Waist and hip integrated mechanism and humanoid robot

Abstract

A waist and hip integrated mechanism (100) and a humanoid robot (200). The waist and hip integrated mechanism (100) comprises: a hip support (10); a waist rotation drive member (20) arranged on the hip support (10); two lateral spread drive members (30) oppositely arranged on the hip support (10), axes of driving ends coinciding with each other; two lateral spread supports (40) respectively connected to the driving ends of the lateral spread drive members (30); two pitch drive members (50) respectively arranged on the lateral spread supports (40); two pitch supports (60) respectively connected to driving ends of the pitch drive members (50); and two hip rotation drive members (70) respectively arranged on the pitch supports (60), driving ends of the hip rotation drive members (70) being respectively connected to leg mechanisms (202) of the humanoid robot (200).

Description

Lumbar and hip integration mechanism and humanoid robot

[0001] This application claims priority to Chinese Patent Application No. 202510052839.8, filed on January 14, 2025, entitled "Waist-Hip Integration Mechanism and Humanoid Robot", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of robotics technology, and in particular to a hip-lumbar integration mechanism and a humanoid robot. Background Technology

[0003] With the development of intelligent technology, robotics has become a research hotspot. Humanoid robots, as a type of robot with similar mobility to humans, have attracted increasing attention from researchers. In existing technologies, to enable robots to have strong flexibility and perform various complex movements, the waist of a humanoid robot generally includes three degrees of freedom, used for pitch, rotation, and lateral movement, while the hip joint includes six degrees of freedom, with the left and right hip joints used for pitch, rotation, and lateral movement, respectively.

[0004] Nine degrees of freedom mean that at least nine motors are needed to drive each joint individually. This not only increases the robot's weight and reduces its overall flexibility, but also increases energy consumption, making it difficult for the robot to operate for extended periods with limited battery capacity. Furthermore, the installation of nine motors occupies a significant amount of internal space, hindering the design of a lightweight overall structure. Summary of the Invention

[0005] Based on this, this application provides a hip-lumbar integration mechanism and a humanoid robot to solve the problems of overall flexibility and lightweighting of humanoid robots.

[0006] To achieve the above objectives, this application adopts the following technical solution:

[0007] On one hand, this application provides a lumbar-hip integration mechanism, disposed in a humanoid robot, comprising:

[0008] Hip brace;

[0009] A waist rotation drive is mounted on a hip support, and the drive end of the waist rotation drive is connected to the thoracic cavity mechanism of the humanoid robot to drive the thoracic cavity mechanism to perform rotational movements.

[0010] Two lateral extension drive components are mounted opposite each other on the hip support, and the axes of the drive ends of the two lateral extension drive components coincide.

[0011] Two lateral extension supports are connected one-to-one to the drive ends of two lateral extension drive components, so that they can perform lateral extension movements relative to the hip support under the drive of the lateral extension drive components.

[0012] Two pitch actuators are mounted on two side extension supports, one for each of them.

[0013] Two pitch supports are connected one-to-one to the drive ends of two pitch drives, so that they can pitch relative to the side extension supports under the drive of the pitch drives.

[0014] Two hip rotation drive components are mounted on two pitch supports in a one-to-one correspondence. The drive ends of the hip rotation drive components are connected to the two leg mechanisms of the humanoid robot in a one-to-one correspondence, and are used to drive the corresponding leg mechanisms to perform rotational movements.

[0015] In one possible implementation, along the axial direction of the drive end of the side extension drive, the two side extension drive members are located on either side of the waist rotation drive member; and / or

[0016] The drive ends of the two side-extension drive components are set opposite each other.

[0017] In one possible implementation, the hip support includes a first fixed plate and two first side plates, the two first side plates being connected to opposite sides of the first fixed plate respectively, a lumbar rotation drive component being disposed on the first fixed plate, and two lateral extension drive components being disposed on the two first side plates in a corresponding manner.

[0018] In one possible implementation, the first fixed plate is provided with a fixed groove, and the waist rotation drive component is disposed in the fixed groove.

[0019] In one possible implementation, the central axis of the fixing groove is equidistant from the distance between the two first side plates.

[0020] In one possible implementation, the central axis of the fixing groove coincides with the central axis of the hip support; and / or

[0021] The central axis of the fixing groove is perpendicular to the surface of the first fixing plate.

[0022] In one possible implementation, the side-extending bracket includes a second fixed plate and a second side plate, the second side plate being connected to one side of the second fixed plate;

[0023] The second side plate has an angle with the second fixed plate. The driving end of the side extension drive is located on the second fixed plate, and the pitch drive is located on the second side plate.

[0024] In one possible implementation, the pitch support includes a third fixed plate and a third side plate, the third side plate being connected to one side of the third fixed plate;

[0025] The surface direction of the third side plate is at an angle to the surface direction of the third fixed plate. The driving end of the pitch drive is located on the third fixed plate, and the hip rotation drive is located on the third side plate.

