Waist mechanism and robot

Abstract

The utility model discloses a waist mechanism and a robot. The waist mechanism comprises a base; the cross shaft is rotationally connected with the base, and the cross shaft rotates around a first direction relative to the base; the output assembly comprises two driving modules, the two driving modules are symmetrically arranged on the base in the first direction, each driving module comprises a driving assembly and a connecting rod assembly, one end of each connecting rod assembly is connected with the output end of the corresponding driving assembly, and the other end of each connecting rod assembly is connected with the output end of the corresponding driving assembly. The other end of the connecting rod assembly is rotationally connected with the base through a first fisheye bearing, the driving module is rotationally connected with the cross shaft, and the driving module rotates around a second direction relative to the cross shaft; the first direction intersects with the second direction. According to the technical scheme provided by the invention, the waist action of the robot can be more diversified and flexible.

Description

Technical Field

[0001] This application belongs to the field of robot technology, and particularly relates to a waist mechanism and a robot. Background Art

[0002] In the field of humanoid robots, the waist structure is an important part connecting the torso mechanism and the lower limb mechanism of the robot, and needs to have high flexibility and stability to achieve complex forward and backward pitching and left and right swinging motions.

[0003] In the prior art, the waist mechanism of the robot can only achieve the degree of freedom in the front and back pitching direction. Therefore, the motion form of the robot waist is limited, resulting in poor performance and insufficient flexibility of the robot when performing complex tasks. Summary of the Utility Model

[0004] The purpose of the embodiments of this application is to provide a waist mechanism and a robot.

[0005] According to the first aspect of the embodiments of this application, a waist mechanism is provided, including:

[0006] A base;

[0007] A cross-axis, the cross-axis is rotationally connected to the base, and the cross-axis rotates relative to the base around a first direction;

[0008] An output assembly, the output assembly includes two drive modules, the two drive modules are symmetrically arranged on the base along the first direction, each drive module includes a drive component and a link component, one end of the link component is connected to the output end of the drive component, the other end of the link component is rotationally connected to the base through a first spherical bearing, the drive module is rotationally connected to the cross-axis, and the drive module rotates relative to the cross-axis around a second direction;

[0009] The first direction intersects with the second direction.

[0010] Optionally, the link component includes a swing arm and a connecting rod, the swing arm includes a first connection end and a second connection end, and the first connection end is connected to the output end of the drive component; the connecting rod includes a third connection end and a fourth connection end, the third connection end is connected to the second connection end through a second spherical bearing, and the fourth connection end is rotationally connected to the base through the first spherical bearing.

[0011] Optionally, the connection between the first connection end and the output end of the driving component is the first connection point, the connection between the second connection end and the third connection end is the second connection point, the connection between the fourth connection end and the base is the third connection point, and the connection between the driving component and the cross shaft is the fourth connection point;

[0012] The connecting lines of the first connection point, the second connection point, the third connection point, and the fourth connection point in the same plane form a parallelogram.

[0013] Optionally, the second connection end is provided with a first connection hole, the third connection end is provided with a second connection hole, the second spherical bearing is provided with a first through hole, the second spherical bearing is rotationally connected to the second connection hole, and a first connecting member is disposed through the first through hole and connected to the first connection hole.

[0014] Optionally, the fourth connection end is provided with a third connection hole, the base is provided with a fourth connection hole, the first spherical bearing is provided with a second through hole, the first spherical bearing is rotationally connected to the third connection hole, and a second connecting member is disposed through the second through hole and connected to the fourth connection hole.

[0015] Optionally, the driving component includes a fixed seat and a motor module, the fixed seat is rotationally connected to the cross shaft, the fixed seat is provided with a first groove, and at least a part of the motor module is disposed in the first groove.

[0016] Optionally, the two driving modules are respectively a first driving module and a second driving module;

[0017] The output component further includes an output seat, the output seat is provided with a second groove, the output seat covers the fixed seat, the second groove faces the first groove, and the motor modules of the first driving module and the second driving module are both at most partially located in the second groove.

