Pelvis structure and robot
By designing an integrated pelvic structure, using multiple drive parts to achieve multi-directional movement of the leg structure, the problem of poor bionic effect of hip joint structure in the prior art is solved, and the stability and bionic effect of the robot are improved.
Patent Information
- Application Number
- CN202420380596.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-02-28
- Publication Date
- 2025-02-07
- Estimated Expiration
- 2034-02-28
AI Technical Summary
After the hip structure of existing robots is assembled, the bionic effect is poor, affecting the stability of the robot.
An integrated pelvic bone structure is designed, and the second drive member is used to drive rotation, lateral swing and forward and backward swing of the leg structure by a combination of the first drive member, a second drive member and a third drive member, respectively. The center of gravity of the third drive member is located on the third reference axis.
The compact configuration of the pelvic bone structure is achieved, the volume of the hip joint is reduced, and the stability and bionic effect of the robot are improved.
Smart Images
Figure CN222432452U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the field of robots, in particular to a pelvic structure and a robot. Background Art
[0002] In the related art, the hip joint structure of the robot connects two leg structures, each leg structure has three degrees of freedom, corresponding to the rotation, lateral swing and forward and backward swing of the leg structure, and the two leg structures require six degrees of freedom for the hip joint structure. The prior art usually sets a joint module for each degree of freedom, and the joint module provides power for realizing the rotation, lateral swing and forward and backward swing of the leg structure, but there are the following problems:
[0003] The pelvic structure formed by the overall assembly of the three joint modules at the hip joint that are responsible for the rotation, lateral swing, and forward and backward swing of the leg structure has poor bionic effect, which affects the stability of the robot. Utility Model Content
[0004] In view of this, the purpose of the utility model is to overcome the deficiencies in the prior art and provide a pelvic structure with an integrated setting, which can reduce the overall volume of the pelvic structure and improve the stability and bionic effect of the robot;
[0005] In addition, a robot using the above pelvic structure is provided.
[0006] The utility model provides the following technical solutions:
[0007] According to a first aspect of the present utility model, a pelvic structure is provided, the pelvic structure comprising:
[0008] a first driving member, the first driving member being used to be connected to the leg structure, the first driving member having a first reference axis, and the first driving member being capable of driving the leg structure to rotate around the first reference axis; and
[0009] a second driving member, the second driving member is connected to the first driving member, the second driving member has a second reference axis, and the second driving member can drive the first driving member to rotate around the second reference axis; and
[0010] a third driving member, the third driving member being connected to the second driving member, the third driving member having a third reference axis, and the third driving member being capable of driving the second driving member to rotate around the third reference axis;
[0011] The first reference axis and the second reference axis are vertically arranged, the second reference axis and the third reference axis are vertically arranged, and the center of gravity of the second driving member and the center of gravity of the third driving member are both located on the third reference axis.
[0012] Further, the first driving member includes a first driving motor; the second driving member includes a second driving motor; the third driving member includes a third driving motor;
[0013] The pelvic structure further comprises a pelvic frame; wherein the third driving motor comprises a third body and a third main shaft, the third main shaft is connected to the third body, the third body is mounted on the pelvic frame, and the axis of the third main shaft forms the third reference axis;
[0014] The second drive motor comprises a second main shaft, the axis of the second main shaft forming the second reference axis;
[0015] The first drive motor comprises a first main shaft, the axis of the first main shaft forming the first reference axis.
[0016] Further, the first reference axis and the second reference axis are coplanarly arranged, and the first reference axis and the third reference axis are coplanarly arranged; wherein the center of gravity of the first driving member, the center of gravity of the second driving member and the center of gravity of the third driving member are all located in the plane where the first reference axis and the third reference axis are coplanar.
[0017] Further, the center of gravity of the first driving member is located on the first reference axis, the center of gravity of the second driving member is located on the second reference axis, and the center of gravity of the third driving member is located on the third reference axis.
[0018] Furthermore, the second driving motor further comprises a second body, and two axially opposite ends of the second body are respectively connected to the third main shaft;
[0019] The first driving motor further comprises a first body, and two axially opposite ends of the second body are respectively connected to the second main shaft and hinged to the second body.
