Hip joint structure and humanoid robot

Abstract

The utility model relates to the technical field of humanoid robots, and discloses a hip joint structure and a humanoid robot. A stator of the first motor is fixedly connected with the first motor base, and a rotor of the first motor is rotationally connected with the first motor base and fixedly connected with the second motor base; a stator of the second motor is fixedly connected with the second motor base, and a rotor of the second motor is rotationally connected with the second motor base and fixedly connected with the third motor base; a rotor of the third motor is fixedly connected with the third motor base and rotationally connected with the thigh assembly, and a stator of the third motor is fixedly connected with the thigh assembly. According to the hip joint structure provided by the utility model, the first motor base and the second motor base, the third motor base and the second motor base, and the thigh assembly and the third motor base transmit interaction force through rotors of all motors, so that relatively large interaction force between the rotors and stators of the motors in the radial direction or the axial direction is avoided; and the damage to the motor is further reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to humanoid robot technical field, concretely relates to a hip joint structure and humanoid robot. BACKGROUND

[0002] With the progress of science and technology, the application of intelligent robots is more and more extensive, for example, humanoid biped robot. The biped robot has two leg structures, any one of which includes a thigh, a calf, a foot and corresponding joint modules or push rods and other actuating devices, through the cooperation of joint modules or connecting rods, the thigh, the calf and the foot are driven to rotate or swing, and the walking motion similar to human action is completed. However, as the supporting main body of the robot, the motor as the power source of the joint module and the connecting rod is directly stressed, the rotor and the stator of the motor have a large interaction force in the radial or axial direction, which has a great impact on the internal structure of the motor under long-time working load. SUMMARY

[0003] Therefore, the utility model provides a hip joint structure and humanoid robot to solve the problem that the rotor and the stator of the motor have a large radial force or axial force, which has a great impact on the internal structure of the motor under long-time working load.

[0004] In the first aspect, the utility model provides a hip joint structure for connecting the trunk assembly and the thigh assembly of the humanoid robot, and the hip joint structure comprises:

[0005] The first motor base is adapted to be connected with the trunk assembly;

[0006] The rotor of the first degree of freedom motor is rotatably connected with the first motor base;

[0007] The second motor base is fixedly connected with the rotor of the first degree of freedom motor;

[0008] The rotor of the second degree of freedom motor is rotatably connected with the second motor base;

[0009] The third motor base is fixedly connected with the rotor of the second degree of freedom motor;

[0010] The rotor of the third degree of freedom motor is fixedly connected with the third motor base and rotatably connected with the thigh assembly.

[0011] Beneficial effects: the rotor of the first degree of freedom motor is fixedly connected with the second motor base and rotatably connected with the first motor base, so that the second motor base transmits interaction force through the rotor of the first degree of freedom motor and the first motor base; the rotor of the second degree of freedom motor is rotatably connected with the second motor base and fixedly connected with the third motor base, so that the third motor base transmits interaction force through the rotor of the second degree of freedom motor and the second motor base; the rotor of the third degree of freedom motor is fixedly connected with the third motor base and rotatably connected with the thigh assembly, so that the thigh assembly transmits interaction force through the rotor of the third degree of freedom motor and the third motor base, thereby avoiding that the rotor and the stator of each motor have a relatively large interaction force in the radial direction or the axial direction, and further reducing damage to the internal structure of the motor.

[0012] In an alternative embodiment, the first motor base comprises a first support base, the first support base is provided with a first through hole, the first degree of freedom motor rotor is coaxially fixedly connected with a first rotating disc, the first rotating disc is rotatably arranged in the first through hole, and the first degree of freedom motor stator is fixedly connected with the first support base.

[0013] In an alternative embodiment, the first motor base is provided with a first limiting groove, the first rotating disc is fixedly connected with a first limiting block, and the first limiting block is movably arranged in the first limiting groove at least in a partial region; along the circumferential direction of the first degree of freedom motor rotor, the end surface of the first limiting groove is adapted to abut against the first limiting block to limit the rotation angle of the first degree of freedom motor rotor.

