Novel humanoid robot waist structure

Abstract

The utility model relates to a novel humanoid robot waist structure which comprises a base, a rotating seat, bearing seats, a U-shaped seat, a rotating block and a supporting seat, the rotating seat is rotatably installed on the base, the bearing seats are symmetrically installed on the top side of the rotating seat, the U-shaped seat is rotatably installed between the two bearing seats, the rotating block is rotatably installed in the U-shaped seat, and the supporting seat is installed on the rotating block. A supporting seat is installed on the top side of the rotating block, a first lubricating mechanism is installed on the outer side of the bearing seat, and second lubricating mechanisms are installed on the two opposite sides of the U-shaped seat. The waist structure can simulate horizontal rotation work of the waist of the humanoid robot, stoop work of the humanoid robot in the front-back direction and stoop work of the humanoid robot in the left-right direction, and multi-angle adjustment of the waist is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of humanoid robots, in particular to a novel waist structure of a humanoid robot. Background Art

[0002] A humanoid robot, also known as a humanoid robot, is a robot with a human form.

[0003] The human waist can rotate horizontally, bend forward and backward, and bend left and right. Existing humanoid robots are deficient in adjusting waist movement. At the same time, the rotation adjustment of the waist structure is achieved through motors, which requires manual lubrication on a regular basis, otherwise the waist structure movement will be blocked. Utility Model Content

[0004] The problem solved by the present utility model is to provide a new waist structure of a humanoid robot, which solves the problem that the human waist can rotate horizontally, bend forward and backward, and bend left and right. The existing humanoid robots are deficient in waist movement adjustment. At the same time, the rotation adjustment of the waist structure is achieved by a motor, and manual lubrication is required regularly, otherwise it will cause blockage of the waist structure movement.

[0005] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0006] A novel waist structure of a humanoid robot includes a base, a swivel seat, a bearing seat, a U-shaped seat, a swivel block and a support seat. The swivel seat is rotatably mounted on the base, the bearing seats are symmetrically mounted on the top side of the swivel seat, the U-shaped seat is rotatably mounted between the two bearing seats, the swivel block is rotatably mounted inside the U-shaped seat, and the support seat is mounted on the top side of the swivel block, a first lubrication mechanism is mounted on the outside of the bearing seat, and a second lubrication mechanism is mounted on two opposite sides of the U-shaped seat.

[0007] Preferably, a embedding groove is provided at the bottom of the base, a single-axis motor is installed in the embedding groove, and an output end of the single-axis motor is connected to the rotating seat through a bearing.

[0008] Preferably, a first dual-axis motor is installed inside the U-shaped seat, and two output ends of the first dual-axis motor are connected to the bearing seat through bearings.

[0009] Preferably, a second dual-axis motor is installed inside the rotating block, and the output end of the second dual-axis motor is connected to the U-shaped seat through a bearing.

[0010] Preferably, the first lubricating mechanism and the second lubricating mechanism both include a dust cover, and an oil cylinder is installed on the dust cover, and an oil nozzle facing the bearing is installed in the dust cover.

[0011] Preferably, an oil passage is provided in the dust cover, and the oil passage is communicated with the oil cylinder and the oil injection nozzle.

[0012] The beneficial effects of the utility model are as follows: the waist structure can simulate the horizontal rotation of the waist of a humanoid robot, simulate the bending work of the humanoid robot in the front and back directions, and simulate the bending work of the humanoid robot in the left and right directions, thereby realizing multi-angle adjustment of the waist;

[0013] By opening the oil spray nozzle, the lubricating oil in the oil barrel is sprayed toward the bearing through the oil spray nozzle, lubricating the bearing and automatically lubricating the connection between the motor output end and the bearing. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the first overall structure of the utility model;

[0015] Figure 2 This is a schematic diagram of the second overall structure of the utility model;

[0016] Figure 3 This is a cross-sectional view of the utility model.

[0017] Legend:

[0018] 1. Base; 2. Rotating seat; 3. Bearing seat; 4. U-shaped seat; 5. Rotating block; 6. Support seat; 7. Groove; 8. Single-axis motor; 9. First dual-axis motor; 10. Second dual-axis motor; 11. First lubrication mechanism; 12. Second lubrication mechanism; 13. Dust cover; 14. Oil cylinder; 15. Oil nozzle. DETAILED DESCRIPTION

[0019] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0020] Specific examples are given below.