[0020] Furthermore, the first body is connected to two opposite ends of the second main shaft respectively.
[0021] Furthermore, the second driving member further comprises a first bracket, the first bracket is connected to the third main shaft, and the first bracket has a pair of first supporting arms arranged opposite to each other, and the pair of first supporting arms are respectively connected to opposite ends of the second body of the second driving motor;
[0022] The first driving member also includes a second bracket, the second bracket is connected to the first driving motor, and the second bracket has a pair of second supporting arms arranged opposite to each other, and the pair of second supporting arms are respectively connected to two opposite ends of the second main shaft.
[0023] Furthermore, the pelvic structure further includes a limiting member, wherein the limiting member is mounted on the first driving member, and the limiting member is used to limit a rotation range of the first driving member around the second reference axis.
[0024] Furthermore, the limiting member includes:
[0025] A limit block and a swing arm, wherein the limit block is installed on the second driving member, the limit block forms a limit slot, the swing arm is connected to the first driving member, and the swing arm is inserted into the limit slot; wherein the limit slot is extended along the rotation path of the swing arm.
[0026] According to a first aspect of the present utility model, a robot is provided, comprising a leg structure and any one of the pelvic structures, wherein the leg structure and the pelvic structure are connected.
[0027] The embodiments of the present utility model have the following advantages:
[0028] With the pelvic structure provided by the utility model, the first driving member is used to drive the leg structure to rotate, the second driving member is used to drive the leg structure to swing sideways, and the third driving member is used to drive the leg structure to swing back and forth, thereby realizing the robot's walking and other movements; wherein, since the center of gravity of the second driving member and the center of gravity of the third driving member are collinear and both are located on the third reference axis, obviously, when the third driving member drives the second driving member to swing back and forth, the center of gravity of both the third driving member and the second driving member does not shift and change, thereby being able to improve the stability of the pelvic structure composed of the first driving member, the second driving member and the third driving member, and improving the stability of the robot's walking; in addition, since the center of gravity of the second driving member and the center of gravity of the third driving member are both located on the third reference axis, the second driving member and the third driving member can be reduced in size and concentrated in a compact arrangement, reducing the volume of the pelvic structure and the hip joint, which is beneficial to improving the bionic effect of the pelvic structure.
[0029] In addition, the utility model also relates to a robot. Since the above-mentioned pelvic structure has the above-mentioned technical effects, the robot including the pelvic structure should have the same technical effects, which will not be repeated here.
[0030] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS
[0031] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the utility model and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.
[0032] Figure 1 A structural schematic diagram showing a perspective of the pelvic structure provided by the utility model;
[0033] Figure 2 A structural schematic diagram showing another perspective of the pelvic structure provided by the utility model;
[0034] Figure 3 A three-dimensional schematic diagram of the pelvic structure provided by the utility model is shown;
[0035] Figure 4 Shows Figure 2 Middle AA section view;
[0036] Figure 5 The schematic diagram of the structure of the limiting block of the pelvic structure provided by the utility model is shown.
[0037] Description of main component symbols:
[0038] 100-basin frame; 200-third driving member; 210-third reference axis; 220-third driving motor; 300-second driving member; 310-second reference axis; 320-first bracket; 330-second driving motor; 331-second main shaft; 400-first driving member; 410-first driving motor; 420-first reference axis; 430-second bracket; 500-limiting member; 510-swing arm; 520-limiting block; 521-limiting groove. DETAILED DESCRIPTION
[0039] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.
[0040] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. In contrast, when an element is referred to as being "directly on" another element, there is no intermediate element. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.
[0041] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
[0042] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.
[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of the template herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.
[0044] In related technologies, with the advancement of science and technology, intelligent robots are increasingly being used in all walks of life, especially in the service industry, where the application rate of intelligent robots is relatively high. In the past, the form of intelligent robots was relatively simple, for example, the walking system of intelligent robots generally used a wheeled motion system instead. Now, intelligent robots are increasingly tending to be humanoid in design, so bipedal robots came into being.
