A humanoid robot waist assembly

Abstract

The utility model relates to a kind of humanoid robot waist components, including first support, first driving part being arranged on the first support, second support being arranged in the driving end of the first driving part, third support being rotated on the second support, second driving part rotating the third support, fourth support being rotated on the third support, third driving part rotating the fourth support;The first support is connected in leg part;The first driving part rotates the angle of the second support in horizontal direction;Second driving part inclines the angle of the second support in left and right direction;The third driving part is arranged in the inside of the second support;The fourth support is connected in upper half body.Solve the conventional waist component few degrees of freedom, small, poor flexibility, structure redundancy.

Description

Technical Field

[0001] This utility model relates to the field of humanoid robot research and development, and in particular to a waist component for a humanoid robot. Background Technology

[0002] In the field of humanoid robot development, the waist, as a core component connecting the torso and lower limbs, directly determines the robot's overall motion coordination, balance, and posture adaptability through its flexibility, range of motion, and stability. Whether it's everyday walking, turning, bending over, or complex carrying and interactive actions, the waist component provides multi-dimensional motion support.

[0003] Currently, traditional waist components for humanoid robots have significant limitations. Most waist structures have limited degrees of freedom, only capable of rotation or tilting in a single direction, making it difficult to meet the robot's complex posture adjustment needs in three-dimensional space. For example, some waist components only support horizontal rotation and cannot perform left or right tilting movements, resulting in stiff movements and significantly reduced flexibility when the robot is trying to avoid obstacles or retrieve objects from high or low positions.

[0004] In terms of range of motion, the rotation angle of the drive components (mostly motors) in existing waist components is limited, making it difficult to achieve a wide range of motion coverage. When the robot needs to perform large-scale turning, bending, or other movements, the waist component may not be able to reach the correct position due to insufficient travel, which not only affects the continuity of the movement but may also cause wear or damage to the components due to excessive force, shortening the service life of the equipment. Utility Model Content

[0005] This application provides a waist component for a humanoid robot, which solves the problems of limited degrees of freedom, small range, poor flexibility, and structural redundancy in traditional waist components in the prior art.

[0006] The technical solutions adopted in the embodiments of this application are as follows.

[0007] A waist assembly for a humanoid robot includes a first support, a first drive member mounted on the first support, a second support mounted on the drive end of the first drive member, a third support rotating on the second support, a second drive member driving the third support to rotate, a fourth support rotating on the third support, and a third drive member driving the fourth support to rotate; the first support is connected to the legs; the first drive member drives the second support to rotate horizontally; the second drive member drives the second support to tilt left and right; the third drive member is located on the inner side of the second support; and the fourth support is connected to the upper body.

[0008] As a further improvement to the above technical solution: The first driving component, the second driving component, and the third driving component are all motors.

[0009] The rotation range of the first driving component is 0°-360°.

[0010] The rotation range of the second driving component is ±90°.

[0011] The rotation range of the third driving component is ±45°.

[0012] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages: 1. Multi-dimensional motion in three-dimensional space is achieved through three sets of drive components (motors): the first drive component drives the second support to complete a horizontal rotation from 0° to 360°, meeting the robot's turning requirements; the second drive component drives the second support to tilt left and right by ±90°, adapting to actions such as side-stepping obstacle avoidance and high / low object retrieval; the third drive component controls the third support to complete a movement of ±45°, assisting in upper body posture adjustment. Compared with traditional single-degree-of-freedom waist structures, this component can achieve smooth switching of complex postures, making robot movements closer to human flexibility and solving the problem of stiffness in traditional waist movements.

[0013] 2. The rotation range of each drive component covers both daily and complex motion requirements: 360° horizontal rotation supports corner-free turning, ±90° left and right tilting accommodates large-amplitude side-to-side movements, and ±45° auxiliary rotation enhances upper body posture adaptability. This design breaks through the limitations of traditional waist travel, enabling the robot to perform complex tasks such as bending over to move objects, squatting to pick up items, and multi-angle interaction, expanding its application scenarios in fields such as home service, industrial collaboration, and medical assistance.

[0014] 3. The three sets of drive components are integrated into the linkage structure of the first, second, and third supports. The rotating parts are directly driven by motors, eliminating complex intermediate transmission links and reducing structural redundancy. This design improves motion accuracy, reduces the risk of component wear, extends service life, and the lightweight structure helps reduce the robot's overall energy consumption and improve endurance.

[0015] 4. Multi-degree-of-freedom motion achieves coordinated operation through precise motor control. For example, when turning, the robot simultaneously adjusts the left and right tilt angles to maintain a stable center of gravity, avoiding the imbalance problem caused by the single movement of the waist in traditional systems. This design enables the robot to maintain better balance during dynamic movements (such as walking, turning, going up and down slopes), improving the safety and reliability of its movements. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the waist component of the humanoid robot in this utility model.

