Waist structure of robot and robot

Abstract

The application discloses a waist structure of a robot and the robot, which can be applied to various scenes such as artificial intelligence, robot technology and mechatronics. The waist structure comprises a fixed platform, a bearing, a connecting piece, a movable platform, two motors and two transmission assemblies. The bearing is arranged on the fixed platform. The connecting piece comprises a first end and a second end opposite to each other, the first end is provided with a deflection shaft, the deflection shaft is connected with an inner ring of the bearing, and the second end is provided with a pitch shaft. The movable platform is rotatably connected with the pitch shaft. The motor is arranged on the fixed platform. Each transmission assembly corresponds to one motor, and the transmission assembly is connected with the movable platform and the corresponding motor. The motor can drive the transmission assembly to drive the movable platform to rotate relative to the connecting piece around the axis direction of the pitch shaft, and can drive the corresponding transmission assembly to drive the movable platform and the connecting piece to rotate relative to the fixed platform around the axis direction of the deflection shaft.

Description

Technical Field

[0001] This application relates to the field of robotics technology, specifically to a waist structure for a robot and the robot itself. Background Technology

[0002] Some biomimetic robots can mimic the movements and postures of humans or animals. The waist of a biomimetic robot, as a crucial structural element connecting the upper and lower body, plays a vital role in supporting the torso and upper limbs, increasing the operational space, and making the robot's movement more flexible. To achieve dexterous manipulation of the upper body, the waist needs sufficient freedom of movement and high load-bearing capacity, while also being able to quickly perform movements such as bending, leaning back, and swaying to the side.

[0003] Most existing bionic robots employ a series configuration for their waist structure. This typically requires integrating motors and reducers into a single module to form the actuator. These modules are relatively heavy, generally exhibiting poor load-bearing capacity, transmission accuracy, and limited range of motion. Therefore, the rational design of the waist structure is crucial for the system construction of humanoid robots. Summary of the Invention

[0004] This application provides a waist structure for a robot and a robot that can achieve a wide range of highly dexterous movements along the pitch angle and yaw angle, and also enables the robot to have high load capacity and stability.

[0005] This application provides a waist structure for a robot, comprising: a fixed platform, a load-bearing bearing, a connector, a moving platform, two motors, and two transmission assemblies. The load-bearing bearing is disposed on the fixed platform. The connector includes a first end and a second end facing away from each other. The first end has a deflection shaft connected to the inner ring of the load-bearing bearing, and the second end has a pitch shaft. The moving platform is rotatably connected to the pitch shaft. The motors are disposed on the fixed platform. Each transmission assembly corresponds to one motor, and the transmission assembly connects the moving platform and the corresponding motor. The motor can drive the transmission assembly to rotate the moving platform relative to the connector about the axis of the pitch shaft, and can also drive the corresponding transmission assembly to rotate the moving platform and the connector relative to the fixed platform about the axis of the deflection shaft.

[0006] Optionally, the two motors independently drive their respective transmission components. When the two motors rotate synchronously in the same direction, the transmission components driven by the two motors cause the moving platform to rotate relative to the connecting member about the axis of the pitch axis. When the two motors rotate in different directions, the transmission components driven by the two motors cause the moving platform and the connecting member to rotate relative to the fixed platform about the axis of the deflection axis.

[0007] Optionally, the transmission assembly includes: a movable component, a first connecting rod, a second connecting rod, and a third connecting rod. The movable component is connected to the motor and forms a revolute joint. The first connecting rod connects to the movable component. The second connecting rod connects to the moving platform. The third connecting rod is disposed between and connects the first connecting rod and the second connecting rod.

[0008] Optionally, the transmission assembly further includes a first joint bearing and a second joint bearing, wherein the first connecting rod and the third connecting rod are connected through the first joint bearing to form a first spherical pair, and the second connecting rod and the third connecting rod are connected through the second joint bearing to form a second spherical pair.

[0009] Optionally, the moving platform includes: a support frame, two first connecting parts, and two second connecting parts.

[0010] Two first connecting portions are symmetrically arranged about the central axis of the bracket, and the pitch axis is connected to the two first connecting portions. Two second connecting portions are symmetrically arranged about the central axis of the bracket, and each of the two second connecting portions is connected to the second link of the two transmission components.

[0011] Optionally, two first connecting portions extend from the bracket, each first connecting portion having a first through hole, and the pitch axis passing through the first through hole to connect to the first connecting portion.

[0012] Optionally, the connector further includes a connecting body, and the number of pitch axes is two. The two pitch axes extend from the first side and the second side of the connecting body, respectively, and are respectively provided with two of the first through holes.

[0013] Optionally, the pitch axis has a limiting part at one end away from the connecting body, and the connecting member further includes a connecting bearing, which is disposed in the first through hole and sleeved on the pitch axis. The limiting part is used to restrict the axial displacement of the connecting bearing along the pitch axis.

[0014] Optionally, the fixed platform includes: a base, two mounting parts, and a shaft hole. The two mounting parts are symmetrically arranged about the central axis of the base, and each mounting part has a mounting hole in which the motor is mounted. The shaft hole is located at the center of the base, and the load-bearing bearing is disposed in the shaft hole.

[0015] Optionally, the waist structure further includes a cable module for compensating for the gravity of the moving platform. The cable module includes: a follower, a pulley assembly, a fixing member, an elastic member, and a cable. The follower is connected to the inner ring of the load-bearing bearing. The pulley assembly is disposed on the follower. The fixing member is disposed on the follower. The elastic member is connected to the fixing member. The cable cooperates with the pulley assembly, one end of the cable is connected to the elastic member, and the other end of the cable is connected to the moving platform. When the moving platform rotates relative to the fixed platform around the deflection axis, the follower also rotates relative to the fixed platform around the deflection axis.

