Robot and waist structure thereof

Abstract

A robot and a waist structure thereof relate to the field of robots. The waist structure comprises a waist frame, a fixed seat, an outer shaft, an inner shaft and a driving module; the fixing seat is provided with a waist rotating hole facing the X axis; the inner shaft is installed on the waist frame and extends in the Y-axis direction. The outer bevel gear is installed on the fixing base, and the axis of the outer bevel gear of the two driving modules is located on the X axis. The rotating motor is installed on the waist frame, the inner bevel gear is meshed with the outer bevel gear, and the output end of the rotating motor is connected to the inner bevel gear and used for driving the inner bevel gear to rotate clockwise or anticlockwise; the rotating motors of the two driving modules are in communication connection; when the inner bevel gears of the two driving modules rotate towards the same direction, the waist frame rotates around the inner shaft; when the inner bevel gears of the two driving modules rotate in the opposite directions, the waist frame rotates around the outer shaft. According to the scheme, the problems that the space structure is complex and the flexibility of the waist is reduced due to the fact that the waist of an existing robot is controlled by two motors at different height positions to move in two different directions are solved.

Description

Technical Field

[0001] The present invention relates to the field of robots, and particularly to a robot and its waist structure. Background Art

[0002] The waist of a robot, as the connecting structure between the upper and lower bodies of the robot, the flexibility of its movement is of great significance for the multi-angle movement of the robot. However, the existing waist structure of the robot is complex, mainly using two motors at different height positions to control two different directions of movement, that is, adopting a double-axis superposition structure, which has significant structural defects in the robot. The core problem stems from the mechanical layout of the two-axis hierarchical superposition: the X-axis and the Y-axis need to be respectively equipped with independent motors, guide rails and transmission components, resulting in an increase in the vertical height redundancy, and the superposition of the two sets of guiding mechanisms makes the system rigidity redundant, generating additional inertial loads. This design not only occupies a large amount of axial space, but also limits the lightweight development of the robot. Summary of the Invention

[0003] The purpose of the present invention is to propose a waist structure of a robot, which uses an outer shaft sleeved on an inner shaft, combined with the symmetric distribution of the drive modules, and the communication connection between the rotation motors can be coupled and coordinated to control, so as to realize the front, rear, left and right multi-directional activities of the robot at the waist, and can also share the force of each drive module, so that the overall structure of the waist structure can carry a larger load.

[0004] The present invention also proposes a robot, which uses the above-mentioned waist structure of a robot.

[0005] To achieve this purpose, the present invention adopts the following technical solutions: A waist structure of a robot, comprising: a waist frame, a fixed seat, an outer shaft, an inner shaft and a drive module; The fixed seat is provided with a waist rotation hole; the inner shaft is installed on the waist frame, and the inner shaft extends in the Y-axis direction; one end of the outer shaft is rotatably connected to the waist rotation hole around the X-axis; the other end of the outer shaft is rotatably sleeved on the inner shaft around the Y-axis; A pair of the drive modules are installed on the waist frame and are located on the left and right sides of the inner shaft; The drive module includes: an outer bevel gear, an inner bevel gear and a rotation motor; The outer bevel gear is installed on the fixed seat, and the axes of the outer bevel gears of the two drive modules are located on the X-axis; the rotation motor is installed on the waist frame, the inner bevel gear meshes with the outer bevel gear, and the output end of the rotation motor is connected to the inner bevel gear for driving the inner bevel gear to rotate clockwise or counterclockwise; the rotation motors of the two drive modules are communicatively connected; When the inner bevel gears of the two drive modules rotate in the same direction, the waist frame rotates around the inner shaft; When the internal bevel gears of the two driving modules rotate in opposite directions, the waist frame rotates around the outer shaft.

[0006] Optimally, it further includes: a turntable; The waist frame is located between the fixed seat and the turntable; the turntable is provided with a seat hole, and the seat hole is coaxially arranged with the waist rotation hole; The outer shaft includes: a sleeve, a first sub-shaft, and a second sub-shaft; The sleeve faces the Y-axis direction; the sleeve is rotatably sleeved on the inner shaft; the first sub-shaft and the second sub-shaft are located on the same straight line, and one end of both is installed on the sleeve; the other end of the first sub-shaft is rotatably connected to the waist rotation hole, and the other end of the second sub-shaft is rotatably connected to the seat hole.

