CN220128828U - Robot hip joint assembly and robot - Google Patents

Abstract

The utility model relates to the technical field of robots, and discloses a robot hip joint assembly and a robot, wherein the robot hip joint assembly comprises: a bracket; a side swing actuator; the rotary actuator is arranged at the front side of the side swing actuator; the output end of the front swing actuator is used for being connected with the lower limb of the robot, the front swing actuator can drive the lower limb of the robot to swing back and forth, the front swing actuator is arranged on the lower side of the rotary actuator, a preset space is arranged between the output end of the front swing actuator and the rotary actuator, and the preset space extends along the front-back direction, so that part of the lower limb of the robot can swing to a position which is positioned on the same horizontal plane with the rotary actuator or higher than the rotary actuator through the preset space. The swing range of the hip joint can be increased, and the movement flexibility of the robot hip joint assembly is improved.

Description

Robot hip joint assembly and robot

Technical Field

The utility model relates to the technical field of robots, in particular to a robot hip joint assembly and a robot.

Background

With the rapid development of robots, the application fields of robots, such as service robots, medical robots, industrial robots, etc., are becoming more and more widespread. The robot needs more and more functions, and the first function to be met by the robot is the motion of the robot, especially in the humanoid robot, how to realize the normal walking of the robot is an important research direction.

The hip joint structure in the related art generally includes a hip front module for swinging the hip joint sideways, a hip rotation module for rotating the hip joint, and a hip side module located at the front side of the hip front module, the hip front module being connected to the robot leg.

In the process of implementing the embodiments of the present disclosure, it is found that at least the following problems exist in the related art:

in the related art, the hip side module and/or the hip rotating module are/is located at the front side of the hip front module, so that when the hip front module drives the robot leg to swing forwards (i.e. upwards), the hip side module and/or the hip rotating module can obstruct the robot leg from swinging, so that the swing range of the hip joint structure and the robot leg is smaller, and the movement of the hip joint structure is inflexible.

It should be noted that the information disclosed in the above background section is only for enhancing understanding of the background of the utility model and thus may include information that does not form the prior art that is already known to those of ordinary skill in the art.

Disclosure of Invention

The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview, and is intended to neither identify key/critical elements nor delineate the scope of such embodiments, but is intended as a prelude to the more detailed description that follows.

The embodiment of the disclosure provides a robot hip joint assembly, which aims to solve the problem of how to increase the swing range of a robot hip joint and a robot lower limb and improve the movement flexibility of the hip joint assembly.

According to an embodiment of the first aspect of the present utility model, there is provided a robotic hip joint assembly comprising: the bracket is used for being connected with the robot waist component; the side swing actuator is arranged on the bracket; the rotary actuator is arranged at the front side of the side swing actuator; the output end of the front swing actuator is used for being connected with the lower limb of the robot, the front swing actuator can drive the lower limb of the robot to swing back and forth, the front swing actuator is arranged on the lower side of the rotary actuator, a preset space is arranged between the output end of the front swing actuator and the rotary actuator, and therefore part of the lower limb of the robot can swing to the position which is located on the same horizontal plane with the rotary actuator or higher than the rotary actuator through the preset space.

In some alternative embodiments, the front swing actuator is disposed on a lower side of the side swing actuator, and the front swing actuator is disposed on a front side of the side swing actuator; and/or the number of the groups of groups,

the axis of the side swing actuator and the axis of the rotary actuator are positioned in the same plane; and/or the number of the groups of groups,

the axis of the rotary actuator and the axis of the front swing actuator are located in the same plane.

In some alternative embodiments, the lower limb of the robot includes a knee joint actuator and a thigh bar, an output end of the front swing actuator is used to be connected with one end of the thigh bar, the knee joint actuator is connected with one end of the thigh bar, the knee joint actuator and the front swing actuator are respectively located at two opposite sides of one end of the thigh bar, and the other end of the thigh bar can swing to a position at the same level as the rotation actuator or higher than the rotation actuator through the preset space.

In some alternative embodiments, the robotic hip joint assembly further comprises a first connector comprising a first body and a second body connected, the first body being connected to the output end of the rotary actuator, the second body being sleeved outside the front swing actuator so that the output end of the rotary actuator is connected to the front swing actuator.

In some optional embodiments, a folding angle exists between the second body and the first body, the first connecting piece is in a bending shape, the second body is connected with one end of the first body facing to the outer side, so that the front swing actuator is located below the rotation actuator obliquely, and the lower limb of the robot can be located on the inner side of the front swing actuator.

