Torso structure and robot

Abstract

The embodiment of the present application provides a trunk structure and a robot, the trunk structure comprising: an arm part; a trunk body, the trunk body being provided with an opening, an accommodating space being arranged in the trunk body; a first driving part rotatably arranged in the accommodating space, an output end of the first driving part being in transmission connection with the arm part via the opening; and a second driving part fixedly arranged in the accommodating space, the second driving part being in transmission connection with the first driving part to drive the first driving part to rotate in the accommodating space. Compared with the limited arm lifting action of the traditional "desktop" robot, the trunk structure of the present application can drive the arm part to rotate through the first driving part, thereby simulating the arm swinging action of human beings, and further, the first driving part can be driven to rotate in the accommodating space through the second driving part, thereby driving the arm part to rotate, and further simulating the arm lifting action of human beings. It can be understood that the arm lifting action and the arm swinging action can be performed simultaneously, so that the activity space of the arm part is increased, and the interactive experience is good.

Description

Technical Field

[0001] This utility model belongs to the field of desktop robot technology, and in particular relates to a torso structure and robot. Background Technology

[0002] Currently, with the development of science and technology, robotics is gradually being applied to various fields, such as industrial and household applications.

[0003] In the home appliance sector, there is a type of robot designed for limited spaces (such as desktop or car dashboard scenarios), which is small in size (usually 10-50cm in overall size) and focuses on lightweight tasks. Its core feature is that it is adaptable to limited spaces and can run directly on a small flat surface, emphasizing "desktop-level" interaction or companionship functions.

[0004] In existing technologies, such "desktop" robots are generally humanoid in structure with a small torso (width is generally less than 50mm) and limited internal space, resulting in fewer drive mechanisms that can be installed and fewer degrees of freedom for the arms, which affects the interactive experience. Summary of the Invention

[0005] The purpose of this application is to provide a torso structure and robot, which aims to solve the problem of limited degrees of freedom in existing desktop robots.

[0006] To achieve the above objectives, the technical solution adopted in this application is as follows: An embodiment of this application provides a torso structure, including: an arm; a torso body having an opening and an internal accommodating space; a first driving part rotatably disposed in the accommodating space, the output end of the first driving part being connected to the arm via the opening; and a second driving part fixed in the accommodating space, the second driving part being connected to the first driving part to drive the first driving part to rotate in the accommodating space.

[0007] Optionally, the torso structure further includes a first connecting part, which is pivotally connected to the torso body; the arm is connected to one end of the first connecting part, and the first driving part is connected to the other end of the first connecting part.

[0008] Optionally, the first connecting part includes a rotating member and a support member connecting the rotating member; the rotating member is pivotally connected to the torso body; the first driving part is connected to the support member, and the output end of the first driving part passes through the support member and is connected to the arm.

[0009] Optionally, the first connecting part further includes a connecting cylinder, which is connected to the rotating member. The connecting cylinder is at least partially disposed within the opening, and the output end of the first driving part passes through the support member and is disposed within the connecting cylinder. The arm part includes an arm body and a protrusion, which is disposed within the connecting cylinder and connected to the output end of the first driving part.

[0010] Optionally, the opening size is larger than the connecting cylinder size.

[0011] Optionally, the connecting cylinder and the support are spaced apart.

[0012] Optionally, the torso body includes a sidewall shell with an opening on the sidewall shell; a rotating member is pivotally connected to the sidewall shell, and part of the rotating member is located inside the opening.

[0013] Optionally, the torso body includes a sidewall shell with an opening on it; a rotating member is pivotally connected to the sidewall shell; the size of the opening facing the arm is larger than the size of the opening facing the first drive part.

[0014] Optionally, the torso structure further includes a second connecting part, which includes a connecting seat and a connecting arm disposed outside the connecting seat. A first driving part is disposed inside the connecting seat, and the connecting arm is connected to the second driving part.

