Boxing robot and trunk module and boxing platform thereof

Abstract

The utility model provides a boxing robot and a trunk module and a boxing platform thereof. The trunk module comprises a trunk; the arm assembly comprises a large arm, a small arm and a driving piece, the first end of the large arm is hinged to the trunk through a first hinge shaft, the first end of the small arm is hinged to the second end of the large arm through a second hinge shaft, the driving piece is connected with the trunk and the first end of the small arm, and the trunk is used for driving the large arm to rotate in the direction facing the middle axial surface; the second end of the small arm performs a punch-out action or a punch-in action along a preset track; the central axis of the first hinge shaft and the central axis of the second hinge shaft are arranged in a non-coplanar mode, the axial direction of the second hinge shaft is obliquely arranged relative to the extending direction of the rotating axis of the trunk, and the small arm deflects by a preset angle towards the rotating axis of the trunk relative to the large arm. The projection of the preset track in the overlook direction of the trunk is in a straight line shape or approaches to the straight line shape, and the straight punch effect is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, in particular to a boxing robot and a trunk module and a boxing platform thereof. BACKGROUND

[0002] With the development of society and the improvement of people's living standards, more and more people begin to pay attention to the development of physical and mental health, and sports is undoubtedly a way to improve physical and mental health. Boxing is liked by many people because of its intense confrontation and good exercise effect.

[0003] In the prior art, a bionic robot is generally used to simulate the boxing object of a user, and a boxing robot is used to train or exercise the user by punching the user with the arm. However, the arm of the current boxing robot has a large arc of the punching trajectory, while boxing training is usually a straight punch. Therefore, the training effect of the robot with a large arc of the punching trajectory is not good. CONTENT OF THE UTILITY MODEL

[0004] The present application provides a boxing robot, a trunk module and a boxing platform thereof, which can achieve a "straight punch" effect and be more consistent with the boxing effect of the human body.

[0005] To solve the above technical problems, one technical solution adopted by the present application is to provide a trunk module for a boxing robot, which comprises a trunk, an arm assembly comprising a large arm, a small arm and a driving member, a first end of the large arm being hingedly connected to the trunk through a first hinge shaft, a first end of the small arm being hingedly connected to a second end of the large arm through a second hinge shaft, and the driving member being connected to the trunk and the first end of the small arm, respectively. The trunk is used to drive the large arm to rotate when rotating. The trunk is defined to form a central axis surface, which comprises a rotation axis of the trunk and is perpendicular to a left view direction of the trunk, so that when the trunk drives the large arm to rotate in a direction towards the central axis surface and the small arm rotates relative to the large arm, the second end of the small arm can perform a punching action or a fist closing action along a preset trajectory. The central axis of the first hinge shaft and the central axis of the second hinge shaft are arranged to be non-coplanar, and the axial direction of the second hinge shaft is arranged to be inclined relative to the extension direction of the rotation axis of the trunk, so that the small arm is deflected by a preset angle relative to the large arm towards the rotation axis of the trunk.

[0006] In a specific embodiment, the preset trajectory comprises a punching starting point. When the large arm rotates relative to the trunk and the trunk does not rotate, the second end of the small arm can move along a first trajectory, which comprises the punching starting point and is arranged in a first arc shape away from the central axis surface on the projection of the defined projection surface in the top view direction of the trunk.

[0007] In an embodiment, one side of the trunk comprises a first connecting surface, the first end of the small arm comprises a second connecting surface, the first end of the large arm is hingedly connected to the trunk via the first hinge shaft on the first connecting surface, the second end of the large arm is hingedly connected to the small arm via the second hinge shaft on the second connecting surface, the belt member is connected to the trunk at the first connecting surface and connected to the small arm at the second connecting surface respectively, and the second connecting surface is arranged obliquely relative to the first connecting surface; wherein the first hinge shaft is perpendicular to the first connecting surface, and the second hinge shaft is perpendicular to the second connecting surface.

[0008] In an embodiment, the trunk is defined with a reference surface, an angle between the reference surface and the central axis surface is 0-35°, and an angle between the first connecting surface and the reference surface is 10-30°.

[0009] In an embodiment, the reference surface comprises a rotation axis of the trunk, the reference surface and the central axis surface are arranged collinearly relative to the rotation axis, the first connecting surface and the reference surface respectively comprise a definition line, the first connecting surface and the reference surface are arranged collinearly relative to the definition line, and the definition line intersects the rotation axis.

[0010] In an embodiment, an angle between a central axis of the first hinge shaft and a central axis of the second hinge shaft is 30-60°.

[0011] In an embodiment, a connecting point of the belt member and the trunk is arranged apart from a connecting point of the first end of the large arm and the trunk; and a connecting point of the belt member and the first end of the small arm is located in a direction away from the second end of the small arm from the connecting point of the first end of the large arm and the trunk.

[0012] In an embodiment, the belt member is a hard belt member, the hard belt member is hingedly connected to the trunk and the small arm respectively, so that when the large arm rotates in a first direction, the hard belt member pulls the small arm to perform a punching action; or the belt member is a flexible belt member, so that when the large arm rotates in a first direction, the flexible belt member pulls the small arm to perform a punching action.

[0013] In an embodiment, the arm assembly further comprises an elastic member, the elastic member connects one of the trunk and the small arm and the large arm, so that when the large arm rotates in a second direction, the small arm performs a fist closing action under the elastic force of the elastic member.

[0014] In an embodiment, the trunk is provided with a first limiting part, which is arranged between the large arm and the flexible belt driving member, so that when the large arm rotates to a first preset position in the first direction, the flexible belt driving member is arranged in multiple sections under the stop action of the first limiting part, and / or when the large arm rotates to a second preset position in the second direction, the first limiting part stops the large arm.

[0015] In an embodiment, one of the large arm and the small arm is provided with a second limiting part, which is used to stop the other one of the large arm and the small arm when the small arm performs a punching action to a third preset position and / or stop the other one of the large arm and the small arm when the small arm performs a fist closing action to a fourth preset position.

[0016] To solve the above technical problems, another technical solution adopted by the present application is to provide a boxing robot, which comprises an arm driving mechanism and the trunk module.

[0017] The arm driving mechanism comprises a driving assembly, a first transmission member and a second transmission member, the driving assembly is connected with one end of the first transmission member and one end of the second transmission member respectively, the large arm comprises a left large arm and a right large arm, the small arm comprises a left small arm and a right small arm, the belt driving member comprises a left belt driving member and a right belt driving member, the other end of the first transmission member is connected with the left large arm, and the other end of the second transmission member is connected with the right large arm.

[0018] The driving assembly is used to drive the first transmission member to rotate the left large arm to make the left small arm perform a punching action when the driving assembly moves in a third direction, and the driving assembly is used to drive the second transmission member to rotate the right large arm to make the right small arm perform a punching action when the driving assembly moves in a fourth direction.

