A robot and its double-link waist structure

Abstract

A robot and a double-link waist structure thereof; the double-link waist structure comprises a waist frame, a rotating seat, an inner shaft, an inner seat and a driving module; the inner seat is rotatably mounted on the waist frame about a Y axis; the rotating seat is provided with a fixed plate and a driving plate, and the fixed plate and the driving plate are spaced apart to form a driving accommodation gap; the inner seat is located in the driving accommodation gap; the inner shaft is parallel to an X axis, one end of the inner shaft is rotatably connected to the fixed plate, and the other end of the inner shaft is rotatably connected to the driving plate; the driving module is arranged at left and right positions of the waist frame; one end of a connecting rod is rotatably connected to a cam, and the other end of the connecting rod is rotatably connected to the driving plate; a motor device is mounted on the waist frame, and an output end of the motor device is connected to the cam, for driving the cam to rotate clockwise or counterclockwise about the Y axis; the motor devices of the two driving modules are communicatively connected, so as to solve the problems of complex space structure caused by motor control of different direction movements at different height positions of the waist, and the problem of flexibility reduction of the waist.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a robot and its double-link waist structure. Background Technology

[0002] The waist of a robot, serving as the connecting structure between the upper and lower body, is crucial for its multi-angle movement due to its flexibility. However, existing robots have complex waist structures, primarily using two motors at different heights to control movements in two different directions—a dual-axis superimposed structure. This structure has significant structural flaws, stemming from the layered mechanical layout of the two axes: the X and Y axes require separate motors, guide rails, and transmission components, leading to increased vertical redundancy. Furthermore, the superposition of two sets of guiding mechanisms creates system rigidity redundancy, generating additional inertial loads. This design not only occupies a large amount of axial space but also limits the development of lightweight robots. Utility Model Content

[0003] The purpose of this invention is to propose a double-link waist structure for a robot, in which the inner shaft and the inner seat are connected in a cross shape and are located between the waist frame and the rotating seat. The communication connection between the motor devices allows for coupled and cooperative control, enabling the robot to move in multiple directions (front, back, left, and right) at the waist. It also distributes the force of each drive module, allowing the overall structure of the waist to bear a greater load.

[0004] This utility model also proposes a robot having the above-mentioned double-link waist structure.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] A double-link waist structure for a robot includes: a waist frame, a rotating base, an inner shaft, an inner seat, and a drive module;

[0007] The inner seat is rotatably mounted on the waist frame around the Y-axis; the rotating seat is provided with a fixed plate and a drive plate, and the fixed plate and the drive plate are spaced apart to form a drive receiving gap; the inner seat is located in the drive receiving gap; the inner shaft is parallel to the X-axis, one end of the inner shaft is rotatably connected to the fixed plate, and the other end of the inner shaft is rotatably connected to the drive plate; the drive modules are respectively located at the left and right positions of the waist frame;

[0008] The drive module includes: a cam, a connecting rod, and a motor assembly;

[0009] One end of the connecting rod is rotatably connected to the cam, and the other end of the connecting rod is rotatably connected to the drive plate; the motor device is mounted on the waist frame, and the output end of the motor device is connected to the cam for driving the cam to rotate clockwise or counterclockwise around the Y-axis; the motor devices of the two drive modules are communicatively connected.

[0010] When the cams of the two drive modules rotate in the same direction, the connecting rod drives the waist frame or swivel to rotate relative to each other around the Y-axis;

[0011] When the cams of the two drive modules rotate in opposite directions, the connecting rod drives the waist frame or swivel to rotate relative to each other around the X-axis.

[0012] Alternatively, the cam may have a convex surface protruding from the circumferential surface; the cam is connected to the connecting rod via the convex surface.

[0013] Optimally, the waist frame includes: a horizontal plate and a vertical plate;

[0014] The upper end of the vertical plate is mounted on the horizontally extending horizontal plate; the lower end of the vertical plate is connected to the inner seat.

[0015] Alternatively, the cam may be positioned close to the horizontal plate; the convex surface or the connecting rod connected to it may rotate to abut against the outer surface of the horizontal plate, thereby restricting further rotation of the cam.

[0016] Optimally, the convex surface or connecting rod is located in front of or behind the vertical plate; the convex surface or connecting rod rotates to abut against the front or rear side of the vertical plate, restricting the cam from continuing to rotate.

