Rotary structure, waist structure and robot

Abstract

This application relates to the field of robotics, specifically to a rotating structure, a waist structure, and a robot. It solves the problem that existing rotating structures cannot reduce cable damage while ensuring 360° rotation. The rotating structure includes a rotating component and a limiting component. When the first rotating component of the rotating component rotates relative to a second rotating component, the first rotating component abuts against the limiting component, causing the limiting component to rotate relative to the second rotating component in the same rotation direction until the limiting component abuts against the second rotating component. The sum of the rotation angle of the first rotating component relative to the second rotating component in the first rotation direction and the rotation angle in the second rotation direction is greater than or equal to 360°, ensuring that the rotating structure can achieve 360° rotation. Designers can set the sum of the rotation angles of the first rotating component relative to the second rotating component to be less than 400°, 500°, 720°, etc., so that the rotating structure does not cause the cable to rotate multiple times, reducing the probability of cable damage.

Description

Technical Field

[0001] This application relates to the field of robotics, specifically to a rotating structure, a waist structure, and a robot. Background Technology

[0002] With the continuous advancement of humanoid robot technology, industrial automation technology is gradually shifting from industrial robots performing single, repetitive tasks to humanoid robots performing complex and varied tasks. To enable the waist structure of a humanoid robot to function like a human waist and to ensure the overall motion performance of the waist structure, the waist structure of a humanoid robot typically possesses rotation capabilities.

[0003] In related technologies, a rotating structure is typically placed at the waist of a humanoid robot, and this rotating structure usually rotates under the drive of a driving structure. During rotation, the rotating structure causes the cables of the driving structure to rotate as well, which can be stretched. Therefore, to minimize cable damage from stretching, the rotating structure cannot continuously rotate too large an angle in the same direction; a 360-degree rotation is generally sufficient. Typically, the rotation angle is controlled by software, but software malfunctions can cause the rotating structure to continuously rotate in the same direction, resulting in multiple twists in the driving structure's cables and ultimately, cable damage. Summary of the Invention

[0004] In view of this, embodiments of this application provide a rotating structure, a waist structure, and a robot, which solves the problem of cable damage to the drive structure of the rotating structure caused by the rotating structure continuously rotating in the same direction.

[0005] In a first aspect, embodiments of this application provide a rotating structure, comprising: a rotating assembly including a first rotating member and a second rotating member rotatably connected about a central axis, the first rotating member including a first limiting portion and a second limiting portion arranged circumferentially opposite to each other along the central axis, the second rotating member including a third limiting portion and a fourth limiting portion arranged circumferentially opposite to each other along the central axis; and a limiting member rotatably connected to the rotating assembly about the central axis, the limiting member including a fifth limiting portion and a sixth limiting portion arranged circumferentially opposite to each other along the central axis, and a seventh limiting portion and an eighth limiting portion arranged circumferentially opposite to each other along the central axis; wherein, during the process of the first rotating member rotating relative to the second rotating member in a first rotation direction, the first... The limiting part can abut against the sixth limiting part and drive the limiting member to rotate relative to the second rotating member along the first rotation direction, so that the seventh limiting part can abut against the fourth limiting part. During the process of the first rotating member rotating relative to the second rotating member along the second rotation direction, the second limiting part can abut against the fifth limiting part and drive the limiting member to rotate relative to the second rotating member along the second rotation direction, so that the eighth limiting part can abut against the third limiting part. The second rotation direction is opposite to the first rotation direction. The sum of the rotation angle of the first rotating member relative to the second rotating member along the first rotation direction and the rotation angle along the second rotation direction is greater than or equal to 360°.

[0006] In some embodiments, the limiting member further includes: an annular structure, fitted onto the rotating assembly, rotatably connected to the rotating assembly about the central axis, and located between the first limiting portion and the third limiting portion in the extending direction of the central axis; wherein the fifth limiting portion and the sixth limiting portion are connected to the side of the annular structure near the first limiting portion in the extending direction of the central axis, and the seventh limiting portion and the eighth limiting portion are connected to the side of the annular structure near the third limiting portion in the extending direction of the central axis.

[0007] In some embodiments, the first rotating member includes a first protrusion facing the annular structure, and the first limiting portion and the second limiting portion are located on the first protrusion; the second rotating member includes a second protrusion facing the annular structure, and the third limiting portion and the fourth limiting portion are located on the second protrusion; the limiting member further includes a third protrusion facing the first rotating member and a fourth protrusion facing the second rotating member, the fifth limiting portion and the sixth limiting portion are located on the third protrusion, and the seventh limiting portion and the eighth limiting portion are located on the fourth protrusion.

