Torso structure and robot
By designing a torso structure comprising a main body, a first folding section, a second folding section, and a third folding section, and utilizing a drive unit to achieve tight folding, the problem of the robot occupying a large space is solved, and the deployment and usage efficiency in space-constrained environments is improved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- DOW INTELLIGENT TECHNOLOGY (SHENZHEN) CO LTD
- Filing Date
- 2025-07-18
- Publication Date
- 2026-07-14
AI Technical Summary
Even when folded, the robot still occupies a significant amount of space, limiting its deployment and usage efficiency in space-constrained environments.
A torso structure was designed, including a main body, a first folding section, a second folding section, and a third folding section. The structure is stacked in a folded state by a drive unit. The folding rotation axes of adjacent drive units are staggered on opposite sides of the central axis of the main body to achieve tight folding.
In its folded state, the torso structure can be tightly stacked, occupying less space and facilitating deployment and operation in space-constrained environments.
Smart Images
Figure CN224489184U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robotics, and in particular to a torso structure and a robot. Background Technology
[0002] Robotics is a comprehensive discipline that has developed in recent years. As a leading technology for the future, robots are creating new industries and business models, driving the transformation of production and consumption towards intelligence, and profoundly impacting human production and life. Robotics technology has been widely applied in fields such as industrial automation, service robots, medical care, and security inspection. Particularly in compact urban living spaces and confined industrial environments, the spatial adaptability of robots has become one of the key performance indicators.
[0003] Currently, robots still occupy a significant amount of space when folded, often requiring substantial workspace and storage space. This severely limits the efficiency of robot deployment and use in space-constrained environments. Utility Model Content
[0004] The main purpose of this invention is to provide a torso structure that addresses the technical problem that current robots occupy a large amount of space, severely limiting their deployment in space-constrained environments.
[0005] To achieve the above objectives, the torso structure proposed in this utility model includes:
[0006] Main stem, used for external joint structure;
[0007] The first folding section is connected to the main body;
[0008] The second folding section is used for connecting the external walking structure; and
[0009] At least one third fold portion, the third fold portion being disposed between the first fold portion and the second fold portion and respectively connecting the first fold portion and the second fold portion;
[0010] The first folding part, the second folding part, and the third folding part are each provided with a driving unit. The driving unit is used to enable the torso structure to have a folded state and an extended state. In the folded state, the first folding part, the second folding part, and the third folding part are stacked. In the extended state, the folding rotation axes of adjacent driving units are staggered and located on opposite sides of the central axis of the main body.
[0011] In one embodiment, the drive unit includes a power component and a transmission assembly. The transmission assembly includes a worm and a helical gear that mesh with each other. The power component is connected to the worm and drives the worm to rotate.
[0012] In one embodiment, the first folding part includes a first drive shaft and a first connecting frame. The folding rotation shaft of the first folding part is configured as the first drive shaft. The first drive shaft is fixedly connected to the corresponding helical gear and the first connecting frame respectively. The first connecting frame is used to connect the main body. The power component of the first folding part is fixedly disposed on the third folding part.
[0013] In one embodiment, the first connecting bracket is provided with a first connecting lug, the first drive shaft is provided with a first connecting disc, and the first connecting disc is fixedly connected to the first connecting lug; and / or,
[0014] The first folding part further includes a first housing, the first housing having a first cavity, the transmission component of the first folding part being disposed within the first cavity, the third folding part having a third clearance space, and the power component of the first folding part being disposed within the third clearance space.
[0015] In one embodiment, the second folding part includes a second drive shaft and a second connecting frame. The folding rotation shaft of the second folding part is configured as the second drive shaft. The second drive shaft is fixedly connected to the corresponding helical gear and the second connecting frame respectively. The second connecting frame is connected to the third folding part. The power component of the second folding part is fixedly mounted on the walking structure.
[0016] In one embodiment, the second connecting bracket is provided with a second connecting lug, the second drive shaft is provided with a second connecting disc, and the second connecting disc is fixedly connected to the second connecting lug; and / or,
[0017] The second folding part further includes a second housing, the second housing having a second cavity, the transmission component of the second folding part being disposed within the second cavity, the walking structure including a fixed frame, the fixed frame having a second clearance space, and the power component of the second folding part being disposed within the second clearance space.