[0015] Optionally, the connecting seat includes a connecting body and a baffle. The baffle is arranged circumferentially along the connecting body. The connecting body is fixedly connected to the first driving part, and the first driving part abuts against the baffle.

[0016] Optionally, the second drive unit includes a drive member, a first link, and a second link. The first end of the first link is connected to the output end of the drive member, the second end of the first link is pivotally connected to the first end of the second link, and the second end of the second link is pivotally connected to the connecting arm.

[0017] Optionally, the torso structure further includes a mounting section, which is arranged along a first direction. The mounting section includes a side plate and a limiting member. The side plate is connected to the torso body, and the limiting member is installed in the middle of the side plate. The driving member includes a motor and a reducer. The reducer is fixed to the side plate and abuts against the limiting member. A first connecting rod is disposed between the limiting plate, the reducer, and the torso body.

[0018] Optionally, the torso structure also includes a positioning part, which is spaced apart from the mounting part along the second direction, and a reducer is disposed between the positioning part and the mounting part.

[0019] Embodiments of this application also provide a robot including the torso structure described above.

[0020] The beneficial effects of this application are as follows: Compared with the limited arm-raising movements of traditional "desktop" robots, the torso structure of this application can drive the arm to rotate through the first drive unit, thereby mimicking the arm-swinging movement of humans. Furthermore, the first drive unit can also drive the first drive unit to rotate within the accommodating space through the second drive unit, thereby driving the arm to rotate and thus mimicking the arm-raising movement of humans. It can be understood that the arm-raising movement and the arm-swinging movement can be performed simultaneously, thereby increasing the range of motion of the arm and improving the interactive experience. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or exemplary technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 A perspective view of the robot according to an embodiment of the present utility model; Figure 2 This is a perspective view of the torso structure of an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of the first connecting part in an embodiment of the present invention; Figure 4 This is an assembly diagram of the first connecting part, the first driving part, and the second connecting part according to an embodiment of the present utility model; Figure 5 This is a schematic diagram of the transmission of the torso structure according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of the second housing in an embodiment of the present invention.

[0023] The following are the labeling elements in the figure: 10. Trunk structure; 110. Arm; 111. Arm body; 112. Protrusion; 120. Torso body; 121. First shell; 122. Second shell; 123. Side wall shell; 124. Opening; 130. First drive unit; 140. Second drive unit; 141. Drive component; 1411. Motor; 1412. Reducer; 142. First connecting rod; 143. Second connecting rod; 150. First connecting part; 151. Rotating component; 152. Supporting component; 153. Connecting cylinder; 154. Spacer; 160. Second connecting part; 161. Connecting seat; 1611. Connecting body; 1612. Baffle; 162. Connecting arm; 170. Mounting part; 171. Side plate; 172. Limiting component; 180. Positioning section; 20. Robot. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the scope of this application.

[0025] It should be noted that when a component is referred to as "fixed to" or "set on" another component, it can be directly or indirectly attached to that other component. When a component is referred to as "connected to" another component, it can be directly or indirectly connected to that other component. The terms "upper," "lower," "left," "right," etc., indicate orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, and are for ease of description only, not to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances. The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features. "A plurality" means two or more, unless otherwise explicitly defined.

[0026] Before describing the technical solution of this application, to facilitate the description of the positions of each component, the X-axis, Y-axis, and Z-axis directions are introduced to illustrate the positions of each component. The directions indicated by the arrows are positive directions. It should be understood that these directions are only for illustrative purposes and are not intended to limit the technical solution. In some possible examples, the X-axis direction may refer to the width direction of the torso structure 10, the Y-axis direction may refer to the thickness direction of the torso structure 10, and the Z-axis direction may refer to the height direction of the torso structure 10.

[0027] Please see Figures 1 to 2 This application provides a torso structure 10, including: an arm 110, a torso body 120, a first drive part 130, and a second drive part 140.

