A robot and its waist structure

Abstract

A robot and its waist structure are disclosed, relating to the field of robotics. The waist structure includes: a waist frame, a fixed base, an outer shaft, an inner shaft, and drive modules. The fixed base has a waist rotation hole facing the X-axis. The inner shaft is mounted on the waist frame and extends towards the Y-axis. Outer bevel gears are mounted on the fixed base, and the axes of the outer bevel gears of the two drive modules are located on the X-axis. A rotary motor is mounted on the waist frame, with the inner bevel gears meshing with the outer bevel gears. The output end of the rotary motor is connected to the inner bevel gears to drive them to rotate clockwise or counterclockwise. The rotary motors of the two drive modules are communicatively connected. When the inner bevel gears of the two drive modules rotate in the same direction, the waist frame rotates around the inner shaft. When the inner bevel gears of the two drive modules rotate in opposite directions, the waist frame rotates around the outer shaft. This solution solves the problems of complex spatial structure and reduced waist flexibility caused by existing robots where the waist is controlled by two motors at different heights to move in two different directions.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a robot and its waist structure. Background Technology

[0002] The waist of a robot, serving as the connecting structure between the upper and lower body, is crucial for its multi-angle movement due to its flexibility. However, existing robot waist structures are complex, primarily employing a dual-axis superimposed structure where two motors at different heights control movements in two different directions. This structure presents significant structural flaws in robotics. The core problem stems from the layered mechanical layout of the two axes: the X and Y axes require separate motors, guide rails, and transmission components, leading to increased vertical redundancy. Furthermore, the superposition of two sets of guiding mechanisms creates system rigidity redundancy, generating additional inertial loads. This design not only occupies a significant amount of axial space but also limits the development of lightweight robots. Summary of the Invention

[0003] The purpose of this invention is to propose a waist structure for a robot, which uses an outer shaft sleeved on an inner shaft. Combined with the symmetrical distribution of drive modules, the communication connection between the rotating motors can couple and cooperate for control, enabling the robot to move in multiple directions (front, back, left, and right) at the waist. It can also distribute the force of each drive module, allowing the overall structure of the waist to bear a greater load.

[0004] The present invention also proposes a robot that uses the waist structure of the aforementioned robot.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] A waist structure for a robot includes: a waist frame, a fixed base, an outer shaft, an inner shaft, and a drive module;

[0007] The fixed base is provided with a waist rotation hole; the inner shaft is installed on the waist frame and extends in the Y-axis direction; one end of the outer shaft is rotatably connected to the waist rotation hole around the X-axis; the other end of the outer shaft is rotatably sleeved on the inner shaft around the Y-axis.

[0008] A pair of the drive modules are mounted on the waist frame and located at the left and right positions of the inner shaft;

[0009] The drive module includes: outer bevel gears, inner bevel gears, and a rotating motor;

[0010] The outer bevel gear is mounted on the fixed base, and the axis of the outer bevel gear of the two drive modules is located on the X-axis; the rotary motor is mounted on the waist frame, the inner bevel gear meshes with the outer bevel gear, and the output end of the rotary motor is connected to the inner bevel gear to drive the inner bevel gear to rotate clockwise or counterclockwise; the rotary motors of the two drive modules are communicatively connected.

[0011] When the inner bevel gears of the two drive modules rotate in the same direction, the waist frame rotates around the inner axis;

[0012] When the inner bevel gears of the two drive modules rotate in opposite directions, the waist frame rotates about the outer axis.

[0013] Optimally, it may also include: a transpose;

[0014] The waist frame is located between the fixed base and the rotating base; the rotating base is provided with a seat hole, and the seat hole and the waist rotating hole are coaxially arranged.

[0015] The outer shaft includes: a sleeve, a first sub-shaft, and a second sub-shaft;

[0016] The sleeve faces the Y-axis direction; the sleeve is rotatably fitted onto the inner shaft; the first and second sub-shafts are located on the same straight line, with one end of each mounted on the sleeve; the other end of the first sub-shaft is rotatably connected to the waist-turning hole, and the other end of the second sub-shaft is rotatably connected to the seat hole.