[0008] In some embodiments, the annular structure includes an annular protrusion facing the rotating component, and the second rotating component includes an annular support portion facing the annular protrusion, wherein the central axis extends in a vertical direction, and in the vertical direction, the lower surface of the annular protrusion abuts against the upper surface of the annular support portion.

[0009] In some embodiments, the annular protrusion includes: an annular protrusion body disposed toward the rotating assembly; a first lubricating film layer disposed on the lower surface of the annular protrusion body, the first lubricating film layer abutting against the upper surface of the annular support portion; and / or, the annular support portion includes: an annular support portion body disposed toward the annular protrusion; a second lubricating film layer disposed on the upper surface of the annular support portion body, the second lubricating film layer abutting against the lower surface of the annular protrusion.

[0010] In some embodiments, the first rotating member includes: a driving member, including a cylindrical structure, the centerline of the cylindrical structure being collinear with the central axis; a first annular limiting structure, fitted onto the outer surface of the cylindrical structure, the first annular limiting structure including a first limiting portion and a second limiting portion; the second rotating member includes: an output member, connected to the driving member, rotating around the central axis under the drive of the driving member; a second annular limiting structure, connected to the output member, rotating around the central axis under the drive of the output member; and a connecting member, connected to the output member and / or the second annular limiting structure, configured to connect the rotating member.

[0011] In some embodiments, when the first limiting portion abuts against the sixth limiting portion, the first limiting portion and the sixth limiting portion are in surface contact; and / or, when the seventh limiting portion abuts against the fourth limiting portion, the seventh limiting portion and the fourth limiting portion are in surface contact; and / or, when the second limiting portion abuts against the fifth limiting portion, the second limiting portion and the fifth limiting portion are in surface contact; and / or, when the eighth limiting portion abuts against the third limiting portion, the eighth limiting portion and the third limiting portion are in surface contact.

[0012] In some embodiments, the rotating structure further includes: a cylindrical shell sleeved on the first rotating member and the second rotating member, and fixedly connected to the first rotating member; the limiting member is located between the cylindrical shell and the rotating assembly; the extending direction of the cylindrical shell is parallel to the extending direction of the central axis; wherein the cylindrical shell has a first alignment hole extending radially along the cylindrical shell, the second rotating member has a second alignment hole extending radially along the cylindrical shell, and during the relative rotation of the first rotating member and the second rotating member, the center line of the first alignment hole and the center line of the second alignment hole can be collinear; when the center line of the first alignment hole and the center line of the second alignment hole are collinear, the rotating assembly is in the zero position.

[0013] In some embodiments, the rotating structure has a wiring hole extending through the rotating structure along the extension direction of the central axis, the wiring hole being configured to allow a cable to pass through; wherein the center line of the wiring hole is collinear with the central axis, and / or the diameter of the wiring hole is greater than or equal to 20 mm.

[0014] Secondly, embodiments of this application provide a waist structure, including: the rotating structure described in the first aspect, wherein a first rotating member of the rotating structure is connected to a torso structure, and a second rotating member of the rotating structure is connected to a lower limb structure.

[0015] Thirdly, embodiments of this application provide a robot comprising: a waist structure as described in the second aspect, the waist structure having a wiring hole extending through the rotating structure along the central axis of the rotating structure in the waist structure; a torso structure connected to a first rotating member in the waist structure; a lower limb structure connected to a second rotating member in the waist structure; and a control board connected to the torso structure, wherein cables of the lower limb structure pass through the wiring hole and are electrically or communicatively connected to the control board.

[0016] The rotating structure provided in this application includes a rotating component and a limiting member. The rotating component includes a first rotating member and a second rotating member that are rotatably connected. When the first rotating member rotates relative to the second rotating member along a first or second rotation direction, the first rotating member abuts against the limiting member and drives the limiting member to rotate relative to the second rotating member in the same rotation direction until the limiting member abuts against the second rotating member. The sum of the rotation angle of the first rotating member relative to the second rotating member along the first rotation direction and the rotation angle along the second rotation direction is greater than or equal to 360°, thereby achieving a mechanical limit of 360° or greater for the rotation angle of the rotating structure, ensuring that the rotating structure can achieve 360° rotation. Designers can set the sum of the rotation angle of the first rotating member relative to the second rotating member along the first rotation direction and the rotation angle along the second rotation direction to be less than 400°, 500°, 720°, etc., according to actual needs. Therefore, even in the event of software failure, the rotating structure will not continuously rotate many times in the same direction, and the cable of the driving structure of the rotating structure will not twist multiple times, reducing the probability of cable damage. Attached Figure Description

[0017] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments thereof in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain the application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same parts.

[0018] Figure 1 The diagram shown is a schematic diagram of a rotating structure provided in an embodiment of this application.

