Waist mechanism and robot

Abstract

The utility model relates to the technical field of robots, and discloses a waist mechanism and a robot. The first mounting shaft comprises a first inner shaft and a first outer shaft which are nested, and the first inner shaft is connected with the support; a preset included angle is formed between the second mounting shaft and the first mounting shaft, the second mounting shaft comprises a second inner shaft and a second outer shaft which are arranged in a nested mode, and the second outer shaft is connected with the first outer shaft; a fixed part of the driving structure is connected with the second inner shaft; the first end of the connecting rod structure is hinged to the support, and the second end of the connecting rod structure is hinged to the driving part of the driving structure. According to the waist mechanism, pitching motion or side-sway motion of the robot can be achieved, the waist mechanism is simple in overall structure, small in occupied space and low in weight, when the waist mechanism conducts pitching motion or side-sway motion, only the driving structure needs to be driven to rotate, rotational inertia is correspondingly reduced, and the torque requirement for the connecting rod structure is reduced.

Description

Technical Field

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

[0002] With the rapid development of robots, their application areas are becoming increasingly broad, such as service robots, medical robots, and industrial robots. Robots are also required to perform more and more functions, and the first function a robot must satisfy is its own movement. The waist of a robot can be simplified into a compound movement with three degrees of freedom, specifically waist pitch movement, waist side swing movement, and waist rotation movement. Most robots in the prior art use three joint servos directly connected in series for their waists. The three joint servos each achieve three degrees of freedom of movement. As a result, they occupy a large space, have a large moment of inertia, and place a large torque demand on the joints. Utility Model Content

[0003] In view of this, the present invention provides a waist mechanism and a robot to solve the problems in the prior art that the waist mechanism occupies a large space, has a large moment of inertia, and requires a large torque on the joints.

[0004] In the first aspect, the utility model provides a waist mechanism, including: a support; a first mounting shaft, including a first inner shaft and a first outer shaft arranged in a nested manner, the first inner shaft is connected to the support, and the first outer shaft is rotatably sleeved on the outside of the first inner shaft; a second mounting shaft, arranged at a predetermined angle to the first mounting shaft, the second mounting shaft including a second inner shaft and a second outer shaft arranged in a nested manner, the second outer shaft is connected to the first outer shaft, and the second inner shaft is rotatably arranged inside the second outer shaft; two driving structures are provided, the two driving structures are arranged on opposite sides of the first mounting shaft, and the fixed part of the driving structure is connected to the second inner shaft; two connecting rod structures are provided, the two connecting rod structures are respectively arranged corresponding to the two driving structures, the first end of the connecting rod structure is hinged to the support, and the second end of the connecting rod structure is hinged to the driving part of the driving structure.

[0005] In an optional embodiment, the support includes a chassis, a support frame and a connecting shaft, the support frame is connected to the chassis, the first inner shaft is connected to the support frame, one end of the connecting shaft is connected to the support frame, and the other end of the connecting shaft is hinged to the connecting rod structure.

[0006] In an optional embodiment, the distance between the hinge of the connecting rod structure and the connecting shaft and the axis center of the first inner shaft is L1, and the distance between the hinge of the connecting rod structure and the connecting shaft and the axis center of the second inner shaft is L2, satisfying 0.75L2≤L1≤1.25L2.

[0007] In an optional embodiment, the connecting rod structure is arranged at an angle so that the second ends of the two connecting rod structures are arranged close to each other.

[0008] In an optional embodiment, two support frames are arranged at relative intervals, and the two ends of the first inner shaft respectively extend out of the two ends of the first outer shaft, and the two ends of the first inner shaft are respectively connected to the two support frames; the first mounting shaft also includes a first bearing, a first bearing cover and a first fastener, the first bearing simultaneously connects the first inner shaft and the first outer shaft so that the first inner shaft and the first outer shaft can rotate relative to each other, the first bearing cover is connected to the end of the first outer shaft and covers the first bearing, and the first fastener connects the first bearing cover and the second outer shaft.

[0009] In an optional embodiment, the driving structure includes a motor and a mounting seat, the housing of the motor is connected to the mounting seat, and the mounting seat is connected to the second inner shaft.

[0010] In an optional embodiment, the driving structure further includes a flange, the driving shaft of the motor is transmission-connected to the flange, the flange extends to form a connecting rod, and one end of the connecting rod away from the flange is hinged to the second end of the connecting rod structure.

