Waist and hip mechanism and humanoid robot
By designing the hip support connection method in the hip mechanism, the external impact force is dispersed and transmitted, solving the problem of damage to the robot's waist joint motor, and achieving the robot's motion stability and extended service life.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- 人形机器人(上海)有限公司
- Filing Date
- 2025-07-23
- Publication Date
- 2026-06-05
Smart Images
Figure CN224323129U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of robotics, and in particular to a hip and waist mechanism and a humanoid robot. Background Technology
[0002] With the development of intelligent technology, robotics has become a research hotspot. The hip and waist of a robot, as a key load-bearing structure connecting the upper body and lower limbs, has also attracted increasing attention from researchers.
[0003] When a robot executes commands, especially during high-speed movements of the waist and hip joints, external impacts and off-center torques may be directly transmitted to the motors of the waist and hip joints, leading to motor damage or performance degradation. Utility Model Content
[0004] Based on this, this application provides a hip and waist mechanism and a humanoid robot to balance external impacts and off-center load torques, and to prevent impact forces from damaging the motor.
[0005] To achieve the above objectives, this application adopts the following technical solution:
[0006] On one hand, this application provides a hip and waist mechanism, disposed on a humanoid robot, comprising:
[0007] The waist rotation module includes a waist support, a waist rotation drive, a first hip support, and a second hip support. The waist rotation drive is mounted on the waist support. The first hip support is connected to the drive end of the waist rotation drive to perform rotational movement under the drive of the waist rotation drive. The second hip support is connected to the first hip support to form two opposing pitch mounting cavities.
[0008] Two hip pitch modules are installed in two pitch mounting cavities in a one-to-one correspondence. One side of the hip pitch module is connected to the first hip bracket, and the other side is connected to the second hip bracket.
[0009] Two hip abduction modules are connected one-to-one to two hip pitch modules to perform pitching motion under the drive of the hip pitch modules;
[0010] Two hip rotation modules are connected one-to-one with two hip abduction modules to perform abduction movements under the drive of the hip abduction modules. The two hip rotation modules are also connected one-to-one with the two leg mechanisms of the humanoid robot to drive the corresponding leg mechanisms to perform rotational movements.
[0011] In one possible implementation, the hip pitch module includes a hip pitch drive and a pitch support. The side of the hip pitch drive away from its drive end is connected to a first hip support, and the side facing its drive end is connected to a second hip support. The hip abduction module is connected to the pitch support, and the pitch support is connected to the drive end of the hip pitch drive to perform pitch motion under the drive of the hip pitch drive.
[0012] In one possible implementation, the hip abduction module includes a hip abduction drive and a abduction support. The hip abduction drive is connected to a pitch support, the hip rotation module is connected to the abduction support, the abduction support is rotatably connected to the pitch support, and the abduction support is connected to the drive end of the hip abduction drive to perform abduction motion under the drive of the hip abduction drive.
[0013] In one possible implementation, the hip rotation module includes a hip rotation drive and a rotation support. The hip rotation drive is connected to a lateral extension support, and a leg mechanism is connected to the rotation support. The rotation support is connected to the drive end of the hip rotation drive to perform rotational movement under the drive of the hip rotation drive.
[0014] In one possible implementation, the pitch support is provided with a reinforcing boss, the drive end of the hip pitch drive is provided with an embedded groove, the pitch support and the drive end of the hip pitch drive are fixedly connected by bolts, and the reinforcing boss is provided in the embedded groove.
[0015] In one possible implementation, the lumbar support is provided with a first marking part, and the first hip support is provided with a second marking part that mates with the first marking part. Both the first marking part and the second marking part are provided with marking holes.
[0016] In one possible implementation, the first hip support is provided with a first limiting member, which is used to abut against a first standard part during the rotation of the first hip support to limit the first hip support.
[0017] In one possible implementation, the waist rotation module further includes a cross roller bearing, which is sleeved on the first hip support and embedded in the waist support.
[0018] In one possible implementation, the hip mechanism further includes an inertial measurement unit connected to the side of the second hip support opposite to the first hip support.
[0019] On the other hand, this application provides a humanoid robot including the aforementioned waist and hip mechanism.
[0020] This application provides a hip and lumbar mechanism and a humanoid robot. A first hip support is connected to one side of a hip pitching module, and the first hip support is also connected to a second hip support. The second hip support is connected to the other side of the hip pitching module. External impacts on the hip pitching module are partially transmitted to the other hip pitching module via the second hip support. When both hip pitching modules are subjected to force simultaneously, some impact can be offset; another portion of the impact can be transmitted to the first hip support. Simultaneously, because the first and second hip supports are connected, some impact can also be transmitted between them, further reducing the impact acting solely on the hip pitching module. This makes the hip pitching module more stable and reliable during movement. The first hip support, second hip support, and hip pitch module are interconnected in pairs, effectively handling bending moments and external impact forces. External impact forces are effectively dispersed and transmitted among these components, ensuring smooth robot movement and reducing the likelihood of impact forces being directly transmitted to the waist rotation drive components. This lowers the risk of mechanical failure and damage, extends the lifespan of the humanoid robot, and reduces maintenance and replacement costs. By effectively balancing the forces and external impacts on the hip pitch module and waist rotation drive components, the hip pitch module and waist rotation module are protected, improving the reliability of the first and second hip supports and extending the service life of the hip and waist mechanism. Attached Figure Description
[0021] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0022] Figure 1 This is a schematic diagram of the hip and waist mechanism provided in the embodiments of this application;
[0023] Figure 2 for Figure 1 One of the schematic diagrams of the hip-waist mechanism without its outer shell is shown.
[0024] Figure 3 for Figure 1 The second schematic diagram of the hip and waist mechanism without its outer shell is shown.