[0017] Figure 2This is a schematic diagram of the waist component of the humanoid robot in this utility model.

[0018] In the diagram: 1. First bracket; 2. First driving component; 3. Second bracket; 4. Third bracket; 5. Second driving component; 6. Third driving component; 7. Fourth bracket. Detailed Implementation

[0019] This application provides a waist component for a humanoid robot, which solves the problems of limited degrees of freedom, small range, poor flexibility, and structural redundancy in traditional waist components in the prior art.

[0020] The technical solution in this application embodiment is to solve the above problems, and the overall idea is as follows: To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0021] like Figure 1 As shown, the waist assembly of the humanoid robot in this embodiment includes a first support 1, a first drive member 2 disposed on the first support 1, a second support 3 disposed on the drive end of the first drive member 2, a third support 4 rotating on the second support 3, a second drive member 5 driving the third support 4 to rotate, a fourth support 7 rotating on the third support, and a third drive member 6 driving the fourth support 7 to rotate; the first support 1 is connected to the legs; the first drive member 2 drives the second support 3 to rotate horizontally; the second drive member 5 drives the second support 3 to tilt left and right; the third drive member 6 is disposed on the inner side of the second support 3; and the fourth support 7 is connected to the upper body.

[0022] The first driving component 2, the second driving component 5, and the third driving component 6 are all motors.

[0023] The rotation range of the first driving component 2 is 0°-360°.

[0024] The rotation range of the second driving component 5 is ±90°.

[0025] The rotation range of the third driving component 6 is ±45°.

[0026] Multi-dimensional motion in three-dimensional space is achieved through three sets of driving components (motors): the first driving component 2 drives the second support 3 to complete a horizontal rotation from 0° to 360°, meeting the robot's turning requirements; the second driving component 5 drives the second support 3 to achieve a left-right tilt of ±90°, adapting to actions such as side-stepping obstacle avoidance and high-low object retrieval; the third driving component 6 controls the third support 4 to complete a ±45° movement, assisting in upper body posture adjustment. Compared with the traditional single-degree-of-freedom waist structure, this component can achieve smooth switching of complex postures, making the robot's movements closer to human flexibility and solving the problem of stiffness in traditional waist movements; the rotation range of each driving component covers the needs of daily and complex movements: 360° horizontal rotation supports cornerless turning, ±90° left-right tilt meets large-amplitude side-stepping movements, and ±45° auxiliary rotation enhances the adaptability of upper body posture. This design overcomes the limitations of traditional lumbar movement, enabling the robot to perform complex tasks such as bending over to move objects, squatting to retrieve items, and interacting from multiple angles, expanding its application scenarios in areas such as home services, industrial collaboration, and medical assistance. Three sets of drive components are integrated into the linkage structure of the first support 1, the second support 3, and the third support 4, directly driving the rotating parts via motors, eliminating complex intermediate transmission links and reducing structural redundancy. This design improves motion accuracy while reducing the risk of component wear and extending service life. Furthermore, the lightweight structure helps reduce the robot's overall energy consumption and improves its endurance. Multi-degree-of-freedom motion is achieved through precise motor control, enabling coordinated movement. For example, during turns, the robot simultaneously adjusts the left and right tilt angles to maintain a stable center of gravity, avoiding the imbalance problems caused by single movements of the lumbar region in traditional designs. This design allows the robot to better maintain balance during dynamic movements (such as walking, turning, and going up and down slopes), improving the safety and reliability of its actions.

[0027] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the present invention.

[0028] Obviously, those skilled in the art can make various modifications and variations to this utility model without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this utility model and their equivalents, this utility model also intends to include these modifications and variations.

Claims

1. A waist component for a humanoid robot, characterized in that, The system includes a first support (1), a first drive member (2) disposed on the first support (1), a second support (3) disposed on the drive end of the first drive member (2), a third support (4) rotating on the second support (3), a second drive member (5) driving the third support (4) to rotate, a fourth support (7) rotating on the third support, and a third drive member (6) driving the fourth support (7) to rotate; the first support (1) is connected to the legs; the first drive member (2) drives the second support (3) to rotate horizontally; the second drive member (5) drives the second support (3) to tilt left and right; the third drive member (6) is disposed on the inner side of the second support (3); and the fourth support (7) is connected to the upper body.

2. The humanoid robot waist assembly as described in claim 1, characterized in that, The first driving component (2), the second driving component (5) and the third driving component (6) are all motors.

3. The humanoid robot waist assembly as described in claim 1, characterized in that, The rotation range of the first driving member (2) is 0°-360°.

4. The humanoid robot waist assembly as described in claim 1, characterized in that, The rotation range of the second driving member (5) is ±90°.

5. The humanoid robot waist assembly as described in claim 1, characterized in that, The rotation range of the third driving component (6) is ±45°.

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