A mechanism for implementing a curvilinear motion

Abstract

This invention belongs to the field of biomimetic robotics, and specifically relates to a mechanism for achieving curvilinear motion. It includes a hip joint frame with two lumbar rotation power sources mounted on it. The output ends of these lumbar rotation power sources are connected to a swinging component. A main shaft is rotatably connected to the hip joint frame, and a bushing is fixedly connected to the main shaft. The swinging component is connected to the bushing, and a support fork is fixed to the main shaft. The invention also includes a differential rotation power source and a torso structure. The differential rotation power source includes a cross ring, which is rotatably connected to the support fork. Two torso rotation power sources are rotatably connected to both sides of the cross ring. The output ends of the two torso rotation power sources are respectively connected to the torso structure. The housing of the torso rotation power source is rotatably connected to the cross ring. A large gear is fixed to the housing of the torso rotation power source, and a small gear is rotatably connected to the cross ring. The large gear and the small gear mesh. This invention provides a mechanism for achieving curvilinear motion by simulating the movements of the human waist.

Description

Technical Field

[0001] This invention belongs to the field of biomimetic robot technology, and specifically relates to a mechanism for realizing curvilinear motion. Background Technology

[0002] As people's education levels continue to improve, fewer and fewer people are willing to engage in low-skilled, low-value-added service industries, such as greeting, consulting, and reception work. Meanwhile, with the increasing maturity of robotics technology, especially the development and application of motion control, speech and semantic recognition, image recognition, and intelligent interaction technologies in the field of humanoid robots, the future development prospects of humanoid service robots are becoming increasingly apparent. Due to the increasing aging of the global population, the market for service robots is vast, and humanoid robots are gradually becoming a hot topic in research and application. Humanoid robots mimic human movements, needing to complete a series of actions including eye movement, mouth opening and closing, head nodding and turning, flexible arm swinging and rotation, and bending movements, requiring high degrees of freedom of movement and high precision.

[0003] Patent application number CN201621021782.8 discloses a humanoid robot, including a robot head, robot arms, robot waist, robot legs, and a robot outer shell that covers the internal structure of the robot, each with its own motion drive mechanism. Through the arrangement of the robot head, robot arms, robot waist, robot legs, and robot outer shell, the humanoid robot can achieve movements such as eyeball rotation, mouth opening and closing, nodding, and head turning; arm swinging and rotating; and waist bending through the drive mechanisms. The robot outer shell makes the robot's appearance more realistic and vivid. This humanoid robot has multiple degrees of freedom of movement, a compact structure, and a lifelike appearance. This utility model is applicable to the field of bionic robots.

[0004] However, the robot's waist can only bend over, and it cannot twist or swing at any angle, so its biomimicry is poor. Summary of the Invention

[0005] In order to solve the above-mentioned problems in the existing technology, the purpose of this invention is to provide a mechanism that can simulate the movement of the human waist and realize curvilinear motion.

[0006] The technical solution adopted in this invention is as follows:

[0007] A mechanism for achieving curvilinear motion includes a hip joint frame with two lumbar rotation power sources mounted on it. The output ends of the lumbar rotation power sources are connected to a swing assembly. A main shaft is rotatably connected to the hip joint frame, and a bushing is fixedly connected to the main shaft. One end of the swing assembly, away from the lumbar rotation power source, is connected to the bushing. A swing arm is rotatably connected to the main shaft, and the other end of the swing arm is rotatably connected to the hip joint frame. A support fork is fixed to the other end of the main shaft. The mechanism also includes a differential rotation power source and a torso structure. The differential rotation power source includes a cross ring, which is rotatably connected to the support fork. Torso rotation power sources are rotatably connected to both sides of the cross ring. The output ends of the two torso rotation power sources are respectively connected to the torso structure. The housing of the torso rotation power source is rotatably connected to the cross ring. A large gear is fixed to the housing of the torso rotation power source, and a small gear is rotatably connected to the cross ring, with the large gear meshing with the small gear.