[0016] Optionally, when the elastic element is in a stretched state, the gravity of the moving platform is compensated based on a first distance, a second distance, the elongation of the elastic element, the pitch angle, and the drawstring tilt angle. The first distance is the distance between the center of gravity of the waist structure and the axis of the pitch axis. The second distance is the distance between the center of gravity of the pulleys of the pulley assembly and the axis of the deflection axis. The pitch angle is the angle at which the moving platform rotates about the pitch axis relative to the direction of gravity. The drawstring tilt angle is the tilt angle of the portion of the drawstring located between the pulleys and the moving platform relative to the plane where the fixed platform is located.

[0017] Optionally, the moving platform has a receiving space and a pull wire hole, the pull wire includes a pull wire head, the pull wire head is received in the receiving space and the pull wire is led out from the pull wire hole.

[0018] Optionally, the follower includes a follower portion, a fixing portion, and an extension portion. The follower portion is connected to the inner ring of the load-bearing bearing. The fixing portion has a fixing hole, and the fixing member is installed in the fixing hole. The pulley assembly is disposed in the extension portion.

[0019] Optionally, the follower includes two spaced-apart extensions, with a pulley groove formed between the two extensions, and each extension is provided with a pin hole; the pulley assembly includes two pulley groups, which are spaced apart from each other on the extensions, each pulley group including a pulley, a washer, and a pin, the pulley being disposed between the two extensions, the pin passing through the pin hole and the pulley, and the washer being disposed between the pulley and the extension.

[0020] This application provides a robot comprising the waist structure, torso structure, and lower limb structure described in any of the above embodiments. The robot provided by this application can achieve movement of the upper limb structure relative to the lower limb structure in two degrees of freedom directions: pitch angle and yaw angle, enabling the robot to possess high load-bearing capacity and good transmission capability. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 An axial view of the waist structure provided in an embodiment of this application.

[0023] Figure 2 This is a schematic diagram of the robot provided in an embodiment of this application.

[0024] Figure 3 This is a schematic diagram of the waist structure provided in an embodiment of this application.

[0025] Figure 4 This is a cross-sectional view of the waist structure provided in an embodiment of this application.

[0026] Figure 5 An axial view of the waist structure provided in an embodiment of this application.

[0027] Figure 6 A front view of the transmission assembly provided in an embodiment of this application.

[0028] Figure 7 An exploded view of the waist structure provided in an embodiment of this application.

[0029] Figure 8 An axial view of the waist structure provided in an embodiment of this application.

[0030] Figure 9 A schematic diagram illustrating the working principle of gravity compensation in the waist structure provided in this embodiment of the application.

[0031] Figure 10 This is a schematic diagram illustrating another working principle of gravity compensation for the waist structure provided in the embodiments of this application. Detailed Implementation

[0032] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0033] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0034] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0035] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0036] The following disclosure provides many different embodiments or examples for implementing different structures of this application. To simplify the disclosure, specific examples of components and arrangements are described below. Of course, these are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, various specific examples of processes and materials are provided in this application, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0037] The embodiments of this application can be applied to various application scenarios such as artificial intelligence, robotics, and mechatronics.

[0038] First, some of the nouns or terms that appear in the description of the embodiments of this application are explained as follows:

[0039] Artificial intelligence (AI) is the theory, methods, technology, and application systems that use digital computers or machines controlled by digital computers to simulate, extend, and expand human intelligence, perceive the environment, acquire knowledge, and use that knowledge to achieve optimal results. In other words, AI is a comprehensive technology within computer science that attempts to understand the essence of intelligence and produce a new kind of intelligent machine that can react in a way similar to human intelligence. AI studies the design principles and implementation methods of various intelligent machines, enabling them to possess the functions of perception, reasoning, and decision-making.

[0040] A robot is a machine that can perform tasks such as work or movement through programming and automatic control. Robots have basic characteristics such as perception, decision-making, and execution, and can assist or even replace humans in completing dangerous, heavy, and complex tasks, improve work efficiency and quality, serve human life, and expand or extend the scope of human activities and capabilities.

[0041] Mechatronics technology is a comprehensive high-tech technology that combines microelectronics, computer technology, information technology and mechanical technology. It is an organic combination of mechanical technology and microelectronics technology.

[0042] Degrees of freedom (DOF) are, according to mechanical principles, the number of independent motion parameters that a mechanism must have to determine its motion. In the definition of DDF, three key words are unique, necessary, and independent. Unique means that given these variables, the robot has a unique configuration; necessary refers to a minimum number of variables that can determine the robot's state; and independent means that these variables can change independently.

[0043] For details, please refer to Figures 1 to 10 This application provides a waist structure 100 for a robot 1000. The waist structure 100 includes a fixed platform 10, a load-bearing bearing 20, a connecting member 30, a moving platform 40, two motors 50, and two transmission assemblies 60. The load-bearing bearing 20 is disposed on the fixed platform 10. The connecting member 30 includes a first end 31 and a second end 32 facing away from each other. The first end 31 has a deflection shaft 33 connected to the inner ring 21 of the load-bearing bearing 20. The second end 32 has a pitch shaft 34, and the moving platform 40 is rotatably connected to the pitch shaft 34. The two motors 50 are disposed on the fixed platform 10, and each transmission assembly 60 corresponds to one motor 50, connecting the moving platform 40 and the corresponding motor 50. The motor 50 can drive the transmission assembly 60 to rotate the moving platform 40 relative to the connecting member 30 about the axis of the pitch axis 34, and can also drive the corresponding transmission assembly 60 to rotate the moving platform 40 and the connecting member 30 relative to the fixed platform 10 about the axis of the deflection axis 33.

[0044] The terms "fixed platform 10" and "moving platform 40" are used to indicate that the two platforms can move relative to each other, rather than requiring the fixed platform 10 to be stationary and the moving platform 40 to be in motion. Therefore, the fixed platform 10 and the moving platform 40 can be referred to as the "first platform" and the "second platform," respectively.

