A robot and a waist structure

Abstract

A robot and a waist structure are disclosed. The waist structure includes: a base, a drive module, and a swing seat. The drive module is mounted on the base. An inner shaft is parallel to the Y-axis and is mounted on the base. A fixed sleeve is rotatably mounted on the inner shaft. Driving planetary gears are rotatably mounted on the inner shaft, with the driving planetary gears located at the left and right positions of the fixed sleeve. A driven planetary gear is connected to a connecting seat and meshes with the driving planetary gears on both sides. One end of a side shaft is confined to the fixed sleeve, and a driven planetary gear is rotatably fitted onto the side shaft. The swing seat is connected to the connecting seat. A motor is mounted on the base and located at the left and right ends of the inner shaft. The output end of the motor is connected to one of the driving planetary gears to drive its rotation. This solution enables multi-angle adjustment of the waist structure and solves the problem of excessive weight burden on the waist caused by the direct-drive method in traditional systems.

Description

Technical Field

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

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

[0003] The purpose of this invention is to propose a waist structure for a robot, which drives the active planetary gear to rotate in the same direction or in opposite directions through a drive module. This allows the swing seat to move at different angles in different steering states. Furthermore, based on the cooperation of the active planetary gear, the driven planetary gear, and the connecting seat, the active planetary gear can adjust the rotation angle of the swing seat, thus enabling multi-angle adjustment of the waist structure.

[0004] This utility model also proposes a robot that has the waist structure of the robot described above.

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

[0006] A waist structure for a robot includes: a base, a drive module, and a swing seat;

[0007] The drive module is mounted on the base;

[0008] The drive module includes: an inner shaft, a fixed sleeve, a driving planetary gear, a driven planetary gear, a side shaft, a connecting seat, and a motor device;

[0009] The inner shaft is parallel to the Y-axis and is mounted on the base. The fixed sleeve is rotatably mounted on the inner shaft. The driving planetary gear is rotatably mounted on the inner shaft and is located at the left and right positions of the fixed sleeve. The driven planetary gear is connected to the connecting seat and meshes with the driving planetary gears on both sides. One end of the side shaft is limited to the fixed sleeve, and the driven planetary gear is rotatably sleeved on the side shaft. The swing seat is connected to the connecting seat. The motor device is mounted on the base and is located at the left and right ends of the inner shaft. The output end of the motor device is connected to one of the driving planetary gears and is used to drive the driving planetary gear to rotate.

[0010] When the driving planetary gears in the left and right positions rotate in the same direction, the connecting seat drives the swing seat to rotate around the Y-axis;

[0011] When the driving planetary gears in the left and right positions rotate in opposite directions, the connecting seat rotates around the side axis, causing the swing seat to rotate around the side axis.

[0012] Optimally, the swing seat includes: a swing plate and a support rod;

[0013] One end of the support rod is connected to the swing plate, and the other end of the support rod is connected to the connecting seat.

[0014] Optimally, the base is provided with a pair of motor mounts, with the two motor mounts spaced apart to form a hollow area; the connecting seat and the support rod are located behind the hollow area, and the swing plate is located above the motor mounts.

[0015] When the active planetary gears in the left and right positions rotate in the same direction, the connecting seat drives the support rod to rotate around the Y-axis until it extends into the hollow area, and the swing plate rotates to be located in front of the hollow area.

[0016] Alternatively, each of the motor mounts may be equipped with one of the motor devices; the output end of the motor device extends into the cutout area; and the fixed end of the motor device is fixed to the motor mount near the output end.

[0017] Optimally, the base includes: a bearing seat, a base plate, and the motor seat;

[0018] A pair of motor mounts are mounted on the base plate; the shaft mount is mounted on the hollow area; the driving planetary gear is provided with a gear bearing, the outer ring of the gear bearing is rotatably mounted on the shaft mount, and the inner ring of the gear bearing is rotatably connected to the inner shaft, so that the inner shaft is limited to the shaft mount; the output end of the motor device is connected to the outer ring of the gear bearing for driving the driving planetary gear to rotate;

[0019] The bearing seat has a hollow opening; the driving planetary gear and the driven planetary gear mesh with the hollow opening.

[0020] Alternatively, the support rod may be provided with a U-shaped groove, with one end of the U-shaped groove protruding from the groove opening; the inner sidewalls of the groove opening are respectively connected to both sides of the connecting seat.