[0018] In one embodiment, the third folding portion includes a third drive shaft and a third connecting frame. The folding rotation shaft of the third folding portion is configured as the third drive shaft. The third drive shaft is fixedly connected to the corresponding helical gear and the third connecting frame. The third connecting frame is used to connect the first folding portion or the adjacent third folding portion. The power component of the third folding portion is fixedly disposed on the second folding portion or the adjacent third folding portion.
[0019] In one embodiment, the third connecting frame is provided with a third connecting lug, the third drive shaft is provided with a third connecting disc, and the third connecting disc is fixedly connected to the third connecting lug; and / or,
[0020] The third folding part further includes a third housing, the third housing has a third cavity, the transmission component of the third folding part is disposed in the third cavity, the second folding part has a first clearance space, and the power component of the third folding part is disposed in the first clearance space or in the third clearance space adjacent to the third folding part.
[0021] In one embodiment, the torso structure further includes a rotating part, which is fixedly disposed on the first folding part, and the rotating part also drives and connects to the main body and drives the main body to rotate.
[0022] This utility model also proposes a robot, including a head structure, a walking structure, and a torso structure as described above, wherein the torso structure is connected to the head structure and the walking structure respectively.
[0023] This utility model's technical solution employs a first folding section connecting to the main body, with the main body externally connected to a terminal structure, and a second folding section externally connected to a walking structure. The first, third, and second folding sections are arranged sequentially, and a drive unit drives each of them to rotate around a folding rotation axis to achieve folding. In the folded state, the three sections are stacked sequentially, with the folding rotation axes of adjacent drive units staggered on opposite sides of the central axis of the main body. In this way, during folding, the folding rotation axes between the first folding section and the adjacent third folding section, between two adjacent third folding sections, and between the third folding section and the second folding section will not interfere with the stacking or occupy folding space, achieving tight folding with minimal space occupation, thus facilitating robot deployment and operation in space-constrained environments. Attached Figure Description
[0024] 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 some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.
[0025] Figure 1 A schematic diagram of a portion of the torso structure provided in this utility model from an angle.
[0026] Figure 2 A schematic diagram of the extended state of the torso structure embodiment provided by this utility model;
[0027] Figure 3 A schematic diagram of the folded state of the torso structure embodiment provided by this utility model;
[0028] Figure 4Another angle structural schematic diagram of a portion of the torso structure embodiment provided by this utility model;
[0029] Figure 5 A side view of an embodiment of the torso structure provided by this utility model;
[0030] Figure 6 A schematic diagram of the drive unit of the torso structure embodiment provided by this utility model.
[0031] Explanation of icon numbers:
[0032] 10. Head structure; 20. Walking structure; 21. Fixing frame;
[0033] 100. Key cadres;
[0034] 200, First folding part; 210, First drive shaft; 211, First connecting plate; 220, First connecting frame; 221, First connecting ear; 230, First housing;
[0035] 300, Second folding part; 310, Second drive shaft; 311, Second connecting plate; 320, Second connecting frame; 321, Second connecting ear; 330, Second housing;
[0036] 400. Third folding section; 410. Third drive shaft; 411. Third connecting plate; 420. Third connecting bracket; 421. Third connecting lug; 430. Third housing;
[0037] 500. Drive unit; 510. Power component; 520. Transmission assembly; 521. Worm gear; 522. Helical gear; 530. Reduction assembly; 531. First planetary disk; 532. Second planetary disk; 533. Protective housing;
[0038] 600. Rotating part.
[0039] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation
[0040] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.
[0041] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.
[0042] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.
[0043] In existing technologies, robotics has been widely applied in fields such as industrial automation, service robots, medical care, and security inspection. Particularly in compact urban living spaces and confined industrial environments, the spatial adaptability of robots has become a key performance indicator. Currently, robots still occupy a significant amount of space even when folded, often requiring substantial workspace and storage space, which severely limits their deployment and usage efficiency in space-constrained environments.
[0044] This utility model proposes a torso structure.
