A hip assembly, lower limb structure and humanoid robot

Abstract

This utility model provides a hip assembly, a lower limb structure, and a humanoid robot, relating to the field of humanoid robot technology. The hip assembly includes a hip pitch joint, a hip lateral swing joint, and a hip rotation joint connected in sequence. The output axis directions of the hip pitch joint, the hip lateral swing joint, and the hip rotation joint are perpendicular to each other. The hip lateral swing joint and the hip rotation joint are arranged sequentially along the output axis direction of the hip lateral swing joint. The lower limb structure includes the aforementioned hip assembly. The humanoid robot includes the aforementioned lower limb structure. The hip lateral swing joint and the hip rotation joint of this utility model are arranged in a front-to-back configuration, which can reduce the spatial displacement of the hip rotation joint, reduce the torque requirement of the hip lateral swing joint, reduce the rotational inertia of the hip lateral swing joint, and reduce the leg rotational inertia of the humanoid robot, thus facilitating the control of the humanoid robot.

Description

Technical Field

[0001] This utility model relates to the field of humanoid robot technology, specifically to a hip component, a lower limb structure, and a humanoid robot. Background Technology

[0002] With the continuous development of humanoid robot technology, its application prospects in service, rescue, entertainment and other fields are becoming increasingly broad. Humanoid robots need to possess highly human-like movement capabilities to better integrate into human life and work environments. As the core moving parts of humanoid robots, the joint design and movement performance of the lower limbs directly determine the robot's flexibility and stability.

[0003] However, traditional humanoid robots often suffer from problems such as high rotational inertia, and the large inertia of the legs has a significant impact on the robot's control and the torque required by the robot. Utility Model Content

[0004] The purpose of this invention is to provide a hip assembly, a lower limb structure, and a humanoid robot that can reduce the rotational inertia of the legs.

[0005] The embodiments of this utility model can be implemented as follows: In a first aspect, the present invention provides a hip assembly, comprising a hip pitching joint, a hip lateral swing joint, and a hip rotation joint connected in sequence, wherein the output axis directions of the hip pitching joint, the hip lateral swing joint, and the hip rotation joint are perpendicular to each other, and the hip lateral swing joint and the hip rotation joint are arranged in sequence along the output axis direction of the hip lateral swing joint.

[0006] In optional embodiments, the device further includes a hip pitching joint mount, a hip lateral swing joint mount, and a hip rotation joint mount, wherein: The hip pitch joint mounting component is provided with the hip pitch joint, and the output end of the hip pitch joint is connected to the hip lateral swing joint mounting component for driving the hip lateral swing joint mounting component to rotate relative to the hip pitch joint mounting component. The hip lateral swing joint mounting component is provided with the hip lateral swing joint, and the output end of the hip lateral swing joint is connected to the hip rotation joint mounting component for driving the hip rotation joint mounting component to rotate relative to the hip lateral swing joint mounting component. The hip rotation joint is provided on the hip rotation joint mounting component, and the output end of the hip rotation joint is used to connect to the thigh assembly and drive the thigh assembly to rotate relative to the hip rotation joint mounting component.

[0007] In an optional embodiment, the hip lateral swing joint and the hip rotation joint are arranged sequentially from the rear to the front of the hip assembly along the output axis direction of the hip lateral swing joint; the hip pitch joint and the hip rotation joint are arranged sequentially from the inside to the outside of the hip assembly along the output axis direction of the hip pitch joint.

[0008] In an optional embodiment, the hip flexion joint mounting component includes a top plate and clamps vertically connected to both ends of the bottom of the top plate. The hip flexion joint is fixedly connected to the clamps and located between the clamps, and a reinforcing member is also connected between the clamps.

[0009] In an optional embodiment, the hip pitch joint mount is further provided with an inertial measurement unit, which is disposed on the top plate and located on the side of the top plate facing the rear of the hip assembly.

[0010] In an optional embodiment, the hip lateral swing joint mount is also rotatably connected to the hip rotation joint mount.

[0011] In an optional embodiment, the hip lateral swing joint mounting component includes two parallel and spaced-apart side plates and a connecting plate connected between the side plates. The hip rotation joint mounting component is located between the two side plates and rotatably connected to the side plates. The hip lateral swing joint is disposed on one of the side plates, and the output end of the hip pitch joint is connected to the connecting plate.

