Humanoid robot waist structure and humanoid robot

Abstract

The utility model provides a humanoid robot waist structure and a humanoid robot, relates to the technical field of robots, and aims to solve the problem that the waist structure of the existing humanoid robot cannot enable the part above the waist to be always kept in a horizontal posture in the vertical up-down movement process. The humanoid robot waist structure comprises a first parallelogram connecting rod frame, a first driving mechanism, a second parallelogram connecting rod frame and a second driving mechanism, and the first parallelogram connecting rod frame comprises a base, a connecting seat and a first rod set rotationally arranged between the base and the connecting seat, the first driving mechanism is used for driving the first rod group to rotate; the second parallelogram connecting rod frame comprises a connecting base, an upper support opposite to the connecting base and a second rod set rotationally arranged between the connecting base and the upper support, and the second driving mechanism is used for driving the second rod set to rotate. According to the utility model, the part above the waist can be always kept in a horizontal posture in the vertical up-and-down movement process.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and more specifically, to a waist structure for a humanoid robot and a humanoid robot. Background Technology

[0002] In traditional humanoid robot waist structure design, independent and tilted movable links are often used to form the waist structure, or links and ropes are used to form the waist structure. This not only makes the structure complex, but also makes it impossible for the part above the waist to maintain a horizontal posture during vertical up and down movement. Utility Model Content

[0003] The first objective of this invention is to provide a waist structure for a humanoid robot, in order to solve the technical problem that the waist structure of existing humanoid robots cannot keep the part above the waist in a horizontal posture during vertical up and down movement.

[0004] The humanoid robot waist structure provided by this utility model includes a first parallelogram linkage frame, a first drive mechanism, a second parallelogram linkage frame, and a second drive mechanism. The first parallelogram linkage frame includes an opposing base and a connecting seat, and a first rod group rotatably disposed between the base and the connecting seat. The first drive mechanism is mounted on the base and drives the first rod group to rotate. The first rod group includes multiple first connecting rods spaced apart along a first direction. The second parallelogram linkage frame includes the connecting seat and an upper support opposite to the connecting seat, and a second rod group rotatably disposed between the connecting seat and the upper support. The second drive mechanism is mounted on the connecting seat and drives the second rod group to rotate. The second rod group includes multiple second connecting rods spaced apart along the first direction.

[0005] Furthermore, the first driving mechanism includes a first motor, a first worm, and a first worm wheel. The body of the first motor is mounted on the base, and the motor shaft of the first motor is drivenly connected to the first worm for driving the first worm to rotate. The first worm extends along the first direction. Each of the first connecting rods of the first rod group is rotatably connected to the base through a first rotating shaft. The first worm wheel is coaxially arranged with one of the multiple first rotating shafts and is fixed relative to the first connecting rod corresponding to the first rotating shaft. The first worm wheel meshes with the first worm for transmission.

[0006] Furthermore, the first worm gear is fan-shaped.

[0007] Furthermore, two sets of the first rod groups are provided between the base and the connecting seat, and the two sets of the first rod groups are arranged at intervals along the second direction, which is perpendicular to the first direction; among the two sets of the first rod groups, a first transmission shaft is fixedly connected between the first connecting rods that are opposite each other along the second direction, and the first transmission shaft is coaxial with the first rotating shaft corresponding to the first connecting rod of that set; a lower accommodating space is formed between the two sets of the first rod groups.

[0008] Furthermore, the second drive mechanism includes a second motor, a second worm, and a second worm wheel. The body of the second motor is mounted on the connecting seat, and the motor shaft of the second motor is drivenly connected to the second worm for driving the second worm to rotate. The second worm extends along the first direction. Each of the second connecting rods of the second rod group is rotatably connected to the connecting seat through a second rotating shaft. The second worm wheel is coaxially arranged with one of the multiple second rotating shafts and is relatively fixed to the second connecting rod corresponding to that second rotating shaft. The second worm wheel meshes with the second worm for transmission.