[0008] The two waist rotation power sources of this invention drive two swinging components, which in turn drive the main shaft of the waist. When the two waist rotation power sources rotate in the same direction and at the same speed, the main shaft rotates, simulating waist rotation. In other operating states, the waist swings in a conical motion around the bottom apex of the main shaft, while also rotating around the main shaft. When the two torso rotation power sources rotate in the same direction and at the same speed, the torso structure swings back and forth relative to the supporting fixed fork, simulating the pitching motion of the human waist. When the two torso rotation power sources rotate in opposite directions and at the same speed, the torso structure rotates around the axis of rotation of the supporting fixed fork and the cross ring bracket, simulating the left and right swaying of the human waist. In other operating states, the two torso rotation power sources perform a combined motion of back-and-forth and left-and-right swaying relative to the supporting fixed fork. In summary, the mechanism of this invention can realize main shaft rotation, torsion at a certain angle, back-and-forth swaying of the torso mechanism, and left-and-right swaying of the torso mechanism, simulating the curvilinear motion of the human waist, and exhibiting high biomimicry.

[0009] In a preferred embodiment of the present invention, the swing assembly includes a rocker arm, which is fixed to the output end of a waist rotation power source. A connecting rod is rotatably connected to the other end of the rocker arm, and the other end of the connecting rod is rotatably connected to a bushing. The waist rotation power source drives the rocker arm to rotate, which in turn drives the connecting rod to move, thereby causing the connecting rod to move the main shaft.

[0010] In a preferred embodiment of the present invention, one end of the connecting rod is connected to the rocker arm via a spherical bearing, and the other end of the connecting rod is connected to the bushing via a spherical bearing. Both ends of the connecting rod are connected to spherical bearings to prevent motion interference during spindle rotation.

[0011] In a preferred embodiment of the present invention, the lower part of the main shaft is connected to the hip joint frame via a joint bearing. The main shaft can freely rotate around the joint bearing at its lower end, and the upper part of the main shaft is rotatably connected to the hip joint frame via a swing arm, which can simulate various movements of the human waist.

[0012] As a preferred embodiment of the present invention, both the waist rotation power source and the torso rotation power source include a single harmonic reduction motor. The single harmonic reduction motor includes a central shaft, a motor stator connected to the central shaft, a motor rotor sleeved on the motor stator, and a harmonic reduction unit connected to the motor rotor. The output end of the harmonic reduction unit of the torso rotation power source is fixed to the central shaft, and the output end of the harmonic reduction unit of the waist rotation power source is rotatably connected to the central shaft. The output end of the harmonic reduction unit is engaged with a harmonic rigid wheel. The harmonic rigid wheel of the waist rotation power source is fixed to the hip joint frame, and the harmonic rigid wheel of the torso rotation power source is rotatably connected to a cross ring. A rear cover is fixed to one end of the central shaft of the waist rotation power source, and the rear cover is fixed to the harmonic rigid wheel of the waist rotation power source. A large gear is fixed to the harmonic rigid wheel of the torso rotation power source.

[0013] The output speed of the harmonic reducer is significantly lower than that of the cam, resulting in a stable and low-speed output from the harmonic reducer motor. The harmonic reducer meshes with the harmonic gear, thus providing high transmission accuracy at the output of the harmonic reducer motor relative to the cam.

[0014] As a preferred embodiment of the present invention, the harmonic deceleration unit includes a cam, which is fixed on the motor rotor. A flexible bearing is mounted on the cam, and a flexible wheel is sleeved on the outer ring of the flexible bearing. The flexible wheel meshes with the harmonic rigid wheel. The number of teeth on the flexible wheel is less than the number of teeth on the harmonic rigid wheel. An output flange is fixed on the flexible wheel. The flexible wheel of the torso rotation power source is fixed to the central shaft. The output flange of the waist rotation power source is connected to the swing assembly. The output flange of the torso rotation power source is connected to the torso structure.

[0015] 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 flex wheel to mesh with the harmonic rigid wheel through a flexible bearing. If the number of teeth on the flex wheel is N less than the number of teeth on the harmonic rigid wheel, then when the cam rotates one revolution, the flex wheel rotates N teeth relative to the harmonic rigid wheel. This results in a greater speed reduction for the output flange connected to the flex wheel, ensuring a stable output force, and ensuring transmission accuracy through gear transmission.