[0019] Figure 2 The image shown is a front view of a rotating structure provided in an embodiment of this application.

[0020] Figure 3 The image shown is a left view of a rotating structure provided in an embodiment of this application.

[0021] Figure 4 The image shown is a rear view of a rotating structure provided in an embodiment of this application.

[0022] Figure 5 The image shown is a right view of a rotating structure provided in an embodiment of this application.

[0023] Figure 6 The image shown is a front view of a rotating structure provided in another embodiment of this application.

[0024] Figure 7 The image shown is a left view of a rotating structure provided in another embodiment of this application.

[0025] Figure 8 As shown Figure 7 The rotating structure shown is a cross-sectional view along the AA direction.

[0026] Figure 9 As shown Figure 8 The rotating structure shown is a magnified view of a portion of region B.

[0027] Figure 10 The image shown is a rear view of a rotating structure provided in another embodiment of this application.

[0028] Figure 11 The diagram shown is a structural schematic of a robot provided in one embodiment of this application.

[0029] Figure label:

[0030] 1234. Robot; 1. Waist structure; 10. Rotating structure; 1001. Wiring hole; 100. Rotating assembly; 110. First rotating component; 1112. First protrusion; 1101. First limiting part; 1102. Second limiting part; 1110. Driving component; 1111. Cylindrical structure; 1120. First annular limiting structure; 120. Second rotating component; 1212. Second protrusion; 1201. Third limiting part; 1202. Fourth limiting part; 1203. Annular support part; 1213. Main body of annular support part; 1223. Second lubricating film layer; 1204. Second alignment hole; 1 210. Output component; 1220. Second annular limiting structure; 1230. Connector; 200. Limiting component; 210. Annular structure; 2110. Annular protrusion; 2111. Annular protrusion body; 2112. First lubricating film layer; 220. Third protrusion; 201. Fifth limiting part; 202. Sixth limiting part; 230. Fourth protrusion; 203. Seventh limiting part; 204. Eighth limiting part; 300. Cylindrical shell; 301. First alignment hole; L1. Central axis; S1. First rotation direction; S2. Second rotation direction; 2. Torso structure; 3. Lower limb structure; 4. Control panel. Detailed Implementation

[0031] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0032] Figure 1 The diagram shown is a schematic diagram of a rotating structure provided in an embodiment of this application. Figure 2 The image shown is a front view of a rotating structure provided in an embodiment of this application. Figure 3The image shown is a left view of a rotating structure provided in an embodiment of this application. Figure 4 The image shown is a rear view of a rotating structure provided in an embodiment of this application. Figure 5 The image shown is a right view of a rotating structure provided in an embodiment of this application. Figures 1 to 5 As shown, the rotating structure 10 includes a rotating assembly 100 and a limiting member 200. The rotating assembly 100 includes a first rotating member 110 and a second rotating member 120 rotatably connected about a central axis L1. The first rotating member 110 includes a first limiting portion 1101 and a second limiting portion 1102 arranged circumferentially opposite to each other along the central axis L1. The second rotating member 120 includes a third limiting portion 1201 and a fourth limiting portion 1202 arranged circumferentially opposite to each other along the central axis L1. The limiting member 200 is rotatably connected to the rotating assembly 100 about the central axis L1. The limiting member 200 includes a fifth limiting portion 201 and a sixth limiting portion 202 arranged circumferentially opposite to each other along the central axis L1, and a seventh limiting portion 203 and an eighth limiting portion 204 arranged circumferentially opposite to each other along the central axis L1.

[0033] During the rotation of the first rotating member 110 relative to the second rotating member 120 along the first rotation direction S1, the first limiting part 1101 can abut against the sixth limiting part 202 and drive the limiting member 200 to rotate relative to the second rotating member 120 along the first rotation direction S1, so that the seventh limiting part 203 can abut against the fourth limiting part 1202.

[0034] During the rotation of the first rotating member 110 relative to the second rotating member 120 along the second rotation direction S2, the second limiting part 1102 can abut against the fifth limiting part 201, and drive the limiting member 200 to rotate relative to the second rotating member 120 along the second rotation direction S2, so that the eighth limiting part 204 can abut against the third limiting part 1201. The second rotation direction S2 is opposite to the first rotation direction S1. The sum of the rotation angle of the first rotating member 110 relative to the second rotating member 120 along the first rotation direction S1 and the rotation angle along the second rotation direction S2 is greater than or equal to 360°, thereby realizing a mechanical limitation of the rotation angle of the rotating structure 10 greater than or equal to 360°, ensuring that the rotating structure 10 can achieve a 360° rotation.