[0021] Alternatively, the end of the U-shaped groove is provided with a support platform, which is located at the end of the U-shaped groove away from the groove opening, and the end of the U-shaped groove and the support platform are connected together to the swing plate.

[0022] Ideally, the support platform should have a triangular structure.

[0023] Ideally, the support platforms are respectively installed on the left and right side walls of the U-shaped groove; the support platforms, the swing plate, and the support rod are integrated as a single unit.

[0024] A robot having the waist structure described above.

[0025] Compared with the prior art, one of the above technical solutions has the following beneficial effects:

[0026] This solution provides a waist structure for a robot, which drives the active planetary gear to rotate in the same direction or in opposite directions through a drive module. This allows the swing seat to move at different angles in different steering states. Based on the cooperation of the active planetary gear, the driven planetary gear, and the connecting seat, the active planetary gear can adjust the rotation angle of the swing seat, enabling multi-angle adjustment of the waist structure. This solves the problem of excessive weight burden on the waist caused by the direct drive method in traditional systems. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of one embodiment of the waist structure;

[0028] Figure 2 This is a schematic diagram of one embodiment of the waist structure when it rotates around a lateral axis;

[0029] Figure 3 This is a schematic diagram of one embodiment of the waist structure when it rotates around the Y-axis;

[0030] Figure 4 This is an exploded view of one embodiment of the waist structure;

[0031] Figure 5 This is a structural schematic diagram of one embodiment of the swing seat.

[0032] in:

[0033] Drive module 1, base 2, swing seat 3;

[0034] Inner shaft 11, fixed sleeve 12, driving planetary gear 13, driven planetary gear 14, side shaft 15, connecting seat 16, motor assembly 17; gear bearing 131;

[0035] Motor base 21, shaft seat 22, base plate 23; hollow area 211; hollow opening 221;

[0036] 31. Swing plate; 32. Support rod; 321. U-shaped groove; 322. Support platform; 323. Groove opening. Detailed Implementation

[0037] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0038] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," "outer," "inner side," "outer side," "inner end," "outer end," "axial," "radial," and "circumferential," etc., indicating the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, features defined with "first" and "second" may explicitly or implicitly include one or more of these features, used to distinguish descriptive features, without any order or emphasis. In the description of this utility model, unless otherwise stated, "multiple" means two or more.

[0039] like Figure 1-5 A waist structure for a robot includes: a base 2, a drive module 1, and a swing seat 3;

[0040] The drive module 1 is mounted on the base 2;

[0041] The drive module 1 includes: an inner shaft 11, a fixed sleeve 12, a driving planetary gear 13, a driven planetary gear 14, a side shaft 15, a connecting seat 16, and a motor device 17.

[0042] The inner shaft 11 is parallel to the Y-axis and is mounted on the base 2. The fixed sleeve 12 is rotatably mounted on the inner shaft 11. The driving planetary gear 13 is rotatably mounted on the inner shaft 11 and is located at the left and right positions of the fixed sleeve 12. The driven planetary gear 14 is connected to the connecting seat 16 and meshes with the driving planetary gears 13 on both sides. One end of the side shaft 15 is limited to the fixed sleeve 12, and the driven planetary gear 14 is rotatably sleeved on the side shaft 15. The swing seat 3 is connected to the connecting seat 16. The motor device 17 is mounted on the base 2 and is located at the left and right ends of the inner shaft 11. The output end of the motor device 17 is connected to the driving planetary gear 13 on one side to drive the driving planetary gear 13 to rotate.

[0043] When the driving planetary gear 13 in the left and right positions rotates in the same direction, the connecting seat 16 drives the swing seat 3 to rotate around the Y-axis.

[0044] When the driving planetary gear 13 in the left and right positions rotates in opposite directions, the connecting seat 16 rotates around the side shaft 15, causing the swing seat 3 to rotate around the side shaft 15.

[0045] This solution provides a waist structure for a robot, which is driven by a drive module 1 to rotate the active planetary gear 13 in the same direction or in the opposite direction. This allows the swing seat 3 to move at different angles in different steering states. Based on the cooperation of the active planetary gear 13, the driven planetary gear 14 and the connecting seat 16, the active planetary gear 13 can adjust the rotation angle of the swing seat 3, enabling multi-angle adjustment of the waist structure and solving the problem of excessive weight burden on the waist caused by the direct drive method in traditional systems.

