Trunk mechanism and robot

Abstract

The utility model relates to the technical field of robots, and provides a trunk mechanism and a robot, the trunk mechanism comprises a waist structure and a chest structure, the waist structure comprises a transmission assembly, a fixing seat, a supporting assembly and two power assemblies, the transmission assembly comprises an output piece and two input wheels, the output piece comprises an output tooth part, and the two input wheels are engaged with the output tooth part; the fixed seat is connected with the output piece; the two input wheels are both rotationally connected with the supporting assembly, and the supporting assembly is rotationally connected with the output piece. The two power assemblies are in transmission connection with the two input wheels correspondingly. And the chest structure is connected with the power assembly. The two power assemblies jointly provide driving force for achieving the stooping action and the waist turning action, and the power requirement of a single power assembly is reduced. The output part is kept still, the two output wheels rotate in the same direction at the same speed to complete the stooping action, the two output wheels rotate in the opposite directions at the same speed to complete the waist turning action, the structure is simple, the number of structural parts is relatively small, and the overall size and weight of the waist structure can be reduced.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a torso mechanism and a robot. Background Technology

[0002] Robots typically include a torso mechanism and a locomotion mechanism. In related technologies, the torso mechanism includes a waist structure, which needs to perform bending and twisting movements. Usually, bending is driven independently by a drive unit, while twisting is driven independently by another drive unit, which results in a large power requirement for the drive units. Utility Model Content

[0003] In view of this, embodiments of this application aim to provide a torso mechanism and robot that can reduce the power requirements of individual power components.

[0004] To achieve the above objectives, the technical solution of this application embodiment is implemented as follows:

[0005] This application provides a torso mechanism, including:

[0006] The waist structure includes a transmission assembly, a fixed base, a support assembly, and two power assemblies. The transmission assembly includes an output component and two input wheels. The output component includes output teeth, and the two input wheels mesh with the output teeth. The fixed base is connected to the output component. Both input wheels are rotatably connected to the support assembly, and the support assembly is rotatably connected to the output component. The two power assemblies are respectively connected to the two input wheels via transmission.

[0007] The chest structure is connected to the power assembly.

[0008] In some embodiments, the axis of the output element extends in the vertical direction, and the axes of the two input wheels are perpendicular to the vertical direction.

[0009] In some embodiments, the mounting base is located below the output component.

[0010] In some embodiments, the chest structure forms a receiving cavity, within which both power components and both input wheels are located.

[0011] In some embodiments, the chest structure includes a clearance notch, the fixation seat is located outside the receiving cavity, and the support assembly is located within the clearance notch.

[0012] In some embodiments, the support assembly includes a support frame and two first bearings, each of the input wheels being connected to one of the first bearings, and the input wheel being rotatably connected to the support frame via the first bearings.

[0013] In some embodiments, the support frame forms a first through hole, the input wheel includes an input tooth body and a connecting body connected to the input tooth body, the input tooth body meshes with the output tooth portion, the first bearing is disposed in the first through hole, the connecting body passes through the first bearing, and the power assembly is connected to the side of the connecting body away from the input tooth body.

[0014] In some embodiments, the support assembly includes a support frame and a second bearing, the support frame being rotatably connected to the output component via the second bearing.

[0015] In some embodiments, the support frame forms a second through hole, the output member includes a body connected to the output teeth, the second bearing is disposed in the second through hole, and the body passes through the second bearing.

[0016] This application also provides a robot, including:

[0017] The torso mechanism described in any of the above items;

[0018] The walking mechanism is connected to the fixed base.