[0017] Optimally, the motor device is fixed below the horizontal plate, the output end of the motor device faces and is close to the side wall of the vertical plate, a slotted gap is formed between the cam and the side wall of the vertical plate, and the convex surface is located on the front or rear side of the vertical plate.

[0018] Alternatively, the waist frame may further include: a motor mount;

[0019] The motor mount is detachably mounted on the horizontal plate, the motor device is mounted on the motor mount, and the motor device is connected to the horizontal plate through the motor mount.

[0020] Alternatively, the waist frame may be provided with multiple cutouts.

[0021] A robot having the aforementioned double-link waist structure.

[0022] Compared with the prior art, one of the above technical solutions has the following beneficial effects:

[0023] This solution provides a double-link waist structure for a robot, in which the inner shaft and inner seat are connected in a cross shape and positioned between the waist frame and the rotating base. The communication connection between the motor devices allows for coupled and cooperative control, enabling the robot to move in multiple directions (front, back, left, and right) at the waist. It also distributes the force of each drive module, allowing the overall structure of the waist to bear a greater load. This solution solves the problems of complex spatial structure caused by motors at different heights controlling different directions of movement at the waist, and the problem of reduced waist flexibility. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of one embodiment of the double-link waist structure;

[0025] Figure 2 This is a partial exploded view of one embodiment of the double-link waist structure;

[0026] Figure 3 This is a schematic diagram of one embodiment of the double-link waist structure;

[0027] Figure 4 This is a structural schematic diagram of one embodiment of a cam.

[0028] in:

[0029] Waist frame 1, swivel seat 2, inner shaft 3, inner seat 4, drive module 6;

[0030] Horizontal plate 11, vertical plate 12; cutout gap 13; motor base 14; cutout opening 15;

[0031] Fixed plate 21, drive plate 22; drive accommodating gap 23;

[0032] Cam 61, connecting rod 62, motor device 63; circumferential surface 610; convex surface 611. Detailed Implementation

[0033] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0034] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," "outer," "inner side," "outer side," "inner end," "outer end," "axial," "radial," and "circumferential," etc., indicating the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, features defined with "first" and "second" may explicitly or implicitly include one or more of these features, used to distinguish descriptive features, without any order or emphasis. In the description of this utility model, unless otherwise stated, "multiple" means two or more.

[0035] like Figure 1-4 A double-link waist structure for a robot includes: a waist frame 1, a rotating base 2, an inner shaft 3, an inner seat 4, and a drive module 6;

[0036] The inner seat 4 is rotatably mounted on the waist frame 1 around the Y-axis; the rotating seat 2 is provided with a fixed plate 21 and a drive plate 22, and the fixed plate 21 and the drive plate 22 are spaced apart to form a drive receiving gap 23; the inner seat 4 is located in the drive receiving gap 23; the inner shaft 3 is parallel to the X-axis, one end of the inner shaft 3 is rotatably connected to the fixed plate 21, and the other end of the inner shaft 3 is rotatably connected to the drive plate 22; the drive modules 6 are respectively located at the left and right positions of the waist frame 1;

[0037] The drive module 6 includes: a cam 61, a connecting rod 62, and a motor device 63;

[0038] One end of the connecting rod 62 is rotatably connected to the cam 61, and the other end of the connecting rod 62 is rotatably connected to the drive plate 22; the motor device 63 is mounted on the waist frame 1, and the output end of the motor device 63 is connected to the cam 61 to drive the cam 61 to rotate clockwise or counterclockwise around the Y-axis; the motor devices 63 of the two drive modules 6 are communicatively connected;

[0039] When the cams 61 of the two drive modules 6 rotate in the same direction, the connecting rod 62 drives the waist frame 1 or the rotating seat 2 to rotate relative to each other around the Y axis;

[0040] When the cams 61 of the two drive modules 6 rotate in opposite directions, the connecting rod 62 drives the waist frame 1 or the rotating seat 2 to rotate relative to each other around the X-axis.

[0041] This solution provides a double-link waist structure for a robot, in which the inner shaft 3 and the inner seat 4 are connected in a cross shape and are located between the waist frame 1 and the rotating seat 2. The communication connection between the motor devices 63 allows for coupled and cooperative control, enabling the robot to move in multiple directions (front, back, left, and right) at the waist. It also distributes the force of each drive module 6, allowing the overall structure of the waist to bear a greater load. This solution solves the problems of complex spatial structure caused by motors at different heights controlling different directions of movement at the waist, and the problem of reduced waist flexibility.

