Trunk mechanism and robot

Abstract

The invention relates to the technical field of robots, and provides a trunk mechanism and a robot, the trunk mechanism comprises a waist structure and a chest structure, the waist structure comprises a transmission assembly, a fixing seat, a supporting assembly and two power assemblies, the transmission assembly comprises an output piece and two input wheels, the output piece comprises an output tooth part, and the two input wheels are engaged with the output tooth part; the fixed seat is connected with the output piece; the two input wheels are both rotationally connected with the supporting assembly, and the supporting assembly is rotationally connected with the output piece. The two power assemblies are in transmission connection with the two input wheels correspondingly. And the chest structure is connected with the power assembly. The two power assemblies jointly provide driving force for achieving the stooping action and the waist turning action, and the power requirement of a single power assembly is reduced. The output part is kept still, the two output wheels rotate in the same direction at the same speed to complete the stooping action, the two output wheels rotate in the opposite directions at the same speed to complete the waist turning action, the structure is simple, the number of structural parts is relatively small, and the overall size and weight of the waist structure can be reduced.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a torso mechanism and a robot. Background Art

[0002] A robot usually includes a trunk mechanism and a walking mechanism, etc. In the related art, the trunk mechanism includes a waist structure, which needs to complete bending and turning movements. Usually, the bending movement is independently driven by a driving end, and the turning movement is independently driven by another driving end, which leads to a large power demand on the driving end. Summary of the invention

[0003] In view of this, embodiments of the present application hope to provide a torso mechanism and a robot that can reduce the power requirements of a single power component.

[0004] In order to achieve the above-mentioned purpose, the technical solution of the embodiment of the present application is implemented as follows:

[0005] The present application embodiment provides a torso mechanism, comprising:

[0006] The waist structure comprises a transmission assembly, a fixed seat, a support assembly and two power assemblies, wherein the transmission assembly comprises an output member and two input wheels, wherein the output member comprises an output tooth portion, and the two input wheels mesh with the output tooth portion; the fixed seat is connected to the output member; the two input wheels are both rotatably connected to the support assembly, and the support assembly is rotatably connected to the output member; and the two power assemblies are respectively connected to the two input wheels in a transmission manner;

[0007] The chest structure is connected with the power assembly.

[0008] In some embodiments, the axis of the output member extends in the up-down direction, and the axes of the two input wheels are perpendicular to the up-down direction.

[0009] In some embodiments, the fixing seat is located below the output member.

[0010] In some embodiments, the fixing seat includes a bearing plate and a bearing platform, the bearing platform is connected to a side of the bearing plate close to the chest structure, and the output member abuts against a side of the bearing platform away from the bearing plate.

[0011] In some embodiments, the chest structure forms a receiving cavity, and the two power assemblies and the two input wheels are located in the receiving cavity.

[0012] In some embodiments, the chest structure includes an avoidance gap, the fixing seat is located outside the accommodating cavity, and the supporting assembly is located in the avoidance gap.

[0013] In some embodiments, the support assembly includes a support frame and two first bearings, each of the input wheels is connected to one of the first bearings, and the input wheel is rotatably connected to the support frame via the first bearings.

[0014] In some embodiments, the support frame forms a first through hole, the input wheel includes an input tooth body and a connector connected to the input tooth body, the input tooth body is meshed with the output tooth portion, the first bearing is arranged in the first through hole, the connector is passed through the first bearing, and the power assembly is connected to a side of the connector away from the input tooth body.

[0015] In some embodiments, the support frame includes two support plates, the two support plates are arranged relatively spaced apart, and the two first bearings are respectively connected to the two support plates.

[0016] In some embodiments, the output member is located between the two support plates.

[0017] In some embodiments, the support assembly includes a second bearing, the support frame includes a bottom plate, the bottom plate connects the two support plates, and the bottom plate is rotatably connected to the output member via the second bearing.

[0018] In some embodiments, the support assembly includes a support frame and a second bearing, and the support frame is rotatably connected to the output member via the second bearing.

[0019] In some embodiments, the support frame forms a second through hole, the output member includes a main body connected to the output tooth portion, the second bearing is disposed in the second through hole, and the main body passes through the second bearing.

[0020] The present application also provides a robot, including:

[0021] A torso mechanism as described in any one of the above;

[0022] A walking mechanism is connected to the fixing seat.

