Waist structure and robot

Abstract

This application relates to the field of robotics, specifically to a waist structure and robot, solving the problem that related technologies cannot achieve pitch and lateral movement of the waist using simple waist structures. The waist structure includes a support component, a connector, a waist body, two sets of drive components, and two sets of linkage components. By using the two sets of drive components in parallel to drive the waist body to rotate relative to the support component around a first axis and a second axis, pitch and lateral movement of the waist body are achieved. In other words, this application achieves pitch and lateral movement of the waist body using only one support component, one connector, two sets of drive components, and two sets of linkage components, resulting in a simple and compact structure.

Description

Technical Field

[0001] This application relates to the field of robotics technology, specifically to a waist structure and a robot. Background Technology

[0002] The design of robot waist structures has certain limitations. On the one hand, many existing robot waist structures lack pitch and lateral movement capabilities, making the robots less flexible and natural when interacting with humans or performing complex tasks. On the other hand, although a few robot waist structures possess pitch and lateral movement capabilities, these designs often require complex mechanical structures, such as multi-joint linkage mechanisms or multiple drive units, leading to increased complexity of the waist structure.

[0003] Therefore, the relevant technology cannot achieve pitching and lateral swaying of the waist using a simple waist structure. Summary of the Invention

[0004] In view of this, the embodiments of this application provide a waist structure and a robot, which solves the problem that related technologies cannot achieve pitch and lateral movement of the waist using a simple waist structure.

[0005] In a first aspect, embodiments of this application provide a waist structure, comprising: a support assembly; a connector rotatably connected to the support assembly about a first axis; a waist body rotatably connected to the connector about a second axis, the second axis being perpendicular to the first axis; two sets of drive assemblies, each drive assembly including a drive member and an output member connected to each other, the drive member being connected to the waist body, and the output member rotating about an axis parallel to the second axis under the drive of the drive member; and two sets of linkage assemblies, the first end of each linkage assembly being movably connected to a connecting portion of the output member, the second end of each linkage assembly being movably connected to the support assembly, the connecting portion being located circumferentially along the rotation axis of the output member.

[0006] In some embodiments, the output member includes a cam coaxially connected to the output shaft of the drive member, wherein a protrusion of the cam forms the connecting portion of the output member.

[0007] In some embodiments, the waist structure further includes a fixing bracket assembly, which is detachably connected to both the waist body and the support assembly.

[0008] In some embodiments, the waist body has a fixing surface and the fixing bracket assembly has a supporting surface; when the fixing bracket assembly is connected to the waist body, the supporting surface and the fixing surface are in contact with each other.

[0009] In some embodiments, the fixing surface includes a first fixing surface, a second fixing surface, and a third fixing surface. The waist body includes: a lower cover, including a first drive mounting part, a second drive mounting part, and a rotating connecting part connecting the first drive mounting part and the second drive mounting part. The rotating connecting part is rotatably connected to the connector around the second axis. The drive members of each of the two sets of drive assemblies are respectively mounted on the first drive mounting part and the second drive mounting part. The lower surface of the first drive mounting part includes the first fixing surface, the lower surface of the second drive mounting part includes the second fixing surface, and the lower surface of the rotating connecting part includes the third fixing surface. The supporting surface includes a first supporting surface, a second supporting surface, and a third supporting surface. The fixing bracket assembly includes: a first fixing bracket, detachably connected to both the first drive mounting part and the supporting assembly, the upper surface of the first fixing bracket having the first supporting surface, and the first supporting surface fitting against the first fixing surface; and a second fixing bracket, detachably connected to both the second drive mounting part and the supporting assembly, the upper surface of the second fixing bracket having the second supporting surface and the third supporting surface, the second supporting surface fitting against the second fixing surface, and the third supporting surface fitting against the third fixing surface.

[0010] In some embodiments, the first fixing surface is a first arc surface, the second fixing surface is a second arc surface, the third fixing surface is a third arc surface, the first supporting surface is a fourth arc surface, the second supporting surface is a fifth arc surface, and the third supporting surface is a sixth arc surface.

