Robot hip joint, control method, device and robot

Abstract

The present invention provides a robot hip joint, a control method, a device, and a robot, which relate to the technical field of robots. The robot hip joint includes a support assembly, a drive assembly, and an executive assembly. The drive assembly includes a first drive, a second drive, and a third drive. The executive assembly includes a first leg movable member, a second leg movable member, and a waist movable member. The first leg movable member and the second leg movable member are each pivotally connected to the support assembly. The first drive is power-transmittingly connected to the first leg movable member, and the first drive is used to drive the first leg movable member to rotate about a first axis. The second drive is used to drive the second leg movable member to rotate about the first axis. The waist movable member is pivotally connected to the support assembly. The third drive is power-transmittingly connected to the waist movable member, and the third drive is used to drive the waist movable member to rotate about a second axis, the first axis and the second axis being parallel to each other. The structure of the embodiment of the present application is compact and is applicable to scenes such as climbing stairs.

Description

[Technical Field]

[0001] [Cross-reference to related applications] This application claims priority from a Chinese patent application filed on April 26, 2023, bearing application number 202310478135.8 and entitled "Robot hip joint, control method, device and robot," the entire contents of which are incorporated herein by reference.

[0002] The present application relates to the technical field of robots, and in particular to a robotic hip joint, a control method, an apparatus and a robot. [Background technology]

[0003] The hip joint is one of the important parts of the robot leg mechanism, and serves as both the connecting member for the robot's leg components and the supporting member for the robot's upper body. At the same time, it must integrate multiple degrees of freedom of movement. The mechanical and driving efficiencies of the hip joint directly affect the control and energy consumption of the entire robot.

[0004] Most of the hip joints in the related art are humanoid degree of freedom arrangement methods, and are mainly serial or parallel type realization of 2 / 3 degrees of freedom. Summary of the Invention [Problem to be solved by the invention]

[0005] The embodiments of the present application provide a robotic hip joint, a control method, a device, and a robot, which can meet the task requirements of a humanoid hip joint in a usage scenario such as climbing stairs. [Means for solving the problem]

[0006] The technical proposal is as follows:

[0007] According to one aspect, an embodiment of the present application provides a robotic hip joint, the robotic hip joint including a support assembly, a drive assembly, and an execution assembly; the drive assembly includes a first drive, a second drive, and a third drive, and the execution assembly includes a first leg moving member, a second leg moving member, and a waist moving member; the first leg movable member and the second leg movable member are each pivotally connected to the support assembly, the first drive is operatively connected to the first leg movable member, the first drive is used to drive the first leg movable member to rotate about a first axis, and the second drive is used to drive the second leg movable member to rotate about the first axis; the waist movement member is pivotally connected to the support assembly, the third drive is operatively connected to the waist movement member, and the third drive is used to drive the waist movement member to rotate about a second axis; The first axis and the second axis are parallel to each other.

[0008] According to another aspect, embodiments herein provide a robot, the robot including a robotic hip joint as described herein.

[0009] According to another aspect, embodiments herein provide a control method for use in controlling a robotic hip joint as described herein, the control method comprising: determining a motion mode of the robot hip joint; generating a control signal in response to the motion mode; and transmitting the control signal to a drive assembly of the robotic hip joint.

[0010] According to another aspect, embodiments of the present application provide a control device, the control device comprising: a determination module for determining a motion mode of the robot hip joint; a signal generating module for generating a control signal in response to the motion mode; a transmitting module for transmitting the control signal to a drive assembly of the robotic hip joint.

[0011] According to another aspect, an embodiment of the present application provides a computer device, the computer device including a memory and a processor, wherein at least one program code is stored in the memory, and the program code is loaded and executed by the processor to realize the above-described control method.

[0012] According to another aspect, an embodiment of the present application provides a non-volatile computer-readable storage medium having a computer program stored therein, the computer program being executed by a processor to implement the above-described control method.

[0013] According to another aspect, an embodiment of the present application provides a chip, the chip including at least one of a programmable logic circuit and program instructions, the chip being installed in an electronic device that, when executed, is used to realize the above control method.

[0014] According to yet another aspect, an embodiment of the present application provides a computer program product, the computer program product including computer instructions stored in a computer-readable storage medium, wherein a processor realizes the above-described control method by reading and executing the computer instructions from the computer-readable storage medium.

[0015] In the robot hip joint of the embodiment of the present application, the first leg movable member and the second leg movable member can rotate around a first axis by being driven by a first drive and a second drive, respectively, and are used to drive the leg movement of the robot, the rotational freedom of the first leg movable member and the rotational freedom of the second leg movable member are coaxial, and the waist movable member rotates around a second axis by being driven by a third drive, and is used to drive the waist movement of the robot, and the first axis and the second axis are arranged parallel, making the structure more compact and suitable for use in situations such as climbing stairs. [Brief explanation of the drawings]

[0016] [Figure 1] 1 is a structural schematic diagram of a robot hip joint provided by an embodiment of the present application. [Figure 2] FIG. 1 is a front view of the structure of a robot hip joint provided by an embodiment of the present application. [Figure 3] FIG. 1 is a structural schematic diagram of a robotic hip joint provided by another embodiment of the present application. [Figure 4] FIG. 1 is a diagram illustrating the connection state between the hip joint and leg parts of a robot provided by an embodiment of the present application. [Figure 5] FIG. 1 is an exploded view of a robot hip joint structure provided by an embodiment of the present application. [Figure 6] 1 is a structural schematic diagram of a support assembly provided by an embodiment of the present application; [Figure 7] FIG. 2 is an exploded structural view of a support assembly provided by an embodiment of the present application. [Figure 8] FIG. 2 is a structural schematic diagram of another view of a support assembly provided by an embodiment of the present application. [Figure 9] 1 is a flow diagram of a control method provided by an embodiment of the present application; [Figure 10] 1 is a structural schematic diagram of a control device provided by an embodiment of the present application; [Figure 11] FIG. 1 is a block diagram of a computer device provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE INVENTION

[0017] Reference will now be made in detail to illustrative embodiments, examples of which are illustrated in the drawings. When the following description refers to the drawings, like numbers in different drawings refer to the same or similar elements unless otherwise stated. The embodiments described in the following illustrative examples do not represent all embodiments consistent with the embodiments of the present application. On the contrary, they are merely examples of apparatus and methods consistent with some aspects of the embodiments of the present application, as detailed in the appended claims.

