A humanoid robot hip mechanism

Abstract

The application relates to the technical field of humanoid robots. A crotch mechanism of a humanoid robot comprises a waist yaw driving executor, a waist yaw fixing frame provided with the waist yaw driving executor, a left crotch pitch driving executor, a left crotch fixing frame provided with the left crotch pitch driving executor, a right crotch pitch driving executor and a right crotch fixing frame provided with the right crotch pitch driving executor. The left crotch fixing frame and the right crotch fixing frame are combined to form a containing structure at the top, and the containing structure is connected with the waist yaw fixing frame. Through the above structure, the left and right crotch fixing frames are combined to form a top containing structure and are directly connected with the waist yaw fixing frame, thereby constructing a highly integrated and integrated frame, and fundamentally solving the problem of low humanization degree caused by the exposure of the driving executor and the conspicuous outline in the background art.

Description

Technical Field

[0001] This application relates to the field of humanoid robot technology, and more specifically, to a humanoid robot hip mechanism. Background Technology

[0002] The hip joint, as the core force transmission hub connecting the torso and lower limbs, directly determines the robot's dynamic stability, environmental adaptability, and energy efficiency. The hip joint bears over 80% of the dynamic load, efficiently transferring torso momentum to the lower limbs. Insufficient hip joint stiffness can lead to imbalance. Walking energy consumption accounts for over 60% of the robot's total power consumption, and the efficiency of the hip joint drive chain (e.g., transmission backlash > 0.1°) directly affects torque loss; inefficient design can result in energy consumption up to three times higher than that of a biological hip joint.

[0003] The drive sequence of the hip's three degrees of freedom (Yaw (rotation around the Z-axis) / Roll (rotation around the Y-axis) / Pitch (rotation around the X-axis)) directly affects motion performance. Although the traditional yaw-priority (Yaw→Roll→Pitch) can center the yaw axis and reduce rotational inertia, increasing roll response speed by 30%, the pitch axis is far from the center of the hip joint, and the high torque demand (>250Nm) forces the motor to expand radially, compressing the thigh space.

[0004] The hip structure consists of a hip motor mounting bracket, a waist motor mounting bracket, mounting bracket connectors, and mounting bracket connectors. The hip motor is mounted on the mounting bracket, the waist motor mounting bracket connects the hip motor mounting bracket, and the mounting bracket connectors then connect the hip motor mounting bracket to form a slanted hip structure. The hip motor mounting bracket is then connected to the mounting bracket with the mounting bracket connectors.

[0005] The aforementioned structure employs a multi-component snap-fit ​​integrated design, which, while compressing axial space, places extremely high demands on the machining tolerances of the parts. In actual production, if part deformation or assembly deviation exceeds 0.1mm, it can lead to joint movement stagnation or stress concentration, significantly reducing reliability. Furthermore, the compact layout sacrifices heat dissipation capacity. Summary of the Invention

[0006] The main purpose of this application is to provide a humanoid robot hip mechanism to solve the problem of low anthropomorphism in existing technologies.

[0007] To achieve the above objectives, a humanoid robot hip mechanism according to this application includes: Waist yaw drive actuator; A waist yaw fixing frame, on which the waist yaw drive actuator is mounted; Left hip pitch drive actuator; A left hip fixation bracket is provided, on which a left hip pitch drive actuator is installed; Right hip pitch drive actuator; A right hip fixation bracket is mounted on which a right hip pitch drive actuator is installed; wherein... The left hip fixation bracket and the right hip fixation bracket are combined to form a receiving structure at the top, and the receiving structure is connected to the waist yaw fixation bracket.

[0008] In some possible implementations, the top sidewalls of the left hip bracket and the right hip bracket are respectively opened to form a left wiring groove and a right wiring groove.

[0009] In some feasible embodiments, grooves are respectively provided on the bottom wall between the opening on the side wall of the left hip fixing bracket and the opening on the top side wall of the right hip fixing bracket; wherein, after the left hip fixing bracket and the right hip fixing bracket are combined, the grooves of the left hip fixing bracket and the right hip fixing bracket can communicate to form a left and right wiring channel.

[0010] In some possible implementation methods, the side wall opening of the left hip fixation bracket and the inner wall below the top side wall opening of the right hip fixation bracket are recessed inward, so that after the left hip fixation bracket and the right hip fixation bracket are combined, the side wall opening of the left hip fixation bracket and the corresponding recess and groove, together with the top side wall opening of the right hip fixation bracket and the corresponding recess and groove, form a left and right wiring channel.