[0011] In some embodiments, the waist body further includes: an upper cover, detachably connected to the lower cover, the upper cover including a first drive fixing part, a second drive fixing part and a fixed connection part connecting the first drive fixing part and the second drive fixing part, a set of drive components of the drive assembly being disposed between the first drive mounting part and the first drive fixing part, and another set of drive components of the drive assembly being disposed between the second drive mounting part and the second drive fixing part, the fixed connection part being detachably connected to the rotating connection part.

[0012] In some embodiments, the connecting rod assembly includes: a rod-shaped body; a first spherical bearing, including a first bearing inner ring and a first bearing outer ring, the first bearing inner ring and the first bearing outer ring being spherically engaged, the first bearing inner ring being connected to the connecting portion, and the first bearing outer ring being connected to the rod-shaped body; a second spherical bearing, including a second bearing inner ring and a second bearing outer ring, the second bearing inner ring and the second bearing outer ring being spherically engaged, the second bearing inner ring being connected to the support assembly, and the second bearing outer ring being connected to the rod-shaped body; and / or, the connecting member includes: a first component, including a first end and a second end disposed opposite to each other, the first... The first and second ends of the component are both rotatably connected to the support assembly about the first axis; the second component has a first end that is perpendicular to and detachably connected to the middle of the first component, and a second end that is rotatably connected to the waist body about the second axis; and / or, the support assembly has a first limiting part and a second limiting part, the orthographic projections of the first limiting part and the second limiting part on a plane perpendicular to the first axis are arranged circumferentially opposite to each other along the first axis, and during the relative rotation of the waist body and the support assembly, the connector can abut against the first limiting part or the second limiting part.

[0013] In some embodiments, the waist structure can be mounted on the robot's lower limb, and the waist structure further includes: a torsion drive assembly, including a first torsion member and a second torsion member rotatably connected to each other, the first torsion member being detachably connected to the support assembly, and the second torsion member being connected to the robot's lower limb; and / or, the waist structure further includes: a controller, communicatively connected to the respective drive members of the two sets of drive assemblies, to control the respective drive members of the two sets of drive assemblies to drive their respective output members to rotate in opposite directions, thereby achieving the pitch of the waist structure, or to control the respective drive members of the two sets of drive assemblies to drive their respective output members to rotate in the same direction, thereby achieving the lateral sway of the waist structure.

[0014] Secondly, embodiments of this application provide a robot including the waist structure mentioned in the first aspect.

[0015] The waist structure provided in this application includes a support assembly, a connector, a waist body, two sets of drive assemblies, and two sets of linkage assemblies. The two sets of drive assemblies are connected in parallel to drive the waist body to rotate relative to the support assembly around a first axis and a second axis, thereby achieving pitch and sway of the waist body.

[0016] In other words, this application can achieve pitch and sway of the waist body using only one support component, one connector, two sets of drive components and two sets of linkage components, with a simple and compact structure. Attached Figure Description

[0017] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments thereof in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain the application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same parts.

[0018] Figure 1 The diagram shown is a schematic diagram of the waist structure provided in an embodiment of this application.

[0019] Figure 2 The diagram shown is a structural schematic of an output component provided in an embodiment of this application.

[0020] Figure 3 The diagram shown is a schematic diagram of the waist structure provided in another embodiment of this application.

[0021] Figure 4 The diagram shown is a schematic diagram of the waist structure provided in another embodiment of this application.

[0022] Figure 5 The image shown is an exploded view of the lower cover and fixing bracket assembly provided in an embodiment of this application.

[0023] Figure 6 As shown Figure 3 A magnified view of the waist structure in region A.

[0024] Figure 7 The image shown is a front view of a waist structure provided in an embodiment of this application.

[0025] Figure 8 As shown Figure 7 A cross-sectional view of the waist structure in the BB direction.

[0026] Figure 9 As shown Figure 8 A magnified view of the waist structure in region C.

[0027] Figure 10 The image shown is a side view of a waist structure provided in an embodiment of this application.

[0028] Figure 11 As shown Figure 10 A cross-sectional view of the waist structure in the DD direction.