[0046] Specifically, the waist structure is the waist of the humanoid robot, that is, the swing base 3 can connect to the upper body of the robot, and the base 2 can connect to the lower body of the robot; the base 2 is equipped with the drive module 1, and the motor device 17 is respectively set on the left and right sides of the base 2; the motor device 17 can be directly or indirectly connected to the active planetary gear 13, and can make the active planetary gear 13 rotate; the active planetary gear 13 is rotatably connected to the inner shaft 11, and the inner shaft 11 is respectively provided with active planetary gears 13 at the left and right positions; a fixed sleeve 12 is provided between two adjacent active planetary gears 13, and the fixed sleeve 12 can rotate around the Y-axis; the driven planetary gear 14 is fixed to the connecting seat 16; one end of the side shaft 15 is connected to the fixed sleeve 12, so that the driven planetary gear 14 is limited between the two active planetary gears 13, and the driven planetary gear 14 meshes with the left and right active planetary gears 13 respectively, and the driven planetary gear 14 can rotate relative to the side shaft 15, and drive the connecting seat 16 to rotate; Figure 1 The connecting seat 16 is connected to the swing seat 3. The motor device 17 independently drives one of the driving planetary gears 13 to rotate. The two driving planetary gears 13 can rotate in the same direction or in opposite directions. When the two driving planetary gears 13 rotate in the same direction, they simultaneously keep the driven planetary gear 14 stationary or rotating at a low speed, based on the connection between the connecting seat 16 and the fixed sleeve 12 via a side shaft 15. The driven planetary gear 14, connecting seat 16, and fixed sleeve 12 rotate around the Y-axis. The connecting seat 16 drives the swing seat 3 to rotate around the Y-axis via the swing seat 3, meaning the entire upper body of the robot will rotate relative to the base 2 around the Y-axis, equivalent to the upper body of the robot swinging back and forth. Figure 3 Meanwhile, since the driving planetary gears 13 rotate simultaneously in the same direction, it is equivalent to using two motor devices 17 to simultaneously drive the upper body of the robot to rotate, which can reduce the weight burden on the upper body of the robot. When the two driving planetary gears 13 rotate in opposite directions, the two driving planetary gears 13 simultaneously cause the driven planetary gear 14 to rotate clockwise or counterclockwise; based on the connection between the connecting seat 16 and the fixed sleeve 12 through the side shaft 15, and the rotational connection relationship between the side shaft 15 and the fixed sleeve 12; the driven planetary gear 14 and the connecting seat 16 rotate around the side shaft 15; as Figure 2 The connecting seat 16 rotates around the side shaft 15, thereby causing the swing seat 3 to swing left and right. In this way, the solution can realize multi-angle adjustment of the waist structure and solve the problem of excessive weight burden on the waist caused by the direct drive method in the traditional system.

[0047] The motor device 17 is replaced by a known mechanism with a drive rotation function, which can be a motor or a combination of a motor and a reducer, etc.

[0048] Optimally, the swing seat 3 includes: a swing plate 31 and a support rod 32;

[0049] One end of the support rod 32 is connected to the swing plate 31, and the other end of the support rod 32 is connected to the connecting seat 16.

[0050] The shape and structure of the swing seat 3 in this solution can be customized as needed; in one embodiment of this solution, the swing seat 3 is provided with a swing plate 31 and a support rod 32; the swing plate 31 is used to mount the upper body of the robot, and the upper body of the robot is separated from the drive module 1 by the support rod 32, so that there is more room for movement between the upper body of the robot and the drive module 1.

[0051] Optimally, the base 2 is provided with a pair of motor seats 21, and the two motor seats 21 are spaced apart to form a hollow area 211; the connecting seat 16 and the support rod 32 are located behind the hollow area 211, and the swing plate 31 is located above the motor seats 21.

[0052] When the active planetary gears 13 in the left and right positions rotate in the same direction, the connecting seat 16 drives the support rod 32 to rotate around the Y-axis until it extends into the hollow area 211, and the swing plate 31 rotates to be located in front of the hollow area 211.

[0053] This embodiment can further improve the range of motion of the robot's upper body. Specifically, the motor bases 21 are spaced apart to form a hollow area 211. The inner shaft 11, fixed sleeve 12, driving planetary gear 13, driven planetary gear 14, side shaft 15, and connecting seat 16 can be located in the hollow area 211. Since this embodiment uses a support rod 32 to separate the swing plate 31 from the inner shaft 11, there is a certain gap between the swing plate 31 and the hollow area 211. During the swinging, the support rod 32 can be inserted into the hollow area 211, thereby preventing the swing plate 31 from hitting the inner shaft 11 and its connected components. When the swing plate 31 rotates to the opposite front of the hollow area 211, the swing plate 31 can rotate at least 90° around the inner shaft 11, thereby causing the robot's upper body to bend at least 90°, increasing the bending range.