[0019] In an embodiment, the trunk is formed with a receiving cavity, the driving assembly, the first transmission member and the second transmission member are arranged in the receiving cavity; wherein the first transmission member and the second transmission member are transmission belts or gear sets connected with the driving assembly; and / or the boxing robot further comprises a head assembly rotatably arranged on the trunk, the head assembly is connected with the driving assembly through a connecting shaft, so that the driving assembly drives the head assembly to rotate left relative to the trunk when the driving assembly moves in the third direction, and the driving assembly drives the head assembly to rotate right relative to the trunk when the driving assembly moves in the second direction.

[0020] In an embodiment, the boxing robot further comprises a waist driving module, the waist driving module comprising a first driving mechanism, a second driving mechanism, a third driving mechanism and a steering mechanism, the first driving mechanism and the second driving mechanism being connected with the steering mechanism respectively, one of the steering mechanism and the third driving mechanism being connected with the other one of the steering mechanism and the third driving mechanism and the torso respectively, so that the first driving mechanism and the second driving mechanism cooperate with each other and drive the torso to move in the front-rear degree of freedom direction and the left-right degree of freedom direction of the torso through the steering mechanism, and the third driving mechanism drives the torso to move in the rotational degree of freedom direction of the torso.

[0021] In an embodiment, the boxing robot further comprises a support module, the support module comprising a first support mechanism, a second support mechanism and a locking mechanism, the first support mechanism being connected with the waist driving module and the second support mechanism respectively, and the first support mechanism and the second support mechanism being adjustably arranged, one of the first support mechanism and the second support mechanism being provided with a locking portion, and the locking mechanism being used for locking the first support mechanism and the second support mechanism through the locking portion.

[0022] To solve the above technical problems, the application adopts another technical scheme: providing a boxing platform, the boxing platform comprising a carrier and a plurality of boxing robots, the plurality of boxing robots being respectively installed on the carrier, and when the second ends of the forearms of the plurality of boxing robots perform punching actions along preset trajectories, the preset trajectory of at least one of the boxing robots intersects with the preset trajectory of at least another boxing robot.

[0023] The beneficial effects of this application are as follows: Unlike existing technologies, the torso module for a boxing robot provided in this application includes: a torso; an arm assembly including an upper arm, a forearm, and a drive component. The first end of the upper arm is hinged to the torso via a first hinge axis, and the first end of the forearm is hinged to the second end of the upper arm via a second hinge axis. The drive component connects the torso and the first end of the forearm respectively. The torso is used to drive the upper arm to rotate during rotation. The torso is defined with a central axis surface, which includes the rotation axis of the torso and is perpendicular to the left-looking direction of the torso, so that when the torso drives the upper arm to rotate in a direction toward the central axis surface and the upper arm rotates relative to the torso… The second end of the forearm can perform a punching or retracting motion along a preset trajectory. The central axis of the first hinge axis and the central axis of the second hinge axis are not coplanar. The axial direction of the second hinge axis is inclined relative to the extension direction of the rotation axis of the torso, causing the forearm to deflect at a preset angle relative to the rotation axis of the torso. This results in the projection of the preset trajectory onto the defined projection plane in the top-view direction of the torso as a "straight line" or nearly a "straight line," thus achieving a "straight punch" effect when the second end of the forearm performs a punching or retracting motion, which is more consistent with the human boxing effect. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0025] Figure 1 This is a three-dimensional structural schematic diagram of one embodiment of the boxing robot provided in this application;

[0026] Figure 2 yes Figure 1 A three-dimensional structural diagram of the mid-arm component;

[0027] Figure 3 yes Figure 2 A diagram illustrating the state of the forearm during a fist-retracting motion;

[0028] Figure 4 yes Figure 3 A diagram illustrating the state of the forearm during a punching motion.

[0029] Figure 5 This is a three-dimensional structural schematic diagram of another embodiment of the boxing robot provided in this application;

[0030] Figure 6 is Figure 5 is a perspective view of the arm assembly in the robot;

[0031] Figure 7 is Figure 6 is a perspective view of the arm assembly in the robot;

[0032] Figure 8 is Figure 7 is a perspective view of the arm assembly in the robot;

[0033] Figure 9 is Figure 5 is a perspective view of the arm assembly in the robot;

[0034] Figure 10 is Figure 6 is a perspective view of the arm assembly in the robot;

[0035] Figure 11 is Figure 5 is a perspective view of the arm assembly in the robot;

[0036] Figure 12 is Figure 5 is a perspective view of the arm assembly in the robot;

[0037] Figure 13 is Figure 12 is a perspective view of the arm assembly in the robot;

[0038] Figure 14 is Figure 6 is a perspective view of the arm assembly in the robot;

[0039] Figure 15 is Figure 1 is a perspective view of the arm assembly in the robot;

[0040] Figure 16 is Figure 5 is a perspective view of the arm assembly in the robot;

[0041] Figure 17 is Figure 16 is a perspective view of the arm assembly in the robot;

[0042] Figure 18 is Figure 1 is a perspective view of the arm assembly in the robot;

[0043] Figure 19 is Figure 5 is a perspective view of the arm assembly in the robot;

[0044] Figure 20is a perspective view of an embodiment of the boxing platform provided in the present application. DETAILED DESCRIPTION

[0045] The present application will be further described below in conjunction with the drawings and embodiments. It is particularly pointed out that the following embodiments are only for illustration of the present application and do not limit the scope of the present application. Similarly, the following embodiments are only partial embodiments of the present application rather than all embodiments of the present application, and all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present application.

[0046] The terms "first", "second", "third" in the present application are only for description purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined with "first", "second", "third" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically limited. All directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only for explaining the relative positional relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications also change accordingly. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed or can optionally include other steps or units inherent to the process, method, product or device.

[0047] Reference herein to "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment can be included in at least one embodiment of the present application. The appearance of the phrase in various places in the specification does not necessarily all refer to the same embodiment, nor is it necessarily mutually exclusive of other embodiments. It is explicitly and implicitly understood that the embodiments described herein can be combined with other embodiments.

[0048] Please refer to Figure 1 , Figure 1 is a perspective view of an embodiment of the boxing robot 10 provided in the present application, and the boxing robot 10 in the embodiment includes a trunk module 20 and a waist driving module 30.

[0049] Please refer to Figure 1 and Figure 2 , Figure 2 is Figure 1The torso module 20 comprises a torso 21, an arm assembly 22 and an arm driving mechanism 23. The arm assembly 22 is movably mounted on the torso 21. The arm driving mechanism 23 is connected with the arm assembly 22, so that the arm driving mechanism 23 drives the arm assembly 22 to perform a punching action or a fist closing action along a preset trajectory.

[0050] The arm assembly 22 comprises a left arm assembly 22a and a right arm assembly 22b. The arm driving mechanism 23 is connected with the left arm assembly 22a and the right arm assembly 22b respectively, so that the arm driving mechanism 23 can drive the left arm assembly 22a to perform a punching action or a fist closing action, and drive the right arm assembly 22b to perform a punching action or a fist closing action. In the embodiment, the left arm assembly 22a and the right arm assembly 22b have the same structure. Therefore, the description of the arm assembly 22 below refers to the description of the left arm assembly 22a and the right arm assembly 22b. Optionally, the left arm assembly 22a can be connected to one side of the torso 21, and the right arm assembly 22b can be connected to the other side of the torso 21.