[0018] In describing the embodiments of the present application, the orientations or positional relationships indicated by terms such as "center," "longitudinal direction," "lateral direction," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial direction," "radial direction," and "circumferential direction" are orientations or positional relationships shown in FIG. 1 and are intended merely for the convenience of explaining and simplifying the description of the embodiments of the present application. They are not intended to indicate or imply that such devices or elements must have a specific orientation, be configured, or operate in a specific orientation, and therefore should not be understood as limiting the embodiments of the present application.

[0019] Unless otherwise defined, all technical terms used in the examples of this application have the same meaning as commonly understood by those skilled in the art.

[0020] As robots continue to develop and evolve, the types and functions of robots continue to expand, and robots and their leg structures are also evolving toward various types. The degree of freedom arrangement and transmission method of the hip joint of a humanoid cannot be fully adapted to usage scenarios such as climbing stairs.

[0021] Therefore, the embodiments of the present application provide a robot hip joint that can drive the leg and waist movements of a robot, has a more compact structure, and can be used in situations such as climbing stairs.

[0022] The robotic hip joint provided in the embodiments of the present application can be applied to robot scenes in the fields of cloud technology, artificial intelligence, smart transportation, etc., and can be used to realize man-machine interaction through robots and to provide services to people's daily lives.

[0023] Artificial Intelligence (AI) is the theory, methods, technologies, and application systems that use digital computers or machines controlled by digital computers to simulate, extend, and augment human intelligence, sense the environment, acquire knowledge, and use that knowledge to achieve optimal results. In other words, AI is a comprehensive technology of computer science that seeks to grasp the essence of intelligence and produce new smart machines that can respond in a manner similar to human intelligence. AI studies the design principles and implementation methods of various smart machines, endowing them with the capabilities of sensing, reasoning, and decision-making.

[0024] Artificial intelligence technology is a comprehensive field that covers a wide range of fields, including both hardware and software. Fundamental AI technologies generally include sensors, dedicated AI chips, cloud computing, distributed storage, big data processing, pre-trained model technology, operating / interaction systems, mechatronics, and other technologies. Pre-trained models, also known as big models or basic models, can be widely applied to downstream tasks in various directions of AI after fine-tuning. AI software technology has several major directions, mainly computer vision technology, speech processing technology, natural language processing technology, and machine learning / deep learning.

[0025] The Intelligent Traffic System (ITS), which is applied in the field of smart transportation, is also called the Intelligent Transportation System. It effectively and comprehensively applies advanced science and technology (information technology, computer technology, data communication technology, sensor technology, electronic control technology, automatic control theory, operations research, artificial intelligence, etc.) to traffic transportation, service control, and vehicle manufacturing, and strengthens the connection between vehicles, roads, and users, thereby forming a comprehensive transportation system that ensures safety, improves efficiency, improves the environment, and saves energy.

[0026] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the following describes in more detail the embodiments of the embodiments of the present application with reference to the accompanying drawings.

[0027] As shown in FIGS. 1 and 2 combined, this embodiment provides a robotic hip joint, which includes a support assembly 1, a drive assembly 2, and an execution assembly 3.

[0028] The drive assembly 2 includes a first drive 21, a second drive 22, and a third drive 23, and the execution assembly 3 includes a first leg moving member 31, a second leg moving member 32, and a waist moving member 33.

[0029] The first leg movable member 31 and the second leg movable member 32 are each rotatably connected to the support assembly 1, and the first drive 21 is transmission-connected to the first leg movable member 31, and the first drive 21 is used to drive the first leg movable member 31 to rotate around the first axis 001, and the second drive 22 is used to drive the second leg movable member 32 to rotate around the first axis 001.

[0030] The waist movable member 33 is rotatably connected to the support assembly 1, and the third drive 23 is power-transmittingly connected to the waist movable member 33, and the third drive 23 is used to drive the waist movable member 33 to rotate around the second axis 002.

[0031] The first axis 001 and the second axis 002 are parallel to each other.

[0032] In the robot hip joint of this embodiment, the first leg movable member 31 and the second leg movable member 32 can rotate around the first axis 001 by being driven by the first drive 21 and the second drive 22, respectively, thereby driving the movement of the robot's legs. The rotational freedom of the first leg movable member 31 and the rotational freedom of the second leg movable member 32 are installed coaxially. The waist movable member 33 rotates around the second axis 002 by being driven by the third drive 23, thereby driving the movement of the robot's waist. The first axis 001 and the second axis 002 are arranged in parallel, making the structure of the robot hip joint more compact and more suitable for use in situations such as climbing stairs.

[0033] The rotation axes of the first leg movable member 31 and the second leg movable member 32 are installed overlapping, which can improve the structural compactness of the robot hip joint. When the first leg movable member 31 and the second leg movable member 32 rotate, the robot has better balance and flexibility, and also saves layout space for the support assembly 1, reduces the overall size of the support assembly 1, and further contributes to reducing the overall volume of the robot hip joint.

[0034] In this embodiment, the first leg movable member 31, the second leg movable member 32, and the waist movable member 33 each have their own rotational degrees of freedom, and other degrees of freedom can be added according to actual requirements. For example, by adding other rotational degrees of freedom in series and realizing the waist movable member 33 to have a universal subform degree of freedom, the robot hip joint can not only pitch forward and backward, but also swing left and right. For the same reason, by adding a vertical degree of freedom in series above the robot hip joint, the upper body of the robot can have at least three degrees of freedom in the waist movable member 33.

[0035] For example, the first drive 21, the second drive 22 and the third drive 23 are each a motor, driven by electricity, and equipped with a reducer module, which can output a driving force moment that satisfies a specific torque or a specific rotation speed.

[0036] Optionally, the first drive 21 and the second drive 22 have the same rated power, so that the first leg movable member 31 and the second leg movable member 32 have the same dynamic characteristics and can perform independent and coordinated rotational movements, and further drive the entire robot to perform movements such as forward, backward, climbing up and down.

[0037] In some possible implementations, when the robot hip joint of the embodiments of the present application is applied to a robot scene, the second axis 002 is located above the first axis 001 (see the orientation shown in Figure 1), i.e., the waist movable member 33 is located above the first leg movable member 31 or the second leg movable member 32, so that the front-to-rear structure of the robot hip joint is compact, and when the first leg movable member 31 and the second leg movable member 32 are supported below the waist movable member 33, it has a better force-receiving layout, which contributes to improving the force-receiving stability of the robot.

[0038] As shown in combined view in Figure 3, in some embodiments, one of the first leg movable member 31 and the second leg movable member 32 includes a rotating shaft member 311 that is rotatably positioned on the support assembly 1 along a first axis 001, and the axis of the rotating shaft member 311 overlaps with the first axis 001.