[0014] Beneficial effects: the first limiting groove limits the rotation angle of the first degree of freedom motor rotor through the first limiting block, so as to avoid that the movement range of the thigh assembly driven by the first degree of freedom motor is too large, and further to avoid collision with itself or other structures around.

[0015] In an alternative embodiment, the second degree of freedom motor rotor is coaxially fixedly connected with a second rotating disc, the second motor base is provided with a second through hole, the second rotating disc is rotatably arranged in the second through hole, and the second degree of freedom motor stator is fixedly connected with the second motor base.

[0016] In an alternative embodiment, the end surface of the second motor base facing the third motor base is provided with a second limiting groove, the third motor base is fixedly connected with a second limiting block, and the second limiting block is movably arranged in the second limiting groove at least in a partial region; along the circumferential direction of the second degree of freedom motor rotor, the end surface of the second limiting groove is adapted to abut against the second limiting block to limit the rotation angle of the second degree of freedom motor rotor.

[0017] Beneficial effects: the second limiting groove limits the rotation angle of the second degree of freedom motor rotor through the second limiting block, so as to avoid that the movement range of the thigh assembly driven by the second degree of freedom motor is too large, and further to avoid collision with itself or other structures around.

[0018] In an alternative embodiment, the third motor base comprises a first support plate, the third degree-of-freedom motor rotor is coaxially fixedly connected with a first fixed disc, the first fixed disc is fixedly connected with the first support plate, and the first fixed disc is rotationally connected with the thigh assembly, and the third degree-of-freedom motor stator is fixedly connected with the thigh assembly.

[0019] In an alternative embodiment, the third degree-of-freedom motor stator is provided with a third limiting groove, the first fixed disc is fixedly connected with a third limiting block, the third limiting block is movably arranged in the third limiting groove at least in a partial region, and in the circumferential direction of the third degree-of-freedom motor rotor, the end face of the third limiting groove is adapted to abut against the third limiting block, so as to limit the rotation angle of the third degree-of-freedom motor stator.

[0020] Beneficial effects: the third limiting groove limits the rotation angle of the third degree-of-freedom motor stator through the third limiting block, so as to avoid that the movement range of the thigh assembly driven by the third degree-of-freedom motor is too large, and thus is prone to collide with itself or other structures around.

[0021] In an alternative embodiment, the third motor base further comprises a second support plate, the second support plate is arranged in a spaced manner with the first support plate along the axial direction of the third degree-of-freedom motor rotor, the second support plate is located on the side of the thigh assembly away from the first support plate, and the second support plate is rotationally connected with the thigh assembly.

[0022] Beneficial effects: by arranging the first support plate and the second support plate respectively on the two ends of the thigh assembly along the axial direction of the third degree-of-freedom motor rotor, the third motor base is supported at the two ends of the thigh assembly along the axial direction of the third degree-of-freedom motor rotor, so that the third motor base can bear greater force, and the use reliability of the hip joint structure is improved.

[0023] In an alternative embodiment, the second support plate is fixedly provided with a second fixed disc on the side close to the thigh assembly, the thigh assembly is provided with a second mounting hole corresponding to the second fixed disc, and the second fixed disc is rotationally connected in the second mounting hole.

[0024] In a second aspect, the utility model also provides a humanoid robot, which comprises the hip joint structure.

[0025] Because the humanoid robot comprises the hip joint structure, has the same effects as the hip joint structure, and the beneficial effects are not repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or the prior art description. Obviously, the drawings described below are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0027] Figure 1 A structure diagram of a leg structure of the embodiment of the present application is shown in the figure.

[0028] Figure 2 A structure diagram of a leg structure of the embodiment of the present application is shown in the figure. Figure 1 A local enlarged diagram of A in the figure.

[0029] Figure 3 A structure diagram of a leg structure of the embodiment of the present application is shown in the figure. Figure 1 An exploded diagram of the first motor seat of the hip joint structure shown in the figure.

