Mechanism for realizing curvilinear motion

Abstract

A mechanism for realizing curvilinear motion, comprising a hip joint frame (1), wherein two waist rotation power sources (2) are mounted on the hip joint frame (1), swing assemblies (3) are connected to output ends of the waist rotation power sources (2), a main shaft (4) is rotatably connected to the hip joint frame (1), a shaft sleeve (41) is fixedly connected to the main shaft (4), the swing assemblies (3) are connected to the shaft sleeve (41), and a support fixing fork (5) is fixed to the main shaft (4). The mechanism for realizing curvilinear motion further comprises a differential rotation power source (6) and a trunk structure (7), wherein the differential rotation power source (6) comprises a cross-shaped ring (61), the cross-shaped ring (61) is rotatably connected to the support fixing fork (5), trunk rotation power sources (62) are rotatably connected to two sides of the cross-shaped (61) respectively, output ends of the two trunk rotation power sources (62) are respectively connected to the trunk structure (7), housings of the trunk rotation power sources (62) are rotatably connected to the cross-shaped ring (61), large gears (63) are fixed to the housings of the trunk rotation power sources (62), a small gear (64) is rotatably connected to the cross-shaped ring (61), and the large gears (63) are engaged with the small gear (64).

Description

A mechanism for realizing curved motion Technical Field

[0001] The invention belongs to the technical field of bionic robots, and in particular relates to a mechanism for realizing curved motion. Background Art

[0002] As people's education levels continue to improve, fewer and fewer people are willing to work in low-skilled, low-value-added service industries, such as welcoming guests, consulting, and reception. At the same time, the growing maturity of robotics, particularly the development and application of technologies such as motion control, speech and semantic recognition, image recognition, and intelligent interaction in the field of humanoid robots, has gradually highlighted the future development prospects of humanoid service robots. Due to the increasing global aging population, the market for service robots is vast, and humanoid robots have gradually become a hot topic for research and application. Humanoid robots imitate human movements and need to perform a series of movements, including eye movement, mouth opening and closing, nodding and turning, flexible arm swinging and rotation, and bending movements. They require a high degree of freedom of movement and high precision.

[0003] The patent application number CN201621021782.8 discloses a humanoid robot, including a robot head, robot arms, robot waist, robot legs, each of which is equipped with a motion drive mechanism, and a robot cover that covers the internal structure of the robot. Through the arrangement of the robot head, robot arms, robot waist, robot legs and robot cover, the humanoid robot can realize eye movement, mouth opening and closing, nodding, head turning movements of the robot head, swinging and rotating movements of the robot arms, and bending movements of the robot waist through the drive of each drive mechanism. The robot cover makes the image of the robot more realistic and vivid. The humanoid robot has multiple degrees of freedom of movement, a compact structure, and a realistic image. This utility model is used in the field of bionic robots.

[0004] However, the waist of the above-mentioned robot can only bend, and cannot achieve movements such as twisting the waist to any angle and swinging, and its bionics is poor.

[0005] Summary of the Invention

[0006] In order to solve the above problems existing in the prior art, the purpose of the present invention is to provide a mechanism for realizing curved motion that can simulate the movement of the human waist.

[0007] The technical solution adopted in the present invention is:

[0008] A mechanism for realizing curved motion includes a hip joint frame, two waist rotation power sources are installed on the hip joint frame, the output end of the waist rotation power source is connected to a swinging assembly, the hip joint frame is rotatably connected to a main shaft, a shaft sleeve is fixedly connected to the main shaft, the end of the swinging assembly away from the waist rotation power source is connected to the shaft sleeve, a rocker rod is rotatably connected to the main shaft, the other end of the rocker rod is rotatably connected to the hip joint frame, and the other end of the main shaft is fixed to a supporting fixed fork; it also includes a differential rotation power source and a trunk structure, the differential rotation power source includes a cross ring, the cross ring is rotatably connected to the supporting fixed fork, both sides of the cross ring are rotatably connected to the trunk rotation power source, the output ends of the two trunk rotation power sources are respectively connected to the trunk structure, the shell of the trunk rotation power source is rotatably connected to the cross ring, the shell of the trunk rotation power source is fixed with a large gear, the cross ring is rotatably connected to a small gear, and the large gear is meshed with the small gear.

[0009] The two waist rotation power sources of the present invention drive the movement of the two swinging components, and the two swinging components drive the main shaft of the waist to move. When the two waist rotation power sources rotate in the same direction and at the same speed, the main shaft rotates to simulate the rotation of the waist. When the two waist rotation power sources are in other motion states, the waist performs a conical swing around the bottom vertex of the main shaft and can also rotate around the main shaft. When the two trunk rotation power sources rotate in the same direction and at the same speed, the trunk structure swings back and forth relative to the support fixed fork to simulate the pitch movement of the human waist. When the two trunk rotation power sources rotate in opposite directions and at the same speed, the trunk structure rotates around the rotation axis of the support fixed fork and the cross ring bracket as the center to simulate the left and right swinging of the human waist. When the two trunk rotation power sources are in other motion states, the trunk structure performs a compound motion of swinging back and forth and left and right relative to the support fixed fork. In summary, the mechanism of the present invention can realize the rotation of the main shaft, twisting at a certain angle, swinging the trunk mechanism back and forth, and swinging the trunk mechanism left and right, etc., which can simulate the curved movement of the human waist and has a high bionic property.

[0010] As a preferred embodiment of the present invention, the swing assembly includes a rocker, which is fixed to the output end of the waist rotation power source. The other end of the rocker is rotatably connected to a connecting rod, and the other end of the connecting rod is rotatably connected to the shaft sleeve. The waist rotation power source drives the rocker to rotate, which in turn drives the connecting rod, which in turn drives the main shaft.

