Waist joint driving structure of robot, waist driving structure of robot, robot and humanoid robot

Abstract

The invention relates to the technical field of robots, and discloses a waist joint driving structure of a robot, a waist driving structure of the robot, the robot and a humanoid robot. The waist joint driving structure mainly comprises a crank, a bearing, a supporting piece and a waist joint module, an output flange of the waist joint module is connected with the connecting end of the crank in an assembled mode, the supporting piece is connected to the output end of the waist joint module in an assembled mode, and the bearing with the supporting function is arranged between the supporting piece and the crank. The outer ring of the bearing abuts against the inner ring of the supporting piece, and the inner ring of the bearing abuts against the shaft sleeve on the connecting end. By means of the arrangement, the crank forms bilateral support through the bearing at the output end in the waist joint module and the bearing between the crank and the supporting piece, the problem of bias pressure can be avoided, and damage to the joint module is avoided.

Description

Technical Field

[0001] The present application relates to the technical field of robots, and in particular to a waist joint driving structure of a robot, a waist driving structure of a robot, a robot and a humanoid robot. Background Art

[0002] In the field of robotics, humanoid robots have always been a research focus. The design of this type of robot generally includes the head, neck, torso, arms, waist, hips, legs and feet, and the flexibility of each part is controlled by the corresponding joint modules. With the cooperation of these joint modules, humanoid robots can simulate many human movements and postures, such as walking, standing, bending and carrying objects, thereby achieving a high degree of imitation of human behavior.

[0003] In the existing humanoid robot structure, the waist connects the torso and lower limbs. It needs to cope with complex force environments and take into account high degrees of freedom. Usually, an omnidirectional joint module is used in conjunction with a universal joint structure to achieve pitch and tilt of the torso relative to the lower limbs. The drive joint of the waist adopts a crank output method, which cooperates with a universal joint to meet different movement requirements. The crank is usually directly connected to the output end of the joint module to facilitate crank position control and high waist movement control accuracy. However, this direct connection method causes the bearings in the joint module to be reused as the rotation support of the crank, causing the gears or transmission parts in the joint module to be biased due to the main shaft, causing wear or even damage to the related parts, ultimately increasing the maintenance workload and maintenance costs of the omnidirectional joint module. Summary of the invention

[0004] The present application provides a robot waist joint drive structure, a robot waist drive structure, a robot and a humanoid robot, aiming to solve the problem that the rotation support of the crank in the existing waist joint drive structure relies on the internal bearing of the joint module, which is prone to spindle bias.

[0005] In one solution, a waist joint driving structure of a robot is provided, which mainly includes: a crank, a bearing, a support member and a waist joint module; The crank comprises a connecting end, the connecting end is assembled and connected to the output flange of the waist joint module, and the connecting end comprises a shaft sleeve, and the shaft sleeve is located at a side of the connecting end away from the output flange; The support member comprises a connecting portion and a supporting portion connected to each other, the supporting portion is parallel to the output flange, and the supporting portion comprises an inner ring in a circular shape; Wherein, the connecting part is assembled and connected to the output end of the waist joint module, the inner ring is abutted against the outer ring of the bearing, and the inner ring of the bearing is abutted against the sleeve.

[0006] The side of the crank facing away from the output flange is supported by a crank support, which can avoid bias problems and prevent damage to the joint module.

[0007] In one embodiment, the connecting end includes a shoulder located at the root of the sleeve, and the shoulder abuts against the inner ring of the bearing in the axial direction; The support portion further includes a stop ring disposed on the inner side of the inner ring, wherein the stop ring is substantially in a circular shape and abuts against the outer ring of the bearing in the axial direction.

[0008] In one embodiment, the connecting portion includes a connecting ring and a plurality of connecting seats, the connecting ring is connected to the outer edge of the supporting portion, the connecting ring extends in a direction close to the output flange, and the connecting ring is a semicircular ring body with an opening; the plurality of connecting seats are respectively provided with one or more first assembly holes for fastening with fasteners, and the inner sides of the plurality of connecting seats are connected to the outer wall surface of the connecting ring.

[0009] In one embodiment, the connection end includes a connection flange, which is coaxially arranged with the sleeve, and is located on a side of the connection end facing the output flange, and is connected to the output flange via a plurality of fasteners.

[0010] In one embodiment, the connecting flange includes a first flange portion and a second flange portion, the first flange portion is connected to the output flange, the second flange portion is connected to the synchronization shaft at the center of the output flange, the first flange portion is arranged around the outside of the second flange portion, and the second flange portion is adjacent to the center of the connecting flange.