[0017] Alternatively, the waist frame may be provided with an inverted U-shaped groove; the inner shaft may be mounted in the inverted U-shaped groove; the inverted U-shaped groove may rotate around the Y-axis to abut against the rotating seat.

[0018] Alternatively, the rotary table may be provided with a horizontal plate and a rotating mounting plate;

[0019] The rotating mounting plate is disposed on the horizontal plate; the rotating mounting plate is provided with the seat hole; the inverted U-shaped groove rotates around the Y-axis to abut against the horizontal plate, and the rotating mounting plate extends into the interior of the inverted U-shaped groove.

[0020] Optimally, the waist frame is provided with motor mounting plates at the left and right positions respectively; the waist frame is provided with an inverted U-shaped groove between the two motor mounting plates; the inner shaft is mounted in the inverted U-shaped groove;

[0021] A motor receiving groove is formed between the motor mounting plate and the side wall of the inverted U-shaped groove; the rotating motor is located in the motor receiving groove and is fixed to the motor mounting plate; the output end of the rotating motor is located outside the motor receiving groove and is horizontally oriented to the left and right of the waist frame.

[0022] Optimally, the fixed end of the rotating motor near the output end is mounted on the motor mounting plate, and the fixed end of the rotating motor away from the output end forms a storage gap with the outer wall of the inverted U-shaped groove.

[0023] The fixed end of the rotating motor is provided with a motor port in the gap between the objects.

[0024] Optimally, the left and right sidewalls of the inverted U-shaped groove are provided with sidewall cutouts, and the interior of the inner shaft is provided with a hollow structure; the sidewall cutouts expose the hollow structure, and a wiring channel is formed between the placement gap and the hollow structure.

[0025] Optimally, the outer bevel teeth are distributed along the inferior arc edge.

[0026] Optimally, a height difference is formed between the upper and lower ends of the minor arc side, and the central angle of the minor arc side is 20 to 100°.

[0027] A robot having the waist structure described above.

[0028] Compared with the prior art, one of the above technical solutions has the following beneficial effects:

[0029] This solution provides a waist structure for a robot, which uses an outer shaft sleeved on an inner shaft. Combined with the symmetrical distribution of drive modules, the communication connection between the rotating motors allows for coupled and cooperative control, enabling the robot to move in multiple directions (front, back, left, and right) at the waist. It also distributes the force of each drive module, allowing the overall structure of the waist to bear a greater load. This solution solves the problems of complex spatial structure and reduced waist flexibility caused by existing robots using two motors at different heights to control movements in two different directions. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of one embodiment of the waist structure at the front.

[0031] Figure 2 yes Figure 1 Enlarged view of part A in the middle;

[0032] Figure 3 This is a schematic diagram of one embodiment of the waist structure when the waist frame rotates around the outer axis;

[0033] Figure 4 This is a schematic diagram of one embodiment of the waist structure when it rotates on the inner axis;

[0034] Figure 5 This is a rear view of another embodiment of the waist structure;

[0035] Figure 6 This is a schematic diagram of one embodiment of the external bevel gear.

[0036] in:

[0037] Waist frame 1, fixed base 2, outer shaft 3, inner shaft 4, drive module 5; swivel base 6;

[0038] 11. Inverted U-shaped groove; 12. Motor mounting plate; 13. Motor receiving slot; 14. Storage gap; 15. Side wall cutout; 16. Wiring channel;

[0039] Waist-shaped rotating hole 21; sleeve 31, first split shaft 32, second split shaft 33; hollow structure 41;

[0040] Outer bevel gear 51, inner bevel gear 52, rotating motor 53;

[0041] Slightly curved edge 511, locking tooth 512; motor port 531;

[0042] Seat hole 61; horizontal plate 62; rotating mounting plate 63. Detailed Implementation

[0043] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0044] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," "outer," "inner side," "outer side," "inner end," "outer end," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. Furthermore, features defined with "first" and "second" may explicitly or implicitly include one or more of these features, used to distinguish descriptive features, without any order or emphasis. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0045] like Figure 1-6 A waist structure for a robot includes: a waist frame 1, a fixed base 2, an outer shaft 3, an inner shaft 4, and a drive module 5;

[0046] The fixed base 2 is provided with a waist rotation hole 21 facing the X-axis; the inner shaft 4 is installed on the waist frame 1 and extends in the Y-axis direction; one end of the outer shaft 3 is rotatably connected to the waist rotation hole 21 around the X-axis; the other end of the outer shaft 3 is rotatably sleeved on the inner shaft 4 around the Y-axis.

