A robot waist mechanism and robot

Abstract

The utility model relates to robot technical field especially discloses a kind of robot waist mechanism, including base, first rotating component, waist support, second rotating component and transmission component, the stator component of first rotating component is fixed in base, waist support includes rotationally connected base seat and mounting plate, second rotating component includes first motor and second motor, the stator component of first motor and the stator component of second motor are respectively fixed in mounting plate two sides, transmission component includes first transmission rod, second transmission rod and connecting rod, connecting rod is rotationally connected in base seat, the both ends of first transmission rod are respectively rotationally connected in connecting rod and the rotor component of first motor, the both ends of second transmission rod are respectively rotationally connected in connecting rod and the rotor component of second motor. By the above-mentioned mode, the utility model makes the robot waist mechanism whole in waist form the waist line structure of folding by first motor and second motor fixed in mounting plate two sides, more anthropomorphism.

Description

Technical Field

[0001] This utility model relates to the field of robot waist mechanism technology, and in particular to a robot waist mechanism and a robot. Background Technology

[0002] Humanoid biomimetic robots are a class of highly intelligent and flexible robots that possess a human-like appearance and can mimic human form and behavior. They typically consist of key components such as a head, arms, hands, waist, legs, and torso, and possess human-like perception, decision-making, behavior, and interaction capabilities, representing one of the main research directions in the field of robotics. The waist mechanism system of a humanoid robot, as an important component, uses multiple rotating mechanisms to achieve movements such as twisting, rolling, and pitching of the robot's waist.

[0003] In the process of developing this invention, the inventors discovered that: Currently, the waist assembly of a robot includes a rotatably connected base and a waist support, as well as a rotating mechanism, a first motor, a second motor, and two transmission components. The stator assembly of the rotating mechanism is mounted on the base, and the waist support is mounted on the stator assembly of the rotating mechanism. The rotating mechanism drives the waist support to rotate around a rotation axis. The waist support includes a base frame and a mounting frame. Both the second motor and the first motor are fixed to the mounting frame, and the mounting frame and the base frame are rotatably connected through two transmission components. The mounting frame includes a first frame and a second frame for mounting the first motor and the second motor, respectively. This structural design results in a bulky overall profile at the waist of the robot, which differs from the tapering shape of the human waistline. Utility Model Content

[0004] This utility model provides a robot waist mechanism and a robot, which mainly solves the technical problem that the waist area of ​​existing robots is bulky and cannot form a human-like waistline.

[0005] To solve the above-mentioned technical problems, the present invention provides a robot waist mechanism, comprising: a base, a first rotating assembly, a waist support, a second rotating assembly, and a transmission assembly. The stator assembly of the first rotating assembly is fixed to the base, and the rotor assembly of the first rotating assembly is fixed to the waist support. The waist support includes a base seat and a mounting plate rotatably connected together. The second rotating assembly includes a first motor and a second motor. The stator assembly of the first motor is fixed to one side of the mounting plate, and the stator assembly of the second motor is fixed to the other side of the mounting plate. The transmission assembly includes a first transmission rod, a second transmission rod, and a connecting rod. The connecting rod is rotatably connected to the base seat. One end of the first transmission rod and one end of the second transmission rod are both rotatably connected to the connecting rod. The other end of the first transmission rod is rotatably connected to the rotor assembly of the first motor, and the other end of the second transmission rod is rotatably connected to the rotor assembly of the second motor.

[0006] In some embodiments, the waist support further includes a first fixing ring and a second fixing ring, wherein the stator assembly of the first motor is fixed to one side of the mounting plate by the first fixing ring, and the stator assembly of the second motor is fixed to the other side of the mounting plate by the second fixing ring.

[0007] In some embodiments, the waist support includes a cross, a first rotating shaft, and a second rotating shaft. The cross is provided with a first through hole and a second through hole. The first rotating shaft passes through and is fixed to the first through hole and rotatably connected to the base. The second rotating shaft passes through and is fixed to the second through hole and rotatably connected to the mounting plate.

[0008] In some embodiments, the base includes a first support portion and a second support portion spaced apart. The first support portion has a third through hole, and the second support portion has a fourth through hole. The two ends of the first rotating shaft are rotatably inserted into the third through hole and the fourth through hole, respectively. The mounting plate includes a third support portion and a fourth support portion spaced apart. The third support portion has a fifth through hole, and the fourth support portion has a sixth through hole. The two ends of the first rotating shaft are rotatably inserted into the fifth through hole and the sixth through hole, respectively. The waist bracket further includes a first rotating ring, a second rotating ring, a third rotating ring, and a fourth rotating ring. The first rotating ring is disposed between the inner wall of the third through hole and the side wall of the first rotating shaft. The second rotating ring is disposed between the inner wall of the fourth through hole and the side wall of the first rotating shaft. The third rotating ring is disposed between the inner wall of the fifth through hole and the side wall of the second rotating shaft. The fourth rotating ring is disposed between the inner wall of the sixth through hole and the side wall of the second rotating shaft.

[0009] In some embodiments, the waist support further includes a plurality of first pins, the outer side wall of the first rotating shaft is provided with a plurality of first pin holes, the cross is provided with a plurality of first pin holes, the plurality of first pin holes are connected to the first through hole, and a first pin passes through the first pin hole and is inserted into the first pin hole; and / or, the waist support further includes a plurality of second pins, the outer side wall of the second rotating shaft is provided with a plurality of second pin holes, the cross is provided with a plurality of second pin holes, the plurality of second pin holes are connected to the second through hole, and a second pin passes through the second pin hole and is inserted into the second pin hole.

