A mechanism for realizing curvilinear motion by multi-link differential motion

Abstract

The present application belongs to the technical field of bionic robots, and particularly relates to a mechanism for realizing curve motion through multi-link differential motion, which comprises a hip joint frame, two waist driving power sources are installed on the hip joint frame, an output end of the waist driving power source is connected with a swing assembly, the hip joint frame is rotationally connected with a main shaft, the main shaft is fixedly connected with a shaft sleeve, one end of the swing assembly away from the waist driving power source is connected with the shaft sleeve, the main shaft is rotationally connected with a swing rod, and the other end of the swing rod is rotationally connected with the hip joint frame; the other end of the main shaft is fixedly provided with a support fixed fork, the support fixed fork is rotationally connected with a cross ring, the two sides of the cross ring are rotationally connected with trunk rotating power sources, a support assembly is rotationally connected between the output end of the trunk rotating power source and the support fixed fork, and a trunk structure is connected between the housings of the two trunk rotating power sources. The present application provides a mechanism for simulating human waist action through multi-link differential motion.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of bionic robots, and particularly relates to a mechanism for realizing curve movement through differential movement of multiple connecting rods. BACKGROUND

[0002] A humanoid robot imitates the actions of a human being, and needs to complete a series of actions including eyeball rotation, mouth opening and closing, nodding and turning the head, flexible swinging and turning of the arms, and bending actions, and has high freedom of movement and high requirements for movement accuracy.

[0003] Patent No. CN201621021782.8 discloses a humanoid robot, which comprises a robot head, a robot arm, a robot waist, a robot leg and a robot outer cover, wherein the robot head, the robot arm, the robot waist, the robot leg and the robot outer cover are respectively provided with a movement driving mechanism. The robot head, the robot arm, the robot waist, the robot leg and the robot outer cover are arranged to drive the eyeball rotation of the robot head, the mouth opening and closing, the nodding, the turning action of the head, the swinging and turning action of the robot arm and the bending action of the robot waist. The robot outer cover makes the image of the robot more lifelike. The humanoid robot has multiple degrees of freedom, a compact structure and a lifelike image, and is used in the field of bionic robots.

[0004] However, the waist of the robot can only perform a bending action, and cannot realize a waist twisting action or other actions, and the bionic property is poor. SUMMARY

[0005] In order to solve the above problems in the prior art, the purpose of the present application is to provide a mechanism for simulating the action of a human waist through differential movement of multiple connecting rods.

[0006] The technical scheme adopted by the present application is as follows:

[0007] The mechanism for realizing curve movement through differential movement of multiple connecting rods comprises a hip joint frame, two waist driving power sources are installed on the hip joint frame, an output end of the waist driving power source is connected with a swinging assembly, the hip joint frame is rotationally connected with a main shaft, the main shaft is fixedly connected with a shaft sleeve, one end of the swinging assembly away from the waist driving power source is connected with the shaft sleeve, the main shaft is rotationally connected with a swinging rod, and the other end of the swinging rod is rotationally connected with the hip joint frame; the other end of the main shaft is fixedly provided with a support fixing fork, the support fixing fork is rotationally connected with a cross ring, both sides of the cross ring are rotationally connected with trunk rotating power sources, a support assembly is rotationally connected between the output end of the trunk rotating power source and the support fixing fork, and a trunk structure is connected between the housings of the two trunk rotating power sources.

[0008] The two waist driving power sources drive the two swing assemblies to move, and the two swing assemblies drive the main shaft of the waist to move. When the two waist driving power sources rotate in the same direction and at the same speed, the main shaft rotates to simulate the rotation of the waist. When the two waist driving power sources rotate in other states, the waist swings around the top point of the main shaft and also rotates around the main shaft. When the two torso rotating power sources rotate in the same direction and at the same speed, the torso structure swings forward and backward relative to the support fixed fork to simulate the up-down movement of the waist of the human body. When the two torso rotating power sources rotate in opposite directions and at the same speed, the torso structure rotates around the rotating shaft of the support fixed fork and the cross ring support to simulate the left-right swing of the waist of the human body. When the two torso rotating power sources rotate in other states, the torso structure swings forward and backward and left and right relative to the support fixed fork. In summary, the mechanism of the present application can realize the rotation of the main shaft, the torsion at a certain angle, the forward-backward swing of the torso structure, the left-right swing of the torso structure and other movements, and can simulate the curved movement of the waist of the human body, so the bionics is high.

