公开(公告)号：US20210197908A1

公开(公告)日：2021-07-01

申请号：US17134147

申请日：2020-12-24

Applicant: UBTECH ROBOTICS CORP LTP

Inventor： Liang Huang ,  Hongyu Ding ,  Youjun Xiong

IPC: B62D57/032

Abstract: A hip joint mechanism includes: 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.