[0010] In some embodiments, the cross includes a first frame portion and a second frame portion stacked along a first direction, a first through hole located in the first frame portion, a second through hole located in the second frame portion, the first through hole extending along a second direction, and the second through hole extending along a third direction, wherein the first direction, the second direction, and the third direction are mutually perpendicular.

[0011] In some embodiments, the first frame portion is provided with a first protrusion, and the base is provided with two first limiting blocks. When the cross and the base are rotatably connected, the first protrusion is located between the two first limiting blocks; and / or, the second frame portion is provided with a second protrusion, and the mounting plate is provided with two second limiting blocks. When the cross and the mounting plate are rotatably connected, the second protrusion is located between the two second limiting blocks.

[0012] In some embodiments, the rotation axis of the first motor and the rotation axis of the second motor are collinear, and both the rotation axis of the first motor and the rotation axis of the second motor are perpendicular to the rotation axis of the first rotating component.

[0013] In some embodiments, the first motor includes a first rotating plate, one end of which is connected to the rotor assembly of the first motor; the first transmission rod includes a first rotating part, a first connecting rod part, and a second rotating part connected in sequence; the first rotating part is rotatably connected to the first rotating plate; and the second rotating part is rotatably connected to one end of the connecting rod. Alternatively, the second motor includes a second rotating plate, one end of which is connected to the rotor assembly of the second motor; the second transmission rod includes a third rotating part, a second connecting rod part, and a fourth rotating part connected in sequence; the third rotating part is rotatably connected to the other end of the second rotating plate; and the fourth rotating part is rotatably connected to the other end of the connecting rod.

[0014] To solve the above-mentioned technical problems, another technical solution adopted by this utility model is: to provide a robot, including a torso assembly, an arm assembly, a leg assembly, a head assembly and the above-mentioned robot waist mechanism, wherein the leg assembly is movably connected to the torso assembly through the robot waist mechanism, and the arm assembly is movably connected to the torso assembly.

[0015] The beneficial effects of this utility model embodiment are as follows: Unlike existing technologies, this utility model embodiment provides a robot waist mechanism comprising: a base, a first rotating component, a waist support, a second rotating component, and a transmission component. The stator assembly of the first rotating component is fixed to the base. The waist support includes a rotatably connected base and a mounting plate. The second rotating component includes a first motor and a second motor. The stator assembly of the first motor is fixed to one side of the mounting plate, and the stator assembly of the second motor is fixed to the other side of the mounting plate. The transmission component includes a first transmission rod, a second transmission rod, and a connecting rod. The connecting rod is rotatably connected to the base. One end of the first transmission rod and one end of the second transmission rod are both rotatably connected to the connecting rod. The other end of the first transmission rod is rotatably connected to the rotor assembly of the first motor, and the other end of the second transmission rod is rotatably connected to the rotor assembly of the second motor. Through the above structure, this utility model embodiment can use a flat mounting plate to mount and fix the first and second motors, thereby simplifying the overall contour of the robot waist and allowing the robot waist to present a human-like waistline curve, improving the anthropomorphism of the robot waist mechanism. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments of this utility model will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the drawings without creative effort.

[0017] Figure 1 This is an exploded structural diagram of a robot waist mechanism provided in an embodiment of the present invention; Figure 2 This is an assembly schematic diagram from one perspective of a robot waist mechanism provided in an embodiment of the present utility model; Figure 3 This is an assembly schematic diagram from another perspective of a robot waist mechanism provided in an embodiment of the present utility model; Figure 4 This is an exploded view of the second rotating component of a robot waist mechanism, as provided in an embodiment of the present invention, mounted on a mounting plate. Figure 5 This is an exploded view of the second rotating component of a robot waist mechanism, as provided in an embodiment of the present invention, mounted on a mounting plate. Figure 6 This is an exploded structural diagram of a waist support for a robot waist mechanism provided in an embodiment of the present utility model; Figure 7 This is a schematic diagram of the connection structure of the cross, first pivot, and second pivot of a robot waist mechanism according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the connection structure of the cross, first pivot, and second pivot of a robot waist mechanism provided in an embodiment of the present invention; Figure 9 This is an exploded structural diagram of another waist support for a robot waist mechanism provided in this embodiment of the present utility model; Figure 10 This is an exploded structural diagram of a robot waist mechanism provided in another embodiment of the present utility model; Figure 11 This is an exploded structural diagram of the base, first rotating component, and base of a robot waist mechanism provided in this embodiment of the utility model.

[0018] Icon labels: 100. Robot waist support mechanism; 1. Base; 11. Third protrusion; 2. First rotating component; 3. Waist support; 31. Base; 311. First support part; 3111. Third through hole; 312. Second support part; 3121. Fourth through hole; 313. First limiting block; 314. Fifth support part; 3141. Rotating cavity; 315. Third limiting block; 32. Mounting plate; 321. First screw connector; 322. Second screw connector; 323. First screw hole; 324. Second screw hole; 325. First reinforcing rib; 326. Second reinforcing rib; 327. Third support part; 3271. Fifth through hole; 328. Fourth support part; 3281. Sixth through hole; 329. Second limiting block; 33. First fixing ring; 331. First gap; 32. First through hole; 333. First mounting hole; 34. Second fixing ring; 341. Second gap; 342. Second through hole; 343. Second mounting hole; 35. Cross; 351. First through hole; 352. Second through hole; 353. First pin hole; 354. Second pin hole; 35a. First frame part; 35a1. First protrusion; 35b. Second frame part; 35b1. Second protrusion; 36. First pivot; 361. First nail hole; 37. Second pivot; 371. Second nail hole; 38. First rotating ring; 39. Second rotating ring; 3A1. Third rotating ring; 3A2. Fourth rotating ring; 3A3. First pin; 3A4. Second pin; 4. Second rotating assembly; 41. First motor; 411. First rotating plate; 42. Second motor; 421. Second rotating plate; 5. Transmission assembly; 51. First transmission rod; 511. First rotating part; 512. First connecting rod part; 513. Second rotating part; 52. Second transmission rod; 521. Third rotating part; 522. Second connecting rod part; 523. Fourth rotating part; 53. Connecting rod; 531. First connecting part; 5311. First rotating groove; 5312. First through groove; 5313. First locking protrusion; 532. Second connecting part; 5321. Second rotating groove; 5322. Second through groove; 5323. Second locking protrusion; 533. Third screw connector; X, first direction; Y, second direction; Z, third direction; 1000, Robot. Detailed Implementation

