Waist structure and humanoid robot

Abstract

A waist structure comprises a first driver, a second driver, a third driver, a double-push-rod driving assembly, a rotating support, a first connecting rod, a second connecting rod and a first connecting piece; the first driver is fixedly connected with the first connecting piece; the first connecting piece is at least partially arranged in the rotating support and is rotatably connected with the rotating support; the second driver is rotatably connected with the third driver; the first connecting rod is arranged on a first side of the second driver; the second connecting rod is arranged on a second side of the second driver; and the double-push-rod driving assembly comprises a first push rod and a second push rod. The waist structure can realize multiple directions of rotational freedom, thereby improving the motion flexibility of the waist structure and being conducive to improving the delicacy and humanization of the waist motion of the humanoid robot.

Description

Technical Field

[0001] This application relates primarily to the field of humanoid robots, and more particularly to a waist structure and a humanoid robot. Background Technology

[0002] The waist structure of existing humanoid robots usually has three or fewer degrees of freedom, which restricts waist movement and makes it difficult to meet the needs of humanoid robots to perform complex anthropomorphic movements.

[0003] Therefore, there is an urgent need to provide a waist structure to improve the degree of freedom of the waist structure, thereby improving the flexibility, coordination and anthropomorphic movement ability of the humanoid robot's waist. Summary of the Invention

[0004] This application addresses the technical problem of low degrees of freedom in waist structures by providing a waist structure for humanoid robots. The waist structure includes a first actuator, a second actuator, a third actuator, a dual-pushrod drive assembly, a rotating bracket, a first link, a second link, and a first connector. The first actuator is fixedly connected to the first connector and includes a first output shaft with a first rotation axis extending along a first direction. The first connector is at least partially disposed within the rotating bracket and rotatably connected to it. The second actuator includes a second output shaft with a second rotation axis extending along a second direction, and is rotatably connected to the third actuator. The third actuator includes a third output shaft. The third output shaft has a third rotation axis extending along a first direction; a first connecting rod is disposed on the first side of the second driver, one end of the first connecting rod is rotatably connected to the rotating bracket, and the other end of the first connecting rod is rotatably connected to the second driver; a second connecting rod is disposed on the second side of the second driver, one end of the second connecting rod is rotatably connected to the rotating bracket, and the other end of the second connecting rod is rotatably connected to the second driver; the second driver is used to drive the first connecting rod and / or the second connecting rod to rotate; the dual push rod drive assembly includes a first push rod and a second push rod capable of independent extension and retraction, the first end of the first push rod is connected to the first connecting rod, the second end of the first push rod is connected to the first connecting member; the third end of the second push rod is connected to the second connecting rod, and the fourth end of the second push rod is connected to the first connecting member.

[0005] In some embodiments of this application, the first connecting rod includes a first shaft connecting portion, a first rod segment, and a second rod segment. The first rod segment and the second rod segment are respectively connected to the first shaft connecting portion, and the first rod segment and the second rod segment form a first preset angle. The first shaft connecting portion is fixedly connected to the second output shaft. The first rod segment is also rotatably connected to the rotating bracket, and its first end is connected to the second rod segment. The second connecting rod includes a third rod segment, a second shaft connecting portion, and a fourth rod segment. The third rod segment and the fourth rod segment are respectively connected to the second shaft connecting portion, and the second rod segment and the fourth rod segment form a second preset angle. The second shaft connecting portion is rotatably connected to the second driver. The third rod segment is also rotatably connected to the rotating bracket, and its third end is connected to the fourth rod segment.

[0006] In some embodiments of this application, the second driver is a dual-axis driver, which includes two second output shafts. The first shaft connecting part is fixedly connected to one of the second output shafts, and the second shaft connecting part is fixedly connected to the other second output shaft. The second driver is used to drive the first link and the second link to rotate.

[0007] In some embodiments of this application, the first connector includes a first connecting plate, the first connecting plate being provided with a first mounting portion and a second mounting portion, the first mounting portion and the second mounting portion being spaced apart along a second direction; a second end is connected to the first mounting portion, and a fourth end is movably connected to the second mounting portion.

[0008] In some embodiments of this application, a first driver, a second driver, and a third driver are arranged sequentially along a first direction, with the second driver located between the first driver and the second driver; the first rotation axis is collinear with the third rotation axis, and the second rotation axis extends along a second direction and is perpendicular to the first rotation axis; the second driver is fixedly connected to the third output shaft via a flange so that the third driver can drive the second driver to rotate around the third rotation axis.

