Crotch structure of humanoid robot

Abstract

The utility model relates to the technical field of robots, and provides a humanoid robot crotch structure which comprises a crotch assembly and hip joint assemblies connected to the two sides of the crotch assembly, and the crotch assembly comprises a first shell and a first motor used for driving the hip joint assemblies to pitch front and back. The hip joint assembly comprises a second shell, a second motor used for driving lower limbs to rotate is connected into the second shell, a third motor used for driving the second motor to swing left and right is arranged on the second shell, and the biomechanical characteristics are simulated through the inclined axes. The lower limbs are closer to the natural gaits of the human body when pitching front and back, the pitching amplitude of the lower limbs is enlarged, meanwhile, the backward pedaling power generation efficiency is improved, and a higher kinetic energy conversion rate is provided for actions such as running and jumping.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and more specifically, to a hip structure for a humanoid robot. Background Technology

[0002] With the deep integration of bionic technology and artificial intelligence, humanoid robots have gradually become a research hotspot in the field of intelligent equipment. By simulating the human skeleton and musculoskeletal system, they can achieve highly dynamic behaviors such as walking and running, demonstrating unique advantages in service, medical, and rescue scenarios. In existing technologies, the core motion unit of humanoid robots typically consists of a lower limb mechanism, a hip and waist mechanism, and a torso module. Among these, the hip and waist mechanism serves as the power transmission center, driving lower limb movement through the coordinated action of the hip and sacral joint components. To achieve human-like movements, some design schemes adopt a layout of multi-degree-of-freedom joint modules combined with series motors, transmitting driving torque through a rigid connection structure, attempting to replicate the flexibility of the human hip and waist region.

[0003] However, the existing hip and waist mechanism still has significant limitations in its structural design. The motion axis arrangement of the hip joint module does not match the biomechanical characteristics of the human body well enough, resulting in a limited range of motion of the lower limbs, making it difficult to achieve large strides or high leg lifts, and affecting dynamic balance and motion realism. Utility Model Content

[0004] The purpose of this invention is to provide a hip structure for a humanoid robot, which solves the problem of limited swing range of the lower limbs in existing robots, affecting dynamic balance and motion realism.

[0005] This utility model is achieved through the following technical solution: a hip structure for a humanoid robot, including a hip assembly and hip joint assemblies connected to both sides of the hip assembly. The hip assembly includes a first housing and a first motor for driving the hip joint assembly to pitch forward and backward. The output axes of the two first motors are symmetrical and arranged obliquely in the horizontal plane. The hip joint assembly includes a second housing. A second motor for driving the lower limbs to rotate is connected inside the second housing. A third motor for driving the second motor to swing left and right is provided on the second housing.

[0006] Furthermore, the angle between the output axis of the first motor and the horizontal plane ranges from 15° to 45°.

[0007] Furthermore, the first motor is hinged to the first housing and fastened with bolts to adjust the tilt angle of the first motor.

[0008] Furthermore, the first housing has heat dissipation holes.

[0009] Furthermore, the second housing has a limiting groove for restricting the swing of the second motor.

[0010] Furthermore, the second motor is connected to the second housing via a rotating shaft, which is coaxially connected to the output shaft of the third motor.

[0011] Furthermore, the upper part of the first housing is provided with a connector for connecting the upper body of the robot.

[0012] Furthermore, lidar is installed at both the front and rear ends of the first housing.

[0013] Furthermore, a depth camera is provided at the front end of the first housing.

[0014] This invention has at least the following advantages and beneficial effects: by simulating this biomechanical characteristic through an inclined axis, the lower limbs are made closer to the natural gait of the human body when bending forward and backward, the bending range of the lower limbs is expanded, and the efficiency of the push-off is improved, providing a higher kinetic energy conversion rate for running, jumping and other actions. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the hip structure of a humanoid robot provided by this utility model.

[0016] Figure 2 This is a front view of the hip structure of a humanoid robot provided by this utility model.

[0017] Figure 3 A bottom view of the hip structure of a humanoid robot provided by this utility model.

[0018] Figure 4 A side view of the hip structure of a humanoid robot provided by this utility model.

[0019] Figure 5 This is a schematic diagram of the hip component in the hip structure of a humanoid robot provided by this utility model.