[0009] Further, the second worm gear is fan-shaped; and / or, two sets of second rod groups are provided between the connecting seat and the upper support, the two sets of second rod groups are arranged at intervals along a second direction, the second direction being perpendicular to the first direction; among the two sets of second rod groups, a second transmission shaft is fixedly connected between a set of second connecting rods opposite each other along the second direction, the second transmission shaft and the second rotating shaft corresponding to the second connecting rod are coaxial; an upper accommodating space is formed between the two sets of second rod groups, the second worm gear is accommodated in the upper accommodating space; the second motor is accommodated in the lower accommodating space, the motor shaft of the second motor extends in the vertical direction, and the motor shaft of the second motor is connected to the second worm gear through a bevel gear transmission mechanism.

[0010] Furthermore, a rotation limiting structure is provided between the second rod group and the connecting seat, the rotation limiting structure being used to limit the rotation angle of the second rod group.

[0011] Furthermore, the rotation limiting structure includes a first limiting post, a second limiting post, and a stop bar, wherein the first limiting post and the second limiting post are both fixedly disposed on the connecting seat, and the first limiting post and the second limiting post are arranged at circumferential intervals along one of the multiple second rotating shafts; the stop bar is fixedly disposed on the second connecting rod corresponding to the second rotating shaft, and the stop bar extends radially along the second rotating shaft to the space between the first limiting post and the second limiting post.

[0012] Furthermore, the first linkage group includes two first links; and / or, the second linkage group includes two second links.

[0013] The beneficial effects of the waist structure of this humanoid robot are:

[0014] The humanoid robot's waist structure connects the first and second parallelogram linkage frames in series by sharing a common connecting seat. A first drive mechanism for rotating the first linkage group and a second drive mechanism for rotating the second linkage group provide two degrees of freedom for the humanoid robot's waist structure. When bending or stretching is required, the first drive mechanism drives the first linkage group to rotate. During this process, the multiple first links within the first linkage group rotate synchronously, allowing the connecting seat to maintain its original posture and move up and down. Simultaneously, the second drive mechanism drives the second linkage group to rotate. During this process, the multiple second links within the second linkage group rotate synchronously, allowing the upper support to maintain its original posture and move up and down.

[0015] It can be seen that this form of forming the waist structure of a humanoid robot by using the interconnected first parallelogram link frame and the second parallelogram link frame not only simplifies the design of the waist structure in the past, but also ensures that the upper support always maintains a horizontal posture during vertical up and down movement, so as not to change the overall angle and posture of the upper limb structure connected to the upper support.

[0016] The second objective of this invention is to provide a humanoid robot that solves the technical problem that the waist structure of existing humanoid robots cannot keep the part above the waist in a horizontal posture during vertical up-and-down movement.

[0017] The humanoid robot provided by this utility model includes an upper limb structure, a chassis structure, and the aforementioned humanoid robot waist structure, wherein the base of the humanoid robot waist structure is mounted on the chassis structure, and the upper limb structure is mounted on the upper support of the humanoid robot waist structure.

[0018] The beneficial effects of this humanoid robot are:

[0019] By incorporating the aforementioned waist structure into the humanoid robot, the humanoid robot acquires all the advantages of the aforementioned waist structure, which will not be elaborated upon here. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0021] Figure 1 This is a structural schematic diagram of the humanoid robot provided in an embodiment of the present utility model;

[0022] Figure 2 A side view of the waist structure of the humanoid robot provided in this embodiment of the present invention when bent;

[0023] Figure 3 This is a schematic diagram of the humanoid robot's waist structure when it is upright, as provided in an embodiment of the present invention.

[0024] Figure 4 This is a schematic diagram of the humanoid robot's waist structure when bent, provided in an embodiment of the present invention.

[0025] Figure 5 for Figure 4 Enlarged view of the local structure at point A in the middle.