[0039] The other of the first leg movable member 31 and the second leg movable member 32 includes an axial sleeve member 321 that is sleeve-mounted on the rotating shaft member 311, the inner surface of the axial sleeve member 321 is connected to the outer surface of the rotating shaft member 311, and the axis of the axial sleeve member 321 overlaps with the rotating shaft member 311 and the first axis 001, so that the rotating shaft member 311 and the axial sleeve member 321 can each rotate around the first axis 001.

[0040] In this embodiment, the first leg movable member 31 and the second leg movable member 32 are rotatably connected to the support assembly 1 along the same axis using a rotating shaft member 311 and a shaft sleeve member 321, where the rotating shaft member 311 is directly rotatably connected to the support assembly 1 and the shaft sleeve member 321 is indirectly rotatably connected to the support assembly 1. When analyzing the connection between the shaft sleeve member 321 and the support assembly 1, the rotating shaft member 311 can be considered as part of the support assembly 1.

[0041] Illustratively, the rotating shaft member 311 is a part of the first leg movable member 31, and the shaft sleeve member 321 is a part of the second leg movable member 32. Alternatively, the rotating shaft member 311 is a part of the second leg movable member 32, and the shaft sleeve member 321 is a part of the first leg movable member 31.

[0042] In some possible implementations, the rotating shaft member 311 and the support assembly 1 are rotatably connected via a bearing member, and the shaft sleeve member 321 and the rotating shaft member 311 are rotatably connected via a bearing member.

[0043] As shown in Figures 2, 3 and 4 combined, in some embodiments, the first leg movable member 31 further includes a first connecting plate 312 connected to the rotating shaft member 311 and rotating together with the rotating shaft member 311 around the first axis 001.

[0044] The second leg movable member 32 further includes a second connecting plate 322 that is connected to the shaft sleeve member 321 and rotates together with the shaft sleeve member 321 about the first axis 001.

[0045] The first connecting plate 312 and the second connecting plate 322 are respectively connected to different leg parts 4 and are respectively used to rotate the different leg parts 4 about the first axis 001 .

[0046] Based on the coaxial rotational connection between the first leg movable member 31 and the second leg movable member 32 using the rotating shaft member 311 and the shaft sleeve member 321, the leg part 4 can be connected to the rotating shaft member 311 using the first connecting plate 312, and when the rotating shaft member 311 rotates around the first axis 001, the leg part 4 can be moved to realize movements such as walking, lifting a leg, etc. The second connecting plate 322 can be connected to the shaft sleeve member 321, and when the shaft sleeve member 321 rotates around the first axis 001, the leg part 4 can be moved to realize movements such as walking, lifting a leg, etc.

[0047] 4, in some possible implementations, the leg part 4 includes a first leg part 41 and a second leg part 42, the first leg part 41 is connected to a first connecting plate 312, and when the rotating shaft member 311 rotates about the first axis 001, the first leg part 41 can be driven to perform movements such as walking, lifting a leg, etc. The second leg part 42 is connected to a second connecting plate 322, and when the shaft sleeve member 321 rotates about the first axis 001, the second leg part 42 can be driven to perform movements such as walking, lifting a leg, etc.

[0048] As shown in FIG. 3, in some embodiments, the rotating shaft member 311 is drivingly connected to the first drive 21 and the shaft sleeve member 321 is drivingly connected to the second drive 22 .

[0049] In this embodiment, the rotating shaft member 311 is power-transmittingly connected to the first drive 21, and the first drive 21 can be used to drive the rotating shaft member 311 to rotate relative to the support assembly 1 about the first axis O01, and the shaft sleeve member 321 is power-transmittingly connected to the second drive 22, and the second drive 22 can be used to drive the shaft sleeve member 321 to rotate relative to at least one of the support assembly 1 and the rotating shaft member 311 about the first axis O01, thereby achieving independent movement of the first leg movable member 31 and the second leg movable member 32. For example, when the first drive 21 and the second drive 22 alternately drive the rotating shaft member 311 and the shaft sleeve member 321, the first leg movable member 31 and the second leg movable member 32 can achieve movements such as alternate footwork and foot lifting.

[0050] As shown in FIG. 5, in some embodiments, the number of first connecting plates 312 is two, the number of shaft sleeve members 321 is two, both ends of the rotating shaft member 311 protrude outside the support assembly 1, the two first connecting plates 312 are located at both ends of the rotating shaft member 311, and the two shaft sleeve members 321 are located near both ends of the rotating shaft member 311.

[0051] The second connecting plates 322 extend along the direction of the first axis 001 and are connected to the two shaft sleeve members 321, respectively.

[0052] By utilizing two first connecting plates 312 arranged at both ends of the rotating shaft member 311, the first leg movable member 31 can connect at least two leg parts 4, and the at least two leg parts 4 are arranged at a distance from each other, contributing to providing stable support to the robot.

[0053] By utilizing two shaft sleeve members 321 arranged near both ends of the rotating shaft member 311, the second leg movable member 32 and the rotating shaft member 311 can be rotatably connected in a stable and reliable manner, and the second connecting plate 322 is connected to the two shaft sleeve members 321 so as to extend along the direction of the first axis 001, ensuring that the second connecting plate 322 can rotate around the first axis 001 in a stable and reliable manner, and further allowing the leg part 4 connected to the second connecting plate 322 to operate in a stable and reliable manner.

[0054] In some possible implementations, referring to FIG. 4, the number of the first leg parts 41 is two, and the two first leg parts 41 are respectively located at both ends of the rotating shaft member 311, and are connected to the rotating shaft member 311 using a first connecting plate 312, so that the rotating shaft member 311 can be driven to rotate by the first drive 21, and the rotating shaft member 311 rotates the first connecting plate 312, and the first connecting plate 312 rotates the first leg part 41 around the first axis 001.

[0055] In some other possible implementations, referring to Figure 4, the number of second leg parts 42 is two, and the two second leg parts 42 are respectively located at both ends of the second connecting plate 322, and the second connecting plate 322 is used to connect with the two shaft sleeve members 321, so that the shaft sleeve members 321 can be driven to rotate by the second drive 22, and the shaft sleeve members 321 rotate the second connecting plate 322, and the second connecting plate 322 rotates the second leg part 42 around the first axis 001.

[0056] For example, the two first leg components 41 and the two second leg components 42 are arranged in the order of first leg component 41-second leg component 42-second leg component 42-first leg component 41 along the direction of the first axis 001, forming a reliable and stable four-legged support structure and realizing stable support of the robot hip joint and the robot.