[0007] Optimally, the waist frame is provided with an inverted U-shaped groove; the inner shaft is installed in the inverted U-shaped groove; the inverted U-shaped groove rotates around the Y-axis until it abuts against the turntable.

[0008] Optimally, the turntable is provided with a horizontal plate and a rotating mounting plate; The rotating mounting plate is arranged on the horizontal plate; the rotating mounting plate is provided with the seat hole; the inverted U-shaped groove rotates around the Y-axis until it abuts against the horizontal plate, and the rotating mounting plate extends into the inside of the inverted U-shaped groove.

[0009] Optimally, the waist frame is respectively provided with motor mounting plates at the left and right positions; the waist frame is provided with an inverted U-shaped groove between the two motor mounting plates; the inner shaft is installed in the inverted U-shaped groove; A motor accommodation groove is formed between the motor mounting plate and the side wall of the inverted U-shaped groove; the rotating motor is located in the motor accommodation groove, and the rotating motor is fixed to the motor mounting plate; the output end of the rotating motor is located outside the motor accommodation groove and horizontally faces the left and right positions of the waist frame.

[0010] Optimally, one end of the fixed end of the rotating motor close to the output end is installed on the motor mounting plate, and a storage gap is formed between the end of the fixed end of the rotating motor far from the output end and the outer side wall of the inverted U-shaped groove; The fixed end of the rotating motor is provided with a motor port in the storage gap.

[0011] Optimally, the left and right side walls of the inverted U-shaped groove are provided with side wall hollow openings, and the inner part of the inner shaft is provided with a hollow structure; the side wall hollow openings expose the hollow structure, and a wiring channel is formed between the storage gap and the hollow structure.

[0012] Optimally, the engaging teeth of the external bevel gear are distributed along the minor arc side.

[0013] Optimally, a height difference is formed between the upper and lower ends of the inferior arc side, and the central angle of the inferior arc side is 20 to 100°.

[0014] A robot is provided with the waist structure of the above-mentioned robot.

[0015] Compared with the prior art, one of the above technical solutions has the following beneficial effects: This solution provides a waist structure for a robot, which uses an outer shaft sleeved on an inner shaft. Combining the symmetric distribution of the drive modules and the communication connection between the rotation motors, they can be coupled and cooperatively controlled to realize the multi-directional movement of the robot's waist in the front, back, left, and right directions. It can also share the force on each drive module, enabling the overall structure of the waist structure to carry a larger load, and solving the problems of complex spatial structure and reduced waist flexibility caused by the existing robot's waist controlling the movement in two different directions by two motors at different height positions. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a front structural schematic diagram of one embodiment of the waist structure; Figure 2 is Figure 1 the enlarged view of part A in Figure 3 is a structural schematic diagram of one embodiment of the waist structure when the waist frame rotates around the outer shaft; Figure 4 is a structural schematic diagram of one embodiment of the waist structure when the inner shaft rotates; Figure 5 is a rear structural schematic diagram of another embodiment of the waist structure; Figure 6 is a structural schematic diagram of one embodiment of the external bevel gear.

[0017] Wherein: waist frame 1, fixed seat 2, outer shaft 3, inner shaft 4, drive module 5; swivel base 6; inverted U-shaped groove 11; motor mounting plate 12; motor receiving groove 13; storage gap 14; side wall hollow opening 15; wire routing channel 16; waist rotation hole 21; sleeve 31, first sub-shaft 32, second sub-shaft 33; hollow structure 41; external bevel gear 51, internal bevel gear 52, rotation motor 53; inferior arc side 511, tooth 512; motor port 531; seat hole 61; horizontal plate 62, rotation mounting plate 63. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0018] Embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where like or similar reference numerals designate like or similar elements or elements having like or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

[0019] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", "inner side", "outer side", "inner end", "outer end", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. In addition, features defined as "first" and "second" may explicitly or implicitly include one or more of such features, which are used to distinguish and describe features, without order or importance. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is more than two.