[0051] In an optional embodiment, the left arm assembly 22a and the right arm assembly 22b can be symmetrically arranged with a central axis plane when they are in the same state.

[0052] Please refer to Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 and Figure 8 , Figure 3 is Figure 2 a state diagram of the small arm 222 performing a fist closing action, Figure 4 is Figure 3 a state diagram of the small arm 222 performing a punching action, Figure 5 is a perspective structural diagram of another embodiment of the boxing robot 10 provided by the present application, Figure 6 is Figure 5 a perspective structural diagram of the arm assembly 22, Figure 7 is Figure 6 a state diagram of the small arm 222 performing a fist closing action, Figure 8 is Figure 7 a state diagram of the small arm 222 performing a punching action, the arm assembly 22 comprises a large arm 221, a small arm 222 and a driving member 223. The first end of the large arm 221 is hinged to one side of the torso 21 through a first hinge shaft 201. The first end of the small arm 222 is hinged to the second end of the large arm 221 through a second hinge shaft 202. The driving member 223 is connected with the torso 21 and the first end of the small arm 222 respectively, so that the torso 21, the large arm 221, the small arm 222 and the driving member 223 jointly form a “four-bar linkage structure”.

[0053] The connecting point of the driving member 223 to the trunk 21 is arranged at a position spaced from the connecting point of the first end of the large arm 221 to the trunk 21. The connecting point of the driving member 223 to the first end of the small arm 222 is located at a position away from the second end of the small arm 222 with respect to the connecting point of the first end of the large arm 221 to the small arm 222.

[0054] In an optional embodiment, the material density of the small arm 222 is less than the material density of the large arm 221.

[0055] In an optional embodiment, the small arm 222 comprises a main body 2221 and a soft layer 2222 sleeved on the main body 2221.

[0056] In an optional embodiment, the main body comprises a hollow portion, for example, the main body can be a hard hollow tube, and the soft layer can be foam or the like, which is not limited here.

[0057] Optionally, by reducing the weight of the small arm 222, the punching speed of the small arm 222 can be effectively improved, so as to improve the training effect, and prevent excessive collision with the user and reduce the harm to the user. In the embodiment as shown in Figure 3 and Figure 4 In an embodiment, the driving member 223 is a hard driving member, which is hingedly connected to the trunk 21 and the first end of the small arm 222, so that when the large arm 221 rotates in the first direction A1, the hard driving member pulls the small arm 222 to perform a punching action.

[0058] Optionally, the hingedly connected shaft of the hard driving member to the trunk 21 is parallel to the first hingedly connected shaft 201, and the hingedly connected mode of the small arm 222 can be a spherical hinge mode or a universal hinge mode.

[0059] Specifically, when the arm driving mechanism 23 drives the large arm 221 to rotate upward in the first direction A1, i.e., the upward direction in Figure 3 , the large arm 221 drives the driving member 223 to rotate in the first direction A1. Since the large arm 221 and the driving member 223 are both hingedly connected to the trunk 21, the pivot connection position of the first end of the large arm 221 to the trunk 21 and the pivot connection position of the first end of the driving member 223 to the trunk 21 are different, i.e., the rotation center of the large arm 221 and the rotation center of the driving member 223 are not at the same position. Therefore, the movement trajectory of the second end of the large arm 221 and the movement trajectory of the second end of the driving member 223 are also different, so that when the large arm 221 rotates in the first direction A1, the other end of the driving member 223 pulls the small arm 222 to rotate relative to the large arm 221 in a direction away from the large arm 221, i.e., performs a punching action, as shown in Figure 4 .

[0060] In the embodiment as shown in Figure 7 andFigure 8 In another embodiment shown, the drive member 223 is a flexible drive member, so that when the upper arm 221 rotates in the first direction A1, the flexible drive member pulls the lower arm 222 to perform a punching action.

[0061] Specifically, when the boom 221 rotates in the first direction A1, it is in accordance with the above... Figure 3 and Figure 4 The principle is the same as that of the embodiment shown, and the second end of the flexible drive component is as follows: Figure 7 As shown, pulling the forearm 222 to rotate relative to the upper arm 221 in a direction away from the upper arm 221 is equivalent to making a punching motion. In practical applications, flexible drive components such as flexible ropes and flexible belts can be used, which are relatively inexpensive.

[0062] The arm assembly 22 in this embodiment also includes an elastic element 224, which is connected to one of the torso 21 and the forearm 222 and the upper arm 221 respectively, so that when the upper arm 221 rotates in the second direction A2, the forearm 222 performs a fist retraction action under the elastic force of the elastic element 224.

[0063] Specifically, as mentioned above Figure 3 and Figure 4 In one embodiment shown, when the drive member 223 is a rigid drive member, the elastic member 224 is connected to the torso 21 and the upper arm 221 respectively.

[0064] In an optional embodiment, the connection point between the elastic member 224 and the torso 21 can coincide with the connection point between the drive member 223 and the torso 21 on the projection of the first connection surface 21a, thereby reducing the need for drilling holes in the torso 21.

[0065] As described above Figure 7 and Figure 8 In another embodiment shown, when the drive member 223 is a flexible drive member, the elastic member 224 connects the upper arm 221 and the lower arm 222 respectively.

[0066] In an optional embodiment, the elastic element 224 is connected to the second end of the upper arm 221 and the first end of the forearm 222, respectively. For example, in the above-described... Figure 3 and Figure 4 In one embodiment shown, when the upper arm 221 rotates in the first direction A1, the lower arm 222 overcomes the elastic action of the elastic member 224, causing the elastic member 224 to generate elastic force. Therefore, when the upper arm 221 rotates in the first direction A1, the lower arm 222 overcomes the elastic action of the elastic member 224, causing the elastic member 224 to generate elastic force. Figure 8 When rotating in the second direction A2 as shown, the elasticity of the elastic element 224 pulls the forearm 222 to rotate relative to the upper arm 221 in the direction close to the upper arm 221, that is, to perform the fist-closing action.

[0067] Optionally, the boom 221 is as follows: Figure 8When rotating in the second direction A2 as shown, it can be driven by the arm drive mechanism 23 to rotate in the second direction A2, or it can be driven by the arm drive mechanism 23 after the driving force is removed, and the upper arm 221 rotates in the second direction A2 under the action of gravity. There is no limitation here.

[0068] In an optional embodiment, the elastic element 224 can be a tension spring. Compared to a torsion spring, although the elastic force increases with the change in length, the lever arm of the forearm 222 relative to the pivot of the upper arm 221 simultaneously decreases (to...). Figure 6 For example, when the forearm 222 rotates relative to the upper arm 221, the distance between its elastic element 224 and the rotation of the forearm 222 and the upper arm is shortened, so that the torque force provided to the forearm 222 does not change much and will not cause much interference to the punching of the forearm 222, thereby reducing the impact of the rotation effect of the forearm 222 relative to the upper arm 221.

[0069] In other embodiments, the elastic element 224 may also be a torsion spring, etc., which is not limited here.