[0009] In some embodiments of this application, the rotating bracket is annular; the first connector includes a first connector body, a first connecting plate disposed on the first connector body, and the first connector body is annular; the first driver is at least partially disposed within the first connector body and fixedly connected to the first connector body; the first connector body is at least partially disposed within the rotating bracket and rotatably connected to the rotating bracket, and a first rotating connection and a second rotating connection are formed between the first connector body and the rotating bracket, which are oppositely disposed along a third direction, and the first and second rotating connections together define a fourth rotating axis, which extends along a third direction; the third rotating connection of the first rod segment and the rotating bracket, and the fourth rotating connection of the third rod segment and the rotating bracket together define a fifth rotating axis, which extends along a second direction; when one of the first push rod and the second push rod extends and the other shortens, the first connector rotates around the fourth rotating axis; when the first push rod and the second push rod extend or shorten simultaneously, the rotating bracket rotates around the fifth rotating axis.

[0010] In some embodiments of this application, both the first preset angle and the second preset angle are obtuse angles; the range of the first preset angle is 140 degrees to 160 degrees, and the range of the second preset angle is 140 degrees to 160 degrees.

[0011] The waist structure provided in this application, through the arrangement of a first driver, a second driver, a third driver, and a dual push rod drive assembly, enables the waist structure to achieve rotational freedom in multiple directions, thereby improving the motion flexibility of the waist structure and helping to improve the delicacy and anthropomorphism of the waist movements of the humanoid robot.

[0012] To address the aforementioned technical problems, this application also provides a humanoid robot, which includes the waist structure, torso, and hip structure as described above. The first output shaft of the first actuator is connected to the torso, and the third actuator further includes a third actuator body, which is connected to the hip structure.

[0013] The humanoid robot provided in this application has a waist that can achieve multiple degrees of freedom of rotation. This humanoid robot can simulate various limb movements of the human body and has strong mobility and coordination. Attached Figure Description

[0014] The accompanying drawings are included to provide a further understanding of this application; they are incorporated into and constitute a part of this application. The drawings illustrate embodiments of this application and, together with this specification, serve to explain the principles of this application. In the drawings: Figure 1 This is a three-dimensional schematic diagram of the waist structure provided in an embodiment of this application; Figure 2This is another perspective view of the waist structure provided in one embodiment of this application; Figure 3 This is a perspective view of the first connector provided in an embodiment of this application; Figure 4 This is another perspective view of the first connector provided in an embodiment of this application.

[0015] Figure label: 100. Waist structure; 110. First actuator; 120. Second actuator; 130. Third actuator; 140. Dual push rod drive assembly; 141. First push rod; 1411. First end of the first push rod; 1412. Second end of the first push rod; 142. Second push rod; 1421. Third end of the second push rod; 1422. Fourth end of the second push rod; 150. Rotating bracket; 160. First connecting rod; 161. First shaft connection; 162. First rod segment; 163. Second rod segment; 170. Second connecting rod; 171. Second shaft connection; 172. Third rod segment; 173. Fourth rod segment; 180. First connector; 181, First connecting plate; 184, First connector body; 185, First mounting part; 1851, First ear plate; 1852, Second ear plate; 1853, First mounting groove; 186, Second mounting part; 1861, Third ear plate; 1862, Fourth ear plate; 1863, Second mounting groove; 101, Flange; 102, First rotatable connection; 103, Second rotatable connection; 104, Third rotatable connection; 105, Fourth rotatable connection; x, First direction; y, Second direction; z, Third direction; 121, First side of the second driver; 122, Second side of the second driver. Detailed Implementation

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are merely some examples or embodiments of this application. For those skilled in the art, these drawings can be applied to other similar scenarios without creative effort. Unless obvious from the context or otherwise specified, the same reference numerals in the drawings represent the same structures or operations.

[0017] As indicated in this application, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" do not specifically refer to the singular and may also include the plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of explicitly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0018] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0019] In the description of this application, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms 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 on the scope of protection of this application; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0020] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0021] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, these terms have no special meaning and therefore should not be construed as limiting the scope of protection of this application. In addition, although the terminology used in this application is selected from commonly known and used terms, some terms mentioned in this application's specification may have been chosen by the applicant according to his or her judgment, and their detailed meanings are explained in the relevant sections of this description. Moreover, this application should be understood not only through the actual terms used, but also through the meaning implied by each term.