[0045] Any single leg of a humanoid bipedal robot should include corresponding leg joints such as hip joints, knee joints, and ankle joints. The leg joints must cooperate with each other to complete walking movements similar to human movements. Since the pelvic structure is the connecting joint between the upper body and the lower body of the robot, the hip joint of the pelvic structure is one of the leg joints with relatively more degrees of freedom. In the current bipedal robots, the hip joint is not only responsible for the left and right swinging of the upper body of the robot, but also for the left and right twisting of the upper body of the robot. At the same time, it is also responsible for the alternating forward and backward strides of the legs of the lower body of the robot and the left and right side swings of any single leg of the legs. That is, the hip joint structure of the robot connects the two leg structures, and each leg structure has three degrees of freedom, corresponding to the rotation, lateral swing, and forward and backward swing of the leg structure. The two leg structures require six degrees of freedom for the hip joint structure. The existing technology usually sets a joint module for each degree of freedom. The joint module provides power for realizing the rotation, lateral swing and forward and backward swing of the leg structure. However, there are the following problems: the pelvic structure formed by the overall assembly of the three joint modules at the hip joint that are responsible for the rotation, lateral swing and forward and backward swing of the leg structure has poor bionic effect, which affects the stability of the robot.
[0046] like Figure 1 , Figure 2 and Figure 3 As shown, in order to solve the above technical problems, according to the first aspect disclosed in the utility model, a pelvic structure is provided, which includes a first driving member 400, a second driving member 300 and a third driving member 200. The first driving member 400 is used to connect with the leg structure, and the first driving member 400 has a first reference axis 420, and the first driving member 400 can drive the leg structure to rotate around the first reference axis 420; the second driving member 300 is connected to the first driving member 400, and the second driving member 300 has a second reference axis 310, and the second driving member 300 can drive the first driving member 400 to rotate around the second reference axis 310; the third driving member 200 is connected to the second driving member 300, and the third driving member 200 has a third reference axis 210, and the third driving member 200 can drive the second driving member 300 to rotate around the third reference axis 210. The first reference axis 420 and the second reference axis 310 are vertically arranged, the second reference axis 310 and the third reference axis 210 are vertically arranged, and the center of gravity of the second driving member 300 and the center of gravity of the third driving member 200 are both located on the third reference axis 210 .
[0047] That is, by limiting the positional relationship between the first reference axis 420, the second reference axis 310 and the third reference axis 210, the first driving member 400 can drive the leg structure to rotate (i.e., leg twisting), the second driving member 300 can drive the leg structure to swing sideways, and the third driving member 200 can drive the leg structure to swing forward and backward. In other words, the first driving member 400, the second driving member 300 and the third driving member 200 are three joint modules to provide power for the movement of the leg structure.
[0048] In the present application, the relative positions of the center of gravity of the second driving member 300 and the center of gravity of the third driving member 200 are adjusted so that the center of gravity of the second driving member 300 and the center of gravity of the third driving member 200 are both located on the third reference axis 210, that is, no matter where the third driving member 200 drives the second driving member 300 to rotate, the positions of the center of gravity of the second driving member 300 and the center of gravity of the third driving member 200 will not be offset, and the overall center of gravity of the second driving member 300 and the third driving member 200 will not shake. It is easy to understand that when the lateral swing and forward and backward swing actions of the leg mechanism are performed, the positions of the center of gravity of the second driving member 300 and the third driving member 200 at the pelvic structure will not change.
[0049] It should be noted that there is no technical difficulty for those skilled in the art as to how to adjust the center of gravity of the second driving member 300 and the third driving member 200 .
[0050] Exemplarily, the first driving member 400, the second driving member 300, and the third driving member 200 are hydraulic rotary cylinders; or, they can also be set as pneumatic rotary cylinders, which are not specifically limited here, as long as they can achieve the same function.