[0070] Similarly, in such Figure 7 and Figure 8 In another embodiment shown, when the flexible actuator pulls the forearm 222 to perform a punching motion, the forearm 222 overcomes the elasticity of the elastic member 224, causing the elastic member 224 to generate elastic force. When the upper arm 221 is in such a position... Figure 8 When rotating in the second direction A1 as shown, since the flexible drive member only has a pushing force and not a pulling force, the second end of the flexible drive member cannot pull the forearm 222 to perform the fist-closing action. In this case, the elastic force of the elastic member 224 pulls the forearm 222 to rotate relative to the upper arm 221 in the direction close to the upper arm 221, that is, to perform the fist-closing action.

[0071] Please refer to the following: Figure 6 , Figure 9 , Figure 10 , Figure 11 , Figure 12 and Figure 13 , Figure 9 yes Figure 5 Frontal view of the mid-torso 21 Figure 10 yes Figure 6 A schematic diagram of the trajectory of the second end of the forearm 222 on the top-view projection plane of the torso 21. Figure 11 , Figure 12 and Figure 13 , Figure 11 yes Figure 5 A three-dimensional structural diagram of the midsection. Figure 12 yes Figure 5 A top view of the midsection. Figure 13 yesFigure 12 Fig. 9 is a schematic view of the middle axial surface P1 and the first connecting surface 21a in the M upward direction, the trunk 21 is used to drive the big arm 221 to rotate in rotation, the trunk 21 is defined to form the middle axial surface P1, the middle axial surface P1 includes the rotation axis III of the trunk 21 and is perpendicular to the left view direction of the trunk 21, so that the trunk 21 rotates in the direction towards the middle axial surface P1, and when the big arm 221 rotates relative to the trunk 21, the second end of the small arm 222 can perform a punching action or a fist closing action along a preset trajectory.

[0072] The middle axis I of the first hinge shaft 201 and the middle axis II of the second hinge shaft 202 are arranged to be non-coplanar, and the axial direction of the second hinge shaft 202, i.e. the extension direction of the middle axis II of the second hinge shaft 202, is arranged to be inclined relative to the extension direction of the rotation axis III of the trunk 21, so that the small arm 222 is deflected by a preset angle relative to the big arm 221 towards the rotation axis III of the trunk 21 as shown in Fig. 9, so that when the second end of the small arm 222 performs a punching action or a fist closing action along a preset trajectory L1, the projection of the preset trajectory L1 on the defined projection plane in the top view direction of the trunk 21 is in a "straight line shape" or close to a "straight line shape" as shown in Fig. 9, so that the second end of the small arm 222 achieves a "straight punch" effect when performing a punching action or a fist closing action, and is more consistent with the punching effect of the human body, and the training effect is better. Figure 10

[0073] When the human body punches, the upper body usually rotates, and then the fist punches, therefore, through the above-mentioned arrangement, when the trunk 21 rotates in the direction towards the middle axial surface P1 and the big arm 221 rotates relative to the trunk 21, the second end of the small arm 222 performs a punching action or a fist closing action along a preset trajectory, in addition to achieving a "straight punch" effect, it can better simulate the punching action of the human body and achieve the effect of "real person" training.

[0074] It can be understood that the above-mentioned preset angle can be set according to the angle of inclination of the middle axis II of the second hinge shaft 202 relative to the rotation axis III of the trunk 21, for example, taking the rotation axis III of the trunk 21 as a reference line, adjusting the deflection angle of the middle axis II of the second hinge shaft 202, i.e. adjusting the preset angle of the big arm 221 deflected towards the rotation axis III of the trunk 21, therefore, in actual application, the preset angle can be set according to the needs of itself, and this is not limited.

[0075] ​The preset trajectory L1 includes a punching starting point L11. When the large arm 221 rotates relative to the trunk 21 and the trunk does not rotate, the second end of the small arm 222 can move along a first trajectory L2. The first trajectory L2 includes the punching starting point L11 and has a first arc shape in a projection on a defined projection plane in the top view of the trunk 21, and the projection is away from the central axial plane P1. When the trunk 21 rotates and the large arm 221 does not rotate relative to the trunk 21, the second end of the small arm 222 can move along a second trajectory L3. The second trajectory L3 includes the punching starting point L11 and has a second arc shape in the projection on the defined projection plane in the top view of the trunk 21. Therefore, when the trunk 21 rotates toward the central axial plane P1 and the large arm 221 rotates relative to the trunk 21, the movement trends of the first trajectory L2 and the second trajectory L3 are combined with each other, so that when the second end of the small arm 222 moves along the preset trajectory L1 to perform a punching action or a fist closing action, as shown in Figure 10 the projection of the preset trajectory L1 on the defined projection plane in the top view of the trunk 21 is in a straight line shape or close to the straight line shape.

[0076] Referring to Figure 6 , Figure 11 , Figure 12 and Figure 13 , one side of the trunk 21 includes a first connecting surface 21a, the first end of the small arm 222 includes a second connecting surface 222a, the first end of the large arm 221 is hinged to the trunk 21 on the first connecting surface 21a through a first hinge shaft 201, the second end of the large arm 221 is hinged to the small arm 222 on the second connecting surface 222a through a second hinge shaft 202, and the driving member 223 is connected to the trunk 21 on the first connecting surface 21a and connected to the small arm 222 on the second connecting surface 222a, respectively. The second connecting surface 222a is arranged obliquely relative to the first connecting surface 21a.

[0077] The trunk 21 is defined to have a reference surface P2. An included angle α1 between the reference surface P2 and the central axial plane P1 is 0-35°, and an included angle α2 between the first connecting surface 21a and the reference surface P2 is 10-30°. For example, the included angle α1 is 0°, 10°, 30° or 35°, and the included angle α2 is 10°, 20° or 30°.

[0078] It can be understood that the central axial plane P1 and the reference surface P2 are both virtual surfaces defined for the purpose of explaining the first connecting surface 21a.

[0079] Specifically, the reference surface P2 includes the rotation axis III of the trunk 21, the reference surface P2 and the central axis surface P1 are arranged in line with respect to the rotation axis III, the first connecting surface 21a and the reference surface P2 respectively include a definition line IV, the first connecting surface 21a and the reference surface P2 are arranged in line with respect to the definition line IV, the definition line IV is arranged intersecting the rotation axis III, that is, the central axis surface P1 is deflected by an angle α1 with respect to the rotation axis III, and then the reference surface P2 is formed, and then the reference surface P2 is deflected by an angle α2 with respect to the definition line IV, and then the first connecting surface 21a is formed.

[0080] Wherein, the first hinge shaft 201 is perpendicular to the first connecting surface 21a, and the second hinge shaft 202 is perpendicular to the second connecting surface 222a.