[0018] Optionally, the cross shaft includes a first connecting shaft and a second connecting shaft, the first connecting shaft and the second connecting shaft are concentric and symmetrically arranged along the first direction, and one of the driving modules is rotationally connected to the first connecting shaft through a bearing, and the other driving module is connected to the second connecting shaft through a bearing.

[0019] Optionally, the cross shaft further includes a third connecting shaft and a fourth connecting shaft, the third connecting shaft and the fourth connecting shaft are concentric and symmetrically arranged along the second direction;

[0020] A first mounting seat and a second mounting seat are provided on the base. The first mounting seat and the second mounting seat are spaced apart in the first direction. The cross-axis is disposed between the first mounting seat and the second mounting seat. The third connecting shaft is rotatably connected to the first mounting seat through a bearing, and the fourth connecting shaft is rotatably connected to the second mounting seat through a bearing.

[0021] According to a second aspect of the embodiments of the present application, a robot is provided, including the waist mechanism described above.

[0022] One technical effect of the embodiments of the present application is that, through two drive modules and a cross-axis, the front and rear pitching and left and right swinging actions can be realized, so that the waist movement of the robot can be more diversified and flexible, and a variety of operation scenarios can be used.

[0023] Other features and advantages of the present application will become clear from the following detailed description of the exemplary embodiments of the present application with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings incorporated in the specification and constituting a part of the specification illustrate embodiments of the present application and, together with the description, are used to explain the principles of the present application.

[0025] Figure 1 It is a schematic structural diagram of the waist mechanism in the embodiments of the present application;

[0026] Figure 2 It is a schematic structural diagram of the waist mechanism in the embodiments of the present application;

[0027] Figure 3 It is a schematic structural diagram of the waist mechanism in the embodiments of the present application;

[0028] Figure 4 It is a schematic structural diagram of the waist mechanism in the embodiments of the present application;

[0029] Figure 5 It is an exploded schematic diagram of the waist mechanism in the embodiments of the present application;

[0030] Figure 6 It is a schematic structural diagram of the connecting rod, the first spherical bearing and the second spherical bearing in the embodiments of the present application;

[0031] Figure 7 It is a schematic structural diagram of the swing arm in the embodiments of the present application;

[0032] Figure 8 It is a schematic structural diagram of the base in the embodiments of the present application;

[0033] Figure 9 It is a schematic structural diagram of the cross-axis in the embodiments of the present application.

[0034] Description of the reference numerals: the waist mechanism 100;

[0035] Base 1; first mounting seat 11; first mounting hole 111; second mounting seat 12; second mounting hole 121; fourth connection hole 13;

[0036] Output component 2;

[0037] Drive module 21; first drive module 21a; second drive module 21b;

[0038] Drive component 211; first drive component 211a; second drive component 211b;

[0039] Fixed seat 2111; first fixed seat 2111a; second fixed seat 2111b; first groove 21111; motor module 2112; first motor module 2112a; second motor module 2112b;

[0040] Linkage component 212; first linkage component 212a; second linkage component 212b; swing arm 2121; first connection end 2121a; second connection end 2121b; first connection hole 2121c; connecting rod 2122; third connection end 2122a; fourth connection end 2122b; second connection hole 2122c; third connection hole 2122d;

[0041] Output seat 22; second groove 221;

[0042] Cross shaft 3; first connection shaft 31; second connection shaft 32; third connection shaft 33; fourth connection shaft 34;

[0043] First spherical bearing 4; second spherical bearing 5; bearing 6; first connecting piece 7; second connecting piece 8;

[0044] First connection point A; second connection point B; third connection point C; fourth connection point D. Detailed implementation manners

[0045] Now, various exemplary embodiments of the present application will be described in detail with reference to the accompanying drawings. It should be noted that: Unless otherwise specifically stated, the relative arrangements of components and steps set forth in these embodiments, numerical expressions and values do not limit the scope of the present application.

[0046] The following description of at least one exemplary embodiment is actually merely illustrative and in no way restricts the present application or its application or use.

[0047] Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such technologies, methods, and devices shall be regarded as part of the specification.

[0048] In all the examples shown and discussed herein, any specific values should be construed as merely exemplary and not as a limitation. Thus, other examples of the exemplary embodiments may have different values.

