Trunk structure and multi-joint robot

Abstract

The utility model provides a trunk structure and multi-joint robot, including first trunk shell, second trunk shell, lift drive piece and limit subassembly, lift drive piece is installed in first trunk shell and is connected with second trunk shell, lift drive piece is used for driving second trunk shell to do the action of lifting. The limiting assembly is used for preventing the first trunk shell and the second trunk shell from rotating relatively. And after the second trunk shell ascends, the arms of the robot can reach higher positions, and the application range of the robot is widened. And under the limitation of the limiting assembly, the stability of the lifting action of the robot is guaranteed. Meanwhile, due to the fact that the second trunk shell can only drive the head and the arms of the robot to synchronously ascend and descend when ascending and descending, the ascending and descending driving part does not need to bear too large loads and can operate under rated working conditions, and the service life of the ascending and descending driving part is prolonged.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a torso structure and a multi-joint robot. Background Art

[0002] With the advent of the aging of the whole society, the use of home robots is becoming more and more extensive. With the rapid development of artificial intelligence, some robots that once seemed out of reach are now gradually becoming new regulars in families. They can not only perform daily cleaning, but also cook delicious food and assist in taking care of the elderly.

[0003] In order to meet different usage requirements, some robots also have the function of changing height. The height increase action of existing robots is generally achieved through a leg assembly with a telescopic function. However, during the height increase process, the leg assembly also needs to bear the weights of the torso assembly, the head assembly, and the arm assembly, which not only increases the load on the leg telescopic drive source (generally a motor), but also affects the service life and stability. Summary of the Utility Model

[0004] Aiming at the defects in the prior art, the purpose of the utility model is to provide a torso structure and a multi-joint robot, so as to expand the usage range of the robot, enable the lifting drive source to operate under rated working conditions, and extend the service life.

[0005] To achieve the above purpose, the utility model provides a torso structure, including a first torso housing; a second torso housing provided above the first torso housing, the second torso housing being provided with a head connection part and an arm connection part; a lifting drive member provided in the first torso housing and connected to the second torso housing, the lifting drive member being used for driving the second torso housing to perform a lifting action; and a limiting component for preventing relative rotation between the first torso housing and the second torso housing.

[0006] Preferably, the limiting component includes a limiting rod and a limiting hole that cooperate with each other, the limiting rod is provided on the first torso housing, the limiting hole is provided at the bottom of the second torso housing, and the limiting rod passes through the limiting hole and extends into the second torso housing.

[0007] Preferably, a limiting cylinder is formed by upward extension of the edge of the limiting hole, and the limiting rod is movably inserted into the limiting cylinder.

[0008] Preferably, there are two groups of the limiting components, and the two groups of the limiting components are arranged on both sides of the lifting drive member.

[0009] Preferably, a first through hole is provided at the top of the first torso housing, and a second through hole is provided at the bottom of the second torso housing. The lifting drive member is an electric push rod. The electric push rod passes through the first through hole and the second through hole. The base of the electric push rod is arranged inside the first torso housing, and the movable end of the electric push rod is connected to the top of the inner cavity of the second torso housing.

[0010] Preferably, the first torso housing can support the second torso housing.

[0011] Preferably, a first opening is provided on the side wall of the first torso housing, and a second opening is provided on the side wall of the second torso housing; a first cover plate and a second cover plate are further included. The first cover plate covers the first opening, and the second cover plate covers the second opening.

[0012] Preferably, the second torso housing is provided with an air inlet assembly and an air outlet assembly.

[0013] Preferably, a third torso housing is further included. The third torso housing is arranged below the first torso housing and supports the first torso housing. The third torso housing is provided with a thigh connecting portion.

[0014] The present utility model further provides a multi-joint robot, including the above-mentioned torso structure.

[0015] Advantages of the present utility model:

[0016] A torso structure and a multi-joint robot disclosed by the present utility model drive the second torso housing to lift by designing a lifting drive member inside the first torso housing. After the second torso housing rises, the robot's arm can reach a higher position, improving the usage range of the robot. Under the limitation of the limiting component, rotation of the second torso housing relative to the first torso housing during the lifting process is avoided, ensuring the stability of the robot's lifting action. At the same time, since the lifting of the second torso housing only drives the head and arm of the robot to lift synchronously, the lifting drive member does not need to bear too much load, enabling the lifting drive member to operate under rated working conditions and extending the service life of the lifting drive member. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific embodiments of the present utility model or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. In all the drawings, similar elements or parts are generally denoted by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to actual scale.