[0035] Designers can set the sum of the rotation angle of the first rotating component 110 relative to the second rotating component 120 along the first rotation direction S1 and the rotation angle along the second rotation direction S2 to be less than 400°, 500°, 720°, etc., so that even in the event of software failure, the rotating structure 10 will not continuously rotate many times in the same direction, and the cable of the driving structure of the rotating structure 10 will not twist many times, reducing the probability of cable damage.

[0036] For example, the first rotation direction S1 can be clockwise, and the second rotation direction S2 can be counterclockwise.

[0037] For example, the rotation angle of the first rotating member 110 relative to the second rotating member 120 along the first rotation direction S1 is greater than or equal to 180°. For example, the rotation angle of the first rotating member 110 relative to the second rotating member 120 along the second rotation direction S2 is greater than or equal to 180°.

[0038] Similarly, during the rotation of the second rotating member 120 relative to the first rotating member 110 along the first rotation direction S1, the third limiting part 1201 can abut against the eighth limiting part 204 and drive the limiting member 200 to rotate relative to the first rotating member 110 along the first rotation direction S1, so that the fifth limiting part 201 can abut against the second limiting part 1102.

[0039] During the rotation of the second rotating member 120 relative to the first rotating member 110 along the second rotation direction S2, the fourth limiting part 1202 can abut against the seventh limiting part 203, and drive the limiting member 200 to rotate relative to the first rotating member 110 along the second rotation direction S2, so that the sixth limiting part 202 can abut against the first limiting part 1101. The second rotation direction S2 is opposite to the first rotation direction S1, and the sum of the rotation angle of the second rotating member 120 relative to the first rotating member 110 along the first rotation direction S1 and the rotation angle along the second rotation direction S2 is greater than or equal to 360°.

[0040] In some embodiments, such as Figure 2 and Figure 4 As shown, the limiting member 200 also includes an annular structure 210, which is fitted onto the rotating assembly 100 and rotatably connected to the rotating assembly 100 around the central axis L1, and is located between the first limiting part 1101 and the third limiting part 1201 in the extending direction of the central axis L1.

[0041] like Figure 3 As shown, the fifth limiting part 201 and the sixth limiting part 202 are connected to the side of the annular structure 210 near the first limiting part 1101 in the extending direction of the central axis L1. Figure 5 As shown, the seventh limiting part 203 and the eighth limiting part 204 are connected to the side of the annular structure 210 near the third limiting part 1201 in the extension direction of the central axis L1.

[0042] By setting the annular structure 210 of the limiting member 200 and the four limiting portions connected to the annular structure 210 along the extension direction of the central axis L1 between the limiting portion of the first rotating member 110 and the limiting portion of the second rotating member 120, the axial space of the rotating assembly 100 is not occupied, thereby reducing the axial dimension of the rotating structure 10.

[0043] For example, the annular structure 210 is fitted onto the second rotating member 120 of the rotating assembly 100 and is rotatably connected to the second rotating member 120 about the central axis L1.

[0044] In some embodiments, such as Figure 2 As shown, the first rotating member 110 includes a first protrusion 1112 facing the annular structure 210, and a first limiting portion 1101 and a second limiting portion 1102 are located on the first protrusion 1112. Figure 4 As shown, the second rotating member 120 includes a second protrusion 1212 facing the annular structure 210, and a third limiting portion 1201 and a fourth limiting portion 1202 are located on the second protrusion 1212. Figure 3 and Figure 5 As shown, the limiting member 200 also includes a third protrusion 220 facing the first rotating member 110 and a fourth protrusion 230 facing the second rotating member 120. The fifth limiting part 201 and the sixth limiting part 202 are located on the third protrusion 220, and the seventh limiting part 203 and the eighth limiting part 204 are located on the fourth protrusion 230.

[0045] The first rotating member 110 has a first protrusion 1112, on which a first limiting portion 1101 and a second limiting portion 1102 are formed respectively on both sides of the first protrusion 1112 along the circumference of the first rotating member 110. The second rotating member 120 has a second protrusion 1212, on which a third limiting portion 1201 and a fourth limiting portion 1202 are formed respectively on both sides of the second protrusion 1212 along the circumference of the second rotating member 120. The limiting member 200 has a third protrusion 220 and a fourth protrusion 230, on which a fifth limiting portion 201 and a sixth limiting portion 202 are formed respectively on both sides of the third protrusion 220 along the circumference of the limiting member 200, and on both sides of the fourth protrusion 230 along the circumference of the limiting member 200, a seventh limiting portion 203 and an eighth limiting portion 204 are formed respectively. The first rotating member 110, the second rotating member 120, and the limiting member 200 all form their respective limiting portions by providing protrusions, and the limiting structure is simple and reliable.