[0045] Please see Figures 1 to 6As shown, in one embodiment of this utility model, the torso structure includes: a main body 100, a first folding part 200, a second folding part 300, and at least one third folding part 400. The main body 100 is used to connect to the external head structure 10; the first folding part 200 is connected to the main body 100; the second folding part 300 is used to connect to the external walking structure 20; the third folding part 400 is disposed between the first folding part 200 and the second folding part 300 and connects the first folding part 200 and the second folding part 300 respectively; the first folding part 200, the second folding part 300, and the third folding part 400 are each provided with a driving unit 500. The driving unit 500 is used to enable the torso structure to have a folded state and an extended state. In the folded state, the first folding part 200, the second folding part 300, and the third folding part 400 are stacked. In the extended state, the folding rotation axes of adjacent driving units 500 are staggered and located on opposite sides of the central axis of the main body 100.
[0046] It should be noted that the central axis of the main trunk 100 is the central axis O of the torso structure in its extended state, for reference. Figure 5 As shown, the folding rotation axis can be understood as being located near the outer wall of the torso structure. In this embodiment, the third folding part 400 is located between the first folding part 200 and the second folding part 300. That is, from top to bottom, the torso structure consists of the main body 100, the first folding part 200, the third folding part 400, and the second folding part 300. During folding, the main body 100 and the first folding part 200 rotate relative to the third folding part 400, and the third folding part 400 rotates relative to the second folding part 300. The folding rotation directions between adjacent drive units 500 are opposite, thus achieving stacking. It can be understood that during folding rotation, the rotation revolves around the folding rotation axis of the corresponding drive unit 500. In specific implementation, the folding rotation axes of adjacent drive units 500 are located on opposite sides of the central axis of the main body 100, and the folding rotation axes are close to the ends of each folding part. After folding, a compact stacking arrangement can be achieved without requiring a large space. Of course, it is understandable that any rotation angle can be formed between the first folding part 200 and the third folding part 400, and between the third folding part 400 and the second folding part 300.
[0047] The third folding part 400 may be provided in multiple ways, and the multiple third folding parts 400 are arranged in sequence. The third folding part 400 located at one end is connected to the first folding part 200, the third folding part 400 located at the other end is connected to the second folding part 300, and the other third folding parts 400 are connected in sequence. Adjacent third folding parts 400 can be folded together.
[0048] This utility model's technical solution employs a first folding part 200 connected to the main body 100, with the main body 100 externally connected to a connecting head structure 10, and a second folding part 300 externally connected to a walking structure 20. The first folding part 200, the third folding part 400, and the second folding part 300 are arranged sequentially, and a driving unit 500 drives each of them to rotate around a folding rotation axis to achieve folding. In the folded state, the three parts are stacked sequentially, and the folding rotation axes of adjacent driving units 500 are staggered on opposite sides of the central axis of the main body 100. In this way, during folding, the folding rotation axes between the first folding part 200 and the adjacent third folding part 400, between two adjacent third folding parts 400, and between the third folding part 400 and the second folding part 300 will not interfere with the stacking or occupy folding space, thus achieving tight folding with minimal space occupation, facilitating the deployment and operation of the robot in space-constrained environments.
[0049] In one embodiment, the drive unit 500 includes a power component 510 and a transmission assembly 520. The transmission assembly 520 includes a worm gear 521 and a helical gear 522 that mesh with each other. The power component 510 is connected to the worm gear 521 and drives the worm gear 521 to rotate.
[0050] In the specific implementation process, the power component 510 can adopt a power structure such as a motor or cylinder to drive the worm gear 521 to rotate. The rotation of the worm gear 521 causes the helical gear 522 to rotate. The helical gear 522 is fixedly connected to the folding rotation shaft, thereby driving the folding rotation shaft to rotate and realize folding. Among them, the folding drive shaft is located in one folding part, and the power component 510 is located in another adjacent folding part. The power component 510 is used to provide the driving force for folding.