[0054] Optimally, each of the motor mounts 21 is equipped with one of the motor devices 17; the output end of the motor device 17 extends into the hollow area 211; the fixed end of the motor device 17 is fixed to the motor mount 21 near the output end.

[0055] In this embodiment, the design of the fixed end and output end of the motor device 17 can make the waist structure more compact; the motor device 17 is fixed to the motor base 21 near the output end, and the output end of one end of the motor device 17 is located in the hollow area 211; the fixed end of the motor device 17 is located outside the hollow area 211 and faces the left and right positions of the base 2; that is, the motor device 17 only extends into the hollow area 211 through the output end, which can reduce the horizontal distance of the hollow area 211 and make the structure inside the hollow area 211 more compact.

[0056] Optimally, the base 2 includes: a bearing 22, a base plate 23, and the motor base 21;

[0057] A pair of motor mounts 21 are mounted on the base plate 23; the shaft mount 22 is mounted on the hollow area 211; the driving planetary gear 13 is provided with a gear bearing 131, the outer ring of the gear bearing 131 is rotatably mounted on the shaft mount 22, and the inner ring of the gear bearing 131 is rotatably connected to the inner shaft 11, so that the inner shaft 11 is limited to the shaft mount 22; the output end of the motor device 17 is connected to the outer ring of the gear bearing 131 for driving the driving planetary gear 13 to rotate;

[0058] The bearing seat 22 is provided with a hollow opening 221; the driving planetary gear 13 and the driven planetary gear 14 mesh with the hollow opening 221.

[0059] The inner shaft 11 can be mounted on the base 2 in any known manner. In some embodiments, the base 2 includes a shaft seat 22, a base plate 23, and a motor seat 21. The driving planetary gear 13 is provided with a gear bearing 131, which has an inner ring and an outer ring. The outer ring is mounted on the shaft seat 22, and the inner ring is used to connect to the inner shaft 11. Thus, the inner rings of the two driving planetary gears 13 can fix the inner shaft 11. The motor device 17 is connected to the outer ring of the gear bearing 131 at the output end of the hollow area 211. The gear bearing 131 is connected to the main body of the driving planetary gear 13. Thus, the rotation of the drive ring can drive the driving planetary gear 13 to rotate relative to the inner shaft 11. The hollow opening 221 is used to accommodate the driven planetary gear 14 and the two driving planetary gears 13. The shaft seat 22 and the motor seat 21 can arrange the drive module 1 in a reasonable manner, making the drive module 1 more compact and lightweight. While realizing multi-angle adjustment of the waist structure, it avoids excessive weight burden on the waist.

[0060] Alternatively, the support rod 32 is provided with a U-shaped groove 321, with one end of the U-shaped groove 321 protruding from the groove opening 323; the inner sidewalls of the groove opening 323 are respectively connected to both sides of the connecting seat 16.

[0061] The U-shaped groove 321 provided in the support rod 32 can reduce the weight of the swing seat 3, thereby reducing the load on the connecting seat 16; at the same time, one end of the U-shaped groove 321 is exposed through the groove opening 323, and the groove opening 323 has inner sidewalls at the left and right positions, which are respectively connected to the left and right sides of the connecting seat 16. The support rod 32 is equivalent to being connected to the two sides of the connecting seat 16 through two rod structures, which increases the connection point and improves the fixation stability.

[0062] Alternatively, the end of the U-shaped groove 321 is provided with a support platform 322, the support platform 322 is located at the end of the U-shaped groove 321 away from the groove opening 323, and the end of the U-shaped groove 321 and the support platform 322 are connected together to the swing plate 31.

[0063] The support rod 32 has a support platform 322 in the U-shaped groove 321, which can increase the contact area between the support rod 32 and the swing plate 31. The end of the U-shaped groove 321 and the support platform 322 are connected to the swing plate 31 together, which has the characteristics of lightweight and can improve the support stability of the swing plate 31.

[0064] Alternatively, the support platform 322 can be optimized to have a triangular structure.

[0065] The three sides of the triangular structure are connected to each other to form a stable structure, which can improve the support stability of the pendulum plate 31.