[0026] In one possible implementation, the axis of the drive end of the side extension drive is perpendicular to the axis of the drive end of the waist rotation drive; and / or

[0027] The axis of the drive end of the pitch drive is perpendicular to the axis of the drive end of the corresponding lateral drive; and / or

[0028] The axis of the drive end of the hip rotation drive is perpendicular to the axis of the drive end of the corresponding pitch drive.

[0029] On the other hand, this application provides a humanoid robot including the aforementioned lumbar-hip integration mechanism.

[0030] This application provides a hip-lumbar integration mechanism and a humanoid robot. By setting two lateral abduction actuators on the hip support and aligning the axes of the driving ends of the two actuators, the lateral abduction of the thigh and waist is integrated. Similarly, by setting pitch actuators on the two lateral abduction supports, the pitch of the thigh and waist is integrated. This optimizes the nine degrees of freedom of the waist and hip joints of traditional humanoid robots to seven degrees of freedom, reducing the number of motors and overall weight while maintaining high flexibility and maneuverability. The weight reduction also contributes to improved endurance. By reducing two degrees of freedom, the hip-lumbar integration mechanism of this application also frees up more space in the robot's chest and waist areas, improving the robot's space utilization and achieving a lightweight design. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 is a schematic diagram of the structure of the waist-hip integration mechanism provided in the embodiment of this application, which is installed on a humanoid robot.

[0033] Figure 2 is a partial exploded structural diagram of the lumbar-hip integration mechanism shown in Figure 1;

[0034] Figure 3 is a structural schematic diagram of the humanoid robot shown in Figure 1 performing a side extension movement of its waist.

[0035] Figure 4 is a structural schematic diagram of the humanoid robot shown in Figure 1 performing a combined action of lateral swinging of a single leg and lateral extension of the waist.

[0036] Figure 5 is a structural schematic diagram of the humanoid robot shown in Figure 1 performing a leg-raising action;

[0037] Figure 6 is a structural schematic diagram of the humanoid robot shown in Figure 1 performing a knee-bending squatting action;

[0038] Figure 7 is a structural schematic diagram of the humanoid robot shown in Figure 1 performing a sitting action;

[0039] Figure 8 is an exploded schematic diagram showing the connection relationship between the pitch drive, pitch support and hip rotation drive of the humanoid robot shown in Figure 1.

[0040] Figure 9 is a schematic diagram showing the groove on the third side plate of the humanoid robot shown in Figure 1.

[0041] Explanation of reference numerals in the attached drawings: 100-Waist-hip integration mechanism; 10-Hip support; 11-First fixing plate; 111-Fixing groove; 12-First side plate; 121-Mounting groove; 20-Waist rotation drive component; 30-Side extension drive component; 40-Side extension support; 41-Second fixing plate; 42-Second side plate; 50-Pitch drive component; 60-Pitch support; 61-Third fixing plate; 62-Third side plate; 70-Hip rotation drive component; 200-Humanoid robot; 201-Thoracic mechanism; 202-Leg mechanism; 203-Head mechanism; 204-Arm mechanism. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0043] With the development of intelligent technology, robotics has become a research hotspot. Humanoid robots, as a type of robot with similar mobility to humans, have attracted increasing attention from researchers. In existing technologies, to enable robots to have strong flexibility and perform various complex movements, the waist of a humanoid robot generally includes three degrees of freedom, used for pitch, rotation, and lateral movement, while the hip joint includes six degrees of freedom, with the left and right hip joints used for pitch, rotation, and lateral movement, respectively.

[0044] Nine degrees of freedom mean that at least nine motors are needed to drive each joint individually. This not only increases the robot's weight and reduces its overall flexibility, but also increases energy consumption, making it difficult for the robot to operate for extended periods with limited battery capacity. Furthermore, the installation of nine motors occupies a significant amount of internal space, hindering the design of a lightweight overall structure.

[0045] In order to overcome the shortcomings of the existing technology, after repeated thinking and verification, the inventors discovered that if the motors at the waist and hip joints are reused, and the pitching, rotation and lateral extension movements of the waist are integrated with the pitching, rotation and lateral swing movements of the hip joints, the use of motors can be reduced while retaining flexibility and mobility, thereby reducing the overall weight and achieving a lightweight design for the robot.

[0046] In view of this, this application provides a lumbar-hip integration mechanism, disposed in a humanoid robot, comprising:

[0047] Hip brace;

[0048] A waist rotation drive is mounted on a hip support, and the drive end of the waist rotation drive is connected to the thoracic cavity mechanism of the humanoid robot to drive the thoracic cavity mechanism to perform rotational movements.