[0011] In one embodiment, the second flange portion is provided with a first pin hole, the opening of the first pin hole faces the synchronization shaft, the synchronization shaft is provided with a second pin hole corresponding to the first pin hole, and one or more pin shafts are installed on the first pin hole and the second pin hole, so that the connecting end and the synchronization shaft are assembled and positioned by one or more pin shafts.

[0012] In one embodiment, the crank further has an output end and an extension section, wherein the first end of the extension section is connected to the connection end, the second end of the extension section is connected to the output end, and the radial width of the first end of the extension section is greater than the radial width of the second end.

[0013] In one embodiment, the connecting end is provided with a first through hole located at the center of the circle, and the supporting portion is provided with a second through hole located at the center of the circle, and the first through hole is axially aligned with the second through hole.

[0014] In one embodiment, a waist drive structure of a humanoid robot is provided, which mainly includes two waist joint modules and two waist joint drive structures of the robots as described above, wherein the two waist joint modules are horizontally opposed to each other, and each of the output flanges is located on the inner side of the two waist joint modules, and the two cranks and the two connecting ends are located between the two waist joint modules.

[0015] In one embodiment, the lumbar joint module also includes a hollow synchronization shaft, one end of which has a connecting pressure plate, the connecting pressure plate is located at the center of the output flange of the lumbar joint module, and the other end of the synchronization shaft passes through the lumbar joint module; the connecting pressure plate is fastened to the connecting end by fasteners.

[0016] In one embodiment, a robot is provided, which mainly includes the waist joint driving structure of the humanoid robot as described above, or includes the waist driving structure of the robot as described above.

[0017] In one embodiment, a humanoid robot is provided, which mainly includes the waist joint driving structure of the humanoid robot as described above, or includes the waist driving structure of the robot as described above.

[0018] Beneficial effects of this application: In the waist joint drive structure of a robot, the waist drive structure of a robot, the robot and the humanoid robot of the present application, the waist joint drive structure mainly includes: a crank, a bearing, a support member and a waist joint module, the output flange of the waist joint module is assembled and connected with the connecting end of the crank, the output end of the waist joint module is assembled and connected with a support member, a bearing for supporting is arranged between the support member and the crank, the outer ring of the bearing abuts against the inner ring of the support member, and the inner ring of the bearing abuts against the sleeve on the connecting end. With such arrangement, the crank relies on the bearing at the output end of the waist joint module and the bearing between it and the support member to achieve bilateral support, effectively avoiding the bias problem and reducing the risk of damage to the joint module. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0020] Figure 1 It is a three-dimensional structural schematic diagram of a waist joint driving structure of a robot in one embodiment of the present application; Figure 2is an exploded schematic diagram of a waist joint driving structure of a robot in one embodiment of the present application; Figure 3 is a cross-sectional schematic diagram of a waist joint driving structure of a robot in one embodiment of the present application; Figure 4 is a cross-sectional schematic diagram of the waist joint driving structure of the robot in one embodiment of the present application from another angle; Figure 5 is an exploded schematic diagram of a waist joint driving structure of a robot in an embodiment of the present application in a cross-sectional perspective; Figure 6 It is a schematic diagram of the three-dimensional structure of the crank of the waist joint driving structure of the robot in one embodiment of the present application; Figure 7 is a schematic front view of a crank of a waist joint driving structure of a robot in one embodiment of the present application; Figure 8 is a rear view schematic diagram of a crank of a waist joint driving structure of a robot in one embodiment of the present application; Fig. 9 It is a three-dimensional structural schematic diagram of a support member of a waist joint driving structure of a robot in one embodiment of the present application; Fig.10 is a bottom view schematic diagram of a support member of a waist joint driving structure of a robot in one embodiment of the present application; Fig.11 It is a schematic diagram of the three-dimensional structure of the shell of the waist joint driving structure of the robot in one embodiment of the present application; Fig.12 It is a side view schematic diagram of a waist joint module of a waist joint driving structure of a robot in one embodiment of the present application; Fig.13 It is a schematic diagram of the three-dimensional structure of a humanoid robot in one embodiment of the present application.