[0009] As a preferred scheme of the present application, the output end of the torso rotating power source is rotationally connected with a support frame, and the support frame is fixedly connected with the cross ring. The support frames on both sides are rotationally connected with the output end of the torso rotating power source, so that the support frames support from both sides, and the stability of the cross ring is improved.

[0010] As a preferred scheme of the present application, the support assembly comprises a support rod, one end of the support rod is connected with the support fixed fork through a joint bearing, and a cross shaft is connected between the other end of the support rod and the output end of the torso rotating power source. When the two torso rotating power sources rotate in the same direction and at the same speed, the resultant force acting on the support fixed fork through the output end is in the vertical direction, and the two torso rotating power sources generate the effect of forward-backward swing of the torso structure to offset the resultant force. When the two torso rotating power sources rotate in opposite directions and at the same speed, the force generated by the output end on the support rod is opposite in size and direction, and the actual effect of the output end of the two torso rotating power sources is to rotate around the rotating shaft of the cross shaft. The cross shaft plays a role in multi-directional rotation, avoiding motion interference.

[0011] As a preferred scheme of the present application, the cross shaft comprises a fixed fork fixed with the support rod, the fixed fork is rotationally connected with a rotating block, the other end of the rotating block is rotationally connected with the output end of the torso rotating power source, and the rotating shaft between the fixed fork and the rotating block and the rotating shaft between the output end of the torso rotating power source and the rotating block are perpendicular.

[0012] As a preferred scheme of the present application, the swing assembly comprises a rocker, the rocker is fixed with the output end of the waist driving power source, the other end of the rocker is rotationally connected with a connecting rod, and the other end of the connecting rod is rotationally connected with a shaft sleeve. The waist driving power source drives the rocker to rotate, the rocker drives the connecting rod to move, and the connecting rod drives the main shaft to move.

[0013] As a preferred scheme of the present application, one end of the connecting rod is connected with the rocker through a joint bearing, the other end of the connecting rod is connected with the shaft sleeve through a joint bearing, and the main shaft is connected with the hip joint frame through a joint bearing. The two ends of the connecting rod are both connected with joint bearings, so that the main shaft can rotate without interference. The main shaft can freely rotate around the joint bearing at its lower end, and can simulate various movements of the human waist.

[0014] As a preferred scheme of the present application, the waist driving power source and the trunk rotating power source both comprise a single harmonic reducer motor, the single harmonic reducer motor comprises a central shaft, a motor stator is connected to the central shaft, a motor rotor is sleeved on the motor stator, a harmonic reducer unit is connected to the motor rotor, an output end of the harmonic reducer unit is rotationally connected with the central shaft, a harmonic gear wheel is toothedly engaged with the output end of the harmonic reducer unit, the harmonic gear wheel of the waist driving power source is fixed with the hip joint frame, the harmonic gear wheel of the trunk rotating power source is rotationally connected with the cross joint, the trunk structure is fixed with the harmonic gear wheels of the two trunk rotating power sources, respectively, and one end of the central shaft is fixed with a rear cover which is fixed with the harmonic gear wheel.

[0015] The rotation speed of the output end of the harmonic reducer unit is greatly reduced relative to the rotation speed of the cam, so that the output end of the harmonic reducer motor is stable and low-speed. The harmonic reducer unit is toothedly engaged with the harmonic gear wheel, so that the output end of the harmonic reducer motor has high transmission accuracy relative to the cam. The output end of the harmonic reducer unit is rotationally connected with the central shaft, so that the output end of the harmonic reducer unit is stably supported.