[0030] Figure 4 An exploded diagram of the second motor seat of the hip joint structure shown in the figure. Figure 1 An exploded diagram of the third motor seat of the hip joint structure shown in the figure.

[0031] Figure 5 An exploded diagram of the second motor and the second motor seat shown in the figure. Figure 1 An exploded diagram of the second motor and the second motor seat shown in the figure.

[0032] Figure 6 An exploded diagram of the second motor and the second motor seat shown in the figure. Figure 2

[0033] Explanation of reference signs:

[0034] 11, first degree of freedom motor; 12, second degree of freedom motor; 13, third degree of freedom motor; 131, third limit slot; 14, first motor seat; 141, first support seat; 1411, first through hole; 1412, first limit slot; 142, second support seat; 1421, first mounting hole; 15, second motor seat; 151, second ring wall; 152, second limit slot; 16, third motor seat; 161, first support plate; 162, second support plate; 163, connecting plate; 164, second limit block; 17, first rotating disc; 171, first ring wall; 172, first limit block; 18, second rotating disc; 19, first fixed disc; 191, third limit block; 20, protruding shaft; 21, first bearing; 22, second bearing; 23, third bearing; 24, fourth bearing; 25, second through hole; 26, second fixed disc; 2, thigh assembly; 3, lower leg assembly; 4, foot assembly; 5, through hole. DETAILED DESCRIPTION

[0035] ​In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme of the embodiments of the utility model will be described clearly and completely in combination with the drawings in the embodiments of the utility model below. Obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by the person skilled in the art without creative labor belong to the protection scope of the utility model.

[0036] The embodiments of the utility model will be described below in combination with Figures 1 to 6

[0037] According to the embodiments of the utility model, on the one hand, a hip joint structure is provided for connecting a trunk assembly and a thigh assembly 2 of a humanoid robot, and the hip joint structure comprises:

[0038] A first motor seat 14 is adapted to be connected with the trunk assembly;

[0039] A first degree of freedom motor 11 has a rotor rotatably connected with the first motor seat 14;

[0040] A second motor seat 15 is fixedly connected with the rotor of the first degree of freedom motor 11;

[0041] A second degree of freedom motor 12 has a rotor rotatably connected with the second motor seat 15;

[0042] A third motor seat 16 is fixedly connected with the rotor of the second degree of freedom motor 12;

[0043] A third degree of freedom motor 13 has a rotor fixedly connected with the third motor seat 16 and rotatably connected with the thigh assembly 2.

[0044] The hip joint structure provided in the embodiments has the rotor of the first degree of freedom motor 11 fixedly connected with the second motor seat 15 and rotatably connected with the first motor seat 14, so that the second motor seat 15 transmits interaction force via the rotor of the first degree of freedom motor 11 and the first motor seat 14; the rotor of the second degree of freedom motor 12 is rotatably connected with the second motor seat 15 and fixedly connected with the third motor seat 16, so that the third motor seat 16 transmits interaction force via the rotor of the second degree of freedom motor 12 and the second motor seat 15; the rotor of the third degree of freedom motor 13 is fixedly connected with the third motor seat 16 and rotatably connected with the thigh assembly 2, so that the thigh assembly 2 transmits interaction force via the rotor of the third degree of freedom motor 13 and the third motor seat 16, thereby avoiding that the rotor and the stator of each motor have a relatively large interaction force in the radial direction or the axial direction, and further reducing the damage to the internal structure of the motor.

[0045] Specifically, taking the humanoid robot provided with the hip joint structure as an example, the embodiments of the utility model will be described in combination with Figure 1 ​As shown, the first degree of freedom axis direction is the direction of the humanoid robot body towards the front or back of the body, the second degree of freedom axis direction is the height direction of the humanoid robot, and the third degree of freedom axis direction is the direction of the humanoid robot body towards the side of the body.

