Waist structure for humanoid robots and humanoid robots

Abstract

This application discloses a waist structure for a humanoid robot and the humanoid robot itself. The waist structure includes: a first support base, a first drive device, a second support base, a second drive device, and a transfer structure. The first output shaft of the first drive device and the second output shaft of the second drive device are spaced apart. The transfer structure is rotatably connected to both the first and second support bases. The first output shaft is driveably connected to the transfer structure, driving the transfer structure to rotate the second support base around a first axis. The second output shaft is driveably connected to the transfer structure, driving the second support base to rotate around a second axis. The first and second axes intersect. According to the waist structure of this application, the difference between the waist structure movements of the humanoid robot and the waist movements of a real person can be reduced, making the waist structure movements closer to those of a real person, thereby improving the overall coordination of the humanoid robot.

Description

Technical Field

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

[0002] The waist structure of a humanoid robot is the core joint connecting the chest and hip structures. In related technologies, the waist structure of humanoid robots often uses multiple drive devices connected in series to achieve lateral swinging in the left and right directions and pitching in the front and back directions. The axes around which the lateral swinging and pitching movements are located are spaced apart in the height direction of the humanoid robot, which is quite different from the waist movements of a real person and affects the overall coordination of the humanoid robot. Summary of the Invention

[0003] This application aims to at least partially address one of the aforementioned technical problems in the prior art. To this end, this application proposes a waist structure for a humanoid robot that can reduce the gap between the waist structure movements of the humanoid robot and the waist movements of a real person, thereby improving the overall coordination of the humanoid robot.

[0004] This application also proposes a humanoid robot with the aforementioned waist structure.

[0005] The waist structure for a humanoid robot according to an embodiment of this application includes: a first support base, a first driving device, a second support base, a second driving device, and a transfer structure. The first support base is adapted to be connected to the hip structure of the humanoid robot. The first driving device is fixedly installed on the first support base and includes a first output shaft. The second support base is adapted to be connected to the chest structure of the humanoid robot. The second driving device is fixedly installed on the second support base and includes a second output shaft. The first output shaft and the second output shaft are spaced apart. The transfer structure is rotatably connected to the first support base and the second support base. The first output shaft is driveably connected to the transfer structure, and the first output shaft is used to drive the transfer structure to rotate the second support base around a first axis. The second output shaft is driveably connected to the transfer structure, and the second output shaft is used to drive the second support base to rotate around a second axis. The first axis and the second axis intersect.

[0006] According to the embodiments of this application, the waist structure for a humanoid robot has a first axis intersecting with a second axis, thereby reducing the gap between the waist structure movement of the humanoid robot and the waist movement of a real person, making the waist structure movement closer to the waist movement of a real person, and thus making the overall coordination of the humanoid robot higher.

[0007] According to some embodiments of this application, in the height direction of the humanoid robot, the first driving device is located below the transfer structure, the second driving device is located above the transfer structure, the first output shaft is perpendicular to the second output shaft, the first output shaft is parallel to the first axis, and the second output shaft is parallel to the second axis.

[0008] According to some embodiments of this application, the transfer structure includes: a first shaft portion and a second shaft portion, the first shaft portion being rotatably supported on a first support base, the axis of the first shaft portion being the first axis, the second shaft portion being fixedly connected to the first shaft portion, the second support base being rotatably supported on the second shaft portion, the axis of the second shaft portion being the second axis.

[0009] According to some embodiments of this application, the waist structure further includes: a first transmission structure and a second transmission structure, wherein the first output shaft is connected to the transfer structure via the first transmission structure, and the first driving device drives the transfer structure to rotate the second support seat around the first axis via the first transmission structure; the second output shaft is connected to the transfer structure via the second transmission structure, and the second driving device drives the second support seat to rotate around the second axis via the second transmission structure.

[0010] According to some embodiments of this application, the first transmission structure includes: a first wheel, a second wheel, and a first force transmission part. The first wheel is fixedly disposed on the first output shaft, the second wheel is fixedly disposed on the first shaft part, and the first force transmission part is wound around the first wheel and the second wheel. When the first output shaft drives the first wheel to rotate, the first wheel drives the second wheel to rotate through the first force transmission part, so as to drive the first shaft part to rotate relative to the first support seat.

[0011] According to some embodiments of this application, the first force transmission part includes a first cable and a second cable. One end of the first cable is fixedly wound around the first wheel and the other end is wound around the second wheel. One end of the second cable is fixedly wound around the first wheel and the other end is wound around the second wheel. The winding directions of the first cable and the second cable are opposite. Alternatively, the first force transmission part is a transmission belt.

[0012] According to some embodiments of this application, the first force transmission part includes a first cable and a second cable, wherein the first cable and the second cable are steel ropes; or, the first force transmission part is a steel strip.

[0013] According to some embodiments of this application, the second transmission structure includes: a third wheel, a fourth wheel, and a second force transmission part. The third wheel is fixedly mounted on the second output shaft, and the fourth wheel is mounted on the second shaft. The second force transmission part is wound around the third wheel and the fourth wheel. When the second output shaft drives the third wheel to rotate, the third wheel rotates around the second axis through the second force transmission part, thereby driving the second support seat to rotate relative to the second shaft.

[0014] According to some embodiments of this application, the second force transmission part includes a third cable and a fourth cable. One end of the third cable is fixedly wound around the third wheel and the other end is wound around the fourth wheel. One end of the fourth cable is fixedly wound around the third wheel and the other end is wound around the fourth wheel. The winding directions of the third cable and the fourth cable are opposite. Alternatively, the second force transmission part is a transmission belt.

[0015] According to some embodiments of this application, the second force transmission part includes a third cable and a fourth cable, wherein the third cable and the fourth cable are steel ropes; or, the second force transmission part is a steel strip.