[0049] Two lateral extension drive components are mounted opposite each other on the hip support, and the axes of the drive ends of the two lateral extension drive components coincide.

[0050] Two lateral extension supports are connected one-to-one to the drive ends of two lateral extension drive components, so that they can perform lateral extension movements relative to the hip support under the drive of the lateral extension drive components.

[0051] Two pitch actuators are mounted on two side extension supports, one for each of them.

[0052] Two pitch supports are connected one-to-one to the drive ends of two pitch drives, so that they can pitch relative to the side extension supports under the drive of the pitch drives.

[0053] Two hip rotation drive components are mounted on two pitch supports in a one-to-one correspondence. The drive ends of the hip rotation drive components are connected to the two leg mechanisms of the humanoid robot in a one-to-one correspondence, and are used to drive the corresponding leg mechanisms to perform rotational movements.

[0054] By installing two lateral abduction actuators on the hip support and aligning the axes of their drive ends, the lateral abduction of the thigh and waist is integrated. Similarly, by installing pitch actuators on the two lateral abduction supports, the pitch of the thigh and waist is integrated. This optimizes the nine degrees of freedom of the waist and hip joints of a traditional humanoid robot to seven degrees of freedom, reducing the number of motors and overall weight while maintaining high flexibility and maneuverability. The weight reduction also contributes to improved endurance. Furthermore, by reducing two degrees of freedom, the waist-hip integration mechanism of this application frees up more space in the robot's chest and waist areas, improving space utilization and achieving a lightweight design.

[0055] The contents of this application will now be described in detail with reference to the accompanying drawings, so that those skilled in the art can have a clearer and more detailed understanding of the contents of this application.

[0056] Figure 1 is a structural schematic diagram of the lumbar-hip integration mechanism provided in this embodiment of the application, installed on a humanoid robot. Figure 2 is a partially exploded structural schematic diagram of the lumbar-hip integration mechanism shown in Figure 1. Figure 3 is a structural schematic diagram of the humanoid robot shown in Figure 1 performing a lateral abduction movement of the waist. Figure 4 is a structural schematic diagram of the humanoid robot shown in Figure 1 performing a combined lateral swing of a single leg and lateral abduction movement of the waist. Figure 5 is a structural schematic diagram of the humanoid robot shown in Figure 1 performing a leg-raising movement. Figure 6 is a structural schematic diagram of the humanoid robot shown in Figure 1 performing a knee-bending squatting movement. Figure 7 is a structural schematic diagram of the humanoid robot shown in Figure 1 performing a sitting movement.

[0057] The following sections provide a detailed description of the specific structure of the lumbar-hip integration mechanism and its various possible implementation methods.

[0058] As shown in Figures 1 and 2, the lumbar-hip integration mechanism 100 provided in this embodiment of the application is used in a humanoid robot 200. The lumbar-hip integration mechanism 100 is located in the middle of the humanoid robot 200 and connects the upper body and lower body of the humanoid robot 200.

[0059] The lumbar and hip integration mechanism 100 includes a hip support 10, a lumbar rotation drive 20, two lateral extension drives 30, two lateral extension supports 40, two pitch drives 50, two pitch supports 60, and two hip rotation drives 70.

[0060] The waist rotation drive 20 and two side extension drive 30 are respectively mounted on the hip support 10. The drive end a of the waist rotation drive 20 is connected to the thoracic cavity mechanism 201 of the humanoid robot 200. The waist rotation drive 20 is used to drive the thoracic cavity mechanism 201 to perform rotational movements.

[0061] Two side-extension drive members 30 are arranged opposite each other, and the axes of the drive ends b of the two side-extension drive members 30 coincide.

[0062] Two lateral extension supports 40 are connected one-to-one to the drive ends b of two lateral extension drive members 30. The lateral extension drive members 30 are used to drive the lateral extension supports 40 to rotate, thereby causing the lateral extension supports 40 to perform lateral extension movements relative to the hip support 10.

[0063] Two pitch drive units 50 are correspondingly mounted on two side extension supports 40. Two pitch supports 60 are correspondingly mounted on the drive ends c of the two pitch drive units 50. The pitch drive units 50 are used to drive the pitch supports 60 to rotate, thereby causing the pitch supports 60 to pitch relative to the side extension supports 40.

[0064] Two hip rotation drive components 70 are respectively mounted on two pitch supports 60. The drive end d of the hip rotation drive component 70 is connected to the corresponding leg mechanism 202 of the humanoid robot 200. The hip rotation drive component 70 is used to drive the leg mechanism 202 to perform rotational movements.

[0065] The thoracic mechanism 201 of the humanoid robot 200 rotates under the drive of the waist rotation drive 20, thereby realizing the rotation of the waist of the humanoid robot 200.