[0046] For example, such as Figure 2 As shown, there are two first protrusions 1112, which are spaced apart circumferentially along the first rotating member 110. The first limiting part 1101 is located on the side of the first first protrusion 1112 away from the second first protrusion 1112, and the second limiting part 1102 is located on the side of the second first protrusion 1112 away from the first first protrusion 1112.

[0047] Figure 6 The image shown is a front view of a rotating structure provided in another embodiment of this application. Figure 6As shown, there is one first protrusion 1112, and the first limiting part 1101 and the second limiting part 1102 are located on both sides of the first protrusion 1112 along the circumference of the first rotating member 110.

[0048] Figure 7 The image shown is a left view of a rotating structure provided in another embodiment of this application. Figure 8 As shown Figure 7 The rotating structure shown is a cross-sectional view along the AA direction. Figure 9 As shown Figure 8 The rotating structure shown is partially enlarged in region B. The annular structure 210 includes an annular protrusion 2110 facing the rotating assembly 100, and the second rotating member 120 includes an annular support portion 1203 facing the annular protrusion 2110. The central axis L1 extends vertically, and in the vertical direction, the lower surface of the annular protrusion 2110 abuts against the upper surface of the annular support portion 1203. Under the action of gravity, the annular protrusion 2110 presses against the annular support portion 1203, thereby axially limiting the positioning member 200.

[0049] For example, such as Figure 9 As shown, the annular protrusion 2110 faces the first rotating member 110 of the rotating assembly 100, and there is a gap between the side of the annular protrusion 2110 facing the first rotating member 110 and the first rotating member 110. Under the premise that the annular support portion 1203 stably supports the annular protrusion 2110, and when the limiting member 200 rotates relative to the first rotating member 110, friction between the side of the annular protrusion 2110 and the side of the first rotating member 110 can be avoided, so that the limiting member 200 cannot rotate smoothly relative to the first rotating member 110.

[0050] In some embodiments, such as Figure 9 As shown, the annular protrusion 2110 includes an annular protrusion body 2111 and a first lubricating film layer 2112. The annular protrusion body 2111 is disposed toward the rotating assembly 100, and the first lubricating film layer 2112 is disposed on the lower surface of the annular protrusion body 2111, and the first lubricating film layer 2112 abuts against the upper surface of the annular support portion 1203.

[0051] In some embodiments, such as Figure 9 As shown, the annular support portion 1203 includes an annular support portion body 1213 and a second lubricating film layer 1223. The annular support portion body 1213 is disposed toward the annular protrusion 2110, and the second lubricating film layer 1223 is disposed on the upper surface of the annular support portion body 1213 and abuts against the lower surface of the annular protrusion 2110.

[0052] By setting the first lubricating film layer 2112 and the second lubricating film layer 1223, the friction between the lower surface of the annular protrusion 2110 and the upper surface of the annular support portion 1203 is reduced. When the first rotating member 110 drives the limiting member 200 to rotate relative to the second rotating member 120, the friction between the limiting member 200 and the second rotating member 120 is reduced, so as to ensure that the limiting member 200 can rotate smoothly relative to the second rotating member 120.

[0053] For example, both the first lubricating film layer 2112 and the second lubricating film layer 1223 can be molded bushings. Molded bushings are bushings formed into specific shapes and sizes by heating, pressurizing, or using a mold to mold materials such as plastic, rubber, and resin. Molded bushings can be used between adjacent moving mechanical parts to provide isolation and lubrication, reducing friction between adjacent moving mechanical parts, decreasing wear, and extending the service life of the moving mechanical parts.

[0054] In some embodiments, such as Figure 1 , Figure 2 , Figure 4 , Figure 6 , Figure 8 and Figure 9 As shown, the first rotating member 110 includes a driving member 1110 and a first annular limiting structure 1120. The driving member 1110 includes a cylindrical structure 1111, the centerline of which is collinear with the central axis L1. The first annular limiting structure 1120 is fitted onto the outer surface of the cylindrical structure 1111. The first annular limiting structure 1120 includes a first limiting portion 1101 and a second limiting portion 1102. The second rotating member 120 includes an output member 1210, a second annular limiting structure 1220, and a connecting member 1230. The output member 1210 is connected to the driving member 1110 and rotates around the central axis L1 under the drive of the driving member 1110. The second annular limiting structure 1220 is connected to the output member 1210 and rotates around the central axis L1 under the drive of the output member 1210. The connector 1230 is connected to the output member 1210, or the connector 1230 is connected to the second annular limiting structure 1220, or the connector 1230 is connected to the output member 1210 and the second annular limiting structure 1220, and the connector 1230 is configured to connect to the rotating member.