In some optional embodiments, the output end of the side swing actuator is connected with the rotary actuator, and the side swing actuator can drive the rotary actuator, the front swing actuator and the lower limb of the robot to swing synchronously; or alternatively, the first and second heat exchangers may be,

the output end of the side swing actuator is connected with the front swing actuator, the rotary actuator is arranged on the support, the rotary actuator and the side swing actuator are arranged between the support and the front swing actuator in parallel, the rotary actuator can move out of synchronization with the output end of the side swing actuator, and the output end of the side swing actuator can move out of synchronization with the rotary actuator.

In some alternative embodiments, the robotic hip assembly further comprises: the second connecting piece comprises a third body and a fourth body which are connected, the third body is connected with the output end of the side swing actuator, and the fourth body is sleeved on the outer side of the rotary actuator, so that the output end of the side swing actuator is connected with the rotary actuator.

In some optional embodiments, the axis of the sideslip actuator extends along the front-back direction, the output end of the sideslip actuator can rotate in a vertical plane extending left and right to drive the lower limb of the robot to swing left and right, and the output end of the sideslip actuator is positioned at the front end of the sideslip actuator; the extending direction of the axis of the rotation actuator is perpendicular to the extending direction of the axis of the side swing actuator, the axis of the rotation actuator extends along the up-down direction in the state that the robot is vertical, the output end of the rotation actuator can rotate in a horizontal plane so as to drive the lower limb of the robot to rotate, and the output end of the rotation actuator is positioned at the lower end of the rotation actuator.

In some optional embodiments, the extending direction of the axis of the front swing actuator is perpendicular to the extending direction of the axis of the side swing actuator, and the extending direction of the axis of the front swing actuator is perpendicular to the extending direction of the axis of the rotating actuator, in the state that the robot is vertical, the axis of the front swing actuator extends in the left-right direction, the output end of the front swing actuator can rotate in a vertical plane extending forwards and backwards so as to drive the lower limb of the robot to swing forwards and backwards, and the output end of the front swing actuator and the lower limb of the robot are sequentially arranged in the left-right direction.

According to an embodiment of the second aspect of the utility model, there is provided a robot comprising a robotic hip assembly as described in any of the above.

The robot hip joint assembly and the robot provided by the embodiment of the disclosure can realize the following technical effects:

in this embodiment, the side swing actuator is provided on a bracket, and the bracket can fix the side swing actuator. The output end of the front swing actuator is connected with the lower limb of the robot, so that the front swing actuator can drive the lower limb of the robot to swing back and forth. The front swing actuator is arranged at the lower side of the rotary actuator, a preset space is arranged between the output end of the front swing actuator and the rotary actuator, other components are not arranged in the preset space, and therefore the condition that other components interfere with forward swing of the lower limb of the robot can be reduced, the condition that part of the limb of the lower limb of the robot swings to the position which is positioned on the same horizontal plane or higher than the rotary actuator through the preset space, the forward swing range of the lower limb of the robot is increased, the forward (upper) swing amplitude of the lower limb of the robot is larger, further more actions can be completed by the hip joint assembly of the robot, and the movement flexibility of the hip joint assembly of the robot is improved.

The foregoing general description and the following description are exemplary and explanatory only and are not restrictive of the utility model.

Drawings

One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements, and in which like reference numerals refer to similar elements, and in which:

FIG. 1 is a schematic structural view of a robotic hip assembly provided in accordance with an embodiment of the present disclosure;

FIG. 2 is a schematic structural view of another view of a robotic hip assembly provided by embodiments of the present disclosure;

FIG. 3 is a schematic structural view of yet another perspective of a robotic hip assembly provided by an embodiment of the present disclosure;

fig. 4 is a schematic structural view of a first connector according to an embodiment of the present disclosure.

Reference numerals:

100. a bracket; 200. a side swing actuator; 300. a rotary actuator; 400. a front swing actuator; 500. robot lower limbs; 510. thigh bars; 520. a knee joint actuator; 600. a second connector; 610. a third body; 620. a fourth body; 700. a first connector; 710. a first body; 720. a second body.

Detailed Description

So that the manner in which the features and techniques of the disclosed embodiments can be understood in more detail, a more particular description of the embodiments of the disclosure, briefly summarized below, may be had by reference to the appended drawings, which are not intended to be limiting of the embodiments of the disclosure. In the following description of the technology, for purposes of explanation, numerous details are set forth in order to provide a thorough understanding of the disclosed embodiments. However, one or more embodiments may still be practiced without these details. In other instances, well-known structures and devices may be shown simplified in order to simplify the drawing.

The terms first, second and the like in the description and in the claims of the embodiments of the disclosure and in the above-described figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe embodiments of the present disclosure. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion.