[0066] As shown in Figures 3 and 4, by setting two lateral extension drive members 30 on the hip support 10 and aligning the axes of the drive ends b of the two lateral extension drive members 30, the lateral extension of the thigh and the lateral extension of the waist are integrated. That is, the two lateral extension drive members 30 are used to realize the lateral extension movement of the two hip joints and the waist of the humanoid robot 200. The integration of movement is achieved by using different drive forms of the two lateral extension drive members 30.

[0067] As shown in Figure 3, when the humanoid robot 200 stands on both legs, the two lateral extension drive members 30 move simultaneously, causing the hip support 10 to rotate relative to each other, thus realizing the lateral extension of the humanoid robot 200's waist. As shown in Figure 4, when a single lateral extension drive member 30 moves, the corresponding lateral extension support 40 can rotate relative to each other, thereby driving the leg mechanism 202 set on it to rotate, thus realizing the lateral swing of a single leg of the humanoid robot 200. When standing on one leg, the simultaneous movement of the two lateral extension drive members 30 can realize the combined lateral swing of a single leg and the lateral extension of the waist of the humanoid robot 200.

[0068] As shown in Figures 5 to 7, by setting pitch drive components 50 on the two side extension supports 40 respectively, and setting the pitch support 60 on the drive end c of the pitch drive component 50, the pitch of the thigh and the pitch of the waist are integrated. That is, the two pitch drive components 50 are used to realize the pitch movement of the two hip joints and the waist of the humanoid robot 200. The integration of movement is achieved by the different driving forms of the two pitch drive components 50.

[0069] When the humanoid robot 200 stands on both legs, the two pitch actuators 50 move simultaneously, causing the lateral support 40 and its connected hip support 10 to rotate relative to each other, thus achieving pitching of the humanoid robot 200's waist. As shown in Figure 5, when a single pitch actuator 50 moves, the corresponding pitch support 60 rotates relative to each other, thereby driving the leg mechanism 202 mounted on it to rotate, thus achieving pitching of a single leg of the humanoid robot 200. In conjunction with the movement of the leg mechanism 202, actions such as lifting the leg can be achieved. As shown in Figures 6 and 7, when both legs are standing on the ground, the two lateral actuators 30 move simultaneously, and in conjunction with the movement of the two leg mechanisms 202, compound movements such as bending the knees and squatting or sitting down can be achieved by the humanoid robot 200.

[0070] The leg mechanism 202 of the humanoid robot 200 rotates under the drive of the corresponding hip rotation drive 70, thereby realizing the rotation of the left and right legs of the humanoid robot 200.

[0071] The waist and hip joints of traditional humanoid robots, which have nine degrees of freedom, are optimized to seven degrees of freedom. This not only reduces the number of motors and lowers the overall weight, but also maintains high flexibility and maneuverability. Furthermore, the reduced weight helps improve battery life. By reducing two degrees of freedom, the waist-hip integration mechanism 100 of this application also frees up more space in the chest and waist areas of the humanoid robot 200, improving the space utilization of the humanoid robot 200 and achieving a lightweight design.

[0072] By reducing two degrees of freedom, the hip-waist integration mechanism 100 frees up more space in the chest and waist areas of the humanoid robot 200, providing a more reasonable layout space for key electronic components such as batteries, onboard computing units, and sensors. This improves the utilization rate of the internal space of the humanoid robot 200, enabling small and medium-sized robots to effectively increase their load or expand their functions without affecting their size and weight.

[0073] In one possible implementation, the hip support 10, the lateral support 40, and the pitch support 60 are all modularly designed to facilitate quick assembly and disassembly, adapting to different robot models.

[0074] In one possible implementation, along the axial direction of the drive end b of the side extension drive 30, the two side extension drive members 30 are located on both sides of the waist rotation drive member 20.

[0075] By placing the two side extension drive members 30 on both sides of the waist rotation drive member 20, it is convenient to arrange various components of the hip, thereby optimizing the space utilization of the hip support 10 and realizing the lightweight design of the humanoid robot 200.

[0076] In one possible implementation, the hip support 10 includes a first fixing plate 11 and two first side plates 12. The two first side plates 12 are respectively connected to opposite sides of the first fixing plate 11. A lumbar rotation drive 20 is disposed on the first fixing plate 11. Two lateral extension drive 30 are correspondingly disposed on the two first side plates 12.

[0077] By connecting the two first side plates 12 to the opposite sides of the first fixed plate 11, the waist rotation drive 20 and the side extension drive 30 are respectively mounted on the first fixed plate 11 and the first side plate 12, which facilitates the installation of the waist rotation drive 20 and the side extension drive 30, thereby improving the installation efficiency. When the waist rotation drive 20 and the side extension drive 30 are damaged, they are easy to maintain and replace.

[0078] In one possible implementation, the first fixing plate 11 is integrally formed with the two first side plates 12, thereby improving structural stability.