[0025] Figure 4 for Figure 2 One of the partial exploded structural diagrams of the hip and waist mechanism shown;
[0026] Figure 5 for Figure 2 The second partially exploded structural diagram of the hip and waist mechanism shown;
[0027] Figure 6 for Figure 2 A sectional view of the hip and waist mechanism shown;
[0028] Figure 7 This is a structural schematic diagram of the humanoid robot provided in an embodiment of this application.
[0029] Explanation of reference numerals in the attached figures:
[0030] 100-Hub and lumbar mechanism; 101-Zero hole; 10-Waist rotation module; 11-Waist support; 111-First standard part; 12-Waist rotation drive component; 13-First hip support; 131-Pitch mounting cavity; 132-Second standard part; 133-First limiting component; 14-Second hip support; 15-Cross roller bearing; 20-Hip pitch module; 21-Hip pitch drive component; 211-Embedded groove; 212-Third standard part; 22-Pitch support; 221-Reinforcing boss; 222-Fourth standard part; 223-Fifth standard part; 224-Second limiting component; 30-Hip lateral extension module; 31 - Hip lateral extension drive; 32- Lateral extension bracket; 321- Mounting boss; 322- Third limiting component; 323- Seventh section part; 324- Fourth limiting component; 33- Shaft system; 331- Shaft system connecting plate; 332- Mounting groove; 333- Rotating shaft; 334- Thin-walled nut; 335- Oil-free bushing; 336- Sixth section part; 40- Hip turnover module; 41- Hip turnover drive; 42- Turnover bracket; 50- Inertial measurement unit; 60- Housing; 61- Hip housing; 62- Lateral extension housing; 200- Humanoid robot; 201- Leg mechanism; 202- Thigh bracket; 203- Eighth section part. Detailed Implementation
[0031] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. Unless otherwise specified, the following embodiments and features can be combined with each other.
[0032] With the development of intelligent technology, robotics has become a research hotspot. The hip and waist of a robot, as a key load-bearing structure connecting the upper body and lower limbs, has also attracted increasing attention from researchers.
[0033] When a robot executes commands, especially during high-speed movements of the waist and hip joints, external impacts and off-center torques may be directly transmitted to the motors of the waist and hip joints, leading to motor damage or performance degradation.
[0034] To overcome the shortcomings of existing technologies, after repeated consideration and verification, the inventors discovered that by installing two connecting parts at the hip, with the upper connecting part locked to the rear side of the hip joint drive unit by bolts, the lower side of the upper connecting part locked to the lower connecting part by bolts, and the lower connecting part locked to the front side of the hip joint unit by bolts, the upper connecting part, the lower connecting part, and the hip joint unit are mutually locked in pairs. This mutual locking of the upper connecting part, the lower connecting part, and the hip joint unit effectively balances the forces and external impacts on the internal structural components of the hip joint drive unit, protecting the hip joint drive unit, improving the reliability of the connecting parts, and extending the service life of the hip joint drive unit.
[0035] In view of this, this application provides a hip and waist mechanism, disposed on a humanoid robot, comprising:
[0036] The waist rotation module includes a waist support, a waist rotation drive, a first hip support, and a second hip support. The waist rotation drive is mounted on the waist support. The first hip support is connected to the drive end of the waist rotation drive to perform rotational movement under the drive of the waist rotation drive. The second hip support is connected to the first hip support to form two opposing pitch mounting cavities.
[0037] Two hip pitch modules are installed in two pitch mounting cavities in a one-to-one correspondence. One side of the hip pitch module is connected to the first hip bracket, and the other side is connected to the second hip bracket.
[0038] Two hip abduction modules are connected one-to-one to two hip pitch modules to perform pitching motion under the drive of the hip pitch modules;
[0039] Two hip rotation modules are connected one-to-one with two hip abduction modules to perform abduction movements under the drive of the hip abduction modules. The two hip rotation modules are also connected one-to-one with the two leg mechanisms of the humanoid robot to drive the corresponding leg mechanisms to perform rotational movements.
[0040] The first hip support is connected to one side of the hip pitch module, and the first hip support is also connected to the second hip support. The second hip support is connected to the other side of the hip pitch module. A portion of the external impact on the hip pitch module is transmitted to the other hip pitch module through the second hip support. When both hip pitch modules are subjected to force simultaneously, part of the impact can be offset; another portion of the impact can be transmitted to the first hip support. Simultaneously, because the first and second hip supports are interconnected, some impact can also be transmitted between them, further reducing the impact acting solely on the hip pitch module. This makes the hip pitch module more stable and reliable during movement. The first hip support, second hip support, and hip pitch module are interconnected in pairs, effectively handling bending moments and external impact forces. External impact forces are effectively dispersed and transmitted among these components, ensuring smooth robot movement and reducing the likelihood of impact forces being directly transmitted to the waist rotation drive components. This lowers the risk of mechanical failure and damage, extends the lifespan of the humanoid robot, and reduces maintenance and replacement costs. By effectively balancing the forces and external impacts on the hip pitch module and waist rotation drive components, the hip pitch module and waist rotation module are protected, improving the reliability of the first and second hip supports and extending the service life of the hip and waist mechanism.
[0041] The contents of this application will now be described in detail with reference to the accompanying drawings, so that those skilled in the art can have a clearer and more detailed understanding of the contents of this application.
[0042] Figure 1 This is a schematic diagram of the hip and waist mechanism provided in an embodiment of this application. Figure 2 for Figure 1 The diagram shown is one of the structural schematics of the hip-waist mechanism without its outer shell. Figure 3 for Figure 1 The second schematic diagram of the hip and waist mechanism without its outer shell is shown. Figure 4 for Figure 2 One of the partial exploded structural diagrams of the hip and waist mechanism shown. Figure 5 for Figure 2 The second part of the exploded structural diagram of the waist-hip mechanism is shown. Figure 6 for Figure 2 The cross-sectional view of the hip and waist mechanism shown. Figure 7 This is a structural schematic diagram of the humanoid robot provided in an embodiment of this application.