In the embodiments of the present disclosure, the terms "upper", "lower", "inner", "middle", "outer", "front", "rear", and the like indicate an azimuth or a positional relationship based on that shown in the drawings. These terms are used primarily to better describe embodiments of the present disclosure and embodiments thereof and are not intended to limit the indicated device, element, or component to a particular orientation or to be constructed and operated in a particular orientation. Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in the embodiments of the present disclosure will be understood by those of ordinary skill in the art in view of the specific circumstances.

In addition, the terms "disposed," "connected," "secured" and "affixed" are to be construed broadly. For example, "connected" may be in a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the above terms in the embodiments of the present disclosure may be understood by those of ordinary skill in the art according to specific circumstances.

The term "and/or" is an associative relationship that describes an object, meaning that there may be three relationships. For example, a and/or B, represent: a or B, or, A and B.

It should be noted that, without conflict, the embodiments of the present disclosure and features of the embodiments may be combined with each other.

As shown in fig. 1 to 4, the embodiment of the present disclosure provides a robot hip joint assembly including a bracket 100, a yaw actuator 200, a rotation actuator 300, and a pitch actuator 400. The support 100 is for connection to a robot lumbar assembly. The yaw actuator 200 is provided to the bracket 100, and the rotation actuator 300 is provided to the front side of the yaw actuator 200. The output end of the front swing actuator 400 is used for being connected with the lower limb 500 of the robot, and the front swing actuator 400 can drive the lower limb 500 of the robot to swing back and forth; the front swing actuator 400 is disposed at the lower side of the rotary actuator 300, and a predetermined space is provided between the output end of the front swing actuator 400 and the rotary actuator 300, so that a part of the lower limb 500 of the robot can swing to a position at the same horizontal plane as the rotary actuator 300 or higher than the rotary actuator 300 through the predetermined space.

The hip joint assembly of the robot includes a support 100, and the support 100 is used for being connected with the waist assembly of the robot, in this embodiment, as shown in fig. 1, the support 100 is used as an origin, an upper body structure of the robot is arranged above the support 100, a lower body structure of the robot is arranged below the support 100 and the support 100, one side of the robot facing the face and the abdomen is used as the front, and one side of the robot facing the back of the brain is used as the back. For example, when the robot walks forward, the output end of the forward swing actuator 400 rotates to drive the lower limb 500 of the robot to swing forward, thereby realizing the forward movement of the robot. When the robot retreats, the output end of the front swing actuator 400 reversely rotates to drive the lower limb 500 of the robot to swing backwards, so that the retreating of the robot is realized.

In the present embodiment, the yaw actuator 200 is provided to the bracket 100, and the bracket 100 can fix the yaw actuator 200. The output end of the front swing actuator 400 is connected with the lower limb 500 of the robot, so that the front swing actuator 400 can drive the lower limb 500 of the robot to swing back and forth. The front swing actuator 400 is arranged at the lower side of the rotary actuator 300, a preset space is arranged between the output end of the front swing actuator 400 and the rotary actuator 300, and other components are not arranged in the preset space, so that the condition that other components interfere with forward swing of the lower limb 500 of the robot can be reduced, part of the limb of the lower limb 500 of the robot can swing to a position which is positioned at the same horizontal plane with the rotary actuator 300 or is higher than the rotary actuator 300 through the preset space, the forward swing range of the lower limb 500 of the robot is increased, the forward (upward) swing amplitude of the lower limb 500 of the robot is larger, more actions can be completed by the hip joint assembly of the robot, and the movement flexibility of the hip joint assembly of the robot is improved.

And the range of forward swing of the robot lower limb 500 increases, so that the movement range of the robot more accords with the movement range of a human body, thereby improving the personification degree of the hip joint assembly of the robot.

Alternatively, the front swing actuator 400 is provided at the lower side of the side swing actuator 200, and the front swing actuator 400 is provided at the front side of the side swing actuator 200.

In the present embodiment, the height of the front swing actuator 400 is lower than that of the side swing actuator 200, and the height of the front swing actuator 400 is lower than that of the rotary actuator 300, and the front swing actuator 400 and the rotary actuator 300 are both located at the front side of the side swing actuator 200. Further, the front swing actuator 400 is flush with the rotary actuator 300, or the front swing actuator 400 protrudes from the rotary actuator 300. In this way, the front swing actuator 400 corresponds to the forefront of the three actuators, and the rotary actuator 300 and the front swing actuator 400 are disposed up and down, and the front side of the front swing actuator 400 and the front side of the rotary actuator 300 are not blocked by other members. When the front swing actuator 400 drives the robot lower limb 500 to swing forwards, the occurrence of the situation that the side swing actuator 200 and the rotary actuator 300 obstruct the swing of the robot lower limb 500 can be reduced, so that the rotation range of the front swing actuator 400 and the forward swing range of the robot lower limb 500 are increased, the forward (upper) swing amplitude of the robot lower limb 500 is larger, more actions can be completed by the robot hip joint assembly, and the movement flexibility of the robot hip joint assembly is improved.