[0011] In some feasible methods, notches are provided on the top adjacent sides of the left hip fixing bracket and the right hip fixing bracket, so that the notches of the left hip fixing bracket and the right hip fixing bracket respectively form front and rear cable routing grooves. When the notches of the left hip fixing bracket and the right hip fixing bracket are combined, a front and rear cable routing channel is formed.

[0012] In some feasible methods, when the left hip fixation bracket and the right hip fixation bracket are combined, the side wall opening of the left hip fixation bracket and the corresponding recess and groove, together with the top side wall opening of the right hip fixation bracket and the corresponding recess and groove, form a left and right wiring channel, and the left and right wiring channel is connected to the front and rear wiring channel at the center position.

[0013] In some possible implementations, the left hip fixation bracket and the right hip fixation bracket are fixed to the waist yaw fixation bracket by fixing pins.

[0014] In some possible implementations, the left hip fixation bracket and the right hip fixation bracket are fixed by fixing pins.

[0015] Some possible implementations also include a gyroscope, with the bottom of the left hip mount and the right hip mount having mount grooves, and the gyroscope placed within the mount grooves.

[0016] Some possible implementations also include a gyroscope bracket connected to the edge of the mounting bracket groove to secure the gyroscope within the mounting bracket groove.

[0017] The technical solutions provided by the embodiments of this application may include the following beneficial effects: This application discloses a hip mechanism for a humanoid robot, including a waist yaw drive actuator; a waist yaw fixing frame on which the waist yaw drive actuator is mounted; a left hip pitch drive actuator; a left hip fixing frame on which the left hip pitch drive actuator is mounted; a right hip pitch drive actuator; and a right hip fixing frame on which the right hip pitch drive actuator is mounted. The left and right hip fixing frames are combined to form a top receiving structure, which is connected to the waist yaw fixing frame. Through this structure, the left and right hip fixing frames are combined to form a top receiving structure and directly connected to the waist yaw fixing frame, constructing a highly integrated framework. This fundamentally solves the problem of low anthropomorphism caused by exposed and abruptly contoured drive actuators in the prior art. Attached Figure Description

[0018] The accompanying drawings, which form part of this application, are used to provide a further understanding of the application and to make other features, objects, and advantages of the application more apparent. The illustrative embodiments and descriptions of this application are used to explain the application and do not constitute an undue limitation of the application. In the drawings: Figure 1 This application provides a structural schematic diagram of a humanoid robot's hip mechanism; Figure 2 for Figure 1 Exploded view of the hip structure; Figure 3 for Figure 1 A cross-sectional view taken along the mating surfaces of the left and right hip fixation frames.

[0019] Figure label: 1. Waist yaw drive actuator; 2. Waist yaw mounting bracket; 3. Fixing pin; 4. Left hip mounting bracket; 5. Left hip pitch drive actuator; 6. Gyroscope; 7. Gyroscope bracket; 8. Right hip mounting bracket; 9. Right hip pitch drive actuator; 10. Front and rear cable routing channels; 11. Opening; 12. Left and right cable routing channels. Detailed Implementation

[0020] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0021] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0022] In this application, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0023] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0024] Furthermore, the terms "installation," "setup," "equipped with," "connection," "linked," and "socketing" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0025] like Figures 1 to 3As shown, this application provides a humanoid robot hip mechanism including a waist yaw drive actuator 1, a waist yaw fixing frame 2, a left hip pitch drive actuator 5, a left hip fixing frame 4, a right hip pitch drive actuator 9, and a right hip fixing frame 8.

[0026] Among them, the waist yaw drive actuator 1, the left hip pitch drive actuator 5, and the right hip pitch drive actuator 9 are conventional drive actuators used on robots. This application does not adjust or limit the specific structure of the drive actuators.

[0027] Furthermore, the waist yaw fixing frame 2 is provided with the waist yaw drive actuator 1; the left hip fixing frame 4 is provided with the left hip pitch drive actuator 5; and the right hip fixing frame 8 is provided with the right hip pitch drive actuator 9.

[0028] The left hip fixation bracket 4 and the right hip fixation bracket 8 are combined to form a receiving structure at the top, and the receiving structure is connected to the waist yaw fixation bracket 2.

[0029] In one embodiment, the top side vertical walls of the left hip fixing bracket 4 and the right hip fixing bracket 8 are respectively opened with openings 11 to form a left wiring groove and a right wiring groove.

[0030] It should be noted that grooves are respectively provided on the bottom wall between the side wall opening 11 of the left hip fixing bracket 4 and the top side wall opening 11 of the right hip fixing bracket 8; wherein, after the left hip fixing bracket 4 and the right hip fixing bracket 8 are combined, the groove of the left hip fixing bracket 4 and the groove of the right hip fixing bracket 8 can communicate to form a left and right wiring channel 12.