[0046] The first motor seat 14 is adapted to be fixedly connected with the torso assembly of the humanoid robot, the rotor of the first degree of freedom motor 11 is rotationally connected with the first motor seat 14 and is fixedly connected with the second motor seat 15, so that the first motor seat 14 and the second motor seat 15 transmit interaction force via the rotor of the first degree of freedom motor 11. In the prior art, the stator of the first degree of freedom motor 11 is fixedly connected with the first motor seat 14, and the rotor of the first degree of freedom motor 11 is fixedly connected with the second motor seat 15. The hip joint structure provided in the present application greatly reduces the interaction force between the rotor and the stator of the first degree of freedom motor 11 in the radial or axial direction, thereby reducing the damage to the internal structure of the first degree of freedom motor 11.

[0047] The rotor of the second degree of freedom motor 12 is rotationally connected with the second motor seat 15 and is fixedly connected with the third motor seat 16, so that the third motor seat 16 and the second motor seat 15 transmit interaction force via the rotor of the second degree of freedom motor 12. In the prior art, the rotor of the second degree of freedom motor 12 is fixedly connected with the third motor seat 16, and the stator of the second degree of freedom motor 12 is fixedly connected with the second motor seat 15. The hip joint structure provided in the present embodiment greatly reduces the interaction force between the rotor and the stator of the second degree of freedom motor 12 in the radial or axial direction, thereby reducing the damage to the internal structure of the second degree of freedom motor 12.

[0048] The rotor of the third degree of freedom motor 13 is fixedly connected with the third motor seat 16 and is rotationally connected with the thigh assembly 2, and the stator of the third degree of freedom motor 13 is fixedly connected with the thigh assembly 2 to drive the thigh assembly 2 to rotate around the rotor of the third degree of freedom motor 13. The thigh assembly 2 and the third motor seat 16 transmit interaction force via the rotor of the third degree of freedom motor 13. In the prior art, one of the rotor and the stator of the third degree of freedom motor 13 is fixedly connected with the third motor seat 16, and the other is fixedly connected with the thigh assembly 2. The hip joint structure provided in the present embodiment greatly reduces the interaction force between the rotor and the stator of the third degree of freedom motor 13 in the radial or axial direction, thereby reducing the damage to the internal structure of the third degree of freedom motor 13.

[0049] Further, the first ring wall 171 is protruded from the side of the first rotary disc 17 away from the stator of the first DOF motor 11. The second motor base 15 is provided with a second ring wall 151 corresponding to the first ring wall 171. The inner diameter of the second ring wall 151 is matched with the outer diameter of the first ring wall 171. The first ring wall 171 is at least partially embedded in the second ring wall 151 and fixedly connected with the second ring wall 151.

[0050] Further, the first motor base 14 further comprises a second support base 142 adapted to be fixedly connected with the trunk of the humanoid robot. The second support base 142 is spaced apart from the first support base 141 along the axis of the rotor of the first DOF motor 11 and located at the side of the second motor base 15 away from the stator of the first DOF motor 11. The second motor base 15 is provided with a protruding shaft 20 at the side away from the stator of the first DOF motor 11. The axis of the protruding shaft 20 coincides with the axis of the rotor of the first DOF motor 11. The protruding shaft 20 is rotatably connected with the second support base 142. By arranging the first support base 141 and the second support base 142 at the two ends of the second motor base 15 along the axis of the rotor of the first DOF motor 11, the two ends of the second motor base 15 are supported, so that the second motor base 15 can bear greater force and the reliability of the hip joint structure is improved.

[0051] Further, the second support base 142 is provided with a first mounting hole 1421 corresponding to the position of the protruding shaft 20. The outer peripheral wall of the protruding shaft 20 is sleeved with a first bearing 21, and the protruding shaft 20 is rotatably installed in the first mounting hole 1421 through the first bearing 21, so that the protruding shaft 20 is rotatably connected with the second support base 142.