[0079] In other possible implementations, the first fixing plate 11 is connected to the two first side plates 12 by detachable fasteners to facilitate quick assembly and maintenance.

[0080] In one possible implementation, the first fixing plate 11 is provided with a fixing groove 111, and the waist rotation drive component 20 is disposed in the fixing groove 111.

[0081] The fixing slot 111 effectively secures the waist rotation drive component 20, reducing its displacement and vibration during movement, thereby improving the overall structural stability, smoothness, and comfort of operation. Furthermore, installing the waist rotation drive component 20 within the fixing slot 111 allows for better utilization of limited space, helping to reduce the overall structural volume and making the structure more compact. The fixing slot 111 ensures precise positioning of the waist rotation drive component 20, improving installation accuracy and enabling high-precision movement. The fixing slot 111 also provides additional protection for the waist rotation drive component 20, preventing damage from external environmental factors (such as dust and moisture), thus extending its service life. Moreover, since the waist rotation drive component 20 is fixed in a specific position, positioning and operation are easier during maintenance and replacement, simplifying the maintenance process.

[0082] In one possible implementation, the central axis of the fixing groove 111 is equidistant from the distance between the two first side plates 12.

[0083] By equixing the distance between the central axis of the fixing groove 111 and the two first side plates 12, the symmetrical arrangement of the waist rotation drive component 20 on the hip support 10 can be ensured, achieving balance and reducing stress concentration caused by asymmetrical loads, thereby improving the stability and durability of the overall structure. Simultaneously, this makes the humanoid robot 200 more visually appealing and harmonious.

[0084] In one possible implementation, the central axis of the fixing groove 111 coincides with the central axis of the hip support 10.

[0085] By aligning the central axis of the fixing groove 111 with the central axis of the hip support 10, the installation position of the waist rotation drive 20 can be ensured to be accurate, thereby optimizing drive efficiency and motion balance.

[0086] In one possible implementation, the central axis of the fixing groove 111 is perpendicular to the surface of the first fixing plate 11.

[0087] By making the central axis of the fixing groove 111 perpendicular to the surface of the first fixing plate 11, the force on the waist rotation drive 20 can be distributed more evenly on the first fixing plate 11, which helps to reduce local stress concentration, reduce the risk of structural deformation or damage, and facilitates the precise positioning and installation of the waist rotation drive 20.

[0088] In one possible implementation, the first side plate 12 is provided with a mounting groove 121, and the side extension drive 30 is disposed in the mounting groove 121.

[0089] By incorporating the side-extension drive component 30 within the mounting slot 121, the limited space can be better utilized, helping to reduce the overall structural volume and making the structure more compact. The mounting slot 121 ensures the precise positioning of the side-extension drive component 30, thereby improving installation accuracy and enabling the side-extension drive component 30 to move with high precision.

[0090] In one possible implementation, the central axis of the mounting groove 121 is perpendicular to the surface of the first side plate 12.

[0091] By making the central axis of the mounting groove 121 perpendicular to the surface of the first side plate 12, the force on the side extension drive 30 can be distributed more evenly on the first side plate 12, which helps to reduce local stress concentration, reduce the risk of structural deformation or damage, and facilitates the precise positioning and installation of the side extension drive 30.

[0092] In one possible implementation, the drive ends b of the two side-extension drive members 30 are arranged opposite each other.

[0093] The opposing drive ends help achieve force balance during operation. The forces generated by the two lateral drive components 30 can partially cancel each other out, thereby reducing unnecessary lateral forces and torques and improving the overall structural stability. Simultaneously, the opposing drive ends can make more efficient use of limited space, resulting in a more compact overall design and facilitating the lightweight design of the humanoid robot 200. Furthermore, the opposing drive ends provide a degree of fault redundancy. If one lateral drive component 30 fails, the other can still provide partial functionality, maintaining the basic operational capabilities of the humanoid robot 200.

[0094] When the humanoid robot 200 performs walking movements, the lateral extension drive component 30 connected to the leg mechanism 202 that touches the ground needs to maintain a certain torque to ensure that the humanoid robot 200's body does not tilt. Force analysis shows that this torque is the same as that of a conventional robot, i.e., one that does not employ an integrated waist and hip design. Therefore, compared to conventional robots, there is no disadvantage; that is, there is no issue of the lateral extension drive component 30 requiring a larger torque or consuming more energy.

[0095] In one possible implementation, the side extension drive 30 uses a motor with a holding brake.

[0096] When the humanoid robot 200 stands still on the ground, the lateral friction of the ground will balance the gravity to a certain extent, causing the legs to be subjected to an outward tilting torque. The motor with a brake can withstand this torque when stationary, ensuring the stability of the humanoid robot 200 when standing still on the ground.

