Torso structure and robot therefor

Abstract

The present application relates to the technical field of robots, and especially relates to a trunk structure and a robot thereof, which comprises a trunk body, a shoulder assembly, a first driving assembly and a second driving assembly; the shoulder assembly comprises a mounting seat and a movable joint connected between the mounting seat and the trunk body; the first driving assembly is arranged on the trunk body and is drivingly connected with the mounting seat to drive the mounting seat to rotate around a first axis; the second driving assembly is arranged on the trunk body and is drivingly connected with the mounting seat to drive the mounting seat to rotate around a second axis. The first driving assembly and the second driving assembly are respectively drivingly connected with the shoulder assembly, and the first driving assembly and the second driving assembly are orthogonally arranged, so that the structure is compact, the movement of the shoulder assembly in a three-dimensional space can be controlled, the compound action of a human shoulder joint can be simulated, and the mechanical arm has a larger space coverage range.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to torso structures and robots thereof. Background Technology

[0002] In recent years, humanoid robots have been widely used in many fields such as industry, medicine, and services. In order to accomplish various complex operational tasks in the above application scenarios, humanoid robots must have more human-like features and structures.

[0003] The shoulder joints of existing humanoid robots are usually mounted on the robot's torso structure and drive the robotic arm to rotate around the shoulder joint through a drive structure. The shoulder joint itself cannot move in three-dimensional space, making it difficult to fully simulate the complex movements of the human shoulder. Summary of the Invention

[0004] The purpose of this invention is to provide a torso structure and a robot thereof to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A torso structure, comprising:

[0007] Main body of the torso;

[0008] A shoulder assembly, comprising a mounting base, a movable joint, and an arm drive assembly, the movable joint being connected between the mounting base and the torso body;

[0009] A first driving component is disposed on the torso body and drivenly connected to the mounting base to drive the mounting base to rotate about a first axis;

[0010] A second drive assembly is disposed on the torso body and drivenly connected to the mounting base to drive the mounting base to rotate about a second axis;

[0011] The arm drive assembly is mounted on the mounting base, and the arm drive assembly is connected to a robotic arm to drive the robotic arm to rotate around a third axis.

[0012] The first axis is perpendicular to the second axis, and the third axis is perpendicular to the plane jointly defined by the first axis and the second axis.

[0013] Preferably, the torso body includes a fixing base, which is located at the top of the torso body in the height direction;

[0014] The movable joint includes a first rotating shaft and a second rotating shaft, the first rotating shaft being rotatably connected to the fixed base, and the second rotating shaft being rotatably connected to the mounting base;

[0015] The first axis is the central axis of the first rotating shaft, and the second axis is the central axis of the second rotating shaft.

[0016] Preferably, the first drive assembly includes a lateral drive module, the output end of which is connected to a first rocker arm to drive the first rocker arm to rotate around the central axis of the lateral drive module, and the other end of the first rocker arm is rotatably connected to a lateral connecting rod and driven to the mounting base through the lateral connecting rod.

[0017] The second drive assembly includes a longitudinal drive module. The output end of the longitudinal drive module is connected to a second rocker arm to drive the second rocker arm to rotate around the central axis of the longitudinal drive module. The other end of the second rocker arm is rotatably connected to a longitudinal connecting rod and driven to the mounting base through the longitudinal connecting rod.

[0018] Preferably, the first drive assembly further includes a first limiting block, and an installation space for accommodating the first rocker arm is formed between the lateral drive module and the first limiting block. The first rocker arm is rotatably disposed in the installation space, and a first support assembly that rotatably cooperates with the first rocker arm is disposed between the first limiting block and the lateral drive module.

[0019] The second drive assembly further includes a second limiting block, and an installation space for accommodating the first rocker arm is formed between the longitudinal drive module and the second limiting block. A second support assembly that rotatably cooperates with the second rocker arm is provided between the second limiting block and the longitudinal drive module.

[0020] Preferably, the transverse connecting rods and the longitudinal connecting rods are staggered.

[0021] Preferably, the first drive assembly further includes a first bracket, which fixes the lateral drive module to the torso body;

[0022] The second drive assembly also includes a second bracket, which fixes the longitudinal drive module to the torso body.

[0023] Preferably, the mounting base further includes a first connecting end and a second connecting end;

[0024] The first connecting end is connected between the mounting base and the transverse connecting rod, and radial joint bearings are respectively provided between the transverse connecting rod and the first connecting end and between the transverse connecting rod and the first rocker arm, and are rotatably connected through the radial joint bearings.

[0025] The second connecting end is connected between the mounting base and the longitudinal connecting rod, and radial joint bearings are respectively provided between the longitudinal connecting rod and the second connecting end and between the longitudinal connecting rod and the second rocker arm, and are rotatably connected through the radial joint bearings.