[0052] In one embodiment, in combination with Figures 1 to 3 As shown in the drawings, the first motor base 14 comprises a first support base 141 provided with a first through hole 1411. The rotor of the first DOF motor 11 is coaxially fixedly connected with a first rotary disc 17. The first rotary disc 17 is rotatably arranged in the first through hole 1411. The stator of the first DOF motor 11 is fixedly connected with the first support base 141.

[0053] Specifically, the rotor of the first DOF motor 11 can only rotate relative to the first motor base 14 in the circumferential direction, but cannot move relative to the first motor base 14 in the radial direction or the axial direction. The first support base 141 is adapted to be fixedly connected with the trunk assembly of the humanoid robot. The side of the first rotary disc 17 away from the stator of the first DOF motor 11 is fixedly connected with the second motor base 15, so that when the first DOF motor 11 works, the second motor base 15 is driven to rotate by the first rotary disc 17, thereby realizing the side swing action of the thigh assembly 2.

[0054] In one embodiment, in combination with Figure 2 and Figure 3 As shown in the first motor seat 14 is provided with a first limiting slot 1412, the first rotating disc 17 is fixedly connected with a first limiting block 172, the first limiting block 172 is movably arranged in the first limiting slot 1412 at least in part, along the circumferential direction of the rotor of the first degree of freedom motor 11, the end face of the first limiting slot 1412 is adapted to abut against the first limiting block 172, so as to limit the rotation angle of the rotor of the first degree of freedom motor 11.

[0055] The hip joint structure provided in the embodiment, the first limiting slot 1412 limits the rotation angle of the rotor of the first degree of freedom motor 11 through the first limiting block 172, so as to avoid the movement range of the thigh assembly 2 driven by the first degree of freedom motor 11 being too large, and thus easily colliding with itself or other structures around.

[0056] Specifically, the inner wall of the first through hole 1411 is locally recessed to form a first limiting slot 1412, the first limiting slot 1412 is annular and extends along the rotation direction of the rotor of the first degree of freedom motor 11, the first limiting block 172 is arranged in the first limiting slot 1412 at least in part and moves in the first limiting slot 1412 along with the rotation of the rotor of the first degree of freedom motor 11, the first limiting block 172 is adapted to abut against the end face of the first limiting slot 1412 along the rotation direction of the rotor of the first degree of freedom motor 11, so that the first limiting slot 1412 limits the rotation angle of the rotor of the first degree of freedom motor 11 through the first limiting block 172.

[0057] In one embodiment, in combination with Figure 2 , Figure 4 and Figure 6 As shown in the rotor of the second degree of freedom motor 12 is coaxially fixedly connected with a second rotating disc 18, the second motor seat 15 is provided with a second through hole 25, the second rotating disc 18 is rotatably arranged in the second through hole 25, and the stator of the second degree of freedom motor 12 is fixedly connected with the second motor seat 15.

[0058] Specifically, the rotor of the second degree of freedom motor 12 can only rotate relative to the second motor base 15 in the circumferential direction of the rotor, and cannot move relative to the second motor base 15 in the radial direction or the axial direction. The second rotating disc 18 is fixedly connected to the third motor base 16 away from the side of the stator of the second degree of freedom motor 12, so that when the second degree of freedom motor 12 is working, the third motor base 16 is driven to rotate by the second rotating disc 18, thereby realizing the deflection action of the thigh assembly 2. Further, the second rotating disc 18 is sleeved with a second bearing 22, and the second rotating disc 18 is rotatably arranged in the second through hole 25 through the second bearing 22. By arranging the second bearing 22 between the second rotating disc 18 and the second motor base 15, the wear of the second rotating disc 18 and the second motor base 15 is reduced, thereby improving the service life.

[0059] In one embodiment, as shown in Figure 2 、 Figure 4 and Figure 6 , the end surface of the second motor base 15 facing the third motor base 16 is provided with a second limiting groove 152, and the third motor base 16 is fixedly connected with a second limiting block 164, and the second limiting block 164 is movably arranged in the second limiting groove 152 at least in a partial region. Along the circumferential direction of the rotor of the second degree of freedom motor 12, the end surface of the second limiting groove 152 is adapted to abut against the second limiting block 164 to limit the rotation angle of the rotor of the second degree of freedom motor 12.