[0016] According to some embodiments of this application, the first support base includes a first connecting portion, a first arm, and a second arm. The first connecting portion is adapted to connect with the hip structure of a humanoid robot. The first driving device is fixedly installed on the first connecting portion. Both the first arm and the second arm are connected to the first connecting portion. The first arm and the second arm are arranged opposite to each other. One end of the first shaft is supported on the first arm, and the other end is supported on the second arm. And / or, the second support base includes a second connecting portion, a third arm, and a fourth arm. The second connecting portion is adapted to connect with the chest structure of a humanoid robot. The second driving device is fixedly installed on the second connecting portion. Both the third arm and the fourth arm are connected to the second connecting portion. The third arm and the fourth arm are arranged opposite to each other. The third arm is supported on one end of the second shaft, and the fourth arm is supported on the other end of the second shaft.

[0017] According to some embodiments of this application, the second wheel is located between the first arm and the second arm, and the fourth wheel is located between the third arm and the fourth arm.

[0018] According to some embodiments of this application, the waist structure further includes a third drive device and a first adapter bracket. The first support base is adapted to be connected to the hip structure of the humanoid robot via the first adapter bracket. The third drive device is fixedly mounted on the first adapter bracket. The third drive device includes a third output shaft. The first support base is connected to the third output shaft, and the third output shaft is perpendicular to the first output shaft. Alternatively, the waist structure further includes a third drive device and a second adapter bracket. The second support base is adapted to be connected to the chest structure of the humanoid robot via the second adapter bracket. The third drive device is fixedly mounted on the second adapter bracket. The third drive device includes a third output shaft. The second support base is connected to the third output shaft, and the third output shaft is perpendicular to the second output shaft.

[0019] A humanoid robot according to another embodiment of this application includes a chest structure, a hip structure, and the aforementioned waist structure for a humanoid robot, wherein the waist structure connects the chest structure and the hip structure.

[0020] According to the embodiments of this application, the first axis and the second axis of the waist structure of the humanoid robot intersect, thereby reducing the gap between the waist structure movement of the humanoid robot and the waist movement of a real person, making the waist structure movement closer to the waist movement of a real person, and thus making the overall coordination of the humanoid robot higher.

[0021] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0022] Figure 1 This is an assembly diagram of a humanoid robot according to an embodiment of this application; Figure 2 This is an exploded schematic diagram of a humanoid robot according to an embodiment of this application; Figure 3 This is an assembly diagram of a portion of the waist structure for a humanoid robot according to an embodiment of this application; Figure 4 This is an exploded view of the waist structure for a humanoid robot according to an embodiment of this application.

[0023] Figure label: Humanoid robot 100, waist structure 10, first support base 1, first arm 11, first bearing hole 111, second arm 12, second bearing hole 121, first connecting part 13, first plate 131, second plate 132, third plate 133, fourth plate 134, second support base 2, third arm 21, third bearing hole 211, fourth arm 22, fourth bearing hole 221, second connecting part 23, fifth plate 231, sixth plate 232, first drive device 3, first output shaft 31, second drive device 4, second output shaft 41, first transmission Structure 5, First wheel 51, Second wheel 52, First force transmission part 53, First cable 531, Second cable 532, First pad 54, Second pad 55, Third pad 56, Second transmission structure 6, Third wheel 61, Fourth wheel 62, Second force transmission part 63, Third cable 631, Fourth cable 632, Fourth pad 64, Fifth pad 65, Sixth pad 66, Transfer structure 7, First shaft part 71, Second shaft part 72, First bearing 73, Second bearing 74, Third bearing 75, Fourth bearing 76, First adapter bracket 8, Chest structure 20. Detailed Implementation

[0024] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0025] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0026] The following is combined Figures 1-4 A detailed description of the waist structure 10 for a humanoid robot 100 according to an embodiment of this application is provided.

[0027] Reference Figures 1-4 As shown, the waist structure 10 for a humanoid robot 100 according to an embodiment of this application may include: a first support base 1, a first drive device 3, a second support base 2, a second drive device 4, and a transfer structure 7.

[0028] The first support base 1 is adapted to be connected to the hip structure (not shown) of the humanoid robot 100. The first drive device 3 is fixedly installed on the first support base 1 and includes a first output shaft 31. The second support base 2 is adapted to be connected to the chest structure 20 of the humanoid robot 100. The second drive device 4 is fixedly installed on the second support base 2 and includes a second output shaft 41. The first output shaft 31 and the second output shaft 41 are spaced apart.

[0029] The transfer structure 7 is rotatably connected to the first support base 1 and the second support base 2. The first output shaft 31 is driven by the transfer structure 7 and is used to drive the transfer structure 7 to rotate the second support base 2 around the first axis L1. The second output shaft 41 is driven by the transfer structure 7 and is used to drive the second support base 2 to rotate around the second axis L2. The first axis L1 and the second axis L2 intersect.

[0030] In the above technical solution, the first support base 1 is the bearing base of the first drive device 3, which can provide an installation reference for the first drive device 3. The first support base 1 can also be used to transmit the supporting force of the hip structure.

[0031] In some embodiments, the first support base 1 can be directly connected to the hip structure of the humanoid robot 100. For example, the first support base 1 can be fixedly connected to the hip structure of the humanoid robot 100 by means of bolt connection, welding or integral molding.

[0032] In other embodiments, the first support 1 and the hip structure of the humanoid robot 100 may also be indirectly connected. For example... Figures 1-2 , Figure 4 As shown, the waist structure 10 may also include a first adapter bracket 8, and the first support base 1 is indirectly connected to the hip structure of the humanoid robot 100 through the first adapter bracket 8.

[0033] The second support base 2 serves as the bearing foundation for the second drive device 4, providing an installation reference for the second drive device 4.

[0034] In some embodiments, the second support 2 can be directly connected to the chest structure 20 of the humanoid robot 100. For example... Figures 1-2 As shown, the second support 2 can be fixedly connected to the chest structure 20 of the humanoid robot 100 by means of bolt connection, welding or integral molding.

[0035] In other embodiments, the second support 2 may be indirectly connected to the chest structure 20 of the humanoid robot 100. For example, the waist structure 10 may also include a second adapter bracket (not shown in the figure), through which the second support 2 is indirectly connected to the chest structure 20 of the humanoid robot 100.

[0036] In a specific embodiment, the first driving device 3 can be a motor or a combination of a motor and a reducer. The motor can be a servo motor or a stepper motor, etc.