[0043] The following sections will provide a detailed description of the specific structure of the lumbar and hip mechanism and various possible implementation methods.
[0044] like Figure 1 and Figure 7As shown, the hip and waist mechanism 100 provided in this embodiment is used on a humanoid robot 200. The humanoid robot 200 also includes a leg mechanism 201. The hip and waist mechanism 100 is used to connect the upper body of the humanoid robot 200 to the leg mechanism 201.
[0045] The lumbar and hip mechanism 100 has seven degrees of freedom, namely one degree of lumbar rotation, two degrees of hip pitch, two degrees of hip abduction, and two degrees of hip rotation.
[0046] like Figure 2 and Figure 3 As shown, the hip and lumbar mechanism 100 includes a lumbar rotation module 10, two hip pitch modules 20, two hip abduction modules 30, and two hip rotation modules 40. The two hip pitch modules 20 are respectively connected to the lumbar rotation module 10. The two hip abduction modules 30 are respectively connected to the two hip pitch modules 20. The two hip rotation modules 40 are respectively connected to the two hip abduction modules 30.
[0047] Specifically, two hip pitch modules 20 are located on opposite sides of the waist rotation module 10, which drives waist rotation movements. Two hip abduction modules 30 are connected to the two hip pitch modules 20, which drive hip pitch movements. Two hip rotation modules 40 are connected to the two hip abduction modules 30, which drive hip abduction movements. The two hip rotation modules 40 are also connected to the two leg mechanisms 201 of the humanoid robot 200, which drive hip rotation movements.
[0048] Please also refer to Figure 4 The waist rotation module 10 includes a waist support 11, a waist rotation drive 12, a first hip support 13, and a second hip support 14. The waist rotation drive 12 is mounted on the waist support 11. The first hip support 13 is connected to the drive end of the waist rotation drive 12 to perform rotational movement under the drive of the waist rotation drive 12. The second hip support 14 is connected to the first hip support 13 to form two opposing pitch mounting cavities 131. Two hip pitch modules 20 are correspondingly disposed in the two pitch mounting cavities 131. One side of each hip pitch module 20 is connected to the first hip support 13, and the other side is connected to the second hip support 14.
[0049] In one possible implementation, the fixed end of the waist rotation drive 12 is fixed to the waist support 11 by bolts, and the waist rotation drive 12 can be inserted from the top of the waist support 11 for easy disassembly and replacement.
[0050] In one possible implementation, the top of the first hip support 13 is connected to the output end of the lumbar rotation drive 12 by bolts. The lumbar support 11 is in close contact with the lumbar rotation drive 12, which can transmit a portion of the force and torque. At the same time, the lumbar support 11 can be designed in a hollow form to reduce weight as much as possible while ensuring strength.
[0051] Two hip abduction modules 30 are connected to two hip pitch modules 20 in a one-to-one correspondence to perform pitching motion under the drive of the hip pitch modules 20. Two hip rotation modules 40 are connected to two hip abduction modules 30 in a one-to-one correspondence to perform lateral abduction motion under the drive of the hip abduction modules 30. The two hip rotation modules 40 are also connected to two leg mechanisms 201 of the humanoid robot 200 in a one-to-one correspondence to drive the corresponding leg mechanisms 201 to perform rotational motion.
[0052] This application provides a hip and lumbar mechanism 100 and a humanoid robot 200. The hip support adopts a split design. The first hip support 13 is connected to one side of the hip pitch module 20, and the first hip support 13 is also connected to the second hip support 14. The second hip support 14 is connected to the other side of the hip pitch module 20. Part of the external impact on the hip pitch module 20 is transmitted to the other hip pitch module 20 through the second hip support 14. When both hip pitch modules 20 are subjected to force at the same time, part of the impact can be canceled out; another part of the impact can be transmitted to the first hip support 13. At the same time, since the first hip support 13 and the second hip support 14 are connected, some of the impact can also be transmitted between the two, further reducing the impact acting alone on the hip pitch module 20. This makes the hip pitch module 20 more stable and reliable during movement. The first hip support 13, the second hip support 14, and the hip pitch module 20 are interconnected in pairs, effectively handling bending moments and external impact forces. External impact forces can be effectively dispersed and transmitted among these components, ensuring smooth robot movement and reducing the possibility of impact forces being directly transmitted to the waist rotation drive component 12. This reduces the risk of mechanical failure and damage, extends the service life of the humanoid robot 200, and lowers maintenance and replacement costs. By effectively balancing the forces and external impacts on the hip pitch module 20 and the waist rotation drive component 12, the hip pitch module 20 and the waist rotation module 10 are protected, improving the reliability of the first hip support 13 and the second hip support 14 and extending the service life of the hip and waist mechanism 100.
[0053] In one possible implementation, the hip pitch module 20 includes a hip pitch drive 21 and a pitch support 22. The side of the hip pitch drive 21 facing away from its drive end is connected to a first hip support 13, and the side facing its drive end is connected to a second hip support 14. The hip abduction module 30 is connected to the pitch support 22, and the pitch support 22 is connected to the drive end of the hip pitch drive 21 to perform pitching motion under the drive of the hip pitch drive 21.
[0054] One side of the hip pitch drive 21 is connected to the first hip bracket 13, and the other side is connected to the second hip bracket 14. Through the connection between the first hip bracket 13 and the second hip bracket 14, the three are locked together in pairs, making the entire module structure compact. Some of the external impact force can be distributed among these components, reducing the impact on individual components and improving the durability of the system. It can effectively balance the forces on the internal structural components of the hip pitch drive 21 and external impacts, which helps to save space and reduce weight.