[0019] The torso mechanism provided in this embodiment uses two power components to jointly provide driving force for bending and turning movements, reducing the power requirement of a single power component. The output component remains stationary; the two output wheels rotate in the same direction and at the same speed to complete the bending movement, and the two output wheels rotate in opposite directions at the same speed to complete the turning movement. The structure is simple, with relatively few structural components, reducing the space occupied, improving space utilization, and reducing the overall size and weight of the waist structure. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the robot structure in one embodiment of this application;

[0021] Figure 2 This is a schematic diagram of the torso mechanism in one embodiment of this application;

[0022] Figure 3 for Figure 2 A schematic diagram of the mid-torso structure from another perspective;

[0023] Figure 4 for Figure 3 Cross-sectional view along the AA direction;

[0024] Figure 5 This is a schematic diagram of the waist structure in one embodiment of this application;

[0025] Figure 6 for Figure 5 Exploded view of the mid-waist structure;

[0026] Figure 7 for Figure 5 Another structural diagram of the mid-waist structure;

[0027] Figure 8 for Figure 7 Cross-sectional view along the middle BB direction;

[0028] Figure 9 This is a schematic diagram of a support frame in one embodiment of this application;

[0029] Figure 10 A schematic diagram illustrating the principle of bending movements in the torso.

[0030] Figure 11 A schematic diagram illustrating the principle of waist rotation movements implemented by the torso mechanism.

[0031] Explanation of reference numerals in the attached figures

[0032] 1. Torso mechanism; 11. Waist structure; 111. Transmission assembly; 1111. Output component; 1111a. Axis of output component 1111; 11111. Output gear; 11112. Main body; 1112. Input wheel; 1112a. Axis of input wheel 1112; 11121. Input gear; 11122. Connector; 112. Fixed base; 1121. Bearing plate; 1122. Bearing platform; 113. Support assembly; 1131. Support frame; 1131a. First through hole; 1131b. Second through hole; 1131c. 1. First step surface; 1131d, second step surface; 11311, support plate; 11312, base plate; 1132, first bearing; 11321, first inner ring; 11322, first outer ring; 1133, second bearing; 11331, second inner ring; 11332, second outer ring; 1134, baffle; 1135, first pressure plate; 1136, second pressure plate; 114, power assembly; 12, chest structure; 12a, receiving cavity; 12b, avoidance notch; 2. walking mechanism; 21, mechanical leg; 3. arm mechanism; 4. head mechanism. Detailed Implementation

[0033] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0034] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this application.

[0035] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0036] It should be noted that in the embodiments of this application, "down" refers to the direction where the ground is located, and "up" is the opposite of "down"; "front" refers to the direction in which the robot moves forward, and "back" is the opposite of "front"; "left" is the side where the robot's left hand is located, and "right" is the opposite of "left"; the up-down, forward-backward, and left-right directions are perpendicular to each other. In the embodiments of this application, the orientation or positional relationship of "up" and "down" is based on the orientation or positional relationship shown in the accompanying drawings. It should be understood that these orientational terms are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. The application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0037] Please see Figure 1 This application provides a robot, which includes a walking mechanism 2 and a torso mechanism 1 as described in any embodiment of this application. The walking mechanism 2 is connected to a fixed base 112.

[0038] The walking mechanism 2 is fixedly connected to the fixed base 112. The walking mechanism 2 drives the robot to move, thereby changing its position.

[0039] Robots can be humanoid robots, also known as humanoid robots, which are robots that imitate human appearance and behavior.

[0040] Please see Figure 1 The walking mechanism 2 may include two mechanical legs 21, which are connected to a fixed base 112. For example, the two mechanical legs 21 are connected to the fixed base 112 via hip joints, with one mechanical leg 21 being the left leg and the other mechanical leg 21 being the right leg. During robot walking, the two mechanical legs 21 alternately contact a contact surface, such as the ground, to propel the robot and thus move its position. This type of robot can also be called a bipedal humanoid robot.

[0041] Please see Figure 1 The robot may also include an arm mechanism 3, and the number of arm mechanisms 3 is not limited. For example, there may be multiple arm mechanisms 3. For instance, there may be two, three, four, or five arm mechanisms 3, etc.

[0042] Taking two arm mechanisms 3 as an example, the two arm mechanisms 3 can be respectively set on the left and right sides of the chest structure 12, one arm mechanism 3 being the left hand and the other arm mechanism 3 being the right hand. The chest structure 12 provides load-bearing support for the arm mechanisms 3.

[0043] It should be noted that in this application, "multiple" includes two or more.

[0044] In some embodiments, please refer to Figure 1 The robot includes a head mechanism 4, which can be connected to the upper part of the chest structure 12. The chest structure 12 provides support for the head mechanism 4.