[0045] Please see Figure 1 In the inertial coordinate system (inertial frame) corresponding to the waist structure 100, the moving platform 40 rotates relative to the connecting member 30 about the axis of pitch 34, which is equivalent to the moving platform 40 rotating relative to the fixed platform 10 along the pitch angle (P1 / P2 direction) of the attitude angle; the moving platform 40 rotates relative to the fixed platform 10 about the axis of yaw 33, which is equivalent to the moving platform 40 rotating relative to the fixed platform 10 along the yaw angle (Y1 / Y2 direction) of the attitude angle. Thus, the waist structure 100 has two degrees of freedom, enabling a wide range and high dexterity of motion in the pitch angle (P1 / P2) and yaw angle (Y1 / Y2) directions.

[0046] Please combine Figure 2 , Figure 2This diagram illustrates a humanoid robot 1000 employing a waist structure 100. The humanoid robot 1000 includes an upper limb structure 200, a torso structure 300, a waist structure 100, and a lower limb structure 400. The fixed platform 10 of the waist structure 100 is connected to the lower limb structure 400, and the movable platform 40 is connected to the torso structure 300. The waist structure 100 connects the torso structure 300 and the lower limb structure 400. When the movable platform 40 rotates relative to the connecting member 30 about the axis of the pitch axis 34, the movable platform 40 rotates relative to the fixed platform 10 in the pitch direction (P1 / P2 direction), enabling the movable platform 40 to drive the torso structure 300 to perform actions such as "bending over" and "leaning backward" relative to the lower limb structure 400. When the moving platform 40 and the connecting member 30 rotate relative to the fixed platform 10 about the axis of the deflection axis 33, the moving platform 40 rotates relative to the fixed platform 10 in the deflection direction (Y1 / Y2 direction), enabling the moving platform 40 to drive the torso structure 300 to perform movements such as "twisting" and "side-swaying" relative to the lower limb structure 400. In this way, the waist structure 100 can satisfy the humanoid robot's torso structure 300 to have two degrees of freedom in its movement relative to the lower limb structure 400, so as to meet the humanoid robot 1000's large-range and high-dexterity movement requirements, enabling the humanoid robot 1000 to perform more diverse postures.

[0047] The waist structure 100 of this application embodiment is not limited to application in the humanoid robot 1000. The waist structure 100 can also be applied to some biomimetic robots, such as quadruped robots, hexapod robots, octopus robots, and snake-like robots, which have a torso structure 300 and a lower limb structure 400, so that the torso structure 300 has two degrees of freedom relative to the lower limb structure 400, thereby improving the range of motion and dexterity of the biomimetic robot 1000.

[0048] Please see Figure 1The waist structure 100 includes two motors 50 as power output devices, each corresponding to a transmission assembly 60. The transmission assembly 60 transmits the power output from the motors 50 to the moving platform 40, causing it to rotate relative to the fixed platform 10. Each motor 50 independently drives its corresponding transmission assembly 60, meaning the movements of the two transmission assemblies 60 in the waist structure 100 are independent of each other. The transmission assembly 60 connects the moving platform 40 and the motors 50 located on the fixed platform 10, effectively connecting the moving platform 40 and the fixed platform 10. Thus, the fixed platform 10 and the moving platform 40 of the waist structure 100 are connected by two independently moving transmission assemblies 60, and the waist structure 100 has two degrees of freedom, thereby forming a parallel configuration. Compared to the series configuration, in the parallel configuration of the waist structure 100 of this application embodiment, the rotational inertia of the motor 50 is smaller, the rotational accuracy is higher, the torque requirement of the motor 50 is lower, and there is no need to set a reducer to ensure transmission accuracy. This can reduce the number of necessary parts of the waist structure 100, making the waist structure 100 more compact and reducing its weight. Moreover, the stiffness of the parallel configuration is greater than that of the series configuration, which enables the waist structure 100 to have a greater load-bearing capacity.

[0049] Optional, please refer to Figure 3 , Figure 3 This is a simplified schematic diagram of the fixed platform 10, moving platform 40, connecting member 30, motor 50, and transmission assembly 60 of the waist structure 100. Figure 3 From the perspective of [the user], motor 50 can rotate clockwise to drive transmission assembly 60 to rotate moving platform 40 clockwise (along the P1 direction) relative to fixed platform 10, making a "bending" motion. Similarly, motor 50 can rotate counterclockwise (along the P2 direction) to drive transmission assembly 60 to rotate moving platform 40 counterclockwise relative to fixed platform 10, making a "leaning" motion.

[0050] Optional, please refer to Figure 1 The rotation direction of the rotating pair formed by the transmission component 60 and the corresponding motor 50 is along the pitch angle (P1 / P2), so that the transmission component 60 drives the moving platform 40 to rotate along the pitch angle direction with a large rotation range, which can realize the large angle rotation of the moving platform 40 relative to the fixed platform 10 along the pitch angle (P1 / P2), that is, enable the moving platform 40 to make large-angle "bending" and "tilting" movements.

[0051] Optional, please refer to Figure 1 and Figure 3In the waist structure 100 provided in this embodiment, the transmission component 60 is connected to the corresponding motor 50 via a revolute joint, and the transmission component 60 is connected to the moving platform in front of or behind the moving platform. Thus, the transmission component does not need to be positioned between the moving platform 40 and the fixed platform 10, allowing the moving platform 40 and the fixed platform 10 to be configured more compactly, which is beneficial for achieving a miniaturized design of the waist structure 100.

[0052] In summary, in the waist structure 100 of this application embodiment, the motor 50 can drive the transmission component 60 to move circumferentially, so as to drive the moving platform 40 to achieve a wide range and high dexterity of movement relative to the stationary platform 10 along the pitch angle (P1 / P2) direction and the yaw angle (Y1 / Y2) direction, so that the waist structure 100 forms a parallel configuration with two degrees of freedom, and has the advantages of strong load-bearing capacity, strong dynamic response capability, high motion accuracy, large range of motion, and compact structure.