[0031] It should also be noted that the side wall opening 11 of the left hip fixing bracket 4 and the side wall below the top side wall opening 11 of the right hip fixing bracket 8 are recessed inward, so that after the left hip fixing bracket 4 and the right hip fixing bracket 8 are combined, the side wall opening 11 of the left hip fixing bracket 4 and the corresponding recess and groove, together with the top side wall opening 11 of the right hip fixing bracket 8 and the corresponding recess and groove, form a left and right wiring channel 12.

[0032] Furthermore, openings 11 were machined on the top sidewalls of the left hip fixation bracket 4 and the right hip fixation bracket 8, respectively. The purpose of this action is to provide channels and outlets for the wire harness to be led out from the receiving structure of the central cavity of the hip towards the left and right legs, respectively.

[0033] Both the left hip bracket 4 and the right hip bracket 8 have semi-circular sidewalls. When the left hip bracket 4 and the right hip bracket 8 are combined, they form a circular receiving structure (the circle only has a partial notch at the joint position on both sides, which is reserved for the front and rear cable routing channel 10). To facilitate cable routing, grooves are provided on the top and bottom walls of the left hip bracket 4 and the right hip bracket 8. Thus, when the left hip bracket 4 and the right hip bracket 8 are combined, the grooves on both sides are connected. Further optimization involves an inward recess on the inner wall below the sidewall opening 11, which can be understood as thinning or repositioning. This design increases the effective space for cable routing, reduces compression, and also forms a smooth transition surface, better guiding the cable routing from the vertical direction to the horizontal direction. Finally, when the left hip bracket 4 and the right hip bracket 8 are combined, these recesses and the aforementioned grooves together form a more optimized and smoother left and right cable routing channel 12 from the internal cavity to the lateral outlet.

[0034] In one embodiment, the top adjacent sides of the left hip fixing bracket 4 and the right hip fixing bracket 8 are respectively provided with notches, so that the notches of the left hip fixing bracket 4 and the right hip fixing bracket 8 respectively form front and rear wiring grooves. When the notches of the left hip fixing bracket 4 and the right hip fixing bracket 8 are combined, a front and rear wiring channel 10 is formed.

[0035] When the left hip fixing bracket 4 and the right hip fixing bracket 8 are combined, the side wall opening 11 of the left hip fixing bracket 4 and the corresponding recess and groove, combined with the top side wall opening 11 of the right hip fixing bracket 8 and the corresponding recess and groove, form the left and right wiring channel 12. The left and right wiring channel 12 is connected to the front and rear wiring channel 10 at the center position.

[0036] It should be noted that a notch is machined on the adjacent top edges of the left hip fixation frame 4 and the right hip fixation frame 8. The cross-section of this notch can be designed with a certain curvature to better support and guide the wire harness. When the left hip fixation frame 4 and the right hip fixation frame 8 are combined, their respective notches will align to form a complete front-to-back wiring channel 10 that runs along the front-to-back direction of the body. This front-to-back wiring channel 10 serves as the entrance to the wire harness system. Its function is to accommodate all wire harnesses coming down from the robot's waist and torso, and to guide them in an orderly manner into the central cavity formed by the left hip fixation frame 4, the right hip fixation frame 8, and the waist yaw fixation frame 2.

[0037] It should also be noted that in the three-dimensional intersection of the front-to-back wiring channel 10 and the left-to-right wiring channel 12, the left-to-right wiring channel 12 is a sideways channel formed by the grooves and inner wall recesses on the left hip fixing bracket 4 and the right hip fixing bracket 8, as well as the opening 11. When the left hip fixing bracket 4 and the right hip fixing bracket 8 are combined, the front-to-back wiring channel 10 in the front-to-back direction and the left-to-right wiring channel 12 in the left-to-right direction are connected in the geometric center area of ​​the structure, forming a cross-shaped wiring hub.

[0038] For example, all wiring harnesses first enter the central cavity through the "front and rear wiring channels 10". Within this cavity, the wiring harnesses are branched according to their functional destinations—harnesses that need to connect to the left hip pitch actuator 5 and the right hip pitch actuator 9 are directly connected here; while harnesses that need to continue downwards to the left and right legs are smoothly diverted through hubs into the corresponding "left and right wiring channels 12", ultimately being led to the thighs. This design ensures that the wiring is protected throughout the entire process, improving the system's reliability and anthropomorphism.