[0011] In an optional embodiment, the two ends of the second inner shaft respectively extend out of the two ends of the second outer shaft, and the two ends of the second inner shaft are respectively connected to the two mounting seats; the second mounting shaft also includes a second bearing, a second bearing cover and a second fastener, the second bearing simultaneously connects the second inner shaft and the second outer shaft so that the second inner shaft and the second outer shaft can rotate relative to each other, the second bearing cover is connected to the end of the second outer shaft and covers the second bearing, and the second fastener connects the second bearing cover and the second outer shaft.

[0012] In an optional embodiment, the waist mechanism further includes a rotary drive member, which is in transmission connection with the support.

[0013] In a second aspect, the present invention further provides a robot comprising the above-mentioned waist mechanism.

[0014] The technical solution of this application has the following advantages:

[0015] A cross-axis structure is formed by the first mounting axis and the second mounting axis, so that the first outer axis and the second outer axis are connected, the first inner axis is connected to the support, and the second inner axis is connected to the fixed part of the driving structure. Therefore, when the driving part of the driving structure drives the connecting rod structure in different driving modes, the robot can realize pitching motion or side swinging motion. In addition, the overall structure of the waist mechanism is simple, the space occupied is small, and the weight is also small. When the waist mechanism performs pitching motion or side swinging motion, it only needs to drive the driving structure to rotate, the rotational inertia is correspondingly reduced, and the torque demand on the connecting rod structure is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 This is a schematic structural diagram of a waist mechanism according to an embodiment of the present invention at one angle;

[0018] Figure 2 This is a schematic structural diagram of the waist mechanism of an embodiment of the present invention from another angle;

[0019] Figure 3 for Figure 1 A front view of the waist mechanism shown;

[0020] Figure 4 for Figure 3 Cross-sectional view in the AA direction;

[0021] Figure 5 for Figure 1 a rear view of the waist mechanism shown;

[0022] Figure 6 for Figure 1 a right side view of the waist mechanism shown;

[0023] Figure 7 for Figure 6 Cross-sectional view in the BB direction.

[0024] Description of reference numerals:

[0025] 1. Support; 11. Chassis; 12. Support frame; 13. Connecting shaft; 2. First mounting shaft; 21. First inner shaft; 22. First outer shaft; 23. First bearing; 24. First bearing cover; 25. First fastener; 3. Second mounting shaft; 31. Second inner shaft; 32. Second outer shaft; 33. Second bearing; 34. Second bearing cover; 35. Second fastener; 4. Driving structure; 41. Motor; 42. Mounting seat; 421. Supporting part; 422. Connecting part; 43. Flange; 44. Connecting rod; 5. Connecting rod structure. DETAILED DESCRIPTION

[0026] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are 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 those skilled in the art without making creative efforts shall fall within the scope of protection of the present invention.

[0027] The following combination Figures 1 to 7 , describing the embodiments of the present utility model.

[0028] According to an embodiment of the present invention, in one aspect, a lumbar mechanism is provided, comprising: a support 1, a first mounting shaft 2, a second mounting shaft 3, a drive structure 4, and a connecting rod structure 5. The first mounting shaft 2 comprises a first inner shaft 21 and a first outer shaft 22, which are nested together. The first inner shaft 21 is connected to the support 1, and the first outer shaft 22 is rotatably mounted on the outside of the first inner shaft 21. The second mounting shaft 3 is arranged at a predetermined angle to the first mounting shaft 2 and comprises a second inner shaft 31 and a second outer shaft 32, which are nested together. The second outer shaft 32 is connected to the first outer shaft 22, and the second inner shaft 31 is rotatably mounted on the inside of the second outer shaft 32. Two drive structures 4 are provided, one on each side of the first mounting shaft 2, and the fixed portion of the drive structure 4 is connected to the second inner shaft 31. Two connecting rod structures 5 are provided, one corresponding to each drive structure 4. The first end of the connecting rod structure 5 is hinged to the support 1, and the second end of the connecting rod structure 5 is hinged to the driving portion of the drive structure 4.

[0029] The waist mechanism of this embodiment is applied to form a cross-axis structure through the first mounting axis 2 and the second mounting axis 3, so that the first outer axis 22 and the second outer axis 32 are connected, the first inner axis 21 is connected to the support 1, and the second inner axis 31 is connected to the fixed part of the driving structure 4, so that when the driving part of the driving structure 4 drives the connecting rod structure 5 in different driving modes, the robot can realize pitching motion or side swinging motion. In addition, the overall structure of the waist mechanism is simple, the space occupied is small, and the weight is also small. When the waist mechanism performs pitching motion or side swinging motion, it only needs to drive the driving structure 4 to rotate, the rotational inertia is correspondingly reduced, and the torque requirement for the connecting rod structure 5 is reduced.