In the present embodiment, the height relationships of the yaw actuator 200, the pitch actuator 400, and the yaw actuator 300 are the height relationships of the actuators when the robot is in the upright state, and the front-rear relationship and the left-right relationship.

Illustratively, the robot lower limb 500 includes a knee joint actuator 520 and a thigh bar 510, the output end of the front swing actuator 400 is used to be connected with one end of the thigh bar 510, the knee joint actuator 520 is connected with one end of the thigh bar 510, the knee joint actuator 520 and the front swing actuator 400 are respectively located at opposite sides of one end of the thigh bar 510, and the other end of the thigh bar 510 can swing to a position at the same level as the rotary actuator 300 or higher than the rotary actuator 300 through a preset space.

In this embodiment, the output end of the front swing actuator 400 is connected to one end of the thigh shaft 510, and the front swing actuator 400 can drive the other end of the thigh shaft 510 to swing around the output end of the front swing actuator 400, i.e. to swing the thigh shaft 510 back and forth. Because a preset space is provided between the output end of the front swing actuator 400 and the rotary actuator 300, that is, a preset space is provided between one end of the thigh lever 510 and the rotary actuator 300, when the thigh lever 510 is rotated to be horizontally arranged in the length direction, one end of the thigh lever 510 and the other end of the thigh lever 510 are positioned on the same horizontal plane, the preset space extends in the front-rear direction, and at this time, the preset space can extend to the other end of the thigh lever 510. After the other end of the thigh lever 510 continues to swing upward through the preset space, the other end of the thigh lever 510 can swing to a position at the same level as the rotary actuator 300 or higher than the rotary actuator 300.

The knee actuator 520 can control rotation of the knee of the robot. The knee joint actuator 520 is connected with one end of the thigh bar 510, that is, the knee joint actuator 520 is connected with the upper end of the thigh bar 510, so that the set height of the knee joint actuator 520 can be increased, thereby increasing the height of the center of mass of the robot lower limb 500, reducing the moment of inertia of the robot lower limb 500, and facilitating the control of the movement of the robot lower limb 500.

Further, the robot hip joint assembly further includes a first connecting member 700, the first connecting member 700 includes a first body 710 and a second body 720 connected to each other, the first body 710 is connected to the output end of the rotary actuator 300, and the second body 720 is sleeved on the outer side of the front swing actuator 400, so that the output end of the rotary actuator 300 is connected to the front swing actuator 400.

In this embodiment, the output end of the rotary actuator 300 is connected to the first body 710, and the rotary actuator 300 rotates to drive the first body 710 to rotate. The second body 720 connected with the first body 710 is sleeved outside the front swing actuator 400, and the first body 710 rotates, so that the second body 720 and the front swing actuator 400 are driven to rotate. Thus, the output end of the rotary actuator 300 is connected to the front swing actuator 400 through the first connection member 700, so that the rotary actuator 300 can drive the front swing actuator 400 to rotate synchronously with the lower limb 500 of the robot.

Illustratively, there is a bevel between the second body 720 and the first body 710, the first connecting member 700 is bent, and the second body 720 is connected to an end of the first body 710 facing the outside, so that the front swing actuator 400 is located obliquely below the rotary actuator 300, and the robot lower limb 500 can be located inside the front swing actuator 400.

When the robot is a bipedal robot, the number of the hip joint assemblies of the robot is two, and the hip joint assemblies of the robot are symmetrically arranged along the left-right direction in the vertical state of the robot. Taking one hip joint component as an example, in the left-right direction, the outer side refers to the side of the hip joint component facing away from the other hip joint component, and the inner side refers to the side of the hip joint component facing toward the other hip joint component.