[0049] It should be noted that like reference numerals and letters denote like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

[0050] First, it should be noted that the first direction and the second direction mentioned in the embodiments of the present application are the directions marked in the appended Figure 1 、 Figure 2 and Figure 3 drawings. Among them, the first direction and the second direction intersect. When the waist mechanism is installed in the robot, the first direction is the front-back direction of the robot, and the second direction is the left-right direction of the robot.

[0051] As Figures 1-9 shown, according to the first aspect of the embodiments of the present application, a waist mechanism 100 is provided, including:

[0052] A base 1;

[0053] A cross-axis 3, the cross-axis 3 is rotatably connected to the base 1, and the cross-axis 3 rotates relative to the base 1 about the first direction;

[0054] An output assembly 2, the output assembly 2 includes two drive modules 21, the two drive modules 21 are symmetrically arranged on the base 1 along the first direction, each drive module 21 includes a drive component 211 and a link component 212, one end of the link component 212 is connected to the output end of the drive component 211, the other end of the link component 212 is rotatably connected to the base 1 through a first spherical bearing 4, the drive module 21 is rotatably connected to the cross-axis 3, and the drive module 21 rotates relative to the cross-axis 3 about the second direction;

[0055] The first direction intersects with the second direction.

[0056] The waist mechanism 100 in the embodiments of the present application is used in a humanoid robot to support and connect the torso mechanism and the lower limb mechanism of the robot, and can provide corresponding degrees of freedom for the movement of the robot to drive the robot to perform relevant waist actions.

[0057] As Figure 1 、Figure 2 , Figure 3 and Figure 5 As shown in Figure 2 , Figure 3 , and Figure 5 , the waist mechanism 100 includes a base 1, a cross-axis 3, and an output assembly 2. Among them, the base 1 is used to connect with the lower limb mechanism of the robot, and the output assembly 2 is used to connect with the torso mechanism of the robot.

[0058] In the embodiment of the present application, the cross-axis 3 is arranged on the base 1, and the cross-axis 3 can rotate relative to the base 1 around a first direction; the output assembly 2 includes two driving modules 21. The two driving modules 21 are symmetrically arranged on the base 1, and the two driving modules 21 are spaced along a second direction, that is, symmetrically arranged along the axis of the first direction. The cross-axis 3 is located between the two driving modules 21. The driving module 21 is rotationally connected to the cross-axis 3, and the driving module 21 can rotate relative to the cross-axis 3 around the second direction.

[0059] Each driving module 21 includes a driving component 211 and a link component 212; the driving component 211 is rotationally connected to the cross-axis 3. One end of the link component 212 is connected to the output end of the driving component 211, and the other end of the link component 212 is rotationally connected to the base 1. The link component 212 and the base 1 are connected by a first spherical bearing 4. When the output assembly 2 makes a left and right swinging motion, the first spherical bearing 4 between the link component 212 and the base 1 can provide degrees of freedom in multiple directions for this, so that the link component 212 can swing left and right relative to the base 1.

[0060] More specifically, as Figure 5As shown in the figure, the two driving modules 21 are respectively a first driving module 21a and a second driving module 21b. The first driving module 21a includes a first driving component 211a and a first link component 212a; the second driving module 21b includes a second driving component 211b and a second link component 212b. Among them, the first driving component 211a is rotatably connected to the cross shaft 3, the first driving component 211a can rotate around the axis in the second direction, the second driving component 211b is rotatably connected to the cross shaft 3, the second driving component 211b can rotate around the axis in the second direction, and the first driving component 211a and the second driving component 211b are symmetrically arranged along the first direction; one end of the first link component 212a is connected to the output end of the first driving component 211a, and the other end of the first link component 212a is rotatably connected to the base 1. Therefore, the first driving component 211a can drive the first link component 212a to rotate, and thus can drive the entire first driving component 211a to rotate through the first link component 212a; one end of the second link component 212b is connected to the output end of the second driving component 211b, and the other end of the second link component 212b is rotatably connected to the base 1. Therefore, the second driving component 211b can drive the second link component 212b to rotate, and thus can drive the entire second driving component 211b to rotate through the second link component 212b.