[0037] As an example, the first drive device 3 can be fixedly installed on the first support base 1 by means of screw fastening, which facilitates the installation and disassembly of the first drive device 3.

[0038] In a specific embodiment, the second driving device 4 can be a motor or a combination of a motor and a reducer. The motor can be a servo motor or a stepper motor, etc. The specifications of the second driving device 4 and the first driving device 3 can be the same or different.

[0039] As an example, the second drive device 4 can be fixedly installed on the second support base 2 by means of screw fastening, which facilitates the installation and disassembly of the second drive device 4.

[0040] When the first output shaft 31 drives the transfer structure 7 to rotate the second support base 2 around the first axis L1, the humanoid robot 100 can swing in the first direction (i.e., the circumferential direction around the first axis L1). When the second output shaft 41 drives the second support base 2 to rotate around the second axis L2, the humanoid robot 100 can swing in the second direction (i.e., the circumferential direction around the second axis L2).

[0041] With the first axis L1 extending along the left and right direction of the humanoid robot 100 and the second axis L2 extending along the left and right front-back direction of the humanoid robot 100, when the first output shaft 31 drives the transfer structure 7 to rotate the second support base 2 around the first axis L1, the humanoid robot 100 can achieve pitching motion in the front-back direction. When the second output shaft 41 drives the second support base 2 to rotate around the second axis L2, the humanoid robot 100 can achieve lateral swaying motion in the left and right direction.

[0042] The first axis L1 intersects with the second axis L2, making the waist movements of the humanoid robot 100 closer to those of a real person, thus avoiding the overall movement incoordination caused by the non-intersecting axes of pitching and swaying movements.

[0043] In some embodiments, the first output shaft 31 can rotate bidirectionally to allow the second support 2 to swing bidirectionally in the first direction. The second output shaft 32 can rotate bidirectionally to allow the second support 2 to swing bidirectionally in the second direction.

[0044] According to the embodiments of this application, the waist structure 10 for a humanoid robot 100 has a first axis L1 intersecting with a second axis L2, thereby reducing the gap between the movement of the waist structure 10 of the humanoid robot 100 and the movement of a real person's waist, making the movement of the waist structure 10 closer to the movement of a real person's waist, and thus making the overall coordination of the humanoid robot 100 higher.

[0045] In some embodiments of this application, reference is made to Figures 1-4 As shown, in the height direction of the humanoid robot 100, the first drive device 3 is located below the transfer structure 7, and the second drive device 4 is located above the transfer structure 7. The first output shaft 31 is perpendicular to the second output shaft 41, the first output shaft 31 is parallel to the first axis L1, and the second output shaft 41 is parallel to the second axis L2. Thus, the first axis L1 is perpendicular to the second axis L2.

[0046] In the above technical solution, the second drive device 4, the transfer structure 7, and the first drive device 3 are arranged sequentially from top to bottom on the humanoid robot 100. Thus, the second drive device 4, the transfer structure 7, and the first drive device 3 make full use of the space in the height direction of the humanoid robot 100, resulting in a reasonable layout that does not excessively occupy lateral space. Furthermore, the center of gravity distribution of the waist structure 10 can be further optimized.

[0047] In some embodiments, combined with Figure 1 , Figure 4 As shown, the first output shaft 31 and the first axis L1 both extend along the left-right direction of the humanoid robot 100, and the second output shaft 41 and the second axis L2 both extend along the front-back direction of the humanoid robot 100. The first axis L1 and the second axis L2 are perpendicular.

[0048] In some embodiments not shown in the figure, the angle between the first axis L1 and the second axis L2 can be an acute angle, such as 30°, 45°, 60°, 75°, etc.

[0049] In some embodiments of this application, reference is made to Figures 3-4 As shown, the transfer structure 7 includes: a first shaft portion 71 and a second shaft portion 72. The first shaft portion 71 is rotatably supported on a first support base 1, and the axis of the first shaft portion 71 is a first axis L1. The second shaft portion 72 is fixedly connected to the first shaft portion 71. The second support base 2 is rotatably supported on the second shaft portion 72, and the axis of the second shaft portion 72 is a second axis L2.

[0050] In the above technical solution, the first output shaft 31 is connected to the first shaft portion 71 of the transfer structure 7, and the second output shaft 41 is connected to the second shaft portion 72 of the transfer structure 7. The transfer structure 7, as a transfer carrier for two-degree-of-freedom motion, includes a first shaft portion 71 and a second shaft portion 72 that are perpendicular to each other and fixedly connected. The first shaft portion 71 and the second shaft portion 72 can be fixed by integral molding, key connection, interference fit, or other methods to ensure that the first shaft portion 71 and the second shaft portion 72 form a whole, ensuring gapless motion transmission.

[0051] In some embodiments of this application, the first shaft portion 71 and the second shaft portion 72 are perpendicular, and the first axis L1 and the second axis L2 intersect perpendicularly at the geometric center of the transfer structure 7.

[0052] In some embodiments of this application, reference is made to Figures 1-4 As shown, the waist structure 10 may further include: a first transmission structure 5 and a second transmission structure 6. The first output shaft 31 is connected to the transfer structure 7 via the first transmission structure 5. The first drive device 3 drives the transfer structure 7 to rotate the second support seat 2 around the first axis L1 via the first transmission structure 5. The second output shaft 41 is connected to the transfer structure 7 via the second transmission structure 6. The second drive device 4 drives the second support seat 2 to rotate around the second axis L2 via the second transmission structure 6.

[0053] In the above technical solution, the first transmission structure 5 can realize the transmission between the first driving device 3 and the transfer structure 7, and the second transmission structure 6 can realize the transmission between the second driving device 4 and the transfer structure 7.

[0054] In some embodiments of this application, reference is made to Figures 2-4 As shown, the first transmission structure 5 includes a first wheel 51, a second wheel 52, and a first force transmission part 53. The first wheel 51 is fixedly mounted on the first output shaft 31, and the second wheel 52 is fixedly mounted on the first shaft part 71. The first force transmission part 53 is wound around the first wheel 51 and the second wheel 52. When the first output shaft 31 drives the first wheel 51 to rotate, the first wheel 51 drives the second wheel 52 to rotate through the first force transmission part 53, thereby driving the first shaft part 71 to rotate relative to the first support base 1. In this way, the rotation of the first output shaft 31 can be transmitted to the first shaft part 71.