[0021] Reference numerals in the figures: 1. crank; 11. connecting end; 111. bushing; 112. shaft shoulder; 113. Connecting flange; 113a, first flange portion; 113b, second flange portion; 113c, first pin hole; 114, first via hole; 115, second assembly hole; 116, third assembly hole; 12. output end; 121. output shaft; 13. extension section; 2. Bearings; 3. Support member; 31. Connecting portion; 311. Connecting ring; 312, connecting seat; 312a, first assembly hole; 32. Supporting portion; 321. Inner ring; 322. Stop ring; 323. Second via hole; 4. Waist joint module; 41. Output flange; 411. Fourth assembly hole; 42. housing; 43. synchronization shaft; 431. second pin hole; 432. fifth assembly hole; 44. Connect the pressing piece; 45. sixth assembly hole; 46. mounting seat; 51. rocker; 52. pin; 6. Hip connector; 7. Leg structure; 71. Hip pitch joint; 72. Leg roll joint; 73. Leg yaw joint; 74. Thigh; 75. Knee joint; 76. Calf; 77. Foot drive joint; 78. Foot.

[0022] L1 is the axis of the output flange rotation axis; L2 is the axis of the output shaft; X is the first horizontal direction; Y is the second horizontal direction; and Z is the vertical direction. DETAILED DESCRIPTION

[0023] The specific embodiments of the present application are further described in detail below in conjunction with the accompanying drawings and Examples. The following examples are used to illustrate the present application, but are not intended to limit the scope of the present application. Similarly, the following examples are only some embodiments of the present application rather than all embodiments, and all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of this application.

[0024] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0025] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0026] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0028] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0029] In the present invention, the general concept of "roughly" describes the main features of an overall structure or shape. When describing the shape of an object, it means that the object mainly presents a certain specific shape, but may differ in non-functional details. These detailed differences do not affect the overall characteristics, so they can be classified as "roughly" a certain shape. For example, when describing a round object, the expression "roughly round" means that the overall shape of the object is round, but there are differences in some non-functional details. Similarly, when describing a cube, the expression "roughly cubic" means that the overall shape of the object is a cube, but there are differences in some non-functional details.

[0030] In one embodiment, see Figure 1 and Figure 2, a waist joint driving structure of a robot is provided, which mainly includes: a crank 1, a bearing 2, a support member 3 and a waist joint module 4. The crank 1 includes a connecting end 11, and the connecting end 11 is used to assemble and connect the output flange 41 of the waist joint module 4 to transmit the power output of the output flange 41. The support member 3 includes a connecting portion 31 and a supporting portion 32 connected to each other, and the supporting portion 32 is parallel to the output flange 41. The connecting end 11 of the crank 1 includes a sleeve 111, and the sleeve 111 is located on the side of the connecting end 11 away from the output flange 41, and is used to assemble the bearing 2 away from the output flange 41. The inner ring of the bearing 2 abuts against the sleeve 111 to achieve the support of the bearing 2 on the side away from the output flange 41. The connecting portion 31 of the support member 3 is assembled and connected to the output end 12 of the waist joint module 4 to achieve the fixation of the support member 3. At the same time, the supporting portion 32 of the support member 3 includes an inner ring 321 in a circular shape, which is used to abut against the outer ring of the bearing 2. In this way, the shaft sleeve 111 and the inner ring 321 of the support portion 32 jointly fix the bearing 2, thereby playing a supporting role.

[0031] In the above-mentioned arrangement, a bearing 2 is provided between the support member 3 and the crank 1 to play a supporting role, and the outer ring of the bearing 2 abuts against the inner ring 321 of the support member 3, and the inner ring of the bearing 2 abuts against the sleeve 111 on the connecting end 11. The crank 1 relies on the bearing at the output end 12 of the waist joint module 4 and the bearing 2 between it and the support member 3 to achieve bilateral support. Bilateral support avoids the problem of bias pressure in the joint module and prevents the reducer gears from being worn due to the bias pressure. This not only reduces the risk of damage to the joint module, but also reduces subsequent maintenance operations, and reduces the maintenance workload and maintenance costs.

[0032] In one embodiment, the support portion 32 is parallel to the output flange 41. The parallel setting ensures the position reference of the support portion 32 relative to the output flange 41, which facilitates the position accuracy of the inner ring 321 above it, that is, the axis of the inner ring 321 roughly coincides with the axis of the output flange 41, thereby ensuring that the axis of the bearing 2 is consistent with the axis of the bearing 2 in the output flange 41, thereby achieving effective support for the crank 1 on both sides.

[0033] When the two axes are aligned, the force applied to the crank 1 during movement can be evenly distributed on the bearings on both sides, and there will be no bias. The force applied to the crank 1 in various situations also acts synchronously on the two bearings. In this way, the movement of the crank 1 is more stable and precise, avoiding deflection and shaking caused by uneven force, and improving the stability and reliability of the entire waist joint drive structure.

