Robot waist mechanism and robot

Abstract

An embodiment of the present application provides a robot waist mechanism and a robot. The robot waist mechanism includes an actuator and two transmission mechanisms. The actuator includes a body, and a first power output ring and a second power output ring are provided on both sides of the body. The two transmission mechanisms are arranged on both sides of the body and are respectively provided with output rods. The output rods of the two transmission mechanisms can swing up and down along the gravity direction of the body and swing left and right relative to the two opposite sides of the body respectively under the drive of the first power output ring and the second power output ring. Therefore, in the embodiment of the present application, through the drive change of the four output rings, the two output rods can generate corresponding forward and backward rotations or swings, realizing the forward and backward and left and right swings required by the robot during walking.

Description

Technical Field

[0001] This application relates to the field of robots, and in particular, to a waist mechanism of a robot and a robot. Background Art

[0002] The driving structure of the waist is used to support and connect the upper and lower bodies of a humanoid robot and control the related movements of the waist. At present, the waist actuator of a robot often only has the degree of freedom in the pitching direction, or realizes the degree of freedom of waist rotation through an actuator placed horizontally, resulting in limited movement forms of the waist of the humanoid robot and less flexible actions, thus affecting the simulation degree of the humanoid robot. Summary of the Invention

[0003] Multiple aspects of this application provide a waist mechanism of a robot and a robot. Through the rotational changes of the first power output ring and the second power output ring, the degrees of freedom of multi-directional rotation of the waist can be realized, enabling rotational or swinging changes of the robot's waist.

[0004] An embodiment of this application provides a waist mechanism of a robot, including an actuator, two frames, and two transmission mechanisms. The actuator includes a body, and a first power output ring and a second power output ring are disposed on opposite sides of the body, respectively arranged along the axial direction of the body and rotatable relative to the body; the two frames are respectively sleeved on opposite sides of the body along the axial direction, and each frame has a transmission part extending radially outward along the body; the two transmission mechanisms are disposed one-to-one on the transmission parts of the two frames, and each transmission mechanism includes an output rod, a rotating shaft, and two linkage components. The rotating shaft is rotatably installed on the transmission part and rotatably sleeved on the output rod. The two linkage components are rotatably connected to opposite ends of the rotating shaft, and one ends of the two linkage components are respectively pivotally connected to opposite sides of the output rod. The other end of one of the linkage components is pivotally connected between the two first power output rings on opposite sides of the body, and the other end of the other linkage component is pivotally connected between the two second power output rings on opposite sides of the body.

[0005] In some embodiments, the linkage component includes a swinging member, a first connecting rod, and a second connecting rod. The swinging member includes opposite first and second ends. The first connecting rod is pivotally connected between the first end and the output rod. The second connecting rod of one transmission mechanism is pivotally connected between the second end and the first power output ring, and the second connecting rod of the other transmission mechanism is pivotally connected between the second end and the second power output ring.

[0006] In some embodiments, the rotating shaft includes a shaft cylinder, a first shaft sleeve, and a second shaft sleeve. The first shaft sleeve and the second shaft sleeve are respectively fixed to opposite sides of the shaft cylinder. The shaft cylinder is rotatably sleeved on the output rod. The first shaft sleeve passes through and is rotatably installed in the transmission part. A socket hole is provided between the first end and the second end of the swing member. The two linkage components are respectively rotatably sleeved on the corresponding first shaft sleeve and the second shaft sleeve through the socket hole.

[0007] In some embodiments, the output rod includes a shaft rod and an operating rod. The shaft rod has opposite head and tail ends. The head end is rotatably inserted into the shaft cylinder. The tail end is connected to one end of the operating rod. The other end of the operating rod has a socket part for external connection.

[0008] In some embodiments, transfer parts are respectively provided on opposite sides of the tail end. One end of the first link is pivotally connected to the transfer part, and the other end is pivotally connected to the first end in the direction of the operating rod. The swing member is obliquely connected between the first link and the second link.