[0012] In an optional embodiment, the hip rotation joint mounting component includes a first cylinder and a second cylinder connected vertically. The first cylinder is located between the two side plates and rotatably connected to the side plates. The hip rotation joint is mounted in the first cylinder and / or the second cylinder, and the output shaft axis of the hip rotation joint is collinear with the axis of the second cylinder.

[0013] Secondly, this utility model provides a lower limb structure, including the hip component described in any of the foregoing embodiments.

[0014] Thirdly, this utility model provides a humanoid robot, including the lower limb structure described in the foregoing embodiments.

[0015] The beneficial effects of the hip assembly, lower limb structure, and humanoid robot provided by this embodiment of the invention include: The hip assembly provided by this utility model arranges the hip lateral swing joint and the hip rotation joint sequentially along the output axis of the hip lateral swing joint, so that the hip lateral swing joint and the hip rotation joint are arranged in a front-to-back configuration. During the lateral swing motion of the robot's legs driven by the hip lateral swing joint, the hip rotation joint only rotates. Compared with the traditional vertical arrangement of the hip lateral swing joint and the hip rotation joint, this can reduce the displacement of the hip rotation joint space, reduce the torque requirement of the hip lateral swing joint, reduce the rotational inertia of the hip lateral swing joint, reduce the rotational inertia of the humanoid robot's legs, and facilitate the control of the humanoid robot. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the lower limb structure provided in this embodiment; Figure 2 This is an exploded structural diagram of the hip assembly provided in this embodiment; Figure 3 This is a schematic diagram of the hip pitching joint mounting component provided in this embodiment; Figure 4 This is a schematic diagram of the structure of the hip lateral swing joint mounting component and the hip rotation joint mounting component provided in this embodiment; Figure 5 for Figure 4 Exploded view of the corresponding structure.

[0018] Icons: 100-Lower limb structure; 10-Hip assembly; 11-Hip pitch joint mount; 111-Top plate; 112-Clamp; 113-Inertial measurement unit; 115-Reinforcement; 116-Front cover; 117-Rear cover; 12-Hip pitch joint; 13-Hip lateral swing joint mount; 131-Side plate; 132-Connecting plate; 14-Hip lateral swing joint; 15-Hip rotation joint mount; 151-First cylinder; 152-Second cylinder; 16-Connector; 17-Hip rotation joint; 20-Thigh assembly; 30-Lower leg assembly. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0020] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0021] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0022] In the description of this utility model, it should be noted that if terms such as "upper," "lower," "inner," or "outer" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the utility model product is usually placed during use, they are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0023] Furthermore, the terms "first" and "second" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0024] It should be noted that, where there is no conflict, the features in the embodiments of this utility model can be combined with each other.

[0025] The following detailed description of the overall structure, working principle, and technical effects of the lower limb structure provided by this utility model, through embodiments and in conjunction with the accompanying drawings, is a practical example.

[0026] Please refer to Figure 1 and Figure 2 This embodiment provides a lower limb structure 100, which includes a hip assembly 10, a thigh assembly 20, and a lower leg assembly 30. The top of the lower leg assembly 30 is rotatably connected to the bottom of the thigh assembly 20. The hip assembly 10 is driven to the top of the thigh assembly 20 to drive the thigh assembly 20 to perform pitching, lateral, and circumferential movements.

[0027] Specifically, the hip assembly 10 includes a hip pitching joint 12, a hip lateral swing joint 14, and a hip rotation joint 17 connected in sequence. The output axis directions of the hip pitching joint 12, the hip lateral swing joint 14, and the hip rotation joint 17 are perpendicular to each other. The hip pitching joint 12 drives the thigh assembly 20 to achieve pitching motion, i.e., rotating the thigh assembly 20 forward or backward. The hip lateral swing joint 14 drives the thigh assembly 20 to achieve lateral swinging motion, i.e., rotating left or right to achieve lateral leg raising or retraction. The hip rotation joint 17 drives the thigh assembly 20 to achieve rotational motion, i.e., causing the thigh assembly 20 to twist along its axis.