[0034] In one embodiment, the sleeve 111 is integrally formed on the connecting end 11, which avoids the cumbersome process of manufacturing the sleeve 111 and the connecting end 11 separately and then assembling them, and can reduce the problem of assembly error accumulation, ensuring that the sleeve 111 and the connecting end 11 maintain a high degree of dimensional consistency and position accuracy during the manufacturing process. When the crank 1 is subjected to various external forces during operation, the force can be more evenly transmitted and dispersed between the sleeve 111 and the connecting end 11, avoiding the risk of structural damage caused by stress concentration at the assembly connection, enhancing the strength and stability of the entire crank 1 structure, improving its load-bearing capacity and fatigue resistance, and thus extending the service life of the crank 1.

[0035] In one embodiment, the support member 3 is an integrated structural member, such as cast, die-cast or stamped forged. It can be understood that the structural strength of the integrated structural member is guaranteed, the supporting effect and the connection effect are guaranteed, and the installation of the bearing 2 is more stable and reliable.

[0036] In one embodiment, the crank 1 and the support member 3 can be manufactured by a subtractive processing technology, such as milling or boring, which can accurately shape the shape and size of each part. Subtractive processing can also ensure the dimensional accuracy of the inner diameter and outer diameter of the sleeve 111 and the accuracy of the inner ring 321 of the support member 3, provide precise matching for the installation of the bearing 2, avoid the wear or loosening of the bearing 2 caused by dimensional deviation, and thus improve the working reliability and service life of the crank 1.

[0037] In one embodiment, see Figure 2 and Figure 5 The connecting end 11 includes a shoulder 112 located at the root of the sleeve 111, and the shoulder 112 abuts against the inner ring of the bearing 2 in the axial direction; the support portion 32 also includes a stop ring 322 arranged on the inner side of the inner ring 321, and the stop ring 322 is roughly annular, and the stop ring 322 abuts against the outer ring of the bearing 2 in the axial direction. The shoulder 112 and the stop ring 322 abut against the bearing 2 axially on the opposite sides of the bearing 2 in the axial direction, so that the bearing 2 can be installed and fixed. The setting of the shoulder 112 and the stop ring 322 respectively forms two axial limit positions of the bearing 2, and the bearing 2 is installed at a specific position, thereby achieving a complete limit on the position of the bearing 2 in the axial direction. In this way, the position of the bearing 2 can be completely limited in the axial direction, which is conducive to the support effect of the bearing 2. When the position of the bearing 2 is accurately fixed, it can bear the forces from all directions more stably and evenly, avoiding the phenomenon of uneven force caused by axial displacement. When supporting the crank 1 and other components, the bearing 2 can transmit the force accurately and ensure the smooth operation of the entire waist joint drive structure.

[0038] In one embodiment, a small gap is provided between the end surface of the inner ring 321 facing the crank 1 and the crank 1, and one side of the gap is the static part - the inner ring 321, and the other side of the gap is the dynamic part crank 1, and the gap is used to avoid mutual interference between the support member 3 and the crank 1. At the same time, the setting of the gap will increase the difficulty of fine particles entering, thereby reducing the possibility of particles entering the bearing 2, playing a role in protecting the bearing 2, extending the service life of the bearing 2, and further improving the reliability and stability of the entire lumbar joint drive structure.

[0039] In one embodiment, the gap between the end surface of the inner ring 321 facing the crank 1 and the crank 1 is substantially equal to the axial thickness of the shoulder 112 .

[0040] In one embodiment, the radial thickness of the sleeve 111 is substantially equal to the radial thickness of the inner ring of the bearing 2. Such a configuration allows a higher degree of fit between the two.

[0041] In one embodiment, see Figure 5 , Fig. 9 and Fig.10 The connecting portion 31 includes a connecting ring 311 and a plurality of connecting seats 312. The connecting ring 311 is connected to the outer edge of the supporting portion 32. The connecting ring 311 extends toward the direction close to the output flange 41, and the connecting ring 311 is a semicircular ring body with an opening. The plurality of connecting seats 312 are respectively provided with one or more first assembly holes 312a for fastening with fasteners, and the inner sides of the plurality of connecting seats 312 are connected to the outer wall surface of the connecting ring 311.

[0042] The connecting ring 311 of the connecting part 31 is used to arrange the connecting seat 312, so that the connecting seat 312 is arranged in a surrounding manner to form a plurality of fastening positions. The plurality of fastening positions make the connection between the support member 3 and the outer shell 42 of the waist joint module 4 more stable and reliable, thereby providing an installation basis for the support member 3.