[0047] A pair of drive modules 5 are mounted on the waist frame 1 and located at the left and right positions of the inner shaft 4;

[0048] The drive module 5 includes: an outer bevel gear 51, an inner bevel gear 52, and a rotary motor 53;

[0049] The outer bevel gear 51 is mounted on the fixed base 2, and the axis of the outer bevel gear 51 of the two drive modules 5 is located on the X-axis; the rotary motor 53 is mounted on the waist frame 1, the inner bevel gear 52 meshes with the outer bevel gear 51, and the output end of the rotary motor 53 is connected to the inner bevel gear 52 to drive the inner bevel gear 52 to rotate clockwise or counterclockwise; the rotary motors 53 of the two drive modules 5 are communicatively connected.

[0050] When the inner bevel gears 52 of the two drive modules 5 rotate in the same direction, the waist frame 1 rotates around the inner shaft 4;

[0051] When the inner bevel gears 52 of the two drive modules 5 rotate in opposite directions, the waist frame 1 rotates around the outer shaft 3.

[0052] This solution provides a waist structure for a robot, which uses an outer shaft 3 fitted onto an inner shaft 4. Combined with the symmetrical distribution of drive modules 5, the communication connection between the rotating motors 53 allows for coupled and cooperative control, enabling the robot to move in multiple directions (front, back, left, and right) at the waist. It also distributes the force of each drive module 5, allowing the overall structure of the waist to bear a greater load. This solution solves the problems of complex spatial structure and reduced waist flexibility caused by existing robots using two motors at different heights to control movements in two different directions.

[0053] Specifically, the inner shaft 4 is mounted on the waist frame 1; one end of the outer shaft 3 is mounted on the waist rotation hole 21, mainly guiding the rotation of the waist frame 1 relative to the waist rotation hole 21 around the X-axis; the other end of the outer shaft 3 is connected to the inner shaft 4, and the outer shaft 3 is sleeved on the inner shaft 4, allowing the outer shaft 3 to rotate relative to the inner shaft 4 around the Y-axis; a pair of drive modules 5 are mounted on the waist frame 1, located to the left and right of the inner shaft 4; each drive module 5 includes an outer bevel gear 51, an inner bevel gear 52, and a rotating motor 53; the outer bevel gear 51 is mounted on the waist frame 1, and the outer bevel gear 51 of one drive module 5 is located at... On the left, another drive module 5 has an outer bevel gear 51 on the right. The axes of the two outer bevel gears 51 are overlapped and located on the X-axis. The output end of the rotary motor 53 is connected to the inner bevel gear 52 to drive the inner bevel gear 52 to rotate. Since the inner bevel gear 52 and the outer bevel gear 51 are in a meshing state, the inner bevel gear 52 moves relative to the outer bevel gear 51. Since the rotary motors 53 of the two drive modules 5 are connected by communication, the two rotary motors 53 start synchronously and are coupled and cooperated for control. The rotary motor 53 can drive the corresponding inner bevel gear 52 to rotate clockwise or counterclockwise as needed.

[0054] When the rotating motors 53 of the two drive modules 5 drive the inner bevel gears 52 to rotate in the same direction, the inner bevel gears 52 of the two drive modules 5 have a tendency to rotate in the same direction, for example, they move upward or downward at the same time towards the outer bevel gears 51. Therefore, the inner bevel gears 52 can drive the rotating motors 53 to rotate around the inner shaft 4 (Y-axis). The rotating motors 53 are fixed to the waist frame 1, so the waist frame 1 will rotate around the inner shaft 4 (Y-axis), realizing the forward or backward flipping of the waist structure.