[0053] The waist structure 100 provided in the embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0054] Please see Figure 1 and Figure 4 A load-bearing bearing 20 is disposed on a fixed platform 10. Specifically, the outer ring 22 of the load-bearing bearing 20 is connected to the fixed platform 10, and the inner ring 21 of the load-bearing bearing 20 can rotate relative to the outer ring 22, that is, rotate relative to the fixed platform 10. The deflection shaft 33 of the first end 31 of the connecting member 30 is connected to the inner ring 21 of the load-bearing bearing 20, and the pitch shaft 34 of the second end 32 of the connecting member 30 is rotatably connected to the moving platform 40 to connect the moving platform 40 and the fixed platform 10. When the moving platform 40 is driven to rotate in the yaw angle (Y1 / Y2) direction, the connecting member 30 and the inner ring 21 of the load-bearing bearing 20 rotate together in the yaw angle (Y1 / Y2) direction, that is, the moving platform 40, the connecting member 30, and the inner ring 21 of the load-bearing bearing 20 rotate relative to the fixed platform 10 about the axis of the yaw axis. When the moving platform 40 is driven to rotate in the direction of pitch angle (P1 / P2), the moving platform 40 rotates relative to the connecting member 30 in the axial direction of the pitch axis 34, so as to realize the rotation of the moving platform 40 relative to the connecting member 30 in the axial direction of the pitch axis 34.

[0055] Optional, please refer to Figure 5 Each of the two motors 50 independently drives its corresponding transmission assembly 60. When the two motors 50 rotate synchronously in the same direction, they drive the corresponding transmission assembly 60 to rotate the moving platform 40 relative to the connecting member 30 about the axis of the pitch axis 34. When the two motors 50 rotate in different directions, they drive the corresponding transmission assembly 60 to rotate the moving platform 40 and the connecting member 30 relative to the fixed platform 10 about the axis of the deflection axis 33.

[0056] For example, please see Figure 4 and Figure 5 Let the two motors 50 be motor 501 and motor 502, and the two transmission components 60 be transmission component 601 and transmission component 602. Figure 5 The clockwise direction R1 indicates the direction in which motors 501 and 502 rotate in the forward direction, and the counterclockwise direction R2 indicates the direction in which motors 501 and 502 rotate in the reverse direction.

[0057] Optional, please refer to Figure 4 and Figure 5 The two transmission components 60 are connected to the moving platform 40 at a position above the center of gravity G of the moving platform 40. Please refer to... Figure 6 When motors 501 and 502 rotate synchronously in the forward direction at the same speed, transmission components 601 and 602 synchronously push the moving platform 40 to rotate along the pitch angle (P1 / P2)P1 direction, making a "bending" motion. Please refer to... Figure 5 When motors 501 and 502 rotate synchronously in opposite directions at the same speed, transmission components 601 and 602 synchronously pull the moving platform 40 to rotate along the pitch angle (P1 / P2)P2, producing a "tilting" motion. (See also...) Figure 6 When motors 501 and 502 rotate at the same speed, with motor 501 rotating in the forward direction and motor 502 rotating in the reverse direction, transmission assembly 601 pushes the moving platform 40, and transmission assembly 602 pulls the moving platform 40, causing the moving platform 40 to rotate along the yaw angle (Y1 / Y2)Y1. When motors 501 and 502 rotate at the same speed, with motor 501 rotating in the reverse direction and motor 502 rotating in the forward direction, transmission assembly 601 pulls the moving platform 40, and transmission assembly 602 pushes the moving platform 40, causing the moving platform 40 to rotate along the yaw angle (Y1 / Y2)Y2.

[0058] Optional, please refer to Figure 4 and Figure 5 The two transmission components 60 are connected to the moving platform 40 at their respective locations on the left and right sides of the central axis C1 of the moving platform 40. When the motors 501 and 502 rotate at different speeds, the transmission components 601 and 602 can drive the moving platform 40 to rotate along the pitch angle (P1 / P2) and yaw angle (Y1 / Y2) directions. For example, please refer to... Figure 5When motor 501 rotates in the forward direction and motor 502 does not rotate, transmission assembly 601 pushes moving platform 40 to rotate along the pitch angle (P1 / P2)P1 direction. Since only transmission assembly 601 pushes moving platform 40, the left side of the central axis of moving platform 40 is subjected to force, thereby driving moving platform 40 to rotate along the yaw angle (Y1 / Y2)Y1 direction. Similarly, when motors 501 and 502 rotate in the same direction but at different speeds, the different forces provided by motors 501 and 502 to the left and right sides of the central axis of moving platform 40 by transmission assembly 601 and transmission assembly 602 respectively cause moving platform 40 to rotate along both the pitch angle (P1 / P2) and the yaw angle (Y1 / Y2) directions.

[0059] Please see Figure 4 and Figure 5 When motors 501 and 502 rotate in different directions, if their speeds are the same, the thrust and pull forces provided by transmission components 601 and 602 on the left and right sides of the central axis of the moving platform 40 are balanced, causing the moving platform 40 to rotate along the yaw angle (Y1 / Y2). If motors 501 and 502 rotate in different directions and at different speeds, the thrust and pull forces provided by transmission components 601 and 602 on the left and right sides of the central axis of the moving platform 40 are unbalanced, causing the moving platform 40 to rotate along both the yaw angle (Y1 / Y2) and the pitch angle (P1 / P2).

[0060] Thus, by controlling the rotation direction and speed of motors 501 and 502, the rotation of the moving platform 40 relative to the stationary platform 10 in the two degrees of freedom along the pitch angle (P1 / P2) and yaw angle (Y1 / Y2) can be precisely controlled, enabling the waist structure 100 to achieve a variety of motion changes.