[0022] This application provides a waist structure 100, such as Figure 1 and Figure 2 As shown, the waist structure 100 is used for a humanoid robot. The waist structure 100 includes a first actuator 110, a second actuator 120, a third actuator 130, a dual-pushrod drive assembly 140, a rotating bracket 150, a first connecting rod 160, a second connecting rod 170, and a first connecting member 180. The first actuator 110 is fixedly connected to the first connecting member 180. The first actuator 110 includes a first output shaft with a first rotation axis extending along a first direction x. The first connecting member 180 is at least partially disposed within the rotating bracket 150 and rotatably connected to the rotating bracket 150. The second actuator 120 includes a second output shaft with a second rotation axis extending along a second direction. The second actuator 120 is rotatably connected to the third actuator 130. The third actuator 140 includes a third output shaft with a third rotation axis extending along a first direction x. The direction extends; a first connecting rod 160 is disposed on the first side 121 of the second driver, one end of the first connecting rod 160 is rotatably connected to the rotating bracket 150, and the other end of the first connecting rod 160 is rotatably connected to the second driver 120; a second connecting rod 170 is disposed on the second side 122 of the second driver, one end of the second connecting rod 170 is rotatably connected to the rotating bracket 150, and the other end of the second connecting rod 170 is rotatably connected to the second driver 120; the second driver 120 is used to drive the first connecting rod 160 and / or the second connecting rod 170 to rotate; the dual push rod drive assembly 140 includes a first push rod 141 and a second push rod 142 that can be independently extended and retracted, the first end 1411 of the first push rod is connected to the first connecting rod 160, the second end 1412 of the first push rod is connected to the first connecting member 180; the third end 1421 of the second push rod is connected to the second connecting rod 170, and the fourth end 1422 of the second push rod is connected to the first connecting member 180. In this application, as Figure 1As shown, the first direction x is the vertical direction of the waist structure 100, the second direction y is the left-right direction of the waist structure 100, and the third direction z is the front-back direction of the waist structure 100. Among them, the first direction x, the second direction y, and the third direction z are all perpendicular to each other and orthogonal to each other.

[0023] In some embodiments, the first driver 110, the second driver 120, and the third driver 130 may be harmonic geared motors or planetary geared motors. The first driver 110, the second driver 120, and the third driver 130 may employ the same type of motor. Each of the first driver 110, the second driver 120, and the third driver 130 includes a driver body and an output shaft. The first push rod 141 and the second push rod 142 refer to driving components capable of telescopic movement along a preset direction, which change the distance between their two connecting ends by extending or shortening to drive the connected components to move. The first push rod 141 and the second push rod 142 include, but are not limited to, electric push rods, hydraulic cylinders, pneumatic cylinders, or other linear driving components capable of outputting linear telescopic movement.

[0024] The waist structure provided in this application, through the arrangement of a first driver, a second driver, a third driver, and a dual push rod drive assembly, enables the waist structure to achieve rotational freedom in multiple directions, thereby improving the motion flexibility of the waist structure and helping to improve the delicacy and anthropomorphism of the waist movements of the humanoid robot.

[0025] In some embodiments, such as Figures 1-2 As shown, the first connecting rod 160 includes a first shaft connecting part 161, a first rod segment 162, and a second rod segment 163. The first rod segment 162 and the second rod segment 163 are respectively connected to the first shaft connecting part 161, and the first rod segment 162 and the second rod segment 163 form a first preset angle. The first shaft connecting part 161 is fixedly connected to the second output shaft. The first rod segment 162 is also rotatably connected to the rotating bracket 150. The first end 1411 of the first push rod is connected to the second rod segment 163. The second connecting rod 170 includes a third rod segment 172, a second shaft connecting part 171, and a fourth rod segment 173. The third rod segment 172 and the fourth rod segment 173 are respectively connected to the second shaft connecting part 171. The third rod segment 172 and the fourth rod segment 173 form a second preset angle. The second shaft connecting part 171 is rotatably connected to the second driver 120. The third rod segment 172 is also rotatably connected to the rotating bracket 150. The third end 1421 of the second push rod is connected to the fourth rod segment 173.

[0026] In some embodiments, such as Figures 1-2As shown, the second driver 120 is arranged parallel to the second direction y, and the second rotation axis of the second output shaft extends along the second direction y. The first shaft connection portion 161 of the first connecting rod 160 is located on the first side 121 of the second driver and is fixedly connected to the second output shaft by screws. The second output shaft can drive the first shaft connection portion 161 to rotate. The second shaft connection portion 171 of the second connecting rod 170 is rotatably connected to the second side 122 of the second driver by a bearing. Since the first segment 162 of the first connecting rod 160 and the third segment 172 of the second connecting rod 170 are respectively connected to the rotating bracket 150, when the second driver 120 drives the first connecting rod 160 to rotate, it will also drive the rotating bracket 150 to rotate, and the rotating bracket 150 can then drive the second connecting rod 170 to rotate.