[0055] In some embodiments of this application, reference is made to Figures 3-4 As shown, the first force transmission part 53 includes a first cable 531 and a second cable 532. One end of the first cable 531 is fixedly wound around the first wheel 51, and the other end of the first cable 531 is wound around the second wheel 52. One end of the second cable 532 is fixedly wound around the first wheel 51, and the other end of the second cable 532 is wound around the second wheel 52. The winding directions of the first cable 531 and the second cable 532 are opposite.

[0056] In the above technical solution, the first wheel 51 and the second wheel 52 adopt a cable wheel structure. One end of the first cable 531 and one end of the second cable 532 are respectively fixedly wound around different winding areas of the first wheel 51. The other end of the first cable 531 is wound around the second wheel 52 and fixed to the second wheel 52, and the other end of the second cable 532 is wound around the second wheel 52 and fixed to the second wheel 52. The winding directions of the first cable 531 and the second cable 532 on the first wheel 51 are opposite, and the winding directions of the first cable 531 and the second cable 532 on the second wheel 52 are also opposite. This bidirectional cable drive helps eliminate backlash and improves transmission accuracy.

[0057] Specifically, refer to Figure 4 The first output shaft 31 can rotate in both directions. When the first output shaft 31 drives the first wheel 51 to rotate clockwise, the winding length of the second cable 532 on the first wheel 51 increases, and the second cable 532 pulls the second wheel 52 to rotate clockwise. At the same time, the winding length of the second cable 532 on the second wheel 52 decreases, and the winding length of the first cable 531 on the first wheel 51 decreases while the winding length on the second wheel 52 increases.

[0058] When the first output shaft 31 drives the first wheel 51 to rotate counterclockwise, the length of the first cable 531 wound on the first wheel 51 increases, and the first cable 531 pulls the second wheel 52 to rotate counterclockwise. At the same time, the length of the first cable 531 wound on the second wheel 52 decreases, and the length of the second cable 532 wound on the first wheel 51 decreases and the length of the second cable 532 wound on the second wheel 52 increases.

[0059] In some embodiments, a plurality of first winding grooves may be provided on the first wheel 51, and the plurality of first winding grooves are spaced apart in the axial direction of the first wheel 51. The first cable 531 and the second cable 532 are wound on the first wheel 51 in different first winding grooves.

[0060] In some embodiments, the second wheel 52 may be provided with a plurality of second winding grooves, which are spaced apart in the axial direction of the second wheel 52, and the first cable 531 and the second cable 532 are wound on the second wheel 52 in different second winding grooves.

[0061] Reference Figure 4 As shown, the waist structure 10 may also include a first pad 54, which presses and fixes one end of the first cable 531 and one end of the second cable 532 to the first wheel 51. For example, the first pad 54 can press and fix one end of the first cable 531 and one end of the second cable 532 to the outer circumferential surface of the first wheel 51.

[0062] In some embodiments, the first pad 54 and the first wheel 51 can be fastened together by screws, which facilitates the disassembly and replacement of the first pad 54, the first cable 531 and the second cable 532, and helps to reduce maintenance costs.

[0063] Reference Figure 4 As shown, the waist structure 10 may also include a second pad 55 and a third pad 56. The second pad 55 presses and fixes the other end of the first cable 531 to the second wheel 52, and the third pad 56 presses and fixes the other end of the second cable 532 to the second wheel 52.

[0064] Reference Figure 4 As shown, the second pad 55 and the third pad 56 can be located on different sides of the second wheel 52. For example, the second pad 55 presses and fixes the other end of the first cable 531 to the first side of the second wheel 52, and the third pad 56 presses and fixes the other end of the second cable 532 to the second side of the second wheel 52.

[0065] The second pad 55 and the third pad 56 may also be located on the outer peripheral surface of the second wheel 52, or one of the second pad 55 and the third pad 56 may be located on the outer peripheral surface of the second wheel 52 and the other may be located on one side of the second wheel 52.

[0066] In some embodiments, the second pad 55 and the second wheel 52 can be fastened together by screws, which facilitates the disassembly and replacement of the second pad 55 and the first cable 531 and helps to reduce maintenance costs.

[0067] In some embodiments, the third pad 56 and the second wheel 52 can be fastened together by screws, thereby facilitating the disassembly and replacement of the third pad 56 and the second cable 532 and helping to reduce maintenance costs.

[0068] In some embodiments of this application, reference is made to Figures 3-4 As shown, the first force transmission part 53 includes a first cable 531 and a second cable 532, both of which are steel ropes. Steel ropes have high structural strength and tensile strength, which helps to improve the load-bearing capacity and force transmission capacity of the first force transmission part 53. Furthermore, steel ropes can better withstand motion inertial forces and have a longer service life.

[0069] In some other embodiments of this application, the first force transmission part 53 is a transmission belt.

[0070] In the above technical solution, the first wheel 51 and the second wheel 52 adopt synchronous belt pulleys, and power transmission is achieved by using the friction or meshing force between the belt and the pulley. The structure is simple and easy to maintain, and it is also conducive to improving the transmission accuracy.

[0071] In some embodiments of this application, the first force transmission part 53 is a steel strip. The high strength of the steel strip is beneficial to improving the load-bearing capacity and force transmission capacity of the first force transmission part 53.

[0072] In some other embodiments of this application, the first force transmission part 53 is a belt, and the first wheel 51 and the second wheel 52 are pulleys.

[0073] In some embodiments of this application, reference is made to Figures 2-4 As shown, the second transmission structure 6 includes a third wheel 61, a fourth wheel 62, and a second force transmission part 63. The third wheel 61 is fixedly mounted on the second output shaft 41, and the fourth wheel 62 is mounted on the second shaft portion 72. The second force transmission part 63 is wound around the third wheel 61 and the fourth wheel 62. When the second output shaft 41 drives the third wheel 61 to rotate, the third wheel 61 rotates around the second axis L2 through the second force transmission part 63, thereby driving the second support base 2 to rotate relative to the second shaft portion 72. This allows the rotation of the second output shaft 41 to be transmitted to the second shaft portion 72.