[0055] The hip pitch drive 21 is directly connected to the pitch support 22 through its drive end, which makes the pitch motion more precise, reduces the error of intermediate links, improves the accuracy of motion control, and the driving force can be more effectively transmitted to the pitch support 22, reducing energy loss, improving driving efficiency, and improving the robot's response speed and motion stability.
[0056] The connection between the hip pitch module 20 and the hip abduction module 30 gives the entire system a modular character, making it easy to maintain and upgrade. Users can replace or upgrade specific modules as needed without affecting the overall system.
[0057] In one possible implementation, the first hip support 13 and the rear fixed end of the hip pitch drive 21 are locked together by bolts, the lower side of the first hip support 13 and the second hip support 14 are locked together by bolts, and the second hip support 14 and the front fixed end of the hip pitch drive 21 are locked together by bolts.
[0058] The first hip support 13, the second hip support 14, and the hip pitch drive 21 are interlocked in pairs, which effectively balances the forces and external impacts on the internal structural components of the hip pitch drive 21, protects the hip pitch drive 21, improves the reliability of the connectors, and extends the service life of the hip pitch drive 21. Specifically, some of the external impacts on the hip pitch drive 21 are transmitted to the other hip pitch drive 21 through the second hip support 14. When both hip pitch drives 21 are under force simultaneously, part of the impact can be offset; another part of the impact can be transmitted to the first hip support 13; simultaneously, since the lower side of the first hip support 13 and the second hip support 14 are interlocked by bolts, some impact can also be transmitted between the two, further reducing the impact acting solely on the hip pitch drive 21.
[0059] like Figure 5 and Figure 6 As shown, in one possible implementation, the pitch support 22 is provided with a reinforcing boss 221, the driving end of the hip pitch drive 21 is provided with an embedding groove 211, the pitch support 22 and the driving end of the hip pitch drive 21 are fixedly connected by bolts, and the reinforcing boss 221 is provided in the embedding groove 211.
[0060] The connection between the pitch support 22 and the hip pitch drive 21 is more secure through bolt fastening. The combination of the reinforcing boss 221 and the recessed groove 211 reduces the possibility of loosening and displacement, improving system stability. The reinforcing boss 221, embedded in the groove 211, increases the contact area at the connection, enhancing the overall strength and rigidity of the structure. This helps withstand greater loads and impacts during movement, ensuring precise alignment between components and improving the accuracy and consistency of the drive. The embedded design helps distribute stress at the connection, reducing stress concentration, lowering the risk of material fatigue and fracture, and improving component durability.
[0061] The reinforced boss 221 and recessed groove 211 design also provide a natural alignment and positioning mechanism, making the assembly process simpler and more efficient, reducing assembly time and the possibility of errors. Bolted connections facilitate disassembly and maintenance. When components need to be replaced or repaired, disassembly and reassembly can be performed quickly, reducing maintenance costs.
[0062] In one possible implementation, the drive end (output end) of the hip pitch drive 21 is connected to the pitch support 22 via reinforcing ribs of the output flange and bolts. Since the force between the pitch support 22 and the hip pitch drive 21 may be significant, bolts alone could lead to shear failure. Therefore, a nested reinforcing rib structure is used to enhance the connection strength. The reinforcing ribs of the reinforcing boss 221 on the pitch support 22 can be embedded in the drive end of the hip pitch drive 21, resulting in a more reliable force distribution. Specifically, the reinforcing boss 221 of the pitch support 22, through a certain mechanical tolerance, can cooperate with the embedded groove 211 of the output flange on the hip pitch drive 21. Due to the large area of the boss, it can withstand greater shear force, thereby improving the structural strength and stability to a certain extent.
[0063] In one possible implementation, the waist rotation module 10 further includes a cross roller bearing 15, which is sleeved on the first hip support 13 and embedded in the waist support 11.
[0064] The crossed roller bearing 15 can withstand loads from multiple directions, including radial, axial, and overturning moments, making it suitable for applications requiring high load capacity. The design of the crossed roller bearing 15 provides high-precision rotational motion, reducing errors and deviations during operation and helping to maintain the compactness and lightweight of the entire waist-section turnaround module. The crossed roller bearing 15 provides smooth rotational motion, reducing vibration and noise, and improving the smoothness of system operation.
[0065] In one possible implementation, the lumbar support 11 and the first hip support 13 are connected to each other by a cross roller bearing 15. The lumbar support 11 is connected to the outer ring of the cross roller bearing 15, and the first hip support 13 is connected to the inner ring of the cross roller bearing 15. Driven by the lumbar rotation drive 12, the lumbar support 11 and the first hip support 13 can rotate relative to each other.
[0066] Due to the characteristic that the crossed roller bearing 15 can balance axial and radial forces, the crossed roller bearing 15 can effectively improve the overall stress condition and impact resistance, effectively protect the waist rotation drive component 12, including the external impact and external bending moment it is subjected to, improve the reliability of the waist support 11 and the first hip support 13, and extend the service life of the waist rotation drive component 12.
[0067] In one possible implementation, the hip abduction module 30 includes a hip abduction drive 31 and abduction support 32. The hip abduction drive 31 is connected to the pitch support 22, the hip rotation module 40 is connected to the abduction support 32, the abduction support 32 is rotatably connected to the pitch support 22, and the abduction support 32 is connected to the drive end of the hip abduction drive 31 to perform abduction movement under the drive of the hip abduction drive 31.
[0068] The hip abduction module 30 is connected to the pitch support 22 via the hip abduction drive 31, enabling the robot to add abduction motion to its pitch motion, allowing it to adapt more flexibly to complex environments and task requirements. The rotatable connection between the abduction support 32 and the pitch support 22 allows the abduction motion to be performed at different pitch angles, improving the robot's motion flexibility and enabling it to better execute complex actions. Through this rotatable connection, the abduction motion can be performed while maintaining system stability.