[0030] It is worth noting that when the two driving structures 4 drive the two connecting rod structures 5 at the same angular velocity and in the same direction, the two driving structures 4 are driven by the reaction force of the connecting rod structure 5 to perform a pitching motion ( Figure 6 When the two driving structures 4 drive the two connecting rod structures 5 at different angular velocities and in opposite directions, the two driving structures 4 perform a lateral swing motion ( Figure 3 At this time, the first outer shaft 22 rotates outside the first inner shaft 21.

[0031] Specifically, in this embodiment, Figures 3 to 7 As shown, the first installation shaft 2 and the second installation shaft 3 are arranged vertically. That is, the axis of the first installation shaft 2 and the axis of the second installation shaft 3 are arranged at an angle of 90 degrees.

[0032] Of course, in other alternative embodiments, the first installation axis 2 and the second installation axis 3 may also be arranged at other angles, for example, the axis of the first installation axis 2 and the axis of the second installation axis 3 are arranged at a 60° angle.

[0033] It should be noted that the two driving structures 4 “are disposed on opposite sides of the first installation shaft 2” means that they are disposed on opposite sides of the axis direction of the first installation shaft 2. For details, please refer to Figure 3 The two driving structures 4 are respectively located on the left and right sides of the first installation shaft 2. Furthermore, in this embodiment, the two driving structures 4 are symmetrically arranged along the axis of the first installation shaft 2. Furthermore, the two connecting rod structures 5 are symmetrically arranged along the axis of the first installation shaft 2.

[0034] In one embodiment, Figures 1 to 7 As shown, the support 1 includes a chassis 11, a support frame 12 and a connecting shaft 13. The support frame 12 is connected to the chassis 11, the first inner shaft 21 is connected to the support frame 12, one end of the connecting shaft 13 is connected to the support frame 12, and the other end of the connecting shaft 13 is hinged to the connecting rod structure 5.

[0035] It is understandable that if Figure 1 and Figure 3 As shown, there are two connecting shafts 13, the first ends of the two connecting shafts 13 are connected to the support frame 12, and the second ends of the two connecting shafts 13 are respectively hinged to the two connecting rod structures 5. Further, the two connecting shafts 13 are symmetrically arranged along the axis of the first installation shaft 2.

[0036] It is worth noting that, please refer to Figure 1 A ball head structure is formed at one end of the connecting shaft 13 away from the support frame 12, and a ball cavity structure is formed at the first end of the connecting rod structure 5. The ball head structure is adapted to be arranged in the ball cavity structure so that the connecting shaft 13 and the connecting rod structure 5 are hinged.

[0037] In one embodiment, Figure 3 As shown, the distance between the hinge of the connecting rod structure 5 and the connecting shaft 13 and the axis of the first inner shaft 21 is L1. Figure 6 As shown, the distance L2 between the hinged connection of the connecting rod structure 5 and the connecting shaft 13 and the axis of the second inner shaft 31 satisfies 0.75L2≤L1≤1.25L2. This arrangement, compared to related art, creates a greater distance between the hinged connection of the connecting rod structure 5 and the axis of the first inner shaft 21, thereby reducing the force on the connecting rod structure 5 and, in turn, its deformation, thereby improving the stability of the lumbar mechanism's movement.

[0038] Preferably, L1 and L2 satisfy 0.9L2≤L1≤1.1L2.

[0039] In one embodiment, Figure 4 As shown, two support frames 12 are arranged at relative intervals, and the two ends of the first inner shaft 21 extend out of the two ends of the first outer shaft 22 respectively, and the two ends of the first inner shaft 21 are respectively connected to the two support frames 12; the first mounting shaft 2 also includes a first bearing 23, a first bearing cover 24 and a first fastener 25, the first bearing 23 connects the first inner shaft 21 and the first outer shaft 22 at the same time, so that the first inner shaft 21 and the first outer shaft 22 can rotate relative to each other, the first bearing cover 24 is connected to the end of the first outer shaft 22 and covers the first bearing 23, and the first fastener 25 connects the first bearing cover 24 and the second outer shaft 32.

[0040] It should be noted that the inner ring of the first bearing 23 is connected to the first inner shaft 21, and the outer ring of the first bearing 23 is connected to the first outer shaft 22, thereby realizing relative rotation between the first inner shaft 21 and the first outer shaft 22. Figure 4 As shown, there are two first bearings 23 , which are respectively arranged near the opposite ends of the first outer shaft 22 . Correspondingly, there are also two first bearing covers 24 , which are respectively arranged corresponding to the opposite ends of the first outer shaft 22 .