[0081] Please refer to Figure 14 , Figure 14 is Figure 6 The angle diagram of the central axis I of the first hinge shaft 201 and the central axis II of the second hinge shaft 202, wherein the included angle α3 between the central axis I of the first hinge shaft 201 and the central axis II of the second hinge shaft 202 is 30-60°, such as the included angle α3 is 30°, 45°, 60°, wherein in the present embodiment, the included angle α3 between the central axis I of the first hinge shaft 201 and the central axis II of the second hinge shaft 202 refers to the included angle between the projection of the central axis I on the defined projection surface in the top view of the trunk and the projection of the central axis II on the defined projection surface in the top view of the trunk, through the setting mode of the included angle α3, when the forearm 222 is flexed, the upper arm 221 can be kept vertical as shown, which is more in line with the state of human body flexing, and is also more beautiful. Figure 10

[0082] Please refer to Figure 7 and Figure 8 , the trunk 21 is provided with a first limiting portion 21b, the first limiting portion 21b is arranged between the upper arm 221 and the flexible belt driving member, so that when the upper arm 221 is rotated to a first preset position in the first direction A1, the flexible belt driving member is arranged in multiple sections under the stopping action of the first limiting portion 21b, and / or when the upper arm 221 is rotated to a second preset position in the second direction A2, the first limiting portion 21a stops the upper arm 221.

[0083] Specifically, when the upper arm 221 is rotated to a first preset position in the first direction A1, the flexible belt driving member is arranged in multiple sections under the stopping action of the first limiting portion 21b, and / or when the upper arm 221 is rotated to a second preset position in the second direction A2, the first limiting portion 21a stops the upper arm 221. Figure 7 ​When the first arm 221 rotates in the first direction A1 and does not rotate to the first preset position, the flexible driving member is in a straightened state, at this time, the rotation center of the flexible driving member is at the position where the flexible driving member is connected to the trunk 21 at one end, and the other end connected to the small arm 222 rotates around the position as the rotation center of the movement track, that is, the small arm 222 performs a punching action under the pulling action of the movement track; when the first arm 221 rotates to the first preset position, the first limiting portion 21b stops the flexible driving member, so that the flexible driving member is in a state as shown in Figure 8 At this time, under the condition that the first arm 221 continues to rotate, the other end connected to the small arm 222 of the flexible driving member rotates around the first limiting portion 21b as the rotation center of the movement track, that is, compared with Figure 7 As shown in the middle, when the first arm 221 does not rotate to the first preset position, the movement track of the other end connected to the small arm 222 of the flexible driving member changes, so that the movement track of the small arm 222 when performing a punching action also changes. Through this setting mode, on the one hand, the movement track of the small arm 222 when performing a punching action is increased, so that the punching action of the small arm 222 is diversified, on the other hand, the movement range of the small arm 222 is increased, and the punching range of the small arm 222 is improved; and when the first arm 221 rotates to the second preset position in the second direction A1 as shown in Figure 7 The first limiting portion 21b stops the first arm 221, so that the first arm 221 no longer continues to rotate, thereby maintaining the state as shown in Figure 7 .

[0084] In actual application, the second end of the small arm 222 can be additionally provided with a boxing glove, so as to reduce the pain caused by the punching robot 10 when the user fights against the punching robot 10.

[0085] Referring to Figure 6 One of the first arm 221 and the small arm 222 is provided with a second limiting portion 222b, which is used to stop the other one of the first arm 221 and the small arm 222 when the small arm 222 performs a punching action to a third preset position and / or stop the other one of the first arm 221 and the small arm 222 when the small arm 222 performs a boxing action to a fourth preset position.

[0086] For example, in the embodiment, the small arm 222 is provided with the second limiting portion 222b, as shown in Figure 6As shown, when the forearm 222 performs the fist closing action to the fourth preset position, the second limiting portion 222b abuts against the upper arm 221, thereby stopping the upper arm 221, so that the forearm 222 cannot continue to perform the fist closing action, thereby keeping the forearm 222 in the fist closing state at the fourth preset position. It can be understood that the principle of the second limiting portion 222b stopping the upper arm 221 when the forearm 222 performs the fist opening action to the third preset position is the same as this, and will not be described here.

[0087] Referring to Figure 6 The arm driving mechanism 23 comprises a driving assembly 23a and a transmission member, the driving assembly 23a is connected with the transmission member to drive the transmission member to reciprocate, and the two ends of the transmission member are respectively connected with the left arm assembly 22a and the right arm assembly 22b, so that when one of the left arm assembly 22a and the right arm assembly 22b performs the fist opening action, the other of the left arm assembly 22a and the right arm assembly 22b performs the fist closing action.

[0088] Specifically, the transmission member comprises a first transmission member 23b and a second transmission member 23c, the driving assembly 23a is respectively connected with one end of the first transmission member 23b and one end of the second transmission member 23c, the upper arm 221 comprises a left upper arm and a right upper arm, the forearm 222 comprises a left forearm and a right forearm, the driving member 223 comprises a left driving member and a right driving member, the other end of the first transmission member 23b is connected with the left upper arm, and the other end of the second transmission member 23c is connected with the right upper arm, the driving assembly 23a is used to drive the first transmission member 23b to drive the left upper arm to rotate when the driving assembly 23a moves along the third direction B1, so that the left forearm performs the fist opening action, and the driving assembly 23a is used to drive the second transmission member 23c to drive the right upper arm to rotate when the driving assembly 23a moves along the fourth direction B2, so that the right forearm performs the fist opening action, through this setting mode, only one driving assembly 23a can complete the fist opening action of the left forearm and the fist opening action of the right forearm respectively, which simplifies the overall structure and reduces the cost.

[0089] In an optional embodiment, the first transmission member 23b and the second transmission member 23c can all be transmission belts, which have the function of one-way transmission, when the driving assembly 23a can first drive the first transmission member 23b to drive the left upper arm to rotate to make the left forearm perform the fist opening action along the third direction B1, then the driving assembly 23a drives the second transmission member 23c to drive the right upper arm to rotate to make the right forearm perform the fist opening action along the fourth direction B2, at this time, the left upper arm will restore the fist closing state under the gravity and / or the elastic force of the elastic member 224 without the force of the first transmission member 23b until the next fist opening, similarly, when the driving assembly 23a drives the first transmission member 23b to drive the left upper arm to rotate to make the left forearm perform the fist opening action along the third direction B1, the right upper arm will also restore the fist closing state under the gravity and / or the elastic force of the elastic member 224 without the driving of the second transmission member 23c, thereby realizing the turn-taking fist opening of the left forearm and the right forearm.

[0090] In other embodiments, the first transmission member 23b and the second transmission member 23c can be a gear set or a synchronous belt, which can realize bidirectional force transmission, so that when one of the transmission members drives the left forearm and the right forearm to perform a punching action through the left driving member and the right driving member, the other of the left forearm and the right forearm performs a fist closing action. It can be understood that in the present embodiment, the left forearm is the forearm of the left arm assembly 22a, the left forearm is the forearm of the left arm assembly 22a, the right forearm is the forearm of the right arm assembly 22b, and the right forearm is the forearm of the right arm assembly 22b.

[0091] It can be understood that in actual application, the specific driving mode of the driving assembly 23a can be set according to actual needs, which is not limited.

[0092] Optionally, the transmission member 23b is a flexible transmission member, such as a flexible transmission belt, which reduces the cost.