[0018] Figure 1 It is a schematic structural diagram of the torso structure provided by an embodiment of the present utility model;

[0019] Figure 2 Schematic cross-sectional view of the torso structure;

[0020] Figure 3 Schematic structural view of the first torso housing;

[0021] Figure 4 Schematic cross-sectional view of the first torso housing;

[0022] Figure 5 Schematic structural view of the cooperation between the first opening and the first cover plate;

[0023] Figure 6 Schematic structural view of the second torso housing;

[0024] Figure 7 Schematic cross-sectional view of the second torso housing;

[0025] Figure 8 Schematic structural view of the cooperation between the second opening and the second cover plate;

[0026] Figure 9 Schematic structural view of the third torso housing;

[0027] Figure 10 Schematic structural view of the multi-joint robot;

[0028] Reference numerals:

[0029] 10. First torso housing; 11. First through hole; 12. First opening; 13. First cover plate; 20. Second torso housing; 21. Head connection part; 22. Arm connection part; 23. Second through hole; 24. Second opening; 25. Second cover plate; 30. Lifting driving member; 40. Limiting assembly; 41. Limiting rod; 42. Limiting cylinder; 50. Air inlet assembly; 60. Air exhaust assembly; 70. Third torso housing; 71. Thigh connection part. Detailed implementation manners

[0030] The embodiments of the technical solutions of the present invention will be described in detail below with reference to the accompanying drawings. The following embodiments are only used to illustrate the technical solutions of the present invention more clearly, so they are only examples and cannot be used to limit the protection scope of the present invention.

[0031] It should be noted that unless otherwise specified, the technical terms or scientific terms used in this application should have the ordinary meanings understood by those skilled in the art to which the present invention belongs.

[0032] In the description of the present application, it should be understood that the orientation or positional relationships indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. are based on the orientation or positional relationships shown in the drawings. These are only for the convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present utility model.

[0033] In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. In the description of the present utility model, the meaning of "a plurality" is two or more unless otherwise specifically defined.

[0034] In the present application, unless otherwise clearly specified and defined, the terms "mounted", "connected", "coupled", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0035] In the present application, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0036] Such as Figures 1-10As shown in the figure, in an embodiment of the present utility model, a torso structure and a multi-joint robot are provided, including a first torso housing 10, a second torso housing 20, a lifting drive member 30, and a limiting assembly 40. The second torso housing 20 is arranged above the first torso housing 10. The second torso housing 20 is provided with a head connection portion 21 and an arm connection portion 22. The lifting drive member 30 is installed in the first torso housing 10 and is connected to the second torso housing 20. The lifting drive member 30 is used to drive the second torso housing 20 to perform a lifting action. The limiting assembly 40 is used to prevent relative rotation between the first torso housing 10 and the second torso housing 20.

[0037] In a torso structure and a multi-joint robot disclosed in this embodiment, a lifting drive member 30 is designed in the first torso housing 10 to drive the second torso housing 20 to lift. After the second torso housing 20 rises, the robot's arm can reach a higher position, improving the usage range of the robot. Under the restriction of the limiting assembly 40, relative rotation of the second torso housing 20 with respect to the first torso housing 10 during the lifting process is avoided, ensuring the stability of the robot's lifting action. At the same time, since the lifting of the second torso housing 20 only drives the head and arm of the robot to lift synchronously, the lifting drive member 30 does not need to bear too much load, enabling the lifting drive member 30 to operate under rated working conditions and extending the service life of the lifting drive member 30.

[0038] Specifically, the limiting assembly 40 includes a cooperating limiting rod 41 and a limiting hole. The limiting rod 41 is fixed to the top of the first torso housing 10, and the length direction of the limiting rod 41 is consistent with the lifting direction of the second torso housing 20. The limiting hole is arranged at the bottom of the second torso housing 20, and the limiting rod 41 passes through the limiting hole and extends into the second torso housing 20.

[0039] During the process of the lifting drive member 30 driving the second torso housing 20 to lift, the limiting rod 41 is always fitted in the limiting hole. Therefore, under the restriction of the limiting rod 41 and the limiting hole, the lifting movement of the second torso housing 20 will not rotate relative to the first torso housing 10, ensuring the stability of the robot's lifting action.

[0040] Further, a limiting cylinder 42 is formed by the upward extension of the edge of the limiting hole. The limiting cylinder 42 is located inside the second torso housing 20, and the limiting rod 41 is movably inserted into the limiting cylinder 42. This structural design improves the smoothness of the cooperation between the limiting cylinder 42 and the limiting rod 41, making the lifting process of the second torso housing 20 smoother, reducing or even avoiding the possibility of lifting jamming.

[0041] To further improve the smoothness of the lifting process of the second torso housing 20, there are two sets of limiting assemblies 40, and the two sets of limiting assemblies 40 are arranged on both sides of the lifting drive member 30.