[0097] In one possible implementation, the side-extension bracket 40 includes a second fixed plate 41 and a second side plate 42. The second side plate 42 is connected to one side of the second fixed plate 41, and the surface direction of the second side plate 42 forms an angle with the surface direction of the second fixed plate 41. The driving end b of the side-extension drive member 30 is disposed on the second fixed plate 41, and the pitch drive member 50 is disposed on the second side plate 42.

[0098] Since the drive end b of the lateral extension drive 30 and the pitch drive 50 are mounted on different plates, the installation and maintenance process is likely to be more intuitive and simpler, facilitating individual adjustment and replacement. By mounting the drive components on different planes, space can be utilized more effectively, resulting in a more compact overall design and contributing to the lightweight design of the humanoid robot 200. Simultaneously, the angled arrangement allows the lateral extension drive 30 and the pitch drive 50 to operate on different planes, thus providing the humanoid robot 200 with greater degrees of freedom of movement, enabling more complex and flexible motion modes, and adapting to diverse application needs.

[0099] In one possible implementation, the surface direction of the second side plate 42 is perpendicular to the surface direction of the second fixed plate 41.

[0100] By operating in the vertical plane, interference between the lateral extension drive 30 and the pitch drive 50 can be minimized, which helps to improve the smoothness and reliability of the motion and avoid physical conflicts between components.

[0101] In one possible implementation, the pitch drive 50 is located on the side of the second side plate 42 away from the other side support 40.

[0102] By placing the two pitch actuators 50 on the outside of the two side extension supports 40, it is easier to arrange various components in the hip area, thereby optimizing the space utilization of the side extension supports 40 and realizing the lightweight design of the humanoid robot 200. At the same time, it minimizes the interference between the side extension actuators 30 and the pitch actuators 50, which helps to improve the smoothness and reliability of the movement and avoid physical conflicts between components.

[0103] In one possible implementation, as shown in Figure 8, the second side plate 42 is provided with a groove e, and the pitch drive 50 is disposed in the groove e.

[0104] By setting the pitch drive 50 in the groove e, the limited space can be better utilized, which helps to reduce the overall structure volume and make the structure more compact. The groove e can ensure the precise positioning of the pitch drive 50, thereby improving the installation accuracy and enabling the pitch drive 50 to move with high precision.

[0105] In one possible implementation, the pitch support 60 includes a third fixed plate 61 and a third side plate 62. The third side plate 62 is connected to one side of the third fixed plate 61, and the surface direction of the third side plate 62 forms an angle with the surface direction of the third fixed plate 61. The driving end c of the pitch drive 50 is disposed on the third fixed plate 61, and the hip rotation drive 70 is disposed on the third side plate 62.

[0106] Since the drive end c of the pitch actuator 50 and the hip rotation actuator 70 are mounted on different plates, the installation and maintenance process is likely to be more intuitive and simpler, facilitating individual adjustment and replacement. By mounting the actuators on different planes, space can be utilized more effectively, resulting in a more compact overall design and contributing to the lightweight design of the humanoid robot 200. Simultaneously, the angle setting allows the pitch actuator 50 and the hip rotation actuator 70 to operate on different planes, thus providing the humanoid robot 200 with greater degrees of freedom of movement, enabling more complex and flexible motion modes, and adapting to diverse application needs.

[0107] In one possible implementation, the surface direction of the third side plate 62 is perpendicular to the surface direction of the third fixed plate 61.

[0108] By operating in the vertical plane, interference between the pitch drive 50 and the hip rotation drive 70 can be minimized, which helps to improve the smoothness and reliability of the motion and avoid physical conflicts between components.

[0109] In one possible implementation, each pitch support 60 includes two opposing third fixing plates 61. A third side plate 62 is simultaneously connected to the same side of both third fixing plates 61.

[0110] By connecting the third side plate 62 to the two third fixed plates 61, a more robust frame structure can be formed, which helps to distribute and bear forces from different directions, improving the rigidity and stability of the overall structure. The support of the two third fixed plates 61 helps to reduce vibration and offset during movement, providing more stable support for the pitch drive 50, making the leg mechanism 202 of the humanoid robot 200 more stable and precise during pitch movement.

[0111] In one possible implementation, as shown in Figure 9, the third side plate 62 is provided with a groove f, and the hip rotation drive 70 is disposed in the groove f.

[0112] By setting the hip rotation drive 70 in the groove f, the limited space can be better utilized, which helps to reduce the overall structure volume and make the structure more compact. The groove f can ensure the precise positioning of the hip rotation drive 70, thereby improving the installation accuracy and enabling the hip rotation drive 70 to move with high precision.

[0113] In one possible implementation, the axis of the drive end b of the side extension drive 30 is perpendicular to the axis of the drive end a of the waist rotation drive 20.

[0114] The axis of the drive end c of the pitch drive 50 is perpendicular to the axis of the drive end b of the corresponding lateral drive 30.