[0028] Optionally, the first drive unit 130 is arranged generally along the X-axis direction (it may have a certain angle with the X-axis). The second drive unit 140 is arranged generally along the Y-axis direction, and the first drive unit 130 and the second drive unit 140 are spaced apart along the Z-axis direction. The second drive unit 140 drives the first drive unit 130 to rotate within the receiving space.

[0029] Alternatively, the torso structure 10 may be made of polypropylene, acrylonitrile-butadiene-styrene copolymer or polycarbonate, which is non-toxic, impact-resistant, drop-resistant and has long-term stability.

[0030] The arm 110 is movably connected to the torso body 120. The shape of the arm 110 can resemble a human arm. Specifically, since the overall size of the "desktop-level" robot 20 is relatively small, the arm 110 in this embodiment can be a rod-shaped structure without elbow or wrist joints. The relative movement between the arm 110 and the torso body 120 can mimic human arm swinging or raising movements. Optionally, the arm 110 can be a solid arm 110 or a hollow arm 110, depending on the specific circumstances; this application does not impose any limitations. In some possible examples, the arm 110 initially hangs naturally, positioned along the Z-axis.

[0031] The torso body 120 described above is roughly shaped like a human torso. In this example, the torso body 120 is a cylindrical shell, and its dimensions can gradually decrease along the positive Z-axis. The cross-sectional shape of the torso body 120 can be selected as needed; it can be either a regular or irregular shape.

[0032] The torso body 120 has an opening 124 and an internal accommodating space. It can be understood that the shape of the accommodating space depends on the shape of the torso body 120. When the cross-sectional shape of the torso body 120 is circular, the accommodating space is a cylindrical space.

[0033] The torso body 120 can be formed by splicing a first shell 121 and a second shell 122, thereby reducing the difficulty of mold manufacturing and facilitating assembly. In some possible examples, the first shell 121 and the second shell 122 are similar in shape and symmetrically arranged, and are connected by threads, defining the aforementioned receiving space between the first shell 121 and the second shell 122. Notches can be provided on both the first shell 121 and the second shell 122, and when the first shell 121 and the second shell 122 are spliced, the two notches merge to form the aforementioned opening 124.

[0034] The first drive unit 130 described above can be a motor 1411, which is rotatably disposed in the receiving space. In some possible examples, the first drive unit 130 is initially disposed along the X-axis direction. The output end of the first drive unit 130 is connected to the arm 110 via the opening 124. It can be understood that when the first drive unit 130 drives the arm 110 to rotate, it can mimic the swinging motion of a human arm.

[0035] The second drive unit 140 is fixed in the receiving space. The second drive unit 140 is connected to the first drive unit 130 in a transmission manner to drive the first drive unit 130 to rotate in the receiving space. Since the first drive unit 130 and the arm 110 are a whole, when the first drive unit 130 rotates in the receiving space, it drives the arm 110 to rotate, thereby imitating the human arm raising action.

[0036] It is understandable that, compared to the limited arm-raising movements of traditional "desktop" robots 20, the torso structure 10 of this application can drive the arm 110 to rotate through the first drive unit 130, thereby mimicking human arm-swinging movements. Furthermore, the first drive unit 130 can be driven to rotate within the accommodating space through the second drive unit 140, thereby driving the arm 110 to rotate and thus mimicking human arm-raising movements. It is understood that arm-raising and arm-swinging movements can be performed simultaneously, thereby increasing the activity space of the arm 110 and improving the interactive experience.

[0037] The following examples illustrate how the first drive unit 130 drives the arm 110 to rotate, and how the first drive unit 130 rotates within the receiving space.

[0038] Please see Figure 3 To enable the first drive unit 130 to rotate within the accommodating space, in some possible embodiments, the torso structure 10 further includes a first connecting part 150. In this embodiment, on one hand, the first connecting part 150 connects the arm 162 part 110 and the first drive unit 130, that is, the arm 110 is connected to one end of the first connecting part 150, and the first drive unit 130 is connected to the other end of the first connecting part 150. On the other hand, the first connecting part 150 is pivotally connected to the torso body 120, and rotation is achieved through the first connecting part 150. There is no need to additionally set up components in the first drive unit 130 to achieve the rotation function; one component has two functions.