[0016] In a preferred embodiment of the present invention, the inner side of the cam is connected to the central shaft via a rolling bearing. The central shaft reliably supports the cam, and the central shaft and the cam can rotate relative to each other.

[0017] As a preferred embodiment of the present invention, the large gear is rotatably connected to the output flange of the torso rotation power source; the single harmonic reduction motor further includes a crossed roller bearing, the inner ring of the crossed roller bearing is integrally formed or fixedly connected to the output flange, the outer ring of the crossed roller bearing of the waist rotation power source is integrally formed or fixedly connected to the harmonic rigid wheel, and the outer ring of the crossed roller bearing of the torso rotation power source is integrally formed or fixedly connected to the large gear.

[0018] In a preferred embodiment of the present invention, a wiring hole is provided on the central shaft, through which the wiring of the motor stator passes. The wiring passing through the wiring hole facilitates wiring. In another preferred embodiment, two rotating connectors are provided at 180° intervals on the cross ring. The pinion is connected to the cross ring through one of the rotating connectors, and the support fixing fork is connected to both rotating connectors respectively. The support fixing fork can be connected to both rotating connectors respectively, ensuring the stability of the differential rotation power source.

[0019] The beneficial effects of this invention are as follows:

[0020] The two waist rotation power sources of this invention drive two swinging components, which in turn drive the main shaft of the waist. When the two waist rotation power sources rotate in the same direction and at the same speed, the main shaft rotates, simulating waist rotation. In other operating states, the waist swings in a conical motion around the bottom apex of the main shaft, while also rotating around the main shaft. When the two torso rotation power sources rotate in the same direction and at the same speed, the torso structure swings back and forth relative to the supporting fixed fork, simulating the pitching motion of the human waist. When the two torso rotation power sources rotate in opposite directions and at the same speed, the torso structure rotates around the axis of rotation of the supporting fixed fork and the cross ring bracket, simulating the left and right swaying of the human waist. In other operating states, the two torso rotation power sources perform a combined motion of back-and-forth and left-and-right swaying relative to the supporting fixed fork. In summary, the mechanism of this invention can realize main shaft rotation, torsion at a certain angle, back-and-forth swaying of the torso mechanism, and left-and-right swaying of the torso mechanism, simulating the curvilinear motion of the human waist, and exhibiting high biomimicry. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure in the first direction of the present invention;

[0022] Figure 2 This is a schematic diagram of the structure in the second direction of the present invention;

[0023] Figure 3 This is an exploded view of the present invention;

[0024] Figure 4 This is a schematic diagram of a portion of the structure of the present invention in the first direction after the hip joint frame has been removed;

[0025] Figure 5 This is a schematic diagram of a portion of the structure of the present invention in a second direction after the hip joint frame has been removed;

[0026] Figure 6 This is a schematic diagram of the hip joint frame;

[0027] Figure 7 This is a schematic diagram of the differential rotation power source;

[0028] Figure 8 It is a cross-sectional view of the differential rotation power source;

[0029] Figure 9 yes Figure 8 A magnified view of a section at point A in the middle;

[0030] Figure 10 This is a cross-sectional view of the power source for waist rotation;

[0031] Figure 11 This is a partial structural diagram of a single harmonic geared motor.

[0032] In the diagram: 1-Hip joint frame; 2-Waist rotation power source; 3-Swing assembly; 4-Main shaft; 5-Supporting fixed fork; 6-Differential rotation power source; 7-Torso structure; 31-Rock arm; 32-Connecting rod; 41-Busset; 42-Swing arm; 61-Cross ring; 62-Torso rotation power source; 63-Large gear; 64-Small gear; 611-Rotating connector; 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

[0033] 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.

[0034] 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.