[0021] See also Figures 1 to 3A new type of humanoid robot waist structure, including a base 1, a swivel seat 2, a bearing seat 3, a U-shaped seat 4, a swivel block 5 and a support seat 6. The swivel seat 2 is rotatably installed on the base 1, and the bearing seat 3 is symmetrically installed on the top side of the swivel seat 2. The U-shaped seat 4 is rotatably installed between the two bearing seats 3. The swivel block 5 is rotatably installed in the U-shaped seat 4, and the support seat 6 is installed on the top side of the swivel block 5. The bottom of the base 1 is provided with an embedding groove 7, and a single-axis motor 8 is installed in the embedding groove 7. The output end of the single-axis motor 8 is connected to the swivel seat 2 through a bearing. The swivel seat 2 is driven to rotate by the single-axis motor 8, simulating a human The waist of the humanoid robot rotates horizontally. A first dual-axis motor 9 is installed inside the U-shaped seat 4. The two output ends of the first dual-axis motor 9 are connected to the bearing seat 3 through bearings. The first dual-axis motor 9 drives the U-shaped seat 4 to rotate between the bearing seats 3 to simulate the bending work of the humanoid robot in the front and back directions. A second dual-axis motor 10 is installed inside the rotating block 5. The output end of the second dual-axis motor 10 is connected to the U-shaped seat 4 through bearings. The second dual-axis motor 10 drives the rotating block 5 to rotate in the U-shaped seat 4 to simulate the bending work of the humanoid robot in the left and right directions.

[0022] A first lubrication mechanism 11 is installed on the outside of the bearing seat 3, and a second lubrication mechanism 12 is installed on two opposite sides of the U-shaped seat 4. The first lubrication mechanism 11 and the second lubrication mechanism 12 both include a dust cover 13, and an oil cylinder 14 is installed on the dust cover 13. An oil nozzle 15 facing the bearing is installed in the dust cover 13. An oil channel is opened in the dust cover 13, and the oil channel is connected to the oil cylinder 14 and the oil nozzle 15. By opening the oil nozzle 15, the lubricating oil in the oil cylinder 14 is sprayed toward the bearing through the oil channel nozzle 15, thereby lubricating the bearing. At this time, the first lubrication mechanism 11 is used for bearing lubrication at the connection between the output end of the first dual-axis motor 9 and the bearing seat 3, and the second lubrication mechanism 12 is used for bearing lubrication at the connection between the output end of the second dual-axis motor 10 and the U-shaped seat 4.

[0023] The single-axis motor 8 drives the rotating seat 2 to rotate, simulating the horizontal rotation of the waist of the humanoid robot. The first dual-axis motor 9 drives the U-shaped seat 4 to rotate between the bearing seats 3, simulating the bending of the humanoid robot in the front and back directions. The second dual-axis motor 10 drives the rotating block 5 to rotate in the U-shaped seat 4, simulating the bending of the humanoid robot in the left and right directions. When working, by opening the oil nozzle 15, the lubricating oil in the oil cylinder 14 is sprayed toward the bearing through the oil nozzle 15, thereby lubricating the bearing.

[0024] The above is only a preferred specific implementation method of the present invention, but the protection scope of the present invention is not limited to this. Any technician familiar with the technical field within the technical scope disclosed by the present invention can make equivalent replacements or changes based on the technical solution and utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A new waist structure of a humanoid robot, characterized in that: The invention comprises a base (1), a rotating base (2), a bearing seat (3), a U-shaped base (4), a rotating block (5) and a supporting base (6); the rotating base (2) is rotatably mounted on the base (1); the bearing seat (3) is symmetrically mounted on the top side of the rotating base (2); the U-shaped base (4) is rotatably mounted between the two bearing seats (3); the rotating block (5) is rotatably mounted inside the U-shaped base (4); and the supporting base (6) is mounted on the top side of the rotating block (5); a first lubricating mechanism (11) is mounted on the outer side of the bearing seat (3); and a second lubricating mechanism (12) is mounted on two opposite sides of the U-shaped base (4).

2. A novel humanoid robot waist structure according to claim 1, characterized in that: The base (1) has an embedding groove (7) at its bottom, a single-axis motor (8) is installed in the embedding groove (7), and an output end of the single-axis motor (8) is connected to the rotating seat (2) via a bearing.

3. The novel waist structure of a humanoid robot according to claim 2, characterized in that: A first dual-axis motor (9) is installed inside the U-shaped seat (4), and two output ends of the first dual-axis motor (9) are connected to the bearing seat (3) via bearings.

4. The novel waist structure of a humanoid robot according to claim 3, characterized in that: A second dual-axis motor (10) is installed inside the rotating block (5), and an output end of the second dual-axis motor (10) is connected to the U-shaped seat (4) via a bearing.

5. The novel waist structure of a humanoid robot according to claim 4, characterized in that: The first lubricating mechanism (11) and the second lubricating mechanism (12) both comprise a dust cover (13), an oil cylinder (14) is mounted on the dust cover (13), and an oil nozzle (15) facing the bearing is mounted in the dust cover (13).

6. The novel waist structure of a humanoid robot according to claim 5, characterized in that: An oil passage is provided in the dust cover (13), and the oil passage is communicated with the oil cylinder (14) and the oil injection nozzle (15).

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