[0029] Figure 12 The diagram shown is a structural schematic of a connector provided in an embodiment of this application.

[0030] Figure 13 The diagram shown is a structural schematic of a robot provided in one embodiment of this application.

[0031] Figure label:

[0032] 1. Robot; 10. Waist structure; 100. Support component; 110. First limiting part; 120. Second limiting part; 200. Connector; 210. First component; 220. Second component; 300. Waist body; 301. Fixing surface; 3011. First fixing surface; 3012. Second fixing surface; 3013. Third fixing surface; 310. Lower cover; 311. First drive mounting part; 312. Second drive mounting part; 313. Rotating connection part; 320. Upper cover; 321. First drive fixing part; 322. Second drive fixing part; 323. Fixing connection part; 400. Drive assembly; 410. Drive component; 420. Output component; 4200. Cam; 421. Connector; 50 0. Linkage assembly; 510. Rod-shaped body; 520. First joint bearing; 521. Inner ring of the first bearing; 522. Outer ring of the first bearing; 530. Second joint bearing; 531. Inner ring of the second bearing; 532. Outer ring of the second bearing; 600. Fixed bracket assembly; 601. Support surface; 6011. First support surface; 6012. Second support surface; 6013. Third support surface; 610. First fixed bracket; 620. Second fixed bracket; 700. Torsion drive assembly; 710. First torsion member; 720. Second torsion member; 800. Controller; 910. Motor clamp; 920. Base clamp; 20. Robot lower limb; L1. First axis; L2. Second axis; L3. Third axis. Detailed Implementation

[0033] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0034] Figure 1 The diagram shown is a structural schematic of a waist structure provided in an embodiment of this application. Figure 1 As shown, the waist structure 10 includes a support assembly 100, a connector 200, a waist body 300, two sets of drive assemblies 400, and two sets of linkage assemblies 500.

[0035] The support assembly 100 supports the connector 200 and the waist body 300. The connector 200 is rotatably connected to the support assembly 100 about a first axis L1. The waist body 300 is rotatably connected to the connector 200 about a second axis L2. The second axis L2 is perpendicular to the first axis L1. Exemplarily, the shapes of the support assembly 100, the connector 200, and the waist body 300 can be set according to actual needs or space constraints, and this application does not impose specific limitations.

[0036] The drive assembly 400 includes a drive member 410 and an output member 420 connected to each other. The drive member 410 is connected to the waist body 300, and the output member 420 rotates about an axis parallel to the second axis L2 under the drive of the drive member 410. Exemplarily, the drive member 410 may be a drive structure capable of providing rotational force, such as a motor or rotary cylinder.

[0037] The first end of the linkage assembly 500 is movably connected to the connecting portion 421 of the output member 420, and the second end of the linkage assembly 500 is movably connected to the support assembly 100. The connecting portion 421 is located circumferentially along the rotation axis of the output member 420. Exemplarily, the linkage assembly 500 can be a straight rod structure, a bent rod structure, or an irregularly shaped structure. The specific shape of the linkage assembly 500 can be set according to actual needs or space constraints, and this application does not impose specific limitations. Exemplarily, the aforementioned movable connection can be achieved using a fisheye bearing, a universal joint, or the like.

[0038] The waist structure 10 of this application utilizes two sets of drive components 400 connected in parallel to drive the waist body 300 to rotate relative to the support component 100 around the first axis L1 and the second axis L2, thereby realizing the pitch and sway of the waist body 300. In other words, this application can realize the pitch and sway of the waist body 300 using only one support component 100, one connector 200, two sets of drive components 400, and two sets of linkage components 500, resulting in a simple and compact structure.

[0039] Figure 2 The diagram shown is a structural schematic of an output component provided in one embodiment of this application. In some embodiments, such as Figure 2 As shown, the output component 420 includes a cam 4200. The cam 4200 is coaxially connected to the output shaft of the drive component 410, and the protrusion of the cam 4200 forms the connecting portion 421 of the output component 420. For example, as... Figure 2 As shown, cam 4200 can be a disc cam. A disc cam is a disc-shaped component with a variable radius that rotates around a fixed axis. It has a simple and compact structure and is easy to manufacture.