[0035] like Figures 1-6As shown, the mechanism for realizing curvilinear motion in this embodiment includes a hip joint frame 1, two waist rotation power sources 2 are mounted on the hip joint frame 1, the output end of the waist rotation power source 2 is connected to a swing assembly 3, the hip joint frame 1 is rotatably connected to a main shaft 4, a bushing 41 is fixedly connected to the main shaft 4, one end of the swing assembly 3 away from the waist rotation power source 2 is connected to the bushing 41, a swing rod 42 is rotatably connected to the main shaft 4, the other end of the swing rod 42 is rotatably connected to the hip joint frame 1, and a support fixing fork 5 is fixed to the other end of the main shaft 4; It also includes a differential rotation power source 6 and a torso structure 7. The differential rotation power source 6 includes a cross ring 61, which is rotatably connected to a support and fixing fork 5. Both sides of the cross ring 61 are rotatably connected to torso rotation power sources 62. The output ends of the two torso rotation power sources 62 are respectively connected to the torso structure 7. The housing of the torso rotation power source 62 is rotatably connected to the cross ring 61. A large gear 63 is fixed to the housing of the torso rotation power source 62. A small gear 64 is rotatably connected to the cross ring 61. The large gear 63 and the small gear 64 mesh.

[0036] The two waist rotation power sources 2 of this invention drive two swing components 3 to move, and the two swing components 3 drive the main shaft 4 of the waist to move. When the two waist rotation power sources 2 rotate in the same direction and at the same speed, the main shaft 4 rotates to simulate waist rotation. In other operating states, the two waist rotation power sources 2 cause the waist to swing in a conical motion around the bottom apex of the main shaft 4, and can also rotate around the main shaft 4. When the two torso rotation power sources 62 rotate in the same direction and at the same speed, the torso structure 7 swings back and forth relative to the support fork 5 to simulate the pitching and bending motion of the human waist. When the two torso rotation power sources 62 rotate in opposite directions and at the same speed, the torso structure 7 rotates around the axis of rotation of the support fork 5 and the cross ring 61 bracket to simulate the left and right swinging motion of the human waist. In other operating states, the two torso rotation power sources 62 cause the torso structure 7 to perform a combined back-and-forth swinging and left-and right swinging motion relative to the support fork 5. In summary, the mechanism of the present invention can realize the rotation of the main shaft 4, the twisting at a certain angle, the back-and-forth swinging of the torso mechanism, and the left-and-right swinging of the torso mechanism, which can simulate the curved movement of the human waist and has a high degree of biomimicry.

[0037] The swing assembly 3 includes a rocker arm 31, which is fixed to the output end of the waist rotation power source 2. The other end of the rocker arm 31 is rotatably connected to a connecting rod 32, and the other end of the connecting rod 32 is rotatably connected to a bushing 41. The waist rotation power source 2 drives the rocker arm 31 to rotate, which in turn drives the connecting rod 32 to move, thereby driving the main shaft 4 to move.

[0038] To avoid motion interference, one end of the connecting rod 32 is connected to the rocker arm 31 via a joint bearing, and the other end of the connecting rod 32 is connected to the bushing 41 via a joint bearing. Both ends of the connecting rod 32 are connected to joint bearings to prevent motion interference when the main shaft 4 rotates. The lower part of the main shaft 4 is connected to the hip joint frame 1 via a joint bearing. The main shaft 4 can freely twist around the joint bearing at its lower end, and the upper part of the main shaft 4 is rotatably connected to the hip joint frame 1 via the swing arm 42. The main shaft 4 can perform conical oscillations along the line connecting the center of the joint bearing ball and the center of one side of the swing arm 42, which can simulate various movements of the human waist.

[0039] Specifically, such as Figures 7-10 As shown, both the waist rotation power source 2 and the torso rotation power source 62 include a single harmonic reduction motor. The single harmonic reduction motor includes a central shaft a1, a motor stator a2 connected to the central shaft a1, a motor rotor a3 sleeved on the motor stator a2, and a harmonic reduction unit a4 connected to the motor rotor a3. The output end of the harmonic reduction unit a4 of the torso rotation power source 62 is fixed to the central shaft a1, and the output end of the harmonic reduction unit a4 of the waist rotation power source 2 is rotatably connected to the central shaft a1. The output end of the harmonic reduction unit a4 is meshed with a harmonic rigid wheel a5. The harmonic rigid wheel a5 of the waist rotation power source 2 is fixed to the hip joint frame 1, and the harmonic rigid wheel a5 of the torso rotation power source 62 is rotatably connected to the cross ring 61. A rear cover a7 is fixed to one end of the central shaft a1 of the waist rotation power source 2, and the rear cover a7 is fixed to the harmonic rigid wheel a5 of the waist rotation power source 2. A large gear 63 is fixed to the harmonic rigid wheel a5 of the torso rotation power source 62.