[0051] In addition, the drive unit 500 also includes a reduction gear assembly 530, which can reduce the high-speed rotation of the power component 510 to a suitable rotational speed for the first folding section 200, the second folding section 300, and the third folding section 400, while correspondingly increasing the output torque so that the components have sufficient force to complete the corresponding actions. (Reference) Figure 6As shown, the reduction assembly 530 adopts a planetary reduction structure. Specifically, the planetary reduction structure includes a first planetary disk 531, a second planetary disk 532, three first planetary gears (not shown in the figure), three second planetary gears (not shown in the figure), a first sun gear (not shown in the figure), and a second sun gear (not shown in the figure). The first planetary disk 531 has a first output rod and three first input rods on its two sides respectively. The second planetary disk 532 has three second input rods. Each first planetary gear is fitted onto a first input rod, and each second planetary gear is fitted onto a second input rod. The first sun gear is fitted onto the output shaft of the motor and meshes with the three first planetary gears. The second sun gear is fitted onto the first output rod and meshes with the three second planetary gears. The transmission assembly 520 is inserted into the second planetary disk 532. Two-stage reduction is achieved through the meshing of the first sun gear with the three first planetary gears and the meshing of the second sun gear with the three second planetary gears. This multi-stage reduction structure can achieve a large reduction ratio within a small volume, thereby reducing the high-speed rotation of the motor to a lower speed suitable for the movement of the corresponding components, while significantly increasing the output torque. In addition, the planetary reduction gear structure also includes a protective housing 533, which is connected to the motor housing. The first planetary disk 531, the second planetary disk 532, three first planetary gears, three second planetary gears, the first sun gear, and the second sun gear are all located inside the protective housing 533. The motor is connected to the worm gear 521 and drives the worm gear 521 to rotate. The rotation of the worm gear 521 drives the helical gear 522 to rotate. The helical gear 522 is used to output the driving force for the drive unit 500 to rotate.
[0052] In one embodiment, the first folding part 200 includes a first drive shaft 210 and a first connecting frame 220. The folding rotation shaft of the first folding part 200 is configured as the first drive shaft 210. The first drive shaft 210 is fixedly connected to the corresponding helical gear 522 and the first connecting frame 220 respectively. The first connecting frame 220 is used to connect the main body 100. The power component 510 of the first folding part 200 is fixedly disposed on the third folding part 400.
[0053] In this embodiment, the folding rotation shaft of the drive unit 500 of the first folding part 200 is configured as a first drive shaft 210, the helical gear 522 is fixedly sleeved on the first drive shaft 210, the end of the first connecting frame 220 away from the first drive shaft 210 is connected to the main body 100, and the drive unit 500 of the first folding part 200 is fixed to the third folding part 400. In this way, the drive unit 500 drives the first drive shaft 210 to rotate, which can drive the first connecting frame 220 to rotate, thereby realizing folding.
[0054] In one embodiment, the first connecting frame 220 is provided with a first connecting ear 221, and the first drive shaft 210 is provided with a first connecting disc 211. The first connecting disc 211 is fixedly connected to the first connecting ear 221. The first connecting ear 221 is provided on one side near the first connecting frame 220. There are two first connecting ears 221. The two ends of the first drive shaft 210 are respectively fixedly connected to the corresponding first connecting ear 221, such as by bolt fastening, so that the first drive shaft 210 is located on one side of the central axis.
[0055] In one embodiment, the first folding portion 200 further includes a first housing 230, which has a first cavity. The transmission component 520 of the first folding portion 200 is disposed within the first cavity. The third folding portion 400 has a third clearance space, and the power component 510 of the first folding portion 200 is disposed within the third clearance space. In specific implementation, the first housing 230 is used to enclose the transmission component 520 of the drive unit 500 to ensure effective transmission. The first housing 230 is fixedly connected to the third folding portion 400. The third clearance space is provided in the middle of the third folding portion 400 to accommodate the first power component 510 of the first folding portion 200, thereby reducing the overall space occupied. It can be understood that among the multiple third folding portions 400, the power component 510 of one folding portion is located within the third clearance space of an adjacent folding portion.
[0056] In one embodiment, the second folding part 300 includes a second drive shaft 310 and a second connecting frame 320. The folding rotation shaft of the second folding part 300 is configured as the second drive shaft 310. The second drive shaft 310 is fixedly connected to the corresponding helical gear 522 and the second connecting frame 320 respectively. The second connecting frame 320 is connected to the third folding part 400. The power component 510 of the second folding part 300 is fixedly mounted on the walking structure 20.
[0057] In this embodiment, the folding rotation shaft of the drive unit 500 of the second folding part 300 is configured as the second drive shaft 310, the helical gear 522 is fixedly sleeved on the second drive shaft 310, and the end of the second connecting frame 320 away from the second drive shaft 310 is connected to the walking structure 20. The drive unit 500 of the second folding part 300 is fixed to the walking structure 20. In this way, the drive unit 500 drives the second drive shaft 310 to rotate, which can drive the second connecting frame 320 to rotate, thereby realizing folding relative to the walking structure 20.