[0093] Optionally, the first transmission member 23b and the second transmission member 23c can be integrated or independent of each other.

[0094] Referring to Figure 5 , the torso 21 is formed with a receiving cavity 210a, and the driving assembly 23a, the first transmission member 23b and the second transmission member 23c are arranged in the receiving cavity 210a.

[0095] Among them, the first transmission member 23b and the second transmission member 23c are a transmission belt or a gear set connected to the driving assembly 23a; and / or the boxing robot 10 further includes a head assembly 210b rotatably arranged on the torso 21, the head assembly 210b is connected with the driving assembly 23a through a connecting shaft 210c, so that the driving assembly 23a drives the head assembly 210b to rotate left relative to the torso 21 when moving in the third direction B1, and the driving assembly 21a drives the head assembly 210b to rotate right relative to the torso 21 when moving in the second direction B2, through this arrangement, when the left forearm performs a punching action, the head assembly 210b looks left, and when the right forearm performs a punching action, the head assembly 210b looks right, which is more consistent with the action of human fist.

[0096] Please refer to Figure 1 , Figure 5 , Figure 15 and Figure 16 , Figure 15 is Figure 1 a perspective view of the waist driving module 30 in Figure 16 is Figure 5A perspective view of the waist driving module 30, wherein the waist driving module 30 is connected with the torso 21, and the waist driving module 30 is used to drive the torso 21 to move in at least the front-rear freedom direction C, the left-right freedom direction D and the rotation freedom direction E, so that when the user exercises or trains through the punching robot 10, not only the user can realize the punching with the user through the arm assembly 22, but also the arm assembly 22 can be driven by the waist driving module 30 to move in at least the above three freedom directions, so as to simulate the dodging, punching in different positions and other operations in the punching process, and improve the exercise or training effect of the user.

[0097] The waist driving module 30 comprises a first driving mechanism 31, a second driving mechanism 32 and a third driving mechanism 33, and at least each of the first driving mechanism 31, the second driving mechanism 32 and the third driving mechanism 33 is used to drive the torso 21 to move in at least each of the front-rear freedom direction C, the left-right freedom direction D and the rotation freedom direction E.

[0098] In an embodiment as shown in the figure, Figure 15 The first driving mechanism 31 is used to drive the torso 21 to move in the front-rear freedom direction C, the second driving mechanism 32 is used to drive the torso 21 to move in the left-right freedom direction D, and the third driving mechanism 33 is used to drive the torso 21 to move in the rotation freedom direction E. One of the first driving mechanism 31, the second driving mechanism 32 and the third driving mechanism 33 is connected with the other two of the first driving mechanism 31, the second driving mechanism 32 and the third driving mechanism 33 respectively, and one of the second driving mechanism 32 and the third driving mechanism 33 is connected with the torso 21. In this embodiment, the first driving mechanism 31 is connected with the second driving mechanism 32 and the third driving mechanism 33 respectively, and the second driving mechanism 32 is connected with the torso 21.

[0099] Optionally, in this embodiment, the first driving mechanism 31, the second driving mechanism 32 and the third driving mechanism 33 have the same structure, and the difference only lies in the driving direction of the movement of the torso 21, so, Figure 15 The structure of the second driving mechanism 32 is taken as an example for description, the second driving mechanism 32 comprises a second motor 321 and a second transmission assembly 322, the second transmission assembly 322 comprises a third transmission wheel 3221 and a fourth transmission wheel 3222, the third transmission wheel 3221 is installed on the output shaft of the second motor 321, the fourth transmission wheel 3222 is engaged with the third transmission wheel 3221 and connected with the torso 21, so that when the output shaft of the second motor 321 rotates, the torso 21 is driven to move in the left-right freedom direction D through the third transmission wheel 3221 and the fourth transmission wheel 3222 in turn.

[0100] In an embodiment as shown in the figure, Figure 16In another embodiment shown, the waist driving module 30 further comprises a steering mechanism 34, the first driving mechanism 31 and the second driving mechanism 32 are connected with the steering mechanism 34 respectively, one of the steering mechanism 34 and the third driving mechanism 33 is connected with the other one of the steering mechanism 34 and the third driving mechanism 33 and the torso 21 respectively, so that the first driving mechanism 31 and the second driving mechanism 32 are matched with each other and drive the torso 21 to move in the front and back freedom degree direction C and the left and right freedom degree direction D respectively through the steering mechanism 34, and the third driving mechanism 33 drives the torso 21 to move in the rotation freedom degree direction E, in this embodiment, taking the third driving mechanism 33 connected with the steering mechanism 34 and the torso 21 respectively as an example.

[0101] Specifically, the driving mode of the first driving mechanism 31 and the second driving mechanism 32 is linear driving mode, that is, the driving direction of the first driving mechanism 31 and the second driving mechanism 32 is the direction F shown, if there is no steering mechanism 34, then the first driving mechanism 31 and the second driving mechanism 32 can only drive the torso 21 to move linearly in the direction F, therefore, through the setting mode of the steering mechanism 34, the linear driving mode of the first driving mechanism 31 and the second driving mechanism 32 can be steered, so that the torso 21 can move in the front and back freedom degree direction C and the left and right freedom degree direction D. Figure 12

[0102] Optionally, in this embodiment, the first driving mechanism 31 and the second driving mechanism 32 adopt the driving mode of a lead screw motor.

[0103] Please refer to Figure 17 , Figure 17 is Figure 16 the exploded structure diagram of the steering mechanism 34, wherein the steering mechanism 34 comprises a bearing piece 341, a connecting piece 342 and a steering piece 343, the first driving mechanism 31 and the second driving mechanism 32 are connected with the connecting piece 342 respectively, the steering piece 343 is connected with the bearing piece 341 and the connecting piece 342 respectively, so that the first driving mechanism 31 and the second driving mechanism 32 drive the connecting piece 342 to move in the front and back freedom degree direction C and the left and right freedom degree direction D through the steering piece 343, one of the connecting piece 342 and the third driving mechanism 33 is connected with the other one of the connecting piece 342 and the third driving mechanism 33 and the torso 21 respectively, so that the connecting piece 342 drives the torso 21 to move in the front and back freedom degree direction C and the left and right freedom degree direction D.

[0104] ​Specifically, when the first driving mechanism 31 and the second driving mechanism 32 drive the connecting piece 342 in the direction F, the connecting piece 342 drives the turning piece 343 to rotate relative to the bearing piece 341, so as to drive the torso 21 to move in the front-back freedom direction C and the left-right freedom direction D. For example, when the connecting piece 342 drives the turning piece 343 to rotate relative to the bearing piece 341 in the front-back freedom direction C, the torso 21 is driven to move in the front-back freedom direction C; when the connecting piece 342 drives the turning piece 343 to rotate relative to the bearing piece 341 in the left-right freedom direction D, the torso 21 is driven to move in the left-right freedom direction D.

[0105] Optionally, in the embodiment, the turning piece 343 is a universal joint.