[0026] Preferably, the arm drive assembly includes a shoulder joint module and a shoulder joint support;

[0027] The shoulder joint module is fixedly connected to the mounting base, the output end of the shoulder joint module is driven to connect to the shoulder joint bracket, and the shoulder joint bracket is connected to the robotic arm.

[0028] Preferably, the robotic arm includes an upper arm, an elbow joint, a forearm, and a wrist joint connected in sequence;

[0029] The upper arm includes an upper arm joint module and a horizontal rotation joint module. The output end of the upper arm joint module is fixedly connected to the shoulder joint bracket to drive the robotic arm to rotate.

[0030] The horizontal rotation joint module is connected between the upper arm and the elbow joint to drive the elbow joint to rotate the forearm and wrist joint.

[0031] The elbow joint includes an elbow joint module and a second bracket. The output end of the elbow joint module is driven to connect to the second bracket, and the second bracket is connected to the forearm to drive the forearm to rotate.

[0032] The forearm includes a forearm joint module, and the output end of the forearm joint module is driven to connect to the wrist joint to drive the wrist joint.

[0033] A wrist joint module is installed at the end of the wrist joint.

[0034] A robot comprising the aforementioned torso structure.

[0035] Compared with the prior art, the present invention provides a torso structure and its robot, which has the following beneficial effects:

[0036] The present invention connects the first drive component and the second drive component to the shoulder component respectively. The first drive component and the second drive component are arranged orthogonally, with a compact structure. It can control the movement of the shoulder component in three-dimensional space to simulate the complex movements of the human shoulder joint, thereby giving the robotic arm a larger spatial coverage range. Attached Figure Description

[0037] Figure 1 This is a front view structural diagram of the present invention;

[0038] Figure 2 This is a schematic diagram of the rear view structure of the present invention in the drooping shoulder state;

[0039] Figure 3 This is a side view of the rear shoulder clamping structure of the present invention;

[0040] Figure 4 This is a front view schematic diagram of the connection structure between the shoulder assembly and the fixing base of the present invention;

[0041] Figure 5 This is an exploded view of the shoulder structure of the present invention;

[0042] Figure 6 This is an isometric schematic diagram of a partial structure of the mounting base of the present invention;

[0043] Figure 7 This is an exploded view of the main body structure of the torso of the present invention;

[0044] Figure 8 This is an isometric schematic diagram of the layout structure of the first driving component and the second driving component of the present invention;

[0045] Figure 9 This is an isometric schematic diagram of the first drive component of the present invention;

[0046] Figure 10 This is a top view of the first drive component of the present invention;

[0047] Figure 11 This is an isometric schematic diagram of the first limiting block structure of the present invention;

[0048] Figure 12 This is a partial cross-sectional schematic diagram of the connection structure between the first rocker arm, the lateral drive module, and the first limiting block of the present invention;

[0049] Figure 13 This is an isometric schematic diagram of the second drive component of the present invention;

[0050] Figure 14 This is a side view schematic diagram of the second drive component of the present invention;

[0051] Figure 15 This is an isometric schematic diagram of the second limiting block of the present invention;

[0052] Figure 16 A partial cross-sectional view of the connection structure between the second rocker arm and the longitudinal drive module and the second limiting block;

[0053] Figure 17 This is a side view of the robotic arm structure of the present invention;

[0054] Figure 18 This is an isometric schematic diagram of the robotic arm structure of the present invention.

[0055] In the diagram: 100, main body; 110, mounting base; 111, support; 112, fixing block; 120, power supply compartment; 121, base plate; 122, side plate; 123, top plate; 124, baffle.

[0056] 200, Shoulder assembly; 210, Movable joint; 211, First pivot; 212, Second pivot; 220, Mounting base; 221, Hinge lug; 223, First connecting end; 224, Second connecting end; 230, Arm drive assembly; 231, Shoulder joint module; 232, Shoulder joint support; 2321, Fixed end; 2322, First bracket;

[0057] 300. Robotic arm; 310. Upper arm; 311. Upper arm joint module; 312. Upper arm connecting block; 313. Parallel joint module; 314. Rotary ring shell; 320. Elbow joint; 321. Elbow joint module; 322. Second bracket; 330. Forearm; 331. Forearm joint module; 332. Forearm wire cover; 340. Wrist joint; 341. Wrist joint module;

[0058] 400, First drive assembly; 410, Lateral drive module; 420, First bracket; 421, First base; 422, First ring; 430, First limiting block; 431, First limiting groove; 440, First rocker arm; 450, Lateral connecting rod; 460, First support assembly; 461, First upper support member; 462, First lower support member;

[0059] 500, Second drive assembly; 510, Longitudinal drive module; 520, Second bracket; 521, Second base; 522, Second ring; 530, Second limiting block; 531, Second limiting groove; 540, Second rocker arm; 550, Longitudinal connecting rod; 560, Second support assembly; 561, Second upper support member; 562, Second lower support member. Detailed Implementation

[0060] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0061] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They 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. Therefore, they should not be construed as limitations on this invention.