[0016] As a preferred scheme of the present application, the harmonic reducer unit comprises a cam, the cam is fixed on the motor rotor, a flexible bearing is mounted on the cam, an outer ring of the flexible bearing is sleeved with a flexible gear wheel, the flexible gear wheel is toothedly engaged with the harmonic gear wheel, the number of teeth of the flexible gear wheel is less than that of the harmonic gear wheel, an output flange is fixed on the flexible gear wheel, the flexible gear wheel is rotationally connected with the central shaft, the output flange of the waist driving power source is connected with the swing assembly, and the output flange of the trunk rotating power source is connected with the support assembly.

[0017] When the motor is powered on, the motor rotor rotates relative to the motor stator, the motor rotor drives the cam to rotate, and the cam drives the flexible gear wheel to engage with the harmonic gear wheel for transmission through the flexible bearing. If the number of teeth of the flexible gear wheel is N less than that of the harmonic gear wheel, when the cam rotates one circle, the flexible gear wheel rotates N teeth relative to the harmonic gear wheel, so that the output flange connected to the flexible gear wheel is greatly reduced in speed, and stable output force is ensured, and the transmission accuracy is ensured through tooth transmission.

[0018] As a preferred scheme of the present application, the inner side of the cam is connected with the central shaft through a rolling bearing. The central shaft reliably supports the cam, and the central shaft and the cam can rotate relative to each other.

[0019] As a preferred scheme of the present application, the single harmonic speed reducer motor further comprises a cross roller bearing, an inner ring of the cross roller bearing is integrally formed or fixedly connected with the output flange, and an outer ring of the cross roller bearing is integrally formed or fixedly connected with the harmonic gear.

[0020] The present application has the following advantages:

[0021] The two waist driving power sources drive the two swing assemblies to move, and the two swing assemblies drive the main shaft of the waist to move. When the two waist driving power sources rotate in the same direction and at the same speed, the main shaft rotates, which is used to simulate the rotation of the waist. When the two waist driving power sources are in other motion states, the waist swings around the top point of the main shaft in a conical manner, and can also rotate around the main shaft. When the two trunk rotating power sources rotate in the same direction and at the same speed, the trunk structure swings forward and backward relative to the support fixed fork, which is used to simulate the up-down motion of the human waist. When the two trunk rotating power sources rotate in opposite directions and at the same speed, the trunk structure rotates around the rotating shaft of the support fixed fork and the cross ring support, which is used to simulate the left-right swing of the human waist. When the two trunk rotating power sources are in other motion states, the trunk structure swings forward and backward and left and right in a composite manner. In summary, the mechanism of the present application can realize the rotation of the main shaft, the torsion of the main shaft at a certain angle, the forward-backward swing of the trunk structure, the left-right swing of the trunk structure, and the like, and can simulate the curved motion of the human waist, and has high bionics. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 is a structural schematic view of the first direction of the present application;

[0023] Figure 2 is a structural schematic view of the second direction of the present application;

[0024] Figure 3 is a structural schematic view of part of the structure of the present application in the first direction after removing the hip joint frame;

[0025] Figure 4 is a structural schematic view of part of the structure of the present application in the second direction after removing the hip joint frame;

[0026] Figure 5 is a sectional view of part of the structure of the present application;

[0027] Figure 6 is a sectional view of the waist driving power source;

[0028] Figure 7 is a partial structure diagram of the single harmonic speed reducer motor.

[0029] In the diagram: 1-Hip joint frame; 2-Waist drive power source; 3-Swing assembly; 4-Main shaft; 5-Supporting fixed fork; 6-Cross ring; 7-Torso rotation power source; 8-Support assembly; 9-Torso structure; 31-Rock arm; 32-Connecting rod; 41-Busset; 42-Swing arm; 61-Support frame; 81-Support rod; 82-Cross shaft; 821-Fixed fork; 822-Rotating block; a1-Central shaft; a2-Motor stator; a3-Motor rotor; a4-Harmonic reduction unit; a5-Harmonic rigid wheel; a6-Cross roller bearing; a7-Rear cover; a11-Rolling bearing; a41-Cam; a42-Flexible bearing; a43-Flex wheel; a44-Output flange. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0031] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention. It should be noted that, unless otherwise specified, the embodiments and features described in the embodiments of the invention can be combined with each other.