[0028] In this embodiment, the hip lateral swing joint 14 and the hip rotation joint 17 are arranged sequentially along the output axis of the hip lateral swing joint 14. This arrangement of the hip lateral swing joint 14 and the hip rotation joint 17 in a front-to-back configuration means that during the lateral swing motion of the robot's legs driven by the hip lateral swing joint 14, the hip rotation joint 17 only rotates. Compared to the traditional vertical arrangement of the hip lateral swing joint 14 and the hip rotation joint 17, this arrangement reduces the spatial displacement of the hip rotation joint 17, reduces the torque requirement of the hip lateral swing joint 14, reduces the rotational inertia of the hip lateral swing joint 14, and reduces the rotational inertia of the humanoid robot's legs, thus facilitating the control of the humanoid robot.

[0029] It should be noted that the hip lateral swing joint 14 and the hip rotation joint 17 are arranged in a front-to-back configuration. This front-to-back arrangement means that when the lower limb structure 100 is standing upright, the hip lateral swing joint 14 and the hip rotation joint 17 are positioned in a front-to-back configuration. When the hip flexion-extension joint 12 drives the thigh assembly 20 to rotate forward or backward, the hip lateral swing joint 14 and the hip rotation joint 17 rotate, and are located at different heights.

[0030] Specifically, the hip assembly 10 also includes a hip pitching joint mount 11, a hip lateral swing joint mount 13, and a hip rotation joint mount 15, wherein: A hip pitch joint mount 11 is provided with a hip pitch joint 12. The output end of the hip pitch joint 12 is connected to a hip lateral swing joint mount 13, which drives the hip lateral swing joint mount 13 to rotate relative to the hip pitch joint mount 11. A hip lateral swing joint 14 is provided on the hip lateral swing joint mount 13. The output end of the hip lateral swing joint 14 is connected to a hip rotation joint mount 15, which drives the hip rotation joint mount 15 to rotate relative to the hip lateral swing joint mount 13. A hip rotation joint 17 is provided on the hip rotation joint mount 15. The output end of the hip rotation joint 17 is connected to the thigh assembly 20 and drives the thigh assembly 20 to rotate relative to the hip rotation joint mount 15.

[0031] In this embodiment, the hip pitch joint 12, hip lateral swing joint 14, and hip rotation joint 17 are all motors. By setting the hip pitch joint mounting component 11, the hip lateral swing joint mounting component 13, and the hip rotation joint mounting component 15, the above three joints are installed, fixed, and connected in series to drive the thigh assembly 20 to achieve pitch, lateral swing, and rotation movements.

[0032] Understandably, the aforementioned hip pitch joint mount 11 has two opposing sides, each with a hip swing joint mount 13. The hip pitch joint 12 drives the hip swing joint mount 13 to rotate, enabling the entire thigh assembly 20 and lower leg assembly 30 to rotate relative to the hip pitch joint mount 11 around the X-axis, thus achieving rotation of the robot leg along the pitch angle. The hip swing joint 14 is mounted on one side of the hip swing joint mount 13 and is driven to connect with the hip rotation joint 17. The hip swing joint 14 drives the hip rotation joint mount 15 to rotate relative to the hip swing joint mount 13 around the Y-axis, thus achieving rotation of the robot leg along the roll angle. The hip rotation joint mount 15 contains the hip rotation joint 17. The hip rotation joint 17 is driven to connect with the thigh assembly 20 below, driving the thigh assembly 20 to rotate relative to the hip rotation joint mount 15 around the Z-axis, thus achieving yaw rotation of the robot leg. In this embodiment, three drive components are connected in series to drive the robot's legs to rotate along three degrees of freedom. It has the size proportion of an adult's lower limb and a relatively large range of motion of the joints, enabling it to perform complex whole-body movements and realize key functions for the industrialization of humanoid robots such as falling and getting up.

[0033] Specifically, in this embodiment, the rotation angle range of the hip pitch joint 12 driving the hip lateral swing joint mount 13 relative to the hip pitch joint mount 11 is -180° to 180°. It can be understood that a negative angle means the hip pitch joint 12 drives the robot leg to rotate backward, and a positive angle means the hip pitch joint 12 drives the robot leg to rotate forward.

[0034] In this embodiment, the hip swing joint 14 drives the hip rotation joint mount 15 to rotate relative to the hip swing joint mount 13 within a range of -30° to 150°. It can be understood that a negative angle means the hip swing joint 14 drives the robot legs to rotate inwards towards the inside of the legs, and a positive angle means the hip swing joint 14 drives the robot legs to rotate outwards towards the outside of the legs.