[0023] The torso mechanism provided in the embodiment of the present application has two power components that jointly provide driving force for realizing bending and turning movements, thereby reducing the power requirements of a single power component. The output component remains stationary, and the two output wheels rotate in the same direction and at the same speed to complete the bending movement, and the two output wheels rotate in opposite directions and at the same speed to complete the turning movement. The structure is simple, the number of structural components is relatively small, and the occupied space can be reduced, the space utilization rate can be improved, and the overall size and weight of the waist structure can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the structure of a robot in one embodiment of the present application;

[0025] Figure 2 is a schematic structural diagram of a torso mechanism in an embodiment of the present application;

[0026] Figure 3 for Figure 2 Schematic diagram of another perspective of the mid-torso mechanism;

[0027] Figure 4 for Figure 3 Schematic cross-sectional view along the AA direction;

[0028] Figure 5 is a schematic diagram of a waist structure in an embodiment of the present application;

[0029] Figure 6 for Figure 5 Exploded diagram of the mid-waist structure;

[0030] Figure 7 for Figure 5 A schematic diagram of the structure of the mid-waist structure from another perspective;

[0031] Figure 8 for Figure 7 The cross-section diagram in the middle BB direction;

[0032] Fig. 9 is a schematic diagram of a support frame in an embodiment of the present application;

[0033] Fig.10 Schematic diagram of the bending action implemented for the torso mechanism;

[0034] Fig.11 Schematic diagram of implementing the waist rotation action for the torso mechanism.

[0035] Description of Reference Numerals

[0036] 1. Trunk mechanism; 11. Waist structure; 111. Transmission assembly; 1111. Output member; 1111a. Axis of output member 1111; 11111. Output gear; 11112. Main body; 1112. Input wheel; 1112a. Axis of input wheel 1112; 11121. Input gear; 11122. Connector; 112. Fixing seat; 1121. Loading plate; 1122. Loading platform; 113. Support assembly; 1131. Support frame; 1131a. First through hole; 1131b. Second through hole; 1131c. First through hole A step surface; 1131d, a second step surface; 11311, a support plate; 11312, a bottom plate; 1132, a first bearing; 11321, a first inner ring; 11322, a first outer ring; 1133, a second bearing; 11331, a second inner ring; 11332, a second outer ring; 1134, a baffle; 1135, a first pressure plate; 1136, a second pressure plate; 114, a power assembly; 12, a chest structure; 12a, a housing cavity; 12b, an avoidance gap; 2, a walking mechanism; 21, a mechanical leg; 3, an arm mechanism; 4, a head mechanism. DETAILED DESCRIPTION

[0037] The following embodiments of the technical solution of the present application are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0038] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0039] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0040] It should be noted that in the embodiments of the present application, down refers to the direction where the ground is located, and up is opposite to down; front refers to the direction in which the robot moves forward, and back is opposite to front; left is the side where the robot's left hand is located, and right is opposite to left; the up and down directions, the front and back directions, and the left and right directions are perpendicular to each other. In the embodiments of the present application, the "up" and "down" orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings. It should be understood that these orientation terms are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. The present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0041] See also Figure 1 An embodiment of the present application provides a robot, which includes a walking mechanism 2 and a trunk mechanism 1 in any one embodiment of the present application, and the walking mechanism 2 is connected to a fixed seat 112.

[0042] The walking mechanism 2 is fixedly connected to the fixed seat 112, and the walking mechanism 2 drives the robot to move, thereby changing its position.

[0043] A robot may be a humanoid robot, which may also be called a humanoid robot, and is a robot that imitates human appearance and behavior.

[0044] See also Figure 1 The walking mechanism 2 may include two mechanical legs 21, and the two mechanical legs 21 are connected to the fixing seat 112. For example, the two mechanical legs 21 are connected to the fixing seat 112 through a hip joint, one of the mechanical legs 21 is a left leg, and the other mechanical leg 21 is a right leg. During the walking process of the robot, the two mechanical legs 21 alternately contact with a contact surface such as the ground to drive the robot to walk, thereby moving the robot. This type of robot can also be called a bipedal humanoid robot.

[0045] See also Figure 1 The robot may further include an arm mechanism 3, and the number of the arm mechanism 3 is not limited. For example, the arm mechanism 3 may be multiple. For example, the arm mechanism 3 may be two, three, four or five, and so on.

[0046] Taking the case where there are two arm mechanisms 3 , the two arm mechanisms 3 can be respectively arranged on the left and right sides of the chest structure 12 , one arm mechanism 3 is the left hand, and the other arm mechanism 3 is the right hand. The chest structure 12 provides a bearing function for the arm mechanisms 3 .