[0106] Referring to Figure 1 , the torso module 20 in the embodiment further comprises a plurality of detection units 24, which are respectively installed at different positions of the torso 21 to detect the hitting force of the punching object of the punching robot 10 at different positions of the torso 21.

[0107] The detection unit 24 comprises a pressure sensor (not shown in the figure) and a protective piece 241. The pressure sensor is installed on the torso 21, and the protective piece 241 covers the pressure sensor. When the user hits, the protective piece 241 is hit, so that the hitting force is transmitted to the pressure sensor. On the one hand, the protective piece 241 plays a protective role on the pressure sensor, and on the other hand, reduces the pain felt by the user when hitting. In actual application, the protective piece 241 can be a flexible protective piece or an elastic protective piece.

[0108] In an optional embodiment, the detection unit 24 can be an air bag pressure piece, which can be covered on the torso 21. The air bag pressure piece is in an inflated state, and after being hit, the internal air pressure changes. By detecting the change of the internal air pressure, the hit situation and area can be determined.

[0109] Optionally, since the air bag pressure piece is flexible, it can be used as a covering piece on the torso 21, and also reduces the pain felt by the user when hitting. At the same time, the advantages of flexible covering and pressure detection are realized, and the cost is greatly reduced.

[0110] Referring to Figure 18 and Figure 19 , Figure 18 is Figure 1 an enlarged schematic view of the K1 part in Figure 19 is Figure 5The enlarged schematic diagram of part K2 shows that the boxing robot 10 in this embodiment also includes a support module 40. The support module 40 includes a first support mechanism 41 and a second support mechanism 42. The first support mechanism 41 is connected to the waist drive module 30 and the second support mechanism 42 respectively. The first support mechanism 41 and the second support mechanism 42 are adjustable so that the installation height of the torso 21 and the arm assembly 22 can be adjusted through the first support mechanism 41 and the second support mechanism 42 to meet the sparring operation of users of different heights.

[0111] One of the first support mechanism 41 and the second support mechanism 42 is provided with a locking part. The support module 40 also includes a locking mechanism 43. The locking mechanism 43 is used to lock the first support mechanism 41 and the second support mechanism 42 through the locking part. That is, after the first support mechanism 41 and the second support mechanism 42 are adjusted, the locking mechanism 43 locks the first support mechanism 41 and the second support mechanism 42 through the locking part.

[0112] In such Figure 18 In one embodiment shown, one of the first support mechanism 41 and the second support mechanism 42 is provided with a plurality of first locking parts 411, and the other of the first support mechanism 41 and the second support mechanism 42 is provided with a second locking part (not shown in the figure). Figure 14 Both the first locking part 411 and the second locking part are locking holes. During the adjustment process, the locking hole of the second locking part can be aligned with the locking hole of any of the first locking parts 411. Then, the locking mechanism 43 is sequentially inserted into the locking holes of the first locking part 411 and the second locking part to complete the locking operation of the first support mechanism 41 and the second support mechanism 42.

[0113] In such Figure 19 In another embodiment shown, the locking mechanism 43 is sleeved on the first support mechanism 41 or the second support mechanism 42 and threadedly connected to the first support mechanism 41 or the second support mechanism 42. After adjustment, the locking mechanism 43 rotates relative to the first support mechanism 41 or the second support mechanism 42 until it is stacked with the locking part 412, thereby pressing the first support mechanism 41 and the second support mechanism 42 through the locking part 412 to complete the locking operation of the first support mechanism 41 and the second support mechanism 42.

[0114] Please see Figure 20 , Figure 20 This is a three-dimensional structural diagram of an embodiment of the boxing platform 50 provided in this application. The boxing platform 50 in this embodiment includes a platform 51 and a plurality of boxing robots 10 in the above embodiments.

[0115] Multiple boxing robots 10 are respectively installed on the platform 51. When the second end of the forearm 222 of the multiple boxing robots 10 performs a punching action along a preset trajectory, the preset trajectory of at least one boxing robot 10 intersects with the preset trajectory of at least another boxing robot 10, thereby realizing the fighting operation of at least two boxing robots 10.

[0116] In an optional embodiment, the boxing robot 10 can be located within the preset trajectory of an adjacent boxing robot 10. That is, the boxing robot 10 can control the overall movement of its torso 21 and arm assembly 20 through the waist drive module 30. The overall movement trajectory of its torso 21 and arm assembly 20 can intersect with the preset trajectory of the second end of the forearm 222 of the adjacent boxing robot 10, so that it can be hit by the forearm 222 of the adjacent boxing robot 10. The overall movement trajectory can not intersect with the preset trajectory of the second end of the forearm 222 of the adjacent boxing robot 10, so that the boxing robot 10 can dodge through the waist drive module 30 and avoid being hit by the second end of the forearm 222 of the adjacent boxing robot 10, thereby effectively improving the entertainment effect of mutual fighting.

[0117] For example, with Figure 20 Taking two boxing robots arranged opposite each other as an example, the two boxing robots are boxing robot 10a and boxing robot 10b. When the forearm 222 of boxing robot 10a punches towards boxing robot 10b, the forearm 222 of boxing robot 10b also punches towards boxing robot 10a. Since the preset trajectories of the second ends of the forearms of the two boxing robots intersect, the second ends of the forearm 222 of boxing robot 10a and the second ends of the forearm 222 of boxing robot 10b can move to the same position, so the two can perform a fighting operation at that position.

[0118] Optionally, the platform 51 includes a platform body 511 and wheels 512. Multiple boxing robots 10 are respectively installed on the platform body 511, and the wheels 512 are connected to the platform body 511 so that the boxing platform 50 can be adjusted in position by the wheels 512, thereby improving the flexibility of the boxing platform 50.

[0119] The application has the beneficial effect that, different from the prior art, the trunk module for the boxing robot comprises a trunk, an arm assembly comprising a large arm, a small arm and a driving member, a first end of the large arm is hingedly connected to the trunk through a first hinging shaft, a first end of the small arm is hingedly connected to a second end of the large arm through a second hinging shaft, the driving member is connected to the trunk and the first end of the small arm respectively, the trunk is used to drive the large arm to rotate when rotating, the trunk is defined to form a central axial surface, the central axial surface comprises an axis of rotation of the trunk and is perpendicular to a left view direction of the trunk, so that when the trunk drives the large arm to rotate in a direction towards the central axial surface and the large arm rotates relative to the trunk, a second end of the small arm can perform a punching action or a fist closing action along a preset trajectory; wherein a central axis of the first hinging shaft and a central axis of the second hinging shaft are arranged to be non-coplanar, an axial direction of the second hinging shaft is arranged to be inclined relative to an extension direction of the axis of rotation of the trunk, so that the small arm is deflected by a preset angle relative to the large arm towards the axis of rotation of the trunk, so that when the second end of the small arm performs the punching action or the fist closing action along the preset trajectory, a projection of the preset trajectory on a definition projection surface in a top view direction of the trunk is in a "straight line shape" or close to a "straight line shape", so that the second end of the small arm achieves a "straight punch" effect when performing the punching action or the fist closing action, and is more consistent with the boxing effect of a human body.