[0035] In this embodiment, the rotation angle range of the hip rotation joint 17 driving the thigh assembly 20 is -90° to 260°. It can be understood that a negative angle means that the hip rotation joint 17 drives the thigh assembly 20 to twist inward, and a positive angle means that the hip rotation joint 17 drives the thigh assembly 20 to twist outward.

[0036] This embodiment features hip lateral joint mounts 13 on both sides of the hip pitch joint mount 11, a hip pitch joint 12 within the hip pitch joint mount 11, and a hip lateral joint 14 on the hip lateral joint mount 13. These mounts drive the hip rotation joint mount 15 to rotate, ensuring the hip pitch joint 12 and hip lateral joint 14 are at the same height. Compared to the traditional vertical arrangement, this reduces the rotational inertia of the hip lateral joint 14 driving the hip rotation joint mount 15. Furthermore, by sequentially arranging the hip lateral joint 14 and hip rotation joint 17 along the output shaft direction, they are positioned horizontally, further reducing the rotational inertia of the hip lateral joint 14 driving the hip rotation joint mount 15, thereby reducing the torque and volume of the hip rotation joint mount 15. This invention reduces the leg rotational inertia, resulting in improved motion performance of the humanoid robot.

[0037] Specifically, please refer to Figure 2 and Figure 3 The hip pitch joint mount 11 includes a top plate 111 and clamps 112 vertically connected to both ends of the bottom of the top plate 111. Hip pitch joints 12 are fixedly connected to the clamps 112 and located between the clamps 112. A reinforcing member 115 is also connected between the clamps 112. Specifically, in this embodiment, two hip pitch joints 12 are respectively fixedly connected to the clamps 112 at both ends, and the output shafts of the two hip pitch joints 12 face both sides of the hip pitch joint mount 11, so as to drive the hip lateral swing joint mounts 13 at both ends to rotate relative to the hip pitch joint mount 11. It can be understood that by driving the hip lateral swing joint mounts 13 on both sides respectively, different movements and postures of the robot legs on both sides of the hip pitch joint mount 11 can be achieved. By setting the reinforcing member 115, the connection stability of the clamps 112 at both ends is improved, so that the output shaft axes of the two hip pitch joints 12 remain on the same straight line.

[0038] Furthermore, the hip assembly 10 also includes a front cover 116 and a rear cover 117. The front cover 116 and the rear cover 117 are respectively fitted over the front and rear sides of the hip pitch joint mount 11. The front cover 116 and the rear cover 117 are detachably connected to the top plate 111. Specifically, in this embodiment, the tops of the front cover 116 and the rear cover 117 are fitted over the top plate 111 and connected to the top plate 111 by bolts. The bottoms of the front cover 116 and the rear cover 117 are also detachably connected by bolts. By providing the front cover 116 and the rear cover 117, it is easier to conceal the hip pitch joint mount 11 and the hip pitch joint 12, thereby improving the stability of the mechanical structure.

[0039] Furthermore, a connector 16 is also provided on the top plate 111. The connector 16 is used to connect the robot's thoracic or lumbar structure. It is understood that the lower limb structure 100 in this embodiment can support the robot's thoracic or lumbar structure, and the symmetrically arranged leg structure can improve the load-bearing capacity of the hip pitch joint mount 11 on the robot's thoracic or lumbar structure.

[0040] To measure the rotational inertia of the robot's legs, an inertial measurement unit (IMU) 113 is also provided within the hip pitch joint mount 11 in this embodiment. The IMU 113 is mounted on the top plate 111 and located on the side of the top plate 111 facing the rear of the hip assembly 10. The IMU 113 detects the linear acceleration and angular velocity along three axes using accelerometers and gyroscopes, respectively, providing data for attitude calculation and enabling accurate detection of the robot's attitude.

[0041] Specifically, the hip lateral swing joint mount 13 is also rotatably connected to the hip rotation joint mount 15. It is understood that both the hip rotation joint mount 15 and the hip lateral swing joint 14 are mounted on the hip lateral swing joint mount 13. The rotation axes of the hip lateral swing joint mount 13 and the hip rotation joint mount 15 are collinear with the output shaft axis of the hip lateral swing joint 14, so that the thigh assembly 20 is sequentially arranged with the hip rotation joint mount 15 and the hip lateral swing joint mount 13, providing support.