[0027] In some embodiments, such as Figure 1 and Figure 2 As shown, the first shaft connecting part 161 of the first connecting rod 160 is fixedly connected to the second output shaft by screws, and the second output shaft can drive the first shaft connecting part 161 to rotate. The first end 1411 of the first push rod is provided with a first universal joint, and the first end 1411 of the first push rod is movably connected to the first connecting rod 160 through the first universal joint; the second end 1412 of the first push rod is provided with a second universal joint, and the second end 1412 of the first push rod is movably connected to the first connecting member 180 through the second universal joint. The third end 1421 of the second push rod is provided with a third universal joint, and the third end 1421 of the second push rod is movably connected to the second connecting rod 170 through the third universal joint; the fourth end 1422 of the second push rod is provided with a fourth universal joint, and the fourth end 1422 of the second push rod is movably connected to the first connecting member 180 through the fourth universal joint. Because the first push rod 141 and the second push rod 142 may deflect at a certain angle when the waist structure 100 moves, connecting the two ends of the first push rod 141 and the second push rod 142 to other components via universal joints allows the first push rod 141 and the second push rod 142 to rotate within a small range in space, thereby adapting to the aforementioned angle deflection and preventing the first push rod 141 and the second push rod 142 from jamming. Specifically, the first end 1411 of the first push rod can be movably connected to the second segment 163 of the first connecting rod 160 via the first universal joint, and the third end 1421 of the second push rod can be movably connected to the fourth segment 173 of the second connecting rod 170 via the third universal joint.

[0028] In some embodiments, such as Figure 1 and Figure 2As shown, the first segment 162 and the second segment 163 are respectively disposed at different circumferential positions of the first shaft connection portion 161, with the first segment 162 positioned above the second segment 163. The third segment 172 and the fourth segment 173 are respectively disposed at different circumferential positions of the second shaft connection portion 171, with the third segment 172 positioned above the fourth segment 173. The first preset angle formed by the first segment 162 and the second segment 163 means that the line connecting the centerline of the first segment 162 to the center of the first shaft connection portion 161 and the line connecting the centerline of the second segment 163 to the center of the first shaft connection portion 161 form the first preset angle. The second preset angle formed by the third segment 172 and the fourth segment 173 means that the line connecting the centerline of the third segment 172 to the center of the second shaft connection portion 171 and the line connecting the centerline of the fourth segment 173 to the center of the second shaft connection portion 171 form the second preset angle. In some embodiments, the first preset angle and the second preset angle may be equal. The first link segment 162 and the third link segment 172 are symmetrically arranged along the plane containing the first direction x and the third direction z; the second link segment 163 and the fourth link segment 173 are symmetrically arranged along the plane containing the first direction x and the third direction z. In some embodiments, the first link segment 162, the second link segment 163 and the first shaft connection portion 161 are integrally arranged; the third link segment 172, the fourth link segment 173 and the second shaft connection portion 171 are integrally arranged.

[0029] As mentioned before, continue to refer to Figure 1 and Figure 2As shown, the first end 1411 of the first push rod is connected to the first connecting rod 160, and the second end 1412 of the first push rod is connected to the first connecting member 180. Since the first push rod 141 and the second push rod 142 are in three-dimensional space, they can be tilted in space. Assume that the first push rod 141 is parallel to the plane containing the first direction x and the third direction z, and the first push rod 141 is tilted relative to the first direction x, with a large tilt angle. Since the first push rod 141 is a linear drive member, its output driving force is mainly along the extension and retraction direction of the first push rod 141. Therefore, when the first push rod 141 has a large tilt angle relative to the first direction x, the driving force output by the first push rod 141 will be decomposed into a component force along the first direction x and a component force along the third direction z. Among them, the component force along the first direction x can be used as an effective driving force component to drive the rotating bracket 150 or the first connecting member 180 to rotate, while the component force along the third direction z contributes less to the above-mentioned rotation drive, resulting in low utilization of the driving force of the first push rod 141 and large energy loss. Furthermore, the extension and retraction stroke of the first push rod 141 is limited. When the first push rod 141 is installed at a large angle to the first direction x, the projection of its extension and retraction displacement in the effective driving direction is small, thus reducing the effective driving displacement that the rotating bracket 150 or the first connector 180 can obtain, thereby limiting the rotation amplitude of the rotating bracket 150 or the first connector 180. The second push rod 142 has the same driving effect on the rotating bracket 150 or the first connector 180 as the first push rod 141, and the tilt angle is similar, so it will not be described in detail here.

[0030] In some embodiments, such as Figure 1 and Figure 2 As shown, the first connecting rod 160 is provided with a second rod segment 163, and the second connecting rod 170 is provided with a fourth rod segment 173. The first end 1411 of the first push rod is movably connected to the second rod segment 163 via a first universal joint, and the third end 1421 of the second push rod is movably connected to the fourth rod segment 173 via a third universal joint. Because the first rod segment 162 and the second rod segment 163 are located at different circumferential positions of the first shaft connection 161, and the first rod segment 162 and the second rod segment 163 are provided with a first preset included angle, after the first end 1411 of the first push rod is movably connected to the second rod segment 163, the tilt angle of the first push rod 141 in the first direction x will be greatly reduced, thereby improving the driving force utilization rate of the first push rod 141 and reducing energy loss. In addition, the effective driving displacement of the first push rod 141 will also increase accordingly, increasing the rotation range that the first push rod 141 can drive the first connecting member 180. The third end 1421 of the second push rod is movably connected to the fourth segment 173 via the third universal joint, achieving the same effect as the first push rod 141, which will not be elaborated here.