[0042] In one embodiment, a first through hole 11 is provided at the top of the first torso housing 10, and a second through hole 23 is provided at the bottom of the second torso housing 20. The lifting drive member 30 is an electric push rod. The electric push rod passes through the first through hole 11 and the second through hole 23. The base of the electric push rod is arranged inside the first torso housing 10, and the movable end of the electric push rod is connected to the top of the inner cavity of the second torso housing 20. The telescopic movement of the movable end of the electric push rod can realize the lifting of the second torso housing 20. By using an electric push rod as the power source, the manufacturing cost is low, the stroke operation is accurate, and the driving process is more reliable.

[0043] In one embodiment, when the second torso housing 20 is in the lowest position state, the first torso housing 10 supports the second torso housing 20. In this way, both the stability of the robot arm movement is ensured, and the force on the movable end of the electric push rod is reduced.

[0044] In one embodiment, a first open end 12 is provided on the side wall of the first torso housing 10, and a second open end 24 is provided on the side wall of the second torso housing 20. The torso structure further includes a first cover plate 13 and a second cover plate 25. The first cover plate 13 covers the first open end 12, and the second cover plate 25 covers the second open end 24. By providing the first open end 12 on the first torso housing 10 and the second open end 24 on the second torso housing 20, it is convenient to repair the internal components, improving the convenience of later maintenance.

[0045] In one embodiment, an air inlet assembly 50 and an air exhaust assembly 60 are provided at the top of the second torso housing 20. The air inlet assembly 50 introduces external air into the inner cavity of the second torso housing 20, thereby cooling the electronic components installed inside the second torso housing 20 and avoiding the operation of the electronic components in a high-temperature environment. The air exhaust assembly 60 can then discharge the air inside the second torso housing 20 to the outside. In this way, an effective circulation of the cooling air flow is achieved, and the cooling effect is better.

[0046] In one embodiment, the torso structure further includes a third torso housing 70. The third torso housing 70 is arranged below the first torso housing 10 and supports the first torso housing 10. The third torso housing 70 is provided with a thigh connection portion 71. By designing the torso structure as a split structure, the production and manufacturing of each part are simpler, reducing the manufacturing difficulty, and it is also convenient for later maintenance.

[0047] In the description of the present utility model, a large number of specific details are set forth. However, it can be understood that the embodiments of the present utility model can be practiced without these specific details. In some instances, well-known methods, structures, and technologies are not shown in detail so as not to obscure the understanding of this specification.

[0048] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered by the scope of the claims and the description of the present invention.

Claims

1. A trunk structure, characterized in that: include: A first torso shell (10); A second torso shell (20) is disposed above the first torso shell (10), the second torso shell (20) being provided with a head connection portion (21) and an arm connection portion (22); A lifting drive member (30) is disposed in the first trunk shell (10) and connected to the second trunk shell (20), wherein the lifting drive member (30) is used to drive the second trunk shell (20) to perform a lifting action; as well as The limiting assembly (40) is used to prevent the first trunk shell (10) and the second trunk shell (20) from rotating relative to each other.

2. The trunk structure according to claim 1, characterized in that: The limiting assembly (40) comprises a matching limiting rod (41) and a limiting hole, wherein the limiting rod (41) is arranged on the first trunk shell (10), and the limiting hole is arranged at the bottom of the second trunk shell (20), and the limiting rod (41) passes through the limiting hole and then extends into the second trunk shell (20).

3. The trunk structure according to claim 2, characterized in that: The edge of the limiting hole extends upward to form a limiting cylinder (42), and the limiting rod (41) is movably arranged in the limiting cylinder (42).

4. The trunk structure according to claim 1, characterized in that: The position limiting components (40) are provided in two groups, and the two groups of the position limiting components (40) are arranged on both sides of the lifting drive member (30).

5. The trunk structure according to claim 1, characterized in that: A first through hole (11) is provided at the top of the first trunk shell (10), a second through hole (23) is provided at the bottom of the second trunk shell (20), the lifting drive member (30) is an electric push rod, the electric push rod passes through the first through hole (11) and the second through hole (23), the base of the electric push rod is provided in the first trunk shell (10), and the movable end of the electric push rod is connected to the top of the inner cavity of the second trunk shell (20).

6. The trunk structure according to claim 1, characterized in that: The first torso shell (10) can support the second torso shell (20).

7. The trunk structure according to claim 1, characterized in that: The side wall of the first trunk shell (10) is provided with a first opening (12), and the side wall of the second trunk shell (20) is provided with a second opening (24); It also includes a first cover plate (13) and a second cover plate (25), wherein the first cover plate (13) covers the first opening (12), and the second cover plate (25) covers the second opening (24).

8. The trunk structure according to claim 1, characterized in that: The second trunk shell (20) is provided with an air inlet assembly (50) and an air exhaust assembly (60).

9. The trunk structure according to claim 1, characterized in that: It also includes a third torso shell (70), which is arranged below the first torso shell (10) and supports the first torso shell (10), and the third torso shell (70) is provided with a thigh connecting part (71).

10. A multi-joint robot, characterized in that: A trunk structure comprising any one of claims 1-9.

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