[0009] In some embodiments, the output rod further includes a bearing, a bearing locking plate, and a control circuit assembly. The bearing is sleeved on the shaft rod in the shaft cylinder. The bearing locking plate is pressed on the bearing. The control circuit assembly is fixed on the bearing locking plate.

[0010] In some embodiments, spherical pins are respectively provided at opposite ends of the first link, and spherical plain bearings are respectively provided at opposite ends of the second link.

[0011] In some embodiments, an outwardly extending first power output point is provided on the outer peripheral surface of the first power output ring, and an outwardly extending second power output point is provided on the outer peripheral surface of the second power output ring. The second link is pivotally connected to the corresponding first power output point or the second power output point.

[0012] In some embodiments, the transmission parts of the two frames do not overlap in the axial direction.

[0013] An embodiment of the present application further provides a robot, including the robot waist mechanism described in any one of the above.

[0014] In the embodiment of the present application, the two first power output rings and the two power output rings respectively drive the corresponding output rods to swing left and right relative to the rotating shaft through two linkage components, or the output rods and the rotating shaft swing up and down relative to the actuator body together. Thus, by combining these actions generated by the two output rods, actions such as front-back and left-right swinging required for the robot waist are realized. Description of the Drawings

[0015] The accompanying drawings described herein are used to provide a further understanding of the present application and form a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation of the present application. In the drawings:

[0016] Figure 1 is a front view of the actuator according to an embodiment of the present application.

[0017] Figure 2 is a right side view of the actuator according to an embodiment of the present application.

[0018] Figure 3 is Figure 2 a cross-sectional view taken along the section line A-A.

[0019] Figure 4 is an exploded schematic view of the actuator according to an embodiment of the present application.

[0020] Figure 5 is a schematic view of the support frame according to an embodiment of the present application.

[0021] Figure 6 is an exploded schematic view of the robot waist mechanism according to an embodiment of the present application.

[0022] Figure 7 is a side view of the robot waist mechanism according to an embodiment of the present application.

[0023] Figure 8 is a front view of the robot waist mechanism according to an embodiment of the present application. Detailed Description of the Embodiments

[0024] To make the objectives, technical solutions, and advantages of the present application clearer, the technical solutions of the present application will be clearly and completely described below in conjunction with the specific embodiments of the present application and the corresponding drawings. Apparently, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0025] It should also be noted that the term "comprises", "comprising", or any other variation thereof is intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a series of elements includes not only those elements but also other elements that are not expressly listed, or elements that are inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0026] Please refer to Figures 1 to 5, the actuator 1 provided by the embodiments of the present application is applicable to the waist position of a robot, used to support and connect between the upper and lower parts of the robot's body, and provide corresponding degrees of freedom to drive the robot to perform relevant waist actions. The actuator 1 includes a body 10 and two driving mechanisms 20. The body 10 includes a mounting body 11 and two first transmission shafts 12 arranged coaxially. The two first transmission shafts 12 are symmetrically arranged on the mounting body 10, and the outer ends of the two first transmission shafts 12 extend out of the opposite two sides of the mounting body 11 respectively, and a second transmission shaft 13 is sleeved on each end. Among them, a first sun gear 14 is respectively arranged between the end faces of the two first transmission shafts 12 and the second transmission shaft 13, and the first sun gear 14 can be driven by the corresponding first transmission shaft 12 to rotate synchronously. In addition, the second transmission shaft 13 can rotate on the first transmission shaft 12, and a second sun gear 15 is provided. The second sun gear 15 can be connected to the second transmission shaft 13 through the transitional connection mode of an intermediate connecting piece.

[0027] The two driving mechanisms 20 are respectively arranged on the opposite two sides of the mounting body 10 along the axial direction of the first transmission shaft 12 in a symmetrical manner, that is, on the left and right sides of the body, and are axially positioned through the setting of a planetary gear fixing column 92 and a bearing. Each driving mechanism 20 is composed of a transmission mechanism 3, a power output assembly 22, a power source 23 and a support frame 24. Among them, the transmission mechanism 3 includes the above-mentioned first sun gear 14, second sun gear 15 and planetary gear set 21. The planetary gear set 21 includes a first planetary gear 211 and a second planetary gear 212. The power output assembly 22 includes a first power output ring 221 and a second power output ring 222. The power source 23 includes a first motor assembly 231 and a second motor assembly 232 symmetrically arranged on the opposite two sides inside the mounting body 11 along the radial direction of the first transmission shaft 12, and the support frame 24 includes two circular mounting parts 240, a first mounting column 241, a second mounting column 242 and a limiting member 243.