[0047] It should be noted that, in the present application, a plurality includes a number of two and more than two.

[0048] For some examples, see Figure 1The robot includes a head mechanism 4, which can be connected to the upper part of the chest structure 12. The chest structure 12 provides a bearing function for the head mechanism 4.

[0049] In some embodiments, the robot includes a control system, which is disposed on the chest structure 12. The chest structure provides a load-bearing function for the control system. The control system can be used to control the bending and turning movements of the waist structure 11.

[0050] In the related art, the waist turning action and the waist bending action are driven separately and independently by different drive ends, and each drive end requires a large amount of power. In addition, the number of various drive ends and related structural parts is large, which will occupy a large space and increase the overall size and weight of the waist structure.

[0051] See also Figures 2 to 6 The embodiment of the present application provides a trunk mechanism 1, which includes a waist structure 11 and a chest structure 12. The waist structure 11 includes a transmission assembly 111, a fixed seat 112, a support assembly 113 and two power assemblies 114. The chest structure 12 is connected to the power assembly 114. The transmission assembly 111 includes an output member 1111 and two input wheels 1112, the output member 1111 includes an output tooth portion 11111, and the two input wheels 1112 are meshed with the output tooth portion 11111. The fixed seat 112 is connected to the output member 1111. The two input wheels 1112 are both rotationally connected to the support assembly 113, and the support assembly 113 is rotationally connected to the output member 1111. The two power assemblies 114 are transmission-connected to the two input wheels 1112, respectively.

[0052] The fixing seat 112 is fixedly connected to the output member 1111 , and the output member 1111 and the fixing seat 112 remain stationary.

[0053] The chest structure 12 is fixedly connected to the power assembly 114 , and the chest structure 12 and the power assembly 114 are fixed as a whole.

[0054] The input wheel 1112 can rotate relative to the support assembly 113, and the support assembly 113 can rotate relative to the output member 1111. Each power assembly 114 drives an input wheel 1112 to rotate.

[0055] See also Fig.10 , Fig.10 The schematic diagram of the bending action of the trunk mechanism 1 is shown below. Fig.10The figure shows a chest structure 12, a support assembly 113, two input wheels 1112, an output member 1111 and a fixed seat 112, wherein the solid arrow schematically shows the rotation direction of the input wheel 1112, and the dotted arrow schematically shows the rotation direction of the chest structure 12. When the trunk mechanism 1 needs to achieve a bending action, the two power assemblies 114 drive the two input wheels 1112 to rotate in the same direction and at the same speed, the output member 1111 remains stationary, and the two input wheels 1112 drive the two power assemblies 114 and the chest structure 12 to rotate around the axis 1112a of the input wheel 1112 to complete the bending action.

[0056] See also Fig.11 , Fig.11 This is the principle diagram of the waist turning action performed by the trunk mechanism 1. Fig.11 The figure shows a chest structure 12, a support assembly 113, two input wheels 1112, an output member 1111 and a fixed seat 112, wherein the solid arrow schematically shows the rotation direction of the input wheel 1112, and the dotted arrow schematically shows the rotation direction of the chest structure 12. When the trunk mechanism 1 needs to realize a waist rotation action, the two power assemblies 114 drive the two input wheels 1112 to rotate in opposite directions at the same speed, and the output member 1111 remains stationary. The two input wheels 1112 drive the two power assemblies 114, the chest structure 12 and the support assembly 113 to rotate around the axis 1111a of the output member 1111 to complete the waist rotation action.

[0057] The angle of the waist turning action is not limited, and the chest structure 12 can be turned to a set angle as required. The angle of the waist bending action is not limited, and the chest structure 12 can be bent to a preset angle as required. The waist turning action and the waist bending action can also be combined to achieve more complex motion states. For example, the chest structure 12 can be turned to a set angle and then bend to a preset angle; for another example, the chest structure 12 can be bent to a preset angle and then turned to a set angle.

[0058] It should be noted that the input wheel 1112 has two opposite rotation directions, namely, forward and reverse. The same direction of the two input wheels 1112 means that both input wheels 1112 rotate forward or both input wheels 1112 rotate reversely. The reverse direction of the two input wheels 1112 means that one input wheel 1112 rotates forward and the other input wheel 1112 rotates reversely.

[0059] It can be understood that the two input wheels 1112 rotating at the same speed means that the rotation speeds of the two input wheels 1112 are the same.