[0045] In some embodiments, the robot includes a control system disposed on the chest structure 12. The chest structure provides support for the control system. The control system can be used to control bending and twisting movements of the lumbar structure 11.

[0046] In related technologies, the waist-turning and bending movements are driven independently by different drive ends, each with significant power requirements. Furthermore, the large number of drive ends and related structural components occupies considerable space and increases the overall size and weight of the lumbar structure.

[0047] Please see Figures 2 to 6 This application provides a torso mechanism 1, which includes a waist structure 11 and a chest structure 12. The waist structure 11 includes a transmission assembly 111, a fixed base 112, a support assembly 113, and two power assemblies 114. The chest structure 12 is connected to the power assemblies 114. The transmission assembly 111 includes an output component 1111 and two input wheels 1112. The output component 1111 includes output teeth 11111, and the two input wheels 1112 mesh with the output teeth 11111. The fixed base 112 is connected to the output component 1111. Both input wheels 1112 are rotatably connected to the support assembly 113, and the support assembly 113 is rotatably connected to the output component 1111. The two power assemblies 114 are respectively connected to the two input wheels 1112.

[0048] The fixed base 112 is fixedly connected to the output component 1111, and the output component 1111 and the fixed base 112 remain stationary.

[0049] The chest structure 12 is fixedly connected to the power component 114, and the chest structure 12 and the power component 114 are fixed as a whole.

[0050] The input wheel 1112 is rotatable relative to the support assembly 113, and the support assembly 113 is rotatable relative to the output component 1111. Each power assembly 114 drives one input wheel 1112 to rotate.

[0051] Please see Figure 10 , Figure 10 A schematic diagram illustrating the principle of how the torso mechanism 1 performs a bending motion. Figure 10 The diagram shows the chest structure 12, support assembly 113, two input wheels 1112, output component 1111, and fixed base 112. Solid arrows indicate the rotation direction of the input wheels 1112, and dashed arrows indicate the rotation direction of the chest structure 12. When the torso mechanism 1 needs to perform a bending motion, the two power components 114 drive the two input wheels 1112 to rotate in the same direction and at the same speed, while the output component 1111 remains stationary. The two input wheels 1112 drive the two power components 114 and the chest structure 12 to rotate around the axis 1112a of the input wheels 1112, thus completing the bending motion.

[0052] Please see Figure 11 , Figure 11 A schematic diagram illustrating the principle of waist rotation movement implemented by the torso mechanism 1. Figure 11 The diagram shows the chest structure 12, support assembly 113, two input wheels 1112, output component 1111, and fixed base 112. Solid arrows indicate the rotation direction of the input wheels 1112, and dashed arrows indicate the rotation direction of the chest structure 12. When the torso mechanism 1 needs to perform a waist-turning action, the two power components 114 drive the two input wheels 1112 to rotate in opposite directions at the same speed, while the output component 1111 remains stationary. The two input wheels 1112 drive the two power components 114, chest structure 12, and support assembly 113 to rotate around the axis 1111a of the output component 1111, thus completing the waist-turning action.

[0053] The waist-twisting motion has no limit on the angle of rotation, and the chest structure 12 can rotate at a preset angle as needed. The bending motion also has no limit on the angle of rotation, and the chest structure 12 can bend at a preset angle as needed. Furthermore, waist-twisting and bending motions can be combined to achieve more complex movement states. For example, the chest structure 12 can rotate at a preset angle and then bend at a preset angle; or, for another example, the chest structure 12 can bend at a preset angle and then rotate at a preset angle.

[0054] It should be noted that the input wheels 1112 have two opposite rotation directions: forward and reverse. Two input wheels 1112 rotating in the same direction means that both input wheels 1112 rotate in the forward direction or both input wheels 1112 rotate in the reverse direction. Two input wheels 1112 rotating in opposite directions means that one input wheel 1112 rotates in the forward direction and the other input wheel 1112 rotates in the reverse direction.

[0055] It is understandable that the two input wheels 1112 rotating at the same speed means that the two input wheels 1112 rotate at the same rate.