[0032] like Figures 1-4 As shown, the mechanism for achieving curvilinear motion through multi-link differential motion in this embodiment includes a hip joint frame 1, on which two lumbar drive power sources 2 are mounted. The output end of the lumbar drive power source 2 is connected to a swing assembly 3. The hip joint frame 1 is rotatably connected to a main shaft 4, and a bushing 41 is fixedly connected to the main shaft 4. One end of the swing assembly 3 away from the lumbar drive power source 2 is connected to the bushing 41. A swing rod 42 is rotatably connected to the main shaft 4, and the other end of the swing rod 42 is rotatably connected to the hip joint frame 1. A support fixing fork 5 is fixed to the other end of the main shaft 4. A cross ring 6 is rotatably connected to the support fixing fork 5. Both sides of the cross ring 6 are rotatably connected to a torso rotation power source 7. A support assembly 8 is rotatably connected between the output end of the torso rotation power source 7 and the support fixing fork 5. A torso structure 9 is connected between the housings of the two torso rotation power sources 7.

[0033] The two waist driving power sources 2 drive the two swing assemblies 3 to move, and the two swing assemblies 3 drive the main shaft 4 of the waist to move. When the two waist driving power sources 2 rotate in the same direction and at the same speed, the main shaft 4 rotates to simulate the rotation of the waist. When the two waist driving power sources 2 are in other motion states, the waist swings around the top point of the main shaft 4, and at the same time, the waist can also rotate around the main shaft 4. When the two torso rotating power sources 7 rotate in the same direction and at the same speed, the torso structure 9 swings forward and backward relative to the support fixed fork 5 to simulate the up-down movement of the waist of the human body. When the two torso rotating power sources 7 rotate in opposite directions and at the same speed, the torso structure 9 rotates around the rotating shaft of the support fixed fork 5 and the support of the cross ring 6 to simulate the left-right swing of the waist of the human body. When the two torso rotating power sources 7 are in other motion states, the torso structure 9 swings forward and backward and swings left and right relative to the support fixed fork 5. In summary, the mechanism of the present application can realize the rotation of the main shaft 4, the torsion at a certain angle, the forward-backward swing of the torso mechanism, the left-right swing of the torso mechanism and other movements, and can simulate the curved movement of the waist of the human body, and has high bionics.

[0034] The output end of the torso rotating power source 7 is rotatably connected with a support frame 61, and the support frame 61 is fixedly connected with the cross ring 6. The support frame 61 on both sides is rotatably connected with the output end of the torso rotating power source 7, so that the support frame 61 supports from both sides, improving the stability of the cross ring 6.

[0035] The support assembly 8 comprises a support rod 81, one end of the support rod 81 is connected with the support fixed fork 5 through a joint bearing, and a cross shaft 82 is connected between the other end of the support rod 81 and the output end of the torso rotating power source 7. When the two torso rotating power sources 7 rotate in the same direction and at the same speed, the resultant force acting on the support fixed fork 5 through the output end is in the vertical direction, and the two torso rotating power sources 7 are used to offset this resultant force, so as to generate the effect of forward-backward swing of the torso structure. When the two torso rotating power sources 7 rotate in opposite directions and at the same speed, the force generated by the output end on the support rod 81 is opposite in size and direction, and the actual effect of the output end of the two torso rotating power sources 7 is to rotate around the central rotating shaft of the cross shaft 82. The cross shaft 82 plays a role in multi-directional rotation, avoiding motion interference.

[0036] The cross shaft 82 comprises a fixed fork 821 fixed with the support rod 81, the fixed fork 821 is rotatably connected with a rotating block 822, the other end of the rotating block 822 is rotatably connected with the output end of the torso rotating power source 7, and the rotating shaft between the fixed fork 821 and the rotating block 822 and the rotating shaft between the output end of the torso rotating power source 7 and the rotating block 822 are perpendicular.