[0055] When the rotating motors 53 of the two drive modules 5 drive the inner bevel gears 52 to rotate in opposite directions, the inner bevel gears 52 of the two drive modules 5 have a tendency to move in opposite directions. For example, one inner bevel gear 52 moves upward toward the outer bevel gear 51, and the other inner bevel gear 52 moves downward toward the outer bevel gear 51. Since the axes of the two outer bevel gears 51 are located on the X-axis, the two inner bevel gears 52 are equivalent to rotating around the X-axis. One inner bevel gear 52 can drive the rotating motor 53 to move upward around the outer shaft 3 (X-axis), and the other inner bevel gear 52 can drive the rotating motor 53 to move downward around the outer shaft 3 (X-axis). The rotating motor 53 is fixed to the waist frame 1, so the waist frame 1 will rotate around the outer shaft 3 (X-axis), realizing the flipping of the waist structure to the left or right.

[0056] It should be noted that the communication connection method here refers to the communication established between connected devices through signal transmission and interaction, which can be divided into wired connection and wireless connection; wired connection is such as conventional data cable connection; wireless connection is such as conventional WiFi, Bluetooth, infrared, NFC, etc.

[0057] It should be noted that the connection between the rotating motor 53 and the inner bevel gear 52 can be direct or indirect. Direct connection means that the inner bevel gear 52 is directly installed on the output end of the rotating motor 53; indirect connection means that the output end of the rotating motor 53 is indirectly connected to the inner bevel gear 52 through other structures, such as differentials, reducers, etc.

[0058] Optimally, it also includes: a transposer 6;

[0059] The waist frame 1 is located between the fixed base 2 and the rotating base 6; the rotating base 6 is provided with a seat hole 61, which is coaxially arranged with the waist rotating hole 21;

[0060] The outer shaft 3 includes: a sleeve 31, a first sub-shaft 32, and a second sub-shaft 33;

[0061] The sleeve 31 faces the Y-axis direction; the sleeve 31 is rotatably fitted onto the inner shaft 4; the first sub-shaft 32 and the second sub-shaft 33 are located on the same straight line, with one end of each installed on the sleeve 31; the other end of the first sub-shaft 32 is rotatably connected to the waist rotation hole 21, and the other end of the second sub-shaft 33 is rotatably connected to the seat hole 61.

[0062] This solution preferably uses a rotating base 6 to further improve the balance of the dual drive module 5 in the X and Y axis directions. Specifically, the waist rotation hole 21 of the fixed base 2 and the seat hole 61 of the rotating base 6 are located on the same straight line; the first sub-shaft 32 and the second sub-shaft 33 are aligned in a straight line, and each is symmetrically connected to the sleeve 31 at one end; the other end of the first sub-shaft 32 is rotatably connected to the waist rotation hole 21, and the other end of the second sub-shaft 33 is rotatably connected to the seat hole 61; in this way, the center of gravity of the outer shaft 3 is concentrated in the sleeve 31, and the waist frame 1 rotates more smoothly around the X and Y axes.

[0063] Alternatively, the waist frame 1 is provided with an inverted U-shaped groove 11; the inner shaft 4 is installed in the inverted U-shaped groove 11; the inverted U-shaped groove 11 rotates around the Y-axis to abut against the rotating seat 6.

[0064] This solution cleverly utilizes the position of the rotating base 6 to position the waist frame 1 when it rotates forward around the Y-axis, preventing excessive rotation of the upper part of the robot's waist structure and loss of stability. Specifically, the inner shaft 4 is installed in the inverted U-shaped groove 11. Since the waist frame 1 is located between the front and rear positions of the fixed base 2 and the rotating base 6, when the waist frame 1 rotates forward relative to the Y-axis, the inverted U-shaped groove 11 of the waist frame 1 will abut against the rotating base 6 at the end of the rotation, thereby restricting the waist frame 1 from continuing to rotate through the rotating base 6. Thus, the rotating base 6 not only has the function of improving the stability of the X-axis rotation, but also has the function of positioning the Y-axis, thus improving the activity stability of the X-axis and Y-axis rotation.