[0040] Since the connecting part 421 needs to be located circumferentially on the rotation axis of the output member 420, the output member 420 is designed as a cam 4200. The protrusion of the cam 4200 can be used to form the connecting part 421 of the output member 420. The protrusion has a large radius, which can realize a large range of pitch or oscillation, while the radius of other parts of the cam 4200 can be smaller, reducing the space occupied by the output member 420 and saving the cost of the output member 420.

[0041] Figure 3 The diagram shown is a structural schematic of a waist structure provided in another embodiment of this application. In some embodiments, such as Figure 3 As shown, the waist structure 10 also includes a fixing bracket assembly 600. The fixing bracket assembly 600 is detachably connected to both the waist body 300 and the support assembly 100.

[0042] In practical applications, some scenarios do not require the waist structure 10 to pitch and lateralize. In such cases, the fixed support assembly 600 can be installed on the waist structure 10 to restrict the relative movement between the waist body 300 and the support assembly 100. For example, the waist structure 10 may initially be designed with pitch and lateral functions. However, when selling the waist structure 10 or robots that include it, some customers may not require these functions. In such cases, the designer can install the fixed support assembly 600 on the waist structure 10, making the connection between the waist body 300 and the support assembly 100 more stable, meeting user needs, and expanding the application scenarios of the waist structure 10.

[0043] In some embodiments, such as Figure 3 As shown, the waist body 300 has a fixing surface 301, and the fixing bracket assembly 600 has a supporting surface 601. When the fixing bracket assembly 600 is connected to the waist body 300, the supporting surface 601 and the fixing surface 301 are in contact with each other, so that the supporting surface 601 can support the fixing surface 301, increasing the contact area between the fixing bracket assembly 600 and the waist body 300, and further improving the stability of the connection between the waist body 300 and the supporting assembly 100.

[0044] For example, both the fixing surface 301 and the supporting surface 601 can be flat, inclined, or curved, as long as the supporting surface 601 and the fixing surface 301 can fit together. For example, the fixing surface 301 is flat, and the supporting surface 601 is also flat. For example, the fixing surface 301 has a raised surface, and the supporting surface 601 has a recessed surface, with the fixing surface 301 and the supporting surface 601 having a concave-convex fit.

[0045] Figure 4 The diagram shown is a schematic diagram of the waist structure provided in another embodiment of this application. Figure 5The image shown is an exploded view of a lower cover and fixing bracket assembly according to an embodiment of this application. In some embodiments, such as Figure 4 and Figure 5 As shown, the fixing surface 301 includes a first fixing surface 3011, a second fixing surface 3012, and a third fixing surface 3013. The waist body 300 includes a lower cover 310. The lower cover 310 includes a first drive mounting part 311, a second drive mounting part 312, and a rotating connecting part 313 connecting the first drive mounting part 311 and the second drive mounting part 312.

[0046] The rotating connection 313 and the connector 200 are rotatably connected around the second axis L2. The drive components 410 of the two sets of drive assemblies 400 are respectively mounted on the first drive mounting portion 311 and the second drive mounting portion 312. The lower surface of the first drive mounting portion 311 includes a first fixing surface 3011, the lower surface of the second drive mounting portion 312 includes a second fixing surface 3012, and the lower surface of the rotating connection 313 includes a third fixing surface 3013.

[0047] like Figure 5 As shown, the support surface 601 includes a first support surface 6011, a second support surface 6012, and a third support surface 6013. The fixed bracket assembly 600 includes a first fixed bracket 610 and a second fixed bracket 620. The first fixed bracket 610 is detachably connected to both the first drive mounting part 311 and the support assembly 100. The upper surface of the first fixed bracket 610 has the first support surface 6011, which is in contact with the first fixed surface 3011. The second fixed bracket 620 is detachably connected to both the second drive mounting part 312 and the support assembly 100. The upper surface of the second fixed bracket 620 has the second support surface 6012 and the third support surface 6013, with the second support surface 6012 in contact with the second fixed surface 3012 and the third support surface 6013 in contact with the third fixed surface 3013.