[0020] As Figures 1-6 , a waist structure of a robot, comprising: a waist frame 1, a fixed seat 2, an outer shaft 3, an inner shaft 4, and a driving module 5; The fixed seat 2 is provided with a waist rotation hole 21 facing the X-axis; the inner shaft 4 is installed on the waist frame 1 and extends in the Y-axis direction; one end of the outer shaft 3 is rotatably connected to the waist rotation hole 21 around the X-axis; the other end of the outer shaft 3 is rotatably sleeved on the inner shaft 4 around the Y-axis; A pair of the driving modules 5 are installed on the waist frame 1 and are located on the left and right sides of the inner shaft 4; The driving module 5 includes: an outer bevel gear 51, an inner bevel gear 52, and a rotation motor 53; The outer bevel gear 51 is installed on the fixed seat 2, and the axes of the outer bevel gears 51 of the two driving modules 5 are located on the X-axis; the rotation motor 53 is installed on the waist frame 1, the inner bevel gear 52 meshes with the outer bevel gear 51, and the output end of the rotation motor 53 is connected to the inner bevel gear 52 for driving the inner bevel gear 52 to rotate clockwise or counterclockwise; the rotation motors 53 of the two driving modules 5 are communicatively connected; When the inner bevel gears 52 of the two driving modules 5 rotate in the same direction, the waist frame 1 rotates around the inner shaft 4; When the inner bevel gears 52 of the two driving modules 5 rotate in opposite directions, the waist frame 1 rotates around the outer shaft 3.

[0021] The present solution provides a waist structure of a robot, which uses an outer shaft 3 sleeved on an inner shaft 4. Combined with the symmetrical distribution of the driving modules 5, the communication connection between the rotating motors 53 can be coupled for cooperative control, so as to realize the robot's front, back, left and right multi-directional movements at the waist, and can also share the force of each driving module 5, so that the overall structure of the waist structure can bear a larger load, solving the problem of the existing robot waist using two motors at different heights to control the movement in two different directions, resulting in a complex spatial structure and a reduced flexibility of the waist.

[0022] Specifically, the inner shaft 4 is installed on the waist frame 1; one end of the outer shaft 3 is installed on the waist rotation hole 21, which can mainly guide the waist frame 1 to rotate relative to the waist rotation hole 21 around the X-axis direction; the other end of the outer shaft 3 is connected to the inner shaft 4, and the outer shaft 3 is sleeved on the inner shaft 4, and the outer shaft 3 can rotate relatively around the Y-axis direction at one end of the inner shaft 4; a pair of driving modules 5 are installed on the waist frame 1, and are located on the left and right of the inner shaft 4; each driving module 5 includes an outer bevel gear 51, an inner bevel gear 52 and a rotating motor 53; the outer bevel gear 51 is installed on the waist frame 1, and the outer bevel gear 51 of one driving module 5 is located On the left side, the outer bevel gear 51 of another driving module 5 is located on the right side, and the axes of the two outer bevel gears 51 overlap and are located on the X axis; the output end of the rotating motor 53 is connected to the inner bevel gear 52, which is used to drive the inner bevel gear 52 to rotate. Based on the inner bevel gear 52 and the outer bevel gear 51 being in a meshing state, the inner bevel gear 52 moves relatively to the outer bevel gear 51; since the rotating motors 53 of the two driving modules 5 are connected in communication, the two rotating motors 53 are started synchronously and coupled and cooperatively controlled, the rotating motor 53 can drive the corresponding inner bevel gear 52 to rotate clockwise or counterclockwise as needed; When the rotating motors 53 of the two driving modules 5 drive the inner bevel gears 52 to rotate in the same direction, the inner bevel gears 52 of the two driving modules 5 have a tendency to rotate in the same direction, for example, they move upward or downward toward the outer bevel gears 51 at the same time, so that the inner bevel gears 52 can drive the rotating motors 53 to rotate around the inner shaft 4 (Y axis), and the rotating motors 53 are fixed to the waist frame 1, so that the waist frame 1 will rotate around the inner shaft 4 (Y axis), realizing the forward or backward flipping of the waist structure; When the rotating motors 53 of the two driving modules 5 drive the inner bevel gears 52 to rotate in opposite directions, the inner bevel gears 52 of the two driving modules 5 tend to move in opposite directions. For example, one of the inner bevel gears 52 moves upward toward the outer bevel gears 51, and the other inner bevel gear 52 moves downward toward the outer bevel gears 51. Based on the fact that the axes of the two outer bevel gears 51 are located on the X-axis, the two inner bevel gears 52 are equivalent to rotating around the X-axis. One of the inner bevel gears 52 can drive the rotating motor 53 to move upward around the outer axis 3 (X-axis), and the other inner bevel gear 52 can drive the rotating motor 53 to move downward around the outer axis 3 (X-axis). The rotating motor 53 is fixed to the waist frame 1, so the waist frame 1 will rotate around the outer axis 3 (X-axis), thereby realizing the flipping of the waist structure to the left or right.