[0061] Therefore, the first driving component 211a can drive the first link component 212a to rotate, and the second driving component 211b can drive the second link component 212b to rotate. When the rotation directions of the first link component 212a and the second link component 212b are the same, the output component 2 can be driven to perform pitching actions forward and backward; when the rotation directions of the first link component 212a and the second link component 212b are opposite, the output component 2 can be driven to perform lateral swing actions left and right; and by adjusting the rotation speed difference and rotation direction of the first driving component 211a and the second driving component 211b, the output component 2 can be further enabled to perform compound actions of pitching forward and backward and lateral swing left and right, so that movements at more angles can be completed.

[0062] Therefore, the waist mechanism 100 provided in this application can achieve pitching actions forward and backward and lateral swing actions left and right through the two driving modules 21 and the cross shaft 3, so that the waist actions of the robot can be more diversified and flexible, and multiple operation scenarios can be used.

[0063] In a specific embodiment, the link component 212 is a connecting rod, one end of the connecting rod is connected to the output end of the driving component 211, and the other end of the connecting rod is rotatably connected to the base 1 through a first spherical bearing 4.

[0064] In another specific embodiment, the connecting rod assembly 212 includes a swing arm 2121 and a connecting rod 2122. The swing arm 2121 includes a first connection end 2121a and a second connection end 2121b. The first connection end 2121a is connected to the output end of the driving assembly 211. The connecting rod 2122 includes a third connection end 2122a and a fourth connection end 2122b. The third connection end 2122a is connected to the second connection end 2121b through a second spherical plain bearing 5, and the fourth connection end 2122b is connected to the base 1 through the first spherical plain bearing 4.

[0065] As Figure 2 , Figure 6 and Figure 7 shown, the connecting rod assembly 212 includes a swing arm 2121 and a connecting rod 2122. Among them, the swing arm 2121 includes a first connection end 2121a and a second connection end 2121b. The first connection end 2121a and the second connection end 2121b are respectively located at both ends of the swing arm 2121. The first connection end 2121a is connected to the output end of the driving assembly 211, and the driving assembly 211 can apply a rotational torque to the swing arm 2121. The connecting rod 2122 includes a third connection end 2122a and a fourth connection end 2122b. The third connection end 2122a and the fourth connection end 2122b are respectively located at both ends of the connecting rod 2122. The second connection end 2121b is connected to the third connection end 2122a through a second spherical plain bearing 5, so multi-directional rotation can be achieved between the second connection end 2121b and the third connection end 2122a. The fourth connection end 2122b is connected to the base 1 through the first spherical plain bearing 4, so multi-directional rotation can be achieved between the fourth connection end 2122b and the base 1.

[0066] In the embodiment of the present application, the connecting rod 2122 is connected to the swing arm 2121 through a second spherical plain bearing 5, and the connecting rod 2122 is connected to the base 1 through the first spherical plain bearing 4. When the first driving module 21a and the second driving module 21b need to swing left and right, the first spherical plain bearing 4 between the connecting rod 2122 and the base 1 can provide multi-directional degrees of freedom for this, and the second spherical plain bearing 5 between the swing arm 2121 and the connecting rod 2122 can provide multi-directional degrees of freedom for this, so that the connecting rod assembly 212 can swing left and right relative to the base 1 to improve the flexibility of the waist mechanism 100.

[0067] Among them, the first connecting rod assembly 212a of the first driving module 21a and the second connecting rod assembly 212b of the second driving module 21b have the same structure, so the above description of the structure of the connecting rod assembly 212 is applicable to the first connecting rod assembly 212a of the first driving module 21a and the second connecting rod assembly 212b of the second driving module 21b.

[0068] AsFigure 4 As shown, in an alternative embodiment, the connection between the first connection end 2121a and the output end of the driving component 211 is the first connection point A, the connection between the second connection end 2121b and the third connection end 2122a is the second connection point B, the connection between the fourth connection end 2122b and the base 1 is the third connection point C, and the connection between the driving component 211 and the cross shaft 3 is the fourth connection point D;

[0069] The connection lines of the first connection point A, the second connection point B, the third connection point C, and the fourth connection point D in the same plane form a parallelogram.