[0060] In the trunk mechanism 1 provided in the embodiment of the present application, two power components 114 jointly provide driving force for realizing the bending action and the waist turning action, thereby reducing the power requirement of a single power component 114. The output member 1111 remains stationary, and the two output wheels rotate in the same direction and at the same speed to complete the bending action, and the two output wheels rotate in opposite directions and at the same speed to complete the waist turning action. The structure is simple, the number of structural components is relatively small, the occupied space can be reduced, the space utilization rate can be improved, and the overall size and weight of the waist structure 11 can be reduced.

[0061] For some examples, see Figure 4 , the axis 1111a of the output member 1111 extends in the up-down direction, and the axes 1112a of the two input wheels 1112 are perpendicular to the up-down direction. In other words, the axes 1112a of the input wheels 1112 are parallel to the horizontal plane.

[0062] When the trunk structure 1 bends, the two input wheels 1112 drive the two power components 114 and the chest structure 12 to rotate around the axis 1112a of the input wheels 1112 to complete the bending action. The axis 1112a of the two input wheels 1112 is perpendicular to the up and down direction. For example, the chest structure 12 can bend forward relative to the fixing seat 112, or the chest structure 12 can be tilted backward relative to the fixing seat 112.

[0063] When the trunk mechanism 1 rotates its waist, the two input wheels 1112 drive the two power components 114, the chest structure 12 and the support component 113 to rotate around the axis 1111a of the output component 1111 to complete the waist rotation. The axis 1111a of the output component 1111 extends in the up-down direction. For example, the chest structure 12 can rotate left or right relative to the fixing seat 112.

[0064] In this embodiment, the axes 1112a of the two input wheels 1112 are perpendicular to the up-down direction, and the axes 1112a of the two input wheels 1112 are parallel to the horizontal plane. Such a design can reduce the size of the waist structure 11 along the up-down direction, reduce the space occupied by the waist structure 11 along the up-down direction, reduce the size of the torso mechanism 1 along the up-down direction, and make the structure more compact.

[0065] In some embodiments, the axes 1112a of the two input wheels 1112 coincide with each other. In other words, the axes 1112a of the two input wheels 1112 are collinear. In this way, when the two input wheels 1112 rotate in the same direction or in the opposite direction, it is not easy for the input wheels 1112 and the output teeth 11111 to get stuck.

[0066] In some embodiments, the axes 1112a of the two input wheels 1112 and the axis 1111a of the output member 1111 intersect perpendicularly. In other words, the axes 1112a of the two input wheels 1112 and the axis 1111a of the output member 1111 are coplanar. In this way, when the two input wheels 1112 rotate in the same direction or in the opposite direction, it is not easy for the input wheels 1112 and the output tooth portion 11111 to get stuck.

[0067] For some examples, see Figure 1 and Figure 4 The fixing seat 112 is located below the output member 1111. In this way, it is not only convenient to connect the fixing seat 112 with the walking mechanism 2, but also can prevent the fixing seat 112 from interfering with the movement of the chest structure 12.

[0068] For some examples, see Figure 2 and Figure 6 The fixing seat 112 includes a bearing plate 1121 and a bearing platform 1122 . The bearing platform 1122 is connected to a side of the bearing plate 1121 close to the chest structure 12 , and the output member 1111 abuts against a side of the bearing platform 1122 away from the bearing plate 1121 .

[0069] In this embodiment, the support platform 1122 increases the distance between the output member 1111 and the support plate 1121 to facilitate the spacing between the support assembly 113 and the support plate 1121, thereby reducing the risk of interference between the support assembly 113 and the support plate 1121 during movement.

[0070] The supporting plate 1121 is generally in a flat plate structure and can be arranged in a horizontal direction, that is, the thickness direction of the supporting plate 1121 is consistent with the up-down direction.

[0071] The shape of the support platform 1122 is not limited. For example, the support platform 1122 can be roughly cylindrical or prismatic.

[0072] In some embodiments, the fixing base 112 may be an integrally formed structure. In other words, the fixing base 112 may be a structure manufactured using an integrally formed process.

[0073] The output member 1111 and the fixing seat 112 may be connected in a non-detachable or detachable manner. In some embodiments, the output member 1111 may be connected to the support platform 1122, for example, the output member 1111 and the support platform 1122 may be connected in a non-detachable or detachable manner.

[0074] In the embodiment of the present application, the non-detachable connection includes but is not limited to welding, bonding or riveting, etc. The detachable connection includes but is not limited to screw connection, bolt connection or clamping, etc.