[0019] To facilitate understanding of this utility model, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as being "fixed to" another element, it can be directly on the other element, or one or more intermediate elements may exist between them. When an element is described as being "connected" to another element, it can be directly connected to the other element, or one or more intermediate elements may exist between them. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this specification are for illustrative purposes only.

[0020] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the invention. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0021] This application provides a robot waist support mechanism 100; please refer to [link / reference]. Figure 1 and Figure 2The robot waist mechanism 100 includes: a base 1, a first rotating assembly 2, a waist support 3, a second rotating assembly 4, and a transmission assembly 5. The stator assembly of the first rotating assembly 2 is fixed to the base 1, and the rotor assembly of the first rotating assembly 2 is fixed to the waist support 3. The first rotating assembly 2 drives the waist support 3 to rotate relative to the base 1, so that the robot waist mechanism 100 can achieve a rotation function. The waist support 3 includes a base 31 and a mounting plate 32 rotatably connected. The base 31 is fixed to the rotor assembly of the first rotating assembly 2, and the mounting plate 32 is flat. The second rotating assembly 4 includes a first motor 41 and a second motor 42. The stator assembly of the first motor 41 is fixed to one side of the mounting plate 32, and the stator assembly of the second motor 42 is fixed to the other side of the mounting plate 32. The transmission assembly 5 includes a first transmission rod 51, a second transmission rod 52, and a connecting rod 53. The connecting rod 53 is rotatably connected to the base 31. The rotation direction of the connecting rod 53 relative to the base 31 is the same as the rotation direction of the rotor assembly of the first motor 41 and the rotor assembly of the second motor 42. One end of the first transmission rod 51 and one end of the second transmission rod 52 are rotatably connected to the connecting rod 53. The other end of the first transmission rod 51 is rotatably connected to the rotor assembly of the first motor 41, and the other end of the second transmission rod 52 is rotatably connected to the rotor assembly of the second motor 42. With the above structure, the first motor 41 is fixed to one side of the mounting plate 32, and the second motor 42 is fixed to the other side of the mounting plate 32. The flat mounting plate 32 allows the volume of the robot waist mechanism 100 to be reduced, thereby forming a waistline-like convergent curve on the overall outline of the robot waist mechanism 100, enhancing the anthropomorphism of the robot waist mechanism 100.

[0022] Understandably, the stator assembly of the first motor 41 refers to the components such as the first stator core, the first stator winding, the first base, and the first end cover, and the rotor assembly of the first motor 41 refers to the components such as the first rotor core, the first rotor winding, and the first shaft. Similarly, the stator assembly of the second motor 42 refers to the components such as the second stator winding, the second base, and the second end cover, and the rotor assembly of the second motor 42 refers to the components such as the second rotor core, the second rotor winding, and the second shaft. In this application, fixing the stator assembly of the first motor 41 to one side of the mounting plate 32 means fixing the first base of the first motor 41 to one side of the mounting plate 32, and the first stator core, the first stator winding, and the first end cover are all relatively fixed to the first base; fixing the stator assembly of the second motor 42 to the other side of the mounting plate 32 means fixing the second base of the second motor 42 to one side of the mounting plate 32, and the second stator core, the second stator winding, and the second end cover are all relatively fixed to the second base.

[0023] It should be noted that the first base of the first motor 41 is fixed to one side of the mounting plate 32, and the second base of the second motor 42 is fixed to the other side of the mounting plate 32 in ways including but not limited to: direct screwing or snap-fit ​​fixing, or installation and fixing by means of a transfer component.

[0024] For example, in some embodiments, please refer to Figure 3 , Figure 4 and Figure 5 Both the first motor 41 and the second motor 42 are installed and fixed using a connecting component and screw connections. Specifically, the waist bracket 3 also includes a first fixing ring 33 and a second fixing ring 34. The stator assembly of the first motor 41 is fixed to one side of the mounting plate 32 via the first fixing ring 33, and the stator assembly of the second motor 42 is fixed to the other side of the mounting plate 32 via the second fixing ring 34. Furthermore, a first gap 331 is provided between the first fixing ring 33 and the mounting plate 32 for power output from the rotor assembly of the first motor 41, and a second gap 341 is provided between the second fixing ring 34 and the mounting plate 32 for power output from the rotor assembly of the second motor 42.