[0057] When the first drive 21 and the second drive 22 operate alternately, the two outer first leg parts 41 and the two inner second leg parts 42 operate alternately, thereby enabling the robot to move forward, backward, climb, etc.

[0058] Note that another degree-of-freedom drive mechanism may be further installed between the first connecting member and the first leg part 41, for example, to drive the first leg part 41 to rotate on its axis.

[0059] A further degree of freedom drive mechanism may be provided between the second connecting member and the second leg part 42, for example to drive the second leg part 42 to rotate on its own axis.

[0060] In some possible implementations, a structure such as a sheath is installed on the shaft segment of the rotating shaft member 311 that is not covered by the shaft sleeve member 321, which prevents the rotating shaft member 311 from moving axially and provides internal and external protection, thereby improving the operational reliability of the robotic hip joint of this embodiment.

[0061] As shown in FIG. 2, in some embodiments, the first drive 21 and the second drive 22 are located on the support assembly 1 along a third axis 003 that is parallel to the first axis 001, and the third drive 23 is located on the support assembly 1 along the second axis 002.

[0062] Arranging the first drive 21 and the second drive 22 along the third axis 003 parallel to the first axis 001 contributes to improving the structural compactness and balance of the robot hip joint of this embodiment, and the first drive 21 and the second drive 22 transmit power to the rotating shaft member 311 and the shaft sleeve member 321 in a position parallel to the first axis 001, contributing to simplifying the transmission mechanism 5, improving transmission efficiency, and improving the operating reliability of the first leg movable member 31 and the second leg movable member 32.

[0063] The third drive 23 is arranged coaxially with the waist movable member 33, which can improve the compactness of the upper structure of the robot hip joint.

[0064] In some possible implementations, the first drive 21 and the second drive 22 are arranged symmetrically along the central plane of the support assembly 1. The central plane of the support assembly 1 is a plane that is perpendicular to the first axis 001, the second axis 002, and the third axis 003, respectively, and passes through their midpoints, and can be regarded as the plane on which the center of gravity of the robot hip joint structure is located. Arranging the first drive 21 and the second drive 22 symmetrically along this plane can greatly improve the balance of the robot hip joint and improve the working performance of the robot hip joint.

[0065] As shown in FIG. 3, in some embodiments, a transmission mechanism 5 is provided between the first drive 21 and the first leg movable member 31, and a transmission mechanism 5 is provided between the second drive 22 and the second leg movable member 32.

[0066] The transmission mechanism 5 is at least one of a mesh transmission mechanism, a belt transmission mechanism, and a chain transmission mechanism.

[0067] The transmission mechanism 5 can realize power transmission between the first drive 21 and the first leg movable member 31 (e.g., the rotating shaft member 311), and can realize power transmission between the second drive 22 and the second leg movable member 32 (e.g., the shaft sleeve member 321), so that the operations of the two leg movable members are independently driven and independently transmitted, with better reliability and stability.

[0068] 3, in some possible implementations, the output shafts of the first drive 21 and the second drive 22 each face outward from the support assembly 1, i.e., the first drive 21 and the second drive 22 are arranged back to back, with the output shaft of the first drive 21 extending in a direction away from the second drive 22 and the output shaft of the second drive 22 extending in a direction away from the first drive 21. As a result, the output shafts of the first drive 21 and the second drive 22 are located on two opposite sides along the third axis 003 of the support assembly 1, respectively.

[0069] The output shaft of the first drive 21 is power-transmittingly connected to the rotating shaft member 311 on one side of the support assembly 1, and the output shaft of the second drive 22 is power-transmittingly connected to the rotating shaft member 311 on the other side of the support assembly 1. The two sets of transmission mechanisms 5 are located on either side of the support assembly 1, allowing power transmission without interfering with each other, which contributes to simplifying the design and assembly difficulty of the transmission mechanisms 5. In addition, the two sets of transmission mechanisms 5 are located on either side of the support assembly 1, which further contributes to improving the balance of the robot hip joint.

[0070] As shown in Figures 3 and 5 combined, in some embodiments, the transmission mechanism 5 includes a first gear member 51 and a second gear member 52, the first gear member 51 is connected to the output shaft of the first drive 21 or the second drive 22, the second gear member 52 is connected to the first leg movable member 31 and the second leg movable member 32, and the first gear member 51 and the second gear member 52 are connected in mesh with each other.

[0071] By utilizing the meshing connection between the first gear member 51 and the second gear member 52, the transmission connection between the first drive 21 and the rotating shaft member 311 or the shaft sleeve member 321, and the second drive 22 and the rotating shaft member 311 or the shaft sleeve member 321 is realized, which has the advantages of a compact structure, high transmission accuracy and transmission efficiency, and high reliability.

[0072] As shown in FIGS. 6, 7 and 8 taken together, in some embodiments, the support assembly 1 includes a first structural member 11, a second structural member 12 and a third structural member 13.

[0073] The first structural member 11 and the second structural member 12 are arranged at an interval along the axial direction of the first axis 001 or the second axis 002, and are located on both sides of the third structural member 13, respectively.

[0074] A first shaft sleeve portion 111 is provided at a position where the first structural member 11 intersects with the first axis 001, and a second shaft sleeve portion 121 is provided at a position where the second structural member 12 intersects with the first axis 001, and the first shaft sleeve portion 111 and the second shaft sleeve portion 121 are used for pivotal connection to at least one of the first leg movable member 31 and the second leg movable member 32.

[0075] A third axis sleeve portion 112 is provided at the position where the first structural member 11 intersects with the second axis 002, and a fourth axis sleeve portion 122 is provided at the position where the second structural member 12 intersects with the second axis 002, and the third axis sleeve portion 112 and the fourth axis sleeve portion 122 are used for rotational connection to the waist movable member 33.

[0076] For the support assembly 1 in this embodiment, the first structural member 11 and the second structural member 12 are respectively arranged symmetrically on both sides of the third structural member 13, so that the support assembly 1 has better structural balance.

[0077] The first shaft sleeve portion 111 and the second shaft sleeve portion 121 can provide stable and reliable two-point support to at least one of the first leg movable member 31 and the second leg movable member 32, ensuring that the first leg movable member 31 and the second leg movable member 32 can rotate stably and reliably around the first axis 001.

[0078] The third axis sleeve portion 112 and the fourth axis sleeve portion 122 can provide stable and reliable two-point support for the waist movable member 33, ensuring that the waist movable member 33 can rotate stably and reliably around the first axis 001.

