Multi-degree-of-freedom humanoid robot waist structure
Patent Information
- Application Number
- CN202522202959.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-17
- Publication Date
- 2026-11-03
- Estimated Expiration
- 2035-10-17
AI Technical Summary
The waist mechanism of humanoid robots lacks physical limits when rotating the upper body, which can easily lead to over-rotation.
A fan-shaped limiting groove is set inside the waist seat and fixedly connected to the rotating shaft through a movable rod. Combined with the connecting rod and drive motor, the rotation angle is limited to avoid excessive rotation. At the same time, multi-degree-of-freedom movement is achieved by using a rotary motor and a connector.
It effectively avoids excessive rotation, improves the safety and stability of robot movement, enhances the flexibility and adaptability of the waist structure, and meets the movement needs in different scenarios.
Smart Images
Figure CN224927966U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robot waist structure technology, and more specifically to a waist structure for a multi-degree-of-freedom humanoid robot. Background Technology
[0002] As the core hub connecting the upper and lower body of a robot, the waist endows it with multi-degree-of-freedom movement capabilities similar to those of a human waist. Through rotation, bending, and tilting movements of the waist, the robot can achieve a wider range of posture changes in three-dimensional space, greatly expanding its range of motion. For example, when performing actions such as turning around or bending over to pick up an object, the flexible movement of the waist allows the robot to complete the operation more smoothly, improving the coordination and naturalness of its movements.
[0003] The waist mechanism of a humanoid robot, as a crucial component connecting the upper body and lower limbs, typically relies on motors to control the rotation angle during upper body rotation. This lack of physical limits makes it prone to over-rotation. Therefore, a new technical solution is needed to address this issue. Utility Model Content
[0004] The purpose of this invention is to provide a waist structure for a multi-degree-of-freedom humanoid robot, which solves the problem that the waist mechanism of a humanoid robot, as an important component connecting the upper body and lower limbs, is generally controlled by a motor to rotate the upper body, lacking physical limits and easily causing over-rotation.
[0005] To achieve the above objectives, this utility model provides the following technical solution: a waist structure for a multi-degree-of-freedom humanoid robot, comprising: a waist base, a driver is provided at the bottom of the waist base and the power output end of the driver extends into the waist base, the power output end of the driver is provided with a rotating shaft and the rotating shaft extends to the outside of the waist base and is fitted with a mounting flange, the mounting flange is fixedly connected to the driving shaft, the mounting flange is connected to the upper body of the robot, a connecting block is provided on the side of the mounting flange and the connecting block is fixedly connected to the mounting flange, a fan-shaped limiting groove is provided inside the waist base and a movable rod is provided inside the limiting groove, the movable rod is fixedly connected to the rotating shaft, a connecting rod is provided between the movable rod and the connecting block, mounting grooves are provided on both sides of the waist base and a drive motor is provided on one side of the mounting groove, the power output end of the drive motor is provided with a drive shaft and the drive shaft extends into the inside of the mounting groove, a rotary motor is provided on the surface of the drive shaft and the rotary motor is arranged in a near-circular structure, and a connector is provided at the power output end of the rotary motor.
[0006] In a preferred embodiment of this utility model, the surface of the mounting flange is provided with a mounting seat, and the outside of the mounting seat is provided with a spline.
[0007] In a preferred embodiment of this utility model, the mounting groove, rotary motor, drive motor, and drive shaft are all symmetrically distributed.
[0008] In a preferred embodiment of this utility model, a fixing frame is provided on the side of the waist seat and a connecting shaft is provided on the inner side of the fixing frame. The connecting shaft is connected to the drive mechanism of the upper body of the robot.
[0009] In a preferred embodiment of this utility model, the mounting flange has several sets of circumferentially distributed fixing holes inside.
[0010] In a preferred embodiment of this utility model, the connecting rod is fixedly connected to the connecting block, and the connecting rod passes through the movable rod and is fitted with a locking nut on its surface.
