US 11,945,528 B2
Hip joint mechanism and humanoid robot
Liang Huang, Shenzhen (CN); Hongyu Ding, Shenzhen (CN); and Youjun Xiong, Shenzhen (CN)
Assigned to UBTECH ROBOTICS CORP LTD, Shenzhen (CN)
Filed by UBTECH ROBOTICS CORP LTD, Shenzhen (CN)
Filed on Dec. 24, 2020, as Appl. No. 17/134,147.
Claims priority of application No. 201911397803.4 (CN), filed on Dec. 30, 2019.
Prior Publication US 2021/0197908 A1, Jul. 1, 2021
Int. Cl. B25J 9/02 (2006.01); B62D 57/032 (2006.01)
CPC B62D 57/032 (2013.01) 16 Claims
OG exemplary drawing
 
1. A hip joint mechanism comprising:
a hip joint frame;
an upper leg movably connected to the hip joint frame;
a hip actuator configured to drive the hip joint frame to rotate;
two upper leg actuators mounted on the hip joint frame;
two transmission mechanisms configured to transmit motion from the two upper leg actuators to the upper leg, wherein each of the upper leg actuators comprises a casing connected to the hip joint frame, and an output shaft connected to one corresponding transmission mechanism, each of the two transmission mechanisms comprises an output end; and
three connecting mechanisms, wherein the output ends and the hip joint frame are movably connected to the upper leg through the three connecting mechanisms, the three connecting mechanisms are arranged at three vertices of a triangle; each of the three connecting mechanisms comprises a lower connecting part, and the lower connecting parts are fixed to and located on a surface of the upper leg;
wherein the two upper leg actuators are rotating motors, each of the two transmission mechanisms comprises a transmission shaft connected to the hip joint frame, a transmission assembly configured to transmit motion from one corresponding upper leg actuator to the transmission shaft, a transmission link that is driven by the transmission shaft, and link shaft that is rotatably connected to the transmission link and the upper leg.