[0051] With the pelvic structure provided by the utility model, the first driving member 400 is used to drive the leg structure to rotate, the second driving member 300 is used to drive the leg structure to swing sideways, and the third driving member 200 is used to drive the leg structure to swing forward and backward, so as to realize the walking and other actions of the robot; wherein, since the center of gravity of the second driving member 300 and the center of gravity of the third driving member 200 are collinear and both are located on the third reference axis 210, obviously, when the third driving member 200 drives the second driving member 300 to swing forward and backward, the center of gravity of both the third driving member 200 and the second driving member 300 does not shift and change, thereby improving the stability of the pelvic structure composed of the first driving member 400, the second driving member 300 and the third driving member 200, and improving the stability of the robot's walking; in addition, since the center of gravity of the second driving member 300 and the center of gravity of the third driving member 200 are both located on the third reference axis 210, the second driving member 300 and the third driving member 200 can be reduced in a concentrated and compact arrangement, and the volume of the hip joint of the pelvic structure can be reduced, which is conducive to improving the bionic effect of the pelvic structure.
[0052] On the basis of the above embodiments, in order to facilitate the control of the center of gravity of the second driving member 300 and the third driving member 200, the second driving member 300 and the third driving member 200 are configured as a symmetrical structure or a rotating body structure.
[0053] like Figure 1 and Figure 2 As shown, based on the above embodiment, the first drive member 400 includes a first drive motor 410; the second drive member 300 includes a second drive motor 330; the third drive member 200 includes a third drive motor 220; and the pelvic structure also includes a pelvic frame 100; wherein, the third body of the third drive motor 220 is installed on the pelvic frame 100, the third main axis of the third drive motor 220 forms a third reference axis 210, the axis of the second main axis 331 of the second drive motor 330 forms the second reference axis 310, and the axis of the first main axis of the first drive motor 410 forms the first reference axis 420.
[0054] That is to say, by selecting drive motors for the first drive member 400, the second drive member 300 and the third drive member 200, the structure can be simplified and the volume of the pelvic structure can be reduced, which can further improve the stability of the robot.
[0055] For example, the first drive motor 410, the second drive motor 330 and the third drive motor 220 are all servo motors to ensure that the rotation angle can be accurately controlled. Of course, different motors can also be used in conjunction with angle sensors to achieve accurate control of the rotation angle. This is not specifically limited here.
[0056] For example, the first drive motor 410 , the second drive motor 330 , and the third drive motor 220 may all be harmonic servos, which have the characteristics of high control accuracy, small size, light weight, and long life.
[0057] Based on the above embodiment, the first reference axis 420 and the second reference axis 310 are coplanar, and the first reference axis 420 and the third reference axis 210 are coplanar, and the center of gravity of the first driving member 400, the center of the second driving member 300 and the center of gravity of the third driving member 200 are located in the plane where the first reference axis 420 and the third reference axis 210 are located.
[0058] By adjusting the positions of the center of gravity of the first driving member 400, the center of gravity of the second driving member 300 and the center of gravity of the third driving member 200, the positions among the first driving member 400, the second driving member 300 and the third driving member 200 can be made more compact, thereby reducing the volume of the pelvic structure and saving space for the lower leg structure.
[0059] In addition, there is no need to additionally counterweight the first driving member 400 , the second driving member 300 and the third driving member 200 .
[0060] Based on the above embodiment, the center of gravity of the first driving member 400 is located on the first reference axis 420 , the center of gravity of the second driving member 300 is located on the second reference axis 310 , and the center of gravity of the third driving member 200 is located on the third reference axis 210 .
[0061] With this arrangement, it is possible to prevent the center of gravity from changing during the rotation of any one of the first driving member 400 , the second driving member 300 and the third driving member 200 , thereby preventing the stability of the robot from being affected.
[0062] For example, the first driving member 400, the second driving member 300 and the third driving member 200 are all rotating body structures, which can facilitate the control of the center of gravity position.
[0063] like Figure 1 and Figure 2 As shown, based on the above embodiment, the first main axis is closer to the third drive motor 220 than the second main axis 331, which can reduce the width of the pelvic structure and correspondingly reduce the space occupied by the pelvic structure, conform to the human body structure, and improve the bionic effect.
[0064] like Figure 3 As shown, based on the above embodiment, the opposite ends of the second body of the second drive motor 330 are respectively connected to the third main shaft; and the first body of the first drive motor 410 is respectively connected to the second main shaft 331 and hinged to the second body so that the first body can rotate around the second main shaft 331.