[0056] The torso mechanism 1 provided in this embodiment uses two power components 114 to provide driving force for bending and turning movements, reducing the power requirement of a single power component 114. The output component 1111 remains stationary, with two output wheels rotating in the same direction and at the same speed to complete the bending movement, and two output wheels rotating in opposite directions at the same speed to complete the turning movement. The structure is simple, with relatively few structural components, which can reduce the space occupied, improve space utilization, and reduce the overall size and weight of the waist structure 11.

[0057] In some embodiments, please refer to Figure 4 The axis 1111a of the output component 1111 extends in the vertical direction, and the axis 1112a of the two input wheels 1112 is perpendicular to the vertical direction. That is to say, the axis 1112a of the input wheels 1112 is parallel to the horizontal plane.

[0058] When the torso mechanism 1 bends over, the two input wheels 1112 drive the two power components 114 and the chest structure 12 to rotate around the axis 1112a of the input wheels 1112, thus completing the bending action. The axis 1112a of the two input wheels 1112 is perpendicular to the vertical direction. For example, the chest structure 12 can tilt forward relative to the fixed base 112, or the chest structure 12 can tilt backward relative to the fixed base 112.

[0059] When the torso mechanism 1 rotates at the waist, the two input wheels 1112 drive the two power components 114, the chest structure 12, and the support component 113 to rotate around the axis 1111a of the output component 1111, thus completing the waist rotation action. The axis 1111a of the output component 1111 extends in the vertical direction. For example, the chest structure 12 can rotate to the left or to the right relative to the fixed base 112.

[0060] In this embodiment, the axes 1112a of the two input wheels 1112 are perpendicular to the vertical direction, and the axes 1112a of the two input wheels 1112 are parallel to the horizontal plane. This design can reduce the size of the waist structure 11 in the vertical direction, reduce the space occupied by the waist structure 11 in the vertical direction, reduce the size of the torso mechanism 1 in the vertical direction, and make the structure more compact.

[0061] In some embodiments, the axes 1112a of the two input wheels 1112 coincide. That is, the axes 1112a of the two input wheels 1112 are collinear. In this way, during the rotation of the two input wheels 1112 in the same direction or in opposite directions, it is not easy for the input wheels 1112 and the output teeth 11111 to get stuck.

[0062] In some embodiments, the axes 1112a of the two input wheels 1112 and the axis 1111a of the output member 1111 intersect perpendicularly. That is, the axes 1112a of the two input wheels 1112 and the axis 1111a of the output member 1111 are coplanar. Thus, during the rotation of the two input wheels 1112 in the same direction or in opposite directions, jamming is less likely to occur between the input wheels 1112 and the output teeth 11111.

[0063] In some embodiments, please refer to Figure 1 and Figure 4 The fixed seat 112 is located below the output component 1111. This not only facilitates the connection between the fixed seat 112 and the walking mechanism 2, but also prevents the fixed seat 112 from interfering with the movement of the chest structure 12.

[0064] In some embodiments, please refer to Figure 2 and Figure 6 The fixed base 112 includes a support plate 1121 and a support platform 1122. The support platform 1122 is connected to the side of the support plate 1121 near the chest structure 12, and the output component 1111 abuts against the side of the support platform 1122 away from the support plate 1121.

[0065] In this embodiment, the support platform 1122 increases the distance between the output component 1111 and the support plate 1121 so that the support component 113 and the support plate 1121 are spaced apart, thereby reducing the risk of interference between the support component 113 and the support plate 1121 during the movement of the support component 113.

[0066] The support plate 1121 is generally flat. The support plate 1121 can be arranged in the horizontal direction, that is, the thickness direction of the support plate 1121 is consistent with the vertical direction.

[0067] The shape of the support platform 1122 is not limited. For example, the support platform 1122 can be generally cylindrical or prismatic, etc.

[0068] In some embodiments, the mounting base 112 can be a one-piece molded structure. That is, the mounting base 112 can be a structure manufactured using a one-piece molding process.

[0069] The output component 1111 and the mounting base 112 can be connected in a non-detachable or detachable manner. In some embodiments, the output component 1111 can be connected to the support platform 1122, for example, the output component 1111 and the support platform 1122 can be connected in a non-detachable or detachable manner.