[0062] Example 1:

[0063] like Figure 1 - Figure 18 As shown, a torso structure includes:

[0064] Main body of the torso 100;

[0065] Shoulder assembly 200 includes a mounting base 220 and a movable joint 210. The movable joint 210 is connected between the mounting base 220 and the torso body 100. The movable joint 210 connects the mounting base 220 and the torso body 100 and allows the mounting base 220 to move relative to the torso body 100 around the movable joint 210 to simulate the shoulder joint movement of the human body.

[0066] The first drive assembly 400 is disposed on the torso body 100 and drivenly connected to the mounting base 220 to drive the mounting base 220 to rotate around the first axis, thereby realizing a forward and backward shoulder clamping action similar to that of the human shoulder joint.

[0067] The second drive assembly 500 is disposed on the torso body 100 and drivenly connected to the mounting base 220 to drive the mounting base 220 to rotate around the second axis, thereby realizing shoulder raising and drooping movements similar to those of the human shoulder joint.

[0068] The arm drive assembly 230 is mounted on the mounting base 220 and drives the robotic arm 300 to rotate around the third axis to achieve a swinging motion. This allows the robotic arm 300 to have a higher degree of freedom of movement in three-dimensional space, enabling it to simulate the multi-degree-of-freedom compound motion of the human shoulder joint structure and achieve actions such as forward shoulder clamping, backward shoulder clamping, shoulder drooping, and shoulder shrugging. It can also achieve a more human-like hugging function and expand the reach of the end effector of the robotic arm 300.

[0069] The first axis is perpendicular to the second axis, and the third axis is perpendicular to the plane jointly defined by the first axis and the second axis.

[0070] In an embodiment, such as Figure 1 , Figure 2 As shown, the torso body 100 includes a fixing seat 110, which is located at the top of the torso body 100 in the height direction;

[0071] In an embodiment, such as Figure 4 As shown, a fixed seat 110 is installed on the torso body 100. Two independent movable joints 210 are installed in the fixed seat 110. The two movable joints 210 are symmetrically distributed along the central axis of the longitudinal direction of the torso body 100 and are respectively connected to shoulder components 200 to simulate the shoulder structure of a humanoid.

[0072] Alternatively, in another embodiment, two fixed seats 110 are symmetrically mounted on the torso body 100. The two fixed seats 110 are symmetrically distributed along the central axis of the longitudinal direction of the torso body 100, and each fixed seat 110 is equipped with a movable joint 210 to connect with the shoulder assembly 200 through the movable joint 210, so as to simulate the shoulder structure of a humanoid.

[0073] Specifically, such as Figure 7 As shown, the fixed base 110 includes two supports 111 that are distributed longitudinally and arranged opposite to each other. In the initial state, the two supports 111 are kept horizontally arranged. The two supports 111 are connected by a longitudinally arranged fixed block 112. The movable joint 210 is arranged between the two supports 111 to facilitate installation and disassembly.

[0074] The movable joint 210 includes a first rotating shaft 211 and a second rotating shaft 212. The first rotating shaft 211 and the second rotating shaft 212 are integrally connected. The first rotating shaft 211 is rotatably connected to the fixed base 110.

[0075] Specifically, the central axis of the first rotating shaft 211 is perpendicular to the end face opposite to the support 111. The first rotating shaft 211 passes through the support 111 along its central axis direction, and a bearing is provided between the first rotating shaft 211 and the support 111 to achieve a rotatable connection.

[0076] The second rotating shaft 212 is rotatably connected to the mounting base 220. Specifically, one end of the mounting base 220 relative to the movable joint 210 is connected to a hinge ear 221 by bolts. During installation, the second rotating shaft 212 is rotatably connected to the hinge ear 221, and a bearing is also provided between the second rotating shaft 212 and the hinge ear 221.

[0077] like Figure 5 As shown, the first pivot 211 and the second pivot 212 are of equal length, similar to the ball-and-socket joint of the human shoulder, enabling the shoulder assembly 200 to achieve multi-dimensional movements through the movable joint 210. The first axis is the central axis of the first pivot 211, and the second axis is the central axis of the second pivot 212.

[0078] Specifically, such as Figure 2 As shown, the first drive assembly 400 drives the entire shoulder assembly 200 to rotate around the fixed base 110 via the first rotating shaft 211 to achieve a horizontal back-and-forth swinging motion; the second drive assembly 500 drives the mounting base 220 of the shoulder assembly 200 to rotate vertically around the second rotating shaft 212 to achieve the up-and-down shoulder lifting operation.