[0040] The output speed of the harmonic reduction unit a4 is significantly lower than that of the cam a41, resulting in a stable and low-speed output of the harmonic geared motor. The harmonic reduction unit a4 meshes with the harmonic rigid wheel a5, thus providing high transmission accuracy at the output of the harmonic geared motor relative to the cam a41. The output of the harmonic reduction unit a4 is fixed to the central shaft a1, thereby fixing the motor stator a2 and ensuring stable rotation of the motor rotor a3 relative to the motor stator a2.

[0041] like Figure 11As shown, the harmonic reduction unit a4 includes a cam a41, which is fixed to the motor rotor a3. A flexible bearing a42 is mounted on the cam a41, and a flexible wheel a43 is fitted around the outer ring of the flexible bearing a42. The flexible wheel a43 meshes with the harmonic rigid wheel a5, and the number of teeth on the flexible wheel a43 is less than the number of teeth on the harmonic rigid wheel a5. An output flange a44 is fixed on the flexible wheel a43, which is fixed to the central shaft a1. The output flange a44 of the waist rotation power source 2 is connected to the swing assembly 3, and the output flange a44 of the torso rotation power source 62 is connected to the torso structure 7. Both the cam a41 and the flexible bearing a42 are elliptical in shape. The flexible wheel a43 meshes with the harmonic rigid wheel a5 in two positions. The flexible bearing a42 pushes the flexible wheel a43 to mesh with the harmonic rigid wheel a5 from two points, ensuring stable transmission between the flexible wheel a43 and the harmonic rigid wheel a5.

[0042] The motor stator a2 and electronic rotor a3 are built into the flexible wheel a43, which can effectively utilize space, reduce the volume of the single harmonic geared motor, and simplify the structure.

[0043] The reduction principle of a harmonic geared motor utilizes the relative motion of the flexure a43, the harmonic rigid wheel a5, and the cam a41, primarily through the controllable elastic deformation of the flexure a43 to achieve motion and power transmission. The elliptical cam a41 rotates within the flexure a43, causing the flexure a43 to deform. When the teeth of the flexure a43 at both ends of the major axis of the elliptical cam a41 engage with the teeth of the harmonic rigid wheel a5, the teeth of the flexure a43 at both ends of the minor axis disengage from the teeth of the harmonic rigid wheel a5. For the teeth between the major and minor axes of the cam a41, the gradual engagement (partial engagement) along different sections of the circumference of the flexure a43 and the harmonic rigid wheel a5 is called engagement. The gradual disengagement (partial engagement) is called disengagement. As cam a41 rotates continuously, flexure a43 undergoes continuous deformation, causing the teeth of the two gears to constantly change their original working states in four motions: engagement, disengagement, and retraction, resulting in a tooth-shifting motion. This achieves motion transmission between cam a41 and flexure a43. The harmonic geared motor offers smooth transmission, low noise, high motion accuracy, and a backlash of less than 10 arcseconds.