In this embodiment, a folding angle exists between the second body 720 and the first body 710, and the first connecting member 700 is bent, so that a folding angle exists between the axis of the rotary actuator 300 and the axis of the front swing actuator 400. For example, the angle of refraction between the second body 720 and the first body 710 is 90 such that the axis of the rotary actuator 300 is perpendicular to the axis between the front swing actuators 400. The center of the robot lower limb 500 in the left-right direction and the axis of the yaw actuator 200 are located in the same plane as the axis of the rotation actuator 300, that is, the front swing actuator 400 is located obliquely below the rotation actuator 300. The second body 720 is connected to an end of the first body 710 facing outward, that is, the front swing actuator 400 is disposed at an outer side below the rotation actuator 300, that is, at an outer side of the robot lower limb 500. In this way, the robot lower limb 500 is provided on the inner side, and the front swing actuator 400 is provided on the outer side, so that when the robot is a bipedal robot, interference between the two corresponding front swing actuators 400 can be reduced, and the stability of the robot during walking can be improved.

In a specific embodiment, as shown in fig. 1 and 3, an output end of the yaw actuator 200 is connected to the rotation actuator 300, and the yaw actuator 200 can drive the rotation actuator 300, the front swing actuator 400 and the robot lower limb 500 to swing left and right.

In this embodiment, the output end of the yaw actuator 200 is connected with the yaw actuator 300, and the output end of the yaw actuator 300 is connected with the pitch actuator 400, that is, the yaw actuator 200, the yaw actuator 300 and the pitch actuator 400 are sequentially connected in series, the yaw actuator 200 drives the yaw actuator 300, the pitch actuator 400 and the lower limb 500 of the robot to swing left and right, the yaw actuator 300 drives the pitch actuator 400 and the lower limb 500 of the robot to rotate, and the pitch actuator 400 drives the lower limb 500 of the robot to swing back and forth.

The roll actuator 200 is provided to the bracket 100, and the front swing actuator 400 has a lower height than the rotary actuator 300, i.e., the rotary actuator 300 has a higher height than the front swing actuator 400. In this way, in the height direction, the distance between the rotary actuator 300 and the bracket 100 is smaller than the distance between the yaw actuator 200 and the bracket 100, and the rotary actuator 300 moves upwards, that is, the center of mass of the rotary actuator 300 moves upwards, so that the center of mass of the lower body limb of the robot moves upwards, the moment of inertia of the hip joint assembly in the process of moving the lower limb 500 of the robot is reduced, and the control of the hip joint assembly of the robot is facilitated.

For example, when the robot walks forward or retreats, the front swing actuator 400 operates, and the output end of the front swing actuator 400 drives the lower limb 500 of the robot to swing forward or backward, so that the robot can advance or retreat. When the robot turns, that is, walks to the front side (the "knee" of the lower limb 500 of the robot faces the front side), the rotary actuator 300 operates with the front swing actuator 400, the output end of the rotary actuator 300 drives the front swing actuator 400 to rotate synchronously with the lower limb 500 of the robot, so that the output end of the front swing actuator 400 faces the front side with the lower limb 500 of the robot, and the output end of the front swing actuator 400 drives the lower limb 500 of the robot to swing to the side, so that the robot can walk to the front side for turning. When the robot moves laterally left and right, the yaw actuator 200 operates, and the output end of the yaw actuator 200 drives the rotary actuator 300, the front yaw actuator 400 and the lower limb 500 of the robot to swing left or right synchronously, so that the robot moves laterally left and right. When the robot steps forward sideways (the "knee" of the lower limb 500 of the robot is facing forward), the yaw actuator 200 and the pitch actuator 400 work, the output end of the yaw actuator 200 drives the rotary actuator 300, the pitch actuator 400 and the lower limb 500 of the robot to swing leftward or rightward synchronously, and the pitch actuator 400 drives the lower limb 500 of the robot to swing forward and backward, so that the robot can step forward sideways, and the output end of the pitch actuator 400 and the lower limb 500 of the robot are still facing forward.

In another embodiment, the output end of the yaw actuator 200 is connected to the front swing actuator 400, the rotation actuator 300 is disposed on the bracket 100, the rotation actuator 300 is disposed between the bracket 100 and the front swing actuator 400 in parallel with the yaw actuator 200, the rotation actuator 300 can move out of synchronization with the output end of the yaw actuator 200, and the output end of the yaw actuator 200 can move out of synchronization with the rotation actuator 300.

In this embodiment, the output end of the yaw actuator 200 is connected to the front swing actuator 400, and the yaw actuator 200 drives the front swing actuator 400 and the lower limb 500 of the robot to swing synchronously, so as to implement the yaw (i.e., swing) of the lower limb 500 of the robot. The output end of the rotary actuator 300 is connected with the front swing actuator 400, and the rotary actuator 300 drives the front swing actuator 400 and the lower limb 500 of the robot to synchronously rotate, so that the rotary motion of the lower limb 500 of the robot is realized. This allows for back and forth swing, side to side swing and rotational movement of the lower extremity 500 of the robot to meet various movement requirements of the robot.