[0058] In one embodiment, the second connecting frame 320 is provided with a second connecting ear 321, and the second drive shaft 310 is provided with a second connecting disc 311. The second connecting disc 311 is fixedly connected to the second connecting ear 321. The second connecting ear 321 is provided on one side near the second connecting frame 320, and there are two second connecting ears 321. The two ends of the second drive shaft 310 are respectively fixedly connected to the corresponding first connecting ear 221, such as by bolt fastening.
[0059] The second folding part 300 also includes a second housing 330, which has a second cavity. The transmission component 520 of the second folding part 300 is located in the second cavity. The walking structure 20 includes a fixed frame 21, which has a second clearance space. The power component 510 of the second folding part 300 is located in the second clearance space.
[0060] In practical implementation, the second housing 330 is used to enclose the transmission assembly 520 of the drive unit 500 to ensure effective transmission. The second housing 330 is fixedly connected to the walking structure 20. The walking structure 20 has a fixing frame 21, which is used to fix the power component 510 of the second folding part 300. The fixing frame 21 has a second clearance space to accommodate the second power component 510 of the second folding part 300, thereby realizing the folding of the second folding part 300 into the walking structure 20 to reduce the overall space occupied.
[0061] In one embodiment, the third folding portion 400 includes a third drive shaft 410 and a third connecting frame 420. The folding rotation shaft of the third folding portion 400 is configured as the third drive shaft 410. The third drive shaft 410 is fixedly connected to the corresponding helical gear 522 and the third connecting frame 420 respectively. The third connecting frame 420 is used to connect the first folding portion 200 or the adjacent third folding portion 400. The power component 510 of the third folding portion 400 is fixedly disposed on the second folding portion 300 or the adjacent third folding portion 400.
[0062] In this embodiment, the folding rotation shaft of the drive unit 500 of the third folding portion 400 is configured as a third drive shaft 410. A helical gear 522 is fixedly sleeved on the third drive shaft 410. The end of the third connecting bracket 420 away from the third drive shaft 410 is connected to the drive unit 500 of the first folding portion 200. The drive unit 500 of the third folding portion 400 is fixed to the second folding portion 300. Thus, the drive unit 500 drives the third drive shaft 410 to rotate, which in turn drives the third connecting bracket 420 to rotate, thereby achieving folding. It is understood that the third folding portion 400 here refers to one used to connect to the second folding portion 300.
[0063] In one embodiment, the third connecting frame 420 is provided with a third connecting ear 421, and the third drive shaft 410 is provided with a third connecting disc 411. The third connecting disc 411 is fixedly connected to the third connecting ear 421. The third connecting ear 421 is provided on one side near the third connecting frame 420. There are two third connecting ears 421. The two ends of the third drive shaft 410 are respectively fixedly connected to the corresponding third connecting ear 421, such as by bolt fastening, so that the third drive shaft 410 is located on one side of the central axis.
[0064] The third folding part 400 also includes a third housing 430, which has a third cavity. The transmission assembly 520 of the third folding part 400 is located in the third cavity. The second folding part 300 has a first clearance space. The power component 510 of the third folding part 400 is located in the first clearance space or in the third clearance space adjacent to the third folding part 400.
[0065] In practical implementation, the third housing 430 is used to enclose the transmission component 520 of the drive unit 500 to ensure effective transmission. The third housing 430 is fixedly connected to the second folding part 300. A first clearance space is provided in the middle of the second folding part 300 to accommodate the third power component 510 of the third folding part 400, thereby reducing the overall space occupied.
[0066] In one embodiment, the torso structure further includes a rotating part 600, which is fixedly disposed on the first folding part 200, and the rotating part 600 also drives the main body 100 to rotate.
[0067] In this embodiment, the rotating part 600 adopts a resonant motor, which is fixed to the first connecting frame 220 of the first folding part 200. The resonant motor is driven to drive the main body 100 to rotate, thereby increasing the degree of freedom of the entire torso structure. The rotation axis of the main body 100 is perpendicular to the folding drive axis.