[0079] In some embodiments, such as Figure 7As shown, the main body 100 also includes a power supply compartment 120, which is located in the central area of ​​the main body 100. The mounting base 110 is fixedly installed on the top of the power supply compartment 120 in the vertical direction. The power supply compartment 120 is formed by a bottom plate 121, side plates 122, top plate 123 and baffle 124. Side plates 122 are symmetrically arranged on both sides of the vertical central axis of the bottom plate 121. The top of the side plates 122 in the vertical direction is provided with a top plate 123 opposite to the bottom plate 121. The baffle 124 is used to close one side opening of the rectangular space formed by the bottom plate 121, the two side plates 122 and the top plate 123 to form an accommodating space. The power supply compartment 120 is used to place the power modules required to drive the robot to run. Installing the power modules in the power supply compartment 120 makes the center of gravity structure of the robot structure more reasonable and the operation more stable.

[0080] The base plate 121, side plate 122, top plate 123 and baffle 124 are all provided with threaded holes of different specifications to facilitate the connection of components used to assemble the robot.

[0081] In an embodiment, such as Figure 8 , Figure 9 and Figure 10 As shown, the first drive assembly 400 includes a first bracket 420 and a lateral drive module 410, with the first bracket 420 fixing the lateral drive module 410 to the torso body 100.

[0082] like Figure 8 , Figure 13 and Figure 14 As shown, the second drive assembly 500 includes a second bracket 520 and a longitudinal drive module 510, with the second bracket 520 fixing the longitudinal drive module 510 to the torso body 100.

[0083] Specifically, the first bracket 420 includes a first ring body 422 and a first base 421. The first ring body 422 is fixedly connected to the outer shell of the lateral drive module 410 to prevent the lateral drive module 410 from falling off. The first base 421 is connected to the torso body 100 by bolts to fix the lateral drive module 410. When the drive mounting base 220 rotates around the first axis, the lateral drive module 410 remains fixed, thereby avoiding interference with the structure in the torso body 100.

[0084] Similarly, the second bracket 520 includes a second ring body 522 and a second base 521. The second ring body 522 is fixedly connected to the housing of the longitudinal drive module 510 to prevent the longitudinal drive module 510 from falling off. The second base 521 is connected to the torso body 100 by bolts to fix the longitudinal drive module 510.

[0085] This allows the lateral drive module 410 and the longitudinal drive module 510 to remain stationary while the drive mounting base 220 moves, thus avoiding interference with other structures in the torso body 100. Furthermore, there is no need to reserve space for the lateral drive module 410 and the longitudinal drive module 510 during the design phase, thereby minimizing the overall torso structure volume of the robot and enabling the shoulder assembly 200 to move within a small space, achieving human-like shoulder clamping and shrugging movements.

[0086] In some embodiments, the first base 421 and the second base 521 are fixedly connected to the side plate 122 of the power compartment 120 by bolts, so as to fix the lateral drive module 410 and the longitudinal drive module 510 on the outer side wall of the power compartment 120.

[0087] In an embodiment, such as Figure 10 , Figure 11 As shown, the output end of the lateral drive module 410 is connected to a first rocker arm 440 to drive the first rocker arm 440 to rotate. The other end of the first rocker arm 440 is rotatably connected to a lateral connecting rod 450 and driven to the mounting base 220 through the lateral connecting rod 450. In this embodiment, the lateral drive module 410 is a joint motor. The lateral drive module 410 is arranged longitudinally, and its output end is connected to the first rocker arm 440 to drive the first rocker arm 440 to rotate in the horizontal direction. The first rocker arm 440 is rotatably connected to the lateral connecting rod 450 to form a crank rocker structure. Through the lateral connecting rod 450, the shoulder assembly 200 is pushed or pulled to rotate around the first pivot 211 of the movable joint 210, thereby realizing the forward and backward shoulder clamping action.

[0088] like Figure 13 , Figure 14 As shown, the output end of the longitudinal drive module 510 is connected to a second rocker arm 540 to drive the second rocker arm 540 to rotate. The other end of the second rocker arm 540 is rotatably connected to a longitudinal connecting rod 550 and is driven to the mounting base 220 through the longitudinal connecting rod 550.

[0089] In an embodiment, such as Figure 8 As shown, the longitudinal drive module 510 is also a joint motor, and the longitudinal drive module 510 and the transverse drive module 410 are arranged orthogonally. Its output end is connected to the second rocker arm 540 to drive the second rocker arm 540 to rotate in the vertical direction. The second rocker arm 540 is rotatably connected to the longitudinal connecting rod 550 to form a crank rocker structure. Thus, the longitudinal connecting rod 550 pushes or pulls the mounting base 220 to rotate around the second rotating shaft 212 relative to the movable joint 210, thereby realizing the up and down shoulder shrugging action.