[0061] Optional, please refer to Figure 6 and Figure 7 The transmission assembly 60 includes: a movable part 61, a first connecting rod 62, a second connecting rod 63, and a third connecting rod 64. (Please refer to...) Figure 1 The motor 50 is connected to the movable component 61 and can drive the movable component 61 to rotate circumferentially. Specifically, the output shaft of the motor 50 (not shown) is fixedly connected to the movable component 61 so that the movable component 61 rotates when the output shaft of the motor rotates. A first link 62 connects to the movable component 61, a second link 63 connects to the moving platform 40, and a third link 64 is located between and connects the first link 62 and the second link 63. Please refer to... Figure 6In this way, the transmission component 60 can change the direction of the driving force provided by the motor 50, and provide thrust or pull force to the moving platform 40 along the axis of the roll shaft. The weight of the moving platform 40 itself and the weight of the load loaded on the moving platform 40 are relatively small, and it has better dynamic response performance and load-bearing capacity.

[0062] Optional, please refer to Figure 6 The transmission assembly 60 also includes a first spherical bearing 65 and a second spherical bearing 66. The first connecting rod 62 and the third connecting rod 64 are connected via the first spherical bearing 65 to form a first spherical joint, allowing the third connecting rod 64 to have a larger range of motion relative to the first connecting rod 62. The second connecting rod 63 and the third connecting rod 64 are connected via the second spherical bearing 66 to form a second spherical joint, allowing the second connecting rod 63 to have a larger range of motion relative to the third connecting rod 64.

[0063] Please see Figure 5 and Figure 6 The motor 50 is fixedly connected to the fixed platform 10, and the movable part 61 can rotate relative to the fixed platform 10, which means that the movable part 61 is a revolute joint connected to the fixed platform 10. If "S" represents a spherical joint and "R" represents a revolute joint, then the moving platform 40 and the fixed platform 10 are connected by one revolute joint and two spherical joints, forming an "RSS" type structure. The transmission component 60 connecting the moving platform 40 and the fixed platform 10 is an "RSS" branch. The two transmission components 60 are connected in parallel, making the waist structure 100 an "RSS" type parallel mechanism. Please refer to... Figures 4 to 6 The first and second spherical joints can provide a large range of motion to support the rotation of the moving platform 40 relative to the stationary platform 10 in various postures along the two degrees of freedom of pitch angle (P1 / P2) and yaw angle (Y1 / Y2), so that the waist structure 100 has a large working space.

[0064] Optional, please refer to Figure 1 and Figure 7 The moving platform 40 includes a support 41, two first connecting parts 42, and two second connecting parts 43. The two first connecting parts 42 are symmetrically arranged about the central axis of the support 41, and the pitch axis 34 is connected to the two first connecting parts 42. The two second connecting parts 43 are symmetrically arranged about the central axis of the support 41, and the two second connecting parts 43 are respectively connected to the second connecting rods 63 of the two transmission components 60. In this way, the force points of the moving platform 40 are symmetrical, making it easy to calculate the magnitude of the driving force required for each motor 50 when the transmission components 60 drive the moving platform 40 to move, so as to accurately control the movement of the moving platform 40 relative to the stationary platform 10.

[0065] Optional, please refer to Figure 1The two second connecting parts 43 are provided with connecting grooves 431, and the second connecting rod 63 extends into the connecting grooves 431 to connect the second connecting parts 43. In this way, the connection between the second connecting rod 63 and the second connecting part 43 is reliable and not easy to fall off.

[0066] Optional, please refer to Figure 1 Two first connecting portions 42 extend from the bracket 41, and each first connecting portion 42 has a first through hole 421. The pitch axis 34 passes through the first through hole 421 and connects to the first connecting portion 42. Specifically, the two first connecting portions 42 are extension walls extending from the bracket 41, and an installation space is formed between the two first connecting portions 42 and the bracket 41 to accommodate the connector 30. The pitch axis 34 of the connector 30 passes through the two first through holes 421 to connect the moving platform 40 to the connector 30 and to allow it to rotate around the pitch axis 34.

[0067] Optional, please refer to Figure 1 and Figure 7 In one embodiment, the connector 30 further includes a connecting body 35, and two pitch axes 34. The two pitch axes 34 extend from a first side and a second side of the connecting body 35, respectively, and are integrally formed with the body, simplifying the manufacturing process. The two pitch axes 34 extending from the first side 351 and the second side 352 of the connecting body 35 each pass through two first through holes 421 to connect to two first connecting portions 42. In another embodiment, one pitch axis 34 passes through the first side and the second side of the body, and also passes through two first through holes 421. This allows for the removal and replacement of different pitch axes 34 from the connecting body 35 as needed.

[0068] Optional, please refer to Figure 7 The connecting body 35 includes a third side 353 located between the first side 351 and the second side 352, from which the deflection shaft 33 extends. Thus, the connecting member 30 forms a "T"-shaped structure. (Please refer to...) Figure 1 The axis of the yaw axis 33 is aligned with the yaw axis, and the axis of the pitch axis 34 is aligned with the pitch axis. Through a simple structure, the waist structure 100 has two degrees of freedom along the pitch angle (P1 / P2) and along the yaw angle (Y1 / Y2), which simplifies the manufacturing process.

[0069] Optional, please refer to Figure 8 The pitch axis 34 is provided with a limiting part 36 at the end away from the connecting body 35. The connecting part 30 also includes a connecting bearing 37, which is disposed in the first through hole 421 and sleeved on the pitch axis 34. The limiting part 36 is used to limit the axial displacement of the connecting bearing 37 along the pitch axis 34.

[0070] Optional, please refer to Figure 1 and Figure 4 The platform 10 includes a base 11, two mounting parts 12, and a shaft hole 13. The two mounting parts 12 are symmetrically arranged about the central axis of the base 11, and each mounting part 12 has a mounting hole (obscured in the figure and not shown), in which the motor 50 is mounted. The shaft hole 13 is located at the center of the base 11, and a load-bearing bearing 20 is disposed in the shaft hole 13.