[0048] like Figure 3 and Figure 4 As shown, the waist body 300 can swing clockwise or counterclockwise around the second axis L2. By setting the first fixed bracket 610 and the second fixed bracket 620, the waist body 300 can be supported by the corresponding support surface 601 whether it swings clockwise or counterclockwise, which further improves the stability of the connection between the waist body 300 and the support component 100.

[0049] In some embodiments, such as Figure 5As shown, the first fixing surface 3011 is a first arc surface, the second fixing surface 3012 is a second arc surface, the third fixing surface 3013 is a third arc surface, the first supporting surface 6011 is a fourth arc surface, the second supporting surface 6012 is a fifth arc surface, and the third supporting surface 6013 is a sixth arc surface. The first arc surface fits into the fourth arc surface, the second arc surface fits into the fifth arc surface, and the third arc surface fits into the sixth arc surface. The fitting of the arc surfaces together enables the fixing bracket assembly 600 to limit the waist body 300 in multiple directions, further improving the stability of the connection between the waist body 300 and the supporting assembly 100.

[0050] For example, such as Figure 5 As shown, the first arc surface is a convex arc surface, the fourth arc surface is a concave arc surface, the second arc surface is a convex arc surface, the fifth arc surface is a concave arc surface, the third arc surface is a convex arc surface, and the sixth arc surface is a concave arc surface.

[0051] For example, the first arc surface is a concave arc surface, the fourth arc surface is a convex arc surface, the second arc surface is a concave arc surface, the fifth arc surface is a convex arc surface, the third arc surface is a concave arc surface, and the sixth arc surface is a convex arc surface.

[0052] In some embodiments, such as Figure 4 As shown, the waist body 300 also includes an upper cover 320. The upper cover 320 is detachably connected to the lower cover 310. The upper cover 320 includes a first drive fixing part 321, a second drive fixing part 322, and a fixing connection part 323 connecting the first drive fixing part 321 and the second drive fixing part 322.

[0053] Figure 10 The image shown is a side view of a waist structure provided in an embodiment of this application. Figure 11 As shown Figure 10 A cross-sectional view of the waist structure in the DD direction. (See figure) Figure 10 and Figure 11 As shown, the driving component 410 of one set of drive assemblies 400 is disposed between the first drive mounting part 311 and the first drive fixing part 321, and the driving component 410 of another set of drive assemblies 400 is disposed between the second drive mounting part 312 and the second drive fixing part 322. The fixed connection part 323 and the rotating connection part 313 are detachably connected. By removing the upper cover 320, both sets of drive assemblies 400 can be disassembled, facilitating the maintenance and replacement of the drive assemblies 400. In addition, by simultaneously fixing the two drive assemblies 400 with the upper cover 320 and the lower cover 310, the stability of the drive assembly 400 installation is improved.

[0054] Figure 6 As shown Figure 3 A magnified view of a portion of the waist structure in region A. In some embodiments, such as Figure 6As shown, the linkage assembly 500 includes: a rod-shaped body 510, a first joint bearing 520, and a second joint bearing 530.

[0055] For example, the rod-shaped body 510 can be a straight rod, or a bent rod, an irregularly shaped rod, or other structures.

[0056] like Figure 6 As shown, the first spherical bearing 520 includes a first bearing inner ring 521 and a first bearing outer ring 522. The first bearing inner ring 521 and the first bearing outer ring 522 are spherically fitted. The first bearing inner ring 521 is connected to the connecting portion 421, and the first bearing outer ring 522 is connected to the rod-shaped body 510. For example, the first spherical bearing 520 may be a fisheye bearing.

[0057] like Figure 6 As shown, the second spherical plain bearing 530 includes a second bearing inner ring 531 and a second bearing outer ring 532. The second bearing inner ring 531 and the second bearing outer ring 532 are spherically fitted. The second bearing inner ring 531 is connected to the support assembly 100, and the second bearing outer ring 532 is connected to the rod-shaped body 510. For example, the second spherical plain bearing 530 may be a fisheye bearing.