[0090] In other embodiments, the first drive assembly 400 and the second drive assembly 500 may also be one of orthogonally distributed linear actuator assemblies, gear and rack drive assemblies, synchronous belt drive assemblies, or worm gear drive assemblies.

[0091] The shoulder assembly 200 is independently driven to rotate by the lateral drive module 410 and the longitudinal drive module 510, thereby controlling the posture of the shoulder assembly 200 and enabling the shoulder assembly 200 to swing back and forth and up and down along the movable joint 210 in three-dimensional space, further improving the movement flexibility and anthropomorphism of the robot's torso structure.

[0092] Meanwhile, the crank-rocker transmission structure ensures that the shoulder component 200 always has a stable support structure during movement. The transmission structure is simple, compact, and highly efficient, enabling the shoulder component 200 to achieve multi-dimensional movements within a small space.

[0093] In an embodiment, such as Figure 6 As shown, the mounting base 220 also includes a first connecting end 223 and a second connecting end 224;

[0094] The first connecting end 223 is connected between the mounting base 220 and the transverse connecting rod 450, and radial joint bearings are respectively provided between the transverse connecting rod 450 and the first connecting end 223 and between the transverse connecting rod 450 and the first rocker arm 440, and are rotatably connected through the radial joint bearings.

[0095] The second connecting end 224 is connected between the mounting base 220 and the longitudinal connecting rod 550, and radial joint bearings are respectively provided between the longitudinal connecting rod 550 and the second connecting end 224 and between the longitudinal connecting rod 550 and the second rocker arm 540, and are rotatably connected through the radial joint bearings.

[0096] The two ends of the transverse connecting rod 450 are rotatably connected to the first rocker arm 440 and the first connecting end 223 respectively through radial spherical bearings; the two ends of the longitudinal connecting rod 550 are rotatably connected to the first rocker arm 440 and the first connecting end 223 respectively through radial spherical bearings. This allows the transverse connecting rod 450 and the longitudinal connecting rod 550 to adapt to the angle changes of the mounting base 220 caused by multi-axis rotation when driving the mounting base 220 to move, avoiding rigid tension or motion interference between the connecting rod and the mounting base 220, thereby ensuring smooth transmission.

[0097] Among them, such as Figure 8 As shown, the transverse connecting rod 450 and the longitudinal connecting rod 550 are staggered.

[0098] In this embodiment, the lateral link 450 and the longitudinal link 550 are staggered, which can effectively prevent the lateral link 450 and the longitudinal link 550 from colliding or interfering with each other during their respective strokes. This ensures that the lateral link 450 and the longitudinal link 550 can move independently and efficiently to push or pull the mounting base 220, thereby controlling the shoulder assembly 200 to swing flexibly in three-dimensional space through the lateral drive module 410 and the longitudinal drive module 510.

[0099] In an embodiment, such as Figure 10 , Figure 11 , Figure 12 As shown, the first drive assembly 400 further includes a first limiting block 430, which is mounted on the transverse drive module 410. The first limiting block 430 is bolted to the outside of the output end of the transverse drive module 410. The first rocker arm 440 is disposed in the installation space formed between the first limiting block 430 and the transverse drive module 410. The first support assembly 460 includes a first upper support member 461 and a first lower support member 462. The first upper support member 461 is disposed between the first rocker arm 440 and the first limiting block 430, and the first lower support member 462 is disposed between the first rocker arm 440 and the transverse drive module 410, thereby allowing the first upper support member 461 to move the rocker arm 440 ... The support member 461 and the first lower support member 462 fix the first rocker arm 440 between the first limiting block 430 and the transverse drive module 410, and rotate under the drive of the output end of the transverse drive module 410. The first upper support member 461 and the first lower support member 462 are respectively set at the gap between the first rocker arm 440 and the first limiting block 430 and the first rocker arm 440 and the transverse drive module 410, to disperse the bias load transmitted by the first connecting rod, avoid the bias load from being transmitted to the transverse drive module 410, protect the transverse drive module 410, extend its service life, and at the same time eliminate the vertical clearance jump of the first rocker arm 440, improving its transmission stability.

[0100] Among them, the first upper support 461 and the first lower support 462 are bushings or bearings.

[0101] The first limiting block 430 is provided with two first limiting grooves 431. Both first limiting grooves 431 are located on the rotation path of the first rocker arm 440 and can abut against the side wall of the first rocker arm 440. When the first rocker arm 440 rotates to abut against one of the first limiting grooves 431, it prevents the first rocker arm 440 from continuing to move in that rotation direction.