[0071] Specifically, the mounting portion 12 is a plate-shaped structure symmetrically arranged about the central axis of the base 11. In one embodiment, two mounting portions 12 are fixedly mounted on both sides of the base 11. In another embodiment, two mounting portions 12 extend from both sides of the base 11 respectively. The waist structure 100 of this application embodiment can adopt any of the above embodiments, and is not limited thereto.

[0072] The motor 50 is mounted in the mounting hole and connected to the movable part 61. The mounting part 12 is located between the motor 50 and the movable part 61. If the space enclosed between the two mounting parts 12 and the base 11 is considered as the internal space of the fixed platform 10, and the space outside the two mounting parts 12 opposite to the internal space is considered as the external space of the fixed platform 10, then the two motors 50 are mounted in the external space of the fixed platform 10, and the two transmission components 60, the moving platform 40, the connecting part 30, and the load-bearing bearing 20 are all located in the internal space of the fixed platform 10. This makes the internal space structure of the fixed platform 10 compact and facilitates the connection of the motors 50 to external power equipment or power lines.

[0073] Please see Figure 4 In one embodiment, the outer ring 22 of the load-bearing bearing 20 is disposed within the shaft hole 13 and fixedly connected to the shaft hole 13. In another embodiment, the load-bearing bearing 20 is disposed above the shaft hole 13, the outer ring 22 of the load-bearing bearing 20 is fixedly connected to the base 11, and the inner ring 21 of the load-bearing bearing 20 corresponds to the shaft hole 13. This arrangement allows for better load-bearing capacity of the waist structure 100 by utilizing the weight of the moving platform 40 borne by the load-bearing bearing 20 and the base 11, as well as the weight of the load mounted on the moving platform 40. The waist structure 100 of this application embodiment can adopt any of the above embodiments, and is not limited herein.

[0074] Optional, please refer to Figure 5 The two motors 50 and the two transmission components 60 are symmetrically arranged about the central axis C2 of the base 11. Optionally, the two motors 50, the two transmission components 60, and the two second connecting parts 43 of the moving platform 40 are also symmetrically arranged about the central axis C2 of the base 11. In this way, the waist structure 100 is arranged symmetrically from left to right, which can effectively ensure the symmetry of the moving platform's activity space.

[0075] Optional, please refer to Figure 4 , Figure 7 ,and Figure 8 The waist structure 100 also includes a cable module 70 for compensating for the weight of the moving platform 40. The cable module 70 includes a follower 71, a pulley assembly 72, a fixing member 73, an elastic member 74, and a cable 75. The follower 71 is connected to the inner ring 21 of the load-bearing bearing 20. The pulley assembly 72 and the fixing member 73 are disposed on the follower 71. The elastic member 74 is connected to the fixing member 73, the cable cooperates with the pulley assembly 72, one end of the cable 75 is connected to the elastic member 74, and the other end of the cable 75 is connected to the moving platform 40. In one embodiment, the elastic member 74 can be a tension spring, and the cable 75 can be a metal wire.

[0076] When the moving platform 40 rotates relative to the fixed platform 10 about the pitch axis 34, the elastic element 74 is stretched according to the pitch of the moving platform 40 to provide elastic compensation for the weight of the moving platform 40 itself and the weight of the load loaded on the moving platform 40, that is, to provide gravity compensation, thereby improving the load-bearing capacity of the waist structure 100. This can effectively improve the stress situation of the waist structure 100 when the robot 1000 moves and improve the response speed. Furthermore, under the gravity compensation effect of the wire module 70, the waist structure 100 can stably maintain a certain posture without deformation, thereby improving motion accuracy.

[0077] When the moving platform 40 rotates relative to the fixed platform 10 about the axis of the deflection shaft 33, the follower 71 also rotates relative to the fixed platform 10 about the axis of the deflection shaft 33 along with the moving platform 40. In this way, the direction of the tension on the cable 75 can be avoided due to the rotation of the moving platform 40 about the deflection shaft 33, and motion decoupling can be achieved. The change of the tension on the cable 75 depends only on the angle change of the moving platform 40 about the pitch axis 34 (the angle change along the pitch angle (P1 / P2)).

[0078] Optional, please refer to Figure 8 and Figure 9 When the elastic element 74 is in a stretched state, the gravity of the moving platform 40 is compensated based on the first distance, the second distance, the elongation of the elastic element 74, the pitch angle, and the draw line tilt angle. The first distance is the distance between the center of gravity of the waist structure 100 and the axis of the pitch axis 34. The second distance is the distance between the center of gravity of the pulley 7211 of the pulley assembly 72 and the axis of the deflection axis 33. The pitch angle is the angle at which the moving platform 40 rotates about the pitch axis 34 relative to the direction of gravity. The draw line tilt angle is the tilt angle of the portion of the draw line 75 located between the pulleys 7211 and the moving platform 40 relative to the plane where the fixed platform 10 is located.

[0079] Figure 9This is a schematic diagram illustrating the working principle of the wire-pulling module 70 in achieving gravity compensation when the moving platform 40 rotates relative to the fixed platform 10 around the pitch axis 34.

[0080] Wherein, point A is the connection point between the pull line 75 and the moving platform 40, point B is the center of gravity and rotation center of pulley 7211 in the pulley 7211 structure, point O is the center of gravity of the pitch axis 34, point G is the center of mass of the moving platform 40, and point C is the perpendicular point from point A to the line segment OG. For ease of explanation below, Figure 9 In the illustrated embodiment, it is assumed that the radius of pulley 7211 in pulley assembly 72 is small, and the distance between the pulley wire 75 on pulley 7211 and the rotation center of pulley 7211 is small, that is, the distance between the pulley wire 75 on pulley 7211 and point B is small. Therefore, the length of the pulley wire 75 between points A and B is approximately represented by the distance between points A and B. Alternatively, it is assumed that the pulley wire 75 passes through the rotation center B of pulley 7211. In this case, the distance between points A and B is the length of the pulley wire 75 between points A and B.