[0023] It should be noted that the communication connection method here refers to the establishment of communication between connected devices through signal transmission and interaction, which can be divided into wired connection and wireless connection; wired connection such as conventional data line connection; wireless connection such as conventional WiFi, Bluetooth, infrared, NFC, etc.

[0024] It should be noted that the connection between the rotating motor 53 and the internal bevel gear 52 can be a direct connection or an indirect connection. A direct connection means that the internal bevel gear 52 is directly installed at the output end of the rotating motor 53; an indirect connection means that the output end of the rotating motor 53 is indirectly connected to the internal bevel gear 52 through other structures, such as a differential, a speed reducer, etc.

[0025] Optimally, it further includes: a swivel base 6; The waist frame 1 is located between the fixed base 2 and the swivel base 6; the swivel base 6 is provided with a seat hole 61, and the seat hole 61 is coaxially arranged with the waist rotation hole 21; The outer shaft 3 includes: a sleeve 31, a first sub-shaft 32, and a second sub-shaft 33; The sleeve 31 faces the Y-axis direction; the sleeve 31 is rotatably sleeved on the inner shaft 4; the first sub-shaft 32 and the second sub-shaft 33 are located on the same straight line, and one ends of both are installed on the sleeve 31; the other end of the first sub-shaft 32 is rotatably connected to the waist rotation hole 21, and the other end of the second sub-shaft 33 is rotatably connected to the seat hole 61.

[0026] This solution preferably uses the swivel base 6 to further improve the balance of the double drive module 5 in the X-axis and Y-axis directions; specifically, the waist rotation hole 21 of the fixed base 2 and the seat hole 61 of the swivel base 6 are located on the same straight line; the first sub-shaft 32 and the second sub-shaft 33 are linearly aligned, and both are symmetrically connected to the sleeve 31 at one end; the other end of the first sub-shaft 32 is rotatably connected to the waist rotation hole 21, and the other end of the second sub-shaft 33 is rotatably connected to the seat hole 61; in this way, the center of gravity of the outer shaft 3 is concentrated on the sleeve 31, and the waist frame 1 rotates more smoothly around the X-axis and Y-axis.

[0027] Optimally, the waist frame 1 is provided with an inverted U-shaped groove 11; the inner shaft 4 is installed in the inverted U-shaped groove 11; the inverted U-shaped groove 11 rotates around the Y-axis until it abuts against the swivel base 6.

[0028] This solution can cleverly utilize the position of the swivel seat 6 to position the waist frame 1 when it rotates forward around the Y-axis, so as to avoid excessive rotation and loss of stability of the upper part of the waist structure of the robot; specifically, the inner shaft 4 is installed in the inverted U-shaped groove 11. Since the waist frame 1 is located between the front and rear positions of the fixed seat 2 and the swivel seat 6, when the waist frame 1 is flipped relative to the front around the Y-axis, the inverted U-shaped groove 11 of the waist frame 1 will abut against the swivel seat 6 at the last position of the rotation, thereby limiting the waist frame 1 from continuing to rotate through the swivel seat 6; therefore, the swivel seat 6 not only has the function of improving the stability of the X-axis rotation, but also has the function of positioning the Y-axis, thereby improving the activity stability of the X-axis and Y-axis rotations.