[0070] In this embodiment, non-detachable connections include, but are not limited to, welding, bonding, or riveting. Detachable connections include, but are not limited to, screw connections, bolt connections, or snap-fit ​​connections.

[0071] For example, the output component 1111 and the mounting base 112, such as the support platform 1122, can be connected by fasteners. Fasteners include, but are not limited to, screws or bolts, etc.

[0072] In some embodiments, please refer to Figure 4 The chest structure 12 forms a receiving cavity 12a, in which the two power components 114 and the two input wheels 1112 are located.

[0073] In this embodiment, the two power components 114 and the two input wheels 1112 are all located within the receiving cavity 12a. The chest structure 12 protects the two power components 114 and the two input wheels 1112, reducing the risk of other objects coming into contact with the two power components 114 and the two input wheels 1112, thereby improving safety and reliability. It can also reduce the distance between the chest structure 12 and the fixed seat 112, thereby reducing the size of the torso mechanism 1.

[0074] In some embodiments, please refer to Figure 4 The chest structure 12 includes a clearance notch 12b, a fixing seat 112 located outside the receiving cavity 12a, and a support assembly 113 located in the clearance notch 12b. Exemplarily, the clearance notch 12b may be formed on the lower sidewall of the chest structure 12. The clearance notch 12b may communicate with the receiving cavity 12a.

[0075] In this embodiment, the fixing seat 112 is located outside the receiving cavity 12a to allow the chest structure 12 to move relative to the fixing seat 112. The support assembly 113 is located in the clearance notch 12b, with a portion of the support assembly 113 located inside the receiving cavity 12a and rotatably connected to the two input wheels 1112, and a portion of the support assembly 113 extending out of the clearance notch 12b to be rotatably connected to the output member 1111.

[0076] In some embodiments, the chest structure 12 may have a generally hexahedral shape, such as a cube or a cuboid.

[0077] In some embodiments, the input wheel 1112 includes a bevel gear, and the output tooth portion 11111 includes a bevel tooth portion.

[0078] In this embodiment, the bevel gear can also be called a bevel gear, and the teeth of the bevel gear are distributed on the conical surface of a cone. The bevel tooth section refers to the structure of the gear along the conical surface of the cone, that is to say, the output component 1111 can also be a bevel gear.

[0079] In some embodiments, the input wheel 1112 includes a cylindrical gear, and the output tooth 11111 includes an annular rack.

[0080] In this embodiment, the teeth of the cylindrical gear are distributed on the cylindrical surface of a cylinder. A ring-shaped rack refers to a gear whose teeth are distributed in a ring shape.

[0081] In some embodiments, please refer to Figures 5 to 8 The support assembly 113 includes a support frame 1131 and two first bearings 1132. Each input wheel 1112 is connected to one first bearing 1132, and the input wheel 1112 is rotatably connected to the support frame 1131 through the first bearings 1132. During the rotation of the input wheel 1112 relative to the support frame 1131, the first bearings 1132 can reduce frictional losses.

[0082] In some embodiments, please refer to Figures 5 to 9 The support frame 1131 forms a first through hole 1131a. The input wheel 1112 includes an input tooth 11121 and a connecting body 11122 connected to the input tooth 11121. The input tooth 11121 meshes with the output tooth 11111. The first bearing 1132 is disposed in the first through hole 1131a. The connecting body 11122 passes through the first bearing 1132. The power assembly 114 connects to the side of the connecting body 11122 away from the input tooth 11121.

[0083] In this embodiment, the first bearing 1132 is disposed in the first through hole 1131a, the power assembly 114 and the input gear 11121 are located on opposite sides of the connector 11122, the power assembly 114 will not interfere with the meshing of the input gear 11121 and the output gear 11111, the power assembly 114, the first bearing 1132, the support frame 1131 and the input wheel 1112 are assembled compactly, which can save the size of the waist structure 11 along the axis 1112a of the input wheel 1112.

[0084] In some embodiments, the input gear 11121 and the connector 11122 can be integrally formed. That is, the input gear 11121 and the connector 11122 can be structures manufactured using an integral forming process.

[0085] In some embodiments, the input gear 11121 and the connector 11122 may also be manufactured separately and then assembled. For example, the input gear 11121 and the connector 11122 may be welded or connected by fasteners.