[0060] Specifically, the third motor base 16 is located away from the side of the stator of the second degree of freedom motor 12, and the end surface of the second motor base 15 facing the third motor base 16 is locally recessed to form a second limiting groove 152, and the second limiting block 164 on the third motor base 16 is movably arranged in the second limiting groove 152 at least in a partial region. The second limiting groove 152 is annular and extends along the circumferential direction of the rotor of the second degree of freedom motor 12, and the second limiting block 164 is arranged in the second limiting groove 152 at least in a partial region and moves in the second limiting groove 152 with the rotation of the third motor base 16. The second limiting block 164 is adapted to abut against the end surface of the second limiting groove 152 in the circumferential direction of the rotor of the second degree of freedom motor 12, so that the second limiting groove 152 limits the rotation angle of the rotor of the second degree of freedom motor 12 through the second limiting block 164.

[0061] In one embodiment, as shown in Figures 1 to 5 , the third motor base 16 comprises a first supporting plate 161, and the rotor of the third degree of freedom motor 13 is coaxially fixedly connected with a first fixed disc 19, the first fixed disc 19 is fixedly connected with the first supporting plate 161, and the first fixed disc 19 is rotatably connected with the thigh assembly 2, and the stator of the third degree of freedom motor 13 is fixedly connected with the thigh assembly 2.

[0062] Specifically, the third degree of freedom motor 13 is partially arranged in the thigh assembly 2, the thigh assembly 2 is provided with a through hole 5 corresponding to the first fixed disc 19, the first fixed disc 19 is rotatably arranged in the through hole 5 of the thigh assembly 2, and a part of the first fixed disc 19 passes through the through hole 5 to the outside of the thigh assembly 2 and is fixedly connected with the first support plate 161. The thigh assembly 2 is rotatably connected with the first fixed disc 19, and the thigh assembly 2 can only rotate relative to the first fixed disc 19 along the circumferential direction of the rotor of the third degree of freedom motor 13, and cannot move relative to the first fixed disc 19 along the radial direction or the axial direction. When the third degree of freedom motor 13 works, since the rotor of the third degree of freedom motor 13 is fixedly connected with the first support plate 161 through the first fixed disc 19, the thigh assembly 2 rotates relative to the first support plate 161 around the axis of the rotor of the third degree of freedom motor 13 under the drive of the stator of the third degree of freedom motor 13, so that the forward swing action or the rear swing action of the thigh assembly 2 is realized. Further, the first fixed disc 19 is sleeved with a third bearing 23, and the first fixed disc 19 is rotatably connected with the through hole 5 of the thigh assembly 2 through the third bearing 23. By arranging the third bearing 23 between the first fixed disc 19 and the through hole 5, the wear between the first fixed disc 19 and the thigh assembly 2 is reduced, so that the service life is improved.

[0063] In one embodiment, in combination with Figure 1 and Figure 5 As shown in the figures, the third degree of freedom motor 13 stator is provided with a third limiting groove 131, and the first fixed disc 19 is fixedly connected with a third limiting block 191, the third limiting block 191 is movably arranged in the third limiting groove 131 at least in part, and the end face of the third limiting groove 131 in the circumferential direction of the rotor of the third degree of freedom motor 13 is adapted to abut against the third limiting block 191, so as to limit the rotation angle of the stator of the third degree of freedom motor 13.

[0064] Specifically, the third limiting groove 131 is annular and extends along the circumferential direction of the rotor of the third degree of freedom motor 13, and the third limiting block 191 is arranged in the third limiting groove 131 at least in part and moves in the third limiting groove 131 with the rotation of the third motor base 16, and the third limiting block 191 is adapted to abut against the end face of the third limiting groove 131 in the circumferential direction of the rotor of the third degree of freedom motor 13, so that the third limiting groove 131 limits the rotation angle of the stator of the third degree of freedom motor 13 through the third limiting block 191.