[0025] In some embodiments, please refer to Figure 4 and Figure 5 The mounting plate 32 includes multiple first screw connectors 321 and multiple second screw connectors 322. The first fixing ring 33 is provided with multiple first through holes 332. The mounting plate 32 is provided with multiple first screw holes 323 on one side. The second fixing ring 34 is provided with multiple second through holes 342. The mounting plate 32 is provided with multiple second screw holes 324 on the other side. A first screw connector 321 passes through the first through hole 332 and is screwed into the first screw hole 323. A second screw connector 322 passes through the second through hole 342 and is screwed into the second screw hole 324. Thus, the first motor 41 is fixed to one side of the mounting plate 32 by the first fixing ring 33, and the second motor 42 is fixed to the other side of the mounting plate 32 by the second fixing ring 34.

[0026] In some embodiments, please refer to Figure 4 and Figure 5 The mounting plate 32 has multiple first reinforcing ribs 325 on one side, which are staggered, and the ends of some of the first reinforcing ribs 325 are connected to the multiple first screw holes 323. The mounting plate 32 has multiple second reinforcing ribs 326 on the second side, which are staggered, and the ends of some of the second reinforcing ribs 326 are connected to the multiple second screw holes 324. This structure allows the mounting plate 32 to achieve a lightweight design while maintaining its structural strength, reducing the weight of the mounting plate 32.

[0027] It should be noted that the way the first motor 41 is fixed to the first fixing ring 33 and the way the second motor 42 is fixed to the second fixing ring 34 include, but are not limited to, at least one of the following: screw connection, snap connection, welding, etc.

[0028] For example, in some preferred embodiments, please refer to Figure 4 and Figure 5 The first motor 41 is screwed onto the first fixing ring 33, and the second motor 42 is screwed onto the second fixing ring 34. Furthermore, the first fixing ring 33 has a first mounting hole 333, through which the rotor assembly of the first motor 41 passes and outputs power to the outside through a first gap 331. The second fixing ring 34 has a second mounting hole 343, through which the rotor assembly of the second motor 42 passes and outputs power to the outside through a second gap 341.

[0029] In some embodiments, please refer to Figure 6 The waist support 3 includes a cross 35, a first rotating shaft 36, and a second rotating shaft 37. The cross 35 has a first through hole 351 and a second through hole 352. The first rotating shaft 36 passes through and is fixed to the first through hole 351 and rotatably connected to the base 31. The second rotating shaft 37 passes through and is fixed to the second through hole 352 and rotatably connected to the mounting plate 32. Through the above structure, the mounting plate 32 and the base 31 can rotate relative to each other by means of the first rotating shaft 36 and the second rotating shaft 37, so that the mounting plate 32 can rotate relative to the base 1 under the drive of the first motor 41 and the second motor 42.

[0030] In some embodiments, please refer to Figure 6The base 31 includes a first support portion 311 and a second support portion 312 spaced apart. The first support portion 311 is provided with a third through hole 3111, and the second support portion 312 is provided with a fourth through hole 3121. The two ends of the first rotating shaft 36 are respectively rotatably inserted into the third through hole 3111 and the fourth through hole 3121, so that the mounting plate 32 can rotate in one direction relative to the base 31. The presence of the first support portion 311 and the second support portion 312 can balance the force on the two ends of the first rotating shaft 36, avoid eccentric wear of the first rotating shaft 36 during rotation, and extend the service life of the first rotating shaft 36. The mounting plate 32 includes a third support portion 327 and a fourth support portion 328 spaced apart. The third support portion 327 is provided with a fifth through hole 3271, and the fourth support portion 328 is provided with a sixth through hole 3281. The two ends of the first rotating shaft 36 are respectively rotatably inserted into the fifth through hole 3271 and the sixth through hole 3281, so that the mounting plate 32 can rotate in another direction relative to the base 31. Furthermore, the presence of the second support portion 312 and the third support portion 327 can balance the force on the second rotating shaft 37 at both ends, avoid eccentric wear of the second rotating shaft 37 during rotation, and extend the service life of the first rotating shaft 36.

[0031] It is understandable that the rotation of the mounting plate 32 relative to the base 31 in one direction and another direction are two completely different directions, and the two directions are perpendicular to each other, so as to ensure that the robot waist mechanism 100 can realize pitch and roll movements.

[0032] Furthermore, the waist support 3 also includes a first rotating ring 38, a second rotating ring 39, a third rotating ring 3A1, and a fourth rotating ring 3A2. The first rotating ring 38 is placed between the inner wall of the third through hole 3111 and the side wall of the first rotating shaft 36. The second rotating ring 39 is placed between the inner wall of the fourth through hole 3121 and the side wall of the first rotating shaft 36. The third rotating ring 3A1 is placed between the inner wall of the fifth through hole 3271 and the side wall of the second rotating shaft 37. The fourth rotating ring 3A2 is placed between the inner wall of the sixth through hole 3281 and the side wall of the second rotating shaft 37. The first rotating ring 38 and the second rotating ring 39 can reduce the friction between the inner wall of the first rotating shaft 36 and the inner wall of the third through hole 3111, as well as the friction between the inner wall of the first rotating shaft 36 and the inner wall of the fourth through hole 3121, thereby extending the service life of the first rotating shaft 36 and the base 31, and also improving the smoothness of the rotation of the first rotating shaft 36 relative to the base 31. The third rotating ring 3A1 and the fourth rotating ring 3A2 can reduce the friction between the inner wall of the second rotating shaft 37 and the inner wall of the fifth through hole 3271, as well as the friction between the inner wall of the second rotating shaft 37 and the inner wall of the sixth through hole 3281, thereby extending the service life of the second rotating shaft 37 and the base 31, and also improving the smoothness of the rotation of the second rotating shaft 37 relative to the mounting plate 32.