[0070] Among them, the connection between the first connection end 2121a and the output end of the driving component 211 is the first connection point A; specifically, since the first connection end 2121a and the output end of the driving component 211 are connected by a shaft, the connection between the first connection end 2121a and the output end of the driving component 211 is the center of the shaft; the connection between the second connection end 2121b and the third connection end 2122a is the second connection point B; specifically, since the second connection end 2121b and the third connection end 2122a are connected by the second spherical bearing 5, the connection between the second connection end 2121b and the third connection end 2122a is the center of the second spherical bearing 5; the connection between the fourth connection end 2122b and the base 1 is the third connection point C; specifically, since the fourth connection end 2122b and the base 1 are connected by the first spherical bearing 4, the connection between the fourth connection end 2122b and the base 1 is the center of the first spherical bearing 4; the connection between the driving component 211 and the cross shaft 3 is the fourth connection point D; specifically, the driving component 211 and the base 1 are rotatably connected, and among them, the driving component 211 and the cross shaft 3 are connected by a bearing, so the connection between the driving component 211 and the cross shaft 3 is the center of the bearing.

[0071] In the embodiment of the present application, the connection lines of the first connection point A, the second connection point B, the third connection point C, and the fourth connection point D in the same plane form a parallelogram, so that the driving module 21 can maintain high stability during movement, the transmitted torque remains constant, the torque can be accurately controlled, and the vibration and error during movement can also be reduced.

[0072] In an alternative embodiment, the second connection end 2121b is provided with a first connection hole 2121c, the third connection end 2122a is provided with a second connection hole 2122c, the second spherical bearing 5 is provided with a first through hole, the second spherical bearing 5 is rotatably connected to the second connection hole 2122c, and a first connecting member 7 is inserted through the first through hole and connected to the first connection hole 2121c.

[0073] AsFigure 2 , Figure 6 , Figure 7 and Figure 8 As shown in Figure 7 and Figure 8 , the first connecting member 7 passes through the first through hole and the first connecting hole 2121c. Specifically, the first connecting hole 2121c is provided in the second connecting end 2121b, the second connecting hole 2122c is provided in the third connecting end 2122a, and the first through hole is provided in the second spherical bearing 5. The second spherical bearing 5 is rotatably connected to the second connecting hole 2122c, so the connecting rod 2122 rotates relative to the second spherical bearing 5. The first connecting member 7 passes through the first through hole until it is inside the first connecting hole 2121c, thereby connecting the connecting rod 2122, the second spherical bearing 5, and the swing arm 2121 together through the first connecting member 7. Moreover, the connecting rod 2122 and the swing arm 2121 can rotate relative to the second spherical bearing 5. This structure is simple and can also ensure the rotational stability among the connecting rod 2122, the swing arm 2121, and the second spherical bearing 5.

[0074] In an alternative embodiment, a third connecting hole 2122d is provided in the fourth connecting end 2122b, a fourth connecting hole 13 is provided in the base 1, a second through hole is provided in the first spherical bearing 4, the first spherical bearing 4 is rotatably connected to the third connecting hole 2122d, and a second connecting member 8 passes through the second through hole and is connected to the fourth connecting hole 13.

[0075] As Figure 2 , Figure 6 , Figure 7 and Figure 8 As shown in Figure 2 , Figure 6 , Figure 7 , and Figure 8 , the second connecting member 8 passes through the second through hole and the fourth connecting hole 13. Specifically, the third connecting hole 2122d is provided in the fourth connecting end 2122b, the fourth connecting hole 13 is provided in the base 1, and the second through hole is provided in the first spherical bearing 4. The second spherical bearing 5 is rotatably connected to the third connecting hole 2122d, so the connecting rod 2122 rotates relative to the first spherical bearing 4. The second connecting member 8 passes through the second through hole until it is inside the fourth connecting hole 13, thereby connecting the connecting rod 2122, the first spherical bearing 4, and the base 1 together through the second connecting member 8. Moreover, the connecting rod 2122 and the base 1 can rotate relative to the first spherical bearing 4. This structure is simple and can also ensure the rotational stability among the connecting rod 2122, the base 1, and the first spherical bearing 4.