The rotary actuator 300 and the yaw actuator 200 are arranged between the bracket 100 and the front swing actuator 400 in parallel, the rotary actuator 300 can move out of synchronization with the output end of the yaw actuator 200, and the output end of the yaw actuator 200 can move out of synchronization with the rotary actuator 300. The side swing actuator 200 does not drive the rotation actuator 300 to work when working, and the rotation actuator 300 does not drive the side swing actuator 200 to work when working, compared with the serial connection of three actuators, the side swing actuator 200 or the rotation actuator 300 can reduce the rotating parts driven by the side swing actuator 200 or the rotation actuator 300, thereby reducing the moment of inertia of the robot lower limb 500 relative to the side swing actuator 200 or the rotation actuator 300, and being convenient for controlling the movement of the robot.

When the robot steps forward sideways (the knee of the lower limb 500 of the robot faces forward), the yaw actuator 200 and the yaw actuator 400 work, the yaw actuator 400 drives the lower limb 500 of the robot to swing forward and backward, and the output end of the yaw actuator 200 only needs to drive the yaw actuator 400 to swing left or right synchronously with the lower limb 500 of the robot, so that the robot can step forward sideways, and the output end of the yaw actuator 400 and the lower limb 500 of the robot still face forward. When the robot moves laterally, the yaw actuator 200 works, and the output end of the yaw actuator 200 drives the front yaw actuator 400 and the lower limb 500 of the robot to swing left or right, so that the robot moves laterally. In this way, when the side swing actuator 200 works, only the front swing actuator 400 and the lower limb 500 of the robot are required to be driven to swing, the rotary actuator 300 is not required to be driven to swing any more, the moment of inertia of the side swing actuator 200 when the lower limb 500 of the robot swings left and right is reduced, and the movement of the robot is convenient to control.

Illustratively, as shown in fig. 3, the hip joint assembly further includes a second connector 600, where the second connector 600 includes a third body 610 and a fourth body 620 connected to each other, the third body 610 is connected to the output end of the yaw actuator 200, and the fourth body 620 is sleeved on the outer side of the rotation actuator 300, so that the output end of the yaw actuator 200 is connected to the rotation actuator 300.

In this embodiment, the third body 610 of the second connecting member 600 is connected to the output end of the side swing actuator 200, and the output end of the side swing actuator 200 drives the third body 610 to swing. The fourth body 620 connected with the third body 610 is sleeved on the outer side of the rotary actuator 300, and the third body 610 swings, so that the fourth body 620 and the rotary actuator 300 are driven to swing, and the output end of the side swing actuator 200 is connected with the rotary actuator 300 through the second connecting piece 600.

Alternatively, the third body 610 extends in the left-right direction, and the rear wall surface of the third body 610 is connected to the output end of the roll actuator 200. The fourth body 620 is annular, an outer wall surface of the fourth body 620 is connected with a front wall surface of the third body 610, and an inner wall surface of the fourth body 620 is sleeved outside the rotary actuator 300. The rotary actuator 300, the third body 610, and the roll actuator 200 are thus disposed in this order in the front-to-rear direction.

Illustratively, as shown in fig. 1, the axis of the yaw actuator 200 extends in the front-rear direction, the output end of the yaw actuator 200 can rotate in a vertical plane extending left and right to drive the robot lower limb 500 to swing left and right, and the output end of the yaw actuator 200 is located at the front end of the yaw actuator 200. The extending direction of the axis of the rotation actuator 300 is perpendicular to the extending direction of the axis of the yaw actuator 200, and in the state that the robot is upright, the axis of the rotation actuator 300 extends in the up-down direction, the output end of the rotation actuator 300 can rotate in the horizontal plane to drive the robot lower limb 500 to rotate, and the output end of the rotation actuator 300 is positioned at the lower end of the rotation actuator 300.

In this embodiment, the axis of the yaw actuator 200 extends in the front-rear direction, so that the output end of the yaw actuator 200 can rotate in a vertical plane extending in the left-right direction perpendicular to the front-rear direction, thereby driving the robot lower limb 500 to swing in the left-right direction. The rotation actuator 300 is disposed at the front side of the yaw actuator 200, and the output end of the yaw actuator 200 is disposed at the front end of the yaw actuator 200, so that the output end of the yaw actuator 200 can be connected to the rotation actuator 300, thereby driving the rotation actuator 300 to swing left and right.