[0115] The axis of the drive end d of the hip rotation drive 70 is perpendicular to the axis of the drive end c of the corresponding pitch drive 50.

[0116] The vertical axis configuration between the different actuators allows each actuator to operate on an independent plane, thus providing the humanoid robot 200 with greater degrees of freedom of motion. This enables complex three-dimensional movements and allows the humanoid robot 200 to adapt more flexibly to various operational needs. Simultaneously, the vertical configuration helps reduce mutual interference between actuators, thereby improving motion accuracy and consistency. Each actuator can focus on its specific direction of motion, reducing the accumulation of errors. Furthermore, the vertical axis design can more effectively transmit and distribute the forces applied to the actuators. This reduces unnecessary lateral forces and torques, improving the stability and durability of the system.

[0117] In one possible implementation, the waist rotation drive 20, the lateral extension drive 30, the pitch drive 50, and the hip rotation drive 70 are all motors.

[0118] Optionally, the waist rotation drive 20, the lateral extension drive 30, the pitch drive 50, and the hip rotation drive 70 are all servo motors.

[0119] In one possible implementation, the lumbar-hip integration mechanism 100 also includes multiple posture sensors (not shown in the figure), which are respectively mounted on the lumbar rotation drive 20, the lateral extension drive 30, the pitch drive 50 and the hip rotation drive 70, for real-time monitoring of motion status and feedback to the control system.

[0120] The lumbar-hip integration mechanism 100 provided in this embodiment is disposed in the humanoid robot 200 and includes:

[0121] Hip brace 10;

[0122] The waist rotation drive 20 is mounted on the hip support 10, and the drive end a of the waist rotation drive 20 is connected to the thoracic cavity mechanism 201 of the humanoid robot 200 to drive the thoracic cavity mechanism 201 to perform rotational movements.

[0123] Two lateral extension drive members 30 are disposed opposite to each other on the hip support 10, and the axes of the drive ends of the two lateral extension drive members 30 coincide.

[0124] Two lateral extension supports 40 are respectively connected to the drive end b of the corresponding lateral extension drive 30, so as to perform lateral extension movement relative to the hip support 10 under the drive of the lateral extension drive 30.

[0125] Two pitch actuators 50 are respectively mounted on the corresponding side extension brackets 40;

[0126] Two pitch supports 60 are connected to the drive end c of the corresponding pitch drive 50, so that they can pitch relative to the lateral support 40 under the drive of the pitch drive 50.

[0127] Two hip rotation drive components 70 are respectively mounted on corresponding pitch supports 60. The drive ends d of the hip rotation drive components 70 are respectively connected to the corresponding leg mechanisms 202 of the humanoid robot 200 to drive the corresponding leg mechanisms 202 to perform rotational movements.

[0128] By setting two lateral extension actuators 30 on the hip support 10 and aligning the axes of the drive ends b of the two lateral extension actuators 30, the lateral extension of the thigh and waist is integrated. Similarly, by setting pitch actuators 50 on the two lateral extension supports 40, the pitch of the thigh and waist is integrated. This optimizes the nine degrees of freedom of the waist and hip joints of a traditional humanoid robot to seven degrees of freedom, reducing the number of motors and overall weight while maintaining high flexibility and maneuverability. The weight reduction also contributes to improved endurance. By reducing two degrees of freedom, the waist-hip integration mechanism 100 of this application also frees up more space in the chest and waist regions of the humanoid robot 200, improving the space utilization of the humanoid robot 200 and achieving a lightweight design.

[0129] On the other hand, embodiments of this application also provide a humanoid robot 200. The humanoid robot 200 includes a leg mechanism 202, a waist-hip integration mechanism 100, a chest cavity mechanism 201, a head mechanism 203, and an arm mechanism 204.

[0130] The lumbar-hip integration mechanism 100 is connected to the leg mechanism 202 and the thoracic cavity mechanism 201, respectively. The head mechanism 203 and the arm mechanism 204 are connected to the thoracic cavity mechanism 201, respectively.

[0131] Given that the humanoid robot 200 in this embodiment includes the lumbar-hip integration mechanism 100 described in any of the above embodiments, the structural features and beneficial effects of the lumbar-hip integration mechanism 100 in the humanoid robot 200 will not be elaborated further in this embodiment.

[0132] It should be noted that the terms "one embodiment," "embodiment," "exemplary embodiment," "some embodiments," etc., mentioned in the specification indicate that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Moreover, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not, is within the knowledge scope of those skilled in the art.

[0133] Generally speaking, terms should be understood at least in part by their use in context. For example, at least in part by context, the term "one or more" as used in the text can be used to describe any feature, structure, or characteristic of the singular meaning, or a combination of features, structures, or characteristics of the plural meaning. Similarly, at least in part by context, terms such as "a" or "the" can also be understood to convey either singular or plural usage.