[0076] In an alternative embodiment, the drive assembly 211 includes a fixed seat 2111 and a motor module 2112. The fixed seat 2111 is rotatably connected to the cross shaft 3, the fixed seat 2111 is provided with a first groove 21111, and at least a part of the motor module 2112 is disposed in the first groove 21111.

[0077] AsFigure 5 As shown in the figure, the driving component 211 includes a fixed seat 2111 and a motor module 2112. Among them, the fixed seat 2111 is rotatably connected to the cross shaft 3.

[0078] Further explanation, a first groove 21111 is provided on the fixed seat 2111, and the motor module 2112 is arranged in the first groove 21111. Among them, at least part of the motor module 2112 is located in the first groove 21111. That is to say, the motor module 2112 can be partially located inside the first groove 21111 or entirely located inside the first groove 21111; the fixed seat 2111 provides an installation position for the motor module 2112, and arranging the motor module 2112 in the first groove 21111 can make the structure of the waist mechanism 100 more compact.

[0079] In an optional implementation manner, the two driving modules 21 are respectively a first driving module 21a and a second driving module 21b;

[0080] The output component 2 further includes an output seat 22. The output seat 22 is provided with a second groove 221. The output seat 22 covers the fixed seats 2111 of the first driving module 21a and the second driving module 21b. The second groove 221 faces the first groove 21111. The motor modules 2112 of the first driving module 21a and the second driving module 21b are both at most partially located in the second groove 221.

[0081] As Figure 5 shown, the output component 2 further includes an output seat 22, and the output seat 22 is used to connect to the torso mechanism of the robot.

[0082] Further explanation, the two driving modules 21 are respectively a first driving module 21a and a second driving module 21b; the first driving module 21a includes a first driving component 211a and a first link component 212a, and the first driving component 211a includes a first fixed seat 2111a and a first motor module 2112a; the second driving component 211b includes a second driving component 211b and a second link component 212b, and the second driving component 211b includes a second fixed seat 2111b and a second motor module 2112b.

[0083] Among them, the first fixed seat 2111a and the second fixed seat 2111b are symmetrically arranged along the first direction. At least part of the first motor module 2112a is arranged on the first fixed seat 2111a, and at least part of the second motor module 2112b is arranged on the second fixed seat 2111b. The output seat 22 is provided with a second groove 221. The output seat 22 covers the first fixed seat 2111a and the second fixed seat 2111b, and the second groove 221 faces the first groove 21111; when the output seat 22 covers the first fixed seat 2111a and the second fixed seat 2111b, at most part of the first motor module 2112a is located in the second groove 221, and at most part of the second motor module 2112b is located in the second groove 221. Therefore, the first motor module 2112a is located in the second groove 221 and the first groove 21111 of the first fixed seat 2111a, and the second motor module 2112b is located in the second groove 221 and the first groove 21111 of the second fixed seat 2111b, which can make the structure of the waist mechanism 100 more compact, thereby reducing the occupied space of the waist mechanism 100.

[0084] More specifically, when part of the first motor module 2112a is located in the first groove 21111 of the first fixed seat 2111a, the output seat 22 covers the first fixed seat 2111a, and part of the first motor module 2112a will also be located in the second groove 221; if the first motor module 2112a is all located in the first groove 21111 of the first fixed seat 2111a, the output seat 22 directly covers the first fixed seat 2111a. When part of the second motor module 2112b is located in the first groove 21111 of the second fixed seat 2111b, the output seat 22 covers the second fixed seat 2111b, and part of the first motor module 2112a will also be located in the second groove 221; if the second motor module 2112b is all located in the first groove 21111 of the first fixed seat 2111a, the output seat 22 directly covers the second fixed seat 2111b.

[0085] In an alternative embodiment, the cross-axis 3 includes a first connecting shaft 31 and a second connecting shaft 32. The first connecting shaft 31 and the second connecting shaft 32 are concentric and symmetrically arranged along the first direction. One of the drive modules 21 is rotatably connected to the first connecting shaft 31 through a bearing 6, and the other drive module 21 is connected to the second connecting shaft 32 through a bearing 6.