[0079] For example, the first shaft sleeve portion 111 and the second shaft sleeve portion 121 are used to support a rotating shaft member 311, the ends of which extend and protrude outside the first shaft sleeve portion 111 and the second shaft sleeve portion 121, respectively. One of the two shaft sleeve members 321 is located outside the first shaft sleeve portion 111, and the other shaft sleeve member 321 is located outside the second shaft sleeve portion 121. After the two shaft sleeve members 321 are connected via the second connecting plate 322, the first shaft sleeve portion 111 and the second shaft sleeve portion 121 provide axial positional limits, ensuring that the second leg movable member 32 does not move axially.

[0080] 5, in some other possible implementations, the second gear, which is a follower in the power transmission mechanism 5, is sleeve-mounted on the inside of one end of the rotating shaft member 311, thereby realizing a power connection between the rotating shaft member 311 and the first drive 21 or the second drive 22. Alternatively, the second gear is located on the axial side of the shaft sleeve member 321, thereby realizing a power connection between the shaft sleeve member 321 and the first drive 21 or the second drive 22.

[0081] In another possible implementation, the first structural member 11, the second structural member 12, and the third structural member 13 are an assembled structure, that is, after the three structural members are manufactured individually, they are detachably or non-detachably connected by welding, fasteners, etc. to form a stable and reliable overall structure. This contributes to reducing the difficulty of processing the support assembly 1, reducing the manufacturing cost of the support assembly 1, reducing the quality of the support assembly 1, and improving the lightness of the robot hip joint.

[0082] As shown in Figures 6 and 7 combined, in some embodiments, a first assembly part 113 is provided at a position where the first structural member 11 intersects with the third axis 003, and a second assembly part 123 is provided at a position where the second structural member 12 intersects with the third axis 003, and the first assembly part 113 is used to connect to the second drive 22, and the second assembly part 123 is used to connect to the first drive 21.

[0083] The first assembly part 113 and the second assembly part 123 allow the first drive 21 and the second drive 22 to be connected to the support assembly 1 in a stable and reliable manner.

[0084] As shown in Figures 6 and 7 combined, in some embodiments, the first shaft sleeve portion 111, the third shaft sleeve portion 112 and the first assembly portion 113 are positioned in a triangular shape on the first structural member 11, and the second shaft sleeve portion 121, the fourth shaft sleeve portion 122 and the second assembly portion 123 are positioned in a triangular shape on the second structural member 12.

[0085] As a result, the support assembly 1 of this embodiment has advantages such as a compact layout, good stability, and high structural strength, and can ensure the reliability of the robot hip joint.

[0086] As shown in Figures 6, 7, and 8 combined, in some embodiments, the third structural member 13 includes at least one frame 131, at least one of which is connected between the first structural member 11 and the second structural member 12, and at least one frame 131 avoids the first axis 001, the second axis 002, and the third axis 003.

[0087] Using at least one frame 131 as the third structural member 13 avoids the first axis 001, the second axis 002 and the third axis 003, and further avoids structures such as the rotating shaft member 311, the waist movable member 33, the drive, etc. arranged along these three axes, thereby contributing to improving the internal space utilization rate of the support assembly 1 and also contributing to reducing the quality of the support assembly 1.

[0088] 6, 7 and 8, in some embodiments, the at least one frame 131 includes an arc-shaped frame 1311 and a column-shaped frame 1312, and the arc-shaped frame 1311 and the column-shaped frame 1312 are respectively connected between the first structural member 11 and the second structural member 12. Note that the arc-shaped frame 1311 is disposed at the edge region of the support assembly 1, and the column-shaped frame 1312 is disposed at the center of the support assembly 1, where the arc-shaped frame 1311 can play a supporting role and can also serve as a separation protection for the internal structure of the support assembly 1, and the column-shaped frame 1312 is disposed inside and provides reliable support along a direction parallel to the first axis 001.

[0089] Illustratively, the columnar frame 1312 includes, but is not limited to, a cylindrical shape, a prism shape, etc. Furthermore, the columnar frame 1312 may have a prism shape, which may be reasonably selected according to the internal space of the support assembly 1, such as a triangular column shape, a quadrangular column shape, etc.

[0090] In some embodiments, the robotic hip joint further includes at least one rotary encoder connected to the first leg moving member 31, the second leg moving member 32, or the waist moving member 33, and used to detect and provide feedback on the rotation angle of the first leg moving member 31, the second leg moving member 32, or the waist moving member 33.

[0091] The rotary encoder can measure the number of rotations of the rotating shaft of the leg movable member, and through photoelectric conversion, can convert mechanical quantities such as the angular displacement and angular velocity of the rotating shaft into corresponding electrical pulses and output them as digital quantities.

[0092] Exemplary rotary encoder outputs include, but are not limited to, voltage outputs, open collector outputs, push-pull complementary outputs, and long wire drive outputs.

[0093] In the robot hip joint of this embodiment, a rotary encoder is installed on the first leg movable member 31, the second leg movable member 32 or the waist movable member 33, and the rotation angle of the first leg movable member 31, the second leg movable member 32 or the waist movable member 33 is detected in real time and fed back, ensuring that the first leg movable member 31, the second leg movable member 32 or the waist movable member 33 of the robot hip joint rotates accurately and reliably to the target position, thereby improving the operating accuracy of the robot hip joint.

[0094] In some embodiments, the robotic hip joint further includes at least one force moment sensor connected to the first leg moving member 31, the second leg moving member 32, or the waist moving member 33, and used to detect and feed back the force moment of the first leg moving member 31, the second leg moving member 32, or the waist moving member 33.

[0095] In the robot hip joint of this embodiment, a force moment sensor is installed on the first leg movable member 31, the second leg movable member 32 or the waist movable member 33, which detects and feeds back the working force moment of the first leg movable member 31, the second leg movable member 32 or the waist movable member 33 in real time, ensuring that the first leg movable member 31, the second leg movable member 32 or the waist movable member 33 of the robot hip joint accurately and reliably outputs the corresponding working force moment, thereby improving the working safety and reliability of the robot hip joint.

[0096] According to another aspect, as shown in conjunction with FIG. 4, the present embodiment provides a robot, which includes the robotic hip joint provided by the embodiment of the present application.

[0097] The robot of this embodiment employs the robot hip joint provided by the embodiment of the present application and has all the beneficial technical effects of all the embodiments of this specification.