[0065] Alternatively, the rotary base 6 may be provided with a horizontal plate 62 and a rotating mounting plate 63;

[0066] The rotating mounting plate 63 is disposed on the horizontal plate 62; the rotating mounting plate 63 is provided with the seat hole 61; the inverted U-shaped groove 11 rotates around the Y-axis to abut against the horizontal plate 62, and the rotating mounting plate 63 extends into the interior of the inverted U-shaped groove 11.

[0067] Since the seat hole 61 of the rotary seat 6 needs to be aligned with the waist rotation hole 21 of the fixed seat 2, it is necessary to maintain the height of the inner shaft 4 and the outer shaft 3 while maximizing the forward rotation range of the waist frame 1. Therefore, this design of the rotary seat 6 specifically includes a horizontal plate 62 and a rotating mounting plate 63, with the rotating mounting plate 63 used to connect the outer shaft 3. Figure 4 With the rotating mounting plate 63 positioned above the horizontal plate 62, when the waist frame 1 drives the inverted U-shaped groove 11 to rotate and flip forward around the Y-axis, the inverted U-shaped groove 11 rotates to abut against the horizontal plate 62. The inverted U-shaped groove 11 can contact the horizontal plate 62 at any position. Furthermore, the interior of the inverted U-shaped groove 11 rotates to fit within the rotating mounting plate 63, which is equivalent to the rotating mounting plate 63 extending into the interior of the inverted U-shaped groove 11. Compared to other embodiments, with the rotating mounting plate 63 extending into the interior of the inverted U-shaped groove 11, the waist frame 1 flips forward at a greater angle, further increasing the range of motion of the waist frame 1 without changing the positions of the inner shaft 4 and the outer shaft 3. Furthermore, since the inverted U-shaped groove 11 rotates around the Y-axis to abut against the horizontal plate 62, the horizontal plate 62 can support the waist frame 1 upwards, thereby reducing the load on the upper body when maintaining a forward lean.

[0068] Optimally, the waist frame 1 is provided with motor mounting plates 12 at the left and right positions respectively; the waist frame 1 is provided with an inverted U-shaped groove 11 between the two motor mounting plates 12; the inner shaft 4 is installed in the inverted U-shaped groove 11;

[0069] A motor receiving groove 13 is formed between the motor mounting plate 12 and the side wall of the inverted U-shaped groove 11; the rotating motor 53 is located in the motor receiving groove 13 and is fixed to the motor mounting plate 12; the output end of the rotating motor 53 is located outside the motor receiving groove 13 and is horizontally oriented to the left and right of the waist frame 1.

[0070] An inverted U-shaped groove 11 is provided between the two motor mounting plates 12, and a motor receiving groove 13 is formed between the side wall of the inverted U-shaped groove 11 and the motor mounting plate 12; the rotating motor 53 is set in the motor receiving groove 13 and fixed to the motor mounting plate 12; the output end of the rotating motor 53 extends horizontally outside the motor receiving groove 13 and is connected to the inner bevel gear 52; therefore, the main body of the rotating motor 53 will be close to the middle of the waist frame 1, which can concentrate the center of gravity of the waist structure on the inner shaft 4 on the one hand, and significantly reduce the distance span between the left and right positions of the waist structure on the other hand, making the overall structure of the waist structure more compact.

[0071] Optimally, the fixed end of the rotating motor 53 near the output end is mounted on the motor mounting plate 12, and the fixed end of the rotating motor 53 away from the output end forms a placement gap 14 between it and the outer wall of the inverted U-shaped groove 11.

[0072] The fixed end of the rotating motor 53 is provided with a motor port 531 in the storage gap 14.