[0102] Two first limiting grooves 431 are used to limit the rotation range of the first rocker arm 440, thereby controlling the range of motion of the shoulder assembly 200 around the first pivot 211.

[0103] In this embodiment, the two first limiting grooves 431 are located on the same diameter line of the first limiting groove 431 and are symmetrically distributed at both ends of the first limiting groove 431 in the radial direction. The diameter line is parallel to the direction of movement of the transverse connecting rod 450, so as to avoid the first rocker arm 440 from being damaged due to excessive rotation causing the transverse connecting rod 450 to interfere with other structures in the torso body 100.

[0104] In an embodiment, such as Figure 14 , Figure 15 and Figure 16 As shown, the second drive assembly 500 also includes a second limiting block 530, which is mounted on the longitudinal drive module 510. The second limiting block 530 is bolted to the outside of the output end of the longitudinal drive module 510. The second rocker arm 540 is disposed in the installation space formed between the second limiting block 530 and the longitudinal drive module 510. The second support assembly 560 includes a second upper support member 561 and a second lower support member 562. The second upper support member 561 is disposed between the second rocker arm 540 and the second limiting block 530, and the second lower support member 562 is disposed between the second rocker arm 540 and the longitudinal drive module 510, thereby allowing the second rocker arm 540 to move through the longitudinal drive module 510. The upper support member 561 and the lower support member 562 fix the second rocker arm 540 between the second limiting block 530 and the longitudinal drive module 510, and rotate under the drive of the longitudinal drive module 510. The second upper support member 561 and the second lower support member 562 are respectively set at the gaps between the second rocker arm 540 and the second limiting block 530 and between the second rocker arm 540 and the longitudinal drive module 510, in order to disperse the bias load transmitted by the second connecting rod, avoid the bias load from being transmitted to the longitudinal drive module 510, protect the longitudinal drive module 510, extend its service life, and at the same time eliminate the vertical clearance jump of the second rocker arm 540, thereby improving its transmission stability.

[0105] Among them, the second upper support 561 and the second lower support 562 are bushings or bearings.

[0106] Similarly, the second limiting block 530 is a second limiting block 530. The second limiting block 530 is installed on the outside of the output end of the longitudinal drive module 510 by bolts. The second limiting block 530 is provided with two second limiting grooves 531. Both limiting grooves are located on the rotation path of the second rocker arm 540 and can abut against the side wall of the arm body of the second rocker arm 540. When the second rocker arm 540 rotates to abut against one of the second limiting grooves 531, it prevents the second rocker arm 540 from continuing to move in that rotation direction.

[0107] Two second limiting grooves 531 are used to limit the rotation range of the second rocker arm 540, thereby controlling the range of motion of the shoulder assembly 200 about the second pivot 212.

[0108] In this embodiment, the two second limiting grooves 531 are located on the same diameter line of the second limiting grooves 531 and are symmetrically distributed at both ends of the diameter line. The diameter line is parallel to the direction of movement of the longitudinal connecting rod 550, so as to avoid the second rocker arm 540 from driving the longitudinal connecting rod 550 to interfere with other structures in the body 100 due to excessive rotation, causing damage.

[0109] The first rocker arm 440 and the first limiting groove 431, and the second rocker arm 540 and the second limiting groove 531, are all in surface contact abutment fit, which can reduce the pressure at the contact parts and avoid structural deformation and wear caused by local stress concentration during long-term use. At the same time, the surface contact fit can also make the limiting function more stable and will not cause shaking or jamming that may occur with point contact or line contact.

[0110] In an embodiment, such as Figure 5 As shown, the arm drive assembly 230 includes a shoulder joint module 231 and a shoulder joint support 232;

[0111] The shoulder joint module 231 is fixedly connected to the mounting base 220. The output end of the shoulder joint module 231 is driven to connect to the shoulder joint bracket 232. The shoulder joint bracket 232 is connected to the robotic arm 300. The shoulder joint bracket 232 includes a fixed end 2321 and a first bracket 2322. The shoulder joint module 231 is installed on the fixed end 2321. The fixed end 2321 is fixedly connected to the mounting base 220 by bolts, thereby fixing the shoulder joint module 231.

[0112] One end of the first bracket 2322 is rotatably connected to the fixed end 2321 and fixedly connected to the output end of the shoulder joint module 231 so as to drive the relative fixed end 2321 to rotate around the third axis through the shoulder joint module 231. The other end of the first bracket 2322 is connected to the robotic arm 300 so as to drive the robotic arm 300 to rotate around the third axis as a whole.

[0113] Among them, the shoulder joint module 231 is a joint motor, which controls the swing of the robotic arm 300 to achieve actions such as raising, lowering, and swinging the arm, which are similar to the structure of a human arm.