[0086] As Figure 8 and Figure 9 shown, the cross-axis 3 is arranged on the base 1; the cross-axis 3 includes a first connecting shaft 31 and a second connecting shaft 32.

[0087] Among them, the first connecting shaft 31 and the second connecting shaft 32 are symmetrically arranged along the first direction, and the first connecting shaft 31 and the second connecting shaft 32 are concentric.

[0088] Further explanation, one of the driving modules 21 is connected to the first connecting shaft 31 through a bearing 6. Specifically, the first fixing seat 2111a is rotatably connected to the first connecting shaft 31 through a bearing 6. That is to say, the inner ring of the bearing 6 is connected to the first connecting shaft 31, and the outer ring of the bearing 6 is connected to the first fixing seat 2111a, so as to realize the rotational connection between the first driving module 21a and the cross shaft 3, and ensure the rotational stability between the first driving module 21a and the cross shaft 3. The other driving module 21 is connected to the second connecting shaft 32 through a bearing 6. Specifically, the second fixing seat 2111b is connected to the second connecting shaft 32 through a bearing 6. That is to say, the inner ring of the bearing 6 is connected to the second connecting shaft 32, and the outer ring of the bearing 6 is connected to the second fixing seat 2111b, so as to realize the rotational connection between the second driving module 21b and the cross shaft 3, and ensure the rotational stability between the second driving module 21b and the cross shaft 3.

[0089] In an optional implementation manner, the cross shaft 3 further includes a third connecting shaft 33 and a fourth connecting shaft 34, and the third connecting shaft 33 and the fourth connecting shaft 34 are concentric and symmetrically arranged along the second direction;

[0090] The base 1 is provided with a first mounting seat 11 and a second mounting seat 12. The first mounting seat 11 and the second mounting seat 12 are spaced apart in the first direction. The cross shaft 3 is arranged between the first mounting seat 11 and the second mounting seat 12. The third connecting shaft 33 is rotatably connected to the first mounting seat 11 through a bearing 6, and the fourth connecting shaft 34 is rotatably connected to the second mounting seat 12 through a bearing 6.

[0091] As Figure 8 and Figure 9 shown, the cross shaft 3 further includes a third connecting shaft 33 and a fourth connecting shaft 34. The third connecting shaft 33 and the fourth connecting shaft 34 are symmetrically arranged along the second direction, and the third connecting shaft 33 and the fourth connecting shaft 34 are concentric. In other words, the axis of the first connecting shaft 31 and the axis of the second connecting shaft 32 are collinear, the axis of the third connecting shaft 33 and the axis of the fourth connecting shaft 34 are collinear, and the connection line of the axis of the first connecting shaft 31 and the axis of the second connecting shaft 32 intersects with the connection line of the axis of the third connecting shaft 33 and the axis of the fourth connecting shaft 34.

[0092] As Figure 8As shown in the figure, a first mounting seat 11 and a second mounting seat 12 are provided on the base 1. The first mounting seat 11 and the second mounting seat 12 are spaced apart in a first direction. In other words, the first mounting seat 11 and the second mounting seat 12 are symmetrically arranged along a second direction. The cross shaft 3 is located between the first mounting seat 11 and the second mounting seat 12. The third connecting shaft 33 is rotatably connected to the first mounting seat 11 through a bearing 6, and the fourth connecting shaft 34 is rotatably connected to the second mounting seat 12 through a bearing 6.

[0093] Further, a first mounting hole 111 is formed in the first mounting seat 11, and a second mounting hole 121 is formed in the second mounting seat 12. The third connecting shaft 33 is connected to the first mounting hole 111 through a bearing 6. That is to say, the inner ring of the bearing 6 is connected to the third connecting shaft 33, and the outer ring of the bearing 6 is connected to the inner wall of the first mounting hole 111; the fourth connecting shaft 34 is connected to the second mounting hole 121 through a bearing 6. That is to say, the inner ring of the bearing 6 is connected to the fourth connecting shaft 34, and the outer ring of the bearing 6 is connected to the inner wall of the second mounting hole 121. Thus, the base 1 is rotatably connected to the cross shaft 3, and the rotational stability between the cross shaft 3 and the base 1 can be ensured.