[0042] Specifically, the inner seat 4 is mounted on the waist frame 1 and can rotate relative to it around the Y-axis; the inner shaft 3 is mounted on the inner seat 4 and is parallel to the X-axis; the rotating seat 2 has a receiving gap formed by a fixed plate 21 and a drive plate 22 to receive the inner seat 4; one end of the inner shaft 3 is connected to the fixed plate 21 of the rotating seat 2, and the other end of the inner shaft 3 is connected to the drive plate 22 of the rotating seat 2, and the inner shaft 3 allows the waist frame 1 or the rotating seat 2 to rotate around the inner shaft 3; thus, the waist frame 1 and the rotating seat 2 can rotate around the X-axis through the inner shaft 3, and also rotate around the Y-axis through the inner seat 4; a pair of drive modules 6 are mounted on the waist frame 1 and located on the left and right sides of the waist frame 1; each drive module 6 includes a cam 61, a connecting rod 62, and a motor. The motor device 63 of one drive module 6 is located on the left, and the motor device 63 of the other drive module 6 is located on the right. The output end of the motor device 63 is connected to the center of the cam 61 to drive the cam 61 to rotate. The non-center position of the cam 61 is connected to one end of the connecting rod 62, and the other end of the connecting rod 62 is connected to the drive plate 22. The rotation of the cam 61 can change the height and horizontal position of the connecting rod 62, thereby causing the connecting rod 62 to drive the rotary seat 2 and the waist frame 1 to rotate relative to each other. Since the motor devices 63 of the two drive modules 6 are connected in communication, the two motor devices 63 start synchronously. The motor device 63 can drive the corresponding cam 61 to rotate clockwise or counterclockwise as needed.

[0043] When the motors 63 of the two drive modules 6 drive the cams 61 to rotate in the same direction, the two connecting rods 62 tend to move in the same direction, for example, they move upward or downward at the same time. Therefore, the connecting rods 62 can drive the rotating base 2 and the inner base 4 to rotate around the Y-axis through the drive plate 22. One of the waist frame 1 and the rotating base 2 is used to connect the upper body of the robot, and the other is used to connect the lower body of the robot. Taking the upper body fixed to the waist frame 1 and the lower body fixed to the rotating base 2 as an example, when the robot makes a bending motion, the lower body does not move, and the waist frame 1 and its upper body will rotate around the Y-axis through the inner base 4, realizing the robot's forward or backward flipping.

[0044] When the motor device 63 of the two drive modules 6 drives the cam 61 to rotate in opposite directions, the connecting rod 62 of the two drive modules 6 tends to move in opposite directions. For example, one cam 61 moves upward and the other cam 61 moves downward. Based on the inner shaft 3 being rotatably connected to the fixed plate 21 and drive plate 22 of the rotating base 2, the rotating base 2 rotates around the inner shaft 3 (X-axis). Taking the upper body of the robot as fixed to the waist frame 1 and the lower body as fixed to the rotating base 2 as an example, the waist frame 1 and its upper body will rotate around the inner shaft 3, realizing the flipping of the waist structure to the left or right.

[0045] It should be noted that the communication connection method here refers to the communication established between connected devices through signal transmission and interaction, which can be divided into wired connection and wireless connection; wired connection is such as conventional data cable connection; wireless connection is such as conventional WiFi, Bluetooth, infrared, NFC, etc.

[0046] It should be noted that the connection between the motor device 63 and the cam 61 can be direct or indirect. Direct connection means that the cam 61 is directly mounted on the output end of the motor device 63; indirect connection means that the output end of the motor device 63 is indirectly connected to the cam 61 through other structures. The motor device 63 can be a motor or a combination of a motor and a reducer or differential, as long as it drives the cam 61 to rotate.

[0047] Alternatively, the cam 61 may have a convex surface 611 protruding from the circumferential surface 610; the cam 61 is connected to the connecting rod 62 through the convex surface 611.

[0048] The cam 61 has a circular structure, but it has a convex surface 611 in a local position. The convex surface 611 protrudes from the circumferential surface 610 of the circular structure. The distance from the convex surface 611 to the center of the cam 61 is the longest. When it rotates, it has a large range of motion relative to the circumferential surface 610, which can increase the range of motion of the connecting rod 62 in the horizontal and vertical directions, and make the movement of the waist frame 1 greater.