[0026] Explanation of reference numerals in the attached figures:

[0027] 010 - Waist structure of humanoid robot; 020 - Upper limb structure; 030 - Chassis structure;

[0028] 100 - First parallelogram linkage frame; 200 - First drive mechanism; 300 - Second parallelogram linkage frame; 400 - Second drive mechanism; 500 - Rotation limiting structure;

[0029] 110 - Base; 120 - Connecting seat; 130 - First rod group; 131 - First connecting rod; 140 - First drive shaft;

[0030] 210 - First motor; 220 - First worm gear; 230 - First worm wheel;

[0031] 310 - Upper support; 320 - Second linkage; 321 - Second connecting rod; 330 - Second drive shaft;

[0032] 410 - Second motor; 420 - Second worm gear; 430 - Second worm wheel; 440 - Bevel gear transmission mechanism; 510 - First limit post; 520 - Second limit post; 530 - Stop bar. Detailed Implementation

[0033] To make the above-mentioned objectives, features, and advantages of this utility model more apparent and understandable, specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of this utility model and are not intended to limit it.

[0034] Figure 1 This is a structural schematic diagram of the humanoid robot provided in this embodiment. Figure 1As shown, this embodiment provides a humanoid robot, including an upper limb structure 020, a chassis structure 030, and a humanoid robot waist structure 010. The base 110 of the humanoid robot waist structure 010 is mounted on the chassis structure 030, and the upper limb structure 020 is mounted on the upper support 310 of the humanoid robot waist structure 010.

[0035] By setting the waist structure 010 of the humanoid robot, the upper limb structure 020 installed on the upper support 310 always maintains a horizontal posture during the switching between upright and bent postures, thus avoiding changes in the overall angle and posture of the upper limb structure 020 as it moves up and down with the upper support 310.

[0036] It should be noted that the specific structure and working principle of the upper limb structure 020 and the chassis structure 030 can be referred to the existing design. Since they are not the focus of this application, they will not be described in detail.

[0037] The following text will provide a detailed description of the specific structure and working process of the humanoid robot's waist structure 010.

[0038] Figure 2 This is a side view of the humanoid robot waist structure 010 provided in this embodiment when it is bent. Figure 3 This is a schematic diagram of the humanoid robot waist structure 010 provided in this embodiment when it is upright; Figure 4 This is a schematic diagram of the waist structure 010 of the humanoid robot provided in this embodiment when it is bent. Figures 2 to 4 As shown, this embodiment also provides a humanoid robot waist structure 010, including a first parallelogram linkage frame 100, a first drive mechanism 200, a second parallelogram linkage frame 300, and a second drive mechanism 400. Specifically, the first parallelogram linkage frame 100 includes an opposing base 110 and a connecting seat 120, and a first rod assembly 130 rotatably disposed between the base 110 and the connecting seat 120. The first drive mechanism 200 is mounted on the base 110 and is used to drive the first rod assembly 130 to rotate. The first linkage 130 includes multiple first connecting rods 131 spaced apart along a first direction; the second parallelogram linkage frame 300, in addition to the aforementioned connecting seat 120, also includes an upper support 310 opposite to the connecting seat 120, and a second linkage 320 rotatably disposed between the connecting seat 120 and the upper support 310; a second drive mechanism 400 is mounted on the connecting seat 120 and is used to drive the second linkage 320 to rotate; the second linkage 320 includes multiple second connecting rods 321 spaced apart along the first direction.

[0039] The humanoid robot's waist structure 010 connects the first parallelogram link frame 100 and the second parallelogram link frame 300 in series by sharing a connecting seat 120. A first drive mechanism 200 for rotating the first link group 130 and a second drive mechanism 400 for rotating the second link group 320 provide the humanoid robot's waist structure 010 with two degrees of freedom. When bending or stretching is required, the first drive mechanism 200 drives the first link group 130 to rotate. During this process, the multiple first links 131 included in the first link group 130 rotate synchronously, allowing the connecting seat 120 to maintain its original posture and move up and down. Simultaneously, the second drive mechanism 400 drives the second link group 320 to rotate. During this process, the multiple second links 321 included in the second link group 320 rotate synchronously, allowing the upper support 310 to maintain its original posture and move up and down.