[0069] The connection between the hip abduction drive 31 and the pitch support 22, as well as the connection between the abduction support 32 and the hip rotation module 40, makes the entire system structure compact, saves space and reduces weight, reduces energy loss, and improves overall drive efficiency.
[0070] The lateral abduction bracket 32 is directly connected to the drive end of the hip lateral abduction drive 31, ensuring the accuracy of the lateral abduction movement, reducing errors in intermediate links, and improving the precision of motion control.
[0071] In one possible implementation, the hip rotation module 40 includes a hip rotation drive 41 and a rotation support 42. The hip rotation drive 41 is connected to the lateral extension support 32, the leg mechanism 201 is connected to the rotation support 42, and the rotation support 42 is connected to the drive end of the hip rotation drive 41 to perform rotational movement under the drive of the hip rotation drive 41.
[0072] The hip rotation module 40 is connected to the lateral extension support 32 via the hip rotation drive component 41, enabling the robot to perform rotational movements in addition to pitching and lateral extension movements, thus allowing the robot to perform complex tasks more flexibly.
[0073] The turnover bracket 42 is directly connected to the drive end of the hip turnover drive component 41, ensuring the precision of the turnover motion. Direct drive reduces errors in intermediate links, improves the accuracy of motion control, makes energy transfer more efficient, reduces energy loss, and improves overall drive efficiency. The direct connection between the turnover bracket 42 and the hip turnover drive component 41 helps maintain the stability of the system during turnover motion, reduces the impact of external impacts on the system, and improves the durability of the system.
[0074] In one possible implementation, the hip abduction module 30 further includes a shaft system 33. The shaft system 33 includes a shaft connecting plate 331. The pitch support 22 is U-shaped, with one side fixedly connected to the fixed end of the hip abduction drive 31 by bolts, and the other side rotatably connected to the shaft connecting plate 331. The pitch support 22 and the shaft connecting plate 331 can rotate relative to each other. The abduction support 32 is connected to the shaft connecting plate 331.
[0075] The U-shaped pitch support 22 features reinforcing ribs and rounded corners at the bends, enabling it to withstand greater external forces and impacts. Finite element simulation calculations have shown it can withstand the weight of the humanoid robot 200 falling from a height of 0.5m with a certain safety margin. The drive end of the hip extension drive 31 is connected to the extension support 32 via bolts and reinforcing ribs. Similar to the hip pitch drive 21, the hip extension drive 31 is not solely connected by bolts, as bolts may break under shear forces. The reinforcing ribs on the extension support 32 can be embedded in the drive end of the hip extension drive 31, providing more reliable support. Specifically, the reinforcing ribs of the extension support 32 are also in the form of bosses, which, through certain mechanical tolerances, can cooperate with the grooves of the hip extension drive 31. Due to the large area of the bosses, they can withstand greater shear forces, thereby improving structural strength and stability to a certain extent.
[0076] In one possible implementation, the lateral abduction support 32 has an irregular structure, including a mounting position for a cylindrical hip rotation drive 41 and a mounting position for the driving end of the annular hip lateral abduction drive 31. The cylindrical position of the lateral abduction support 32 is fastened to the fixed end of the hip rotation drive 41 by bolts, thereby driving the rotational movement of the thigh through the rotation support 42.
[0077] In one possible implementation, the side support 32 is provided with a mounting boss 321 and the shaft connecting plate 331 is provided with a mounting groove 332. The two can cooperate with each other to realize the transmission of force and torque, and are locked together by bolts.
[0078] In one possible implementation, the shaft system 33 further includes a rotating shaft 333, a thin-walled nut 334, and an oil-free bushing 335. The flange side of the rotating shaft 333 is bolted to the shaft system connecting plate 331, and the other side of the rotating shaft 333 is locked in place by the thin-walled nut 334. The flange side of the oil-free bushing 335 is bolted to the pitch support 22. Due to the self-lubricating property of the oil-free bushing 335, the friction between the flange face of the shaft system connecting plate 331 and the oil-free bushing 335, and the friction between the rotating shaft 333 and the inner hole of the oil-free bushing 335, can be effectively lubricated. The design of the shaft system 33 avoids cantilever beams between components, resulting in more stable stress distribution. Furthermore, since the shaft system connecting plate 331 is on the outer side, it facilitates assembly and disassembly, giving the hip mechanism 100 of the humanoid robot 200 both reliable connection and convenient assembly.
[0079] External impacts from the leg mechanism 201 are first transmitted to the lateral support 32. The lateral support 32 transmits a portion of the external impact to one side of the U-shaped pitch support 22 through the hip lateral drive 31. The other portion of the external impact is transmitted to the other side of the U-shaped pitch support 22 through the oil-free bushing 335 and its shaft system 33, and then to the hip joint. This force distribution method can improve the robot's impact resistance and further enhance the robot's stability.
[0080] In one possible implementation, the drive end of the hip rotation drive 41 is fixed to the rotation bracket 42 by bolts, and the rotation bracket 42 is also fixed to the thigh bracket 202 of the leg mechanism 201 by bolts.
[0081] In one possible implementation, the crossed roller bearing 15 is also placed between the side extension structure 32 and the turnover bracket 42, which can balance the force and torque transmitted from the turnover bracket 42 and the thigh bracket 202. This design can effectively balance the impact transmitted to the hip turnover drive component 41 from the outside, and extend the service life of the motor to a certain extent.
[0082] In one possible implementation, the lumbar support 11 is provided with a first marking part 111, and the first hip support 13 is provided with a second marking part 132 that cooperates with the first marking part 111. Both the first marking part 111 and the second marking part 132 are provided with marking holes 101.