[0041] Specifically, the first bearing cover 24 may be connected to the end of the first housing by bolts.

[0042] In one embodiment, Figures 1 to 7 As shown, the drive structure 4 includes a motor 41 and a mounting base 42. The housing of the motor 41 is connected to the mounting base 42, and the mounting base 42 is connected to the second inner shaft 31. In other words, the housing of the motor 41 and the mounting base 42 serve as the fixed part of the drive structure 4, which is used to connect to the second inner shaft 31.

[0043] Specifically, such as Figure 1 and Figure 7 As shown, the mounting base 42 includes a supporting portion 421 and a connecting portion 422, the supporting portion 421 and the connecting portion 422 are connected at a predetermined angle, the supporting portion 421 is connected to the housing of the motor 41, and the connecting portion 422 is connected to the second inner shaft 31. Figure 7 As shown, the connecting portion 422 is correspondingly fitted with the end portion of the second inner shaft 31 , and the connecting portion 422 is connected to the end portion of the second inner shaft 31 by a bolt.

[0044] In one embodiment, Figure 1 and Figure 2 As shown, the drive structure 4 further includes a flange 43, to which the drive shaft of the motor 41 is drivingly connected. A connecting rod 44 extends from the flange 43, and one end of the connecting rod 44, which is remote from the flange 43, is hingedly connected to the second end of the connecting rod structure 5. In other words, the drive shaft of the motor 41, the flange 43, and the connecting rod 44 serve as the driving portion of the drive structure 4, which is connected to the connecting rod structure 5.

[0045] It is worth noting that, please refer to Figure 1 A ball head structure is formed at one end of the connecting rod 44 away from the flange 43, and correspondingly, a ball cavity structure is formed at the second end of the connecting rod structure 5, and the ball head structure is adapted to be arranged in the ball cavity structure so that the connecting rod 44 and the connecting rod structure 5 are hinged.

[0046] In one embodiment, Figure 7 As shown, the two ends of the second inner shaft 31 extend out of the two ends of the second outer shaft 32 respectively, and the two ends of the second inner shaft 31 are respectively connected to the two mounting seats 42; the second mounting shaft 3 also includes a second bearing 33, a second bearing cover 34 and a second fastener 35. The second bearing 33 connects the second inner shaft 31 and the second outer shaft 32 at the same time so that the second inner shaft 31 and the second outer shaft 32 can rotate relative to each other. The second bearing cover 34 is connected to the end of the second outer shaft 32 and covers the second bearing 33. The second fastener 35 connects the second bearing cover 34 and the second outer shaft 32.

[0047] It should be noted that the inner ring of the second bearing 33 is connected to the second inner shaft 31, and the outer ring of the second bearing 33 is connected to the second outer shaft 32, thereby realizing the relative rotation of the second inner shaft 31 and the second outer shaft 32. Figure 4 As shown, two second bearings 33 are provided, and the two second bearings 33 are respectively provided near the opposite ends of the second outer shaft 32. Correspondingly, two second bearing covers 34 are also provided, and the two second bearing covers 34 are respectively provided corresponding to the opposite ends of the second outer shaft 32.

[0048] Specifically, the second bearing cover 34 may be connected to the end of the second housing by bolts.

[0049] It is worth noting that the first outer shaft 22 and the second outer shaft 32 can be integrally formed. Of course, the first outer shaft 22 and the second outer shaft 32 can also be connected using other connection methods, such as bolt connection, welding, etc.

[0050] In one embodiment, Figure 3 As shown, the connecting rod structure 5 is tilted so that the second ends of the two connecting rod structures 5 are positioned close to each other. This arrangement reduces the distance between the two drive structures 4, thereby reducing the space occupied by the waist mechanism and its overall volume. Furthermore, the horizontal component of the force acting on the connecting rod structure 5 can press the flange 43 against the motor 41, further stabilizing the position of the flange 43 relative to the motor 41. This further improves the stability of the drive of the connecting rod structure 5 and, consequently, the stability of the waist mechanism's movement.

[0051] In one embodiment, the waist mechanism further includes a rotary drive member that is in transmission connection with the support 1. Specifically, the rotary drive member is in transmission connection with the chassis 11, so that the chassis 11 rotates about its own axis. In this arrangement, the rotary drive member drives the support 1 to rotate, thereby achieving rotational movement of the waist mechanism.

[0052] It is worth noting that, in this embodiment, the rotary drive member is a motor. Of course, the rotary drive member can also be other components that can provide a rotary drive force.