[0020] Figure 6 This is a schematic diagram of the hip joint component in the hip structure of a humanoid robot provided by this utility model.

[0021] Reference numerals: 1-hip assembly, 10-heat dissipation hole, 11-first housing, 12-first motor, 13-connector, 14-lidar, 15-depth camera, 2-hip joint assembly, 20-limiting groove, 21-second housing, 22-second motor, 23-third motor, 24-rotating shaft. Detailed Implementation

[0022] The specific implementation method is described below with reference to the accompanying drawings.

[0023] Example

[0024] like Figures 1 to 6As shown, this embodiment mainly discloses a hip structure for a humanoid robot, including a hip assembly 1 and hip joint assemblies 2 connected to both sides of the hip assembly 1. The hip assembly 1 includes a first housing 11 and first motors 12 for driving the hip joint assemblies 2 to pitch forward and backward. The output axes of the first motors 12 on both sides are symmetrical and arranged at an angle to the horizontal plane. Specifically, this biomechanical characteristic is simulated by the tilted axes, making the lower limbs more closely resemble the natural human gait when pitching forward and backward. Compared to the traditional orthogonal axis layout, the tilt angle can expand the pitch range of the lower limbs and improve the efficiency of the push-off force, providing a higher kinetic energy conversion rate for running, jumping, and other actions. The tilted axis layout can effectively decompose the motion load. When the robot moves laterally or rotates, the vector direction of the motor output torque forms a better mechanical angle with the direction of the joint force, reducing stress concentration inside the joint and significantly extending the service life of the motor. Furthermore, the first housing 11 uses a non-orthogonal motor arrangement inside, avoiding spatial interference caused by traditional stacked motors. The inclined axis creates a wedge-shaped gap between the first motor 12 and the side wall of the first housing 11, providing space for cable routing and heat dissipation channels.

[0025] The hip joint assembly 2 includes a second housing 21, within which a second motor 22 for driving the rotation of the lower limb is connected. A third motor 23 is mounted on the second housing 21 to drive the second motor 22 to swing left and right. Specifically, the lower limb portion connected to the hip joint is rotated via the second motor 22, while the left-right swinging of the lower limb is achieved using the third motor 23.

[0026] Furthermore, in specific implementation, such as Figure 1 As shown, the angle between the output axis of the first motor 12 and the horizontal plane in this embodiment of the invention ranges from 15° to 45°. It should be noted that the human acetabulum and femoral head naturally exhibit an anteversion angle of approximately 20° to 30°. The symmetrical arrangement of the output axis of the first motor 12 with an inclination of 15° to 45° to the horizontal plane effectively replicates the physiological characteristics of the human hip joint. For example, when the angle between the output axis of the first motor 12 and the horizontal plane is small, i.e., the output axis is close to the horizontal direction, it simulates a bent-over or low-center-of-gravity state. When the angle between the output axis of the first motor 12 and the horizontal plane is large, it is closer to the physiological angle of the hip joint when the human is upright. When the inclination angle is less than 15°, the axis approaches the horizontal direction, which, while increasing the forward swing amplitude, limits the backward swing stroke, and the motor mounting base needs to withstand greater shear stress. If the inclination angle exceeds 45°, the lateral stability of the lower limbs decreases, easily leading to instability.

[0027] Furthermore, in a specific implementation, the first motor 12 provided in this embodiment of the invention is hinged to the first housing 11 and fastened with bolts to adjust the tilt angle of the first motor 12. Specifically, the first motor 12 is hinged to the first housing 11, and the bolts are connected to the hinge position between the first motor 12 and the first housing 11. When the bolts are loosened, the first motor 12 can rotate to adjust the tilt angle; when the first motor 12 is adjusted to a suitable angle, the bolts are tightened to lock the position of the first motor 12. It should be noted that there is no interference between the lower edge of the first housing 11 and the extreme position of the first motor 12's angle adjustment, ensuring that the first motor 12 can smoothly achieve tilt angle adjustment. By dynamically adjusting the output angle of the first motor 12, the robot can adapt its gait strategy to different ground friction coefficients (such as ice and sand). For example, a smaller tilt angle is used on slippery ground to reduce center of gravity fluctuations, while a larger angle is used on hard ground to achieve explosive propulsion. Meanwhile, the articulated structure allows for real-time fine-tuning of the angle according to load changes. For example, when the robot is carrying a heavy load, the angle between the output axis of the first motor 12 and the horizontal plane is increased, so that the direction of the motor output torque is aligned with the direction of the center of gravity offset, reducing the joint torque requirement and avoiding motor overheating.