[0083] The zero-point holes 101 on the first reference part 111 and the second reference part 132 can be used as alignment reference points during the assembly process, ensuring precise alignment between the lumbar support 11 and the first hip support 13, improving assembly accuracy and consistency, and enabling motion limiting, power-off reset, and mechanical locking during debugging without relying on complex sensors. The zero-point holes 101 provide clear reference points, allowing for quick and accurate adjustment of component positions and angles during calibration, reducing calibration time and improving efficiency. By using the first reference part 111, the second reference part 132, and the zero-point holes 101, assemblers can complete component installation and alignment more quickly, reducing trial and error and adjustment time during assembly. When disassembly and reassembly are required, the first reference part 111, the second reference part 132, and the zero-point holes 101 provide clear references, making maintenance simpler and more efficient. This design reduces maintenance costs and downtime.
[0084] In complex mechanical systems, the accumulation of errors can lead to performance degradation. The use of the first marking part 111, the second marking part 132, and the zero-marking hole 101 helps to reduce the accumulation of errors during assembly and maintenance, thereby improving the overall reliability of the system. The zero-marking hole 101 can also serve as a quality control checkpoint, ensuring that each component conforms to design specifications and quality standards during production and assembly.
[0085] The first marking component 111 and the second marking component 132 are set on the waist support 11 and the first hip support 13 to mark the waist rotation drive component 12 to zero, that is, to mark the waist rotation degree of freedom to zero, so as to achieve high-precision initialization setting. At the same time, the zero marking hole 101 is designed in these two places, and a pin can be inserted into the zero marking hole 101 to lock and limit the waist rotation drive component 12, which facilitates the assembly, debugging and motion range control of the humanoid robot 200.
[0086] In one possible implementation, the first marking part 111 and the second marking part 132 are bosses with holes, which are zero-point marking holes 101. When it is necessary to zero-point calibrate the waist rotation drive 12 or to lock the motor to prevent it from moving randomly, the corresponding pins can be inserted into the two zero-point marking holes 101 for zeroing or locking.
[0087] In one possible implementation, the first hip support 13 is provided with a first limiting member 133, which is used to abut against the first standard part 111 when the first hip support 13 rotates, so as to limit the first hip support 13.
[0088] In one possible implementation, the first limiting member 133 can collide with the first boss part 111 of the waist support 11 to form a limiting effect, preventing the waist rotation drive member 12 from rotating more than ±180 degrees, thereby preventing the power cord and communication line connecting the upper and lower limbs from getting tangled or even broken.
[0089] The first limiting member 133 effectively restricts the rotation range of the first hip support 13, preventing it from exceeding its designed movement limits. This helps protect the structure, avoids mechanical failures or damage caused by excessive movement, and improves the overall safety of the system. Simultaneously, the presence of the first limiting member 133 and the first standard part 111 prevents excessive movement caused by misoperation of the control system or operator, thereby protecting the integrity of the system.
[0090] By limiting the range of motion, excessive wear and stress concentration between components are reduced, thereby extending the system's lifespan. By limiting unnecessary excessive movement, limiting components help reduce energy consumption and improve system energy efficiency.
[0091] In one possible implementation, the hip pitch drive 21 is provided with a third reference part 212, and the pitch support 22 is provided with a fourth reference part 222 that cooperates with the third reference part 212. Both the third reference part 212 and the fourth reference part 222 are provided with a zero mark hole 101.
[0092] The third calibration part 212 is fixed to the fixed end of the hip pitch drive 21 by bolts, and the fourth calibration part 222 is fixed to the pitch bracket 22 by bolts. When it is necessary to calibrate the hip pitch drive 21 to zero position or to lock the motor to prevent it from moving randomly, the corresponding pins can be inserted into the zeroing holes 101 on the third calibration part 212 and the fourth calibration part 222 to calibrate to zero or lock.
[0093] In one possible implementation, the pitch support 22 is provided with a fifth reference part 223, and the shaft connecting plate 331 is provided with a sixth reference part 336 that cooperates with the fifth reference part 223. Both the fifth reference part 223 and the sixth reference part 336 are provided with zero reference holes 101.
[0094] The fifth standard part 223 is integrally formed on the pitch support 22, and the sixth standard part 336 is integrally formed on the shaft connection plate 331. When it is necessary to calibrate the hip extension drive 31 to zero position or to lock the motor to prevent it from moving randomly, the corresponding pins can be inserted into the zeroing holes 101 on the fifth standard part 223 and the sixth standard part 336 to calibrate or lock it.
[0095] In one possible implementation, the pitch support 22 is provided with a second limiting member 224, and the side extension support 32 is provided with a third limiting member 322. The second limiting member 224 is used to abut against the third limiting member 322 when the side extension support 32 is extended to the side, so as to limit the side extension support 32.
[0096] In one possible implementation, the second limiting member 224 is a bolt and the third limiting member 322 is a boss. The second limiting member 224 can collide with the boss to form a limiting effect, thereby preventing the side support 32 from rotating too much and thus preventing the power cord and communication line from getting tangled or even broken.
[0097] In one possible implementation, the side support 32 is provided with a seventh standard part 323, and the thigh support 202 is provided with an eighth standard part 203 that cooperates with the seventh standard part 323. Both the seventh standard part 323 and the eighth standard part 203 are provided with a zero mark hole 101.
[0098] In one possible implementation, the seventh marking part 323 and the eighth marking part 203 are bosses with holes, which are zero-point marking holes 101. When it is necessary to zero-point calibrate the hip rotation drive 41 or to lock the motor to prevent it from moving randomly, the corresponding pins can be inserted into the two zero-point marking holes 101 for zeroing or locking.