[0031] In some embodiments, both the first preset angle and the second preset angle are obtuse angles; the range of the first preset angle is 140 degrees to 160 degrees, and the range of the second preset angle is 140 degrees to 160 degrees. For example, the first preset angle is 140 degrees, 145 degrees, 150 degrees, 155 degrees, and 160 degrees; the second preset angle is 140 degrees, 145 degrees, 150 degrees, 155 degrees, and 160 degrees. Under the action of these preset angles, the tilt angle of the first push rod 141 and the second push rod 142 in the first direction x will be greatly reduced, improving the utilization rate of the driving force of the first push rod 141 and the second push rod 142 and reducing energy loss.

[0032] In some embodiments, the second driver 120 is a dual-axis driver, comprising two second output shafts. A first shaft connection is fixedly connected to one second output shaft, and a second shaft connection is fixedly connected to the other second output shaft. The second driver 120 is used to drive the first connecting rod 160 and the second connecting rod 170 to rotate. When the second driver 120 is a dual-axis driver, the second shaft connection can be directly fixedly connected to the other second output shaft, enabling the second driver 120 to both output torque to the first connecting rod 160 and provide a support base for the second connecting rod 170, thereby improving the compactness and motion stability of the waist structure.

[0033] In some embodiments, such as Figures 1-4 As shown, the first connector 180 includes a first connecting plate 181, which has a first mounting portion 185 and a second mounting portion 186. The first mounting portion 185 and the second mounting portion 186 are spaced apart along a second direction y. A second end is connected to the first mounting portion 185, and a fourth end is movably connected to the second mounting portion 186. Specifically, the first mounting portion 185 includes a first ear plate 1851 and a second ear plate 1852, with a first mounting groove 1853 formed between the first ear plate 1851 and the second ear plate 1852. The second mounting portion 186 includes a third ear plate 1861 and a fourth ear plate 1862, with a second mounting groove 1863 formed between the third ear plate 1861 and the fourth ear plate 1862. The second end 1412 of the first push rod is disposed in the first mounting groove 1853. A screw passes through the first ear plate 1851, the second universal joint, and the second ear plate 1852, rotatably mounting the second end 1412 of the first push rod in the first mounting groove 1853. The second end 1412 of the first push rod can rotate within the first mounting groove 1853. The fourth end 1422 of the second push rod is disposed in the second mounting groove 1863. Another screw passes through the third ear plate 1861, the fourth universal joint, and the fourth ear plate 1862, rotatably mounting the fourth end 1422 of the second push rod in the second mounting groove 1863. The fourth end 1422 of the second push rod can rotate within the second mounting groove 1863.

[0034] Continue to refer to Figures 1-4As shown, assuming the first push rod 141 and the second push rod 142 are parallel to the plane formed by the first direction x and the second direction y, the first push rod 141 and the second push rod 142 will also have an angle of inclination in the second direction y. Through force decomposition, it can be seen that the driving force of the first push rod 141 has components along the first direction x and the second direction y respectively. When the first push rod 141 is perpendicular to the second direction y, the driving force of the first push rod 141 has no component in the second direction y. Similarly, the second push rod 142 also has components in the first direction x and the second direction y. The way the driving force acts is the same as that of the first push rod 141, which will not be elaborated here. By spaced the first mounting part 185 and the second mounting part 186, the angle of inclination of the first push rod 141 and the second push rod 142 relative to the second direction y can be adjusted, thereby improving the utilization rate of the driving force of the first push rod 141 and the second push rod 142 and reducing energy loss. Furthermore, the effective driving displacement of the first push rod 141 and the second push rod 142 will also increase accordingly, thereby increasing the rotation range that the first push rod 141 and the second push rod 142 can drive the first connecting member 180. In some embodiments, such as Figures 1-4 As shown, the first mounting portion 185 and the second mounting portion 186 are arranged parallel to and opposite to each other along the second direction y. The distance between the first mounting portion 185 and the second mounting portion 186 is equal to or close to the distance between the second rod segment 163 and the fourth rod segment 173. The depth of the first connecting plate 181 along the third direction z is the same as or close to the depth of the second rod segment 163 and the fourth rod segment 173 along the third direction z. With this design, the driving force utilization rate of the first push rod 141 and the second push rod 142 is relatively high.