[0055] The drive component 1110 and the output component 1210 form a joint module, which can be a standard component. The first annular limiting structure 1120, the second annular limiting structure 1220, and the connecting component 1230 can be non-standard structural components. The shape of the non-standard structural components can be designed according to the structure of the rotated component, thereby facilitating the manufacturing process of the rotating structure 10.

[0056] For example, the joint module is a harmonic drive joint module. The harmonic drive joint module has a compact structure and occupies little space, which can save space occupied by the rotating structure 10. In addition, the harmonic drive joint module has a small backlash, which can further improve the transmission accuracy of the rotating structure 10.

[0057] For example, the rotating component may be the torso structure 2 or the lower limb structure 3, etc.

[0058] For example, such as Figure 2 As shown, the first annular limiting structure 1120 includes two first protrusions 1112 spaced apart circumferentially along the first annular limiting structure 1120, with a clearance space formed between the two first protrusions 1112, so as to install the portion of the first annular limiting structure 1120 between the first limiting portion 1101 and the second limiting portion 1102 onto the outer surface of the cylindrical structure 1111, thereby improving the installation stability of the first annular limiting structure 1120.

[0059] For example, such as Figure 8 and Figure 9 As shown, the second annular limiting structure 1220 includes an annular support portion 1203.

[0060] In some embodiments, when the first limiting part 1101 abuts against the sixth limiting part 202, the first limiting part 1101 and the sixth limiting part 202 are in surface contact.

[0061] In some embodiments, when the seventh limiting part 203 abuts against the fourth limiting part 1202, the seventh limiting part 203 and the fourth limiting part 1202 are in surface contact.

[0062] In some embodiments, when the second limiting portion 1102 abuts against the fifth limiting portion 201, the second limiting portion 1102 and the fifth limiting portion 201 are in surface contact.

[0063] In some embodiments, when the eighth limiting part 204 abuts against the third limiting part 1201, the eighth limiting part 204 and the third limiting part 1201 are in surface contact.

[0064] The surface contact method allows for a large contact area when the two limiting parts come into contact, preventing damage to the contact position when the two limiting parts come into contact.

[0065] In some embodiments, such as Figure 4 , Figures 8 to 10As shown, the rotating structure 10 also includes a cylindrical shell 300, which is sleeved on the first rotating member 110 and the second rotating member 120, and is fixedly connected to the first rotating member 110. A limiting member 200 is located between the cylindrical shell 300 and the rotating assembly 100, and the extending direction of the cylindrical shell 300 is parallel to the extending direction of the central axis L1. The cylindrical shell 300 has a first alignment hole 301 extending radially along the cylindrical shell 300, and the second rotating member 120 has a second alignment hole 1204 extending radially along the cylindrical shell 300. During the relative rotation of the first rotating member 110 and the second rotating member 120, the center line of the first alignment hole 301 and the center line of the second alignment hole 1204 can be collinear. When the center lines of the first alignment hole 301 and the second alignment hole 1204 are collinear, the rotating assembly 100 is in the zero position.

[0066] The cylindrical housing 300 protects the first rotating member 110, the limiting member 200, the output member 1210 of the second rotating member 120, and the second annular limiting structure 1220, preventing contamination or damage to the first rotating member 110, the limiting member 200, the output member 1210, and the second annular limiting structure 1220. In addition, it can also improve the aesthetic appearance of the rotating structure 10.

[0067] In addition, the zero-position alignment of the rotating assembly 100 is achieved by using the first alignment hole 301 and the second alignment hole 1204, and the alignment method is simple and reliable.

[0068] Figure 11 The diagram shown is a structural schematic of a robot provided in one embodiment of this application. Exemplarily, as... Figure 11 As shown, the first rotating component 110 of the rotating structure 10 is connected to the torso structure 2, and the second rotating component 120 of the rotating structure 10 is connected to the lower limb structure 3. When the rotating assembly 100 is in the zero position, there is no relative rotation between the first rotating component 110 and the second rotating component 120, and both the torso structure 2 and the lower limb structure 3 face directly forward.

[0069] For example, the rotating structure 10 also includes a positioning pin or a locating pin, which passes through the first positioning hole 301 and into the second positioning hole 1204 to achieve zero-position alignment of the rotating assembly 100.

[0070] For example, the first alignment hole 301 is an elongated hole that extends vertically so that the alignment pin or positioning pin can pass through the first alignment hole 301 and into the second alignment hole 1204.

[0071] In some embodiments, such as Figure 1 and Figure 8As shown, the rotating structure 10 has a cable routing hole 1001 extending through the rotating structure 10 along the central axis L1. The cable routing hole 1001 is configured to allow cables to pass through. The center line of the cable routing hole 1001 is collinear with the central axis L1, so that during the relative rotation of the first rotating member 110 and the second rotating member 120, the cable passing through the cable routing hole 1001 is less likely to be cut or damaged.