[0099] In one possible implementation, the side support 32 is provided with a fourth limiting member 324, which is used to abut against the eighth standard part 203 when the turnover support 42 is rotated, so as to limit the turnover support 42.
[0100] In one possible implementation, the fourth limiting member 324 can collide with the boss of the eighth standard part 203 of the thigh support 202 to form a limiting effect, preventing the hip rotation drive member 41 from rotating more than ±180 degrees, thereby preventing the power cord and communication line connecting the upper and lower limbs from getting tangled or even broken.
[0101] In one possible implementation, the hip and lumbar mechanism 100 further includes an inertial measurement unit 50 connected to the side of the second hip support 14 opposite to the first hip support 13.
[0102] In one possible implementation, the bottom center of the second hip support 14 is connected to the inertial measurement unit 50 via bolts, which enhances the robot's attitude perception accuracy during movement and provides high-quality dynamic data support for subsequent control. The inertial measurement unit 50 can be securely fixed to the hip mechanism 100 body at this location, allowing for accurate measurement of the body's attitude. This enables subsequent control to read the robot's attitude information through the inertial measurement unit 50.
[0103] The inertial measurement unit 50 (IMU) can detect and report the attitude and motion state of the humanoid robot 200 in real time, including acceleration, angular velocity, and orientation, which helps the humanoid robot 200 maintain balance and stability in dynamic environments. By providing accurate motion and attitude data, the IMU can help optimize motion control algorithms, improving the robot's motion accuracy and response speed. The IMU can also help detect abnormal motion patterns, providing early fault detection and diagnostic information, thereby improving the reliability and safety of the system.
[0104] In one possible implementation, the hip mechanism 100 further includes a housing 60. The housing 60 includes a hip housing 61 and a lateral abduction housing 62. The hip housing 61 consists of a front hip housing and a rear hip housing. The lateral abduction housing 62 consists of a rear lateral abduction housing and a front lateral abduction housing. The housing 60 provides both an aesthetically pleasing industrial design and, to some extent, protection for the robot's internal electrical components, preventing wire harness detachment, etc.
[0105] In general, when the humanoid robot 200 walks, runs, or jumps, external impacts, including forces or torques, are transmitted to the hip mechanism 100 through the thigh support 202. First, the impact is transmitted to the lateral extension support 32 via the crossed roller bearing 15, protecting the hip rotation drive component 41. Second, the lateral extension support 32 transmits the external impact to the oil-free bushing 335 and its shaft system 33, and to the hip lateral extension drive component 31, and then to the pitch support 22 via the shaft system 33 and the hip lateral extension drive component 31. The pitch support 22 then transmits the impact to the hip pitch drive component 21, the first hip support 13, and the second hip support 14. This design improves the robot's overall impact resistance, protects the motors to some extent and extends their service life, and enhances the overall stability of the mechanism.
[0106] The reliability of the hip and lumbar mechanism 100 structure in this application is improved by using bolts, reinforcing ribs and bearings to fix the joint modules together, which effectively prevents shear failure and impact damage; and by using crossed roller bearings 15, oil-free bushings 335 and flange reinforcement structures to improve the stability and torque resistance of each connection part, and to avoid the critical motor shaft end directly bearing external loads.
[0107] The hip and waist mechanism 100 in this application also features a high degree of integration and functional coupling design, which facilitates assembly and maintenance: each drive component and structural component adopts a modular and detachable design, reducing the difficulty of assembly and maintenance; the shaft system 33 is designed as a detachable external, non-cantilever type, avoiding off-center loading, improving service life, and facilitating efficient assembly and subsequent replacement; the inertial measurement unit 50 is installed in the middle of the hip and waist mechanism 100, with a stable structure and high sensing accuracy, which facilitates subsequent attitude recognition and control; the housing 60 is not only for aesthetic industrial design, but also considers wiring paths and electrical protection, effectively improving the overall reliability of the machine.
[0108] The hip and lumbar mechanism 100 provided in this embodiment includes a lumbar rotation module 10, two hip pitch modules 20, two hip abduction modules 30, and two hip rotation modules 40. The lumbar rotation module 10 includes a lumbar support 11, a lumbar rotation drive 12, a first hip support 13, and a second hip support 14. The lumbar rotation drive 12 is mounted on the lumbar support 11. The first hip support 13 is connected to the drive end of the lumbar rotation drive 12 to perform rotational movement under the drive of the lumbar rotation drive 12. The second hip support 14 is connected to the first hip support 13 to form two opposing pitch mounting cavities 131. The two hip pitch modules 20 are correspondingly disposed in the two pitch mounting cavities 131, with one side of each hip pitch module 20 connected to the first hip support 13 and the other side connected to the second hip support 14. Two hip abduction modules 30 are connected to two hip pitch modules 20 in a one-to-one correspondence to perform pitching motion under the drive of the hip pitch modules 20. Two hip rotation modules 40 are connected to two hip abduction modules 30 in a one-to-one correspondence to perform lateral abduction motion under the drive of the hip abduction modules 30. The two hip rotation modules 40 are also connected to two leg mechanisms 201 of the humanoid robot 200 in a one-to-one correspondence to drive the corresponding leg mechanisms 201 to perform rotational motion.