[0043] The connecting ring 311 is a semicircular ring with an opening, which is used to adapt to the installation position. At the waist position where the installation space is limited, on the basis of ensuring the connection strength, it avoids excessive structural settings, which will cause the mass of the support member 3 to be too large and affect the lightweight effect of the robot. At the same time, the simplified structure is also conducive to aesthetics.

[0044] In one embodiment, an extension portion is provided on the radial outer side of the inner ring 321 , and the extension portion is substantially disc-shaped. The radial inner side of the connecting ring 311 is connected to the radial outer side of the extension portion, and the connecting seat 312 is provided on the radial outer side of the connecting ring 311 .

[0045] In one embodiment, see Fig.11 and Fig.12The housing 42 of the waist joint module 4 is provided with a mounting seat 46 corresponding to the connecting ring 311 and the connecting seat 312. The mounting seat 46 protrudes outward from the housing 42 and is an arc-shaped structure, and its axis coincides with the axis of the output flange 41. After the mounting seat 46 and the support member 3 are assembled with each other, a cylindrical space with a fan-shaped opening on one side can be formed, so that the crank 1 can be rotatably assembled therein, and the mounting seat 46 is provided with two extreme position limiting parts on both sides of the opening, so as to limit the extreme rotation angles of the crank 1 on both sides.

[0046] The mounting seat 46 is provided with a sixth assembly hole 45 corresponding to the first assembly hole 312a. The inner wall surface of the mounting seat 46 forms an arc-shaped inner wall surface. The outer wall surface of the connecting ring 311 is gap-matched or abutted with the inner wall surface of the mounting seat 46, which is conducive to the positioning of the support member 3. At the same time, the mounting seat 46 protruding outward can be adapted to the connecting seat 312. By passing fasteners such as bolts through the first assembly hole 312a and the sixth assembly hole 45, the support member 3 can be firmly fixed on the housing 42 to ensure the tightness and reliability of the connection. This precise hole position corresponding design not only facilitates the assembly operation and improves the assembly efficiency, but also ensures the accuracy of the connection, so that the support member 3 can accurately play its supporting and positioning role.

[0047] When the inner wall surface of the mounting seat 46 and the outer wall surface of the connecting ring 311 are in clearance fit, it is ensured that the connecting ring 311 can be smoothly installed in the mounting seat 46, and a certain space can be reserved for the thermal expansion and contraction of the components, so as to avoid damage to the components due to factors such as temperature changes. The abutment method can provide a more direct support and positioning effect, making the connection between the connecting ring 311 and the mounting seat 46 tighter. Whether it is clearance fit or abutment, it is conducive to the positioning of the support member 3. Accurate positioning can ensure that the support member 3 is in the correct position in the entire lumbar joint drive structure, ensure the matching accuracy between the various components, and thus improve the movement accuracy and stability of the entire structure.

[0048] In one embodiment, see Figures 5 to 7 The connecting end 11 includes a connecting flange 113, which is coaxially arranged with the shaft sleeve 111. The connecting flange 113 is located on a side of the connecting end 11 facing the output flange 41, and the connecting flange 113 is connected to the output flange 41 through a plurality of fasteners.

[0049] The connecting flange 113 and the sleeve 111 are coaxially arranged to ensure that the connecting flange 113 and the sleeve 111 have a high degree of concentricity during the rotation process, which can make the force transmission more uniform and stable, and the supporting effect of the bearing 2 is better, which is conducive to avoiding the occurrence of bias. When the waist joint module 4 transmits power through the output flange 41, the coaxial connecting flange 113 and the sleeve 111 can effectively and smoothly transmit the power to various parts of the crank 1, avoiding additional torque and vibration caused by different axes, reducing the wear of components, and improving the motion accuracy and reliability of the entire structure.

[0050] In one embodiment, the plurality of fasteners are threaded fasteners, and the axis of the threaded fastener is parallel to the axis of the output flange 41. The threaded connection has excellent fastening performance, ensuring that the connection flange 113 and the output flange 41 fit tightly.

[0051] In one embodiment, see Figure 7 and Fig.12 The connecting flange 113 includes a first flange portion 113a and a second flange portion 113b. The first flange portion 113a is connected to the output flange 41, and the second flange portion 113b is connected to the synchronous shaft 43 at the center of the output flange 41. The first flange portion 113a is arranged around the second flange portion 113b, and the second flange portion 113b is adjacent to the center of the connecting flange 113.