[0029] Optimally, the swivel seat 6 is provided with a horizontal plate 62 and a rotating mounting plate 63; The rotating mounting plate 63 is disposed on the horizontal plate 62 ; the rotating mounting plate 63 is provided with the seat hole 61 ; the inverted U-shaped groove 11 rotates around the Y axis until it abuts against the horizontal plate 62 , and the rotating mounting plate 63 extends into the interior of the inverted U-shaped groove 11 .

[0030] Since the seat hole 61 of the rotating seat 6 needs to maintain the same straight line position as the waist rotating hole 21 of the fixed seat 2, it is necessary to maintain the height position of the inner shaft 4 and the outer shaft 3, and to make the waist frame 1 flip forward as much as possible; for this reason, the shape of the rotating seat 6 is designed in this scheme, specifically, a horizontal plate 62 and a rotating mounting plate 63 are provided, and the rotating mounting plate 63 is used to connect the outer shaft 3; Figure 4 , the rotating mounting plate 63 is located relatively above the horizontal plate 62. When the waist frame 1 drives the inverted U-shaped groove 11 to rotate around the Y axis and flip forward, the inverted U-shaped groove 11 rotates to abut against the horizontal plate 62. The inverted U-shaped groove 11 can be in contact with the horizontal plate 62 at any position; further, the inside of the inverted U-shaped groove 11 will rotate to fit on the rotating mounting plate 63, which is equivalent to the rotating mounting plate 63 extending into the inside of the inverted U-shaped groove 11. Compared with other embodiments, the rotating mounting plate 63 extends into the inside of the inverted U-shaped groove 11, and the angle of the waist frame 1 flipping forward is larger, which can further increase the range of motion of the waist frame 1 without changing the positions of the inner shaft 4 and the outer shaft 3. Furthermore, since the inverted U-shaped groove 11 rotates around the Y axis to abut against the horizontal plate 62, the horizontal plate 62 can support the waist frame 1 upward, thereby reducing the load when the upper body keeps leaning forward.

[0031] It can be optimized that the waist frame 1 is provided with motor mounting plates 12 at the left and right positions respectively; the waist frame 1 is provided with an inverted U-shaped groove 11 between the two motor mounting plates 12; the inner shaft 4 is installed in the inverted U-shaped groove 11; A motor receiving groove 13 is formed between the motor mounting plate 12 and the side wall of the inverted U-shaped groove 11; the rotating motor 53 is located in the motor receiving groove 13, and the rotating motor 53 is fixed to the motor mounting plate 12; the output end of the rotating motor 53 is located outside the motor receiving groove 13 and horizontally faces the left and right positions of the waist frame 1.

[0032] An inverted U-shaped groove 11 is provided between two motor mounting plates 12, and a motor receiving groove 13 is further formed between the side wall of the inverted U-shaped groove 11 and the motor mounting plate 12; the rotating motor 53 is arranged in the motor receiving groove 13 and fixed to the motor mounting plate 12; and the output end of the rotating motor 53 horizontally extends outside the motor receiving groove 13 and is connected to the internal bevel gear 52; thus, the main body of the rotating motor 53 will be close to the middle of the waist frame 1. On the one hand, it can make the center of gravity of the waist structure concentrate on the inner shaft 4, and on the other hand, it can greatly reduce the distance span between the left and right positions of the waist structure, making the overall structure of the waist structure more compact.

[0033] Optimally, one end of the fixed end of the rotating motor 53 close to the output end is mounted on the motor mounting plate 12, and a storage gap 14 is formed between the end of the fixed end of the rotating motor 53 far from the output end and the outer side wall of the inverted U-shaped groove 11; The fixed end of the rotating motor 53 is provided with a motor port 531 in the storage gap 14.

[0034] The fixed end of the rotating motor 53 is the main body of the rotating motor 53; one end of the fixed end of the rotating motor 53 close to the output end is fixed to the motor mounting plate 12, and the motor receiving groove 13 can accommodate the main body of the rotating motor 53, which can prevent the fixed end of the rotating motor 53 from being exposed outside the outer surface of the waist structure and can protect the core structure of the rotating motor 53. However, the size of the motor receiving groove 13 cannot be too large or too small. Being too large will lead to an insufficiently compact overall structure and an increase in the material usage cost, while being too small will limit the electrical connection of the rotating motor 53; for this reason, in this embodiment, the motor receiving groove 13 is further optimized. A storage gap 14 is formed between the end of the fixed end of the rotating motor 53 far from the output end and the outer side wall of the inverted U-shaped groove 11, and the storage gap 14 can accommodate the motor port 531 at the end of the rotating motor 53, such as the motor port 531 for power supply, data transmission, etc. The storage gap 14 separates the motor port 531 from the inverted U-shaped groove 11, and the movement of the waist frame 1 will not interfere with the rotating motor 53.