[0065] In one embodiment, in combination with Figure 5 As shown in the figures, the third motor base 16 further comprises a second support plate 162, the second support plate 162 is arranged in the axial direction of the rotor of the third degree of freedom motor 13 and is spaced apart from the first support plate 161, the second support plate 162 is located on the side of the thigh assembly 2 away from the first support plate 161, and the second support plate 162 is rotatably connected with the thigh assembly 2.

[0066] The hip joint structure provided by the embodiment can support the third motor base 16 at both ends of the thigh assembly 2 along the axis direction of the rotor of the third degree of freedom motor 13, so that the third motor base 16 can bear greater force, and the use reliability of the hip joint structure is improved.

[0067] Specifically, the third motor base 16 further comprises a connecting plate 163 fixedly connected between the first support plate 161 and the second support plate 162, and the connecting plate 163 is fixedly connected with the rotor of the second degree of freedom motor 12 to rotate around the axis of the second degree of freedom motor 12 under the driving of the rotor of the second degree of freedom motor 12.

[0068] In one embodiment, in combination with Figure 5 As shown, the second support plate 162 is fixedly provided with a second fixed disc 26 close to one side of the thigh assembly 2, and the thigh assembly 2 is provided with a second mounting hole corresponding to the second fixed disc 26, and the second fixed disc 26 is rotationally connected in the second mounting hole.

[0069] Specifically, the axis of the second fixed disc 26 coincides with the axis direction of the rotor of the third degree of freedom motor 13, and further, the outer peripheral wall of the second fixed disc 26 is sleeved with a fourth bearing 24, and the size of the second mounting hole is matched with the fourth bearing 24, so that the second fixed disc 26 is rotationally installed in the second mounting hole through the fourth bearing 24, thereby reducing the abrasion between the second fixed disc 26 and the thigh assembly 2.

[0070] According to the embodiment of the utility model, on the other hand, a humanoid robot is further provided, which comprises the hip joint structure.

[0071] Specifically, the humanoid robot further comprises a trunk assembly, and two symmetrical hip joint structures are connected to the lower end of the trunk assembly along the height direction of the humanoid robot, the lower end of each hip joint structure is sequentially connected with a thigh assembly 2, a lower leg assembly 3 and a foot assembly 4, the thigh assembly 2, the lower leg assembly 3 and the foot assembly 4 form a leg structure, and the two leg structures of the humanoid robot are symmetrically arranged.

[0072] In combination with Figure 1As shown, when the humanoid robot is in an upright state, the force in the vertical direction from the first motor base 14 is transmitted to the second motor base 15 via the rotor of the first degree of freedom motor 11, thereby reducing the interaction force between the rotor and the stator of the first degree of freedom motor 11 in the vertical direction. The force in the vertical direction from the second motor base 15 is transmitted to the third motor base 16 via the rotor of the second degree of freedom motor 12, thereby reducing the interaction force between the rotor and the stator of the second degree of freedom motor 12 in the vertical direction. The force in the vertical direction from the third motor base 16 is transmitted to the thigh assembly 2 via the rotor of the third degree of freedom motor 13, and is transmitted to the ground via the lower leg assembly 3 and the foot assembly 4, thereby reducing the interaction force between the rotor and the stator of the third degree of freedom motor 13 in the vertical direction.

[0073] The hip joint structure serves to connect the thigh assembly 2 and the torso assembly, and it is to be noted that the torso assembly, the thigh assembly 2, the lower leg assembly 3 and the foot assembly 4 all adopt prior art, and thus the specific structural forms thereof will not be described herein.

[0074] Obviously, the above-mentioned embodiments are only examples for clearly illustrating, and are not a limitation on the embodiments. Although the embodiments of the present application are described in conjunction with the drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present application, and such modifications and variations all fall within the scope of the present application.