[0052] The output flange 41 will generate a corresponding rotation speed. At this time, through the connection between the first flange part 113a and the output flange 41, the rotation speed can be smoothly transmitted from the output flange 41 to the connecting flange 113. Then, since the second flange part 113b is connected to the synchronous shaft 43, this part of the rotation speed can be further transmitted to the synchronous shaft 43. In this way, the joint module can record the output rotation speed and the rotation speed of the crank 1 more accurately. In the complex motion control process of the robot, accurate rotation speed recording is very important. It can provide accurate data feedback for the control system, making the robot's waist joint movement more coordinated and accurate, so as to better complete various complex tasks.

[0053] In addition, this design also simplifies the structure. The traditional design requires the synchronous shaft 43 to be directly connected or assembled with the output flange 41. Direct assembly requires the cooperation of the two and has high requirements for processing accuracy. If the synchronous shaft 43 and the output flange 41 are connected by separately arranging the end cover, corresponding parts and connectors need to be added, which will increase the number of parts of the waist joint, which is not conducive to assembly and lightweight of the whole machine.

[0054] In one embodiment, see Figure 4 , Figure 7 as well as Fig.12The second flange portion 113b is provided with a first pin hole 113c, the opening of the first pin hole 113c faces the synchronization shaft 43, and the synchronization shaft 43 is provided with a second pin hole 431 corresponding to the first pin hole 113c, and is installed in the first pin hole 113c and the second pin hole 431 through one or more pin shafts 52, and the one or more pin shafts 52 are used to assemble and position the connection end 11 and the synchronization shaft 43.

[0055] When the second flange portion 113b and the synchronous shaft 43 need to be connected, one or more positioning pins will be installed in the first pin hole 113c and the second pin hole 431. These positioning pins tightly connect the connection end 11 and the synchronous shaft 43 together, and also play a positioning role. When the positioning pins are accurately inserted into the pin holes, the radial position between the connection end 11 and the synchronous shaft 43 can be limited, avoiding movement, facilitating the transmission of rotation, and avoiding transmission errors or component wear caused by position deviation.

[0056] In one embodiment, see Figure 5 The first flange portion 113a is provided with a plurality of second assembly holes 115, and the output flange 41 is correspondingly provided with a plurality of fourth assembly holes 411, and the first flange portion 113a and the output flange 41 are fixed by fasteners passing through the second assembly holes 115 and the fourth assembly holes 411 in sequence.

[0057] In one embodiment, see Figure 5 The second flange portion 113b is provided with a third assembly hole 116, and the synchronization shaft 43 is correspondingly provided with a plurality of fifth assembly holes 432. The second flange portion 113b and the synchronization shaft 43 are fixed by fasteners passing through the third assembly hole 116 and the fifth assembly hole 432 in sequence.

[0058] In one embodiment, see Figure 6 to Figure 7 The crank 1 also has an output end 12 and an extension section 13. The first end of the extension section 13 is connected to the connection end 11, and the second end of the extension section 13 is connected to the output end 12. The radial width of the first end of the extension section 13 is greater than the radial width of the second end.

[0059] The setting of the extension section 13 forms a complete power transmission path. The power output by the waist joint module 4 is transmitted through the connecting end 11, and is transmitted to the output end 12 through the extension section 13, thereby driving other components connected thereto to complete corresponding actions.

[0060] From a mechanical point of view, the connection end 11, as the part that receives the power of the waist joint module 4, bears a large force and torque during operation. The wider design of the first end of the extension section 13 can increase the contact area between it and the connection end 11, making the connection more stable. At the same time, the wider structure also enhances the strength and rigidity of this part, can better resist external forces, reduce the possibility of deformation, and ensure the stability and reliability of power transmission.

[0061] The design of a smaller radial width at the second end of the extension section 13 can, on the one hand, reduce the overall weight of the crank 1, help achieve the lightweight goal of the robot, reduce energy consumption, and improve the robot's movement flexibility and efficiency; on the other hand, the narrower structure is also more convenient for connection and adaptation with the output end 12, reducing the possibility of interference, while enabling power to be more accurately transmitted to the output end 12, thereby driving subsequent components to complete precise movements.

[0062] In addition, this gradual width design also complies with the equal strength design principle in material mechanics, and can reasonably distribute materials while ensuring structural strength, avoid material waste, and reduce manufacturing costs. At the same time, the gradual shape also helps to reduce stress concentration and further improve the service life and reliability of the extension section 13.

[0063] In one embodiment, see Figure 3 and Figure 4 The connection end 11 is provided with a first through hole 114 located at the center of the circle, and the support portion 32 is provided with a second through hole 323 located at the center of the circle, and the first through hole 114 is axially aligned with the second through hole 323. The first through hole 114 and the second through hole 323 both have the function of reducing weight and also serve as a positioning reference, which facilitates the combination accuracy of the connection end 11 and the support portion 32.