[0049] Optimally, the waist frame 1 includes: a horizontal plate 11 and a vertical plate 12;

[0050] The upper end of the vertical plate 12 is mounted on the horizontally extending horizontal plate 11; the lower end of the vertical plate 12 is connected to the inner seat 4.

[0051] The waist frame 1 of this solution preferably uses a simple frame structure, specifically including a horizontal plate 11 and a vertical plate 12; the drive module 6 can be installed on the horizontal plate 11 or the vertical plate 12 as needed. The simple structure of the waist frame 1 greatly simplifies the structure of the double-link waist structure and reduces the weight, making the double-link waist structure lightweight.

[0052] Alternatively, the cam 61 may be positioned close to the horizontal plate 11; the convex surface 611 or the connecting rod 62 connected to it may rotate to abut against the outer surface of the horizontal plate 11, thereby restricting the cam 61 from continuing to rotate.

[0053] This solution cleverly utilizes the positional relationship between cam 61 and the waist support 1 to locate the final rotational position of cam 61. Specifically, cam 61 is located near the horizontal plate 11. When cam 61 rotates in any direction, the convex surface 611 of cam 61 or one end of its connected rod 62 will abut against the outer surface of the horizontal plate 11, thereby restricting cam 61 from continuing to rotate. This position, where cam 61 rotates in any direction, serves as the final rotational position of cam 61. For example... Figure 1 In the middle, the cam 61 is located on the lower surface of the horizontal plate 11. When the cam 61 rotates clockwise, the convex surface 611 of the cam 61 or one end of the connecting rod 62 connected to it will abut against the lower surface of the horizontal plate 11, thereby restricting the rotation of the cam 61. In this way, this solution can avoid the excessive movement of the connecting rod 62, which would cause the robot to bend backward excessively, thus ensuring the robot's balance and stability.

[0054] The above describes the positioning of the final rotation position of cam 61 when it rotates in one direction. The following describes the positioning of the final rotation position of cam 61 when it rotates in the opposite direction.

[0055] Optimally, the convex surface 611 or the connecting rod 62 is located in front of or behind the vertical plate 12; the convex surface 611 or the connecting rod 62 rotates to abut against the front or rear side of the vertical plate 12, restricting the cam 61 from continuing to rotate.

[0056] This solution cleverly utilizes the positional relationship between cam 61 and the waist bracket 1 to locate the final rotation position of cam 61. Specifically, the convex surface 611 is located in front of or behind the vertical plate 12. When cam 61 rotates, the convex surface 611 of cam 61 or its connected connecting rod 62 will abut against the front or rear side of the vertical plate 12, thereby restricting cam 61 from continuing to rotate. This allows cam 61 to be positioned as the final rotation position whenever it rotates in any direction. For example... Figure 1 In the middle, the connecting rod 62 is located in front of the vertical plate 12. When the cam 61 rotates counterclockwise, the convex surface 611 drives the connecting rod 62 to abut against the front side of the vertical plate 12, thereby restricting the rotation of the cam 61. In this way, this solution can avoid the excessive movement of the connecting rod 62, which would cause the robot to bend forward excessively and ensure the robot's balance.

[0057] This solution can use at least one of the horizontal plate 11 and the vertical plate 12 to position the cam 61, thus preventing the robot from bending over excessively.

[0058] Optimally, the motor device 63 is fixed below the horizontal plate 11, the output end of the motor device 63 faces and is close to the side wall of the vertical plate 12, the cam 61 forms a slotted gap 13 between itself and the side wall of the vertical plate 12, and the convex surface 611 is located on the front or rear side of the vertical plate 12.

[0059] The output end of the motor device 63 faces and is close to the side wall of the vertical plate 12, which can further reduce the horizontal span on both sides of the double-link waist structure and make the center of gravity of the cam 61 and the connecting rod 62 closer to the vertical plate 12. At the same time, a hollow gap 13 is formed between the cam 61 and the side wall of the vertical plate 12. The hollow gap 13 can be infinitely small and will not affect the normal rotation of the cam 61. Furthermore, the motor device 63 is fixed below the horizontal plate 11, that is, the convex surface 611 is located below the horizontal surface. The convex surface 611 is located on the front or rear side of the vertical plate 12. In this embodiment, the cam 61 will not excessively protrude outside the waist frame 1. The connecting rod 62 moves entirely below the horizontal plate 11. Therefore, the drive module 6 will not be placed in front of or behind the robot, avoiding the problem of the rear motor increasing the longitudinal depth of the hip area and causing the robot's overall center of gravity to shift backward. This avoids the possibility of affecting the compensation efficiency of the balance control algorithm during dynamic movement.