[0039] Optionally, the first connecting part 150 includes a rotating member 151 and a supporting member 152. The supporting member 152 is disposed on the side of the rotating member 151 opposite to the opening 124, and the supporting member 152 can be directly connected to the rotating member 151.

[0040] The rotating component 151 is generally annular, with a shaft hole at its center. A pivot can be mounted on the torso body 120. The pivot connection between the rotating component 151 and the torso body 120 is achieved through the engagement of the shaft hole and the pivot. It should be noted that a pivot can also be mounted on the rotating component 151, with the shaft hole located on the torso body 120, to achieve the same function. The choice is flexible and this application does not impose any restrictions.

[0041] The support member 152 is generally sheet-like, such as a circular sheet, and has a certain thickness, thus possessing good structural strength. A through hole can be provided on the support member 152, the shape of which matches the cross-sectional shape of the first driving part 130. The first driving part 130 is disposed within the through hole and fixedly connected to the side wall of the through hole, thereby connecting the first driving part 130 to the support member 152. It can be understood that the output end of the first driving part 130 passes through the support member 152 and connects directly to the arm part 110, thus directly driving the arm part 110 to rotate.

[0042] In this embodiment, the support member 152 is connected to the first drive unit 130, and the rotating member 151 is pivotally disposed on the torso body 120, so that the first drive unit 130 can rotate within the accommodating space. Since the output end of the first drive unit 130 is connected to the arm 162 part 110 through the opening 124, the arm 110 also rotates around the rotating member 151, thereby simulating the arm raising action. In addition, when the output end of the first drive unit 130 rotates, it can drive the arm 110 to rotate around the axis of the first drive unit 130 as a reference, thereby simulating the arm swinging action.

[0043] Please see Figure 4 Based on the above embodiment, since the output end of the first drive unit 130 is directly connected to the arm 110, when the strip falls into the opening 124, it may become entangled in the output end of the first drive unit 130. To solve the above problem: The first connecting part 150 also includes a connecting cylinder 153. The connecting cylinder 153 is generally cylindrical, for example, it can be cylindrical or square. The connecting cylinder 153 is connected to the rotating member 151 and is at least partially disposed in the opening 124. The output end of the first driving part 130 passes through the support member 152 and is disposed in the connecting cylinder 153.

[0044] The arm 110 includes an arm body 111 and a protrusion 112, which is disposed on the connecting cylinder 153 and connected to the output end of the first drive unit 130. In one possible example, the cross-sectional dimension of the protrusion 112 is smaller than the inner wall dimension of the connecting cylinder 153, and the protrusion 112 is connected to the connecting cylinder 153 by a bearing.

[0045] When the rotating component 151 rotates, it drives the connecting cylinder 153 to rotate within the opening 124. Since the protrusion 112 is located within the connecting cylinder 153, it can swing along with the protrusion. Because the protrusion 112 is fixedly connected to the arm body 111, the arm body 111 moves accordingly when the protrusion 112 moves, thus mimicking an arm-raising motion. When the output end of the first drive unit 130 rotates, since the protrusion 112 is connected to the output end of the first drive unit 130 within the connecting cylinder 153, the protrusion 112 rotates within the connecting cylinder 153, driving the arm body 111 to move accordingly, thus mimicking an arm-swinging motion.

[0046] In this example, the protrusion 112 rotates inside the connecting cylinder 153. When the strip falls into the connecting cylinder 153, the protrusion 112 and the output end of the first drive unit 130 are blocked by the connecting cylinder 153, so no entanglement problem occurs. In addition, it is difficult for external dust to enter the connecting cylinder 153, which has a certain dustproof effect.

[0047] Optionally, the size of the opening 124 is larger than the size of the connecting cylinder 153, so that the size of the opening 124 can be controlled, thereby controlling the swing amplitude of the connecting cylinder 153.