[0064] In addition, the synchronization shaft 43 of the waist joint module 4 can be a hollow synchronization shaft 43, and the setting of the first through hole 114 and the second through hole 323 facilitates the arrangement of cables, air pipes or other pipelines.

[0065] In one embodiment, see Figure 8 A plurality of axially extending arcuate grooves are arranged in an array and surround the radial outer side of the sleeve 111, and abutment surfaces of the inner ring of the bearing 2 are formed between adjacent arcuate grooves, and the width of the abutment surface is greater than the width of the arcuate grooves.

[0066] The arrangement of the arc-shaped groove body facilitates the sleeve 111 to extend into the inner ring of the bearing 2, which is beneficial for assembly and weight reduction. The width of the abutment surface is greater than the width of the arc-shaped groove body, so that even if the abutment surface is deformed, the space of the arc-shaped groove body can be compressed to increase the bonding degree. The arc-shaped structure has good structural stability and can avoid direct damage.

[0067] In one embodiment, see Figure 8 The arc-shaped groove body is an arc shape, and the axis of the arc-shaped groove body coincides with the axis of the third assembly hole 116.

[0068] In one embodiment, see Figure 1 , a waist driving structure of a robot is provided, which mainly includes two waist joint modules 4 and two waist joint driving structures of the robot as in any of the above embodiments, the two waist joint modules 4 are horizontally opposed, and each output flange 41 is located inside the two waist joint modules 4, and the two cranks 1 and the two connecting ends 11 are located between the two waist joint modules 4. The beneficial effects of the waist joint driving structure of the robot are detailed in the above embodiments and will not be repeated here.

[0069] The above structural layout enables the entire waist drive structure to maintain balance and symmetry in the horizontal direction, and can achieve left and right tilting movements, providing a basis for the omnidirectional movement of the robot waist. Each output flange 41 is arranged on the inner side of the two waist joint modules 4, and the two cranks 1 and their connecting ends 11 are located between the two waist joint modules 4. Such a structural design is compact and reasonable, can make full use of space, and makes the waist drive structure more concise and efficient.

[0070] In one embodiment, see Figure 5 and Fig.12 The waist joint module 4 also includes a hollow synchronization shaft 43, one end of which has a connecting pressure plate 44, the connecting pressure plate 44 is located at the center of the output flange 41 of the waist joint module 4, and the other end of the synchronization shaft 43 passes through the waist joint module 4; the connecting pressure plate 44 is fastened to the connection end 11 by a fastener.

[0071] The connecting pressing piece 44 extends radially outward from the synchronous shaft 43, providing a position for combining with the connecting end 11, avoiding processing of the hollow shaft portion, which affects the structural strength of the synchronous shaft 43, is beneficial to production yield, and the synchronous shaft 43 is better balanced.

[0072] In one embodiment, a robot is provided, which mainly includes the waist joint driving structure of the robot in any of the above embodiments, or the waist driving structure of the robot in any of the above embodiments. The beneficial effects of the waist joint driving structure of the robot are detailed in the above embodiments, which will not be repeated here. The beneficial effects of the waist driving structure of the robot are detailed in the above embodiments, which will not be repeated here.

[0073] In one embodiment, see Fig.13A humanoid robot is provided, which mainly includes a waist joint driving structure of a robot as in any of the above embodiments, or a waist driving structure of a robot as in any of the above embodiments. The beneficial effects of the waist joint driving structure of the robot are detailed in the above embodiments, which will not be repeated here. The beneficial effects of the waist driving structure of the robot are detailed in the above embodiments, which will not be repeated here.

[0074] See also Fig.13 The humanoid robot includes a head, a neck, a trunk, a waist, a hip, an arm and a leg, wherein the hip includes a hip connection seat 6, which is respectively connected to the waist and the leg structure 7. The waist is connected to two waist joint modules 4 through a waist omnidirectional hinge structure, and an output shaft 121 is provided at the output end 12 of the crank 1 for connecting a rocker 51, and the rocker is connected to the hip connection seat 6 to cooperate with the waist omnidirectional hinge structure to realize bending or tilting and other actions. The leg structure 7 includes a hip pitch joint 71, a leg roll joint 72 and a leg yaw joint 73 which are connected in sequence. The hip pitch joint 71 is connected to the hip connecting seat 6, and the thigh 74 of the leg is connected to the output end of the leg yaw joint 73. The hip pitch joint 71, the leg roll joint 72 and the leg yaw joint 73 realize the pitch, roll and yaw movements of the thigh 74. A knee joint 75 is arranged between the thigh 74 and the calf 76 for directly driving the movement of the calf 76. The calf 76 drives the rocker arm through the sole driving joint 77 to realize the omnidirectional movement of the sole 78. Such a multi-degree-of-freedom robot can realize the imitation of humanoid walking, standing, bending and other movements, and can also realize complex behaviors such as carrying and climbing in combination with the arms.