[0098] According to another aspect, as shown in combination with FIG. 9, this embodiment provides a control method, which is used to control a robot hip joint such as the embodiment of the present application, and includes steps S1 to S3. Step S1: Determine the motion mode of the robot hip joint.

[0099] The movement modes of the robot hip joint include, but are not limited to, a mode in which the first leg movable member 31 and the second leg movable member 32 are aligned and stand upright, a mode in which the first leg movable member 31 and the second leg movable member 32 are crossed and stand upright, a mode in which the first leg movable member 31 and the second leg movable member 32 march in a crossing gait, and a mode in which the waist movable member 33 performs a pitch movement.

[0100] For example, when the motion mode is a cross-gait marching mode, when a robot using the robot hip joint moves on uneven ground, it can march in a cross-gait manner using the two movable leg members, and the two movable leg members march alternately.

[0101] Step S2: Generate a control signal according to the motion mode.

[0102] In some possible implementations, the control signals include a first control signal corresponding to the first drive 21, a second control signal corresponding to the second drive 22, and a third control signal corresponding to the third drive 23.

[0103] The first control signal is used to control the first drive 21, the second control signal is used to control the second drive 22, and the third control signal is used to control the third drive 23. The first control signal, the second control signal, and the third control signal respectively include, but are not limited to, a rotation angle command, a rotation speed command, and a rotation force moment command, etc.

[0104] Step S3: Send a control signal to the drive assembly 2 of the robot hip joint.

[0105] For example, when the exercise mode is the cross gait marching mode, in the initial state, the first leg movable member 31 and the second leg movable member 32 are crossed or aligned and stand upright, and with the second leg movable member 32 as support, the lower drive plate of the first drive 21 first controls the first drive 21 to rotate in response to the received first control signal, thereby rotating the first leg movable member 31 about the first axis 001, and the first leg movable member 31 moves to the next position. Then, further with the first leg movable member 31 as support, the lower drive plate of the second drive 22 controls the second drive 22 to rotate in response to the received second control signal, thereby rotating the second leg movable member 32 about the first axis 001, and the second leg movable member 32 moves to the next position. The first drive 21 and the second drive 22 alternately receive control signals, and the first leg movable member 31 and the second leg movable member 32 alternately move, thereby enabling the robot using this robot hip joint to march in a cross-legged gait.

[0106] Further, for example, when the motion mode is pitch mode, the lower drive plate of the third drive 23 controls the third drive 23 to rotate in accordance with the received third control signal, thereby rotating the waist movable member 33 around the second axis 002, thereby enabling the robot using the robot hip joint to adjust the pitch angle.

[0107] According to another aspect, as shown in combination with FIG. 10 , this embodiment provides a control device, which is used to control a robotic hip joint such as the embodiment of the present application, and includes a determination module 6 for determining a motion mode of the robotic hip joint, a signal generation module 7 for generating a control signal according to the motion mode, and a transmission module 8 for transmitting the control signal to a drive assembly 2 of the robotic hip joint.

[0108] The control device of this embodiment can generate different control signals according to different motion modes, thereby controlling the drive assembly to work with different control parameters and causing the execution assembly to complete different motions, so that the robot using this robot hip joint can achieve different motions.

[0109] FIG. 11 shows a structural block diagram of a computer device provided by an embodiment of the present application.

[0110] The computing device may be a portable mobile terminal, such as a computing device for controlling a robot hip joint or a robot using the robot hip joint, a smartphone, a tablet computer, an MP3 player (Moving Picture Experts Group Audio Layer III), an MP4 player (Moving Picture Experts Group Audio Layer IV), a laptop computer, or a desktop computer. The computing device may also be referred to as a user device, a portable terminal, a laptop terminal, a desktop terminal, or other names. In an embodiment of the present application, the computing device may be realized as a control device portion of a robot.

[0111] Typically, the computing device includes a processor 901 and a memory 902 .

[0112] The processor 901 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 901 can be implemented using at least one hardware format selected from the group consisting of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 901 may include a main processor and a coprocessor. The main processor is a processor for processing data in a wake state and is also called a CPU (Central Processing Unit), and the coprocessor is a low-power processor for processing data in a standby state.

[0113] The memory 902 may include one or more computer-readable storage media, which may be non-transitory. The memory 902 may further include high-speed random access memory and non-volatile memory, such as one or more magnetic disk storage devices or flash storage devices. In some embodiments, the non-transitory computer-readable storage media in the memory 902 are adapted to store at least one instruction, which is executed by the processor 901 to implement the control method provided by the embodiments of the present application.

[0114] In some embodiments, the computing device further optionally includes a peripheral interface 903 and at least one peripheral device. The processor 901, the memory 902, and the peripheral interface 903 may be connected via a bus or signal lines. Each peripheral device may be connected to the peripheral interface 903 via a bus, signal line, or circuit board. Specifically, the peripheral devices include at least one of a radio frequency circuit 904, a camera assembly 906, an audio circuit 907, a positioning assembly 908, and a power supply 909.

[0115] The peripheral interface 903 may be used to connect at least one peripheral device related to I / O (Input / Output) to the processor 901 and the memory 902. In some embodiments, the processor 901, the memory 902, and the peripheral interface 903 are integrated on the same chip or wiring board, and in some other embodiments, any one or two of the processor 901, the memory 902, and the peripheral interface 903 may be implemented on separate chips or wiring boards, and this embodiment is not limited thereto.

[0116] The radio frequency circuit 904 is used to transmit and receive RF (Radio Frequency) signals, also known as electromagnetic signals. The radio frequency circuit 904 communicates with communication networks and other communication devices via the electromagnetic signals. The radio frequency circuit 904 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals into electrical signals. Optionally, the radio frequency circuit 904 includes an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a CODEC chipset, a user ID module card, etc. The radio frequency circuit 904 can communicate with other terminals via at least one wireless communication protocol, including, but not limited to, at least one of the World Wide Web, a metropolitan area network, an intranet, all-generation mobile communication networks (2G, 3G, 4G, and 5G), a wireless local area network, and a Wi-Fi (Wireless Fidelity) network. In some embodiments, the radio frequency circuitry 904 may further include circuitry related to Near Field Communication (NFC), although embodiments of the present application are not limited in this regard.

[0117] The camera assembly 906 is used to collect images or videos. Optionally, the camera assembly 906 can include a main camera, a depth of field camera, a wide-angle camera, a telephoto camera, etc. to realize visual detection of the external environment, which allows the robot to use computer vision technology for visual detection.