[0033] It should be noted that the structures that can be selected for the first rotating ring 38, the second rotating ring 39, the third rotating ring 3A1, and the fourth rotating ring 3A2 are, but are not limited to, bearings, copper rings, etc. For example, in this application, the first rotating ring 38, the second rotating ring 39, the third rotating ring 3A1, and the fourth rotating ring 3A2 are preferably copper rings.

[0034] Understandably, the first pivot 36 and the second pivot 37 are fixed to the cross 35 in ways including but not limited to: screw connection, key connection, pin connection, interference fit, welding, bonding, etc.

[0035] For example, in some preferred embodiments, please refer to Figure 7 and Figure 8 The first pivot 36 and the cross 35 are connected by a pin. The waist support 3 also includes multiple first pins 3A3. The outer wall of the first pivot 36 is provided with multiple first pin holes 361. The cross 35 is provided with multiple first pin holes 353. The multiple first pin holes 353 are connected to the first through hole 351. A first pin 3A3 passes through the first pin hole 353 and is inserted into the first pin hole 361. And / or, the second pivot 37 and the cross 35 are connected by a pin. Specifically, the waist support 3 also includes a plurality of second pins 3A4. The outer wall of the second pivot 37 is provided with a plurality of second pin holes 371. The cross 35 is provided with a plurality of second pin holes 354. The plurality of second pin holes 354 are connected to the second through hole 352. A second pin 3A4 passes through the second pin hole 354 and is inserted into the second pin hole 371.

[0036] It should be noted that the first pin 3A3 is connected to the first pin hole 353 and the first pin hole 361 by an interference fit, and the second pin 3A4 is connected to the second pin hole 354 and the second pin hole 371 by an interference fit.

[0037] Understandably, the first rotating shaft 36 and the cross 35 rely on the cooperation of the first pin 3A3 with the first pin hole 353 and the first pin hole 361 to achieve axial and circumferential positioning. While ensuring a reliable connection between the first rotating shaft 36 and the cross 35, the multiple first pins 3A3 also ensure the shear resistance of the first rotating shaft 36 and the cross 35. Furthermore, the interference fit connection method also ensures the anti-loosening performance of the first rotating shaft 36 and the cross 35. The second rotating shaft 37 and the cross 35 rely on the second pin 3A3. 4. The engagement with the second pin hole 354 and the second nail hole 371 achieves the limiting function. While ensuring a reliable connection between the second rotating shaft 37 and the cross 35, the multiple second pins 3A4 also ensure the shear resistance of the second rotating shaft 37 and the cross 35. Furthermore, the interference fit connection method also ensures the anti-loosening performance of the second rotating shaft 37 and the cross 35. This structural design ensures the stability of the robot waist mechanism 100 when it is applied to a robot and faces scenarios involving frequent starts and stops and complex torques.

[0038] In some embodiments, please refer to Figure 9 The cross 35 includes a first frame portion 35a and a second frame portion 35b stacked along a first direction X. A first through hole 351 is located in the first frame portion 35a, and a second through hole 352 is located in the second frame portion 35b. The first through hole 351 extends along a second direction Y, and the second through hole 352 extends along a third direction Z. The first direction X, the second direction Y, and the third direction Z are mutually perpendicular. The above-described cross 35 structure, in conjunction with the first pivot 36, the first support portion 311, and the second support portion 312, and in conjunction with the second pivot 37, the third support portion 327, and the fourth support portion 328, enables pitch and roll movements. Furthermore, the first frame portion 35a and the second frame portion 35b stacked along the first direction X enable the robot waist mechanism 100 to be simplified in length along the second direction Y and along the third direction Z compared to the prior art where the first frame portion 35a and the second frame portion 35b are arranged side by side along the second direction Y or side by side along the third direction Z. This makes the curve of the overall outer contour of the robot waist mechanism 100 more obvious and improves the anthropomorphism of the robot waist mechanism 100 in terms of its outer contour.

[0039] Understandably, when the cross 35 rotates relative to the base 31 around the first direction X, the angle at which the cross 35 can rotate determines the angle at which the robot waist mechanism 100 can rotate during pitching. Similarly, when the cross 35 rotates relative to the mounting plate 32 around the second direction Y, the angle at which the cross 35 can rotate also determines the angle at which the robot waist mechanism 100 can rotate during rolling. To prevent the cross 35 from colliding unexpectedly with the base 31 and mounting plate 32 during rotation, a limiting structure is needed to constrain the rotation angle of the cross 35 relative to the base 31 and mounting plate 32, or control can be achieved by relying on the first motor 41 and the second motor 42.

[0040] For example, in some preferred embodiments, a limiting structure is used to constrain the rotation angle of the cross 35. For details, please refer to [link to relevant documentation]. Figure 9 The first frame portion 35a is provided with a first protrusion 35a1, and the base 31 is provided with two first limiting blocks 313. When the cross 35 and the base 31 are rotatably connected, the first protrusion 35a1 is located between the two first limiting blocks 313. The two first limiting blocks 313 are used to cooperate with the first protrusion 35a1 to constrain the rotation angle of the cross 35 around the second direction Y; and / or, the second frame portion 35b is provided with a second protrusion 35b1, and the mounting plate 32 is provided with two second limiting blocks 329. When the cross 35 and the mounting plate 32 are rotatably connected, the second protrusion 35b1 is located between the two second limiting blocks 329. The two second limiting blocks 329 are used to cooperate with the second protrusion 35b1 to constrain the rotation angle of the cross 35 around the third direction Z.

[0041] In some embodiments, the rotation axis of the first motor 41 and the rotation axis of the second motor 42 are collinear, and both the rotation axis of the first motor 41 and the rotation axis of the second motor 42 are perpendicular to the rotation axis of the first rotating component 2.