[0086] In some embodiments, please refer to Figures 5 to 8 The first bearing 1132 includes a first inner ring 11321 and a first outer ring 11322. The first inner ring 11321 is rotatably fitted inside the first outer ring 11322. The first outer ring 11322 is connected to the support frame 1131. The connecting body 11122 passes through the first inner ring 11321 and is interference-fitted with the first inner ring 11321.

[0087] The first outer ring 11322 is connected to the support frame 1131, that is, the first outer ring 11322 is fixedly connected to the support frame 1131.

[0088] The connecting body 11122 is interference-fitted with the first inner ring 11321, that is, the connecting body 11122 is fixedly connected to the first inner ring 11321, and the connecting body 11122 and the first inner ring 11321 rotate synchronously.

[0089] In this embodiment, the first inner ring 11321 can rotate relative to the first outer ring 11322. The input wheel 1112 drives the first inner ring 11321 to rotate relative to the first outer ring 11322 and the support frame 1131.

[0090] In some embodiments, the first bearing 1132 includes a first rolling element and a first cage. The first cage is located between a first inner ring 11321 and a first outer ring 11322, and the first rolling element is rotatably disposed on the first cage. The first cage can guide the rotation of the first rolling element. The first outer ring 11322 and the first inner ring 11321 provide support. The first inner ring 11321 and the second outer ring 11332 have rolling friction with the first rolling element. That is to say, the first bearing 1132 is a rolling bearing.

[0091] In some embodiments, please refer to Figures 6 to 8 The support component 113 includes a baffle 1134, which abuts against the side of the first inner ring 11321 away from the input gear 11121, and the baffle 1134 is connected to the connector 11122.

[0092] For example, the baffle 1134 is generally in the form of a ring structure.

[0093] In this embodiment, the baffle 1134 and the input tooth 11121 can jointly restrict the axial movement of the connector 11122, making the connection between the connector 11122 and the first inner ring 11321 more stable.

[0094] The baffle 1134 and the connector 11122 can be non-detachably connected or detachably connected. For example, the baffle 1134 and the connector 11122 can be connected by fasteners. Fasteners include, but are not limited to, screws or bolts.

[0095] In some embodiments, please refer to Figures 5 to 8The support assembly 113 includes a first pressure plate 1135 and a support frame 1131 forming a first stepped surface 1131c. The first stepped surface 1131c surrounds the outer periphery of the first through hole 1131a. The first stepped surface 1131c and the first pressure plate 1135 abut against opposite sides of the first outer ring 11322. The first pressure plate 1135 and the support frame 1131 are connected. The first stepped surface 1131c and the first pressure plate 1135 abut against both sides of the first outer ring 11322 along the axis 1112a of the input wheel 1112.

[0096] In this embodiment, the first step surface 1131c and the first pressure plate 1135 together clamp the first outer ring 11322, jointly restricting the first outer ring 11322 from moving axially, and the circumferential surface of the first through hole 1131a restricts the first outer ring 11322 from moving radially.

[0097] The first pressure plate 1135 and the support frame 1131, such as support plate 11311, can be non-detachably connected or detachably connected. For example, the first pressure plate 1135 and the support frame 1131 can be connected by fasteners. Fasteners include, but are not limited to, screws or bolts, etc.

[0098] In some embodiments, please refer to Figure 5 The two power units 114 are located on opposite sides of the support frame 1131. This allows the two power units 114 to drive the two input wheels 1112 to rotate respectively.

[0099] In some embodiments, please refer to Figures 5 to 8 The support frame 1131 includes two support plates 11311, which are arranged at intervals relative to each other, and two first bearings 1132 are respectively connected to the two support plates 11311. The support plates 11311 are generally flat.

[0100] In this embodiment, the support plate 11311 has a simple structure and light weight. The support plate 11311 supports the first bearing 1132, which facilitates assembly.

[0101] In some embodiments, please refer to Figures 5 to 8 The output component 1111 is located between the two support plates 11311. In this way, the space between the two support plates 11311 is effectively utilized, improving space utilization and saving the dimensions of the waist structure 11 along the axis 1112a of the input wheel 1112. The output component 1111 is close to the input wheel 1112, which facilitates the meshing of the input wheel 1112 with the output teeth 11111.