[0134] It should be readily understood that the terms “on,” “above,” and “on top of” in this application should be interpreted in the broadest possible sense, such that “on” means not only “directly on something” but also “on something” with an intermediate feature or layer therebetween, and that “above” or “on top of” means not only “on top of something” but also “on top of something” without an intermediate feature or layer therebetween (i.e., directly on something).

[0135] Furthermore, for ease of explanation, spatially relative terms such as "below," "below," "under," "above," and "above" may be used to describe the relationship of one element or feature relative to other elements or features as shown in the figures. Spatially relative terms are intended to encompass different orientations of the device in use or operation other than those shown in the figures. The device may have other orientations (rotated 90° or in other orientations), and the spatially relative descriptive terms used herein may be interpreted accordingly.

[0136] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A hip-lumbar integration mechanism, disposed in a humanoid robot (200), comprising a hip support (10) and a lumbar rotation drive (20), wherein the lumbar rotation drive (20) is disposed on the hip support (10), characterized in that, The driving end of the waist rotation drive (20) is connected to the thoracic cavity mechanism (201) of the humanoid robot (200) and is used to drive the thoracic cavity mechanism (201) to perform rotational movements. The lumbar-hip integration mechanism also includes: Two side extension drive members (30) are disposed opposite to each other on the hip support (10), and the axes of the drive ends of the two side extension drive members (30) coincide. Two lateral extension supports (40) are connected one-to-one to the driving ends of two lateral extension drive members (30) to perform lateral extension movements relative to the hip support (10) under the drive of the lateral extension drive members (30). Two pitch drive units (50) are provided on the two side extension brackets (40) in a one-to-one correspondence; Two pitch supports (60) are connected one-to-one to the drive ends of two pitch drives (50) to perform pitch movement relative to the side extension support (40) under the drive of the pitch drives (50). Two hip rotation drive components (70) are respectively disposed on two pitch supports (60). The drive ends of the hip rotation drive components (70) are respectively connected to the two leg mechanisms (202) of the humanoid robot (200) to drive the corresponding leg mechanisms (202) to perform rotational movements.

2. The lumbar-hip integration mechanism according to claim 1, characterized in that, Along the axial direction of the driving end of the side extension drive (30), the two side extension drive members (30) are located on both sides of the waist rotation drive member (20); and / or The drive ends of the two side-extension drive members (30) are arranged opposite to each other.

3. The lumbar-hip integration mechanism according to claim 2, characterized in that, The hip support (10) includes a first fixing plate (11) and two first side plates (12). The two first side plates (12) are respectively connected to the opposite sides of the first fixing plate (11). The waist rotation drive (20) is disposed on the first fixing plate (11). The two side extension drive (30) are disposed on the two first side plates (12) in a corresponding manner.

4. The lumbar-hip integration mechanism according to claim 3, characterized in that, The first fixing plate (11) is provided with a fixing groove (111), and the waist rotation drive (20) is provided in the fixing groove (111).

5. The lumbar-hip integration mechanism according to claim 4, characterized in that, The central axis of the fixing groove (111) is equidistant from the distance between the two first side plates (12).

6. The lumbar-hip integration mechanism according to claim 4, characterized in that, The central axis of the fixing groove (111) coincides with the central axis of the hip support (10); and / or The central axis of the fixing groove (111) is perpendicular to the surface of the first fixing plate (11).

7. The lumbar-hip integration mechanism according to claim 1, characterized in that, The side support (40) includes a second fixing plate (41) and a second side plate (42), wherein the second side plate (42) is connected to one side of the second fixing plate (41); The second side plate (42) has an angle with the second fixed plate (41) in the direction of its surface. The driving end of the side extension drive (30) is located on the second fixed plate (41), and the pitch drive (50) is located on the second side plate (42).

8. The lumbar-hip integration mechanism according to claim 1, characterized in that, The pitch support (60) includes a third fixed plate (61) and a third side plate (62), wherein the third side plate (62) is connected to one side of the third fixed plate (61); The surface direction of the third side plate (62) is at an angle to the surface direction of the third fixed plate (61). The driving end of the pitch drive (50) is located on the third fixed plate (61), and the hip rotation drive (70) is located on the third side plate (62).

9. The lumbar-hip integration mechanism according to any one of claims 1-8, characterized in that, The axis of the drive end of the side extension drive (30) is perpendicular to the axis of the drive end of the waist rotation drive (20); and / or The axis of the drive end of the pitch drive (50) is perpendicular to the axis of the drive end of the corresponding lateral drive (30); and / or The axis of the drive end of the hip rotation drive (70) is perpendicular to the axis of the drive end of the corresponding pitch drive (50).

10. A humanoid robot, characterized in that, Including the lumbar-hip integration mechanism as described in any one of claims 1-9.

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