[0040] It can be seen that this form of forming the waist structure 010 of the humanoid robot by using the interconnected first parallelogram link frame 100 and the second parallelogram link frame 300 not only simplifies the design of the previous waist structure, but also ensures that the upper support 310 always maintains a horizontal posture during vertical up and down movement, so as not to change the overall angle and posture of the upper limb structure 020 connected to the upper support 310.

[0041] It should be noted that the aforementioned "first direction" can be determined by... Figure 3 The arrow ab in the diagram represents the direction, and the "second direction" mentioned below can be represented by... Figure 3 The arrow cd in the diagram represents this.

[0042] Please continue to refer to Figure 3 and Figure 4 In this embodiment, the first driving mechanism 200 may include a first motor 210, a first worm 220, and a first worm wheel 230. Specifically, the body of the first motor 210 is mounted on the base 110, and the motor shaft of the first motor 210 is connected to the first worm 220 for driving the first worm 220 to rotate. The first worm 220 extends along a first direction. Each of the first connecting rods 131 of the first rod group 130 is rotatably connected to the base 110 through a first rotating shaft. The first worm wheel 230 is coaxially arranged with one of the multiple first rotating shafts and is relatively fixed to the first connecting rod 131 corresponding to the first rotating shaft. The first worm wheel 230 meshes with the first worm 220 for transmission.

[0043] When the humanoid robot's waist structure 010 needs to switch between a bent and upright state, the first motor 210 starts, driving the first worm gear 220 to rotate. Through the meshing of the first worm gear 220 and the first worm wheel 230, the rotation of the first worm gear 220 is transmitted to the first worm wheel 230, causing the first worm wheel 230 to rotate. By coaxially aligning the first worm wheel 230 with one of the first rotating shafts and fixing it relative to the corresponding first connecting rod 131, the rotation of the first worm wheel 230 will drive the first connecting rod 131 to rotate synchronously, thereby driving the first rod assembly 130 to raise or lower the connecting seat 120.

[0044] This configuration of the first drive mechanism 200 not only provides high driving precision, but also enables power outage protection by utilizing the self-locking function of the first worm 220 and the first worm wheel 230.

[0045] Please continue to refer to Figure 2 and Figure 3 In this embodiment, the first worm gear 230 is fan-shaped.

[0046] By setting the first worm gear 230 as a fan-shaped structure, the weight of the first worm gear 230 can be reduced while allowing the first parallelogram linkage frame 100 to rotate within a certain angle range, which is beneficial to the lightweight design of the humanoid robot in this embodiment.

[0047] Please continue to refer to Figure 3 and Figure 4 In this embodiment, two sets of first rod groups 130 are provided between the base 110 and the connecting seat 120. The two sets of first rod groups 130 are arranged at intervals along a second direction, which is perpendicular to the first direction. Among the two sets of first rod groups 130, a first transmission shaft 140 is fixedly connected between a set of first connecting rods 131 that are opposite each other along the second direction. The first transmission shaft 140 and the first rotating shaft corresponding to the first connecting rod 131 are coaxial. A lower accommodating space is formed between the two sets of first rod groups 130.

[0048] By setting two sets of first rod groups 130 between the base 110 and the connecting seat 120, the first parallelogram connecting frame 100 forms a three-dimensional frame structure, improving the support stability of the connecting seat 120. By setting a first transmission shaft 140 to fix a set of first connecting rods 131 opposite each other along the second direction, the rotational power of one set of first rod groups 130 can be transmitted to the other set, allowing the two sets of first rod groups 130 to share a set of first drive mechanism 200, which not only saves space but also reduces drive costs.

[0049] Please continue to refer to Figure 3 and Figure 4In this embodiment, the second drive mechanism 400 may include a second motor 410, a second worm 420, and a second worm wheel 430. Specifically, the body of the second motor 410 is mounted on the connecting seat 120, and the motor shaft of the second motor 410 is connected to the second worm 420 for driving the second worm 420 to rotate. The second worm 420 extends along a first direction. Each of the second connecting rods 321 of the second rod group 320 is rotatably connected to the connecting seat 120 through a second rotating shaft. The second worm wheel 430 is coaxially arranged with one of the multiple second rotating shafts and is relatively fixed to the second connecting rod 321 corresponding to that second rotating shaft. The second worm wheel 430 meshes with the second worm 420 for transmission.