[0066] Optimally, the support platform 322 is respectively installed on the left and right side walls of the U-shaped groove 321; the support platform 322, the swing plate 31 and the support rod 32 are integrated as a whole.

[0067] In some embodiments, a single support platform 322 connects the left and right sidewalls of the U-shaped groove 321 simultaneously; in another embodiment, the support platforms 322 are respectively installed on the left and right sidewalls of the U-shaped groove 321, and the two support platforms 322 are spaced apart with open holes, which can further reduce the overall weight of the swing seat 3, making the swing seat 3 lighter; at the same time, the support platform 322, the swing plate 31 and the support rod 32 are integrated into one piece, which greatly improves the connection tightness of the three and simplifies the assembly process of the three.

[0068] A robot having the waist structure described above.

[0069] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A waist structure for a robot, characterized in that, include: Base, drive module, and swing base; The drive module is mounted on the base; The drive module includes: an inner shaft, a fixed sleeve, a driving planetary gear, a driven planetary gear, a side shaft, a connecting seat, and a motor device; The inner shaft is parallel to the Y-axis and is mounted on the base. The fixed sleeve is rotatably mounted on the inner shaft. The driving planetary gear is rotatably mounted on the inner shaft and is located at the left and right positions of the fixed sleeve. The driven planetary gear is connected to the connecting seat and meshes with the driving planetary gears on both sides. One end of the side shaft is limited to the fixed sleeve, and the driven planetary gear is rotatably sleeved on the side shaft. The swing seat is connected to the connecting seat. The motor device is mounted on the base and is located at the left and right ends of the inner shaft. The output end of the motor device is connected to one of the driving planetary gears and is used to drive the driving planetary gear to rotate. When the driving planetary gears in the left and right positions rotate in the same direction, the connecting seat drives the swing seat to rotate around the Y-axis; When the driving planetary gears in the left and right positions rotate in opposite directions, the connecting seat rotates around the side axis, causing the swing seat to rotate around the side axis.

2. The waist structure of a robot according to claim 1, characterized in that, The swing seat includes: a swing plate and a support rod; One end of the support rod is connected to the swing plate, and the other end of the support rod is connected to the connecting seat.

3. The waist structure of a robot according to claim 2, characterized in that, The base is provided with a pair of motor mounts, and the two motor mounts are spaced apart to form a hollow area; the connecting seat and the support rod are located behind the hollow area, and the swing plate is located above the motor mounts. When the active planetary gears in the left and right positions rotate in the same direction, the connecting seat drives the support rod to rotate around the Y-axis until it extends into the hollow area, and the swing plate rotates to be located in front of the hollow area.

4. The waist structure of a robot according to claim 3, characterized in that, Each of the motor mounts is equipped with one of the motor devices; the output end of the motor device extends into the hollow area at its end; the fixed end of the motor device is fixed to the motor mount near the output end.

5. The waist structure of a robot according to claim 3, characterized in that, The base includes: a bearing seat, a base plate, and the motor seat; A pair of motor mounts are mounted on the base plate; the shaft mount is mounted on the hollow area; the driving planetary gear is provided with a gear bearing, the outer ring of the gear bearing is rotatably mounted on the shaft mount, and the inner ring of the gear bearing is rotatably connected to the inner shaft, so that the inner shaft is limited to the shaft mount; the output end of the motor device is connected to the outer ring of the gear bearing for driving the driving planetary gear to rotate; The bearing seat has a hollow opening; the driving planetary gear and the driven planetary gear mesh with the hollow opening.

6. The waist structure of a robot according to claim 2, characterized in that, The support rod is provided with a U-shaped groove, and the groove opening is exposed at one end of the support rod; the inner sidewall of the groove opening is respectively connected to both sides of the connecting seat.

7. The waist structure of a robot according to claim 6, characterized in that, The end of the U-shaped groove is provided with a support platform, which is located at the end of the U-shaped groove away from the groove opening. The end of the U-shaped groove and the support platform are connected to the swing plate.

8. The waist structure of a robot according to claim 7, characterized in that, The support platform has a triangular structure.

9. The waist structure of a robot according to claim 8, characterized in that, The support platforms are respectively installed on the left and right side walls of the U-shaped groove; the support platforms, swing plates and support rods are integrated as a whole.

10. A robot, characterized in that, The robot has a waist structure as described in any one of claims 1-9.

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