[0075] Exemplarily, the output member 1111 and the fixing seat 112, such as the supporting platform 1122, may be connected by fasteners, which include but are not limited to screws or bolts.

[0076] For some examples, see Figure 4 The chest structure 12 forms a receiving cavity 12a, and the two power assemblies 114 and the two input wheels 1112 are all located in the receiving cavity 12a.

[0077] In this embodiment, the two power assemblies 114 and the two input wheels 1112 are all located in the accommodating cavity 12a, and the chest structure 12 is used to protect the two power assemblies 114 and the two input wheels 1112, thereby reducing the risk of other objects contacting the two power assemblies 114 and the two input wheels 1112, thereby improving safety and reliability; the distance between the chest structure 12 and the fixing seat 112 can also be reduced, thereby reducing the size of the torso mechanism 1.

[0078] For some examples, see Figure 4 The chest structure 12 includes an escape notch 12b, the fixing seat 112 is located outside the accommodating cavity 12a, and the supporting assembly 113 is located in the escape notch 12b. Exemplarily, the escape notch 12b may be formed on the lower side wall of the chest structure 12. The escape notch 12b may be in communication with the accommodating cavity 12a.

[0079] In this embodiment, the fixing seat 112 is located outside the accommodating cavity 12a, so that the chest structure 12 can move relative to the fixing seat 112. The supporting assembly 113 is located in the avoidance gap 12b, a portion of the supporting assembly 113 is located in the accommodating cavity 12a and is rotatably connected to the two input wheels 1112, and a portion of the supporting assembly 113 extends out of the avoidance gap 12b to be rotatably connected to the output member 1111.

[0080] In some embodiments, the chest structure 12 may be roughly hexahedral in appearance, such as a cube or a cuboid.

[0081] In some embodiments, the input wheel 1112 comprises a bevel gear, and the output gear portion 11111 comprises a bevel gear portion.

[0082] In this embodiment, the bevel gear can also be called a bevel gear, and the gear teeth of the bevel gear are distributed on the conical surface of a cone. The bevel gear portion refers to the structure of the gear along the conical surface of the cone, that is, the output member 1111 can also be a bevel gear.

[0083] In some embodiments, the input wheel 1112 includes a cylindrical gear, and the output gear portion 11111 includes an annular rack.

[0084] In this embodiment, the gear teeth of the cylindrical gear are distributed on the cylindrical surface of a cylinder. An annular rack means that the gear teeth are distributed in an annular shape.

[0085] For some examples, see Figures 5 to 8 The support assembly 113 includes a support frame 1131 and two first bearings 1132. Each input wheel 1112 is connected to a first bearing 1132, and the input wheel 1112 is rotatably connected to the support frame 1131 through the first bearing 1132. The input wheel 1112 is rotatably connected to the support frame 1131 through the first bearing 1132. During the rotation of the input wheel 1112 relative to the support frame 1131, the first bearing 1132 can reduce friction loss.

[0086] For some examples, see Figures 5 to 9 The support frame 1131 forms a first through hole 1131a, the input wheel 1112 includes an input tooth body 11121 and a connecting body 11122 connected to the input tooth body 11121, the input tooth body 11121 is engaged with the output tooth portion 11111, the first bearing 1132 is arranged in the first through hole 1131a, the connecting body 11122 is passed through the first bearing 1132, and the power component 114 is connected to the connecting body 11122 away from the side of the input tooth body 11121.

[0087] In this embodiment, the first bearing 1132 is arranged in the first through hole 1131a, the power component 114 and the input tooth body 11121 are located on opposite sides of the connecting body 11122, the power component 114 will not interfere with the engagement of the input tooth body 11121 and the output tooth portion 11111, and the power component 114, the first bearing 1132, the support frame 1131 and the input wheel 1112 are compactly assembled, which can save the size of the waist structure 11 along the axis 1112a direction of the input wheel 1112.

[0088] In some embodiments, the input tooth body 11121 and the connecting body 11122 may be an integrally formed structure. In other words, the input tooth body 11121 and the connecting body 11122 may be a structure manufactured using an integrally formed process.

[0089] In some embodiments, the input gear body 11121 and the connecting body 11122 may be manufactured separately and then assembled. For example, the input gear body 11121 and the connecting body 11122 may be welded or connected by fasteners.

[0090] For some examples, see Figures 5 to 8 The first bearing 1132 includes a first inner ring 11321 and a first outer ring 11322. The first inner ring 11321 is rotatably sleeved in the first outer ring 11322. The first outer ring 11322 is connected to the support frame 1131. The connecting body 11122 is penetrated by the first inner ring 11321, and the connecting body 11122 and the first inner ring 11321 are interference fit.