[0050] When the humanoid robot's waist structure 010 needs to switch between a bent and upright state, the first motor 210 starts simultaneously with the second motor 410, driving the second worm gear 420 to rotate. Through the meshing of the second worm gear 420 and the second worm wheel 430, the rotation of the second worm gear 420 is transmitted to the second worm wheel 430, causing it to rotate. By coaxially aligning the second worm wheel 430 with one of the second rotating shafts and fixing it relative to the corresponding second connecting rod 321, the rotation of the second worm wheel 430 will drive the second connecting rod 321 to rotate synchronously, thereby driving the second rod assembly 320 to raise or lower the upper support 310.

[0051] This configuration of the second drive mechanism 400 not only provides high driving precision, but also enables power failure protection by utilizing the self-locking function of the second worm 420 and the second worm wheel 430.

[0052] Please continue to refer to Figure 2 and Figure 3 In this embodiment, the second worm gear 430 is fan-shaped.

[0053] By setting the second worm gear 430 as a fan-shaped structure, the weight of the second worm gear 430 can be reduced while allowing the second parallelogram linkage frame 300 to rotate within a certain angle range, thereby further facilitating the lightweight design of the humanoid robot in this embodiment.

[0054] Please continue to refer to Figures 2 to 4In this embodiment, two sets of second rod groups 320 are provided between the connecting seat 120 and the upper support 310. The two sets of second rod groups 320 are arranged at intervals along a second direction, which is perpendicular to the first direction. Among the two sets of second rod groups 320, a second transmission shaft 330 is fixedly connected between a set of second connecting rods 321 that are opposite each other along the second direction. The second transmission shaft 330 and the second rotating shaft corresponding to the second connecting rod 321 are coaxial. An upper accommodating space is formed between the two sets of second rod groups 320, and a second worm gear 430 is accommodated in the upper accommodating space. A second motor 410 is accommodated in the lower accommodating space. The motor shaft of the second motor 410 extends in the vertical direction, and the motor shaft of the second motor 410 is connected to the second worm gear 420 through a bevel gear transmission mechanism 440.

[0055] By setting two sets of second rod groups 320 between the connecting seat 120 and the upper support 310, the second parallelogram linkage frame 300 forms a three-dimensional frame structure, improving the support stability of the upper support 310. By setting a second transmission shaft 330 to fix a set of second connecting rods 321 opposite each other along the second direction, the rotational power of one set of second rod groups 320 can be transmitted to the other set, allowing the two sets of second rod groups 320 to share a single second drive mechanism 400, further reducing drive costs.

[0056] In addition, by placing the second motor 410 in the lower accommodating space constructed by the first parallelogram link frame 100 and placing the second worm gear 430 in the upper accommodating space constructed by the second parallelogram link frame 300, the space occupied by the surrounding space can be saved, thereby making the waist structure 010 of the humanoid robot in this embodiment more compact.

[0057] Specifically, in this embodiment, the bevel gear transmission mechanism 440 may include a driving bevel gear fixed coaxially with the second motor 410 and a driven bevel gear fixed coaxially with the second worm 420. By utilizing the meshing transmission between the driving bevel gear and the driven bevel gear, the power of the second motor 410 can be transmitted to the second worm 420, thereby realizing the rotational drive of the second worm 420.

[0058] Figure 5 for Figure 4 A magnified view of the local structure at point A. Please continue referring to this. Figure 4 and combined Figure 5 In this embodiment, a rotation limiting structure 500 is provided between the second rod group 320 and the connecting seat 120, wherein the rotation limiting structure 500 is used to limit the rotation angle of the second rod group 320.

[0059] The aforementioned rotation limiting structure 500 can limit the rotation range of the second linkage 320, preventing interference with other structures in the humanoid robot due to the excessive rotation range of the second parallelogram linkage frame 300.