[0028] The support frame 24 is disposed on the installation main body 11, and the two installation portions 240 are planar structures arranged at intervals. The first installation column 241 and the second installation column 242 are located between the two installation portions 240. They can be, but are not limited to, arranged at intervals along the circumference of the first transmission shaft 12 and are respectively located on opposite sides of the first transmission shaft 12 in the radial direction. The first installation column 241 and the second installation column 242 can be respectively fixed to the inner sides of the two installation portions 240 by means such as screwing or welding. And the installation portion 240 provided with the first installation column 241 is further fixed to the second installation column 242 by screwing. In addition, a detachable limiting member 243 is provided on the installation portion 240 provided with the first installation column 241 for connecting and fixing to the end of the first transmission shaft 12. And a bearing is provided between the limiting member 243 and this installation portion 240, so that the limiting member 243 can rotate relative to this installation portion 240. The end of the first transmission shaft 12 passes through the two installation portions and is pivotally connected to the limiting member 243.

[0029] The first planetary gear 211 can be pivotally sleeved on the first installation column 241 through one or more bearings and meshes with the first sun gear 14. And the second planetary gear 212 is similarly pivotally connected to the second installation column 2421 through one or more bearings and meshes with the second sun gear 15.

[0030] In some embodiments, the planetary gear set 21 can also be composed of a plurality of first planetary gears 211 and a plurality of second planetary gears 212. For example: A plurality of annularly arranged first installation columns 241 are provided on one installation portion 240, and a plurality of annularly arranged second installation columns 242 that are staggered with the first installation columns 241 are provided on the other installation portion 240. After the plurality of first planetary gears 211 and the plurality of second planetary gears 212 are respectively installed on the first installation columns 241 and the second installation columns 242, they are staggered and symmetrically arranged along the rotation direction of the first transmission shaft 12. Among them, the first power output ring 221 and the second power output ring 222 are both toothed rings with internal teeth provided on the inner peripheral surface. The first power output ring 221 surrounds the plurality of first planetary gears 211 and meshes with each first planetary gear 211. And the second power output ring 222 surrounds the plurality of second planetary gears 222 and meshes with each second planetary gear 212. And the second power output ring 222 is installed on the installation portion 240 via a wire bearing locking collar 91 and a bearing.

[0031] Therefore, when the first sun gear 14 drives the first planetary gear 211 to rotate, the first power output ring 221 can rotate synchronously with the first planetary gear 211. When the second sun gear 15 drives the second planetary gear 212 to rotate, the second power output ring 222 can rotate synchronously with the second planetary gear 212, thereby forming a speed reduction mechanism on the mounting body 11 and completing the transmission of power.

[0032] The first motor assembly 231 includes a first motor 2311, a first magnetic member 2312, and a first control module 2313. The first motor 2311 can be, but is not limited to, a servo motor, connected to the first transmission shaft 12, and used to drive the first transmission shaft 12 to rotate. The first magnetic member 2312 is a magnet or other component that can generate a magnetic field, fixed on the first transmission shaft 12, and can generate a first magnetic field change signal during the synchronous rotation with the first transmission shaft 12. The first control module 2313 can be, but is not limited to, a circuit board, which can be fixed to the mounting body 11 through screws and is electrically connected to the first motor 2311 and the first magnetic member 2312 respectively. Therefore, the first control module 2313 can control the operation of the first motor 2311 and at the same time is used to receive the first magnetic field change signal.