[0102] In some embodiments, please refer to Figures 5 to 8The support assembly 113 includes a second bearing 1133, and the support frame 1131 includes a base plate 11312. The base plate 11312 connects two support plates 11311, and the base plate 11312 is rotatably connected to the output component 1111 via the second bearing 1133. The base plate 11312 is generally flat. The support frame 1131 may be generally U-shaped with an upward opening.

[0103] In this embodiment, the base plate 11312 has a simple structure and light weight. The base plate 11312 supports the second bearing 1133, which facilitates assembly. The base plate 11312 is rotatably connected to the output component 1111 through the second bearing 1133. During the rotation of the support frame 1131 relative to the output component 1111, the second bearing 1133 can reduce friction loss.

[0104] In some embodiments, the support frame 1131 can be a one-piece molded structure. That is, the support frame 1131 can be a structure manufactured using a one-piece molding process.

[0105] In some embodiments, the two support plates 11311 and the base plate 11312 can be assembled into a support frame 1131. For example, the two support plates 11311 and the base plate 11312 can be welded into a support frame 1131.

[0106] In some embodiments, please refer to Figure 6 and Figure 8 The support assembly 113 includes a support frame 1131 and a second bearing 1133. The support frame 1131 is rotatably connected to the output component 1111 via the second bearing 1133.

[0107] In this embodiment, the support frame 1131 is rotatably connected to the output component 1111 via the second bearing 1133. During the rotation of the support frame 1131 relative to the output component 1111, the second bearing 1133 can reduce friction loss.

[0108] In some embodiments, please refer to Figures 5 to 9 The support frame 1131 forms a second through hole 1131b, the output component 1111 includes a main body 11112 connected to the output tooth 11111, the second bearing 1133 is disposed in the second through hole 1131b, and the main body 11112 passes through the second bearing 1133.

[0109] In this embodiment, the second bearing 1133 is disposed in the second through hole 1131b, and the main body 11112 passes through the second bearing 1133. The output component 1111, the second bearing 1133 and the support frame 1131 are assembled compactly, which can save the size of the waist structure 11 along the axis 1111a of the output component 1111.

[0110] In some embodiments, the output tooth 11111 and the main body 11112 can be a one-piece molded structure. That is, the input tooth 11121 and the connector 11122 can be structures manufactured using a one-piece molding process.

[0111] In some embodiments, the support frame 1131 forms a placement space within which the output gear 11111 and the input gears 11121 of the two input wheels 1112 are located. Exemplarily, the two support plates 11311 and the base plate 11312 together define the placement space. This design allows for a compact assembly between the input wheels 1112, the output component 1111, and the support frame 1131.

[0112] In some embodiments, please refer to Figures 5 to 8 The second bearing 1133 includes a second inner ring 11331 and a second outer ring 11332. The second outer ring 11332 is rotatably fitted around the second inner ring 11331. The second outer ring 11332 is connected to the support frame 1131. The main body 11112 passes through the second inner ring 11331, and the main body 11112 is interference-fitted with the second inner ring 11331.

[0113] The second outer ring 11332 is connected to the support frame 1131, that is, the second outer ring 11332 is fixedly connected to the support frame 1131.

[0114] The main body 11112 and the second inner ring 11331 are interference-fitted, that is, the main body 11112 and the second inner ring 11331 are fixedly connected.

[0115] In this embodiment, the second outer ring 11332 can rotate relative to the second inner ring 11331. The support frame 1131 drives the second outer ring 11332 to rotate relative to the second inner ring 11331 and the output component 1111.

[0116] In some embodiments, the second bearing 1133 includes a second rolling element and a second cage, the second cage being located between a second inner ring 11331 and a second outer ring 11332, and the second rolling element being rotatably disposed on the second cage. The second cage guides the rotation of the second rolling element, the second outer ring 11332 and the second inner ring 11331 provide support, and both the second inner ring 11331 and the second outer ring 11332 experience rolling friction with the second rolling element; that is, the second bearing 1133 is a rolling bearing.