[0060] Please continue to refer to Figure 5 In this embodiment, the rotation limiting structure 500 may include a first limiting post 510, a second limiting post 520, and a stop bar 530. The first limiting post 510 and the second limiting post 520 are both fixedly disposed on the connecting seat 120, and the first limiting post 510 and the second limiting post 520 are arranged at circumferential intervals along one of the multiple second rotating shafts. The stop bar 530 is fixedly disposed on the second connecting rod 321 corresponding to the second rotating shaft, and the stop bar 530 extends radially along the second rotating shaft to the space between the first limiting post 510 and the second limiting post 520.

[0061] by Figure 5 Taking the shown perspective as an example, during the counterclockwise rotation of the second link 321 to achieve the bending posture of the humanoid robot's waist structure 010, when the stop bar 530 follows the second link 321 to rotate until it contacts the second limit post 520, the second link 321 stops rotating, indicating that the second link 321 has rotated to the correct position in that direction, and the second parallelogram link frame 300 reaches its maximum angle during the bending process; during the clockwise rotation of the second link 321 to achieve the upright posture of the humanoid robot's waist structure 010, when the stop bar 530 follows the second link 321 to rotate until it contacts the first limit post 510, the second link 321 stops rotating, indicating that the second link 321 has rotated to the correct position in that direction, and the second parallelogram link frame 300 reaches its maximum angle during the uprighting process, and is in an upright posture.

[0062] This method of using the cooperation of the stop bar 530 with the first limiting post 510 and the second limiting post 520 to limit the rotation of the second connecting rod 321 is not only reliable in limiting the movement, but also has a simple structure.

[0063] Please continue to refer to Figures 2 to 4 In this embodiment, the first link group 130 includes two first connecting links 131. That is, the first parallelogram link frame 100 includes a total of four first connecting links 131.

[0064] By setting two first connecting rods 131 in the first rod group 130, the volume and cost of the first parallelogram connecting rod frame 100 can be reduced while ensuring its stability.

[0065] Please continue to refer to Figures 2 to 4 In this embodiment, similarly, the second link group 320 includes two second connecting links 321. That is, the second parallelogram link frame 300 includes a total of four second connecting links 321.

[0066] By setting two second connecting rods 321 in the second rod group 320, the volume and cost of the second parallelogram connecting rod frame 300 can be reduced while ensuring its stability.

[0067] While the present invention has been disclosed above, it is not limited thereto. Any person skilled in the art can make various modifications and alterations without departing from the spirit and scope of the present invention; therefore, the scope of protection of the present invention should be determined by the scope defined in the claims.

[0068] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the term "comprising" or any other variations thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0069] In the above embodiments, descriptions of directions such as "up", "down", and "side" are based on the accompanying drawings.

[0070] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A humanoid robot waist structure characterized by comprising: The application relates to a parallel quadrilateral linkage frame, which comprises a first parallel quadrilateral linkage frame (100), a first driving mechanism (200), a second parallel quadrilateral linkage frame (300) and a second driving mechanism (400), wherein the first parallel quadrilateral linkage frame (100) comprises opposite bases (110) and connecting seats (120), and a first rod group (130) rotatably arranged between the bases (110) and the connecting seats (120); the first driving mechanism (200) is installed on the base (110) and used for driving the first rod group (130) to rotate; the first rod group (130) comprises a plurality of first connecting rods (131) arranged at intervals along a first direction; the second parallel quadrilateral linkage frame (300) comprises the connecting seats (120) and an upper support (310) opposite to the connecting seats (120), and a second rod group (320) rotatably arranged between the connecting seats (120) and the upper support (310); the second driving mechanism (400) is installed on the connecting seats (120) and used for driving the second rod group (320) to rotate; and the second rod group (320) comprises a plurality of second connecting rods (321) arranged at intervals along the first direction.