[0109] The first hip support 13 is connected to one side of the hip pitch module 20, and the first hip support 13 is also connected to the second hip support 14, which is connected to the other side of the hip pitch module 20. A portion of the external impact on the hip pitch module 20 is transmitted to the other hip pitch module 20 via the second hip support 14. When both hip pitch modules 20 are subjected to force simultaneously, part of the impact can be offset; another portion of the impact can be transmitted to the first hip support 13. Simultaneously, because the first hip support 13 and the second hip support 14 are connected, some impact can also be transmitted between them, further reducing the impact acting solely on the hip pitch module 20. This makes the hip pitch module 20 more stable and reliable during movement. The first hip support 13, the second hip support 14, and the hip pitch module 20 are interconnected in pairs, effectively handling bending moments and external impact forces. External impact forces can be effectively dispersed and transmitted among these components, ensuring smooth robot movement and reducing the possibility of impact forces being directly transmitted to the waist rotation drive component 12. This reduces the risk of mechanical failure and damage, extends the service life of the humanoid robot 200, and lowers maintenance and replacement costs. By effectively balancing the forces and external impacts on the hip pitch module 20 and the waist rotation drive component 12, the hip pitch module 20 and the waist rotation module 10 are protected, improving the reliability of the first hip support 13 and the second hip support 14 and extending the service life of the hip and waist mechanism 100.
[0110] On the other hand, this application embodiment also provides a humanoid robot 200, including the aforementioned hip and waist mechanism 100.
[0111] Given that the humanoid robot 200 in this embodiment includes the hip and waist mechanism 100 described in any of the above embodiments, the structural features and beneficial effects of the hip and waist mechanism 100 in the humanoid robot 200 will not be elaborated further in this embodiment.
[0112] It should be noted that the terms "one embodiment," "embodiment," "exemplary embodiment," "some embodiments," etc., mentioned in the specification indicate that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Moreover, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not, is within the knowledge scope of those skilled in the art.
[0113] Generally speaking, terms should be understood at least in part by their use in context. For example, at least in part by context, the term "one or more" as used in the text can be used to describe any feature, structure, or characteristic of the singular meaning, or a combination of features, structures, or characteristics of the plural meaning. Similarly, at least in part by context, terms such as "a" or "the" can also be understood to convey either singular or plural usage.
[0114] It should be readily understood that the terms “on,” “above,” and “on top of” in this application should be interpreted in the broadest possible sense, such that “on” means not only “directly on something” but also “on something” with an intermediate feature or layer therebetween, and that “above” or “on top of” means not only “on something” but also “on something” without an intermediate feature or layer therebetween (i.e., directly on something).
[0115] Furthermore, for ease of explanation, spatially relative terms such as "below," "below," "under," "above," and "above" may be used to describe the relationship of one element or feature relative to other elements or features as shown in the figures. Spatially relative terms are intended to encompass different orientations of the device in use or operation other than those shown in the figures. The device may have other orientations (rotated 90° or in other orientations), and the spatially relative descriptive terms used herein may be interpreted accordingly.
[0116] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.
Claims
1. A hip and waist mechanism, mounted on a humanoid robot, characterized in that, include: A waist rotation module includes a waist support, a waist rotation drive, a first hip support, and a second hip support. The waist rotation drive is mounted on the waist support. The first hip support is connected to the drive end of the waist rotation drive to perform rotational movement under the drive of the waist rotation drive. The second hip support is connected to the first hip support to form two opposing pitch mounting cavities. Two hip pitch modules are provided, one-to-one, in two pitch mounting cavities. One side of each hip pitch module is connected to the first hip bracket, and the other side is connected to the second hip bracket. Two hip abduction modules are connected one-to-one to two hip pitch modules to perform pitching motion under the drive of the hip pitch modules. Two hip rotation modules are connected one-to-one with two hip lateral extension modules to perform lateral extension movements under the drive of the hip lateral extension modules. The two hip rotation modules are also connected one-to-one with two leg mechanisms of the humanoid robot to drive the corresponding leg mechanisms to perform rotational movements.
2. The lumbar and hip mechanism according to claim 1, characterized in that, The hip pitch module includes a hip pitch drive and a pitch support. The side of the hip pitch drive away from its drive end is connected to the first hip support, and the side facing its drive end is connected to the second hip support. The hip abduction module is connected to the pitch support, and the pitch support is connected to the drive end of the hip pitch drive to perform pitch movement under the drive of the hip pitch drive.
3. The lumbar and hip mechanism according to claim 2, characterized in that, The hip abduction module includes a hip abduction drive and a abduction bracket. The hip abduction drive is connected to the pitch bracket, the hip rotation module is connected to the abduction bracket, the abduction bracket is rotatably connected to the pitch bracket, and the abduction bracket is connected to the drive end of the hip abduction drive to perform abduction movement under the drive of the hip abduction drive.
4. The lumbar and hip mechanism according to claim 3, characterized in that, The hip rotation module includes a hip rotation drive and a rotation bracket. The hip rotation drive is connected to the lateral extension bracket, the leg mechanism is connected to the rotation bracket, and the rotation bracket is connected to the drive end of the hip rotation drive to perform rotational movement under the drive of the hip rotation drive.
5. The lumbar and hip mechanism according to claim 2, characterized in that, The pitch support is provided with a reinforcing boss, and the driving end of the hip pitch drive is provided with an embedding groove. The pitch support and the driving end of the hip pitch drive are fixedly connected by bolts, and the reinforcing boss is located in the embedding groove.
6. The lumbar and hip mechanism according to claim 1, characterized in that, The lumbar support is provided with a first marking part, and the first hip support is provided with a second marking part that cooperates with the first marking part. Both the first marking part and the second marking part are provided with marking holes.
7. The lumbar and hip mechanism according to claim 6, characterized in that, The first hip support is provided with a first limiting member, which is used to abut against the first standard part when the first hip support is rotated, so as to limit the first hip support.
8. The lumbar and hip mechanism according to claim 1, characterized in that, The waist rotation module also includes a cross roller bearing, which is sleeved on the first hip support and embedded in the waist support.
9. The lumbar and hip mechanism according to claim 1, characterized in that, The hip and waist mechanism also includes an inertial measurement unit, which is connected to the side of the second hip support away from the first hip support.
10. A humanoid robot, characterized in that, Including the lumbar and hip mechanism as described in any one of claims 1-9.