[0118] The audio circuit 907 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment and convert them into electrical signals that are input to the processor 901 for processing or to the radio frequency circuit 904 for voice communication. For the purposes of stereo collection or noise reduction, multiple microphones may be installed at different locations on the computer device. The microphone may also be an array microphone or an omnidirectional collecting microphone. The speaker is used to convert electrical signals from the processor 901 or the radio frequency circuit 904 into sound waves. The speaker may be a conventional film speaker or a piezoelectric ceramic speaker. If the speaker is a piezoelectric ceramic speaker, it can convert electrical signals into sound waves that are audible to humans, as well as into sound waves that are inaudible to humans for purposes such as distance measurement. The positioning assembly 908 is used to determine the current geographic location of the computer device to realize navigation or LBS (Location Based Services). The positioning assembly 908 may be a positioning assembly based on the GPS (Global Positioning System), the Beidou system or the Galileo system.

[0119] A power supply 909 is used to power each assembly of the computer equipment. The power supply 909 may be AC, DC, a disposable battery, or a rechargeable battery. If the power supply 909 includes a rechargeable battery, the rechargeable battery may be a wired or wirelessly rechargeable battery. A wired rechargeable battery is a battery that is recharged through a wired line, and a wirelessly rechargeable battery is a battery that is recharged via a wireless coil. The rechargeable battery may also be used to support fast charging technology.

[0120] In some embodiments, the computing device further includes one or more sensors 910. The one or more sensors 910 include, but are not limited to, an acceleration sensor 911 and a gyro sensor 912.

[0121] The acceleration sensor 911 can detect the magnitude of acceleration in three coordinate axes of a coordinate system established by the computer device. For example, the acceleration sensor 911 may be used to detect components of gravitational acceleration in three coordinate axes. The processor 901 can send control information to the robot and control the movement of the robot in response to the gravitational acceleration signals collected by the acceleration sensor 911.

[0122] The gyro sensor 912 can detect the body orientation and rotation angle of the computer device, and can collect the robot's movements in cooperation with the acceleration sensor 911. The processor 901 can realize the movement sensing function using the data collected by the gyro sensor 912.

[0123] As will be appreciated by those skilled in the art, the structure shown in FIG. 11 is not intended to limit the scope of the present invention and may include more or fewer assemblies than those shown, or may combine some assemblies, or may employ different assemblies in different configurations.

[0124] An embodiment of the present application further provides a computer device including a memory and a processor, wherein the memory stores at least one program code, and the program code is loaded and executed by the processor to realize the above-described mobile robot control method.

[0125] According to one aspect of an embodiment of the present application, the embodiment provides a non-volatile computer-readable storage medium having a computer program stored therein, the computer program being executed by a processor to realize the above-described control method.

[0126] According to one aspect of an embodiment of the present application, the embodiment provides a chip, the chip including at least one of a programmable logic circuit and program instructions, and an electronic device in which the chip is installed is used to realize the above-mentioned control method when executed.

[0127] According to one aspect of an embodiment of the present application, a computer program product is provided, the computer program product including computer instructions stored in a computer-readable storage medium, and a processor realizes the above-described control method by reading and executing the computer instructions from the computer-readable storage medium.

[0128] In addition, as used in this specification, "some" and "at least one" mean one or more, and "multiple" and "at least two" mean two or more.

[0129] In the description of the embodiments of the present application, unless otherwise clearly specified or limited, the terms "attached," "coupled," and "connected" should be interpreted broadly, and may refer to, for example, a fixed connection, a detachable connection, an integral connection, a mechanical connection, a direct connection, an indirect connection via an intermediate medium, an internal communication between two elements, or an interactive relationship between two elements. Those skilled in the art can understand the specific meanings of the above terms in the embodiments of the present application according to specific circumstances.

[0130] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to imply or suggest relative importance or to implicitly designate the number of technical features shown. Thus, a feature qualified as "first" or "second" can explicitly or implicitly include one or more of the feature. In the description of the embodiments herein, unless otherwise clearly and specifically limited, "plurality" means two or more than two.

[0131] In the embodiments of the present application, unless otherwise clearly specified or limited, a first feature being "above" or "below" a second feature may include direct contact between the first and second features, or may include contact between the first and second features through another feature between them without direct contact. Furthermore, a first feature being "above," "upper," and "top" of a second feature may include the first feature being directly above and diagonally above the second feature, or may simply indicate that the first feature is higher in horizontal height than the second feature. A first feature being "below," "below," and "bottom" of a second feature may include the first feature being directly below and diagonally below the second feature, or may simply indicate that the first feature is lower in horizontal height than the second feature.

[0132] In the description herein, the reference to "an embodiment," "one embodiment," "some embodiments," "exemplary embodiments," "examples," "specific examples," or "some examples" means that the particular feature, structure, material, or characteristic described in connection with said embodiment or example is included in at least one embodiment or example of the examples of the present application.

[0133] The above description is merely an example of the present application and is not intended to limit the present application. Any amendments, equivalent replacements, improvements, etc. made within the principles of the present application should be included within the protection scope of the present application. [Explanation of symbols]

[0134] 001...1st axis 002...Second axis 003...Third axis 1. Support assembly 11 First structural member 111 First shaft sleeve 112 Third shaft sleeve part 113...1st assembly section 12 Second structural member 121 Second shaft sleeve part 122 4th shaft sleeve part 123...2nd assembly section 13 Third structural member 131 Frames 1311 Arc-shaped frame 1312 ···Column Frame 2. Drive Assembly 21 1st Drive 22 Second Drive 23 Third Drive 3. Execution Assembly 31 First leg movable member 311 Rotating shaft member 312 First connecting plate 32 Second leg movable member 321 Shaft sleeve member 322 Second connecting plate 33 Waist movable member 4 Leg parts 41 First leg part 42 Second leg part 5 Transmission mechanism 51 First gear member 52 Second gear member 6. Decision Module 7. Signal Generation Module 8. Transmitting module 901 Processor 902 Memory 903 Peripheral Device Interface 904 Radio Frequency Circuit 906 Camera Assembly 907 Audio Circuit 908 Positioning assembly 909...Power supply 910 ···Sensor 911 Acceleration Sensor 912 ···Gyro sensor.