[0042] In some embodiments, please refer to Figure 10The first motor 41 includes a first rotating plate 411, one end of which is connected to the rotor assembly of the first motor 41, so that the rotor assembly of the first motor 41 drives the first rotating plate 411 to rotate. The first transmission rod 51 includes a first rotating part 511, a first connecting rod part 512, and a second rotating part 513 connected in sequence. The first rotating part 511 is rotatably connected to the first rotating plate 411, and the second rotating part 513 is rotatably connected to one end of the connecting rod 53; and / or, the second motor 42 includes a second rotating part 511. Plate 421, one end of the second rotating plate 421 is connected to the rotor assembly of the second motor 42, so that the rotor assembly of the second motor 42 drives the second rotating plate 421 to rotate. The second transmission rod 52 includes a third rotating part 521, a second connecting rod part 522 and a fourth rotating part 523 connected in sequence. The third rotating part 521 is omnidirectionally connected to the other end of the second rotating plate 421, and the fourth rotating part 523 is omnidirectionally connected to the other end of the connecting rod 53, so that both ends of the second transmission rod 52 are respectively connected to the second rotating plate 421. Relying on the above structure, the first motor 41 drives the first connecting rod to move by controlling the first rotating plate 411, and the second motor 42 drives the second connecting rod to move by controlling the second rotating plate 421, thereby realizing roll and pitch movements.

[0043] In some embodiments, please refer to Figure 10 The base 31 has a fifth support portion 314 on the surface opposite to the base 1. The fifth support portion 314 has a rotating cavity 3141. The connecting rod 53 is rotatably connected to the rotating cavity 3141. The connecting rod 53 includes a first connecting portion 531 and a second connecting portion 532. One end of the first connecting portion 531 is provided with a first rotating groove 5311. The second rotating portion 513 is rotatably connected to the first rotating groove 5311. One end of the second connecting portion 532 is provided with a second rotating groove 5321. The fourth rotating portion 523 is rotatably connected to the second rotating groove 5321. The other end of the first connecting portion 531 and the other end of the second connecting portion 532 are fixedly connected so that the first connecting portion 531 and the second connecting portion 532 can rotate synchronously in the rotating cavity 3141.

[0044] It is understood that the fixed connection method of the first connecting part 531 and the second connecting part 532 includes, but is not limited to, at least one of screw connection, snap connection, welding, etc.

[0045] For example, in some preferred embodiments, please refer to Figure 10The first connecting part 531 and the second connecting part 532 are connected by a combination of screwing and snap-fit. The connecting rod 53 also includes a third screw-fit member 533. The first connecting part 531 is provided with a first through groove 5312 that is collinear with the center line of the rotating cavity 3141. The second connecting part 532 is provided with a second through groove 5322 that is collinear with the center line of the rotating cavity 3141. The inner wall of the second through groove 5322 is provided with threads. The third screw-fit member 533 passes through the first through groove 5312 and is screwed into the second through groove 5322. Furthermore, the other part of the first connecting part 531... One end of the second connecting part 532 has multiple first locking protrusions 5313 spaced apart circumferentially, and the other end of the second connecting part 532 has multiple second locking protrusions 5323 spaced apart circumferentially. The first locking protrusions 5313 and the second locking protrusions 5323 engage with each other so that the first connecting part 531 and the second connecting part 532 connected by the third screw connector 533 will not undergo unexpected relative displacement when rotating relative to the rotating cavity 3141. This structure also facilitates the mass assembly of the connecting rod 53 and the rotating cavity 3141, which is beneficial to the industrial processing and production of the robot waist mechanism.

[0046] To facilitate understanding of the combined action of the first motor 41 and the second motor 42 to achieve roll and pitch movements, the working logic of the first motor 41 and the second motor 42 in conjunction with the transmission assembly 5 is illustrated here. When the first motor 41 and the second motor 42 rotate in the same direction and at the same speed around the second direction Y, observing from the direction of the first motor 41 toward the second motor 42, if the rotor assembly of the first motor 41 drives the first rotating plate 411 to rotate clockwise, the first rotating plate 411 will generate a first driving force on the first transmission rod 51, driving the first transmission rod 51 to move clockwise toward the second direction Y. Since forces are mutual, the first transmission rod 51 will generate a first reaction force on the first rotating plate 411, driving it to rotate counterclockwise around the second direction Y. The mounting plate 32, through the cross 35... The mounting plate 32 is rotatably connected to the base 31. The reaction force will drive the stator assembly of the first motor 41 to drive the mounting plate 32 to rotate counterclockwise around the second direction Y based on the first rotating shaft 36. Similarly, if the rotor assembly of the second motor 42 drives the second rotating plate 421 to rotate clockwise, the second rotating plate 421 will generate a second driving force on the second transmission rod 52 to move clockwise in the second direction Y. Since the forces are mutual, the second transmission rod 52 will generate a second reaction force on the second rotating plate 421 to drive it to rotate counterclockwise around the second direction Y. The mounting plate 32 is rotatably connected to the base 31 through the cross 35. The reaction force will drive the stator assembly of the second motor 42 to drive the mounting plate 32 to rotate counterclockwise around the second direction Y based on the first rotating shaft 36. Conversely, the rotor assembly of the first motor 41 drives the first rotating plate 411 to rotate counterclockwise. The first rotating plate 411 generates a third driving force on the first transmission rod 51, driving the first transmission rod 51 to move counterclockwise in the second direction Y. Since forces are mutual, the first transmission rod 51 generates a third reaction force on the first rotating plate 411, driving it to rotate counterclockwise around the second direction Y. The mounting plate 32 is rotatably connected to the base 31 via the cross 35. The third reaction force then pushes the stator assembly of the first motor 41 to drive the mounting plate 32 to rotate counterclockwise around the second direction Y based on the first rotating shaft 36. Similarly, if the rotor assembly of the second motor 42 drives the second rotating plate 421 to rotate counterclockwise, the second rotating plate 421 will generate a fourth driving force on the second transmission rod 52, driving the second transmission rod 52 to move counterclockwise in the second direction Y. Since forces are mutual, the second transmission rod 52 will generate a fourth reaction force on the second rotating plate 421, driving it to rotate counterclockwise around the second direction Y. The mounting plate 32 is rotatably connected to the base 31 through the cross 35. The fourth reaction force will then push the stator assembly of the second motor 42 to drive the mounting plate 32 to rotate counterclockwise around the second direction Y based on the first rotating shaft 36. It should be noted that the first driving force and the third driving force provided by the first motor 41 are continuous, and the second driving force and the fourth driving force provided by the second motor 42 are continuous. Therefore, as the first motor 41 and the second motor 42 rotate around the second direction Y, the application directions of the first reaction force and the second reaction force are continuously changing, thereby realizing the pitching motion of the robot's waist mechanism 100.