[0011] Compared with the prior art, the beneficial effects of this utility model are as follows: This invention features a driver unit at the bottom of a waist support, with its power output extending into the waist support. A rotating shaft extends from the driver's power output to the outside of the waist support and is fitted with a mounting flange. The mounting flange is fixedly connected to the driver shaft and to the upper body of the robot. The driver rotates the mounting flange, thus rotating the upper body of the robot. A connecting block is fixedly connected to the side of the mounting flange. A fan-shaped limiting groove is located inside the waist support, and a movable rod is installed inside the groove. The movable rod is fixedly connected to the rotating shaft. A connecting rod connects the movable rod to the connecting block, thus driving the robot... When the robot rotates halfway, it is restricted to the range of the limiting groove to avoid over-rotation. There are mounting grooves on both sides of the waist seat, and a drive motor is set on one side of the mounting groove. A drive shaft is set at the power output end of the drive motor and extends into the interior of the mounting groove. A rotary motor is set on the surface of the drive shaft, and the rotary motor has a near-circular structure. The drive motor drives the drive shaft to rotate, so that the rotary motor connected to it can rotate in the mounting groove. At the same time, a connector is set at the power output end of the rotary motor. The rotary motor can drive the connector to perform circumferential motion. By rotating and rotating, the different angles of the connector can be adjusted to facilitate the connection, installation and driving of the robot's lower limbs. Attached Figure Description
[0012] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the structure of this utility model from another angle; Figure 3 This is a front view structural diagram of the present invention; Figure 4 This is a top view of the structure of this utility model.
[0013] In the diagram: 1. Waist seat; 2. Mounting slot; 3. Rotary motor; 4. Drive motor; 5. Mounting flange; 6. Mounting base; 7. Fixing bracket; 8. Connecting shaft; 9. Connector; 10. Driver; 11. Limiting slot; 12. Movable rod; 13. Connecting rod; 14. Drive shaft; 15. Rotating shaft; 16. Locking nut; 17. Fixing hole. Detailed Implementation
[0014] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0015] Please see Figure 1-4This utility model provides a technical solution: a waist structure for a multi-degree-of-freedom humanoid robot, comprising: a waist base 1, wherein a driver 10 is provided at the bottom of the waist base 1 and the power output end of the driver 10 extends into the waist base 1; a rotating shaft 15 is provided at the power output end of the driver 10 and extends to the outside of the waist base 1 and is mounted with a mounting flange 5; the mounting flange 5 is fixedly connected to the driver shaft 14; the mounting flange 5 is connected to the upper body of the robot; a connecting block 18 is provided on the side of the mounting flange 5 and is fixedly connected to the mounting flange 5; a fan-shaped limiting groove 11 is provided inside the waist base 1, and a movable... A movable rod 12 is fixedly connected to a rotating shaft 15. A connecting rod 13 is provided between the movable rod 12 and the connecting block 18. Mounting grooves 2 are provided on both sides of the waist seat 1, and a drive motor 4 is provided on one side of each mounting groove 2. A drive shaft 14 is provided at the power output end of the drive motor 4, and the drive shaft 14 extends into the interior of the mounting groove 2. A rotary motor 3 is provided on the surface of the drive shaft 14, and the rotary motor 3 has a near-circular structure. A connector 9 is provided at the power output end of the rotary motor 3. A driver 10 is provided at the bottom of the waist seat 1, and the power output end of the driver 10 extends into the interior of the waist seat 1. A rotating shaft 15 is provided at the power output end of the driver 10. The drive shaft 15 extends to the outside of the waist base 1 and is fitted with a mounting flange 5. The mounting flange 5 is fixedly connected to the drive shaft 14. The mounting flange 5 is connected to the upper body of the robot and is rotated by the driver 10, thus rotating the upper body of the robot. A connecting block 18 is provided on the side of the mounting flange 5 and is fixedly connected to the mounting flange 5. A fan-shaped limiting groove 11 is provided inside the waist base 1, and a movable rod 12 is provided inside the limiting groove 11. The movable rod 12 is fixedly connected to the drive shaft 15. A connecting rod 13 is provided between the movable rod 12 and the connecting block 18, which restricts the upper body of the robot to rotate within the range of the limiting groove 11, thus avoiding... To prevent over-rotation, mounting slots 2 are provided on both sides of the waist base 1, and a drive motor 4 is provided on one side of the mounting slot 2. A drive shaft 14 is provided at the power output end of the drive motor 4 and extends into the interior of the mounting slot 2. A rotary motor 3 is provided on the surface of the drive shaft 14 and the rotary motor 3 is arranged in a near-circular structure. The drive motor drives the drive shaft 14 to rotate, so that the rotary motor 3 connected to it can be flipped in the mounting slot 2. At the same time, a connector 9 is provided at the power output end of the rotary motor 3. The rotary motor 3 can drive the connector 9 to perform circumferential motion. By flipping and circumferential motion, different angles of the connector 9 can be adjusted to facilitate the connection, installation and driving of the robot's lower limbs.