[0058] The inner ring 521 and outer ring 522 of the first bearing are spherically fitted, as are the inner ring 531 and outer ring 532 of the second bearing. This enables a movable connection between the first end of the connecting rod assembly 500 and the connecting portion 421 of the output component 420, and a movable connection between the second end of the connecting rod assembly 500 and the support assembly 100. The spherical fit allows for multi-angle swing between the inner and outer rings of the bearing, compensating for installation errors and enabling pitch and lateral sway of the waist structure 10, thus reducing the installation difficulty of the connecting rod assembly 500.

[0059] Specifically, the mounting surface of the connecting part 421 can be the surface of the connecting part 421 that is aligned with the end face of the first end of the link assembly 500. The mounting surface of the support assembly 100 can be the surface of the support assembly 100 that is aligned with the end face of the second end of the link assembly 500. When both the first axis L1 and the second axis L2 are in a horizontally extending state, even if the mounting surface of the connecting part 421 and the mounting surface of the support assembly 100 are not in the same vertical plane, pitching and swaying of the waist structure 10 can still be achieved.

[0060] Figure 7 The image shown is a front view of a waist structure provided in an embodiment of this application. Figure 8 As shown Figure 7 A cross-sectional view of the waist structure in the BB direction. Figure 9 As shown Figure 8 A magnified view of the waist structure in region C. Figure 10 The image shown is a side view of a waist structure provided in an embodiment of this application. Figure 11 As shown Figure 10 A cross-sectional view of the waist structure in the DD direction. Figure 12 The diagram shown is a structural schematic of a connector provided in one embodiment of this application. In some embodiments, such as Figures 7 to 12 As shown, the connector 200 includes a first component 210 and a second component 220.

[0061] The first component 210 includes a first end and a second end disposed opposite to each other, and both the first end and the second end of the first component 210 are rotatably connected to the support assembly 100 about a first axis L1. The first end of the second component 220 is perpendicular to the middle part of the first component 210 and is detachably connected, and the second end of the second component 220 is rotatably connected to the waist body 300 about a second axis L2.

[0062] By configuring the connector 200 to detachably connect the first component 210 and the second component 220, if either the first component 210 or the second component 220 is damaged, only the first component 210 or the second component 220 needs to be replaced, thus saving costs.

[0063] In some embodiments, such as Figure 9 As shown, the support assembly 100 has a first limiting part 110 and a second limiting part 120. The orthographic projections of the first limiting part 110 and the second limiting part 120 on a plane perpendicular to the first axis L1 are arranged opposite each other along the circumference of the first axis L1. During the relative rotation of the waist body 300 and the support assembly 100, the connecting member 200 can abut against the first limiting part 110 or the second limiting part 120 to limit the pitch angle of the waist body 300 by means of a mechanical structure, so as to prevent the pitch angle of the waist body 300 from being too large.

[0064] For example, the support component 100 can be integrally formed or it can be configured as separate parts. For instance, the first limiting part 110 and the second limiting part 120 can be located on two separate structures of the support component 100, or they can be located on one integral structure of the support component 100.

[0065] For example, such as Figure 9 As shown, during the relative rotation of the waist body 300 and the support assembly 100, the second component 220 of the connector 200 can abut against the first limiting part 110 or the second limiting part 120.

[0066] In some embodiments, such as Figure 11As shown, the waist structure 10 can be installed on the robot's lower limb 20, and the waist structure 10 also includes a torsion drive assembly 700. The torsion drive assembly 700 includes a first torsion member 710 and a second torsion member 720 that are rotatably connected to each other. The first torsion member 710 is detachably connected to the support assembly 100, and the second torsion member 720 is connected to the robot's lower limb 20.

[0067] For example, the robot's lower limb 20 can be the robot's leg structure or the robot's chassis structure, as long as it can realize the function of the robot's lower limb. This application does not specifically limit the shape of the robot's lower limb 20.

