and the driver module (61) are arranged side by side.
10. A robot, characterized in that: The robot hip joint structure (100) comprises any one of claims 1-9.