[0044] When the motor is powered on, the motor rotor a3 rotates relative to the motor stator a2. The motor rotor a3 drives the cam a41 to rotate, and the cam a41 drives the flexure a43 to mesh with the harmonic rigid wheel a5 through the flexible bearing a42. The flexible bearing a42 is also elliptical and rotates synchronously with the cam a41. The flexure a43 is made of flexible material and is sleeved on the cam a42. When the flexible bearing a42 rotates, the teeth of the harmonic rigid wheel a5 block the teeth of the flexure a43, causing the flexure a43 to slide on the flexible bearing a42. Due to the pressing action of the flexible bearing a42, the meshing position of the flexure a43 and the harmonic rigid wheel a5 changes continuously. Since the number of teeth on the flexure a43 is less than the number of teeth on the harmonic rigid wheel a5, the meshing position of the flexure a43 and the harmonic rigid wheel a5 does not change by one revolution when the cam a41 rotates one revolution. If the number of teeth on the flexible wheel a43 is N less than the number of teeth on the harmonic rigid wheel a5, then when the cam a41 rotates one revolution, the flexible wheel a43 rotates N teeth relative to the harmonic rigid wheel a5, thereby the output flange a44 connected to the flexible wheel a43 is significantly decelerated, ensuring a stable output force, and the transmission accuracy is ensured through gear transmission. Figure 11 In the process, the number of teeth of the flexible wheel a43 is two fewer than the number of teeth of the harmonic rigid wheel a5. When the cam a41 rotates one revolution, the flexible wheel a43 rotates two teeth, and the output flange a44 rotates by the corresponding angle with the cam a41.

[0045] To provide support for the cam a41, the inner side of the cam a41 is connected to the central shaft a1 via a 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] The large gear 63 is rotatably connected to the output flange a44 of the torso rotation power source 62; the single harmonic reduction motor also includes a crossed roller bearing a6, the inner ring of the crossed roller bearing a6 is integrally formed or fixedly connected to the output flange a44, the outer ring of the crossed roller bearing a6 of the waist rotation power source 2 is integrally formed or fixedly connected to the harmonic rigid wheel a5, and the outer ring of the crossed roller bearing a6 of the torso rotation power source 62 is integrally formed or fixedly connected to the large gear 63.

[0047] To facilitate wiring connections, a wiring hole is provided on the central shaft a1, through which the wiring of the motor stator a2 passes. This facilitates wiring routing. Rotary connectors 611 are provided at two 180° intervals on the cross ring 61. The pinion 64 is connected to the cross ring 61 via one of these rotary connectors 611, and the support fork 5 is connected to both rotary connectors 611. The support fork 5's ability to connect to both rotary connectors 611 ensures the stability of the differential rotational power source 6.

[0048] To further reduce the space occupied, both the pinion 64 and the gear 63 are bevel gears, so that the outer contour of the differential rotation power source 6 is closer to a sphere, making it easier to install it on the waist of the bionic robot.

[0049] This invention is not limited to the above-described optional embodiments. Anyone can derive other various forms of products under the guidance of this invention. However, regardless of any changes made in their shape or structure, any technical solution that falls within the scope of the claims of this invention shall be protected by this invention.

Claims

1. A mechanism for implementing curvilinear motion, characterized by: The application relates to a hip joint simulation device which comprises a hip joint frame (1), two waist rotary power sources (2) are mounted on the hip joint frame (1), the output ends of the waist rotary 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 rotary power source (2) is connected with the shaft sleeve (41), the main shaft (4) is rotationally connected with a swing rod (42), the other end of the swing rod (42) is rotationally connected with the hip joint frame (1), and the other end of the main shaft (4) is fixedly provided with a support fixing fork (5); the device further comprises a differential rotary power source (6) and a trunk structure (7), the differential rotary power source (6) comprises a cross ring (61), the cross ring (61) is rotationally connected with the support fixing fork (5), both sides of the cross ring (61) are rotationally connected with trunk rotary power sources (62), the output ends of the two trunk rotary power sources (62) are connected with the trunk structure (7), the shell of the trunk rotary power source (62) is rotationally connected with the cross ring (61), the shell of the trunk rotary power source (62) is fixedly provided with a large gear (63), the cross ring (61) is rotationally connected with a small gear (64), and the large gear (63) is meshed with the small gear (64). The two waist rotary 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 rotary power sources (2) rotate in the same direction and at the same speed, the main shaft (4) rotates to simulate the waist rotation; when the two waist rotary power sources (2) are in other motion states, the waist performs conical swing around the top point of the main shaft (4) and also can rotate around the main shaft (4); when the two trunk rotary power sources (62) rotate in the same direction and at the same speed, the trunk structure (7) swings forward and backward relative to the support fixing fork (5) to simulate the waist pitching motion of the human body; when the two trunk rotary power sources (62) rotate in opposite directions and at the same speed, the trunk structure (7) rotates around the rotation shaft of the support fixing fork (5) and the cross ring (61) support to simulate the waist swinging motion of the human body; when the two trunk rotary power sources (62) are in other motion states, the trunk structure (7) performs the composite motion of forward and backward swing and left and right swing relative to the support fixing fork (5).