[0114] like Figure 16 , Figure 17 As shown, the robotic arm 300 includes an upper arm 310, an elbow joint 320, a forearm 330, and a wrist joint 340 that are connected in sequence.

[0115] The upper arm 310 includes an upper arm joint module 311 and a horizontal rotation joint module 313. The output end of the upper arm joint module 311 is fixedly connected to the shoulder joint bracket 232. The output end of the upper arm joint module 311 is fixedly connected to the first bracket 2322 of the shoulder joint bracket 232 to drive the upper arm joint module 311 to rotate relative to the first bracket 2322, thereby controlling the overall robotic arm 300 to rotate around the fourth axis and move relatively closer to or away from the torso body 100.

[0116] Specifically, the upper arm joint module 311 is a joint motor, the fourth axis is the rotation center line of the upper arm joint module 311, and the fourth axis is parallel to the second axis.

[0117] In this embodiment, the upper arm 310 further includes an upper arm connecting block 312. The two ends of the upper arm connecting block 312 are respectively connected between the upper arm joint module 311 and the horizontal joint module 313 via flanges. The upper arm connecting block 312 and the upper arm joint module 311 are orthogonally arranged. The upper arm connecting block 312 has a cavity inside to facilitate wiring between the upper arm joint module 311 and the horizontal joint module 313.

[0118] The rotary joint module 313 is connected between the upper arm 310 and the elbow joint 320 to drive the elbow joint 320 to rotate the forearm 330 and wrist joint 340. Specifically, the rotary joint module 313 is used to drive the elbow joint 320 and the forearm 330 and wrist joint 340 connected to the elbow joint 320 to rotate around the fifth axis at a specific angle, so that the end effector of the robotic arm 300 can flexibly adjust and change the working direction during operation. When grasping objects in different positions or performing multi-station operations, it is not necessary to move the entire torso 100. The orientation of the end effector can be quickly adjusted by driving and controlling the rotary joint module 313, thereby improving the operational flexibility of the robotic arm 300.

[0119] Among them, the translational joint module 313 is a joint motor, and the fifth axis is the rotation center line of the output end of the translational joint module 313. The fifth axis is perpendicular to the fourth axis.

[0120] The elbow joint 320 includes an elbow joint module 321 and a second bracket 322. The output end of the elbow joint module 321 is driven to connect to the second bracket 322. The second bracket 322 is connected to the forearm 330 and is used to drive the second bracket 322 to rotate the forearm 330 and the wrist joint 340 connected to the forearm 330 around the sixth axis to realize the elbow flexion action.

[0121] Specifically, the elbow joint module 321 is a joint motor. The elbow joint module 321 is orthogonally arranged relative to the rotary joint module 313. The sixth axis is the rotation center line of the output end of the elbow joint module 321. A rotating ring shell 314 is also connected between the rotary joint module 313 and the elbow joint module 321 to organize and hide the internal wiring.

[0122] The forearm 330 includes a forearm joint module 331. The output end of the forearm joint module 331 drives the wrist joint 340 to rotate around the seventh axis, thereby achieving a rotational movement at a specific angle.

[0123] Among them, the forearm joint module 331 is a joint motor, and the seventh axis is the rotation center line of the output end of the forearm joint module 331.

[0124] A wrist joint module 341 is installed at the end of the wrist joint 340 for connecting an end effector. The wrist joint module 341 is used to control the movement of the end effector relative to the wrist joint 340 to achieve wrist flipping. The end effector includes, but is not limited to, a gripper, a bionic hand, or a suction cup, for grasping or holding objects of different shapes and materials.

[0125] Among them, the forearm joint module 331 and the wrist joint 340 are connected by a forearm cable cover 332 for organizing and hiding the wiring.

[0126] Specifically, the wrist joint module 341 includes, but is not limited to, joint motors, servo motors, synchronous motors, etc.

[0127] Example 2:

[0128] Embodiment 2 also provides a robot, which includes the torso structure of Embodiment 1. Specifically, the robot is a humanoid robot including the torso structure described above.

[0129] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A torso structure, characterized in that, include: Main body of the torso (100); A shoulder assembly (200) includes a mounting base (220), a movable joint (210), and an arm drive assembly (230), the movable joint (210) being connected between the mounting base (220) and the torso body (100); A first drive assembly (400) is disposed on the torso body (100) and drivenly connected to the mounting base (220) to drive the mounting base (220) to rotate around a first axis; The second drive assembly (500) is disposed on the torso body (100) and drivenly connected to the mounting base (220) to drive the mounting base (220) to rotate about a second axis; The arm drive assembly (230) is mounted on the mounting base (220), and the arm drive assembly (230) drives the robotic arm (300) to rotate around the third axis. The first axis is perpendicular to the second axis, and the third axis is perpendicular to the plane jointly defined by the first axis and the second axis.