[0081] Let the length of line segment AC be la, the distance between point C and point O be lb, the distance between point B and point O be the second distance lc, the distance between point G and point O be the first distance lh, and the distance between point A and point O be ls. Establish a Cartesian coordinate system with point O as the origin. Let the angle of offset of line segment OG relative to the y-axis of the coordinate system be the pitch angle θ, and the angle between line segment AB and the x-axis of the coordinate system be the line angle α. Then the stiffness k of the elastic element 74 required for gravity compensation satisfies:

[0082]

[0083] Where △ is the elongation of the elastic element 74, that is, the stretched length of the elastic element 74, and mg is the equivalent gravity at the center of gravity of the moving platform 40. When the moving platform 40 rotates relative to the fixed platform 10 about the pitch axis 34, mg does not change. Therefore, the stiffness k of the elastic element 74 is related to the distance lh, the distance lc, the elongation of the elastic element 74, the angle θ, and the angle α. That is, the stiffness k of the elastic element 74 is related to the first distance lh, the second distance lc, the elongation △ of the elastic element 74, the pitch angle θ, and the cable tilt angle α. The gravity of the moving platform 40 is compensated based on the above parameters.

[0084] Specifically, points B and O are on the same horizontal line. Let the torque generated by gravity mg at point O be T1, where T1 = mglhsinθ. Let the torque provided by the tension member 70 at point A due to the elongation of the elastic element 74 be T2, where T2 = klcΔsinα. When T1 = T2, the torque provided by the tension member 70 can compensate for the torque generated by gravity mg. Therefore, the stiffness k of the elastic element 74 satisfies: In this case, the wire drawing module 70 can achieve gravity compensation function.

[0085] Furthermore, once the components of the waist structure 100 are determined, the positions of the pulley 7211 and the connecting member 30 are fixed, and the second distance lc no longer changes. (See also...) Figure 9 , Among them, A y It is the y-coordinate of point A. A x These are the x-coordinates of point A on the x-axis. In this process, after the components of the waist structure 100 are determined, the center of mass G of the moving platform 40 is determined, the position of the connection point A between the cable 75 and the moving platform 40 is fixed, the center of gravity O of the pitch axis 34 is fixed, and the position of point C is also fixed. Therefore, the distances lh between points G and O, ls between points A and O, lb between points C and O, and la between points A and C do not change. Thus, the stiffness k of the elastic element 74 required for gravity compensation depends only on the pitch angle θ and the elongation Δ of the elastic element 74. When the pitch angle θ = 90°, the elongation Δ of the elastic element 74 reaches its maximum, and the stiffness k of the elastic element 74 required for gravity compensation reaches its maximum, allowing the cable module 70 to fully compensate for the gravity mg. Therefore, the stiffness k of the elastic element 74 corresponding to the pitch angle θ = 90° can be taken as the stiffness reference for the elastic element 74 to meet the gravity compensation requirements of the moving platform 40.

[0086] Furthermore, please combine Figure 10 After the center of gravity of the moving platform 40 shifts relative to its initial position G due to motion or load changes, let the shifted center of gravity position of the moving platform 40 be G', and the distance between G and G' be Δx. In this case, the torque T1 generated by gravity mg on point O becomes T1', T1' = mg(lhsinθ + Δx), and T1' > T1. In this case, the motor 50 provides torque T3, T3 = mgΔx, and the cable module 70 provides torque T2, T2 = klcΔsinα = mglhsinθ, so that the torques T2 and T3 together achieve gravity compensation, T2 + T3 = T1'. That is, in this case, the cable 75 structure can still provide partial gravity compensation to improve the stress situation of the waist structure 100 and improve the motion response speed and motion accuracy.

[0087] Optional, please refer to Figure 8 The moving platform 40 has a receiving space 48 and a pull cable hole 49. The pull cable 75 includes a pull cable 75 head, which is received in the receiving space 48 and leads out from the pull cable hole 49. In this way, the receiving space 48 can protect the pull cable 75 head.

[0088] Optional, please refer to Figure 4 and Figure 8 The follower 71 includes a follower portion 711, a fixing portion 712, and an extension portion 713. The follower portion 711 is connected to the inner ring 21 of the load-bearing bearing 20. Specifically, the connecting member 30 and the follower portion 711 are respectively connected to opposite sides of the inner ring 21 of the load-bearing bearing 20. The fixing portion 712 has a fixing hole 7121, and the fixing member 73 is installed in the fixing hole 7121. The pulley assembly 72 is disposed in the extension portion 713.

[0089] Optional, please refer to Figure 4 The follower 71 includes two spaced-apart extensions 713, with a pulley groove 7131 formed between the two extensions 713. Each extension 713 has a pin hole 7132. The pulley assembly 72 includes two pulley sets 721, which are spaced apart from each other on the extensions 713. Please refer to... Figure 9 The pulley block 721 includes a pulley 7211, a washer (not shown), and a pin 7212. The pulley 7211 is disposed between two extensions 713. The pin 7212 passes through a pin hole 7132 and the pulley 7211. The washer is disposed between the pulley 7211 and the extension 713. Please refer to... Figure 9 The center of gravity of pulley 7211 in the uppermost pulley system 721 corresponds to... Figure 9 At point B, the center of gravity of pulley 7211 is on the same horizontal line as the center of gravity of pitch axis 34.

[0090] All of the above technical solutions can be combined in any way to form optional embodiments of this application, and will not be described in detail here.

[0091] Please see Figure 2 This application provides a robot 1000, which includes a waist structure 100, a torso structure 300, and a lower limb structure 400 as described in any of the above embodiments. The torso structure 300 is connected to the moving platform 40. The lower limb structure 400 is connected to the fixed platform 10. The robot 1000 provided in this application adopts a parallel "RSS" configuration where the waist structure 100 connects the torso structure 300 and the lower limb structure 400. This allows the upper limb structure 200 to move relative to the lower limb structure 400 in two degrees of freedom directions: along the pitch angle (P1 / P2) and along the yaw angle (Y1 / Y2). This enables the robot 1000 to have a higher load capacity and better transmission capability.