Claims

1. A torso module of a boxing robot, characterized by, The trunk module comprises: a trunk; an arm assembly comprising a large arm, a small arm and a driving member, a first end of the large arm being hingedly connected to the trunk through a first hinge shaft, a first end of the small arm being hingedly connected to a second end of the large arm through a second hinge shaft, the driving member being connected to the trunk and the first end of the small arm respectively, the trunk being configured to drive the large arm to rotate when rotating, the trunk being defined to form a central axial plane, the central axial plane comprising an axis of rotation of the trunk and being perpendicular to a left view direction of the trunk, so that when the trunk drives the large arm to rotate in a direction towards the central axial plane and the large arm rotates relative to the trunk, a second end of the small arm can perform a punching action or a fist closing action along a preset trajectory. The central axis of the first hinge shaft and the central axis of the second hinge shaft are arranged to be non-coplanar, and the second hinge shaft is arranged to be inclined relative to the extension direction of the axis of rotation of the trunk, so that the small arm is deflected by a preset angle relative to the large arm towards the axis of rotation of the trunk.

2. The torso form of claim 1, wherein, The preset trajectory comprises a punching starting point, and when the large arm rotates relative to the trunk and the trunk does not rotate, the second end of the small arm can move along a first trajectory, the first trajectory comprises the punching starting point and is arranged in a first arc shape away from the projection of the defined projection plane in the top view direction of the trunk.

3. The torso form of claim 1, wherein, One side of the trunk comprises a first connecting surface, and the first end of the small arm comprises a second connecting surface, the first end of the large arm is hingedly connected to the trunk through the first hinge shaft on the first connecting surface, and the second end of the large arm is hingedly connected to the small arm through the second hinge shaft on the second connecting surface, the driving member is connected to the trunk and the small arm on the first connecting surface and the second connecting surface respectively, and the second connecting surface is arranged to be inclined relative to the first connecting surface. The first hinge shaft is perpendicular to the first connecting surface, and the second hinge shaft is perpendicular to the second connecting surface.

4. The torso form of claim 3, wherein, The trunk is defined to form a reference surface, the included angle between the reference surface and the central axial plane is 0-35°, and the included angle between the first connecting surface and the reference surface is 10-30°.

5. The torso form of claim 4, wherein, The reference surface comprises the axis of rotation of the trunk, the reference surface and the central axial plane are arranged to be collinear relative to the axis of rotation, the first connecting surface and the reference surface respectively comprise a defined line, the first connecting surface and the reference surface are arranged to be collinear relative to the defined line, and the defined line intersects the axis of rotation.

6. Torso module according to claim 3 or 4, characterized in that The included angle between the central axis of the first hinge shaft and the central axis of the second hinge shaft is 30-60°.

7. The torso form of claim 3, wherein, The connection point of the driving member and the trunk is arranged to be spaced apart from the connection point of the first end of the large arm and the trunk. The connection point of the driving member and the first end of the small arm is located in a direction away from the second end of the small arm from the connection point of the first end of the large arm and the small arm.

8. The trunk module according to claim 1, wherein The driving member is a hard driving member, which is respectively hinged to the trunk and the small arm, so that when the large arm rotates in the first direction, the hard driving member pulls the small arm to perform a punching action; or The driving member is a flexible driving member, so that when the large arm rotates in the first direction, the flexible driving member pulls the small arm to perform a punching action.

9. The torso form of claim 8, wherein, The arm assembly further comprises an elastic member, which is respectively connected to one of the trunk and the small arm and the large arm, so that when the large arm rotates in the second direction, the small arm performs a fist closing action under the elastic force of the elastic member.

10. The torso form of claim 9, wherein, The trunk is provided with a first limiting portion, which is arranged between the large arm and the flexible driving member, so that when the large arm rotates in the first direction to a first preset position, the flexible driving member is arranged in multiple sections under the stopping action of the first limiting portion, and / or when the large arm rotates in the second direction to a second preset position, the first limiting portion stops the large arm.

11. The torso form of claim 1, wherein, One of the large arm and the small arm is provided with a second limiting portion, which is used to stop the other one of the large arm and the small arm when the small arm performs a punching action to a third preset position and / or to stop the other one of the large arm and the small arm when the small arm performs a fist closing action to a fourth preset position.

12. A boxing robot characterized by, The boxing robot comprises an arm driving mechanism and the trunk module according to any one of claims 1-11; The arm driving mechanism comprises a driving assembly, a first transmission member and a second transmission member, the driving assembly is respectively connected to one end of the first transmission member and one end of the second transmission member, the large arm comprises a left large arm and a right large arm, the small arm comprises a left small arm and a right small arm, the driving member comprises a left driving member and a right driving member, the other end of the first transmission member is connected to the left large arm, and the other end of the second transmission member is connected to the right large arm. The driving assembly is used to drive the first transmission member to rotate the left large arm to make the left small arm perform a punching action when the driving assembly moves in a third direction, and the driving assembly is used to drive the second transmission member to rotate the right large arm to make the right small arm perform a punching action when the driving assembly moves in a fourth direction.

13. The boxing robot of claim 12, wherein, The trunk is formed with a receiving cavity, and the driving assembly, the first transmission member and the second transmission member are arranged in the receiving cavity. The first transmission member and the second transmission member are transmission belts or gear sets connected to the driving assembly; and / or The boxing robot further comprises a head assembly rotatably arranged on the trunk, and the head assembly is connected to the driving assembly through a connecting shaft, so that the head assembly rotates left relative to the trunk when the driving assembly moves in the third direction, and the head assembly rotates right relative to the trunk when the driving assembly moves in the second direction.

14. The boxing robot of claim 12, wherein, The boxing robot further comprises a waist driving module, the waist driving module comprising a first driving mechanism, a second driving mechanism, a third driving mechanism and a steering mechanism, the first driving mechanism and the second driving mechanism being connected with the steering mechanism respectively, one of the steering mechanism and the third driving mechanism being connected with the other one of the steering mechanism and the third driving mechanism and the torso respectively, so that the first driving mechanism and the second driving mechanism cooperate with each other and drive the torso to move in the front-rear degree of freedom direction and the left-right degree of freedom direction of the torso through the steering mechanism, and the third driving mechanism drives the torso to move in the rotational degree of freedom direction of the torso.

15. The boxing robot of claim 14, wherein, The boxing robot further comprises a support module, the support module comprising a first support mechanism, a second support mechanism and a locking mechanism, the first support mechanism being connected with the waist driving module and the second support mechanism respectively, and the first support mechanism and the second support mechanism being adjustably arranged, one of the first support mechanism and the second support mechanism being provided with a locking portion, and the locking mechanism being used for locking the first support mechanism and the second support mechanism through the locking portion.

16. A boxing platform characterized by, The boxing platform comprises a carrier and a plurality of boxing robots according to any one of claims 10-15, the plurality of boxing robots being respectively installed on the carrier, and at least one of the preset trajectories of at least one of the boxing robots intersects with the preset trajectory of at least another boxing robot when the second ends of the forearms of the plurality of boxing robots perform punching actions along the preset trajectories.

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