2. The humanoid robot waist structure according to claim 1, characterized by, The first driving mechanism (200) comprises a first motor (210), a first worm (220) and a first worm wheel (230), wherein the body of the first motor (210) is installed on the base (110); the motor shaft of the first motor (210) is in transmission connection with the first worm (220) and used for driving the first worm (220) to rotate; the first worm (220) extends along the first direction; each first connecting rod (131) of the first rod group (130) is rotatably connected with the base (110) through a first rotating shaft; the first worm wheel (230) is coaxially arranged with one of the first rotating shafts and oppositely fixed with the corresponding first connecting rod (131); and the first worm wheel (230) is in mesh transmission with the first worm (220).

3. The humanoid robot waist structure according to claim 2, characterized by, The first worm wheel (230) is in the shape of a sector.

4. The humanoid robot waist structure according to claim 2, characterized by, Two groups of the first rod groups (130) are arranged at intervals along a second direction between the base (110) and the connecting seat (120); the second direction is perpendicular to the first direction; a first transmission shaft (140) is fixedly connected between a group of the first connecting rods (131) opposite to each other along the second direction in the two groups of the first rod groups (130); the first transmission shaft (140) is coaxial with the corresponding first rotating shaft; and a lower accommodating space is formed between the two groups of the first rod groups (130).

5. The humanoid robot waist structure according to claim 4, characterized by, The second driving mechanism (400) comprises a second motor (410), a second worm (420) and a second worm wheel (430), wherein the body of the second motor (410) is mounted to the connecting seat (120), the motor shaft of the second motor (410) is in driving connection with the second worm (420) for driving the second worm (420) to rotate, and the second worm (420) extends along the first direction; each second connecting rod (321) of the second rod group (320) is in rotational connection with the connecting seat (120) through a second rotating shaft, the second worm wheel (430) is coaxially arranged with one of the second rotating shafts and is fixed opposite to the second connecting rod (321) corresponding to the second rotating shaft, and the second worm wheel (430) is in meshing transmission with the second worm (420).

6. The humanoid robot waist structure according to claim 5, characterized by, The second worm wheel (430) is a sector; and / or, two second rod groups (320) are arranged between the connecting seat (120) and the upper support (310), the two second rod groups (320) are arranged in a second direction, and the second direction is perpendicular to the first direction; a second transmission shaft (330) is fixedly connected between the second connecting rods (321) opposite to each other in the second direction in the two second rod groups (320), and the second transmission shaft (330) is coaxial with the second rotating shaft corresponding to the second connecting rod (321); an upper accommodation space is formed between the two second rod groups (320), and the second worm wheel (430) is accommodated in the upper accommodation space; The second motor (410) is accommodated in the lower accommodation space, the motor shaft of the second motor (410) extends along an up-down direction, and the motor shaft of the second motor (410) is in driving connection with the second worm (420) through a bevel gear transmission mechanism (440).

7. The humanoid robot waist structure according to claim 5, characterized by, A rotating limiting structure (500) is arranged between the second rod group (320) and the connecting seat (120), and the rotating limiting structure (500) is used for limiting the rotating angle of the second rod group (320).

8. The humanoid robot waist structure according to claim 7, characterized by, The rotating limiting structure (500) comprises a first limiting column (510), a second limiting column (520) and a blocking rod (530), wherein the first limiting column (510) and the second limiting column (520) are fixedly arranged on the connecting seat (120), and the first limiting column (510) and the second limiting column (520) are arranged in a circumferential direction of one of the second rotating shafts; the blocking rod (530) is fixedly arranged on the second connecting rod (321) corresponding to the second rotating shaft, and the blocking rod (530) extends to between the first limiting column (510) and the second limiting column (520) in a radial direction of the second rotating shaft.

9. The humanoid robot waist structure according to claim 1, characterized by, The first rod group (130) comprises two first connecting rods (131); and / or, the second rod group (320) comprises two second connecting rods (321).

10. A humanoid robot, characterized by, A humanoid robot waist structure as claimed in any one of claims 1-9, wherein a base (110) of the humanoid robot waist structure is mounted to the chassis structure (030), and the upper limb structure (020) is mounted to an upper support (310) of the humanoid robot waist structure.

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