[0039] In one embodiment, the left hip fixation bracket 4 and the right hip fixation bracket 8 are fixed to the waist yaw fixation bracket 2 by fixing pins 3. The left hip fixation bracket 4 and the right hip fixation bracket 8 are fixed by fixing pins 3.

[0040] It should be noted that the fixing pin 3 ensures high rigidity and reliability of the entire hip mechanism, as well as ease of assembly. During assembly, the fixing pin 3 is first inserted into the pin holes pre-machined on the waist yaw fixing frame 2, the left hip fixing frame 4, and the right hip fixing frame 8. This enhanced structural stability allows the frame composed of these three main fixing frames to transfer loads as a robust whole. In other words, when the left hip fixing frame 4 and the right hip fixing frame 8 are connected not only to the waist yaw fixing frame 2 via the fixing pin 3, but also to each other via the fixing pin 3 and the lower screw, they together form a highly rigid, closed frame structure. This provides a stable spatial foundation for internal wiring and heat dissipation, comprehensively improving the robot's performance.

[0041] In one embodiment, a humanoid robot hip mechanism further includes a gyroscope 6, and the bottom of the left hip bracket 4 and the right hip bracket 8 have bracket grooves, with the gyroscope 6 placed in the bracket grooves.

[0042] Furthermore, a humanoid robot hip mechanism also includes a gyroscope bracket 7, which is connected to the edge of the mounting bracket groove so as to fix the gyroscope 6 in the mounting bracket groove.

[0043] It should be noted that after the left hip mount 4 and the right hip mount 8 are combined, a uniform mounting groove is formed at their bottom. The mounting groove matches the outer contour of the gyroscope 6, ensuring that the gyroscope 6 can be stably embedded therein. The inner wall of the mounting groove plays a crucial positioning role, which can restrict the movement of the gyroscope 6 in the horizontal plane (XY direction).

[0044] It should also be noted that the gyroscope bracket 7 is connected to the threaded holes pre-drilled on the edge of the mounting bracket groove via screws. After the gyroscope 6 is placed in the groove, the gyroscope bracket 7 is placed on top and tightened with screws, thus reliably pressing the gyroscope 6 into the groove from below. This method achieves constraint on the gyroscope 6 in the vertical direction (Z-axis), greatly simplifying the maintenance process: only a few screws need to be unscrewed to remove the gyroscope bracket 7 and replace or maintain the gyroscope 6, solving the problem of inconvenient quick removal and protection of the gyroscope 6.

[0045] Example A humanoid robot hip mechanism consists of three degrees of freedom: a lumbar yaw joint and two hip pitch joints; it comprises nine components: a lumbar yaw drive actuator 1, a lumbar yaw fixing frame 2, a left hip pitch drive actuator 5, a left hip fixing frame 4, a right hip pitch drive actuator 9, a right hip fixing frame 8, a fixing pin 3, a gyroscope 6, and a gyroscope bracket 7.

[0046] The waist yaw mounting bracket 2 is mounted on the back plate of the waist yaw drive actuator 1. The left hip pitch drive actuator 5 is mounted on the left hip mounting bracket 4, and the right hip pitch drive actuator 9 is mounted on the right hip mounting bracket 8. The left hip mounting bracket 4 and the right hip mounting bracket 8 are provided with pin holes, and the waist yaw mounting bracket 2 is provided with four pin holes. The left hip mounting bracket 4 and the right hip mounting bracket 8 are connected to the fixing pins 3 through the pin holes. The other end of the fixing pins 3 is connected to the waist yaw mounting bracket 2. Then, the left hip mounting bracket 4 and the waist yaw mounting bracket 2 are connected with screws, and the right hip mounting bracket 8 and the waist yaw mounting bracket 2 are also connected with screws. The lower ends of the left hip mounting bracket 4 and the right hip mounting bracket 8 are also connected with screws. The gyroscope 6 is mounted above the gyroscope bracket 7, and the gyroscope bracket 7 is mounted below the left hip mounting bracket 4 and the right hip mounting bracket 8. The left hip mounting bracket 4 is provided with front and rear cable routing channels and a left side cable routing channel, and the right hip mounting bracket 8 is provided with front and rear cable routing channels and a right side cable routing channel. The cable harness enters the cavity formed by the left hip mounting bracket 4, the right hip mounting bracket 8, and the waist yaw mounting bracket 2 from the waist and body through the rear cable routing channel. Part of the cable is connected to the left hip drive actuator 5 and the right hip drive actuator 9, and the other part goes from the left cable routing channel to the left leg and from the right cable routing channel to the right leg. The mechanism is as follows: the waist yaw joint is directly driven and controlled by the waist yaw drive actuator 1, and the hip pitch joint is directly driven and controlled by the left hip pitch drive actuator 5 and the right hip pitch drive actuator 9. The hip pitch axis is perpendicular to the waist yaw axis. It should be noted that, in order to reduce manufacturing costs, the structure with positioning boss grooves on the waist yaw fixing bracket 2, left hip fixing bracket 4, and right hip fixing bracket 8 is replaced with a fixing pin 4 structure.