[0035] In some embodiments, the first driver 110, the second driver 120, and the third driver 130 are sequentially arranged along a first direction x, with the second driver 120 located between the first driver 110 and the second driver 120. A first rotation axis and a third rotation axis are collinear, and a second rotation axis extends along a second direction y and is perpendicular to the first rotation axis. The second driver 120 is fixedly connected to the third output shaft via a flange 101, enabling the third driver 130 to drive the second driver 120 to rotate around the third rotation axis. In the above structure, the first rotation axis of the first output shaft and the third rotation axis of the third output shaft are collinear, and the second rotation axis of the second output shaft extends along the second direction y and is perpendicular to the first rotation axis, allowing the first driver 110, the second driver 120, and the third driver 130 to form a cooperative multi-degree-of-freedom drive layout. The second actuator 120 is fixedly connected to the third output shaft via flange 101, enabling the third actuator 130 to drive the second actuator 120 to rotate around the third rotation axis. This further enhances the rotational freedom around the third rotation axis provided by the third actuator 130, building upon the rotational freedom provided by the second actuator 120, thereby improving the posture adjustment capability of the waist structure 100. Furthermore, since the first and third rotation axes are collinear, the offset arrangement between the first actuator 110 and the third actuator 130 reduces the space occupied by the waist structure 100, improving its compactness and motion coordination. In some embodiments, flange 101 has mounting holes through which screws are used to fix flange 101 to the third output shaft of the third actuator 130. When the third output shaft rotates, it drives flange 101 to rotate as well. The housing of the second actuator 120 is fixedly connected to flange 101 via screws, allowing flange 101 to rotate when it rotates.

[0036] In some embodiments, such as Figures 1-4As shown, the rotating bracket 150 is annular; the first connector 180 includes a first connector body 184, a first connecting plate 181 disposed in the first connector body 184, and the first connector body 184 is annular; the first driver 110 is at least partially disposed within the first connector body 184 and fixedly connected to the first connector body 184; the first connector body 184 is at least partially disposed within the rotating bracket 150 and rotatably connected to the rotating bracket 150, and a first rotating connection 102 and a second rotating connection 103 are formed between the first connector body 184 and the rotating bracket 150 and are relatively disposed along the third direction z. The moving connection 102 and the second rotating connection 103 together define a fourth rotating axis, which extends along the third direction z; the first rod segment 162 and the third rotating connection 104 of the rotating bracket 150 and the third rod segment 172 and the fourth rotating connection 105 of the rotating bracket 150 together define a fifth rotating axis, which extends along the second direction y; when one of the first push rod 141 and the second push rod 142 extends and the other shortens, the first connector 180 rotates about the fourth rotating axis; when the first push rod 141 and the second push rod 142 extend or shorten simultaneously, the rotating bracket 150 rotates about the fifth rotating axis.

[0037] In some embodiments, such as Figures 1-4 As shown, the first connector body 184 is annular, and the first connecting plate 181 is disposed on the top of the first connector body 184. The first driver 110 body is cylindrical, and the first driver 110 may be partially disposed within the first connector body 184. Preferably, to make the waist structure 100 more compact, the first driver 110 is completely disposed within the first connector 180. The rotating bracket 150 is annular, and the first connector 180 is at least partially disposed within the rotating bracket 150, in which case the first connecting plate 181 is disposed outside the rotating bracket 150. Along the radial direction of the rotating bracket 150, the first connector 180 is rotatably connected to the rotating bracket 150 by two bearings, forming a first rotating connection 102 and a second rotating connection 103. In some embodiments, the line connecting the first rotating connection 102 and the second rotating connection 103 is parallel to a third direction z. The first rotating connection 102 and the second rotating connection 103 together define a fourth rotation axis, which extends along a third direction z.

[0038] In some embodiments, the first link segment 162 is rotatably connected to the rotating bracket 150 via a bearing, forming a third rotating connection 104; the third link segment 172 is rotatably connected to the rotating bracket 150 via another bearing, forming a fourth rotating connection 105. The line connecting the third rotating connection 104 and the fourth rotating connection 105 is parallel to the second direction y and lies radially in the rotating bracket 150. The third rotating connection 104 and the fourth rotating connection 105 together define a fourth rotation axis, which extends along the second direction y.

[0039] In some embodiments, when the first push rod 141 extends and the second push rod 142 shortens, the first push rod 141 generates a thrust along the first direction x, and the second push rod 142 generates a pull force along the first direction x. Guided by the thrust and pull forces, the first connector 180 can rotate about a fourth rotation axis. When the first push rod 141 and the second push rod 142 extend synchronously, the first push rod 141 generates a thrust along the first direction x, and the second push rod 142 also generates a thrust along the first direction x. Under the action of the two thrusts, the rotating bracket 150 can rotate about a fifth rotation axis.