[0053] According to an embodiment of the present invention, on the other hand, a robot is provided, comprising the above-mentioned waist mechanism.

[0054] Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations shall fall within the scope defined by the appended claims.

Claims

1. A waist mechanism, characterized in that: include: Support (1); A first mounting shaft (2) comprises a first inner shaft (21) and a first outer shaft (22) which are nested together, wherein the first inner shaft (21) is connected to the support (1), and the first outer shaft (22) is rotatably sleeved on the outside of the first inner shaft (21); a second mounting shaft (3) arranged at a predetermined angle with the first mounting shaft (2), the second mounting shaft (3) comprising a second inner shaft (31) and a second outer shaft (32) arranged in a nested manner, the second outer shaft (32) being connected to the first outer shaft (22), and the second inner shaft (31) being rotatably arranged inside the second outer shaft (32); Two drive structures (4) are provided, and the two drive structures (4) are respectively arranged on opposite sides of the first mounting shaft (2), and the fixed portion of the drive structure (4) is connected to the second inner shaft (31); There are two connecting rod structures (5), and the two connecting rod structures (5) are respectively arranged corresponding to the two driving structures (4). The first end of the connecting rod structure (5) is hinged to the support (1), and the second end of the connecting rod structure (5) is hinged to the driving part of the driving structure (4).

2. The waist mechanism according to claim 1, characterized in that: The support (1) comprises a chassis (11), a support frame (12) and a connecting shaft (13); the support frame (12) is connected to the chassis (11); the first inner shaft (21) is connected to the support frame (12); one end of the connecting shaft (13) is connected to the support frame (12); and the other end of the connecting shaft (13) is hinged to the connecting rod structure (5).

3. The waist mechanism according to claim 2, characterized in that: The distance between the hinge point of the connecting rod structure (5) and the connecting shaft (13) and the axis center of the first inner shaft (21) is L1, and the distance between the hinge point of the connecting rod structure (5) and the connecting shaft (13) and the axis center of the second inner shaft (31) is L2, satisfying 0.75L2≤L1≤1.25L2.

4. The waist mechanism according to claim 2 or 3, characterized in that: The connecting rod structures (5) are arranged at an angle so that the second ends of the two connecting rod structures (5) are arranged close to each other.

5. The waist mechanism according to claim 2 or 3, characterized in that: Two support frames (12) are arranged at a relative interval, the two ends of the first inner shaft (21) respectively extend from the two ends of the first outer shaft (22), and the two ends of the first inner shaft (21) are respectively connected to the two support frames (12); The first mounting shaft (2) further comprises a first bearing (23), a first bearing cover (24) and a first fastener (25); the first bearing (23) simultaneously connects the first inner shaft (21) and the first outer shaft (22) so that the first inner shaft (21) and the first outer shaft (22) can rotate relative to each other; the first bearing cover (24) is connected to the end of the first outer shaft (22) and covers the first bearing (23); and the first fastener (25) connects the first bearing cover (24) and the second outer shaft (32).

6. The waist mechanism according to any one of claims 1 to 3, characterized in that: The driving structure (4) comprises a motor (41) and a mounting seat (42), the outer shell of the motor (41) is connected to the mounting seat (42), and the mounting seat (42) is connected to the second inner shaft (31).

7. The waist mechanism according to claim 6, characterized in that: The driving structure (4) further comprises a flange (43), a driving shaft of the motor (41) being in transmission connection with the flange (43), and the flange (43) extending therefrom forms a connecting rod (44), and one end of the connecting rod (44) away from the flange (43) is hinged to the second end of the connecting rod structure (5).

8. The waist mechanism according to claim 6, characterized in that: The two ends of the second inner shaft (31) extend out of the two ends of the second outer shaft (32), and the two ends of the second inner shaft (31) are respectively connected to the two mounting seats (42); The second mounting shaft (3) further includes a second bearing (33), a second bearing cover (34) and a second fastener (35); the second bearing (33) simultaneously connects the second inner shaft (31) and the second outer shaft (32) so that the second inner shaft (31) and the second outer shaft (32) can rotate relative to each other; the second bearing cover (34) is connected to the end of the second outer shaft (32) and covers the second bearing (33); the second fastener (35) connects the second bearing cover (34) and the second outer shaft (32).

9. The waist mechanism according to any one of claims 1 to 3, characterized in that: The waist mechanism further comprises a rotary drive member, which is in transmission connection with the support (1).

10. A robot, characterized in that: Comprising the waist mechanism according to any one of claims 1 to 9.

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