[0033] The second motor assembly 232 has the same structure as the first motor assembly 231, but different connection positions. The second motor assembly 232 includes a second motor 2321, a second magnetic member 2322, and a second control module 2323. The second motor 2321 is connected to the second transmission shaft 13 and used to drive the second transmission shaft 13 to rotate, and the second magnetic member 2322 can be fixed to the second transmission shaft 13 through screws and can generate a second magnetic field change signal during the synchronous rotation with the second transmission shaft 13. The second control module 2323 is electrically connected to the second motor 2321 and the second magnetic member 2322 respectively, used to control the operation of the second motor 2321 and receive the second magnetic field change signal. In some embodiments, the mounting body 11 can also be provided with wire grooves for accommodating and routing the cables of the first control module 2313 and the second control module 2323, so as to be easily connected to other actuators or power sources, and at the same time has the effect of protecting the cables, and can avoid cable damage caused by the robot mechanism during the operation process.

[0034] The following describes the operation processes of the first power output ring 221 and the second power output ring 222 under the action of the first motor assembly 231 and the second motor assembly 232 respectively through some embodiments.

[0035] The actuation process of the first power output ring 221 in the embodiment of the present application is as follows. When the first control module 2313 controls the operation of the first motor 2311, the first transmission shaft 12 is driven by the first motor 2311 to drive the first sun gear 14 to rotate. The first sun gear 14 then drives the first planetary gear 211 to rotate, causing the first planetary gear 211 to drive the first power output ring 221 to rotate (through a speed reduction mechanism formed by various gears and rings to achieve the effect of reducing speed and increasing torque). At the same time, the first magnetic member 2312 on the first transmission shaft 12 generates a first magnetic field change signal due to synchronous rotation and transmits this signal to the first control module 2313, enabling the first control module 2313 to sense the motion state of the first power output ring 221 based on the change in the magnetic field and feedback it to the control end for position recording and motion state detection, and it can complete the closed-loop control of the actuator 1 through circuit control (a control method that corrects according to the output feedback of the control object). Among them, the control end is the control system of the robot, which is connected to the first control module 2313 to control its operation.

[0036] It can be understood that the actuation process of the second power output ring 222 in the embodiment of the present application is similar to that of the first power output ring 221. When the second control module 2323 controls the operation of the second motor 2321, the second transmission shaft 13 is driven by the second motor 2321 to drive the second sun gear 15 to rotate. The second sun gear 15 then drives the second planetary gear 212 to rotate, causing the second planetary gear 212 to drive the second power output ring 222 to rotate. At the same time, the second magnetic member 2322 on the second transmission shaft 13 generates a second magnetic field change signal due to synchronous rotation and transmits this signal to the second control module 2323, enabling the second control module 2323 to sense the motion state of the second power output ring 222 based on the change in the magnetic field and feedback it to the control end.

[0037] In this embodiment, the outer circumferences of the first power output ring 221 and the second power output ring 222 are respectively provided with a first power output point 22A and a second power output point 22B extending outward, which are used to pivot with the external connecting rod, thereby driving the external connecting rod to move. For example: they are respectively ball studs, and the first power output point 22A and the second power output point 22B on the first power output ring 221 correspond to the first power output point 22A and the second power output point 22B on the second power output ring 222, respectively, and the first power output point 22A and the second power output point 22 on the first power output ring 221 are located on one side of the support frame 24, and the first power output point 22A and the second power output point 22B on the second power output ring 222 are located on the other side of the support frame 24, and are symmetrically arranged with the first power output point 22A and the second power output point 22B of the first power output ring 221. Therefore, the two driving mechanisms 20 can be connected to the external connecting rod mechanism through the two first power output points 22A and the two second power output points 22B respectively to link the movement of the robot, and the four output points can be controlled by the two first motors 231 and the two second motors 232 to produce synchronous or asynchronous rotation, so that the robot waist has a higher degree of freedom and can achieve movements such as bending and swinging the waist.