2. The torso structure according to claim 1, characterized in that, The torso body (100) includes a fixing seat (110) located at the top of the torso body (100) in the height direction; The movable joint (210) includes a first rotating shaft (211) and a second rotating shaft (212). The first rotating shaft (211) is rotatably connected to the fixed base (110), and the second rotating shaft (212) is rotatably connected to the mounting base (220). The first axis is the central axis of the first rotating shaft (211), and the second axis is the central axis of the second rotating shaft (212).

3. The torso structure according to claim 1, characterized in that, The first drive assembly (400) includes a lateral drive module (410), the output end of which is connected to a first rocker arm (440) to drive the first rocker arm (440) to rotate around the central axis of the lateral drive module (410), and the other end of the first rocker arm (440) is rotatably connected to a lateral connecting rod (450) and driven to the mounting base (220) through the lateral connecting rod (450). The second drive assembly (500) includes a longitudinal drive module (510), the output end of which is connected to a second rocker arm (540) to drive the second rocker arm (540) to rotate around the central axis of the longitudinal drive module (510), and the other end of the second rocker arm (540) is rotatably connected to a longitudinal connecting rod (550) and driven to the mounting base (220) through the longitudinal connecting rod (550).

4. The torso structure according to claim 3, characterized in that, The first drive assembly (400) further includes a first limiting block (430), and an installation space for accommodating the first rocker arm (440) is formed between the lateral drive module (410) and the first limiting block (430). The first rocker arm (440) is rotatably disposed in the installation space. A first support assembly (460) that rotatably cooperates with the first rocker arm (440) is provided between the first limiting block (430) and the lateral drive module (410). The second drive assembly (500) further includes a second limiting block (530), and an installation space for accommodating the first rocker arm (440) is formed between the longitudinal drive module (510) and the second limiting block (530). A second support assembly (560) is provided between the second limiting block (530) and the longitudinal drive module (510) to rotate with the second rocker arm (540).

5. The torso structure according to claim 3, characterized in that, The transverse connecting rod (450) and the longitudinal connecting rod (550) are staggered.

6. The torso structure according to claim 4, characterized in that, The first drive assembly further includes (400) a first bracket (420) that fixes the lateral drive module (410) to the torso body (100). The second drive assembly also includes a second bracket (520) which fixes the longitudinal drive module (510) to the torso body (100).

7. The torso structure according to claim 6, characterized in that, The mounting base (220) also includes a first connecting end (223) and a second connecting end (224); The first connecting end (223) is connected between the mounting base (220) and the transverse connecting rod (450), and radial joint bearings are respectively provided between the transverse connecting rod (450) and the first connecting end (223) and between the transverse connecting rod (450) and the first rocker arm (440), and are rotatably connected through the radial joint bearings; The second connecting end (224) is connected between the mounting base (220) and the longitudinal connecting rod (550), and radial joint bearings are respectively provided between the longitudinal connecting rod (550) and the second connecting end (224) and between the longitudinal connecting rod (550) and the second rocker arm (540), and are rotatably connected through the radial joint bearings.

8. The torso structure according to any one of claims 1-7, characterized in that, The arm drive assembly (230) includes a shoulder joint module (231) and a shoulder joint support (232). The shoulder joint module (231) is fixedly connected to the mounting base (220), and the output end of the shoulder joint module (231) is driven to connect to the shoulder joint bracket (232). The shoulder joint bracket (232) is connected to the robotic arm (300).

9. The torso structure according to claim 8, characterized in that, The robotic arm (300) includes an upper arm (310), an elbow joint (320), a forearm (330), and a wrist joint (340) connected in sequence. The upper arm (310) includes an upper arm joint module (311) and a horizontal rotation joint module (313). The output end of the upper arm joint module (311) is fixedly connected to the shoulder joint bracket (232) to drive the robotic arm (300) to rotate. The horizontal rotation joint module (313) is connected between the upper arm (310) and the elbow joint (320) to drive the elbow joint (320) to rotate the forearm (330) and wrist joint (340); The elbow joint (320) includes an elbow joint module (321) and a second bracket (322). The output end of the elbow joint module (321) is driven to connect to the second bracket (322). The second bracket (322) is connected to the forearm (330) to drive the second bracket (322) to rotate the forearm (330). The forearm (330) includes a forearm joint module (331), the output end of which is driven to connect to the wrist joint (340) to drive the wrist joint (340). The wrist joint (340) is equipped with a wrist joint module (341) at its end.

10. A robot, characterized in that, The robot includes the torso structure as described in any one of claims 1 to 9.

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