[0037] The swing assembly 3 comprises a rocker 31 fixed with the output end of the waist driving power source 2, the other end of the rocker 31 is rotationally connected with a connecting rod 32, the other end of the connecting rod 32 is rotationally connected with the shaft sleeve 41. The waist driving power source 2 drives the rocker 31 to rotate, the rocker 31 drives the connecting rod 32 to act, so that the connecting rod 32 drives the main shaft 4 to act.

[0038] In order to avoid motion interference, one end of the connecting rod 32 is connected with the rocker 31 through a joint bearing, the other end of the connecting rod 32 is connected with the shaft sleeve 41 through a joint bearing; the main shaft 4 is connected with the hip joint frame 1 through a joint bearing. The two ends of the connecting rod 32 are both connected with joint bearings, which ensures that the main shaft 4 can rotate without motion interference. The main shaft 4 can be freely twisted with the joint bearing at the lower end as the center, which can simulate various movements of the human waist.

[0039] Specifically, as shown in the figure, Figures 5-7 The waist driving power source 2 and the trunk rotating power source 7 both comprise a single harmonic reducer motor, the single harmonic reducer motor comprises a center shaft a1, the center shaft a1 is connected with a motor stator a2, the motor stator a2 is sleeved with a motor rotor a3, the motor rotor a3 is connected with a harmonic reducer unit a4, the output end of the harmonic reducer unit a4 is rotationally connected with the center shaft, the output end of the harmonic reducer unit a4 is toothed with a harmonic gear a5, the harmonic gear a5 of the waist driving power source 2 is fixed with the hip joint frame 1, the harmonic gear a5 of the trunk rotating power source 7 is rotationally connected with the cross ring 6, the trunk structure 9 is fixed with the harmonic gear a5 of the two trunk rotating power sources 7 respectively, one end of the center shaft a1 is fixed with a rear cover a7, the rear cover a7 is fixed with the harmonic gear a5, the trunk structure 9 is connected with the harmonic gear a5 of the two trunk rotating power sources 7 respectively.

[0040] The rotation speed of the output end of the harmonic reducer unit a4 is greatly reduced relative to the rotation speed of the cam a41, so that the output end of the harmonic reducer motor is stable and low-speed. The harmonic reducer unit a4 is toothed with the harmonic gear a5, so that the output end of the harmonic reducer motor has high transmission accuracy relative to the cam a41. The output end of the harmonic reducer unit a4 is rotationally connected with the center shaft a1, so that the output end of the harmonic reducer unit a4 is stably supported.

[0041] The harmonic reduction unit a4 includes a cam a41 fixed on the motor rotor a3, a flexible bearing a42 installed on the cam a41, a flexspline a43 sleeved with the outer ring of the flexible bearing a42, the flexspline a43 in gear with the harmonic gear a5, the number of teeth of the flexspline a43 being less than that of the harmonic gear a5, an output flange a44 fixed on the flexspline a43, the flexspline a43 in rotary connection with the central shaft a1, the output flange a44 of the waist driving power source 2 in connection with the swing assembly 3, and the output flange a44 of the trunk rotating power source 7 in connection with the support assembly 8. The cam a41 and the flexible bearing a42 are both in the shape of an ellipse, and the flexspline a43 is in mesh with the harmonic gear a5 at two positions. The flexible bearing a42 pushes the flexspline a43 to mesh with the harmonic gear a5 at two positions, ensuring stable transmission of the flexspline a43 and the harmonic gear a5.

[0042] The motor stator a2 and the electronic rotor a3 are built in the flexspline a43, which can effectively utilize the space, reduce the size of the single harmonic reduction motor, and simplify the structure.