[0068] For example, the first torsion member 710 and the second torsion member 720 are rotatably connected around the third axis L3 to achieve the torsion of the waist body 300 and the robot lower limb 20 around the third axis L3.

[0069] Exemplarily, the second torsion member 720 is detachably connected to the robot's lower limb 20. Exemplarily, the first torsion member 710 can be supported first using a motor clamp 910, and then the motor clamp 910 and the support assembly 100 can be connected using a base clamp 920. Exemplarily, the first torsion member 710 and the support assembly 100 can be directly connected using a single clamp. Exemplarily, the second torsion member 720 can be connected to the robot's lower limb 20 using a clamp or bolts.

[0070] For example, the torsion drive assembly 700 may be a joint module, the first torsion member 710 may be the drive end of the joint module, and the second torsion member 720 may be the output end of the joint module, or the first torsion member 710 may be the output end of the joint module, and the second torsion member 720 may be the drive end of the joint module.

[0071] In some embodiments, such as Figure 3 As shown, the waist structure 10 also includes a controller 800. The controller 800 is communicatively connected to the drive components 410 of each of the two sets of drive components 400, so as to control the drive components 410 of each of the two sets of drive components 400 to drive their respective output components 420 to rotate in opposite directions, thereby achieving pitch of the waist structure 10; or, to control the drive components 410 of each of the two sets of drive components 400 to drive their respective output components 420 to rotate in the same direction, thereby achieving sway of the waist structure 10. Using the controller 800 to achieve pitch and sway of the waist structure 10 is a simple and convenient control method.

[0072] For example, the controller 800 can be located on the waist structure 10 or at other locations on the robot, as long as the controller 800 can communicate with the respective drive element 410 of the two sets of drive components 400.

[0073] Figure 13The diagram shown is a structural schematic of a robot provided in one embodiment of this application. Figure 13 As shown, robot 1 includes the waist structure 10 provided in the above embodiment. Exemplarily, robot 1 can be a humanoid robot, a transport robot, a collaborative robot, etc.

[0074] Since robot 1 includes a waist structure 10, robot 1 possesses all the technical features and effects of the waist structure 10, which will not be elaborated here.

[0075] The terms "an embodiment" or "embodiment" used in this specification indicate that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Additionally, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not, is within the knowledge scope of those skilled in the art.

[0076] It should be understood that “on,” “above,” and “on top of” in this disclosure should be interpreted in the broadest manner, such that “on” means not only “directly on something” but also “on something” with an intermediate feature or layer therebetween, and that “above” or “on top of” means not only “on top of something” but also “on top of something” without an intermediate feature or layer therebetween (i.e., directly on something).

[0077] Furthermore, for ease of explanation, spatial relative terms such as "below," "below," "under," "above," and "above" may be used to describe the relationship of a component or feature relative to other components or features as shown in the figures. Spatial relative terms are intended to encompass different orientations of components in use or operation other than those shown in the figures. Devices may have other orientations (rotated 90 degrees or in other orientations), and the spatial relative descriptive terms used herein may be interpreted accordingly.

[0078] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are 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. Unless otherwise specified, 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.

[0079] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications or equivalent substitutions made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A waist structure characterized by, include: Support components; The connector is rotatably connected to the support assembly about a first axis; The waist body is rotatably connected to the connector about a second axis, which is perpendicular to the first axis. Two sets of drive components, each drive component including a drive member and an output member connected to each other, the drive member being connected to the waist body, and the output member rotating about an axis parallel to the second axis under the drive of the drive member; Two sets of linkage assemblies, the first end of the linkage assembly being movably connected to the connecting part of the output component, and the second end of the linkage assembly being movably connected to the support assembly, the connecting part being located circumferentially along the rotation axis of the output component.

2. The waist structure of claim 1, wherein The output component includes: A cam is coaxially connected to the output shaft of the drive member, and the protrusion of the cam forms the connecting portion of the output member.

3. The waist structure according to claim 1 or 2, characterized by Also includes: The fixed bracket assembly is detachably connected to both the waist body and the support assembly.