[0075] The above are only optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A waist joint driving structure of a robot, characterized in that: include: Cranks, bearings, supports and waist joint modules; The crank comprises a connecting end, the connecting end is assembled and connected to the output flange of the waist joint module, and the connecting end comprises a shaft sleeve, and the shaft sleeve is located at a side of the connecting end away from the output flange; The support member comprises a connecting portion and a supporting portion connected to each other, the supporting portion is parallel to the output flange, and the supporting portion comprises an inner ring in a circular shape; Wherein, the connecting part is assembled and connected to the output end of the waist joint module, the inner ring is abutted against the outer ring of the bearing, and the inner ring of the bearing is abutted against the sleeve.

2. The waist joint driving structure of the robot according to claim 1, characterized in that: The connecting end comprises a shoulder located at the root of the sleeve, and the shoulder abuts against the inner ring of the bearing in the axial direction; The support portion further includes a stop ring disposed on the inner side of the inner ring. The stop ring is substantially in a circular shape and abuts against the bearing outer ring in the axial direction.

3. The waist joint driving structure of the robot according to claim 1, characterized in that: The connecting portion includes a connecting ring and a plurality of connecting seats, wherein the connecting ring is connected to the outer edge of the supporting portion, the connecting ring extends in a direction close to the output flange, and the connecting ring is a semicircular ring body with an opening; the plurality of connecting seats are respectively provided with one or more first assembly holes for fastening with fasteners, and the inner sides of the plurality of connecting seats are connected to the outer wall surface of the connecting ring.

4. The waist joint driving structure of the robot according to claim 1, characterized in that: The connecting end comprises a connecting flange, the connecting flange is coaxially arranged with the shaft sleeve, the connecting flange is located at a side of the connecting end facing the output flange, and the connecting flange is connected to the output flange via a plurality of fasteners.

5. The waist joint driving structure of the robot according to claim 4, characterized in that: The connecting flange includes a first flange portion and a second flange portion, the first flange portion is connected to the output flange, the second flange portion is connected to the synchronous shaft at the center of the output flange, the first flange portion is arranged around the outside of the second flange portion, and the second flange portion is adjacent to the center of the connecting flange.

6. The waist joint driving structure of the robot according to claim 5, characterized in that: The second flange portion is provided with a first pin hole, the opening of the first pin hole faces the synchronization shaft, and the synchronization shaft is provided with a second pin hole corresponding to the first pin hole. One or more pin shafts are installed on the first pin hole and the second pin hole, and the connection end and the synchronization shaft are assembled and positioned by one or more pin shafts.

7. The waist joint driving structure of the robot according to claim 1, characterized in that: The crank also has an output end and an extension section, wherein the first end of the extension section is connected to the connection end, the second end of the extension section is connected to the output end, and the radial width of the first end of the extension section is greater than the radial width of the second end.

8. The waist joint driving structure of the robot according to claim 1, characterized in that: The connecting end is provided with a first through hole located at the center of the circle, and the supporting portion is provided with a second through hole located at the center of the circle, and the first through hole is axially aligned with the second through hole.

9. A waist driving structure of a robot, characterized in that: It comprises two waist joint modules and two waist joint driving structures of the robot as described in any one of claims 1 to 8, the two waist joint modules are horizontally opposed, and each of the output flanges is located on the inner side of the two waist joint modules, and the two cranks and the two connecting ends are located between the two waist joint modules.

10. The waist driving structure of the robot according to claim 9, characterized in that: The lumbar joint module also includes a hollow synchronization shaft, one end of which has a connecting pressure plate, the connecting pressure plate is located at the center of the output flange of the lumbar joint module, and the other end of the synchronization shaft passes through the lumbar joint module; the connecting pressure plate is fastened to the connecting end by fasteners.

11. A robot, characterized in that: A waist joint driving structure of a robot comprising any one of claims 1 to 8, or a waist driving structure of a robot comprising any one of claims 9 or 10.

12. A humanoid robot, characterized in that: A waist joint driving structure of a robot comprising any one of claims 1 to 8, or a waist driving structure of a robot comprising any one of claims 9 or 10.

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