[0072] For example, the drive member 1110 has a first wiring hole and the output member 1210 has a second wiring hole. The first wiring hole and the second wiring hole are connected along the extension direction of the central axis L1 to form a wiring hole 1001.

[0073] In some embodiments, the diameter of the wiring hole 1001 is greater than or equal to 20 mm.

[0074] The drive structure of the rotating structure 10 in the related technology is relatively small, and the diameter of the through hole for wiring is very small, generally only a few millimeters, which cannot allow a larger number of thicker cables to pass through. In contrast, the rotating component 100 of this application is larger, and the diameter of the wiring hole 1001 is greater than or equal to 20 millimeters, which can allow a larger number of thicker cables to pass through.

[0075] For example, the diameter of the rotating component 100 is 137 mm, and the diameter of the wiring hole 1001 is 23 mm.

[0076] like Figure 11 As shown, the waist structure 1 includes the rotating structure 10 mentioned in the above embodiment. The first rotating member 110 of the rotating structure 10 is connected to the torso structure 2, and the second rotating member 120 of the rotating structure 10 is connected to the lower limb structure 3.

[0077] Since the waist structure 1 includes the rotating structure 10, the waist structure 1 has all the technical features and effects of the rotating structure 10, which will not be described in detail here.

[0078] like Figure 11 As shown, robot 1234 includes the waist structure 1, torso structure 2, lower limb structure 3, and control board 4 mentioned in the above embodiments. The waist structure 1 has a wiring hole 1001 extending through the rotating structure 10 along the central axis L1 of the rotating structure 10 within the waist structure 1. The torso structure 2 is connected to the first rotating member 110 in the waist structure 1, and the lower limb structure 3 is connected to the second rotating member 120 in the waist structure 1. The control board 4 is connected to the torso structure 2, and the cables of the lower limb structure 3 pass through the wiring hole 1001 and are electrically or communicatively connected to the control board 4.

[0079] For example, the torso structure 2 is connected to the drive member 1110 of the first rotating member 110 in the waist structure 1. When the first rotating member 110 rotates relative to the second rotating member 120, the first rotating member 110 drives the torso structure 2 to rotate relative to the lower limb structure 3.

[0080] For example, robot 1234 can be a humanoid robot, a transport robot, etc.

[0081] Since robot 1234 includes waist structure 1, robot 1234 has all the technical features and effects of waist structure 1, which will not be described in detail here.

[0082] The terms "an embodiment" or "embodiment" used in this specification indicate that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Additionally, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not, is within the knowledge scope of those skilled in the art.

[0083] It should be understood that “on,” “above,” and “on top of” in this disclosure should be interpreted in the broadest manner, such that “on” means not only “directly on something” but also “on something” with an intermediate feature or layer therebetween, and that “above” or “on top of” means not only “on top of something” but also “on top of something” without an intermediate feature or layer therebetween (i.e., directly on something).

[0084] Furthermore, for ease of explanation, spatial relative terms such as "below," "below," "under," "above," and "above" may be used to describe the relationship of a component or feature relative to other components or features as shown in the figures. Spatial relative terms are intended to encompass different orientations of components in use or operation other than those shown in the figures. Devices may have other orientations (rotated 90 degrees or in other orientations), and the spatial relative descriptive terms used herein may be interpreted accordingly.

[0085] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0086] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications or equivalent substitutions made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A rotating structure, characterized in that, include: A rotating assembly includes a first rotating member and a second rotating member rotatably connected about a central axis. The first rotating member includes a first limiting part and a second limiting part arranged circumferentially opposite to each other along the central axis. The second rotating member includes a third limiting part and a fourth limiting part arranged circumferentially opposite to each other along the central axis. A limiting member is rotatably connected to the rotating assembly about the central axis. The limiting member includes a fifth limiting part and a sixth limiting part arranged circumferentially opposite to each other along the central axis, and a seventh limiting part and an eighth limiting part arranged circumferentially opposite to each other along the central axis. In the process of the first rotating member rotating relative to the second rotating member along the first rotation direction, the first limiting part can abut against the sixth limiting part and drive the limiting part to rotate relative to the second rotating member along the first rotation direction, so that the seventh limiting part can abut against the fourth limiting part. In the process of the first rotating member rotating relative to the second rotating member along the second rotation direction, the second limiting part can abut against the fifth limiting part and drive the limiting part to rotate relative to the second rotating member along the second rotation direction, so that the eighth limiting part can abut against the third limiting part. The second rotation direction is opposite to the first rotation direction. The sum of the rotation angle of the first rotating member relative to the second rotating member along the first rotation direction and the rotation angle along the second rotation direction is greater than or equal to 360°. The limiting member further includes: A ring structure is fitted onto the rotating assembly and is rotatably connected to the rotating assembly around the central axis, and is located between the first limiting part and the third limiting part in the extending direction of the central axis; The annular structure includes an annular protrusion facing the rotating assembly, and the second rotating member includes an annular support portion facing the annular protrusion. The central axis extends in a vertical direction, and in the vertical direction, the lower surface of the annular protrusion abuts against the upper surface of the annular support portion. The annular protrusion includes: The annular protrusion is positioned toward the rotating assembly; A first lubricating film layer is disposed on the lower surface of the annular protrusion body, and the first lubricating film layer abuts against the upper surface of the annular support portion.