4. The waist structure of claim 3, wherein The waist body has a fixing surface, and the fixing bracket assembly has a supporting surface; When the fixed bracket assembly is connected to the waist body, the supporting surface and the fixed surface are in contact with each other.

5. The waist structure of claim 4, wherein The fixing surface includes a first fixing surface, a second fixing surface, and a third fixing surface, and the waist body includes: The lower cover includes a first drive mounting part, a second drive mounting part, and a rotating connecting part connecting the first drive mounting part and the second drive mounting part. The rotating connecting part is rotatably connected to the connecting member around the second axis. The drive members of the two sets of drive assemblies are respectively mounted on the first drive mounting part and the second drive mounting part. The lower surface of the first drive mounting part includes the first fixing surface, the lower surface of the second drive mounting part includes the second fixing surface, and the lower surface of the rotating connecting part includes the third fixing surface. The support surface includes a first support surface, a second support surface, and a third support surface, and the fixed bracket assembly includes: The first fixed bracket is detachably connected to both the first drive mounting part and the support assembly. The upper surface of the first fixed bracket has the first support surface, and the first support surface is in contact with the first fixed surface. The second fixed bracket is detachably connected to both the second drive mounting part and the support assembly. The upper surface of the second fixed bracket has a second support surface and a third support surface. The second support surface is in contact with the second fixed surface, and the third support surface is in contact with the third fixed surface.

6. The waist structure of claim 5, wherein The first fixing surface is a first arc surface, the second fixing surface is a second arc surface, the third fixing surface is a third arc surface, the first supporting surface is a fourth arc surface, the second supporting surface is a fifth arc surface, and the third supporting surface is a sixth arc surface.

7. The waist structure of claim 5, wherein The waist body also includes: The upper cover is detachably connected to the lower cover. The upper cover includes a first drive fixing part, a second drive fixing part, and a fixed connection part connecting the first drive fixing part and the second drive fixing part. The drive component of one set of the drive assembly is disposed between the first drive mounting part and the first drive fixing part, and the drive component of another set of the drive assembly is disposed between the second drive mounting part and the second drive fixing part. The fixed connection part is detachably connected to the rotating connection part.

8. The waist structure according to claim 1 or 2, characterized in that, The linkage assembly includes: Rod-shaped main body; A first spherical bearing includes a first bearing inner ring and a first bearing outer ring, the first bearing inner ring and the first bearing outer ring are spherically fitted, the first bearing inner ring is connected to the connecting part, and the first bearing outer ring is connected to the rod-shaped body. The second spherical bearing includes a second bearing inner ring and a second bearing outer ring, the second bearing inner ring and the second bearing outer ring are spherically fitted, the second bearing inner ring is connected to the support assembly, and the second bearing outer ring is connected to the rod-shaped body. And / or, The connector includes: The first component includes a first end and a second end disposed opposite to each other, and both the first end and the second end of the first component are rotatably connected to the support assembly about the first axis. The second component has a first end that is perpendicular to and detachably connected to the middle of the first component, and a second end that is rotatably connected to the waist body about the second axis. And / or, The support assembly has a first limiting part and a second limiting part. The orthographic projections of the first limiting part and the second limiting part on a plane perpendicular to the first axis are arranged opposite each other along the circumference of the first axis. During the relative rotation of the waist body and the support assembly, the connector can abut against the first limiting part or the second limiting part.

9. The waist structure according to claim 1 or 2, characterized in that, The waist structure can be installed on the robot's lower limbs, and the waist structure further includes: The torsion drive assembly includes a first torsion member and a second torsion member that are rotatably connected to each other. The first torsion member is detachably connected to the support assembly, and the second torsion member is connected to the robot's lower limb. And / or, The waist structure also includes: The controller is communicatively connected to the respective drive components of the two sets of drive components to control the respective drive components of the two sets of drive components to drive their respective output components to rotate in opposite directions, thereby achieving the pitch of the waist structure; or, to control the respective drive components of the two sets of drive components to drive their respective output components to rotate in the same direction, thereby achieving the sway of the waist structure.

10. A robot, characterized in that include: The waist structure according to any one of claims 1 to 9.

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