[0074] In some embodiments of this application, reference is made to Figures 3-4 As shown, the second force transmission part 63 includes a third cable 631 and a fourth cable 632. One end of the third cable 631 is fixedly wound around the third wheel 61, and the other end of the third cable 631 is wound around the fourth wheel 62. One end of the fourth cable 632 is fixedly wound around the third wheel 61, and the other end of the fourth cable 632 is wound around the fourth wheel 62. The winding directions of the third cable 631 and the fourth cable 632 are opposite.

[0075] In the above technical solution, the third wheel 61 and the fourth wheel 62 adopt a cable wheel structure. One end of the third cable 631 and one end of the fourth cable 632 are respectively fixedly wound around different winding areas of the third wheel 61. The other end of the third cable 631 is wound around the fourth wheel 62 and fixed to it, and the other end of the fourth cable 632 is wound around the fourth wheel 62 and fixed to it. The winding directions of the third cable 631 and the fourth cable 632 on the third wheel 61 are opposite, and the winding directions of the third cable 631 and the fourth cable 632 on the fourth wheel 62 are also opposite. This bidirectional cable drive helps eliminate backlash and improves transmission accuracy.

[0076] Specifically, refer to Figure 4 The second output shaft 32 can rotate in both directions. When the second output shaft 32 drives the third wheel 53 to rotate clockwise, the winding length of the third cable 631 on the third wheel 53 increases, and the third cable 631 pulls the fourth wheel 54 to rotate clockwise. At the same time, the winding length of the third cable 631 on the fourth wheel 54 decreases, and the winding length of the fourth cable 632 on the third wheel 53 decreases and the winding length on the fourth wheel 54 increases.

[0077] When the second output shaft 32 drives the third wheel 53 to rotate counterclockwise, the winding length of the fourth cable 632 on the third wheel 53 increases, and the fourth cable 632 pulls the fourth wheel 54 to rotate counterclockwise. At the same time, the winding length of the fourth cable 632 on the fourth wheel 54 decreases, the winding length of the third cable 631 on the third wheel 53 decreases, and the winding length on the fourth wheel 54 increases.

[0078] In some embodiments, the third wheel 61 may be provided with a plurality of third winding grooves, which are spaced apart in the axial direction of the third wheel 61, and the third cable 631 and the fourth cable 632 are wound on the third wheel 61 in different third winding grooves.

[0079] In some embodiments, the fourth wheel 62 may be provided with a plurality of fourth winding grooves, which are spaced apart in the axial direction of the fourth wheel 62, and the third cable 631 and the fourth cable 632 are wound on the fourth wheel 62 in different fourth winding grooves.

[0080] Reference Figure 4 As shown, the waist structure 10 may also include a fourth pad 64, which presses and fixes one end of the third cable 631 and one end of the fourth cable 632 to the third wheel 61. For example, the fourth pad 64 can press and fix one end of the third cable 631 and one end of the fourth cable 632 to the outer peripheral surface of the third wheel 61.

[0081] In some embodiments, the fourth pad 64 and the third wheel 61 can be fastened together by screws, which facilitates the disassembly and replacement of the fourth pad 64, the third cable 631 and the fourth cable 632, thereby reducing maintenance costs.

[0082] Reference Figure 4 As shown, the waist structure 10 may also include a fifth pad 65 and a sixth pad 66. The fifth pad 65 presses and fixes the other end of the third cable 631 to the fourth wheel 62, and the sixth pad 66 presses and fixes the other end of the fourth cable 632 to the fourth wheel 62.

[0083] Reference Figure 4 As shown, the fifth pad 65 and the sixth pad 66 can be located on different sides of the fourth wheel 62. For example, the fifth pad 65 presses and fixes the other end of the third cable 631 to the first side of the fourth wheel 62, and the sixth pad 66 presses and fixes the other end of the fourth cable 632 to the second side of the fourth wheel 62.

[0084] The fifth pad 65 and the sixth pad 66 may also be located on the outer peripheral surface of the fourth wheel 62, or one of the fifth pad 65 and the sixth pad 66 may be located on the outer peripheral surface of the fourth wheel 62 and the other may be located on one side of the fourth wheel 62.

[0085] In some embodiments, the fifth pad 65 and the fourth wheel 62 can be fastened together by screws, which facilitates the disassembly and replacement of the fifth pad 65 and the third cable 631, thereby reducing maintenance costs.

[0086] In some embodiments, the sixth pad 66 and the fourth wheel 62 can be fastened together by screws, which facilitates the disassembly and replacement of the sixth pad 66 and the fourth cable 632 and helps to reduce maintenance costs.

[0087] In some embodiments of this application, reference is made to Figures 3-4 As shown, the second force transmission part 63 includes a third cable 631 and a fourth cable 632, both of which are steel cables. Steel cables have high structural strength and tensile strength, which helps to improve the load-bearing and force transmission capacity of the first force transmission part 53. Furthermore, steel cables can better withstand motion inertial forces and have a longer service life.

[0088] In some other embodiments of this application, the second force transmission part 63 is a transmission belt.

[0089] In the above technical solution, the third wheel 61 and the fourth wheel 62 adopt synchronous belt pulleys, and power transmission is achieved by using the friction or meshing force between the belt and the pulley. The structure is simple and easy to maintain, and it is also conducive to improving the transmission accuracy.

[0090] In some embodiments of this application, the second force transmission part 63 is a steel strip. The high strength of the steel strip is beneficial to improving the load-bearing capacity and force transmission capacity of the second force transmission part 63.

[0091] In some other embodiments of this application, the second force transmission part 63 is a belt, and the third wheel 61 and the fourth wheel 62 are pulleys.

[0092] In some embodiments of this application, reference is made to Figure 2 , Figure 4 As shown, the first support base 1 includes a first connecting part 13, a first arm 11 and a second arm 12. The first connecting part 13 is adapted to be connected to the hip structure of the humanoid robot 100. The first driving device 3 is fixedly installed on the first connecting part 13. The first arm 11 and the second arm 12 are both connected to the first connecting part 13. The first arm 11 and the second arm 12 are arranged opposite to each other. One end of the first shaft part 71 is supported on the first arm 11 and the other end is supported on the second arm 12.