[0040] The aforementioned nested annular structure allows the first connecting member body 184 to rotate relative to the rotating support 150 around the fourth rotation axis, and allows the rotating support 150 to rotate relative to the first connecting rod 160 and the second connecting rod 170 around the fifth rotation axis, thus forming two independent rotational degrees of freedom within a compact space. By controlling the extension and retraction states of the first push rod 141 and the second push rod 142, the corresponding rotational degrees of freedom of the fourth and fifth rotation axes can be driven respectively, thereby improving the posture adjustment range and movement fineness of the waist structure 100. In addition, since the first actuator 110 is at least partially disposed within the annular first connecting member body 184, the internal space of the first connecting member body 184 can be fully utilized, reducing the overall volume of the waist structure 100; the first rotational connection 102 and the second rotational connection 103 are arranged opposite each other along the third direction z, and the third rotational connection 104 and the fourth rotational connection 105 jointly define the fifth rotation axis, which helps to improve the stability of the rotational support and reduce swaying and shaking during rotation.

[0041] It should be noted that the waist structure 100 provided in this application has five degrees of freedom. The first rotation axis of the first output shaft of the first driver 110 extends along the first direction x, and the first driver 110 can drive the waist structure 100 to rotate around the first rotation axis, which is the first degree of freedom. The second rotation axis of the second output shaft of the second driver 120 extends along the second direction y, and the second driver 120 can drive the first connecting rod 160 to rotate around the second rotation axis. The first connecting rod 160 drives the second connecting rod 170, the rotating bracket 150, the first driver 110, the first connecting member 180, the first push rod 141 and the second push rod 142 to move through the connecting structure, which is the second degree of freedom. The third rotation axis of the third output shaft of the third driver 130 extends along the first direction x, and the second driver 120 is rotatably connected to the third driver 130. Therefore, the third driver 130 can drive the second driver 120 to rotate around the third rotation axis. The second driver 120 drives the first driver 110, the first connector 180, the first connecting rod 160, and the second connecting rod 170 to rotate through the connecting structure; this is the third degree of freedom. When one of the first push rod 141 and the second push rod 142 extends while the other shortens, the first push rod 141 and the second push rod 142 drive the first connector 180 to rotate along the fourth rotation axis; this is the fourth degree of freedom. When the first push rod 141 and the second push rod 142 shorten or extend simultaneously, the first push rod 141 and the second push rod 142 drive the rotating bracket 150 to rotate around the fifth rotation axis; this is the fifth degree of freedom. With five degrees of freedom, the waist structure 100 can rotate in multiple directions, which improves the mobility of the waist structure 100 and helps to improve the delicacy and anthropomorphism of the humanoid robot's waist movements.

[0042] The waist structure 100 provided in this application, through the first driver 110, the second driver 120, the third driver 130 and the dual push rod drive assembly 140, enables the waist structure 100 to achieve rotational freedom in multiple directions, thereby improving the motion flexibility of the waist structure 100 and helping to improve the delicacy and anthropomorphism of the waist movements of the humanoid robot.

[0043] The application also provides a humanoid robot, which includes a waist structure 100, a torso and a hip structure as described above, a first output shaft of a first actuator 110 connected to the torso, and a third actuator 130 including a third actuator 130 body connected to the hip structure.

[0044] The humanoid robot provided in this application has a waist that can achieve multiple degrees of freedom of rotation. This humanoid robot can simulate various limb movements of the human body and has strong mobility and coordination.

[0045] The basic concepts have been described above. Obviously, for those skilled in the art, the above disclosure is merely illustrative and does not constitute a limitation of this application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to this application. Such modifications, improvements, and corrections are suggested in this application, and therefore remain within the spirit and scope of the exemplary embodiments of this application.

[0046] Furthermore, this application uses specific terms to describe embodiments of the application. For example, "an embodiment," "one embodiment," and / or "some embodiments" refer to a particular feature, structure, or characteristic related to at least one embodiment of the application. Therefore, it should be emphasized and noted that "an embodiment," "one embodiment," or "an alternative embodiment" mentioned twice or more in different locations in this specification do not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of the application can be appropriately combined.

[0047] Similarly, it should be noted that, in order to simplify the description of the present application and thus aid in the understanding of one or more embodiments of the invention, the foregoing description of the embodiments of the present application sometimes combines multiple features into a single embodiment, drawing, or description thereof. However, this disclosure method does not imply that the subject matter of the present application requires more features than those mentioned. In fact, the embodiments contain fewer features than all the features of the single embodiments disclosed above.

[0048] In some embodiments, numbers describing the quantity of components and attributes are used. It should be understood that such numbers used to describe embodiments are sometimes modified by the terms "approximately," "approximately," or "generally." Unless otherwise stated, "approximately," "approximately," or "generally" indicates that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in this application are approximate values, which may be changed depending on the characteristics required by individual embodiments. In some embodiments, numerical parameters should take into account specified significant digits and employ a general method of digit reservation. Although the numerical ranges and parameters used to confirm their breadth of range in some embodiments of this application are approximate values, in specific embodiments, such values ​​are set as precisely as feasible.

[0049] Although this application has been described with reference to specific embodiments, those skilled in the art should recognize that the above embodiments are only used to illustrate this application, and various equivalent changes or substitutions can be made without departing from the spirit of this application. Therefore, any changes or modifications to the above embodiments within the scope of the essential spirit of this application will fall within the scope of this application.