[0048] Optionally, the connecting cylinder 153 and the support member 152 are spaced apart. Specifically, the first connecting part 150 also includes a spacer 154, which is approximately "L"-shaped. The support member 152 is connected to the rotating member 151 through the spacer 154, and the rotating member 151 is directly connected to the connecting cylinder 153, so that the connecting cylinder 153 and the support member 152 are spaced apart. The width of the space can be adjusted by controlling the size of the spacer 154.

[0049] In this example, the spacer 154 creates a gap between the connecting cylinder 153 and the support 152. Although this increases the radius of rotation, it makes it easier to observe the connection between the output end of the first drive member 141 and the arm 110 during assembly.

[0050] Because the protrusion 112 is a certain distance from the end of the arm body 111, when the arm body 111 rotates too much, the end of the arm body 111 may interfere with the movement of the torso body 120 at the opening 124. To solve this problem: In some possible examples: the torso body 120 includes a sidewall shell 123. In this example, the sidewall shell 123 generally refers to the portion of the shell that is set approximately along the Y-axis, and the opening 124 is provided on the sidewall shell 123. It is understood that the sidewall shell 123 can be relatively thick, thereby providing better structural strength when the opening 124 is provided. The specific thickness can be freely chosen, and this application does not impose any restrictions.

[0051] By mounting the rotating shaft of the above embodiment on the side wall housing 123, and connecting the rotating member 151 to the rotating shaft through the shaft hole, the pivotal connection between the rotating member 151 and the side wall housing 123 can be achieved.

[0052] The rotating member 151 is partially disposed within the opening 124, thereby reducing the distance between the rotating member 151 and the end of the arm body 111, and thus reducing the rotation radius of the end of the arm body 111, thereby reducing the probability of motion interference between the end of the arm body 111 and the side wall housing 123.

[0053] In other possible examples: by mounting the rotating shaft of the above embodiment on the sidewall housing 123, and connecting the rotating member 151 to the rotating shaft via a shaft hole, a pivotal connection between the rotating member 151 and the sidewall housing 123 can be achieved. In this embodiment, it is not necessary for the rotating member 151 to be partially located within the opening 124. The dimension of the opening 124 facing the arm portion 110 is larger than the dimension of the opening 124 facing the first drive portion 130, that is, the outer dimension of the opening 124 is larger than the inner dimension of the opening 124, which allows the opening 124 to be approximately trumpet-shaped. When the distance between the rotating member 151 and the end of the arm body 111 is large, the rotation radius of the end of the arm body 111 is large, allowing it to rotate to the opening 124, reducing the probability of motion interference.

[0054] The following examples illustrate how the second drive unit 140 drives the first drive unit 130 to rotate within the receiving space.

[0055] Please see Figure 2 and Figure 5 Optionally, the second drive unit 140 is disposed below the first drive unit 130 along the Z-axis direction.

[0056] In order to enable the second drive unit 140 to connect to the first drive unit 130 and drive the first drive unit 130 to rotate within the receiving space, the torso structure 10 also includes a second connecting part 160, through which the second drive unit 140 is connected to the first drive unit 130. The second drive unit 140, the second connecting part 160, and the first drive unit 130 are arranged sequentially in the Z-axis direction.

[0057] Specifically, the second connecting part 160 includes a connecting seat 161 and a connecting arm 162 disposed outside the connecting seat 161. The first driving part 130 is disposed inside the connecting seat 161, and the connecting arm 162 is connected to the second driving part 140.

[0058] The aforementioned connector 161 includes a connector body 1611 and a baffle 1612.