[0016] Further improvements, such as Figure 1As shown: The surface of the mounting flange 5 is provided with a mounting seat 6 and the outside of the mounting seat 6 is provided with a spline. The spline design enhances the stability and reliability of the connection between the mounting flange 5 and the upper body of the robot, prevents slippage or loosening during rotation, and improves the rigidity and durability of the overall structure.
[0017] Further improvements, such as Figure 1 As shown: The mounting slot 2, rotary motor 3, drive motor 4, and drive shaft 14 are all symmetrically distributed. The symmetrical distribution design makes the waist structure more balanced when subjected to force, reduces wear and deformation caused by unilateral force, extends service life, and improves the stability and coordination of robot movement.
[0018] Further improvements, such as Figure 2 As shown: The side of the waist support 1 is provided with a fixing frame 7 and the inner side of the fixing frame 7 is provided with a connecting shaft 8. The connecting shaft 8 is connected to the drive mechanism of the upper body of the robot. The fixing frame 7 and the connecting shaft 8 provide additional support points, enhance the connection strength between the waist structure and the drive mechanism of the upper body, and enable the waist to better transmit force and movement when the robot performs complex movements, thereby improving the overall motion performance.
[0019] Further improvements, such as Figure 4 As shown: The mounting flange 5 has several sets of circumferentially distributed fixing holes 17 inside. The design of the circumferentially distributed fixing holes 17 allows the mounting flange 5 to adapt to the connection requirements of robot upper bodies of different sizes and shapes, improving the versatility and flexibility of the structure and facilitating quick replacement and adjustment.
[0020] Further improvements, such as Figure 3 As shown: The connecting rod 13 is fixedly connected to the connecting block 18, and the connecting rod 13 passes through the movable rod 12 and is fitted with a locking nut 16 on its surface. The locking nut 16 ensures a stable connection between the connecting rod 13 and the movable rod 12, preventing loosening or detachment during movement, thus improving the safety and reliability of the waist structure. This design also facilitates maintenance and component replacement.