[0047] When the first motor 41 and the second motor 42 rotate in opposite directions but at the same speed around the second direction Y, observing from the direction of the first motor 41 toward the second motor 42, if the rotor assembly of the first motor 41 drives the first rotating plate 411 to rotate clockwise, then the first motor 41 tends to move counterclockwise around the second direction Y under the drive of the first reaction force. If the rotor assembly of the second motor 42 drives the second rotating plate 421 to rotate counterclockwise, then the second motor 42 tends to rotate clockwise around the second direction Y under the drive of the fourth reaction force. Since both ends of the first transmission rod 51 and both ends of the second transmission rod 52 can achieve universal rotation connection, and the directions of the first reaction force and the fourth reaction force are opposite, observing from the third direction Z, under the combined action of the first reaction force and the fourth reaction force, the first motor 41 and the second motor 42 will be driven to move... Mounting plate 32 rotates counterclockwise around the third direction Z based on the second rotating shaft 37. Similarly, if the rotor assembly of the first motor 41 drives the first rotating plate 411 to rotate counterclockwise, the first motor 41 will tend to move clockwise around the second direction Y under the drive of the third reaction force. If the rotor assembly of the second motor 42 drives the second rotating plate 421 to rotate clockwise, the second motor 42 will have a drive to rotate counterclockwise around the second direction Y under the drive of the second reaction force. Since both ends of the first transmission rod 51 and both ends of the second transmission rod 52 can achieve universal rotation connection, and the direction of the third reaction force is opposite to the direction of the second reaction force, when observed from the third direction Z, the combined action of the third reaction force and the second reaction force will drive the first motor 41 and the second motor 42 to drive the mounting plate 32 to rotate clockwise around the third direction Z based on the second rotating shaft 37. It should be noted that the first driving force and the third driving force provided by the first motor 41 are continuous, and the second driving force and the fourth driving force provided by the second motor 42 are continuous. Therefore, as the first motor 41 and the second motor 42 rotate around the second direction Y, the application directions of the first reaction force and the fourth reaction force, as well as the application directions of the second reaction force and the third reaction force, are continuously changing, thereby realizing the lateral rolling operation of the robot waist mechanism 100.

[0048] It should be noted that the universal joint structure of the first rotating part 511 and the second rotating part 513 of the first transmission rod 51, and the universal joint structure of the third rotating part 521 and the fourth rotating part 523 of the second transmission rod 52, includes, but is not limited to, at least one of the following: ball joints, rod end bearings, universal joints, and constant velocity universal joints. Exemplarily in this application, the first rotating part 511, the second rotating part 513, the third rotating part 521, and the fourth rotating part 523 are all made of rod end bearings. The unique structural design of the rod end bearings allows for angular oscillation and connection at static or low speeds, enabling rotation at each connection position.

[0049] In some embodiments, please refer to Figure 11 The base 1 is provided with a third protrusion 11, and the base seat 31 is provided with two spaced third limiting blocks 315 on the surface opposite to the mounting plate 32. When the base seat 31 is installed on the rotor assembly of the first rotating assembly 2, the third protrusion 11 is located between the two third limiting blocks 315. The two third limiting blocks 315 are used to constrain the movable stroke of the third protrusion 11, thereby constraining the angle at which the first rotating assembly 2 drives the base seat 31 to rotate, and preventing the first rotating assembly 2 from driving the waist support 3 to rotate excessively.

[0050] This application also provides an embodiment of robot 1000, which includes a torso assembly, an arm assembly, a leg assembly, a head assembly, and the aforementioned robot waist mechanism. The leg assembly is connected to the torso assembly through the robot waist mechanism, and the arm assembly is movably connected to the torso assembly.

[0051] For details on the specific structure and function of the robot's waist mechanism 100, please refer to the above embodiments; they will not be repeated here.

[0052] This application provides a robot waist mechanism 100 and a robot 1000 using the robot waist mechanism 100. By relying on the flat mounting plate 32, the volume of the robot waist mechanism 100 is reduced when the first motor 41 and the second motor 42 are mounted on both sides of the mounting plate 32. This allows the robot waist mechanism 100 to present a converging waistline structure in its overall outline, thereby improving the anthropomorphism of the robot waist mechanism 100.