[0059] The connecting body 1611 is generally sheet-shaped and can be made of metal or plastic. The connecting body 1611 is fixedly connected to the first driving part 130. For example, when the connecting body 1611 is made of metal, it is directly welded to the bottom of the first driving part 130, thus forming a modular structure that facilitates assembly in subsequent processes. When the connecting body 1611 is made of plastic... The baffle 1612 is generally plate-shaped and can be made of metal or plastic. The baffle 1612 is made of the same material as the connecting body 1611, facilitating manufacturing. In some examples, the baffle 1612 is arranged circumferentially along the connecting body 1611, and the cross-sectional shape of the baffle 1612 can be a "minor arc," thereby allowing for better contact with the first driving part 130 and increasing the connection area between the second connecting part 160 and the first driving part 130. During assembly, the baffle 1612 serves a positioning function. For example, adhesive can be pre-applied to the side of the connecting body 1611 facing the baffle 1612, and then the first driving part 130 is gradually moved towards the connecting body 1611 along the baffle 1612 until the first driving part 130 abuts against the connecting body 1611.

[0060] The connecting arm 162 is generally rod-shaped. One end of the connecting arm 162 is fixedly connected to the connecting seat 161. For example, the connecting arm 162 can be integrally formed with the connecting seat 161. The other end of the connecting arm 162 is connected to the output end of the second drive unit 140.

[0061] In one possible example, the second drive unit 140 includes a drive member 141, a first link 142, and a second link 143.

[0062] The aforementioned drive element 141 is arranged along the Y-axis direction, thereby making full use of the accommodating space along the Y-axis direction. The drive element 141 can be a motor 1411.

[0063] The first link 142 is a rod of a certain thickness. The first end of the first link 142 is connected to the output end of the drive member 141. The first link 142 rotates under the drive of the drive member 141. The second end of the first link 142 is pivotally connected to the first end of the second link 143.

[0064] The second link 143 is pivotally connected to the connecting arm 162 at its second end. In this embodiment, the second link 143 is approximately "L"-shaped. A portion of the second link 143 is parallel to the first link 142, and the other portion of the second link 143 is arranged along the Y-axis and positioned above the drive member 141. It can be understood that, given the limited space in the Y-axis direction, the arrangement of the second link 143 can make full use of the already cramped space.

[0065] It can be understood that the first link 142, the second link 143, (the first connecting part 150, the first driving part 130, and the second connecting part 160) and the torso body 120 form a four-bar linkage (satisfying the link length condition). When the driving member 141 drives the first link 142 to rotate, the motion is transmitted through the second link 143, and then the first driving part 130 is driven to rotate around the rotating member 151 through the connecting arm 162. Since the first driving part 130 and the arm 110 are connected through the first connecting part 150, the arm 110 can rotate around the rotating member 151, thereby mimicking the arm raising action.

[0066] Please see Figure 6 In one possible example, the torso structure 10 further includes a mounting portion 170, which is disposed along a first direction. In this example, the first direction is the Y-axis direction.

[0067] The mounting section 170 includes a side plate 171 and a limiting member 172.

[0068] The aforementioned side plate 171 is generally rectangular in shape and extends from the torso body 120 along a first direction.

[0069] The aforementioned limiting member 172 may have an "L" shaped outline. One side of the limiting member 172 is mounted on the surface of the middle part of the side plate 171. The side plate 171 and the limiting member 172 are arranged sequentially along the X-axis.

[0070] The drive unit 141 includes a motor 1411 and a reducer 1412. The reducer 1412 is provided with an extension plate. The reducer 1412 is fixed to the side plate 171 through the extension plate and abuts against the limiting member 172. The limiting member 172 and the reducer 1412 are arranged sequentially along the Y-axis direction.

[0071] It is understood that a space is formed between the limiting member 172, the end face of the reducer 1412, and the body 120. This space can accommodate the first connecting rod 142, part of the second connecting rod 143, and the output shaft of the reducer 1412, making full use of the space in the Y-axis direction. At the same time, since the first drive part 130 and the second drive part 140 are arranged along the Z-axis direction, and the second connecting rod 143 and the second connecting part 160 are arranged along the Z-axis direction, the space utilization rate in the Z-axis is high.