[0047] It should also be noted that a heat dissipation structure can be installed in the cavity formed by the left hip fixation bracket 4, the right hip fixation bracket 8, and the waist yaw fixation bracket 2.

[0048] In summary, this application provides a humanoid robot hip mechanism, which has the following beneficial effects: 1. For humanoid robots, the structure has a high degree of flexibility; 2. The hip flexion-extension joint has a large range of motion (approximately ±150°); 3. The crotch structure features a cable routing design that conceals the cables, protecting them and increasing the robot's stability; 4. The crotch structure features a concealed design for the gyroscope, protecting it and improving the robot's stability; 5. The hip structure is compact and has a high space utilization rate; 6. Using pins to withstand the force of body impact and torsion results in higher strength.

[0049] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0050] Obviously, those skilled in the art should understand that the various units or steps of this application described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, thereby storing them in a storage device for execution by a computing device, or fabricating them separately as individual integrated circuit modules, or fabricating multiple modules or steps into a single integrated circuit module. Thus, this application is not limited to any particular combination of hardware and software.

[0051] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A hip mechanism for a humanoid robot, characterized in that, include Waist yaw drive actuator; A waist yaw fixing frame, on which the waist yaw drive actuator is mounted; Left hip pitch drive actuator; A left hip fixation bracket is provided, on which a left hip pitch drive actuator is installed; Right hip pitch drive actuator; A right hip fixation bracket is mounted on which a right hip pitch drive actuator is installed; wherein... The left hip fixation bracket and the right hip fixation bracket are combined to form a receiving structure at the top, and the receiving structure is connected to the waist yaw fixation bracket.

2. The humanoid robot hip mechanism as described in claim 1, characterized in that, The top sidewalls of the left hip bracket and the right hip bracket have openings to form a left wiring groove and a right wiring groove, respectively.

3. The humanoid robot hip mechanism as described in claim 2, characterized in that, Grooves are respectively provided on the bottom wall between the opening on the side wall of the left hip fixing bracket and the opening on the top side wall of the right hip fixing bracket; wherein, after the left hip fixing bracket and the right hip fixing bracket are combined, the grooves of the left hip fixing bracket and the right hip fixing bracket can communicate to form a left and right wiring channel.

4. The humanoid robot hip mechanism as described in claim 3, characterized in that, The opening on the side wall of the left hip bracket and the inner wall below the opening on the top side wall of the right hip bracket are recessed inwards, so that when the left hip bracket and the right hip bracket are combined, the opening on the side wall of the left hip bracket and the corresponding recess and groove, together with the opening on the top side wall of the right hip bracket and the corresponding recess and groove, form a left and right wiring channel.

5. The humanoid robot hip mechanism as described in claim 1, characterized in that, The top adjacent sides of the left hip fixing bracket and the right hip fixing bracket are respectively provided with notches, so that the notches of the left hip fixing bracket and the right hip fixing bracket respectively form front and rear cable routing grooves. When the notches of the left hip fixing bracket and the right hip fixing bracket are combined, a front and rear cable routing channel is formed.

6. The humanoid robot hip mechanism as described in claim 5, characterized in that, When the left hip bracket and the right hip bracket are combined, the side wall opening of the left hip bracket and the corresponding recess and groove, together with the top side wall opening of the right hip bracket and the corresponding recess and groove, form a left and right wiring channel, which is connected to the front and rear wiring channel at the center position.

7. The humanoid robot hip mechanism as described in claim 1, characterized in that, The left hip fixation bracket and the right hip fixation bracket are fixed to the waist yaw fixation bracket by fixing pins.

8. The humanoid robot hip mechanism as described in claim 1, characterized in that, The left hip fixation bracket and the right hip fixation bracket are fixed by fixing pins.

9. The humanoid robot hip mechanism as described in any one of claims 1-8, characterized in that, It also includes a gyroscope, and the bottom of the left hip bracket and the right hip bracket have bracket grooves, in which the gyroscope is placed.

10. The humanoid robot hip mechanism as described in claim 9, characterized in that, It also includes a gyroscope bracket, which is connected to the edge of the mounting bracket groove so as to fix the gyroscope in the mounting bracket groove.

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