[0073] The fixed end of the rotating motor 53 is the main body of the rotating motor 53. The fixed end of the rotating motor 53 is fixed to the motor mounting plate 12 at its end near the output end. The motor receiving groove 13 can accommodate the main body of the rotating motor 53, which can prevent the fixed end of the rotating motor 53 from being exposed on the outer surface of the waist structure, thus protecting the core structure of the rotating motor 53. However, the size of the motor receiving groove 13 cannot be too large or too small. If it is too large, the overall structure will not be compact enough, resulting in increased material costs. If it is too small, the electrical connection of the rotating motor 53 will be restricted. Therefore, this embodiment further optimizes the motor receiving groove 13. A storage gap 14 is formed between the fixed end of the rotating motor 53 away from the output end and the outer wall of the inverted U-shaped groove 11. The storage gap 14 can accommodate the motor port 531 at the end of the rotating motor 53, such as the motor port 531 used for power supply, data transmission, etc. The storage gap 14 separates the motor port 531 and the inverted U-shaped groove 11, so the movement of the waist frame 1 will not interfere with the rotating motor 53.

[0074] Optimally, the left and right sidewalls of the inverted U-shaped groove 11 are provided with sidewall hollow openings 15, and the interior of the inner shaft 4 is provided with a hollow structure 41; the sidewall hollow openings 15 expose the hollow structure 41, and a wiring channel 16 is formed between the storage gap 14 and the hollow structure 41.

[0075] To facilitate wiring between the rotating motors 53 and to prevent the wires of the rotating motors 53 from interfering with the wires during the movement of the waist frame 1, this solution cleverly utilizes the hollow structure 41 inside the inner shaft 4. The left and right side walls of the inverted U-shaped groove 11 are provided with side wall cutouts 15, which expose the hollow structure 41 inside the inner shaft 4. A wiring channel 16 is formed between the placement gap 14 and the hollow structure 41. The wiring channel 16 can be used to arrange wires and other linear structures. Since the rotating motors 53 and the inverted U-shaped groove 11 of the waist frame 1 rotate synchronously around the inner shaft 4 or around the outer shaft 3, the relative position of the wiring channel 16 and the rotating motors 53 remains unchanged during rotation. The multi-angle movement of the waist frame 1 does not affect the wires between the wiring channels 16.

[0076] Optimally, the locking teeth 512 of the outer bevel teeth 51 are distributed along the minor arc edge 511.

[0077] As is generally known, an arc with a central angle less than 180° is called a minor arc. In this design, the outer bevel gear 51 does not need to be a complete bevel gear structure; it only needs to be a portion of the bevel gear structure. Specifically, a minor arc within the bevel gear structure can be selected as the minor arc edge 511. Using the minor arc edge 511 instead of a complete bevel gear reduces the weight of the outer bevel gear 51 in the waist structure, thus preventing weight concentration on the left and right sides of the waist structure and affecting its center of gravity. Furthermore, because the minor arc edge 511 occupies very little space while achieving multi-directional movement in the front, back, left, and right directions of the waist, its driving efficiency is high. Also, due to the small overall size of the minor arc edge 511, it will not affect the overall aesthetics of the waist, and the subsequent installation of the robot's outer shell will not be affected by the excessive size of the outer bevel gear 51.

[0078] Optimally, a height difference is formed between the upper and lower ends of the minor arc edge 511, and the central angle α of the minor arc edge 511 is 20 to 100°.

[0079] The minor arc edge 511 is set vertically, that is, a height difference is formed between the two ends of the minor arc edge 511; the central angle α of the minor arc edge 511 is 20~100°. On the one hand, the minor arc edge 511 occupies only a very small space to achieve multi-directional movement of the waist in the front, back, left and right directions, with high driving efficiency; on the other hand, the arc span of the minor arc edge 511 is equivalent to the hip contour of the humanoid robot below the waist. That is, in addition to having a driving function, the outline of the outer bevel tooth 51 can visually serve as the hip of the humanoid robot, and can also more easily fit into the robot's shell.

[0080] A robot having the waist structure described above.

[0081] The robot's waist structure serves as a connection between the upper and lower body. The waist frame 1 allows the upper body to move in multiple directions relative to the lower body, including forward, backward, left, and right. Simultaneously, the rotating motor 53 in this design, through coupled and cooperative control, distributes the force on the waist structure in the left-right direction, enabling the overall structure to bear a greater load. Furthermore, the locking teeth 512 of the outer bevel gear 51 have a large lever arm at the force-bearing points, allowing the overall structure to bear a greater torque. Moreover, the waist structure can be pre-assembled independently before connecting to the upper and lower body of the robot, offering advantages such as simplified structure, quick assembly, reliability, and high production efficiency.