[0072] Please see Figure 6 In one possible example, the torso structure 10 also includes a positioning part 180. The positioning part 180 may be plate-shaped and have a certain thickness. The positioning part 180 and the mounting part 170 are spaced apart along a second direction. In this embodiment, the second direction refers to the X-axis direction. It can be understood that the positioning part and the mounting part 170 directly form a limiting space, and the reducer 1412 is installed in the limiting space, thus restricting the degree of freedom of the reducer 1412 in the X-axis direction.

[0073] Please see Figure 1-6 The present invention also proposes a robot 20, which includes the torso structure 10 described above. The specific structure of the torso structure 10 is as described in the above embodiments. Since the present invention adopts all the technical solutions of all the above embodiments, it also has all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0074] The above are merely optional embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A torso structure, characterized in that, include: arm; The torso body has an opening and an internal accommodating space. A first drive unit rotatably disposed in the receiving space, the output end of the first drive unit being drively connected to the arm via the opening; and A second driving part is fixed in the receiving space, and the second driving part is connected to the first driving part in a transmission manner to drive the first driving part to rotate in the receiving space.

2. The torso structure as described in claim 1, characterized in that: The torso structure further includes a first connecting portion, which is pivotally connected to the torso body; the arm is connected to one end of the first connecting portion, and the first driving portion is connected to the other end of the first connecting portion.

3. The torso structure as described in claim 2, characterized in that: The first connecting part includes a rotating member and a supporting member connecting the rotating member; The rotating component is pivotally connected to the torso body; The first drive unit is connected to the support member, and the output end of the first drive unit passes through the support member and is connected to the arm.

4. The torso structure as described in claim 3, characterized in that: The first connecting part further includes a connecting cylinder, which is connected to the rotating member. The connecting cylinder is at least partially disposed within the opening, and the output end of the first driving part passes through the support member and is disposed within the connecting cylinder. The arm includes an arm body and a protrusion, the protrusion being disposed on the connecting cylinder and connected to the output end of the first drive unit.

5. The torso structure as described in claim 4, characterized in that: The size of the opening is larger than the size of the connecting cylinder.

6. The torso structure as described in claim 4, characterized in that: The connecting cylinder and the supporting component are spaced apart.

7. The torso structure as described in claim 3, characterized in that: The torso body includes a sidewall shell, and the opening is provided on the sidewall shell; The rotating component is pivotally connected to the sidewall housing, and part of the rotating component is disposed within the opening.

8. The torso structure as described in claim 3, characterized in that: The torso body includes a sidewall shell, and the opening is provided on the sidewall shell; The rotating component is pivotally connected to the sidewall housing; The size of the opening facing the arm is larger than the size of the opening facing the first drive unit.

9. The torso structure as described in claim 1, characterized in that: The torso structure also includes a second connecting part, which includes a connecting seat and a connecting arm disposed outside the connecting seat. The first driving part is disposed inside the connecting seat, and the connecting arm is connected to the second driving part.

10. The torso structure as described in claim 9, characterized in that: The connecting seat includes a connecting body and a baffle. The baffle is arranged circumferentially along the connecting body. The connecting body is fixedly connected to the first driving part, and the first driving part abuts against the baffle.

11. The torso structure as described in claim 9, characterized in that: The second drive unit includes a drive member, a first link, and a second link. The first end of the first link is connected to the output end of the drive member, the second end of the first link is pivotally connected to the first end of the second link, and the second end of the second link is pivotally connected to the connecting arm.

12. The torso structure as described in claim 11, characterized in that: The torso structure also includes a mounting part, which is arranged along a first direction and includes a side plate and a limiting member. The side plate is connected to the torso body, and the limiting member is installed in the middle of the side plate; The driving component includes a motor and a reducer, the reducer being fixed to the side plate and abutting against the limiting member; The first connecting rod is located between the limiting member, the reducer, and the torso body.

13. The torso structure as described in claim 12, characterized in that: The torso structure also includes a positioning part, which is spaced apart from the mounting part along a second direction, and the reducer is disposed between the positioning part and the mounting part.

14. A robot, characterized in that, include: The torso structure as described in any one of claims 1-13.

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