[0035] Optimally, the left and right side walls of the inverted U-shaped groove 11 are provided with side wall hollow openings 15, and the inside of the inner shaft 4 is provided with a hollow structure 41; the side wall hollow openings 15 expose the hollow structure 41, and a wiring channel 16 is formed between the storage gap 14 and the hollow structure 41.

[0036] For the convenience of wiring between the rotating motors 53, and more importantly, to prevent the wires of the rotating motors 53 from interfering with the wires during the movement of the waist frame 1; this solution cleverly utilizes the hollow structure 41 inside the inner shaft 4. Side wall hollow openings 15 are provided on the left and right side walls of the inverted U-shaped groove 11. The side wall hollow openings 15 expose the hollow structure 41 inside the inner shaft 4. A wire routing channel 16 is formed between the storage gap 14 and the hollow structure 41; the wire routing channel 16 can be used to arrange wire-like structures such as wires. Since the rotating motors 53 of the waist frame 1 and the inverted U-shaped groove 11 rotate synchronously around the inner shaft 4 or around the outer shaft 3, the relative positions of the wire routing channel 16 and the rotating motors 53 remain unchanged during rotation, and the multi-angle movement of the waist frame 1 does not affect the wires between the wire routing channels 16.

[0037] Optimally, the teeth 512 of the external bevel gear 51 are distributed along the minor arc side 511.

[0038] As is known by common knowledge, an arc with a central angle less than 180° is called a minor arc. The external bevel gear 51 in this solution may not be a complete bevel gear structure. It only needs to select a partial area of the bevel gear structure, specifically, select a local minor arc in the bevel gear structure as the minor arc side 511; using the minor arc side 511 instead of a complete bevel gear can reduce the weight of the external bevel gear 51 in the waist structure, thus avoiding the weight concentrating on the left and right sides of the waist structure and affecting the center of gravity of the waist structure. And because the minor arc side 511 only occupies a very small space to achieve multi-directional movement of the waist in the front, back, left, and right directions, the driving efficiency is high; and because the overall size of the minor arc side 511 is small, the minor arc side 511 will not affect the overall aesthetics of the waist. After the subsequent installation of the robot's outer shell, it will not affect the aesthetics due to the overly large size of the external bevel gear 51.

[0039] Optimally, a height difference is formed between the upper and lower ends of the minor arc side 511, and the central angle a of the minor arc side 511 is 20 - 100°.

[0040] The minor arc side 511 is vertically arranged, that is, a height difference is formed between the two ends of the minor arc side 511; the central angle a of the minor arc side 511 is 20 - 100°. On the one hand, the minor arc side 511 only occupies a very small space to achieve multi-directional movement of the waist in the front, back, left, and right directions, and the driving efficiency is high; on the other hand, the arc span of the minor arc side 511 is equivalent to the hip contour of the humanoid robot below the waist. That is, in addition to having a driving function, the contour of the external bevel gear 51 can visually serve as the hip of the humanoid robot and can also be more easily fitted with the robot's outer shell.

[0041] A robot is provided with the waist structure of the above-mentioned robot.

[0042] The waist structure of the robot serves as the connection between the upper body and the lower body of the robot. The waist frame 1 can drive the upper body to move in multiple directions, including forward, backward, left, and right, relative to the lower body. At the same time, the rotation motor 53 of this solution is coupled and cooperatively controlled to share the force on the waist structure in the left-right direction, enabling the overall structure to carry a greater load. Meanwhile, the engaging teeth 512 of the external bevel gear 51 have a relatively large force arm at the force-bearing part, allowing the overall structure to bear a greater torque. Additionally, the waist structure can be pre-assembled independently and then connected to the upper body and the lower body of the robot, offering the advantages of simplified structure, fast assembly, reliability, and high production efficiency.