The extending direction of the axis of the rotation actuator 300 is perpendicular to the extending direction of the axis of the yaw actuator 200, and in the state that the robot is upright, the axis of the rotation actuator 300 extends in the up-down direction, so that the output end of the rotation actuator 300 can be rotated in the horizontal plane perpendicular to the up-down direction, thereby driving the lower limb 500 of the robot to rotate. The front swing actuator 400 has a lower height than the rotary actuator 300, and the output end of the rotary actuator 300 is positioned at the lower end of the rotary actuator 300, so that the output end of the rotary actuator 300 can be connected with the front swing actuator 400 to drive the front swing actuator 400 to rotate.

Further, as shown in fig. 2, the extending direction of the axis of the front swing actuator 400 is perpendicular to the extending direction of the axis of the side swing actuator 200, and the extending direction of the axis of the front swing actuator 400 is perpendicular to the extending direction of the axis of the rotation actuator 300, in the state that the robot is upright, the axis of the front swing actuator 400 extends in the left-right direction, the output end of the front swing actuator 400 can rotate in the vertical plane extending forward and backward to drive the robot lower limb 500 to swing forward and backward, and the output end of the front swing actuator 400 and the robot lower limb 500 are sequentially arranged in the left-right direction.

In this embodiment, in the state that the robot is upright, the axis of the front swing actuator 400 extends in the left-right direction, so that the output end of the front swing actuator 400 can rotate in a vertical plane extending in the front-rear direction perpendicular to the left-right direction, thereby driving the robot lower limb 500 to swing back and forth.

The extending direction of the axis of the rotation actuator 300 is perpendicular to the extending direction of the axis of the side swing actuator 200, the extending direction of the axis of the front swing actuator 400 is perpendicular to the extending direction of the axis of the rotation actuator 300, and the axes of the rotation actuator 300, the side swing actuator 200 and the front swing actuator 400 are perpendicular to each other, so that the swing angle of the lower limb 500 of the robot can be increased through the cooperation of the rotation actuator 300, the side swing actuator 200 and the front swing actuator 400, the oblique swing of the lower limb 500 of the robot is realized, the moving range of the lower limb 500 of the robot is increased, and the moving flexibility of the hip joint assembly of the robot is improved.

Further, the axis of the roll actuator 200 is in the same plane as the axis of the rotary actuator 300.

In this embodiment, the axis of the yaw actuator 200 is located in the same plane as the axis of the rotation actuator 300, and the axis of the yaw actuator 200 is perpendicular to the axis of the rotation actuator 300, and the rotation actuator 300 is disposed at the front side of the yaw actuator 200, that is, the center of the rotation actuator 300 is located in front of the center of the yaw actuator 200. Optionally, the center of the robot lower limb 500 in the left-right direction, the axis of the side swing actuator 200 and the axis of the rotation actuator 300 are located in the same plane, so that the rotation angle of the side swing actuator 200 is the left-right swing angle of the robot lower limb 500, thereby facilitating control of swing of the robot lower limb 500.

Further, the axis of the rotary actuator 300 is in the same plane as the axis of the front swing actuator 400.

In this embodiment, the axis of the rotary actuator 300 and the axis of the front swing actuator 400 are located in the same plane, and the axis of the rotary actuator 300 is perpendicular to the axis of the front swing actuator 400, and the height of the front swing actuator 400 is lower than that of the rotary actuator 300, that is, the center of the front swing actuator 400 is located below the rotary actuator 300. Alternatively, the center of the robot lower limb 500 in the fore-and-aft direction, the axis of the rotation actuator 300 and the axis of the front swing actuator 400 are located in the same plane. Thus, the rotation angle of the rotation actuator 300 is the rotation angle of the robot lower limb 500 in the horizontal plane, so that the rotation of the robot lower limb 500 is conveniently controlled.

Alternatively, the bracket 100 is provided with a mounting groove in which the side swing actuator 200 is provided, the mounting groove extending in the front-rear direction.

In the present embodiment, the bracket 100 is provided with a mounting groove extending in the front-rear direction, and the axis of the roll actuator 200 extends in the front-rear direction so that the roll actuator 200 can be mounted to the bracket 100.

Embodiments of the present disclosure provide a robot comprising a robotic hip assembly as described in any of the above.

The robot provided in the embodiments of the present disclosure, because of including the robot hip joint assembly according to any one of the embodiments, has all the advantages of the robot hip joint assembly according to any one of the embodiments, and will not be described in detail herein.