[0091] The first outer ring 11322 is connected to the support frame 1131 , that is, the first outer ring 11322 is fixedly connected to the support frame 1131 .

[0092] The connecting body 11122 and the first inner ring 11321 are interference fit, that is, the connecting body 11122 and the first inner ring 11321 are fixedly connected, and the connecting body 11122 and the first inner ring 11321 rotate synchronously.

[0093] In this embodiment, the first inner ring 11321 can rotate relative to the first outer ring 11322. The input wheel 1112 drives the first inner ring 11321 to rotate relative to the first outer ring 11322 and the support frame 1131.

[0094] In some embodiments, the first bearing 1132 includes a first rolling element and a first retaining frame, the first retaining frame is located between the first inner ring 11321 and the first outer ring 11322, and the first rolling element is rotatably disposed on the first retaining frame. The first retaining frame can guide the first rolling element to rotate, the first outer ring 11322 and the first inner ring 11321 play a supporting role, and there is rolling friction between the first inner ring 11321 and the second outer ring 11332 and the first rolling element, that is, the first bearing 1132 is a rolling bearing.

[0095] For some examples, see Figures 6 to 8 The support assembly 113 includes a baffle 1134 , which abuts against a side of the first inner ring 11321 away from the input gear body 11121 , and the baffle 1134 is connected to the connecting body 11122 .

[0096] Exemplarily, the baffle 1134 is substantially in the shape of a circular ring.

[0097] In this embodiment, the baffle 1134 and the input gear body 11121 can jointly limit the axial movement of the connecting body 11122, so that the connection between the connecting body 11122 and the first inner ring 11321 is more stable.

[0098] The baffle 1134 and the connecting body 11122 may be connected in a non-detachable manner or in a detachable manner. For example, the baffle 1134 and the connecting body 11122 may be connected by fasteners. The fasteners include but are not limited to screws or bolts, etc.

[0099] For some examples, see Figures 5 to 8The support assembly 113 includes a first pressing plate 1135, and the support frame 1131 forms a first step surface 1131c, the first step surface 1131c surrounds the outer periphery of the first through hole 1131a, the first step surface 1131c and the first pressing plate 1135 abut against two opposite sides of the first outer ring 11322, and the first pressing plate 1135 is connected to the support frame 1131. The first step surface 1131c and the first pressing plate 1135 abut against two sides of the first outer ring 11322 along the axis 1112a of the input wheel 1112.

[0100] In this embodiment, the first step surface 1131c and the first pressure plate 1135 jointly clamp the first outer ring 11322 to jointly limit the axial movement of the first outer ring 11322, and the circumferential surface of the first through hole 1131a limits the radial movement of the first outer ring 11322.

[0101] The first pressing plate 1135 and the support frame 1131, such as the support plate 11311, may be connected in a non-detachable manner or in a detachable manner. For example, the first pressing plate 1135 and the support frame 1131 may be connected by fasteners. The fasteners include but are not limited to screws or bolts, etc.

[0102] For some examples, see Figure 5 The two power assemblies 114 are respectively located on two opposite sides of the support frame 1131. In this way, the two power assemblies 114 can respectively drive the two input wheels 1112 to rotate.

[0103] For some examples, see Figures 5 to 8 The support frame 1131 includes two support plates 11311, the two support plates 11311 are arranged relatively spaced apart, and the two first bearings 1132 are respectively connected to the two support plates 11311. The support plates 11311 are generally in a flat plate structure.

[0104] In this embodiment, the support plate 11311 has a simple structure and a light weight, and the support plate 11311 is used to support the first bearing 1132 to facilitate assembly.

[0105] For some examples, see Figures 5 to 8 , the output member 1111 is located between the two support plates 11311. In this way, the space between the two support plates 11311 is effectively utilized, the space utilization rate is improved, and the size of the waist structure 11 along the axis 1112a of the input wheel 1112 is saved; the output member 1111 is close to the input wheel 1112, which facilitates the meshing of the input wheel 1112 and the output tooth portion 11111.

[0106] For some examples, see Figures 5 to 8The support assembly 113 includes a second bearing 1133, and the support frame 1131 includes a bottom plate 11312, the bottom plate 11312 connects the two support plates 11311, and the bottom plate 11312 is rotatably connected to the output member 1111 through the second bearing 1133. The bottom plate 11312 is generally a flat plate structure. The support frame 1131 can be generally a U-shaped structure with an upward opening.