[0065] In short, the first drive motor 410 includes a first body and a first main shaft, and the first body drives the first main shaft to rotate; the second drive motor 330 includes a second body and a second main shaft 331, and the second body drives the second main shaft 331 to rotate; the third drive motor 220 includes a third body and a third main shaft, and the third body drives the third main shaft to rotate.
[0066] That is to say, the second body is connected to the third main shaft at both opposite ends of the second main shaft 331, which can improve the strength between the second drive motor 330 and the third drive motor 220, thereby ensuring the stability of the structure under the leg.
[0067] For example, Figure 4 As shown, the first body is fixedly connected to a pair of rocker arms, one of the pair of rocker arms is connected to the second main shaft 331, and the other is hinged to the second body to form a first hinge point, which is on the second axis, so that the second body can rotate around the first hinge point under the drive of the second main shaft 331.
[0068] On the basis of the above embodiment, the first body is connected to two opposite ends of the second main shaft 331 respectively.
[0069] That is to say, the first body is respectively connected to the two opposite ends of the second main shaft 331, thereby improving the connection strength between the second drive motor 330 and the first drive motor 410, and when either end of the second main shaft 331 is disconnected from the first body, the other end can still be connected to the first body to maintain normal operation, thereby increasing the safety function.
[0070] For example, since both ends of the second main shaft 331 are connected to the first body through rocker arms, one end of the rocker arm is fixedly connected to the first body, and the other end is fixedly connected to the second main shaft 331, the torque transmitted from the second main shaft 331 to the first drive motor 410 can be increased. Alternatively, the strength of a single rocker arm can be reduced, and the cost and processing difficulty can be reduced.
[0071] like Figure 1 and Figure 3 As shown, on the basis of the above embodiment, the second driving member 300 also includes a first bracket 320, the first bracket 320 is connected to the third main shaft, and the first bracket 320 has a pair of first support arms arranged oppositely, and the pair of first support arms are respectively connected to the opposite ends of the second body of the second driving motor 330; and the first driving member 400 also includes a second bracket 430, the second bracket 430 is connected to the first driving motor 410, and the second bracket 430 has a pair of second support arms arranged oppositely, and the pair of second support arms are respectively connected to the opposite ends of the second main shaft 331.
[0072] Exemplarily, the first bracket 320 includes a first body and a pair of first support arms fixed to the first body, a space for installing the second drive motor 330 is formed between the pair of first support arms, opposite ends of the second body of the second drive motor 330 are respectively connected to the pair of first support arms by fastening bolts, and the first body is connected to the first main shaft. Optionally, the first bracket 320 is set to be U-shaped.
[0073] More specifically, the second body has a second front cover and a second rear cover that are arranged opposite to each other, and the second main shaft 331 extends from the second front cover. A pair of first support walls are connected to the second front cover and the second rear cover respectively by fastening bolts.
[0074] Exemplarily, the second bracket 430 includes a second body and a pair of second support arms fixed to the second body, a space for installing the second drive motor 330 is formed between the pair of second support arms, and the pair of second support arms are respectively connected to both ends of the second main shaft 331. Optionally, the second bracket 430 is configured as a type.
[0075] On the basis of the above embodiment, the second body has a receiving hole, the first body is installed in the receiving hole, and the second body forms a protective shell to protect the first body.
[0076] Exemplarily, the second body is formed with a retaining ring, the minimum inner diameter of the retaining ring is smaller than the outer diameter of the first front end cover of the first motor, forming a limiting step, and the retaining ring and the first front end cover are connected by bolts.
[0077] For example, the second body is set as a split structure, the second body is a cylinder, and the second body is formed by two half cylinders, and a pair of second support arms are respectively installed on the two half cylinders. Obviously, this structural setting can facilitate the installation of a pair of second support walls at both ends of the second main shaft 331, and facilitate the installation of the first body in the receiving hole on the second body.
[0078] like Figure 3 As shown, on the basis of the above embodiment, the first drive motor 410, the second drive motor 330 and the third drive motor 220 are all steering disc motors to increase the load-bearing capacity and avoid the load acting entirely on the main shaft. That is to say, the steering disc motor includes a body, a main shaft and a steering disc, the body drives the main shaft to rotate, the steering disc and the main shaft are coaxially connected, and the steering disc and the body are rotatably connected, thereby transferring the load to the body.