[0042] Please refer to Figure 2 , Figure 4 and Figure 5 Specifically, the hip lateral swing joint mount 13 is a U-shaped frame. The hip lateral swing joint mount 13 includes two parallel, spaced-apart side plates 131 and a connecting plate 132 connecting the side plates 131. The side plates 131, the connecting plate 132, and the other side plate 131 are connected sequentially to form a U-shaped frame. The hip rotation joint mount 15 is located between the two side plates 131 and rotatably connected to the side plates 131. The hip lateral swing joint 14 is mounted on one of the side plates 131. Specifically, the hip lateral swing joint 14 is mounted on the outer side of the side plate 131, i.e., the outer side of the U-shaped frame, and is used to drive the hip rotation joint mount 15 between the two side plates 131 to rotate relative to the hip lateral swing joint mount 13.

[0043] In this embodiment, the hip lateral swing joint 14 and the hip rotation joint 17 are arranged sequentially from the rear to the front of the lower limb structure 100. Specifically, the hip lateral swing joint 14 is mounted on the rear side plate 131. It can be understood that the rear to the front of the lower limb structure 100 refers to the direction of forward movement of the humanoid robot. That is, placing the hip lateral swing joint 14 at the rear of the humanoid robot and the hip rotation joint 17 at the front of the humanoid robot makes the lower limb structure 100 more coordinated as a whole.

[0044] Of course, in other embodiments, the hip lateral swing joint 14 and the hip rotation joint 17 can also be arranged sequentially from front to back along the lower limb structure 100. Specifically, the hip lateral swing joint 14 is mounted on the front side plate 131. It can be understood that arranging the hip lateral swing joint 14 and the hip rotation joint 17 in the front-back direction, that is, setting the hip lateral swing joint 14 and the hip rotation joint 17 to the same height, can reduce the rotational inertia of the hip lateral swing joint 14 driving the hip rotation joint mounting member 15.

[0045] Furthermore, the hip rotation joint mount 15 includes a first cylinder 151 and a second cylinder 152 connected vertically. The first cylinder 151 is located between and rotatably connected to the side plates 131. The hip rotation joint 17 is mounted within the first cylinder 151 and / or the second cylinder 152. The output shaft axis of the hip rotation joint 17 is collinear with the axis of the second cylinder 152.

[0046] Specifically, in this embodiment, the hip rotator joint 17 is installed inside the second cylinder 152, and its output shaft extends out of the second cylinder 152 to connect to the lower thigh assembly 20. Of course, in other embodiments, when the hip rotator joint 17 is installed in the first cylinder 151, its output shaft passes through and extends out of the second cylinder 152 to connect to the lower thigh assembly 20; or, if the hip rotator joint 17 is large, the hip rotator joint 17 can be located in both the first cylinder 151 and the second cylinder 152.

[0047] Please refer to Figure 1 In this embodiment, the thigh assembly 20 and the lower leg assembly 30 are rotatably connected. A driving member is provided between the thigh assembly 20 and the lower leg assembly 30 to drive the lower leg assembly 30 to rotate relative to the thigh assembly 20. Specifically, the lower leg assembly 30 can rotate about the X-axis relative to the thigh assembly 20, allowing the lower leg assembly 30 to rotate forward or backward relative to the thigh assembly 20.

[0048] Specifically, in this embodiment, the rotation angle range of the lower leg assembly 30 relative to the thigh assembly 20 is -5° to 145°. It can be understood that a negative angle means that the lower leg assembly 30 rotates forward relative to the thigh assembly 20, and a positive angle means that the lower leg assembly 30 rotates backward relative to the thigh assembly 20.

[0049] Furthermore, in order to limit the rotation range of the robot's legs, in this embodiment, limiters are provided between the hip pitch joint mount 11 and the hip lateral swing joint mount 13, between the hip lateral swing joint mount 13 and the hip rotation joint mount 15, and between the hip rotation joint mount 15 and the thigh assembly 20.

[0050] Specifically, the limiting member can be configured as a limiting block and a limiting baffle. For example, limiting blocks and limiting baffles are respectively provided on two mutually rotating parts to limit the rotation range of the rotating parts. In other embodiments, the limiting member can be configured as other structures, such as a slider and a groove. This utility model does not limit the specific structure of the limiting member.