[0092] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0093] In the description of the embodiments of this application, specific features, structures, materials or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0094] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A waist structure for a robot, characterized in that, include: Determine the platform; A load-bearing bearing is disposed on the fixed platform; A connector, comprising a first end and a second end facing away from each other, the first end being provided with a deflection shaft connected to the inner ring of the load-bearing bearing, and the second end being provided with a pitch shaft; A movable platform, which is rotatably connected to the pitch axis; Two motors are mounted on the fixed platform; and Two transmission components, each transmission component corresponding to one motor, the transmission component connecting the moving platform and the corresponding motor; The motor can drive the transmission assembly to move circumferentially, thereby causing the moving platform to rotate relative to the connecting member about the axis of the pitch axis, and can also drive the corresponding transmission assembly to cause the moving platform and the connecting member to rotate relative to the fixed platform about the axis of the deflection axis. The waist structure also includes a cable assembly for compensating for the gravity of the moving platform. The cable assembly includes: A follower, wherein the follower is connected to the inner ring of the load-bearing bearing; A pulley assembly, wherein the pulley assembly is disposed on the follower; The fixing member is disposed on the follower member; An elastic element, wherein the elastic element is connected to the fixing element; and A pull wire, which cooperates with the pulley assembly, with one end of the pull wire connected to the elastic element and the other end of the pull wire connected to the moving platform; When the moving platform rotates relative to the fixed platform about the deflection axis, the follower also rotates relative to the fixed platform about the deflection axis.

2. The waist structure of the robot according to claim 1, characterized in that, Each of the two motors independently drives the corresponding transmission components to move. When the two motors rotate synchronously in the same direction, the two motors drive the corresponding transmission components to drive the moving platform to rotate relative to the connecting member about the axis of the pitch axis; When the two motors rotate in different directions, the transmission components corresponding to the two motors drive the moving platform and the connecting member to rotate relative to the fixed platform about the axis of the deflection shaft.

3. The waist structure of the robot according to claim 1, characterized in that, The transmission assembly includes: A movable component, which is connected to the motor and forms a rotating pair; A first link, the first link connecting the movable component; A second link, the second link being connected to the moving platform; and The third link is connected between the first link and the second link and connects the first link and the second link.

4. The waist structure of the robot according to claim 3, characterized in that, The transmission assembly further includes a first joint bearing and a second joint bearing. The first connecting rod and the third connecting rod are connected through the first joint bearing to form a first spherical pair, and the second connecting rod and the third connecting rod are connected through the second joint bearing to form a second spherical pair.

5. The waist structure of the robot according to claim 3, characterized in that, The moving platform includes: support; Two first connecting parts are symmetrically arranged about the central axis of the bracket, and the pitch axis is connected to the two first connecting parts; and Two second connecting parts are arranged symmetrically about the central axis of the bracket, and the two second connecting parts are respectively connected to the second connecting rods of the two transmission components.

6. The waist structure of the robot according to claim 5, characterized in that, Two first connecting portions extend from the bracket, each first connecting portion having a first through hole, and the pitch axis passing through the first through hole and connecting to the first connecting portion.

7. The waist structure of the robot according to claim 6, characterized in that, The connector also includes a connecting body, and there are two pitch axes. The two pitch axes extend from the first side and the second side of the connecting body, respectively, and are respectively provided with two first through holes.

8. The waist structure of the robot according to claim 7, characterized in that, The pitch axis has a limiting part at one end away from the connecting body. The connecting member also includes a connecting bearing, which is disposed in the first through hole and sleeved on the pitch axis. The limiting part is used to restrict the axial displacement of the connecting bearing along the pitch axis.

9. The waist structure of the robot according to claim 1, characterized in that, The fixed platform includes: Base; Two mounting portions are symmetrically arranged about the central axis of the base, and each mounting portion has a mounting hole in which the motor is mounted; and A shaft hole is formed at the center of the base, and the load-bearing bearing is disposed in the shaft hole.

10. The waist structure of the robot according to claim 1, characterized in that, When the elastic element is in a stretched state, the gravity of the moving platform is compensated based on a first distance, a second distance, the elongation of the elastic element, the pitch angle, and the drawstring tilt angle. The first distance is the distance between the center of gravity of the waist structure and the axis of the pitch axis. The second distance is the distance between the center of gravity of the pulleys of the pulley assembly and the axis of the deflection axis. The pitch angle is the angle at which the moving platform rotates about the pitch axis relative to the direction of gravity. The drawstring tilt angle is the tilt angle of the portion of the drawstring located between the pulleys and the moving platform relative to the plane where the fixed platform is located.

11. The waist structure of the robot according to claim 10, characterized in that, The moving platform has a receiving space and a pull wire hole. The pull wire includes a pull wire head, which is received in the receiving space and leads out from the pull wire hole.

12. The waist structure of the robot according to claim 10, characterized in that, The follower includes: A follower part, which is connected to the inner ring of the load-bearing bearing; The fixing part has a fixing hole, and the fixing member is installed in the fixing hole; and An extension, wherein the pulley assembly is disposed in the extension.

13. The waist structure of the robot according to claim 12, characterized in that, The follower includes two spaced-apart extensions, with a pulley groove formed between the two extensions, and each extension is provided with a pin hole; the pulley assembly includes two pulley groups, which are spaced apart from each other on the extensions, and each pulley group includes a pulley, a washer, and a pin, with the pulley disposed between the two extensions, the pin passing through the pin hole and the pulley, and the washer disposed between the pulley and the extension.

14. A robot, characterized in that, include: The waist structure according to any one of claims 1-13; A torso structure, which is connected to the moving platform; and The lower limb structure is connected to the fixed platform.

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