[0060] Alternatively, the waist frame 1 may further include: a motor mount 14;

[0061] The motor mount 14 is detachably mounted on the horizontal plate 11, the motor device 63 is mounted on the motor mount 14, and the motor device 63 is connected to the horizontal plate 11 through the motor mount 14.

[0062] In this design, the motor device 63 is preferably detachably mounted on the waist frame 1, and the motor base 14 is detachably mounted on the horizontal plate 11 in a known manner. The motor device 63 can be installed on the motor base 14 first, and then the motor base 14 can be installed on the horizontal plate 11, which can greatly simplify the installation difficulty of the drive module 6.

[0063] Alternatively, the waist frame 1 may be provided with multiple openwork openings 15.

[0064] The cutout 15 reduces the overall weight of the waist frame 1, making the double-link waist structure lighter.

[0065] A robot having the aforementioned double-link waist structure.

[0066] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A double-link waist structure for a robot, characterized in that, include: Waist frame, swivel base, inner shaft, inner seat, and drive module; The inner seat is rotatably mounted on the waist frame around the Y-axis; the rotating seat is provided with a fixed plate and a drive plate, which are spaced apart to form a drive receiving gap; the inner seat is located in the drive receiving gap; The inner shaft is parallel to the X-axis, one end of the inner shaft is rotatably connected to the fixed plate, and the other end of the inner shaft is rotatably connected to the drive plate; The drive modules are respectively located on the left and right sides of the waist frame; The drive module includes: a cam, a connecting rod, and a motor assembly; One end of the connecting rod is rotatably connected to the cam, and the other end of the connecting rod is rotatably connected to the drive plate; the motor device is mounted on the waist frame, and the output end of the motor device is connected to the cam for driving the cam to rotate clockwise or counterclockwise around the Y-axis; the motor devices of the two drive modules are communicatively connected. When the cams of the two drive modules rotate in the same direction, the connecting rod drives the waist frame or swivel to rotate relative to each other around the Y-axis; When the cams of the two drive modules rotate in opposite directions, the connecting rod drives the waist frame or swivel to rotate relative to each other around the X-axis.

2. The double-link waist structure of a robot according to claim 1, characterized in that, The cam has a convex surface that protrudes from the circumferential surface; the cam is connected to the connecting rod through the convex surface.

3. The double-link waist structure of a robot according to claim 2, characterized in that, The waist frame includes: a horizontal plate and a vertical plate; The upper end of the vertical plate is mounted on the horizontally extending horizontal plate; the lower end of the vertical plate is connected to the inner seat.

4. The double-link waist structure of a robot according to claim 3, characterized in that, The cam is close to the horizontal plate; the convex surface or the connecting rod connected to it rotates to abut against the outer surface of the horizontal plate, restricting the cam from continuing to rotate.

5. A double-link waist structure for a robot according to claim 3 or 4, characterized in that, The convex surface or connecting rod is located in front of or behind the vertical plate; the convex surface or connecting rod rotates to abut against the front or rear side of the vertical plate, restricting the cam from continuing to rotate.

6. A double-link waist structure for a robot according to claim 3 or 4, characterized in that, The motor is fixed below the horizontal plate, and the output end of the motor faces and is close to the side wall of the vertical plate. A slotted gap is formed between the cam and the side wall of the vertical plate, and the convex surface is located on the front or rear side of the vertical plate.

7. The double-link waist structure of a robot according to claim 6, characterized in that, The waist frame also includes: a motor mount; The motor mount is detachably mounted on the horizontal plate, the motor device is mounted on the motor mount, and the motor device is connected to the horizontal plate through the motor mount.

8. A double-link waist structure for a robot according to any one of claims 1-3, characterized in that, The waist frame has multiple hollow openings.

9. A robot, characterized in that, The robot is provided with a double-link waist structure as described in any one of claims 1-8.

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