[0043] The reduction principle of the harmonic reducer is to utilize the relative motion of the flexspline a43, the harmonic gear a5 and the cam a41, and mainly the controllable elastic deformation of the flexspline a43 to realize motion and power transmission. The rotation of the elliptical cam a41 in the flexspline a43 causes the flexspline a43 to deform. When the teeth of the flexspline a43 at both ends of the long axis of the elliptical cam a41 and the teeth of the harmonic gear a5 enter into mesh, the teeth of the flexspline a43 at both ends of the short axis are disengaged from the teeth of the harmonic gear a5. For the teeth between the long axis and the short axis of the cam a41, the teeth are in a half-meshing state of gradually entering into mesh along different sections of the circumference of the flexspline a43 and the harmonic gear a5, which is called meshing-in. The teeth are in a half-meshing state of gradually exiting from mesh, which is called meshing-out. When the cam a41 continuously rotates, the flexspline a43 continuously deforms, so that the teeth of the two wheels change their original working states in the four motions of meshing-in, meshing, meshing-out and disengaging, to produce the motion of staggered teeth and realize the motion transmission of the cam a41 and the flexspline a43. The harmonic reducer has stable transmission, low noise, high motion precision and a backlash of less than 10 angular seconds.

[0044] When the motor is powered, the motor rotor a3 rotates relative to the motor stator a2, the motor rotor a3 drives the cam a41 to rotate, the cam a41 drives the flexible bearing a42 to push the flexible gear a43 to engage and drive the harmonic gear a5. The flexible bearing a42 is also oval, and the flexible bearing a42 rotates synchronously with the cam a41. The flexible gear a43 is made of flexible material, and is sleeved on the flexible gear a43. When the flexible bearing a42 rotates, the teeth of the harmonic gear a5 block the teeth of the flexible gear a43, so that the flexible gear a43 slides on the flexible bearing a42. Due to the compression of the flexible bearing a42, the engagement position of the flexible gear a43 and the harmonic gear a5 changes continuously. Since the number of teeth of the flexible gear a43 is less than the number of teeth of the harmonic gear a5, when the cam a41 rotates one circle, the engagement position of the flexible gear a43 and the harmonic gear a5 does not change one circle. If the number of teeth of the flexible gear a43 is less than the number of teeth of the harmonic gear a5 by N, when the cam a41 rotates one circle, the flexible gear a43 rotates N teeth relative to the harmonic gear a5, so that the output flange a44 connected to the flexible gear a43 obtains larger speed reduction, ensures stable output force, and ensures transmission accuracy through tooth transmission. Figure 7 In the embodiment, the number of teeth of the flexible gear a43 is less than the number of teeth of the harmonic gear a5 by two, when the cam a41 rotates one circle, the flexible gear a43 rotates two teeth, and the output flange a44 rotates a corresponding angle relative to the cam a41.

[0045] In order to support the cam a41, the inner side of the cam a41 and the central shaft a1 are connected through the rolling bearing a11. The central shaft a1 reliably supports the cam a41, and the central shaft a1 and the cam a41 can rotate relative to each other.

[0046] As a preferred scheme of the application, the single harmonic speed reduction motor further comprises a cross roller bearing a6, the inner ring of the cross roller bearing a6 is integrally formed or fixedly connected with the output flange a44, and the outer ring of the cross roller bearing a6 is integrally formed or fixedly connected with the harmonic gear a5.

[0047] The application is not limited to the above-mentioned optional embodiments, and anyone can derive other various forms of products under the inspiration of the application, but regardless of any changes in shape or structure, any technical solutions falling within the scope defined by the claims of the application fall within the protection scope of the application.

