CN-122008307-A - Crotch joint module, lower limb structure and robot

CN122008307ACN 122008307 ACN122008307 ACN 122008307ACN-122008307-A

Abstract

The application provides a crotch joint module, a lower limb structure and a robot, and relates to the technical field of robots. The crotch joint module includes a crotch joint body and a plurality of driving units. Each driving unit is connected with the crotch joint body, at least one driving unit is also connected with a lower limb body, and the plurality of driving units are used for controlling the lower limb body to correspondingly move in a plurality of directions. The application can provide a stable crotch joint module.

Inventors

CHEN SIWEI
TAN WENHUI

Assignees

广东智动未来科技有限公司
深圳市智动未来科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260328

Claims (11)

1. A crotch joint module, comprising: A crotch joint body; The crotch joint body is connected with the crotch joint body, and at least one driving unit is also connected with a lower limb body, and the driving units are used for controlling the lower limb body to move correspondingly in a plurality of directions.
2. The crotch joint module of claim 1 wherein the plurality of drive units comprises a first drive unit coupled to the crotch joint body and at least one second drive unit coupled to both the crotch joint body and the lower limb body, the first drive unit for driving the crotch joint body in a first direction to move the lower limb body in the first direction, the at least one second drive unit for controlling the lower limb body to move in at least a second direction.
3. The crotch joint module of claim 2 wherein the first drive unit comprises a first motor and each second drive unit comprises a second motor, the crotch joint module further comprises at least two hoop structures, the at least two hoop structures are in one-to-one correspondence with the first motor and the second motor, the first motor is connected with the crotch joint body through the corresponding hoop structures, and the second motor is connected with both the crotch joint body and the lower limb body through the corresponding hoop structures.
4. A crotch joint module according to claim 3, wherein the directions of extension of the output axes of the first motor and each of the second motors are different from each other to control the movement of the lower limb body in correspondence at least in the first direction and the second direction, respectively.
5. The crotch joint module of claim 4 wherein the output axis of at least one of the first motor and each of the second motors is non-intersecting with the output axes of the other motors.
6. The crotch joint module of claim 3 wherein the lower limb body comprises a first lower limb module and a second lower limb module, the at least one second drive unit comprises two second drive units, wherein a second motor in one second drive unit is connected to both the crotch joint body and the first lower limb module by a corresponding hoop structure, and a second motor in the other second drive unit is connected to both the crotch joint body and the second lower limb module by a corresponding hoop structure; the first motor is used for driving the crotch joint main body to move along the first direction so as to drive the first lower limb module and the second lower limb module to move along the first direction, one of the second motors is used for driving the first lower limb module to move in the second direction, the other second motor is used for driving the second lower limb module to move in the third direction, and the second direction and the third direction are parallel or non-parallel.
7. The crotch joint module of claim 6 wherein the output axes of the two second motors do not intersect the output axis of the first motor.
8. The crotch joint module of claim 7 wherein the distance between the intersection of the output axes of the one of the second motors and the other of the second motors and the output axis of the first motor is less than a preset distance.
9. The crotch joint module of claim 3 wherein the hoop structure comprises a hoop body and at least one connecting portion; The hoop body is used for surrounding and wrapping at least part of the peripheral surface of the corresponding first motor or second motor so as to fix the motors; the at least one connecting portion is arranged on the hoop body and is used for being detachably connected with the crotch joint main body so as to detachably fix the motor on the crotch joint main body.
10. A lower limb structure comprising: A lower limb body; the crotch joint module of any one of claims 1-9 for controlling the movement of the lower limb body in a corresponding plurality of directions.
11. A robot comprising a robot body, a robot body and a robot body, characterized by comprising the following steps: A robot main body; the lower limb structure of claim 10, for moving the robot body.

Description

Crotch joint module, lower limb structure and robot Technical Field The application relates to the technical field of robots, in particular to a crotch joint module, a lower limb structure and a robot. Background At present, with popularization of robots and development of robot technology, humanoid robots become a key for development of robots, wherein movement flexibility and stability of the humanoid robots are becoming more and more interesting. The crotch joint of the humanoid robot is very important for the motion of the humanoid robot and is a main joint for supporting the upper body and the lower limbs of the robot, so how to provide a stable crotch joint module becomes a problem to be considered. Disclosure of Invention The application provides a crotch joint module, a lower limb structure and a robot, which can provide a stable crotch joint module. In a first aspect, a crotch joint module is provided, the crotch joint module comprising a crotch joint body and a plurality of drive units. Each driving unit is connected with the crotch joint body, at least one driving unit is also connected with a lower limb body, and the plurality of driving units are used for controlling the lower limb body to correspondingly move in a plurality of directions. In one possible embodiment, the plurality of driving units includes a first driving unit connected with the crotch joint body and at least one second driving unit connected with both the crotch joint body and the lower limb body, the first driving unit being configured to drive the crotch joint body to move in a first direction so as to drive the lower limb body to move in the first direction, and the at least one second driving unit being configured to control the lower limb body to move at least in a second direction. In one possible implementation manner, the first driving unit includes a first motor, each second driving unit includes a second motor, the crotch joint module further includes at least two anchor ear structures, the at least two anchor ear structures are in one-to-one correspondence with the first motor and the second motor, the first motor is connected with the crotch joint main body through the anchor ear structures corresponding thereto, and the second motor is connected with the crotch joint main body and the lower limb main body through the anchor ear structures corresponding thereto. In a possible embodiment, the directions of extension of the output axes of the first motor and each second motor are different from each other to control the movement of the lower limb body in the first direction and the second direction, respectively. In one possible embodiment, the output axis of at least one of the first motor and each of the second motors is non-intersecting with the output axes of the other motors. In one possible implementation manner, the lower limb main body includes a first lower limb module and a second lower limb module, the at least one second driving unit includes two second driving units, a second motor in one second driving unit is connected with the crotch joint main body and the first lower limb module through corresponding hoop structures, and a second motor in the other second driving unit is connected with the crotch joint main body and the second lower limb module through corresponding hoop structures. The first motor is used for driving the crotch joint main body to move along the first direction so as to drive the first lower limb module and the second lower limb module to move along the first direction, one of the second motors is used for driving the first lower limb module to move in the second direction, the other second motor is used for driving the second lower limb module to move in the third direction, and the second direction and the third direction are parallel or non-parallel. In one possible embodiment, the output axes of the two second motors do not intersect the output axis of the first motor. In one possible embodiment, the distance between the intersection of the output axes of the one and the other second motors and the output axis of the first motor is smaller than a preset distance. In one possible embodiment, the hoop structure comprises a hoop body and at least one connection. The hoop body is used for encircling and wrapping at least part of the peripheral surface of the corresponding first motor or second motor so as to fix the motors. The at least one connecting portion is arranged on the hoop body and is used for being detachably connected with the crotch joint main body so as to detachably fix the motor on the crotch joint main body. In a second aspect, there is also provided a lower limb structure comprising a lower limb body and a crotch joint module. The crotch joint module is used for controlling the lower limb main body to correspondingly move in a plurality of directions. The crotch joint module includes a crotch joint body and a plurality of driving units. Each driving unit is connect