[0021] Working Principle: The driver 10 at the bottom of the waist base 1 is activated, and its power output drives the mounting flange 5 to rotate via the rotating shaft 15. The mounting flange 5 is connected to the upper body of the robot, so rotating the mounting flange 5 enables the upper body of the robot to rotate, providing the robot with basic rotational freedom. The driver 10 precisely controls the rotation angle and speed, allowing the upper body of the robot to move along a predetermined trajectory, improving the accuracy and smoothness of the movements. While the mounting flange 5 rotates, the movable rod 12, which is fixedly connected to the rotating shaft 15, moves within the fan-shaped limiting groove 11 inside the waist base 1. The connecting rod 13 connects the movable rod 12 and the connecting block 18 on the side of the mounting flange 5, forming a linkage mechanism. When the mounting flange 5 rotates to a certain angle, the movable rod 12 will touch the boundary of the limiting groove 11, thereby limiting the further rotation of the mounting flange 5 and preventing over-rotation. The physical limiting mechanism avoids the problem of over-rotation caused by possible errors in motor control, improving the safety and stability of robot movement. Meanwhile, the design of the fan-shaped limiting groove 11 allows for a certain range of rotation, meeting the basic movement requirements of the robot. The drive motors 4 on both sides of the waist support 1 activate, driving the drive shaft 14 to rotate. The rotary motor 3, mounted on the drive shaft 14, rotates within the mounting groove 2 as the drive shaft 14 rotates. Simultaneously, the power output of the rotary motor 3 drives the connector 9 in a circular motion. Through the coordinated action of the drive motor 4 and the rotary motor 3, different angles of the connector 9 can be adjusted, facilitating the connection, installation, and driving of the robot's lower limbs. This design gives the robot's waist structure greater flexibility and adaptability, meeting the movement needs of the robot's lower limbs in different scenarios. Furthermore, precise control of the angle and position of the connector 9 via the motors also improves the overall coordination and accuracy of the robot's movement.
[0022] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.
[0023] Finally, the following points should be noted: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installation", "connection", and "linkage" should be interpreted broadly, and can refer to mechanical or electrical connections, or internal connections between two components, or direct connections. "Up", "down", "left", "right", etc., are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may change.
[0024] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.
Claims
1. A waist structure for a multi-degree-of-freedom humanoid robot, characterized in that: include: A waist seat (1) is provided with a driver (10) at its bottom, and the power output end of the driver (10) extends into the waist seat (1). The power output end of the driver (10) is provided with a rotating shaft (15), and the rotating shaft (15) extends to the outside of the waist seat (1) and is equipped with a mounting flange (5). The mounting flange (5) is fixedly connected to the drive shaft (14). The mounting flange (5) is connected to the upper body of the robot. A connecting block (18) is provided on the side of the mounting flange (5), and the connecting block (18) is fixedly connected to the mounting flange (5). The waist seat (1) is provided with a fan-shaped limiting groove (11) inside. The slot (11) is provided with a movable rod (12), which is fixedly connected to the rotating shaft (15). A connecting rod (13) is provided between the movable rod (12) and the connecting block (18). The waist seat (1) is provided with mounting slots (2) on both sides, and a drive motor (4) is provided on one side of the mounting slot (2). The power output end of the drive motor (4) is provided with a drive shaft (14), which extends into the interior of the mounting slot (2). A rotary motor (3) is provided on the surface of the drive shaft (14), which has a near-circular structure. A connector (9) is provided at the power output end of the rotary motor (3).
2. The waist structure of a multi-degree-of-freedom humanoid robot according to claim 1, characterized in that: The mounting flange (5) has a mounting seat (6) on its surface and the mounting seat (6) has a spline on its exterior.
3. The waist structure of a multi-degree-of-freedom humanoid robot according to claim 1, characterized in that: The mounting slot (2), rotary motor (3), drive motor (4), and drive shaft (14) are all symmetrically distributed.
4. The waist structure of a multi-degree-of-freedom humanoid robot according to claim 1, characterized in that: The side of the waist seat (1) is provided with a fixing frame (7) and the inner side of the fixing frame (7) is provided with a connecting shaft (8), which is connected to the drive mechanism of the upper body of the robot.
5. The waist structure of a multi-degree-of-freedom humanoid robot according to claim 1, characterized in that: The mounting flange (5) has several sets of circumferentially distributed fixing holes (17) inside.
6. The waist structure of a multi-degree-of-freedom humanoid robot according to claim 1, characterized in that: The connecting rod (13) is fixedly connected to the connecting block (18), and the connecting rod (13) passes through the movable rod (12) and a locking nut (16) is installed on its surface.