Claims

1. A mechanism for achieving curvilinear motion through multi-link differential motion, characterized by: The application relates to a hip joint frame (1) provided with two waist driving power sources (2), the output ends of the waist driving power sources (2) are connected with swing assemblies (3), the hip joint frame (1) is rotationally connected with a main shaft (4), the main shaft (4) is fixedly connected with a shaft sleeve (41), one end of the swing assembly (3) away from the waist driving power source (2) is connected with the shaft sleeve (41), the main shaft (4) is rotationally connected with a swing rod (42), and the other end of the swing rod (42) is rotationally connected with the hip joint frame (1); the other end of the main shaft (4) is fixedly provided with a supporting fixed fork (5), the supporting fixed fork (5) is rotationally connected with a cross ring (6), the two sides of the cross ring (6) are rotationally connected with trunk rotating power sources (7), and a supporting assembly (8) is rotationally connected between the output ends of the trunk rotating power sources (7) and the supporting fixed fork (5); and a trunk structure (9) is connected between the housings of the two trunk rotating power sources (7). The supporting assembly (8) comprises a supporting rod (81), one end of the supporting rod (81) is connected with the supporting fixed fork (5) through a joint bearing, and a cross shaft (82) is connected between the other end of the supporting rod (81) and the output end of the trunk rotating power source (7). The swing assembly (3) comprises a rocker (31), the rocker (31) is fixed with the output end of the waist driving power source (2), the other end of the rocker (31) is rotationally connected with a connecting rod (32), and the other end of the connecting rod (32) is rotationally connected with the shaft sleeve (41). One end of the connecting rod (32) is connected with the rocker (31) through a joint bearing, and the other end of the connecting rod (32) is connected with the shaft sleeve (41) through a joint bearing; and the main shaft (4) and the hip joint frame (1) are connected through a joint bearing.

2. A mechanism for generating curvilinear motion from differential motion of multiple links according to claim 1, characterized in that: The output end of the trunk rotating power source (7) is rotationally connected with a supporting frame (61), and the supporting frame (61) is fixedly connected with the cross ring (6).

3. A mechanism for generating curvilinear motion from differential motion of multiple links according to claim 1, wherein: The cross shaft (82) comprises a fixed fork (821) fixed with the supporting rod (81), the fixed fork (821) is rotationally connected with a rotating block (822), the other end of the rotating block (822) is rotationally connected with the output end of the trunk rotating power source (7), and the rotation shafts between the fixed fork (821) and the rotating block (822) and between the output end of the trunk rotating power source (7) and the rotating block (822) are perpendicular.

4. A mechanism for generating curvilinear motion from differential motion of multiple links according to claim 1, wherein: The waist driving power source (2) and the trunk rotating power source (7) each comprise a single harmonic reduction motor, the single harmonic reduction motor comprises a central shaft (a1), the central shaft (a1) is connected with a motor stator (a2), the motor stator (a2) is sleeved with a motor rotor (a3), the motor rotor (a3) is connected with a harmonic reduction unit (a4), the output end of the harmonic reduction unit (a4) is toothed with a harmonic gear (a5), the harmonic gear (a5) of the waist driving power source (2) is fixed with the hip joint frame (1), the harmonic gear (a5) of the trunk rotating power source (7) is rotationally connected with the cross joint (6), the trunk structure (9) is fixed with the harmonic gear (a5) of the two trunk rotating power sources (7) respectively, one end of the central shaft (a1) is fixed with a rear cover (a7), the rear cover (a7) is fixed with the harmonic gear (a5), the trunk structure (9) is connected with the harmonic gear (a5) of the two trunk rotating power sources (7) respectively.

5. A mechanism for generating curvilinear motion from differential motion of multiple links according to claim 4, wherein: The harmonic reduction unit (a4) comprises a cam (a41), the cam (a41) is fixed on the motor rotor (a3), the cam (a41) is provided with a flexible bearing (a42), the outer ring of the flexible bearing (a42) is sleeved with a flexible gear (a43), the flexible gear (a43) is toothed with the harmonic gear (a5), the number of teeth of the flexible gear (a43) is less than that of the harmonic gear (a5), the flexible gear (a43) is fixed with an output flange (a44), the output flange (a44) of the waist driving power source (2) is connected with the swing assembly (3), and the output flange (a44) of the trunk rotating power source (7) is connected with the support assembly (8).

6. A mechanism for generating curvilinear motion from differential motion of multiple links according to claim 5, wherein: The inner side of the cam (a41) and the central shaft (a1) are connected through a rolling bearing (a11).

7. A mechanism for generating curvilinear motion from differential motion of multiple links according to claim 5, wherein: The single harmonic reduction motor further comprises a cross roller bearing (a6), the inner ring of the cross roller bearing (a6) is integrally formed or fixedly connected with the output flange (a44), and the outer ring of the cross roller bearing (a6) is integrally formed or fixedly connected with the harmonic gear (a5).

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