2. The rotating structure according to claim 1, characterized in that, The fifth and sixth limiting portions are connected to the side of the annular structure near the first limiting portion in the direction of extension of the central axis, and the seventh and eighth limiting portions are connected to the side of the annular structure near the third limiting portion in the direction of extension of the central axis.

3. The rotating structure according to claim 2, characterized in that, The first rotating member includes a first protrusion facing the annular structure, and the first limiting portion and the second limiting portion are located on the first protrusion; The second rotating member includes a second protrusion facing the annular structure, and the third limiting portion and the fourth limiting portion are located on the second protrusion; The limiting member further includes a third protrusion facing the first rotating member and a fourth protrusion facing the second rotating member, the fifth limiting part and the sixth limiting part are located on the third protrusion, and the seventh limiting part and the eighth limiting part are located on the fourth protrusion.

4. The rotating structure according to claim 1, characterized in that, The annular support portion includes: The main body of the annular support portion is positioned facing the annular protrusion; A second lubricating film layer is disposed on the upper surface of the annular support body, and the second lubricating film layer abuts against the lower surface of the annular protrusion.

5. The rotating structure according to claim 1, characterized in that, The first rotating member includes: A driving component includes a cylindrical structure, wherein the centerline of the cylindrical structure is collinear with the central axis. A first annular limiting structure is fitted onto the outer surface of the cylindrical structure. The first annular limiting structure includes a first limiting part and a second limiting part. The second rotating member includes: The output component is connected to the driving component and rotates around the central axis under the drive of the driving component. The second annular limiting structure is connected to the output component and rotates around the central axis under the drive of the output component. The connector, connected to the output and / or the second annular limiting structure, is configured to connect the rotating component.

6. The rotating structure according to any one of claims 1 to 5, characterized in that, When the first limiting part abuts against the sixth limiting part, the first limiting part and the sixth limiting part are in surface contact; and / or, When the seventh limiting part abuts against the fourth limiting part, the seventh limiting part and the fourth limiting part are in surface contact; and / or, When the second limiting part abuts against the fifth limiting part, the second limiting part and the fifth limiting part are in surface contact; and / or, When the eighth limiting part abuts against the third limiting part, the eighth limiting part and the third limiting part are in surface contact.

7. The rotating structure according to claim 6, characterized in that, Also includes: A cylindrical shell is sleeved on the first rotating member and the second rotating member, and is fixedly connected to the first rotating member. The limiting member is located between the cylindrical shell and the rotating assembly. The extending direction of the cylindrical shell is parallel to the extending direction of the central axis. The cylindrical shell has a first alignment hole extending radially along the cylindrical shell, and the second rotating member has a second alignment hole extending radially along the cylindrical shell. During the relative rotation of the first rotating member and the second rotating member, the center line of the first alignment hole and the center line of the second alignment hole can be collinear. When the center line of the first alignment hole and the center line of the second alignment hole are collinear, the rotating assembly is in the zero position.

8. The rotating structure according to any one of claims 1 to 5, characterized in that, The rotating structure has a wiring hole extending through the rotating structure along the central axis, the wiring hole being configured to allow a cable to pass through; Wherein, the centerline of the wiring hole is collinear with the central axis, and / or, the diameter of the wiring hole is greater than or equal to 20 mm.

9. A waist structure, characterized in that, include: The rotating structure according to any one of claims 1 to 8, wherein the first rotating member of the rotating structure is connected to the torso structure, and the second rotating member of the rotating structure is connected to the lower limb structure.

10. A robot, characterized in that, include: The waist structure of claim 9, wherein the waist structure has a wiring hole extending through the rotating structure along the extension direction of the central axis of the rotating structure in the waist structure; The torso structure is connected to the first rotating component in the waist structure; The lower limb structure is connected to the second rotating component in the waist structure; The control board is connected to the torso structure, and the cables of the lower limb structure pass through the wiring holes and are electrically or communicatively connected to the control board.

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