2. A mechanism for implementing curvilinear motion according to claim 1, characterized in that: The swing assembly (3) comprises a rocker (31), the rocker (31) is fixed with the output end of the waist rotary 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).

3. A mechanism for implementing curvilinear motion according to claim 2, characterized in that: 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.

4. A mechanism for implementing curvilinear motion according to claim 1, characterized in that: The main shaft (4) and the hip joint frame (1) are connected through a joint bearing.

5. A mechanism for implementing curvilinear motion according to claim 1, characterized in that: The waist rotation power source (2) and the trunk rotation power source (62) each comprise a single harmonic reduction motor, the single harmonic reduction motor comprises a central shaft (a1), a motor stator (a2) is connected to the central shaft (a1), a motor rotor (a3) is sleeved on the motor stator (a2), a harmonic reduction unit (a4) is connected to the motor rotor (a3), the output end of the harmonic reduction unit (a4) of the trunk rotation power source (62) is fixed to the central shaft (a1), the output end of the harmonic reduction unit (a4) is in gear meshing with a harmonic gear (a5), the harmonic gear (a5) of the waist rotation power source (2) is fixed to the hip joint frame (1), one end of the central shaft (a1) of the waist rotation power source (2) is fixed with a rear cover (a7), the rear cover (a7) is fixed to the harmonic gear (a5) of the waist rotation power source (2), and a large gear (63) is fixed to the harmonic gear (a5) of the trunk rotation power source (62).

6. A mechanism for implementing curvilinear motion according to claim 5, wherein: The harmonic reduction unit (a4) comprises a cam (a41), the cam (a41) is fixed to the motor rotor (a3), a flexible bearing (a42) is installed on the cam (a41), an outer ring of the flexible bearing (a42) is sleeved with a flexible gear (a43), the flexible gear (a43) is in gear meshing with the harmonic gear (a5), the number of teeth of the flexible gear (a43) is less than the number of teeth of the harmonic gear (a5), an output flange (a44) is fixed to the flexible gear (a43), the flexible gear (a43) of the trunk rotation power source (62) is fixed to the central shaft (a1), the output flange (a44) of the waist rotation power source (2) is connected to the swing assembly (3), and the output flange (a44) of the trunk rotation power source (62) is connected to the trunk structure (7).

7. A mechanism for implementing curvilinear motion according to claim 6, wherein: The inner side of the cam (a41) and the central shaft (a1) are connected through a rolling bearing (a6).

8. A mechanism for implementing curvilinear motion according to claim 6, wherein: The large gear (63) is rotationally connected with the output flange (a44) of the trunk rotation power source (62); the single harmonic reduction motor further comprises a cross roller bearing (46), the inner ring of the cross roller bearing (46) is integrally formed or fixedly connected with the output flange (a44), the outer ring of the cross roller bearing (46) of the waist rotation power source (2) is integrally formed or fixedly connected with the harmonic gear (a5), and the outer ring of the cross roller bearing (46) of the trunk rotation power source (62) is integrally formed or fixedly connected with the large gear (63).

9. A mechanism for implementing curvilinear motion according to claim 5, wherein: The central shaft (a1) is provided with a wiring hole, and the wiring of the motor stator (a2) is led out from the wiring hole.

10. A mechanism for implementing a curvilinear motion according to any one of claims 1 to 9, characterized in that: Two positions spaced apart by 180 degrees on the cross ring (61) are each provided with a rotating connection head (611), the pinion gear (64) is connected with the cross ring (61) through one of the rotating connection heads (611), and the support fixing fork (5) is connected with the two rotating connection heads (611) respectively.

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