[0117] In some embodiments, the output teeth 11111 are connected to the upper side of the main body 11112. That is, the axis 1111a of the output member 1111 extends in the vertical direction, and the output teeth 11111 are located above the second bearing 1133.

[0118] In some embodiments, please refer to Figures 5 to 9The support assembly 113 includes a second pressure plate 1136, and a support frame 1131 forms a second stepped surface 1131d. The second stepped surface 1131d surrounds the outer periphery of the second through hole 1131b. The second stepped surface 1131d and the second pressure plate 1136 abut against opposite sides of the second outer ring 11332. The second pressure plate 1136 and the support frame 1131 are connected.

[0119] The second step surface 1131d and the second pressure plate 1136 abut against both sides of the second outer ring 11332 along the axis 1111a of the output component 1111.

[0120] In this embodiment, the second step surface 1131d and the second pressure plate 1136 together clamp the second outer ring 11332, and together restrict the movement of the second outer ring 11332 along the axis 1111a of the output member 1111. The circumferential surface of the second through hole 1131b restricts the movement of the second outer ring 11332 radially.

[0121] The second pressure plate 1136 and the support frame 1131, such as the base plate 11312, can be non-detachably connected or detachably connected. For example, the second pressure plate 1136 and the support frame 1131 can be connected by fasteners. Fasteners include, but are not limited to, screws or bolts, etc.

[0122] The power assembly 114 is used to provide power. In some embodiments, the power assembly 114 includes a motor. The motor can convert electrical energy into kinetic energy to drive the input wheel 1112 to rotate.

[0123] In some embodiments, the motor shaft of the motor is connected to the input wheel 1112. For example, the motor shaft of the motor is connected to the connecting body 11122 by fasteners. In this way, the motor is directly connected to the input wheel 1112, simplifying the structure.

[0124] In some embodiments, the power assembly 114 includes a speed reducer connected to the motor and the input wheel 1112. The speed reducer can adjust the gear ratio to drive a larger load.

[0125] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in each embodiment can be combined in any way.

Claims

1. A torso mechanism, characterized in that, include: The waist structure includes a transmission assembly, a fixed base, a support assembly, and two power assemblies. The transmission assembly includes an output component and two input wheels. The output component includes an output tooth, and the two input wheels mesh with the output tooth. The fixed base is connected to the output component. Both input wheels are rotatably connected to the support assembly, and the support assembly is rotatably connected to the output component. The two power components are respectively connected to the two input wheels via a transmission. The chest structure is connected to the power assembly.

2. The torso mechanism according to claim 1, characterized in that, The axis of the output component extends in the vertical direction, and the axes of the two input wheels are perpendicular to the vertical direction.

3. The torso mechanism according to claim 2, characterized in that, The mounting base is located below the output component.

4. The torso mechanism according to claim 1, characterized in that, The chest structure forms a receiving cavity, within which both power components and both input wheels are located.

5. The torso mechanism according to claim 4, characterized in that, The chest structure includes a clearance notch, the fixing seat is located outside the receiving cavity, and the support assembly is located within the clearance notch.

6. The torso mechanism according to any one of claims 1 to 5, characterized in that, The support assembly includes a support frame and two first bearings, each of the input wheels is connected to one of the first bearings, and the input wheel is rotatably connected to the support frame through the first bearings.

7. The torso mechanism according to claim 6, characterized in that, The support frame forms a first through hole, the input wheel includes an input tooth body and a connecting body connected to the input tooth body, the input tooth body meshes with the output tooth part, the first bearing is disposed in the first through hole, the connecting body passes through the first bearing, and the power component is connected to the side of the connecting body away from the input tooth body.

8. The torso mechanism according to any one of claims 1 to 5, characterized in that, The support assembly includes a support frame and a second bearing, and the support frame is rotatably connected to the output component via the second bearing.

9. The torso mechanism according to claim 8, characterized in that, The support frame forms a second through hole, the output component includes a main body connected to the output teeth, the second bearing is disposed in the second through hole, and the main body passes through the second bearing.

10. A robot, characterized in that, include: The torso mechanism as described in any one of claims 1 to 9; The walking mechanism is connected to the fixed base.

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