[0094] According to the second aspect of the embodiments of the present application, a robot is provided, including the above-mentioned waist mechanism 100.

[0095] Although some specific embodiments of the present application have been described in detail by way of examples, those skilled in the art should understand that the above examples are only for illustration and not for limiting the scope of the present application. Those skilled in the art should understand that the above embodiments can be modified without departing from the scope and spirit of the present application. The scope of the present application is defined by the appended claims.

Claims

1. A waist mechanism, characterized in that, Comprising: A base; A cross shaft, the cross shaft is rotatably connected to the base, and the cross shaft rotates relative to the base about a first direction; An output assembly, the output assembly includes two drive modules, the two drive modules are symmetrically arranged on the base along the first direction, each drive module includes a drive component and a link component, one end of the link component is connected to the output end of the drive component, the other end of the link component is rotatably connected to the base through a first spherical bearing, the drive module is rotatably connected to the cross shaft, and the drive module rotates relative to the cross shaft about a second direction; The first direction intersects with the second direction.

2. The waist mechanism according to claim 1, characterized in that, The link component includes a swing arm and a connecting rod. The swing arm includes a first connection end and a second connection end, and the first connection end is connected to the output end of the drive component; the connecting rod includes a third connection end and a fourth connection end, and the third connection end is connected to the second connection end through a second spherical bearing, and the fourth connection end is connected to the base through the first spherical bearing.

3. The waist mechanism according to claim 2, wherein The connection between the first connection end and the output end of the drive component is the first connection point, the connection between the second connection end and the third connection end is the second connection point, the connection between the fourth connection end and the base is the third connection point, and the connection between the drive component and the cross shaft is the fourth connection point; The connection lines of the first connection point, the second connection point, the third connection point and the fourth connection point in the same plane form a parallelogram.

4. The waist mechanism according to claim 2, characterized in that, The second connection end is provided with a first connection hole, the third connection end is provided with a second connection hole, the second spherical bearing is provided with a first through hole, the second spherical bearing is rotatably connected to the second connection hole, and a first connecting piece is inserted through the first through hole and connected to the first connection hole.

5. The waist mechanism according to claim 2, characterized in that, The fourth connection end is provided with a third connection hole, the base is provided with a fourth connection hole, the first spherical bearing is provided with a second through hole, the first spherical bearing is rotatably connected to the third connection hole, and a second connecting piece is inserted through the second through hole and connected to the fourth connection hole.

6. The waist mechanism according to claim 1, characterized in that The drive component includes a fixed seat and a motor module, the fixed seat is rotatably connected to the cross shaft, the fixed seat is provided with a first groove, and at least part of the motor module is arranged in the first groove.

7. The lumbar mechanism according to claim 6, characterized in that, The two drive modules are respectively a first drive module and a second drive module; The output assembly further includes an output seat, the output seat is provided with a second groove, the output seat covers the fixed seat, the second groove faces the first groove, and the motor modules of the first drive module and the second drive module are both at most partially located in the second groove.

8. The lumbar mechanism according to claim 1, characterized in that, The cross shaft includes a first connecting shaft and a second connecting shaft, the first connecting shaft and the second connecting shaft are concentric and symmetrically arranged along the first direction, and one of the drive modules is rotatably connected to the first connecting shaft through a bearing, and the other drive module is connected to the second connecting shaft through a bearing.

9. The lumbar mechanism according to claim 1, characterized in that, The cross shaft further includes a third connecting shaft and a fourth connecting shaft, the third connecting shaft and the fourth connecting shaft are concentric and symmetrically arranged along the second direction; A first mounting seat and a second mounting seat are arranged on the base, the first mounting seat and the second mounting seat are arranged at intervals in the first direction, the cross shaft is arranged between the first mounting seat and the second mounting seat, the third connecting shaft is rotatably connected to the first mounting seat through a bearing, and the fourth connecting shaft is rotatably connected to the second mounting seat through a bearing.

10. A robot, characterized in that, It includes a waist mechanism according to any one of claims 1-9.

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