[0107] In this embodiment, the bottom plate 11312 has a simple structure and a light weight, and is used to support the second bearing 1133, which is easy to assemble. The bottom plate 11312 is rotatably connected to the output member 1111 through the second bearing 1133. During the rotation of the support frame 1131 relative to the output member 1111, the second bearing 1133 can reduce friction loss.

[0108] In some embodiments, the support frame 1131 may be an integrally formed structure. In other words, the support frame 1131 may be a structure manufactured using an integrally formed process.

[0109] In some embodiments, the two support plates 11311 and the bottom plate 11312 may be assembled into the support frame 1131. For example, the two support plates 11311 and the bottom plate 11312 may be welded into the support frame 1131.

[0110] For some examples, see Figure 6 and Figure 8 The support assembly 113 includes a support frame 1131 and a second bearing 1133 , and the support frame 1131 is rotatably connected to the output member 1111 through the second bearing 1133 .

[0111] In this embodiment, the support frame 1131 is rotatably connected to the output member 1111 via the second bearing 1133 . During the rotation of the support frame 1131 relative to the output member 1111 , the second bearing 1133 can reduce friction loss.

[0112] For some examples, see Figures 5 to 9 The support frame 1131 forms a second through hole 1131b, the output member 1111 includes a main body 11112 connected to the output tooth portion 11111, the second bearing 1133 is arranged in the second through hole 1131b, and the main body 11112 is penetrated by the second bearing 1133.

[0113] In this embodiment, the second bearing 1133 is arranged in the second through hole 1131b, the main body 11112 is passed through the second bearing 1133, the output member 1111, the second bearing 1133 and the support frame 1131 are compactly assembled, which can save the size of the waist structure 11 along the axis 1111a of the output member 1111.

[0114] In some embodiments, the output tooth portion 11111 and the main body 11112 may be an integrally formed structure. In other words, the input tooth body 11121 and the connecting body 11122 may be a structure manufactured using an integrally formed process.

[0115] In some embodiments, the support frame 1131 is formed with a placement space, and the output tooth portion 11111 and the input tooth bodies 11121 of the two input wheels 1112 are all located in the placement space. Exemplarily, the two support plates 11311 and the bottom plate 11312 jointly define the placement space. With such a design, the input wheels 1112, the output members 1111 and the support frame 1131 are assembled compactly.

[0116] For some examples, see Figures 5 to 8 The second bearing 1133 includes a second inner ring 11331 and a second outer ring 11332. The second outer ring 11332 can be rotatably mounted outside the second inner ring 11331. The second outer ring 11332 is connected to the support frame 1131. The main body 11112 is inserted into the second inner ring 11331, and the main body 11112 and the second inner ring 11331 are interference fit.

[0117] The second outer ring 11332 is connected to the support frame 1131 , that is, the second outer ring 11332 is fixedly connected to the support frame 1131 .

[0118] The main body 11112 and the second inner ring 11331 are interference fit, that is, the main body 11112 and the second inner ring 11331 are fixedly connected.

[0119] In this embodiment, the second outer ring 11332 can rotate relative to the second inner ring 11331. The support frame 1131 drives the second outer ring 11332 to rotate relative to the second inner ring 11331 and the output member 1111.

[0120] In some embodiments, the second bearing 1133 includes a second rolling element and a second retaining frame, the second retaining frame is located between the second inner ring 11331 and the second outer ring 11332, and the second rolling element is rotatably disposed on the second retaining frame. The second retaining frame can guide the second rolling element to rotate, the second outer ring 11332 and the second inner ring 11331 play a supporting role, and the second inner ring 11331 and the second outer ring 11332 have rolling friction with the second rolling element, that is, the second bearing 1133 is a rolling bearing.

[0121] In some embodiments, the output tooth portion 11111 is connected to the upper side of the main body 11112 . That is, the axis 1111 a of the output member 1111 extends in the up-down direction, and the output tooth portion 11111 is located above the second bearing 1133 .

[0122] For some examples, see Figures 5 to 9The support assembly 113 includes a second pressure plate 1136, and the support frame 1131 forms a second step surface 1131d, the second step surface 1131d surrounds the outer periphery of the second through hole 1131b, the second step surface 1131d and the second pressure plate 1136 abut against the opposite sides of the second outer ring 11332, and the second pressure plate 1136 is connected to the support frame 1131.