The above description and the drawings illustrate embodiments of the disclosure sufficiently to enable those skilled in the art to practice them. Other embodiments may include structural and other modifications. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the sequence of operations may vary. Portions and features of some embodiments may be included in, or substituted for, those of others. The embodiments of the present disclosure are not limited to the structures that have been described above and shown in the drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims (10)

1. A robotic hip joint assembly, comprising:

the bracket is used for being connected with the robot waist component;

the side swing actuator is arranged on the bracket;

the rotary actuator is arranged at the front side of the side swing actuator;

the output end of the front swing actuator is used for being connected with the lower limb of the robot, the front swing actuator can drive the lower limb of the robot to swing back and forth, the front swing actuator is arranged on the lower side of the rotary actuator, a preset space is arranged between the output end of the front swing actuator and the rotary actuator, and therefore part of the lower limb of the robot can swing to the position which is located on the same horizontal plane with the rotary actuator or higher than the rotary actuator through the preset space.

2. The robotic hip assembly of claim 1, wherein the robotic hip is configured to,

the front swing actuator is arranged on the lower side of the side swing actuator, and the front swing actuator is arranged on the front side of the side swing actuator; and/or the number of the groups of groups,

the axis of the side swing actuator and the axis of the rotary actuator are positioned in the same plane; and/or the number of the groups of groups,

the axis of the rotary actuator and the axis of the front swing actuator are located in the same plane.

3. The robotic hip assembly of claim 1, wherein the robotic hip is configured to,

the lower limb of the robot comprises a knee joint actuator and a thigh rod, wherein the output end of the front swing actuator is used for being connected with one end of the thigh rod, the knee joint actuator is connected with one end of the thigh rod, the knee joint actuator and the front swing actuator are respectively positioned on two opposite sides of one end of the thigh rod, and the other end of the thigh rod can swing to a position which is positioned on the same horizontal plane as the rotary actuator or higher than the rotary actuator through the preset space.

4. The robotic hip assembly of claim 1, wherein the robotic hip is configured to,

the robot hip joint assembly further comprises a first connecting piece, the first connecting piece comprises a first body and a second body which are connected, the first body is connected with the output end of the rotary actuator, and the second body is sleeved on the outer side of the front swing actuator, so that the output end of the rotary actuator is connected with the front swing actuator.

5. The robotic hip assembly according to claim 4, wherein,

the robot comprises a first body, a second body, a first connecting piece, a front swing actuator, a robot lower limb, a front swing actuator and a robot lower limb, wherein a folding angle exists between the second body and the first body, the first connecting piece is bent, the second body is connected with one end, facing the outer side, of the first body, so that the front swing actuator is located below the rotation actuator in an inclined mode, and the robot lower limb can be located on the inner side of the front swing actuator.

6. The robotic hip assembly according to claim 4, wherein,

the output end of the side swing actuator is connected with the rotary actuator, and the side swing actuator can drive the rotary actuator, the front swing actuator and the lower limb of the robot to swing synchronously; or alternatively, the first and second heat exchangers may be,

the output end of the side swing actuator is connected with the front swing actuator, the rotary actuator is arranged on the support, the rotary actuator and the side swing actuator are arranged between the support and the front swing actuator in parallel, the rotary actuator can move out of synchronization with the output end of the side swing actuator, and the output end of the side swing actuator can move out of synchronization with the rotary actuator.

7. The robotic hip assembly of claim 6, further comprising:

the second connecting piece comprises a third body and a fourth body which are connected, the third body is connected with the output end of the side swing actuator, and the fourth body is sleeved on the outer side of the rotary actuator, so that the output end of the side swing actuator is connected with the rotary actuator.

8. The robotic hip assembly of claim 1, wherein the robotic hip is configured to,

the axis of the side swing actuator extends along the front-back direction, the output end of the side swing actuator can rotate in a vertical plane extending left and right so as to drive the lower limb of the robot to swing left and right, and the output end of the side swing actuator is positioned at the front end of the side swing actuator;

the extending direction of the axis of the rotation actuator is perpendicular to the extending direction of the axis of the side swing actuator, the axis of the rotation actuator extends along the up-down direction in the state that the robot is vertical, the output end of the rotation actuator can rotate in a horizontal plane so as to drive the lower limb of the robot to rotate, and the output end of the rotation actuator is positioned at the lower end of the rotation actuator.

9. The robotic hip assembly according to claim 8, wherein,

the extending direction of the axis of the front swing actuator is perpendicular to the extending direction of the axis of the side swing actuator, the extending direction of the axis of the front swing actuator is perpendicular to the extending direction of the axis of the rotating actuator, the axis of the front swing actuator extends along the left-right direction in a robot standing state, the output end of the front swing actuator can rotate in a vertical plane extending front and back to drive the lower limbs of the robot to swing back and forth, and the output end of the front swing actuator and the lower limbs of the robot are sequentially arranged along the left-right direction.

10. A robot, comprising:

a robotic hip joint assembly according to any one of claims 1 to 9.