[0093] In the above technical solution, the two ends of the first shaft 71 are supported by the first support base 1, which can effectively distribute the load.

[0094] Reference Figure 4As shown, the first support arm 11 and the second support arm 12 protrude upward from both sides of the first connecting part 13. The first support arm 11 has a first bearing hole 111 for assembling the first bearing 73, and the second support arm 12 has a second bearing hole 121 for assembling the second bearing 74. One end of the first shaft 71 is supported on the first support arm 11 by the first bearing 73, and the other end of the first shaft 71 is supported on the second support arm 12 by the second bearing 74. The outer rings of the first bearing 73 and the second bearing 74 are installed in the corresponding bearing holes, and the two ends of the first shaft 71 are respectively inserted into the inner rings of the corresponding bearings to realize the rotational engagement between the first shaft 71 and the first support arm 11 and the second support arm 12.

[0095] In some embodiments, the first bearing 73 may be a deep groove ball bearing, a roller bearing, or other types of bearing.

[0096] In some embodiments, the second bearing 74 may be a deep groove ball bearing, a roller bearing, or other types of bearing.

[0097] In some embodiments, the first connecting portion 13 includes multiple plates that are spliced ​​together. Adjacent plates can be fixedly connected using fasteners such as bolts, screws, and rivets. For example, in... Figure 4 In the example shown, the first connecting part 13 includes a first plate 131, a second plate 132, a third plate 133, and a fourth plate 134. The first driving device 3 is fixedly installed on the first plate 131. The second plate 132 is disposed opposite to the first plate 131 and is adapted to connect with the hip structure of the humanoid robot 100. The third plate 133 is disposed opposite to the fourth plate 134. The third plate 133 connects one end of the first plate 131 and the second plate 132, and the fourth plate 134 connects the other end of the first plate 131 and the second plate 132.

[0098] In such Figure 4 In the example shown, the second plate 132 and the first plate 131 are arranged opposite each other in the height direction of the humanoid robot 100, with the first plate 131 located above the second plate 132. The third plate 133 and the fourth plate 134 are arranged opposite each other in the front-back direction of the humanoid robot 100, with the fourth plate 134 located in front of the third plate 133. The first arm 11 and the second arm 12 are arranged opposite each other in the left-right direction of the humanoid robot 100, with the second arm 12 located to the left of the first arm 11.

[0099] In a specific embodiment, the first arm 11 can be connected to at least one of the first plate 131, the second plate 132, the third plate 133, and the fourth plate 134. For example, in... Figure 1 , Figure 4 In the example, the first arm 11 is connected to the first plate 131.

[0100] In some embodiments not shown in the figures, the first arm 11 may be connected to one of the second plate 132, the third plate 133, and the fourth plate 134; or the first arm 11 may be connected to two of the first plate 131, the second plate 132, the third plate 133, and the fourth plate 134; or the first arm 11 may be connected to three of the first plate 131, the second plate 132, the third plate 133, and the fourth plate 134; or the first arm 11 may be connected to all of the first plate 131, the second plate 132, the third plate 133, and the fourth plate 134.

[0101] In a specific embodiment, the second arm 12 can be connected to at least one of the first plate 131, the second plate 132, the third plate 133, and the fourth plate 134. For example, in... Figure 1 , Figure 4 In the example, the second arm 12 is connected to the first plate 131.

[0102] In some embodiments not shown in the figures, the second arm 12 may be connected to one of the second plate 132, the third plate 133, and the fourth plate 134; or the second arm 12 may be connected to two of the first plate 131, the second plate 132, the third plate 133, and the fourth plate 134; or the second arm 12 may be connected to three of the first plate 131, the second plate 132, the third plate 133, and the fourth plate 134; or the second arm 12 may be connected to all of the first plate 131, the second plate 132, the third plate 133, and the fourth plate 134.

[0103] In other embodiments, the first connecting portion 13 may be constructed as a single piece.

[0104] In some embodiments of this application, reference is made to Figure 2 , Figure 4 As shown, the second support base 2 includes a second connecting part 23, a third arm 21 and a fourth arm 22. The second connecting part 23 is adapted to be connected to the chest structure 20 of the humanoid robot 100. The second drive device 4 is fixedly installed on the second connecting part 23. The third arm 21 and the fourth arm 22 are both connected to the second connecting part 23. The third arm 21 and the fourth arm 22 are arranged opposite to each other. The third arm 21 is supported at one end of the second shaft 72 and the fourth arm 22 is supported at the other end of the second shaft 72.

[0105] In the above technical solution, the second support 2 is supported at both ends of the second shaft 72, which can effectively distribute the load.

[0106] Reference Figure 4As shown, the third support arm 21 and the fourth support arm 22 protrude downwards from both sides of the second connecting part 23. The third support arm 21 has a third bearing hole 211 for mounting the third bearing 75, and the fourth support arm 22 has a fourth bearing hole 221 for mounting the fourth bearing 76. The third support arm 21 is supported at one end of the second shaft part 72 by the third bearing 75, and the fourth support arm 22 is supported at the other end of the second shaft part 72 by the fourth bearing 76. The outer ring of the fourth bearing 76 is installed in the corresponding bearing hole, and both ends of the second shaft part 72 are respectively inserted into the inner ring of the corresponding bearing to realize the rotational engagement between the second shaft part 72 and the third support arm 21 and the fourth support arm 22.

[0107] In some embodiments, the third bearing 75 may be a deep groove ball bearing, a roller bearing, or other types of bearing.

[0108] In some embodiments, the fourth bearing 76 may be a deep groove ball bearing, a roller bearing, or other types of bearing.

[0109] In some embodiments, the second connecting portion 23 includes multiple plates, which can be spliced ​​together or separated from each other. When two adjacent plates are spliced ​​together, they can be fixedly connected by fasteners such as bolts, screws, and rivets. Figure 4 In the example shown, the first connecting part 13 includes a fifth plate 231 and a sixth plate 232, which are separated from each other. A third arm 21 connects one end of the fifth plate 231 and the sixth plate 232, and a fourth arm 22 connects the other end of the fifth plate 231 and the sixth plate 232.