[0082] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A waist structure for a robot, characterized in that, include: Waist frame, fixed base, outer shaft, inner shaft, drive module and rotary base; The fixed base is provided with a waist rotation hole; the inner shaft is installed on the waist frame and extends in the Y-axis direction; one end of the outer shaft is rotatably connected to the waist rotation hole around the X-axis; the other end of the outer shaft is rotatably sleeved on the inner shaft around the Y-axis. A pair of the drive modules are mounted on the waist frame and located at the left and right positions of the inner shaft; The drive module includes: outer bevel gears, inner bevel gears, and a rotating motor; The outer bevel gear is mounted on the fixed base, and the axis of the outer bevel gear of the two drive modules is located on the X-axis; the rotary motor is mounted on the waist frame, the inner bevel gear meshes with the outer bevel gear, and the output end of the rotary motor is connected to the inner bevel gear to drive the inner bevel gear to rotate clockwise or counterclockwise; the rotary motors of the two drive modules are communicatively connected. When the inner bevel gears of the two drive modules rotate in the same direction, the waist frame rotates around the inner axis; When the inner bevel gears of the two drive modules rotate in opposite directions, the waist frame rotates around the outer axis; The waist frame is located between the fixed base and the rotating base; the rotating base is provided with a seat hole, and the seat hole and the waist rotating hole are coaxially arranged. The outer shaft includes: a sleeve, a first sub-shaft, and a second sub-shaft; The sleeve faces the Y-axis direction; the sleeve is rotatably fitted onto the inner shaft; the first and second sub-shafts are located on the same straight line, with one end of each mounted on the sleeve; the other end of the first sub-shaft is rotatably connected to the waist-turning hole, and the other end of the second sub-shaft is rotatably connected to the seat hole.

2. The waist structure of a robot according to claim 1, characterized in that, The waist frame is provided with an inverted U-shaped groove; the inner shaft is installed in the inverted U-shaped groove; the inverted U-shaped groove rotates around the Y-axis until it abuts against the rotating seat.

3. The waist structure of a robot according to claim 2, characterized in that, The rotary table is equipped with a horizontal plate and a rotating mounting plate; The rotating mounting plate is disposed on the horizontal plate; the rotating mounting plate is provided with the seat hole; the inverted U-shaped groove rotates around the Y-axis to abut against the horizontal plate, and the rotating mounting plate extends into the interior of the inverted U-shaped groove.

4. The waist structure of a robot according to claim 1, characterized in that, The waist frame is provided with motor mounting plates at the left and right positions respectively; the waist frame is provided with an inverted U-shaped groove between the two motor mounting plates; the inner shaft is installed in the inverted U-shaped groove; A motor receiving groove is formed between the motor mounting plate and the side wall of the inverted U-shaped groove; the rotating motor is located in the motor receiving groove and is fixed to the motor mounting plate; the output end of the rotating motor is located outside the motor receiving groove and is horizontally oriented to the left and right of the waist frame.

5. The waist structure of a robot according to claim 4, characterized in that, The fixed end of the rotating motor near the output end is mounted on the motor mounting plate, and the fixed end of the rotating motor away from the output end forms a storage gap with the outer wall of the inverted U-shaped groove. The fixed end of the rotating motor is provided with a motor port in the gap between the objects.

6. The waist structure of a robot according to claim 5, characterized in that, The left and right sidewalls of the inverted U-shaped groove are provided with sidewall cutouts, and the interior of the inner shaft is provided with a hollow structure; the sidewall cutouts expose the hollow structure, and a wiring channel is formed between the placement gap and the hollow structure.

7. A waist structure for a robot according to any one of claims 1-6, characterized in that, The outer bevel teeth are distributed along the inferior arc edge.

8. The waist structure of a robot according to claim 7, characterized in that, A height difference is formed between the upper and lower ends of the minor arc side, and the central angle of the minor arc side is 20 to 100°.

9. A robot, characterized in that, The robot has a waist structure as described in any one of claims 1-8.

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