[0068] This utility model also proposes a robot, which includes a head structure 10, a walking structure 20, and a torso structure. The specific structure of the torso structure is as described in the above embodiments. Since this robot adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here. The torso structure is connected to both the head structure 10 and the walking structure 20. Specifically, in this embodiment, the main body 100 of the torso structure is connected to the head structure 10, which is used for information exchange with the outside world. The third folding part 400 of the torso structure is connected to the walking structure 20, which is used for walking and movement.
[0069] The above description is merely an exemplary embodiment of the present utility model and does not limit the scope of protection of the present utility model. Any equivalent structural transformations made based on the inventive concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the scope of protection of the present utility model.
Claims
1. A torso structure, characterized in that, include: Main stem, used for external joint structure; The first folding section is connected to the main body; The second folding section is used for connecting the external walking structure; as well as At least one third fold portion, the third fold portion being disposed between the first fold portion and the second fold portion and respectively connecting the first fold portion and the second fold portion; The first folding part, the second folding part, and the third folding part are each provided with a driving unit. The driving unit is used to enable the torso structure to have a folded state and an extended state. In the folded state, the first folding part, the second folding part, and the third folding part are stacked. In the extended state, the folding rotation axes of adjacent driving units are staggered and located on opposite sides of the central axis of the main body.
2. The torso structure as described in claim 1, characterized in that, The drive unit includes a power component and a transmission assembly. The transmission assembly includes a worm and a helical gear that mesh with each other. The power component is connected to the worm and drives the worm to rotate.
3. The torso structure as described in claim 2, characterized in that, The first folding part includes a first drive shaft and a first connecting frame. The folding rotation shaft of the first folding part is configured as the first drive shaft. The first drive shaft is fixedly connected to the corresponding helical gear and the first connecting frame respectively. The first connecting frame is used to connect the main body. The power component of the first folding part is fixedly disposed on the third folding part.
4. The torso structure as described in claim 3, characterized in that, The first connecting bracket is provided with a first connecting ear, the first drive shaft is provided with a first connecting disc, and the first connecting disc is fixedly connected to the first connecting ear; and / or, The first folding part further includes a first housing, the first housing having a first cavity, the transmission component of the first folding part being disposed within the first cavity, the third folding part having a third clearance space, and the power component of the first folding part being disposed within the third clearance space.
5. The torso structure as described in claim 2, characterized in that, The second folding part includes a second drive shaft and a second connecting frame. The folding rotation shaft of the second folding part is configured as the second drive shaft. The second drive shaft is fixedly connected to the corresponding helical gear and the second connecting frame respectively. The second connecting frame is connected to the third folding part. The power component of the second folding part is fixedly mounted on the walking structure.
6. The torso structure as described in claim 5, characterized in that, The second connecting bracket is provided with a second connecting ear, the second drive shaft is provided with a second connecting disc, and the second connecting disc is fixedly connected to the second connecting ear; and / or, The second folding part further includes a second housing, the second housing having a second cavity, the transmission component of the second folding part being disposed within the second cavity, the walking structure including a fixed frame, the fixed frame having a second clearance space, and the power component of the second folding part being disposed within the second clearance space.
7. The torso structure as described in claim 2, characterized in that, The third folding section includes a third drive shaft and a third connecting frame. The folding rotation shaft of the third folding section is configured as the third drive shaft. The third drive shaft is fixedly connected to the corresponding helical gear and the third connecting frame. The third connecting frame is used to connect the first folding section or the adjacent third folding section. The power component of the third folding section is fixedly disposed on the second folding section or the adjacent third folding section.
8. The torso structure as described in claim 7, characterized in that, The third connecting frame is provided with a third connecting lug, and the third drive shaft is provided with a third connecting disc, the third connecting disc being fixedly connected to the third connecting lug; and / or The third folding part further includes a third housing, the third housing has a third cavity, the transmission component of the third folding part is disposed in the third cavity, the second folding part has a first clearance space, and the power component of the third folding part is disposed in the first clearance space or in the third clearance space adjacent to the third folding part.
9. The torso structure as described in claim 1, characterized in that, The torso structure also includes a rotating part, which is fixedly disposed on the first folding part, and the rotating part also drives and connects to the main body and drives the main body to rotate.
10. A robot, characterized in that, It includes a head structure, a walking structure, and a torso structure as described in any one of claims 1-9, wherein the torso structure is connected to the head structure and the walking structure, respectively.