[0110] In such Figure 4 In the example shown, the fifth plate 231 and the sixth plate 232 are arranged opposite each other in the height direction of the humanoid robot 100, and the sixth plate 232 is located above the fifth plate 231. The third arm 21 and the fourth arm 22 are arranged opposite each other in the front-back direction of the humanoid robot 100, and the fourth arm 22 is located in front of the third arm 21.

[0111] In other embodiments, the second connection portion 23 may be constructed as a single piece.

[0112] In some embodiments of this application, reference is made to Figure 2 , Figure 4As shown, the first support base 1 includes a first connecting part 13, a first arm 11, and a second arm 12. The first connecting part 13 is adapted to be connected to the hip structure of the humanoid robot 100. The first arm 11 and the second arm 12 are both connected to the first connecting part 13. The first arm 11 and the second arm 12 are arranged opposite to each other. One end of the first shaft 71 is supported on the first arm 11, and the other end is supported on the second arm 12. The second support base 2 includes a second connecting part 23, a third arm 21, and a fourth arm 22. The second connecting part 23 is adapted to be connected to the chest structure 20 of the humanoid robot 100. The third arm 21 and the fourth arm 22 are both connected to the second connecting part 23. The third arm 21 and the fourth arm 22 are arranged opposite to each other. The third arm 21 is supported on one end of the second shaft 72, and the fourth arm 22 is supported on the other end of the second shaft 72.

[0113] In some embodiments of this application, the second wheel 52 is located between the first arm 11 and the second arm 12, and the fourth wheel 62 is located between the third arm 21 and the fourth arm 22.

[0114] In the above technical solution, refer to Figures 1-4 As shown, the second wheel 52 is located between the first arm 11 and the second arm 12, thus making full use of the space between the first arm 11 and the second arm 12. The first arm 11 and the second arm 12 can also protect the second wheel 52. The fourth wheel 62 is located between the third arm 21 and the fourth arm 22, thus making full use of the space between the third arm 21 and the fourth arm 22. The third arm 21 and the fourth arm 22 can also protect the fourth wheel 62.

[0115] In some embodiments of this application, the waist structure 10 may further include a third drive device (not shown in the figure) and a first adapter bracket 8. The first support base 1 is adapted to be connected to the hip structure of the humanoid robot 100 via the first adapter bracket 8. The third drive device is fixedly mounted on the first adapter bracket 8. The third drive device includes a third output shaft. The first support base 1 is connected to the third output shaft, and the third output shaft is perpendicular to the first output shaft 31. This enables the waist structure 10 to perform a horizontal rotation.

[0116] In some other embodiments of this application, the waist structure 10 may further include a third drive device and a second adapter bracket. The second support base 2 is adapted to be connected to the chest structure 20 of the humanoid robot 100 via the second adapter bracket. The third drive device is fixedly mounted on the second adapter bracket and includes a third output shaft. The second support base 2 is connected to the third output shaft, and the third output shaft is perpendicular to the first output shaft 31. This allows for the horizontal rotation (i.e., waist twisting) movement of the waist structure 10.

[0117] In a specific embodiment, the third driving device can be a motor or a combination of a motor and a reducer. The motor can be a servo motor or a stepper motor, etc. The specifications of the third driving device can be the same as or different from those of the first driving device 3 and the second driving device 4.

[0118] The first drive device 3, the second drive device 4, and the third drive device work together to achieve three degrees of freedom of movement of the waist structure 10, meeting more complex motion requirements.

[0119] In some embodiments, the lateral sway angle, pitch angle, and lateral rotation angle of the waist structure 10 can be ±90°. Of course, the lateral sway angle, pitch angle, and lateral rotation angle of the waist structure 10 are not limited to ±90° and can be specifically set according to actual needs.

[0120] According to the embodiments of this application, the waist structure 10 for a humanoid robot 100 achieves the perpendicular intersection of the first axis L1 and the second axis L2 through the transfer structure 7. Combined with the independent driving of the first driving device 3 and the second driving device 4, the waist structure 10 has two degrees of freedom of movement capability. By adding a third driving device, the waist structure 10 can be extended to have three degrees of freedom of movement capability, so as to meet the diverse movement needs of the humanoid robot 100 and improve the movement flexibility.

[0121] A humanoid robot 100 according to another embodiment of this application includes a chest structure 20, a hip structure, and a waist structure 10 for the humanoid robot 100 as described above, wherein the waist structure 10 connects the chest structure 20 and the hip structure.

[0122] In the above technical solution, the humanoid robot 100 can perform complex movements such as bending over, twisting over, and turning to the side through the multi-degree-of-freedom motion of the waist structure 10.

[0123] According to the embodiments of this application, the first axis L1 of the waist structure 10 of the humanoid robot 100 intersects with the second axis L2, thereby reducing the gap between the waist structure 10 movement of the humanoid robot 100 and the waist movement of a real person, making the movement of the waist structure 10 closer to the waist movement of a real person, and thus making the overall coordination of the humanoid robot 100 higher.

[0124] In the description of this application, it should be understood that the terms "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0125] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0126] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0127] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A waist structure (10) for a humanoid robot, characterized in that, include: First support base (1), the first support base (1) is adapted to be connected to the hip structure of the humanoid robot; The first drive device (3) is fixedly installed on the first support base (1) and includes a first output shaft (31). The second support (2) is adapted to be connected to the chest structure (20) of the humanoid robot; The second drive device (4) is fixedly mounted on the second support base (2) and includes a second output shaft (41), wherein the first output shaft (31) is spaced apart from the second output shaft (41); The transfer structure (7) is rotatably connected to the first support base (1) and rotatably connected to the second support base (2). The first output shaft (31) is driven to the transfer structure (7). The first output shaft (31) is used to drive the transfer structure (7) to drive the second support base (2) to rotate around the first axis (L1). The second output shaft (41) is driven to the transfer structure (7). The second output shaft (41) is used to drive the second support base (2) to rotate around the second axis (L2). The first axis (L1) intersects with the second axis (L2).