[0053] It should be noted that while the preferred embodiments of this utility model are provided in the specification and accompanying drawings, this utility model can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are not intended to impose additional limitations on the content of this utility model; their purpose is to provide a more thorough and comprehensive understanding of the disclosure of this utility model. Furthermore, the above-described technical features can be combined with each other to form various embodiments not listed above, all of which are considered to be within the scope of this utility model specification. Moreover, those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A robot waist support mechanism, characterized in that, include: The base, the first rotating component, the waist support, the second rotating component, and the transmission component; The stator assembly of the first rotating component is fixed to the base, and the rotor assembly of the first rotating component is fixed to the waist support. The waist support includes a base and a mounting plate that are rotatably connected. The second rotating assembly includes a first motor and a second motor. The stator assembly of the first motor is fixed to one side of the mounting plate, and the stator assembly of the second motor is fixed to the other side of the mounting plate. The transmission assembly includes a first transmission rod, a second transmission rod, and a connecting rod. The connecting rod is rotatably connected to the base. One end of the first transmission rod and one end of the second transmission rod are both rotatably connected to the connecting rod. The other end of the first transmission rod is rotatably connected to the rotor assembly of the first motor, and the other end of the second transmission rod is rotatably connected to the rotor assembly of the second motor.

2. The robot waist mechanism according to claim 1, characterized in that, The waist support also includes a first fixing ring and a second fixing ring. The stator assembly of the first motor is fixed to one side of the mounting plate by the first fixing ring, and the stator assembly of the second motor is fixed to the other side of the mounting plate by the second fixing ring.

3. The robot waist mechanism according to claim 2, characterized in that, The waist support includes a cross, a first rotating shaft, and a second rotating shaft. The cross is provided with a first through hole and a second through hole. The first rotating shaft passes through and is fixed to the first through hole and is rotatably connected to the base. The second rotating shaft passes through and is fixed to the second through hole and is rotatably connected to the mounting plate.

4. The robot waist mechanism according to claim 3, characterized in that, The base includes a first support portion and a second support portion spaced apart. The first support portion is provided with a third through hole, and the second support portion is provided with a fourth through hole. The two ends of the first rotating shaft are respectively rotatably inserted into the third through hole and the fourth through hole. The mounting plate includes a third support portion and a fourth support portion spaced apart. The third support portion is provided with a fifth through hole, and the fourth support portion is provided with a sixth through hole. The two ends of the first rotating shaft are respectively rotatably inserted into the fifth through hole and the sixth through hole. The waist support also includes a first rotating ring, a second rotating ring, a third rotating ring, and a fourth rotating ring. The first rotating ring is disposed between the inner wall of the third through hole and the side wall of the first rotating shaft. The second rotating ring is disposed between the inner wall of the fourth through hole and the side wall of the first rotating shaft. The third rotating ring is disposed between the inner wall of the fifth through hole and the side wall of the second rotating shaft. The fourth rotating ring is disposed between the inner wall of the sixth through hole and the side wall of the second rotating shaft.

5. The robot waist mechanism according to claim 3, characterized in that, The lumbar support also includes multiple first pins; The outer side wall of the first rotating shaft is provided with a plurality of first nail holes; The cross is provided with a plurality of first pin holes, the plurality of first pin holes are connected to the first through hole, and a first pin passes through the first pin hole and is inserted into the first pin hole. or, The lumbar support also includes multiple second pins; The outer wall of the second rotating shaft is provided with a plurality of second nail holes; The cross is provided with a plurality of second pin holes, which are connected to the second through hole. A second pin passes through the second pin hole and is inserted into the second pin hole.

6. The robot waist mechanism according to claim 3, characterized in that, The cross includes a first frame portion and a second frame portion stacked along a first direction. The first through hole is located in the first frame portion, and the second through hole is located in the second frame portion. The first through hole extends along a second direction, and the second through hole extends along a third direction. The first direction, the second direction, and the third direction are perpendicular to each other.

7. The robot waist mechanism according to claim 6, characterized in that, The first frame part is provided with a first protrusion, and the base is provided with two first limiting blocks. When the cross and the base are rotatably connected, the first protrusion is located between the two first limiting blocks. or, The second frame part is provided with a second protrusion, and the mounting plate is provided with two second limiting blocks. When the cross and the mounting plate are rotatably connected, the second protrusion is located between the two second limiting blocks.

8. The robot waist mechanism according to claim 1, characterized in that... The rotation axes of the first motor and the second motor are collinear, and both the rotation axes of the first motor and the second motor are perpendicular to the rotation axis of the first rotating component.

9. The robot waist mechanism according to claim 1, characterized in that, The first motor includes a first rotating plate, one end of which is connected to the rotor assembly of the first motor; The first transmission rod includes a first rotating part, a first connecting rod part, and a second rotating part connected in sequence. The first rotating part is rotatably connected to the other end of the first rotating plate, and the second rotating part is rotatably connected to one end of the connecting rod. or, The second motor includes a second rotating plate, one end of which is connected to the rotor assembly of the second motor; The second transmission rod includes a third rotating part, a second connecting rod part, and a fourth rotating part connected in sequence. The third rotating part is rotatably connected to the other end of the second rotating plate, and the fourth rotating part is rotatably connected to the other end of the connecting rod.

10. A robot, characterized in that, It includes a torso assembly, an arm assembly, a leg assembly, a head assembly, and a robot waist mechanism as described in any one of claims 1-9, wherein the leg assembly is movably connected to the torso assembly via the robot waist mechanism, and the arm assembly is movably connected to the torso assembly.

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