[0038] As can be seen from the above description, the embodiment of the present application can adjust the rotation state of each power output ring through four sets of motors and control modules, thereby linking the external connecting rod mechanism to complete more degrees of freedom, so that the robot's waist can bend, swing or twist the waist and other movements close to the real human waist, thereby improving the simulation of the robot, and further obtain the robot's waist movement state based on the motion state and position record induced by the magnetic field change. In addition, since the two drive mechanisms are symmetrically designed, the parts of the power output and reduction gear mechanism can be partially common, which is relatively convenient in the manufacturing and processing of parts, and can also reduce the manufacturing cost.

[0039] See also Figures 6 to 8 The embodiment of the present application also provides a robot waist mechanism 100, including two frames 2, two transmission mechanisms 3 and the above-mentioned actuator 1. Each frame 2 includes an annular structure and is rotatably sleeved on the body 10 of the actuator 1, and a transmission part 40 is arranged on the outside. The two frames 2 are respectively sleeved on the left and right sides of the body 10 along the axial direction of the body 10, and the transmission part 40 extends outward along the radial direction of the body 10, and the transmission parts 40 of the two frames 2 are staggered from each other in the axial direction without overlapping, for example, close to the front and rear sides of the body 10 respectively.

[0040] The two transmission mechanisms 3 are respectively disposed on the transmission parts 40 of the two frames 2 , and each transmission mechanism 3 includes an output rod 50 , a rotating shaft 60 and two linkage components 70 .

[0041] The output rod 50 includes a shaft rod 521, an operating rod 522, a bearing 53, a bearing locking plate 54, and a control circuit assembly 55. The shaft rod 521 has opposite head end 521A and tail end 521B. The tail end 521B is connected to the operating rod 522, and transfer portions 523 are respectively provided on opposite sides of the tail end 521B. One end of the operating rod 522 away from the shaft rod 521 has an annular socket portion 5221 for hinging to the lower limb structure of a robot such as the hip joint.

[0042] The rotating shaft 60 includes a shaft cylinder 601, a first shaft sleeve 61, and a second shaft sleeve 62. The first shaft sleeve 61 passes through and is rotatably connected to one of the transmission portions 40 and corresponds to one side of the shaft cylinder 601, while the second shaft sleeve 62 corresponds to the other side of the same shaft cylinder 601. In this embodiment, the shaft cylinder 601 is provided with opposite two side surfaces in the radial direction, each provided with a plurality of screw holes, and the first shaft sleeve 61 and the second shaft sleeve 62 are respectively provided with corresponding through holes, and are locked to the screw holes by screws passing through the through holes, so that the first shaft sleeve 61 and the second shaft sleeve 62 are locked to opposite two sides of the shaft cylinder 601. Of course, in other possible embodiments, the shaft cylinder 601, the first shaft sleeve 61, and the second shaft sleeve 62 may also be an integrally formed structure.

[0043] Among them, the head end 521A extends outward into the shaft cylinder 601, and one or more bearings 53 can be provided in the shaft cylinder 601 for the head end 521A to be sleeved and installed for positioning, so that the shaft rod 521 and the shaft cylinder 601 can be relatively rotatably connected. In addition, the bearing locking plate 54 can be fixed to the shaft cylinder 601 through screwing and pressed on the bearing 53, so that the control circuit assembly 55 can be fixed to the bearing locking plate 54 by means of clamping or locking, etc., thereby completing the assembly of the output rod 50 and the rotating shaft 60. Each linkage assembly 70 includes a swinging member 71, two first link rods 72, and two second link rods 73. The swinging member 71 includes a first end 711 and a second end 712, which are respectively located at opposite ends of the swinging member 71, and a socket hole 713 is also provided between the first end 711 and the second end 712. In the same transmission mechanism 3, the swinging members 71 of the two linkage assemblies 70 are respectively sleeved on the first shaft sleeve 61 and the second shaft sleeve 62 with the socket hole 713, and one end of the first link rod 72 is pivotally connected to one of the transfer portions 523 of the shaft rod 521, and the other end is pivotally connected to the first end 711 of the swinging member 71 in the direction of the operating rod 522, while one end of the second link rod 73 is pivotally connected to the second end of the swinging member 71, and the other end is pivotally connected to the first power output point 22A or the second power output point 22B. For example, the second link rod 73 of one of the transmission mechanisms 3 is pivotally connected to the first power output point 22A, and the second link rod 73 of the other transmission mechanism 3 is pivotally connected to the second power output point 22B.