2. The waist structure (10) for a humanoid robot according to claim 1, characterized in that, In the height direction of the humanoid robot, the first drive device (3) is located below the transfer structure (7), the second drive device (4) is located above the transfer structure (7), the first output shaft (31) is perpendicular to the second output shaft (41), the first output shaft (31) is parallel to the first axis (L1), and the second output shaft (41) is parallel to the second axis (L2).

3. The waist structure (10) for a humanoid robot according to claim 1, characterized in that, The transit structure (7) includes: The first shaft portion (71) is rotatably supported on the first support base (1), and the axis of the first shaft portion (71) is the first axis (L1). The second shaft (72) is fixedly connected to the first shaft (71), and the second support (2) is rotatably supported on the second shaft (72). The axis of the second shaft (72) is the second axis (L2).

4. The waist structure (10) for a humanoid robot according to claim 3, characterized in that, The waist structure (10) also includes: The first transmission structure (5) is connected to the first output shaft (31) and the transfer structure (7) through the first transmission structure (5). The first drive device (3) drives the transfer structure (7) through the first transmission structure (5) to drive the second support base (2) to rotate around the first axis (L1). The second transmission structure (6) connects the second output shaft (41) and the transfer structure (7) through the second transmission structure (6). The second drive device (4) drives the second support base (2) to rotate around the second axis (L2) through the second transmission structure (6).

5. The waist structure (10) for a humanoid robot according to claim 4, characterized in that, The first transmission structure (5) includes: The first wheel (51) is fixedly mounted on the first output shaft (31); The second wheel (52) is fixedly mounted on the first shaft (71); The first force transmission part (53) is wound around the first wheel (51) and the second wheel (52); When the first output shaft (31) drives the first wheel (51) to rotate, the first wheel (51) drives the second wheel (52) to rotate through the first force transmission part (53), so as to drive the first shaft part (71) to rotate relative to the first support base (1).

6. The waist structure (10) for a humanoid robot according to claim 5, characterized in that, The first force transmission part (53) includes a first cable (531) and a second cable (532). One end of the first cable (531) is fixedly wound around the first wheel (51), and the other end is wound around the second wheel (52). One end of the second cable (532) is fixedly wound around the first wheel (51), and the other end is wound around the second wheel (52). The winding directions of the first cable (531) and the second cable (532) are opposite; or, The first force transmission part (53) is a transmission belt.

7. The waist structure (10) for a humanoid robot according to claim 6, characterized in that, The first force transmission unit (53) includes a first cable (531) and a second cable (532), wherein the first cable (531) and the second cable (532) are steel cables; or, The first force transmission part (53) is a steel strip.

8. The waist structure (10) for a humanoid robot according to claim 5, characterized in that, The second transmission structure (6) includes: The third wheel (61) is fixedly mounted on the second output shaft (41); The fourth wheel (62) is disposed on the second shaft portion (72); The second force transmission part (63) is wound around the third wheel (61) and the fourth wheel (62); When the second output shaft (41) drives the third wheel (61) to rotate, the third wheel (61) rotates around the second axis (L2) through the second force transmission part (63) to drive the second support seat (2) to rotate relative to the second shaft part (72).

9. The waist structure (10) for a humanoid robot according to claim 8, characterized in that, The second force transmission unit (63) includes a third cable (631) and a fourth cable (632). One end of the third cable (631) is fixedly wound around the third wheel (61), and the other end is wound around the fourth wheel (62). One end of the fourth cable (632) is fixedly wound around the third wheel (61), and the other end is wound around the fourth wheel (62). The winding directions of the third cable (631) and the fourth cable (632) are opposite; or, The second force transmission part (63) is a transmission belt.

10. The waist structure (10) for a humanoid robot according to claim 9, characterized in that, The second force transmission unit (63) includes a third cable (631) and a fourth cable (632), wherein the third cable (631) and the fourth cable (632) are steel cables; or, The second force transmission part (63) is a steel strip.

11. The waist structure (10) for a humanoid robot according to claim 8, characterized in that, The first support base (1) includes a first connecting part (13), a first arm (11), and a second arm (12). The first connecting part (13) is adapted to connect with the hip structure of the humanoid robot. The first driving device (3) is fixedly installed on the first connecting part (13). The first arm (11) and the second arm (12) are both connected to the first connecting part (13). The first arm (11) and the second arm (12) are arranged opposite to each other. One end of the first shaft (71) is supported on the first arm (11), and the other end is supported on the second arm (12); and / or, The second support base (2) includes a second connecting part (23), a third arm (21) and a fourth arm (22). The second connecting part (23) is adapted to be connected to the chest structure (20) of the humanoid robot. The second drive device (4) is fixedly installed on the second connecting part (23). The third arm (21) and the fourth arm (22) are both connected to the second connecting part (23). The third arm (21) and the fourth arm (22) are arranged opposite to each other. The third arm (21) is supported on one end of the second shaft (72), and the fourth arm (22) is supported on the other end of the second shaft (72).

12. The waist structure (10) for a humanoid robot according to claim 11, characterized in that, The second wheel (52) is located between the first arm (11) and the second arm (12), and the fourth wheel (62) is located between the third arm (21) and the fourth arm (22).

13. The waist structure (10) for a humanoid robot according to any one of claims 1-12, characterized in that, The waist structure (10) further includes a third drive device and a first adapter bracket (8). The first support base (1) is adapted to be connected to the hip structure of the humanoid robot via the first adapter bracket (8). The third drive device is fixedly installed on the first adapter bracket (8). The third drive device includes a third output shaft. The first support base (1) is connected to the third output shaft. The third output shaft is perpendicular to the first output shaft (31). The waist structure (10) also includes a third drive device and a second adapter bracket. The second support base (2) is adapted to be connected to the chest structure (20) of the humanoid robot through the second adapter bracket. The third drive device is fixedly installed on the second adapter bracket. The third drive device includes a third output shaft. The second support base (2) is connected to the third output shaft. The third output shaft is perpendicular to the second output shaft (41).

14. A humanoid robot, characterized in that, The system includes a chest structure (20), a hip structure, and a waist structure (10) for a humanoid robot according to any one of claims 1-13, wherein the waist structure (10) connects the chest structure (20) and the hip structure.

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