[0079] like Figure 3 and Figure 5 As shown, based on the above embodiment, the pelvic structure further includes a limit member 500 , on which the first driving member 400 is installed, and the limit member is used to limit the rotation range of the first driving member 400 around the second reference axis 310 .
[0080] That is to say, the limiting member is used to limit the angle of the lateral leg swing to avoid interference between the two leg structures caused by a large inward swing, or to avoid a large outward swing that causes the robot's leg structure to lose balance.
[0081] Exemplarily, the area between the two leg structures is the inner side, and the limiter is used to limit the maximum inward swing angle of the leg structure to 15 degrees and the maximum outward swing angle to 45 degrees, so as to achieve the bionic effect while avoiding exceeding the balance range of the robot.
[0082] Of course, it can be set according to the actual application scenario, for example: the limiter is used to limit the maximum inward swing angle of the leg structure to 10 degrees, and the maximum outward swing angle to 40 degrees; or, the limiter is used to limit the maximum inward swing angle of the leg structure to 5 degrees, and the maximum outward swing angle to 35 degrees; or, the limiter is used to limit the maximum inward swing angle of the leg structure to 15 degrees, and the maximum outward swing angle to 40 degrees, and so on.
[0083] like Figure 1 and Figure 3As shown, based on the above embodiment, the limit member includes a limit block 520 and a swing arm 510, the limit block 520 forms a limit slot 521, the limit block 520 is installed on the second driving member 300, the swing arm 510 is connected to the first driving member 400, and the swing arm 510 is inserted into the limit slot 521; wherein, the limit slot 521 extends along the rotation path of the swing arm 510.
[0084] That is to say, the limit block 520 is installed on the second driving member 300, and the swing arm 510 is movably inserted into the limit slot 521. By setting the length of the limit slot 521 extending along the rotation path of the swing arm 510, the swing range of the swing arm 510 can be changed, that is, the angle range of the lateral swing leg can be limited.
[0085] Exemplarily, the limit block 520 is installed on the second body, and the swing arm 510 is installed on the first body, wherein a side opening is provided on the side of the limit slot 521 away from the second body, so as to facilitate the installation of the swing arm 510. It should be noted that the side wall of the limit slot 521 can protect the swing arm 510. In addition, if the robot is a bipedal bionic robot, the legs of the robot are wrapped with skin, and the side wall of the limit slot 521 can prevent the skin from forming a concave effect at the limit slot 521, thereby improving the bionic effect; and prevent the skin from being concave in the limit slot 521 and causing pinching.
[0086] Exemplarily, one of the pair of second support arms forms the swing arm 510 , that is, the swing arm 510 can play a role in enhancing the connection strength between the first driving member 400 and the second driving member 300 , thereby increasing the stability of the leg structure.
[0087] It should be noted that the limiting block 520 is provided with a limiting groove 521, and the limiting groove 521 retains at least a portion of the side wall to cooperate with another second support arm to adjust the center of gravity of the second driving member 300, which is equivalent to a counterweight.
[0088] like Figure 5 As shown, on the basis of the above embodiment, the limit block 520 is symmetrically provided with a pair of limit grooves 521. It should be noted that hip joint mechanisms are provided at both ends of the pelvic structure, wherein the first driving member 400, the second driving member 300 and the third driving member 200 constitute the hip joint mechanism. Obviously, the hip joint mechanisms at both ends of the pelvic structure are symmetrically provided, and by symmetrically providing a pair of limit grooves 521 on the limit block 520, the limit block 520 can be used for the hip joints at both ends of the pelvic structure, without distinguishing the left and right sides of the limit block 520.
[0089] According to a second aspect of the present utility model, a robot is provided, comprising a pelvic structure.
[0090] Since the above-mentioned pelvic structure has the above-mentioned technical effects, the robot including the pelvic structure should have the same technical effects, which will not be repeated here.