Claims

1. A hip joint structure, characterized in that, The utility model relates to a hip joint structure for connecting the torso component and the thigh component (2) of humanoid robot, and the hip joint structure comprises: A first motor base (14) is adapted to be connected with the torso component; A first degree of freedom motor (11) has a rotor rotatably connected with the first motor base (14); A second motor base (15) is fixedly connected with the rotor of the first degree of freedom motor (11); A second degree of freedom motor (12) has a rotor rotatably connected with the second motor base (15); A third motor base (16) is fixedly connected with the rotor of the second degree of freedom motor (12); A third degree of freedom motor (13) has a rotor fixedly connected with the third motor base (16) and rotatably connected with the thigh component (2); The first motor base (14) comprises a first support base (141) having a first through hole (1411) formed therein, the rotor of the first degree of freedom motor (11) is coaxially fixedly connected with a first rotating disc (17), the first rotating disc (17) is rotatably arranged in the first through hole (1411), and the stator of the first degree of freedom motor (11) is fixedly connected with the first support base (141); The second motor base (15) is provided with a second limiting groove (152) on the end face thereof facing the third motor base (16), the third motor base (16) is fixedly connected with a second limiting block (164), the second limiting block (164) is movably arranged in the second limiting groove (152) at least in part, and the end face of the second limiting groove (152) is adapted to abut against the second limiting block (164) along the circumferential direction of the rotor of the second degree of freedom motor (12) to limit the rotation angle of the rotor of the second degree of freedom motor (12); The third motor base (16) comprises a first support plate (161), the rotor of the third degree of freedom motor (13) is coaxially fixedly connected with a first fixed disc (19), the first fixed disc (19) is fixedly connected with the first support plate (161), and the first fixed disc (19) is rotatably connected with the thigh component (2), and the stator of the third degree of freedom motor (13) is fixedly connected with the thigh component (2).

2. The hip joint structure according to claim 1, characterized by The first motor base (14) is provided with a first limiting groove (1412) formed therein, the first rotating disc (17) is fixedly connected with a first limiting block (172), the first limiting block (172) is movably arranged in the first limiting groove (1412) at least in part, and the end face of the first limiting groove (1412) is adapted to abut against the first limiting block (172) along the circumferential direction of the rotor of the first degree of freedom motor (11) to limit the rotation angle of the rotor of the first degree of freedom motor (11).

3. The hip joint structure according to claim 1, characterized by The rotor of the second degree of freedom motor (12) is coaxially fixedly connected with a second rotating disc (18), the second motor base (15) is provided with a second through hole (25) formed therein, the second rotating disc (18) is rotatably arranged in the second through hole (25), and the stator of the second degree of freedom motor (12) is fixedly connected with the second motor base (15).

4. The hip joint structure according to claim 1, characterized by The third degree of freedom motor (13) stator is provided with a third limit slot (131), the first fixed disc (19) is fixedly connected with a third limit block (191), the third limit block (191) is movably arranged in the third limit slot (131) at least in partial area, along the circumferential direction of the third degree of freedom motor (13) rotor, the third limit slot (131) end face is adapted to abut with third limit block (191), to form the limit of the third degree of freedom motor (13) stator rotation angle.

5. The hip joint structure according to claim 1, wherein The third motor base (16) further comprises a second support plate (162), the second support plate (162) is spaced apart from the first support plate (161) along the axis direction of the third degree of freedom motor (13) rotor, the second support plate (162) is located on the side of the thigh assembly (2) away from the first support plate (161), and the second support plate (162) is rotatably connected with the thigh assembly (2).

6. The hip joint structure according to claim 5, characterized by The second support plate (162) is fixedly provided with a second fixed disc (26) on the side close to the thigh assembly (2), the thigh assembly (2) is provided with a second mounting hole corresponding to the second fixed disc (26), and the second fixed disc (26) is rotatably connected in the second mounting hole.

7. A humanoid robot, characterized by Comprise: The hip joint structure of any one of claims 1 to 6.

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