[0043] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the claims and their equivalents.

Claims

1. A waist structure of a robot, characterized in that, Including: Waist frame, fixed seat, outer shaft, inner shaft and drive module; The fixed seat is provided with a waist rotation hole; the inner shaft is installed on the waist frame and extends in the Y-axis direction; one end of the outer shaft is rotatably connected to the waist rotation hole around the X-axis; the other end of the outer shaft is rotatably sleeved on the inner shaft around the Y-axis; A pair of the drive modules are installed on the waist frame and are located on the left and right sides of the inner shaft; The drive module includes: an external bevel gear, an internal bevel gear and a rotating motor; The external bevel gear is installed on the fixed seat, and the axes of the external bevel gears of the two drive modules are located on the X-axis; the rotating motor is installed on the waist frame, the internal bevel gear meshes with the external bevel gear, and the output end of the rotating motor is connected to the internal bevel gear for driving the internal bevel gear to rotate clockwise or counterclockwise; the rotating motors of the two drive modules are communicatively connected; When the internal bevel gears of the two drive modules rotate in the same direction, the waist frame rotates around the inner shaft; When the internal bevel gears of the two drive modules rotate in opposite directions, the waist frame rotates around the outer shaft.

2. The waist structure of a robot according to claim 1, characterized in that, It further includes: Rotating seat; The waist frame is located between the fixed seat and the rotating seat; the rotating seat is provided with a seat hole, and the seat hole is coaxially arranged with the waist rotation hole; The outer shaft includes: a sleeve, a first sub-shaft and a second sub-shaft; The sleeve faces the Y-axis direction; the sleeve is rotatably sleeved on the inner shaft; the first sub-shaft and the second sub-shaft are located on the same straight line, and one ends of both are installed on the sleeve; the other end of the first sub-shaft is rotatably connected to the waist rotation hole, and the other end of the second sub-shaft is rotatably connected to the seat hole.

3. The waist structure of a robot according to claim 2, characterized in that, The waist frame is provided with an inverted U-shaped groove; the inner shaft is installed in the inverted U-shaped groove; the inverted U-shaped groove rotates around the Y-axis until it abuts against the rotating seat.

4. The waist structure of a robot according to claim 3, characterized in that, The rotating seat is provided with a horizontal plate and a rotating mounting plate; The rotating mounting plate is arranged on the horizontal plate; the rotating mounting plate is provided with the seat hole; the inverted U-shaped groove rotates around the Y-axis until it abuts against the horizontal plate, and the rotating mounting plate extends into the inside of the inverted U-shaped groove.

5. The waist structure of a robot according to claim 2, characterized in that, The waist frame is respectively provided with motor mounting plates at the left and right positions; the waist frame is provided with an inverted U-shaped groove between the two motor mounting plates; the inner shaft is installed in the inverted U-shaped groove; A motor accommodation groove is formed between the motor mounting plate and the side wall of the inverted U-shaped groove; the rotating motor is located in the motor accommodation groove, and the rotating motor is fixed to the motor mounting plate; the output end of the rotating motor is located outside the motor accommodation groove and horizontally faces the left and right positions of the waist frame.

6. The waist structure of a robot according to claim 5, characterized in that, One end of the fixed end of the rotating motor close to the output end is installed on the motor mounting plate, and a storage gap is formed between the end of the fixed end of the rotating motor far from the output end and the outer side wall of the inverted U-shaped groove; The fixed end of the rotating motor is provided with a motor port in the storage gap.

7. The waist structure of a robot according to claim 6, characterized in that, The left and right side walls of the inverted U-shaped groove are provided with side wall hollow openings, and the inner part of the inner shaft is provided with a hollow structure; the side wall hollow openings expose the hollow structure, and a wiring channel is formed between the storage gap and the hollow structure.

8. A waist structure of a robot according to any one of claims 1-7, characterized in that, The teeth of the external bevel gear are distributed along the inferior arc side.

9. The waist structure of a robot according to claim 8, characterized in that, A height difference is formed between the upper and lower ends of the inferior arc side, and the central angle of the inferior arc side is 20 to 100°.

10. A robot, characterized in that, There is provided a waist structure of a robot according to any one of claims 1-9.

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