[0044] In this embodiment, the transmission mechanism 3 near the front side of the body 10 is to pivot one end of the two second connecting rods 73 to the second end 712 of the two swinging members 71, and the other end is pivoted to the first power output point 22A of the two first power output rings 221, so that the linkage assembly 70 is located between the second power output rings 222 on the two opposite sides of the body 10. The other transmission mechanism 3 near the rear side of the body 10 is to pivot one end of the two second connecting rods 73 to the second end 712 of the swinging member 71, and the other end is pivoted to the second power output point 22B of the two second power output rings 222, so that the linkage assembly 70 is located between the first power output rings 221 on the two opposite sides of the body 10. In general, the robot waist mechanism 100 has two transmission mechanisms 3, and the linkage assembly 70 of each transmission mechanism 3 has two second connecting rods 73, so the robot waist mechanism 100 has a total of four second connecting rods 73, and these four second connecting rods 73 are respectively connected to the four power output points of the actuator 1. Of course, in other possible embodiments, the pivoting positions of the two transmission mechanisms 3 and the first power output ring 221 and the second power output ring 222 may also be interchanged, depending on usage requirements.

[0045] In some embodiments, the first connecting rod 72 and the second connecting rod 73 are also provided with pivoting components such as bearings or joints at the opposite ends, and components that can cooperate with each other are provided at the corresponding connection points, so that the connecting rods can be quickly assembled and achieve multi-directional movement. For example: the first connecting rod 72 is provided with spherical pins 721 at the opposite ends, and the adapter 523 and the first end 711 of the swing member 71 are corresponding ball seats, so that the first connecting rod 72 can move in multiple directions between the adapter 523 and the first end 711. Or the second connecting rod 73 is provided with joint bearings 731 at the opposite ends, and can achieve rotation and swinging movement after being pivoted to the swing member 71 and the output point.

[0046] From the above description, it can be seen that the embodiment of the present application is driven by two driving mechanisms 20 with a total of four motors, which can respectively drive the two first power output rings 221 and the two second power output rings 222 to rotate, stop and turn, so that each first power output point 22A and each second power output point 22B respectively drive each first connecting rod 72 and each second connecting rod 73 to produce a variety of movement changes, thereby causing the output rod 50 to rotate or swing and other movements.

[0047] It is worth mentioning that the output rod 50 of the embodiment of the present application is connected to the hip joint and the structure below the robot. When each first link 72 and each second link 73 drive the output rod 50 to rotate or swing, the robot waist actuator 1 and the structure above it can rotate or swing relative to the hip joint and the structure below it, thereby achieving the waist movement of the robot to adjust the walking posture of the robot. The following is a further description of the action of the robot waist mechanism 100 provided in the embodiment of the present application.

[0048] As Figure 7 shown, when one set of power output components 22 is fixed and not operating, and the first power output ring 221 and the second power output ring 222 of the other set of power output components 22 rotate synchronously, one output rod 50 can be fixed, and the other output rod 50 rotates upward or downward according to the rotation direction of the output ring, and swings up and down along the gravity direction of the main body 10, achieving the effect of the robot's waist swinging forward or backward.

[0049] As Figure 8 shown, when the first motor 2311 and the second motor 2321 of the driving mechanism 20 on the right drive the first power output ring 221 and the second power output ring 222 to rotate upward respectively, and the first motor 2311 and the second motor 2321 of the driving mechanism 20 on the left drive the first power output ring 221 and the second power output ring 222 to rotate downward respectively, a height difference will be generated between the two output rods 50 and they will tilt, so as to swing to the right relative to the main body 10. Of course, when the first motor 2311 and the second motor 2321 of the driving mechanism 20 on the right drive the first power output ring 221 and the second power output ring 222 to rotate downward respectively, and the first motor 2311 and the second motor 2321 of the driving mechanism 20 on the left drive the first power output ring 221 and the second power output ring 222 to rotate upward respectively, it will swing to the left relative to the main body 10. Therefore, by driving the two driving mechanisms 20 in opposite directions, the left and right swinging of the two output rods 50 can be controlled.