Claims

1. A waist structure, characterized in that, The waist structure is used for a humanoid robot, and the waist structure includes a first actuator, a second actuator, a third actuator, a dual push rod drive assembly, a rotating bracket, a first link, a second link, and a first connector; The first driver is fixedly connected to the first connector. The first driver includes a first output shaft, which has a first rotation axis extending along a first direction. The first connector is at least partially disposed within the rotating bracket and is rotatably connected to the rotating bracket. The second driver includes a second output shaft having a second rotation axis extending along a second direction, and the second driver is rotatably connected to the third driver; The third driver includes a third output shaft having a third rotation axis extending along the first direction; The first connecting rod is disposed on the first side of the second driver, one end of the first connecting rod is rotatably connected to the rotating bracket, and the other end of the first connecting rod is rotatably connected to the second driver; The second connecting rod is disposed on the second side of the second driver, one end of the second connecting rod is rotatably connected to the rotating bracket, and the other end of the second connecting rod is rotatably connected to the second driver; the second driver is used to drive the first connecting rod and / or the second connecting rod to rotate. The dual push rod drive assembly includes a first push rod and a second push rod that can be independently extended and retracted. The first end of the first push rod is connected to the first connecting rod, and the second end of the first push rod is connected to the first connector. The third end of the second push rod is connected to the second connecting rod, and the fourth end of the second push rod is connected to the first connector.

2. The waist structure as described in claim 1, characterized in that, The first connecting rod includes a first shaft connecting part, a first rod segment and a second rod segment. The first rod segment and the second rod segment are respectively connected to the first shaft connecting part, and the first rod segment and the second rod segment form a first preset angle. The first shaft connecting part is fixedly connected to the second output shaft. The first rod segment is also rotatably connected to the rotating bracket. The first end is connected to the second rod segment. The second connecting rod includes a third rod segment, a second shaft connecting part, and a fourth rod segment. The third rod segment and the fourth rod segment are respectively connected to the second shaft connecting part. The second rod segment and the fourth rod segment form a second preset angle. The second shaft connecting part is rotatably connected to the second driver. The third rod segment is also rotatably connected to the rotating bracket. The third end is connected to the fourth rod segment.

3. The waist structure as described in claim 2, wherein the second driver is a dual-axis driver, the second driver includes two second output shafts, the first shaft connecting part is fixedly connected to one second output shaft, and the second shaft connecting part is fixedly connected to another second output shaft; the second driver is used to drive the first connecting rod and the second connecting rod to rotate.

4. The waist structure as described in claim 3, characterized in that, The first connector includes a first connecting plate, which has a first mounting portion and a second mounting portion, and the first mounting portion and the second mounting portion are spaced apart along the second direction; the second end is connected to the first mounting portion, and the fourth end is connected to the second mounting portion.

5. The waist structure as described in claim 4, characterized in that, The first driver, the second driver, and the third driver are arranged sequentially along the first direction, with the second driver located between the first driver and the second driver; The first rotation axis is collinear with the third rotation axis, and the second rotation axis extends along the second direction and is perpendicular to the first rotation axis; The second driver is fixedly connected to the third output shaft via a flange, so that the third driver can drive the second driver to rotate around the third rotation axis.

6. The waist structure as described in claim 5, characterized in that, The rotating bracket is annular; the first connector includes a first connector body, and the first connecting plate is disposed on the first connector body, the first connector body being annular; The first driver is at least partially disposed within the body of the first connector and is fixedly connected to the body of the first connector. The first connector body is at least partially disposed within the rotating bracket and rotatably connected to the rotating bracket. A first rotatable connection and a second rotatable connection are formed between the first connector body and the rotating bracket and are disposed opposite to each other along a third direction. The first rotatable connection and the second rotatable connection together define a fourth rotatable axis, which extends along a third direction. The third rotatable connection between the first rod segment and the rotating bracket, and the fourth rotatable connection between the third rod segment and the rotating bracket, together define a fifth rotation axis, which extends along a second direction; When one of the first push rod and the second push rod extends while the other shortens, the first connecting member rotates about the fourth rotation axis; when the first push rod and the second push rod extend or shorten simultaneously, the rotating bracket rotates about the fifth rotation axis.

7. The waist structure as described in claim 2, characterized in that, The first preset angle and the second preset angle are both obtuse angles; the range of the first preset angle is 140 degrees to 160 degrees, and the range of the second preset angle is 140 degrees to 160 degrees.

8. A humanoid robot, characterized in that, The humanoid robot includes a waist structure, a torso, and a hip structure as described in any one of claims 1-7. The first output shaft of the first actuator is connected to the torso, and the third actuator further includes a third actuator body, which is connected to the hip structure.

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