[0123] The second step surface 1131 d and the second pressure plate 1136 abut against two sides of the second outer ring 11332 along the axis 1111 a of the output member 1111 .

[0124] In this embodiment, the second step surface 1131d and the second pressure plate 1136 jointly clamp the second outer ring 11332 to jointly restrict the second outer ring 11332 from moving along the axis 1111a of the output member 1111, and the circumferential surface of the second through hole 1131b restricts the second outer ring 11332 from moving radially.

[0125] The second pressing plate 1136 and the support frame 1131, such as the bottom plate 11312, may be connected in a non-detachable manner or in a detachable manner. For example, the second pressing plate 1136 and the support frame 1131 may be connected by fasteners. The fasteners include but are not limited to screws or bolts, etc.

[0126] The power assembly 114 is used to provide power. In some embodiments, the power assembly 114 includes a motor. The motor can convert electrical energy into kinetic energy to drive the input wheel 1112 to rotate.

[0127] In some embodiments, the motor shaft of the motor is connected to the input wheel 1112. For example, the motor shaft of the motor is connected to the connector 11122 via a fastener. In this way, the motor is directly connected to the input wheel 1112, simplifying the structure.

[0128] In some embodiments, the power assembly 114 includes a reducer, which connects the motor and the input wheel 1112. The reducer can adjust the transmission ratio to drive a larger load.

[0129] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application. In particular, as long as there is no structural conflict, the technical features mentioned in each embodiment can be combined in any way.

Claims

1. A trunk mechanism, characterized in that: include: The waist structure comprises a transmission assembly, a fixed seat, a support assembly and two power assemblies, wherein the transmission assembly comprises an output member and two input wheels, wherein the output member comprises an output tooth portion, and the two input wheels are meshed with the output tooth portion; the fixed seat is connected to the output member; the two input wheels are both rotatably connected to the support assembly, and the support assembly is rotatably connected to the output member; The two power assemblies are respectively connected to the two input wheels in a transmission manner; The chest structure is connected with the power assembly.

2. The trunk mechanism according to claim 1, characterized in that: The axis of the output member extends in the up-down direction, and the axes of the two input wheels are perpendicular to the up-down direction.

3. The trunk mechanism according to claim 2, characterized in that: The fixing seat is located below the output member.

4. The trunk mechanism according to claim 1, characterized in that: The fixing seat comprises a bearing plate and a bearing platform, wherein the bearing platform is connected to a side of the bearing plate close to the chest structure, and the output member abuts against a side of the bearing platform away from the bearing plate.

5. The trunk mechanism according to claim 1, characterized in that: The chest structure forms a receiving cavity, and the two power assemblies and the two input wheels are both located in the receiving cavity.

6. The trunk mechanism according to claim 5, characterized in that: The chest structure comprises an avoidance gap, the fixing seat is located outside the accommodating cavity, and the supporting assembly is located in the avoidance gap.

7. The trunk mechanism according to any one of claims 1 to 6, characterized in that: The support assembly includes a support frame and two first bearings, each of the input wheels is connected to one of the first bearings, and the input wheel is rotatably connected to the support frame via the first bearings.

8. The trunk mechanism according to claim 7, characterized in that: The support frame forms a first through hole, the input wheel includes an input tooth body and a connector connected to the input tooth body, the input tooth body is meshed with the output tooth portion, the first bearing is arranged in the first through hole, the connector is passed through the first bearing, and the power assembly is connected to a side of the connector away from the input tooth body.

9. The trunk mechanism according to claim 7, characterized in that: The support frame includes two support plates, the two support plates are arranged relatively and spaced apart, and the two first bearings are respectively connected to the two support plates.

10. The trunk mechanism according to claim 9, characterized in that: The output member is located between the two support plates.

11. The trunk mechanism according to claim 9, characterized in that: The support assembly includes a second bearing, the support frame includes a bottom plate, the bottom plate connects the two support plates, and the bottom plate is rotatably connected to the output member through the second bearing.

12. The trunk mechanism according to any one of claims 1 to 6, characterized in that: The support assembly includes a support frame and a second bearing, and the support frame is rotatably connected to the output member through the second bearing.

13. The torso mechanism according to claim 12, characterized in that: The support frame forms a second through hole, the output member includes a main body connected to the output tooth portion, the second bearing is arranged in the second through hole, and the main body passes through the second bearing.

14. A robot, characterized in that: include: The trunk mechanism according to any one of claims 1 to 13; A walking mechanism is connected to the fixing seat.

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