[0028] Furthermore, in specific implementation, such as Figure 1 , Figure 2 and Figure 5 As shown, the first housing 11 provided in this embodiment of the present invention has heat dissipation holes 10. Specifically, the heat dissipation channel between the first motor 12 and the first housing 11 and the heat dissipation holes 10 are connected to form a directional airflow channel to dissipate heat from the crotch assembly 1.

[0029] Furthermore, in specific implementation, such as Figure 1 , Figure 3 , Figure 4 and Figure 6 As shown, the second housing 21 provided in this embodiment of the present invention has a limiting groove 20 for limiting the swing of the second motor 22. Specifically, the limiting groove 20 is an arc-shaped groove, and the two ends of the arc-shaped groove abut against the second motor 22 to limit the swing range of the second motor 22. The mechanical limiting can avoid the risk of overtravel due to sensor failure and ensure that the joint will not collide or interfere under extreme working conditions (such as motor overload or program error).

[0030] Furthermore, in specific implementation, such as Figure 4 As shown, in this embodiment of the present invention, the second motor 22 is connected to the second housing 21 via a rotating shaft 24, and the rotating shaft 24 is coaxially connected to the output shaft of the third motor 23. Specifically, the upper end of the second motor 22 is fixed to the rotating shaft 24, and the rotating shaft 24 is coaxially driven with the third motor 23 via a spline.

[0031] Furthermore, in specific implementation, such as Figure 1 , Figure 2 , Figure 4 and Figure 5 As shown, the first housing 11 provided in this embodiment of the present invention has a connector 13 for connecting to the upper body of the robot. Specifically, the hip structure is connected to the upper body through the connector 13, and the hip is twisted by a drive motor.

[0032] Furthermore, in specific implementation, such as Figure 1 and Figure 4 As shown, a lidar 14 is installed at the front and rear ends of the first housing 11 provided in this embodiment of the present invention, and a depth camera 15 is provided at the front end of the first housing 11.

Claims

1. A hip structure for a humanoid robot, characterized in that, The hip joint assembly (2) is connected to both sides of the crotch assembly (1); The crotch assembly (1) comprises a first shell (11) and a first motor (12) for driving the hip joint assembly (2) to pitch forward and backward, and the output shafts of the first motors (12) on both sides are symmetrical left and right and are arranged obliquely to the horizontal plane; The hip joint assembly (2) comprises a second shell (21), and a second motor (22) for driving the lower limbs to rotate is connected in the second shell (21), and a third motor (23) for driving the second motor (22) to swing left and right is arranged on the second shell (21).

2. The hip structure of the humanoid robot according to claim 1, wherein The included angle between the output shaft of the first motor (12) and the horizontal plane ranges from 15° to 45°.

3. The hip structure of the humanoid robot according to claim 1, wherein The first motor (12) is hinged to the first shell (11) and is fastened by bolts, so as to adjust the inclination angle of the first motor (12).

4. The hip structure of the humanoid robot according to claim 1, wherein The first shell (11) is provided with a heat dissipation hole (10).

5. The hip structure of the humanoid robot according to claim 1, wherein The second shell (21) is provided with a limiting groove (20) for limiting the swing of the second motor (22).

6. The hip structure of the humanoid robot according to claim 1, wherein The second motor (22) is connected to the second shell (21) through a rotating shaft (24), and the rotating shaft (24) is coaxially connected to the output shaft of the third motor (23).

7. The hip structure of the humanoid robot according to Claim 1, wherein A connecting head (13) for connecting the upper body of the robot is arranged on the upper part of the first shell (11).

8. The hip structure of the humanoid robot according to claim 1, wherein Laser radars (14) are respectively arranged on the front and rear ends of the first shell (11), and a depth camera (15) is arranged on the front end of the first shell (11).

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