[0051] In another aspect, this utility model provides a humanoid robot, which includes the aforementioned lower limb structure 100. Since the specific structure and technical effects of the lower limb structure 100 have been described in detail above, they will not be repeated here.

[0052] The beneficial effects of the hip assembly 10, lower limb structure 100, and humanoid robot provided in this embodiment of the invention include: The hip assembly 10 provided by this utility model arranges the hip lateral swing joint 14 and the hip rotation joint 17 sequentially along the output axis of the hip lateral swing joint 14, so that the hip lateral swing joint 14 and the hip rotation joint 17 are arranged in a front-to-back configuration. During the process of the hip lateral swing joint 14 driving the robot's leg to swing sideways, the hip rotation joint 17 only rotates. Compared with the traditional vertical arrangement of the hip lateral swing joint 14 and the hip rotation joint 17, it can reduce the spatial displacement of the hip rotation joint 17, reduce the torque requirement of the hip lateral swing joint 14, reduce the rotational inertia of the hip lateral swing joint 14, and reduce the rotational inertia of the humanoid robot's legs, making it easier to control the humanoid robot.

[0053] The above description is only a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model.

Claims

1. A hip assembly characterized by, It includes a hip pitching joint, a hip lateral swing joint, and a hip rotation joint connected in sequence. The output axis directions of the hip pitching joint, the hip lateral swing joint, and the hip rotation joint are perpendicular to each other. The hip lateral swing joint and the hip rotation joint are arranged in sequence along the output axis direction of the hip lateral swing joint.

2. The hip assembly of claim 1, wherein, It also includes hip flexion joint mounts, hip lateral swing joint mounts, and hip rotation joint mounts, among which: The hip pitch joint mounting component is provided with the hip pitch joint, and the output end of the hip pitch joint is connected to the hip lateral swing joint mounting component for driving the hip lateral swing joint mounting component to rotate relative to the hip pitch joint mounting component. The hip lateral swing joint mounting component is provided with the hip lateral swing joint, and the output end of the hip lateral swing joint is connected to the hip rotation joint mounting component for driving the hip rotation joint mounting component to rotate relative to the hip lateral swing joint mounting component. The hip rotation joint is provided on the hip rotation joint mounting component, and the output end of the hip rotation joint is used to connect to the thigh assembly and drive the thigh assembly to rotate relative to the hip rotation joint mounting component.

3. The hip assembly according to claim 1, characterized in that, The hip lateral swing joint and the hip rotation joint are arranged sequentially from the rear to the front of the hip assembly along the output axis direction of the hip lateral swing joint; the hip pitch joint and the hip rotation joint are arranged sequentially from the inside to the outside of the hip assembly along the output axis direction of the hip pitch joint.

4. The hip assembly of claim 2, wherein, The hip flexion joint mounting component includes a top plate and clamps vertically connected to both ends of the bottom of the top plate. The hip flexion joint is fixedly connected to the clamps and located between the clamps. A reinforcing member is also connected between the clamps.

5. The hip assembly of claim 4, wherein, The hip pitch joint mounting component is also provided with an inertial measurement unit, which is disposed on the top plate and located on the side of the top plate facing the rear of the hip assembly.

6. The hip assembly of claim 2, wherein, The hip lateral swing joint mount is also rotatably connected to the hip rotation joint mount.

7. The hip assembly of claim 6, wherein, The hip lateral swing joint mounting component includes two parallel and spaced-apart side plates and a connecting plate connecting the side plates. The hip rotation joint mounting component is located between the two side plates and rotatably connected to the side plates. The hip lateral swing joint is disposed on one of the side plates. The output end of the hip pitch joint is connected to the connecting plate.

8. The hip assembly of claim 7, wherein, The hip rotation joint mounting component includes a first cylinder and a second cylinder connected vertically. The first cylinder is located between the two side plates and is rotatably connected to the side plates. The hip rotation joint is mounted in the first cylinder and / or the second cylinder. The output shaft axis of the hip rotation joint is collinear with the axis of the second cylinder.

9. A lower extremity structure, characterized by, Includes the hip assembly as described in any one of claims 1-8.

10. A humanoid robot, characterized by, Includes the lower limb structure as described in claim 9.

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