[0050] It can be seen from the above description that in the embodiment of the present application, through the driving changes of the four groups of motors, the two output rods 50 generate corresponding forward and backward rotations or swings. When arranged at the waist of the robot, the forward, backward, left and right swings required during the walking process of the robot can be realized.

[0051] The above description is only for the embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. A robot waist mechanism, characterized in that, Comprising: An actuator, including a body, on opposite sides of which there are provided a first power output ring and a second power output ring respectively, arranged along the axial direction of the body and rotatable relative to the body; Two frames, sleeved on opposite sides of the body along the axial direction respectively, and each of the frames has a transmission part extending radially outward along the body; and Two transmission mechanisms, provided one-to-one on the transmission parts of the two frames, each transmission mechanism includes an output rod, a rotating shaft and two linkage components, the rotating shaft is rotatably installed on the transmission part and rotatably sleeved on the output rod, the two linkage components are rotatably connected to opposite ends of the rotating shaft, and one end of each of the two linkage components is pivotally connected to opposite sides of the output rod respectively, and the other end of one of the linkage components is pivotally connected between the two first power output rings on opposite sides of the body, while the other end of the other linkage component is pivotally connected between the two second power output rings on opposite sides of the body; The linkage component includes a swing member, a first connecting rod and a second connecting rod, the swing member includes opposite first and second ends, the first connecting rod is pivotally connected between the first end and the output rod, the second connecting rod of one of the transmission mechanisms is pivotally connected between the second end and the first power output ring, and the second connecting rod of the other transmission mechanism is pivotally connected between the second end and the second power output ring; The output rod includes a shaft rod and an operating rod, the shaft rod has opposite head and tail ends, the head end is rotatably inserted into a shaft tube, the tail end is connected to one end of the operating rod, and the other end of the operating rod has a socket part for external connection.

2. The robot waist mechanism according to claim 1, characterized in that The rotating shaft includes a shaft tube, a first shaft sleeve and a second shaft sleeve, the first shaft sleeve and the second shaft sleeve are respectively fixed on opposite sides of the shaft tube, the shaft tube is rotatably sleeved on the output rod, wherein the first shaft sleeve passes through and is rotatably installed on the transmission part, the swing member is provided with a socket hole between the first end and the second end, and the two linkage components are respectively rotatably sleeved on the corresponding first shaft sleeve and second shaft sleeve through the socket hole.

3. The robot waist mechanism according to claim 1, characterized in that On opposite sides of the tail end, there are respectively provided transfer parts, one end of the first connecting rod is pivotally connected to the transfer part, and the other end is pivotally connected to the first end towards the direction of the operating rod, and the swing member is obliquely connected between the first connecting rod and the second connecting rod.

4. The robot waist mechanism according to claim 1, wherein, The output rod further includes a bearing, a bearing locking plate and a control circuit component, the bearing is sleeved on the shaft rod in the shaft tube, the bearing locking plate is pressed on the bearing, and the control circuit component is fixed on the bearing locking plate.

5. The robot waist mechanism according to claim 1, wherein, Spherical pins are respectively provided at opposite ends of the first connecting rod, and joint bearings are respectively provided at opposite ends of the second connecting rod.

6. The robot waist mechanism according to claim 1, wherein, An outwardly extending first power output point is provided on the outer peripheral surface of the first power output ring, and an outwardly extending second power output point is provided on the outer peripheral surface of the second power output ring, and the second connecting rod is pivotally connected to the corresponding first power output point or the second power output point.

7. The robot waist mechanism according to claim 1, characterized in that, The transmission parts of the two frames do not overlap in the axial direction.

8. A robot, characterized in that, Comprising the robot waist mechanism according to any one of claims 1 to 7.

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