[0091] It should be noted that the robot in the present application is based on a bipedal robot, which has a pair of leg structures; wherein the first driving member 400 of the above-mentioned pelvic structure is connected to the leg structure, the first driving member 400 is used to drive the leg structure to rotate, the second driving member 300 is used to drive the leg structure to swing sideways, and the third driving member 200 is used to drive the leg structure to swing forward and backward, thereby realizing the robot's walking and other actions.
[0092] In all examples shown and described herein, any specific values should be interpreted as merely exemplary and not as limiting, and thus other examples of the exemplary embodiments may have different values.
[0093] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.
[0094] The above-mentioned embodiments only express several implementation methods of the present invention, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.
Claims
1. A pelvic structure, characterized in that: The pelvic structure includes: a first driving member, the first driving member being used to be connected to the leg structure, the first driving member having a first reference axis, and the first driving member being capable of driving the leg structure to rotate around the first reference axis; and a second driving member, the second driving member is connected to the first driving member, the second driving member has a second reference axis, and the second driving member can drive the first driving member to rotate around the second reference axis; and a third driving member, the third driving member being connected to the second driving member, the third driving member having a third reference axis, and the third driving member being capable of driving the second driving member to rotate around the third reference axis; The first reference axis and the second reference axis are vertically arranged, the second reference axis and the third reference axis are vertically arranged, and the center of gravity of the second driving member and the center of gravity of the third driving member are both located on the third reference axis.
2. The pelvic structure according to claim 1, characterized in that: The first driving member includes a first driving motor; the second driving member includes a second driving motor; the third driving member includes a third driving motor; The pelvic structure further comprises a pelvic frame; wherein the third driving motor comprises a third body and a third main shaft, the third main shaft is connected to the third body, the third body is mounted on the pelvic frame, and the axis of the third main shaft forms the third reference axis; The second drive motor comprises a second main shaft, the axis of the second main shaft forming the second reference axis; The first drive motor comprises a first main shaft, the axis of the first main shaft forming the first reference axis.
3. The pelvic structure according to claim 2, characterized in that: The first reference axis and the second reference axis are coplanarly arranged, and the first reference axis and the third reference axis are coplanarly arranged; wherein the center of gravity of the first driving member, the center of gravity of the second driving member and the center of gravity of the third driving member are all located in the plane where the first reference axis and the third reference axis are coplanar.
4. The pelvic structure according to claim 3, characterized in that: The center of gravity of the first driving member is located on the first reference axis, the center of gravity of the second driving member is located on the second reference axis, and the center of gravity of the third driving member is located on the third reference axis.
5. The pelvic structure according to any one of claims 2 to 4, characterized in that: The second driving motor further comprises a second body, and two axially opposite ends of the second body are respectively connected to the third main shaft; The first driving motor further comprises a first body, and two axially opposite ends of the second body are respectively connected to the second main shaft and hinged to the second body.
6. The pelvic structure according to claim 5, characterized in that: The first body is connected to two opposite ends of the second main shaft respectively.
7. The pelvic structure according to claim 6, characterized in that: The second driving member further includes a first bracket, the first bracket is connected to the third main shaft, and the first bracket has a pair of first supporting arms arranged opposite to each other, and the pair of first supporting arms are respectively connected to opposite ends of the second body of the second driving motor; The first driving member also includes a second bracket, the second bracket is connected to the first driving motor, and the second bracket has a pair of second supporting arms arranged opposite to each other, and the pair of second supporting arms are respectively connected to two opposite ends of the second main shaft.
8. The pelvic structure according to claim 1, characterized in that: The pelvic structure further includes a limiting member, which is mounted on the first driving member and is used to limit a rotation range of the first driving member around the second reference axis.
9. The pelvic structure according to claim 8, characterized in that: The limiting member comprises: A limit block and a swing arm, wherein the limit block is installed on the second driving member, the limit block forms a limit slot, the swing arm is connected to the first driving member, and the swing arm is inserted into the limit slot; wherein the limit slot is extended along the rotation path of the swing arm.
10. A robot, characterized in that: The robot comprises a leg structure and a pelvic structure according to any one of claims 1 to 9, wherein the leg structure and the pelvic structure are connected.