Claims

1. A robotic hip joint, comprising: a support assembly (1), a drive assembly (2), and an execution assembly (3); The drive assembly (2) includes a first drive (21), a second drive (22), and a third drive (23), and the execution assembly (3) includes a first leg moving member (31), a second leg moving member (32), and a waist moving member (33); The first leg movable member (31) and the second leg movable member (32) are each pivotally connected to the support assembly (1), the first drive (21) is power-transmittingly connected to the first leg movable member (31), the first drive (21) is used to drive the first leg movable member (31) to rotate about a first axis (001), and the second drive (22) is used to drive the second leg movable member (32) to rotate about the first axis (001); The waist moving member (33) is pivotally connected to the support assembly (1), and the third drive (23) is power-transmittingly connected to the waist moving member (33), and the third drive (23) is used to drive the waist moving member (33) to rotate about a second axis (002); The first axis (001) and the second axis (002) are parallel to each other. A robotic hip joint characterized by:

2. One of the first leg movable member (31) and the second leg movable member (32) includes a rotating shaft member (311) that is rotatably positioned on the support assembly (1) along the first axis (001), the other of the first leg movable member (31) and the second leg movable member (32) includes an axial sleeve member (321) sleeve-mounted on the rotating shaft member (311); The rotating shaft member (311) and the shaft sleeve member (321) are each rotatable about the first axis (001). The robotic hip joint according to claim 1 .

3. The first leg movable member (31) further includes a first connecting plate (312) connected to the rotating shaft member (311) and rotating together with the rotating shaft member (311) around the first axis (001), The second leg movable member (32) further includes a second connecting plate (322) connected to the shaft sleeve member (321) and rotating together with the shaft sleeve member (321) around the first axis (001), the first connecting plate (312) and the second connecting plate (322) are respectively used to connect to different leg parts (4) and rotate the leg parts (4) around the first axis (001); 3. The robotic hip joint according to claim 2.

4. The rotating shaft member (311) is transmission-connected to the first drive (21), and the shaft sleeve member (321) is transmission-connected to the second drive (22).

3. The robotic hip joint according to claim 2.

5. The number of the first connecting plates (312) is two, and the number of the shaft sleeve members (321) is two; Both ends of the rotating shaft member (311) protrude outward from the support assembly (1), the two first connecting plates (312) are located at both ends of the rotating shaft member (311), and the two shaft sleeve members (321) are located near both ends of the rotating shaft member (311), The second connecting plates (322) extend along the direction of the first axis (001) and are respectively connected to the two shaft sleeve members (321).

4. The robotic hip joint according to claim 3.

6. The first drive (21) and the second drive (22) are located on the support assembly (1) along a third axis (003) parallel to the first axis (001), and the third drive (23) is located on the support assembly (1) along the second axis (002). The robotic hip joint according to claim 1 .

7. a transmission mechanism (5) is provided between the first drive (21) and the first leg movable member (31), and a transmission mechanism (5) is provided between the second drive (22) and the second leg movable member (32); The transmission mechanism (5) is at least one of a mesh transmission mechanism, a belt transmission mechanism, and a chain transmission mechanism. The robotic hip joint according to claim 6 .

8. The transmission mechanism (5) includes a first gear member (51) and a second gear member (52), the first gear member (51) is connected to an output shaft of the first drive (21) or the second drive (22), the second gear member (52) is connected to the first leg movable member (31) and the second leg movable member (32), and the first gear member (51) and the second gear member (52) are connected in mesh with each other. The robotic hip joint according to claim 7 .

9. The support assembly (1) includes a first structural member (11), a second structural member (12), and a third structural member (13); The first structural member (11) and the second structural member (12) are spaced apart along the axial direction of the first axis (001) or the second axis (002), and are located on both sides of the third structural member (13), respectively; a first shaft sleeve portion (111) is provided at a position where the first structural member (11) intersects with the first axis (001), and a second shaft sleeve portion (121) is provided at a position where the second structural member (12) intersects with the first axis (001), and the first shaft sleeve portion (111) and the second shaft sleeve portion (121) are used to pivotally connect to at least one of the first leg movable member (31) and the second leg movable member (32); A third shaft sleeve portion (112) is provided at a position where the first structural member (11) intersects with the second axis line (002), and a fourth shaft sleeve portion (122) is provided at a position where the second structural member (12) intersects with the second axis line (002), and the third shaft sleeve portion (112) and the fourth shaft sleeve portion (122) are used for pivotal connection to the waist movable member (33). The robotic hip joint according to claim 6 .

10. a first assembly part (113) is provided at a position where the first structural member (11) intersects with the third axis (003), and a second assembly part (123) is provided at a position where the second structural member (12) intersects with the third axis (003), the first assembly part (113) is used to connect to the second drive (22), and the second assembly part (123) is used to connect to the first drive (21); The robotic hip joint according to claim 9 .

11. the first shaft sleeve portion (111), the third shaft sleeve portion (112) and the first assembly portion (113) are positioned in a triangular shape on the first structural member (11); the second shaft sleeve portion (121), the fourth shaft sleeve portion (122) and the second assembly portion (123) are positioned in a triangular shape on the second structural member (12); The robotic hip joint according to claim 10.

12. The third structural member (13) includes at least one frame (131), the at least one frame (131) is connected between the first structural member (11) and the second structural member (12), and the at least one frame (131) avoids the first axis (001) and the second axis (002). The robotic hip joint according to claim 9 .

13. The at least one frame (131) includes an arc-shaped frame (1311) and a column-shaped frame (1312), and the arc-shaped frame (1311) and the column-shaped frame (1312) are respectively connected between the first structural member (11) and the second structural member (12). The robotic hip joint according to claim 12.

14. A robot, the robot comprising a robotic hip joint according to any one of claims 1 to 13. A robot characterized by:

15. 14. A control method used for controlling a robotic hip joint according to any one of claims 1 to 13, said control method comprising: determining a motion mode of the robot hip joint; generating a control signal in response to the motion mode; transmitting the control signal to the drive assembly (2) of the robotic hip joint; A control method comprising:

16. A control device, said control device being used to control a robotic hip joint according to any one of claims 1 to 13, said control device comprising: a determination module (6) for determining the motion mode of the robot hip joint; a signal generating module (7) for generating a control signal according to said motion mode; a transmitting module (8) for transmitting the control signal to the drive assembly (2) of the robotic hip joint; A control device characterized by:

17. A computer device, the computer device including a memory (902) and a processor (901), At least one program code is stored in the memory (902), and the program code is loaded and executed by the processor (901) to realize the control method according to claim 15.

1. A computer device characterized by:

18. a non-volatile computer-readable storage medium having a computer program stored therein, the computer program being executed by a processor to realize the control method according to claim 15; 1. A non-volatile computer-readable storage medium comprising:

19. A chip, the chip including at least one of a programmable logic circuit and program instructions, the chip being installed in an electronic device that, when executed, implements the control method of claim 15. A chip characterized by:

Images