[0011] As a preferred embodiment of the present invention, one end of the connecting rod is connected to the rocker via a joint bearing, and the other end of the connecting rod is connected to the shaft sleeve via a joint bearing. Both ends of the connecting rod are connected to the joint bearing to avoid motion interference when the main shaft rotates.

[0012] As a preferred embodiment of the present invention, the lower portion of the main shaft is connected to the hip joint frame via an articulated bearing. The main shaft can freely rotate around the articulated bearing at its lower end, and the upper portion of the main shaft is rotatably connected to the hip joint frame via a rocker bar, thereby simulating various movements of the human waist.

[0013] As a preferred embodiment of the present invention, the waist rotation power source and the trunk rotation power source both include a single harmonic reduction motor, the single harmonic reduction motor includes a central shaft, a motor stator is connected to the central shaft, a motor rotor is sleeved on the motor stator, the motor rotor is connected to a harmonic reduction unit, the output end of the harmonic reduction unit of the trunk rotation power source is fixed to the central shaft, the output end of the harmonic reduction unit of the waist rotation power source is rotatably connected to the central shaft, the output end teeth of the harmonic reduction unit are engaged with a harmonic rigid wheel, the harmonic rigid wheel of the waist rotation power source is fixed to the hip joint frame, the harmonic rigid wheel of the trunk rotation power source is rotatably connected to the cross ring, a back cover is fixed to one end of the central shaft of the waist rotation power source, the back cover is fixed to the harmonic rigid wheel of the waist rotation power source, and the large gear is fixed on the harmonic rigid wheel of the trunk rotation power source.

[0014] The speed of the output end of the harmonic reduction unit is significantly lower than that of the cam, making the output end of the harmonic reduction motor stable and outputting at a low speed. The harmonic reduction unit meshes with the harmonic rigid gear teeth, so that the output end of the harmonic reduction motor has a higher transmission accuracy relative to the cam.

[0015] As a preferred embodiment of the present invention, the harmonic reduction unit includes a cam, which is fixed on the motor rotor, and a flexible bearing is installed on the cam. The outer ring of the flexible bearing is provided with a flexible wheel, which is engaged with the teeth of the harmonic rigid wheel. The number of teeth of the flexible wheel is smaller than the number of teeth of the harmonic rigid wheel. An output flange is fixed on the flexible wheel, the flexible wheel of the trunk rotation power source is fixed to the center axis, the output flange of the waist rotation power source is connected to the swing assembly, and the output flange of the trunk rotation power source is connected to the trunk structure.

[0016] When the motor is powered, the motor rotor rotates relative to the motor stator, which in turn drives the cam. The cam, through the flexible bearing, pushes the flexspline into meshing with the harmonic rigid wheel. If the number of teeth on the flexspline is N less than that on the harmonic rigid wheel, the flexspline rotates N teeth relative to the harmonic rigid wheel for each revolution of the cam. This significantly reduces the speed of the output flange connected to the flexspline, ensuring stable output force. Transmission accuracy is also guaranteed through gear transmission.

[0017] As a preferred solution of the present invention, the inner side of the cam is connected to the central shaft via a rolling bearing. The central shaft reliably supports the cam, and the central shaft and the cam can rotate relative to each other.

[0018] As a preferred embodiment of the present invention, the large gear is rotatably connected to the output flange of the trunk rotation power source; the single harmonic reduction motor also includes a cross roller bearing, the inner ring of the cross roller bearing is integrally formed with the output flange or fixedly connected, the outer ring of the cross roller bearing of the waist rotation power source is integrally formed with the harmonic rigid wheel or fixedly connected, and the outer ring of the cross roller bearing of the trunk rotation power source is integrally formed with the large gear or fixedly connected.

[0019] As a preferred embodiment of the present invention, the central shaft is provided with a wiring hole, through which the wiring for the motor stator is passed. Passing the wiring through the wiring hole facilitates wiring. As a preferred embodiment of the present invention, the cross ring is provided with rotating connectors at two positions 180° apart. The pinion is connected to the cross ring via one of the rotating connectors, and the support and fixing forks are connected to the two rotating connectors respectively. The support and fixing forks can be connected to the two rotating connectors respectively to ensure the stability of the differential rotation power source.

[0020] The beneficial effects of the present invention are:

[0021] The two waist rotation power sources of the present invention drive the movement of the two swinging components, and the two swinging components drive the main shaft of the waist to move. When the two waist rotation power sources rotate in the same direction and at the same speed, the main shaft rotates to simulate the rotation of the waist. When the two waist rotation power sources are in other motion states, the waist performs a conical swing around the bottom vertex of the main shaft and can also rotate around the main shaft. When the two trunk rotation power sources rotate in the same direction and at the same speed, the trunk structure swings back and forth relative to the support fixed fork to simulate the pitch movement of the human waist. When the two trunk rotation power sources rotate in opposite directions and at the same speed, the trunk structure rotates around the rotation axis of the support fixed fork and the cross ring bracket as the center to simulate the left and right swinging of the human waist. When the two trunk rotation power sources are in other motion states, the trunk structure performs a compound motion of swinging back and forth and left and right relative to the support fixed fork. In summary, the mechanism of the present invention can realize the rotation of the main shaft, twisting at a certain angle, swinging the trunk mechanism back and forth, and swinging the trunk mechanism left and right, etc., which can simulate the curved movement of the human waist and has a high bionic property. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] FIG1 is a schematic structural diagram of the first aspect of the present invention;

[0023] FIG2 is a schematic structural diagram of the second aspect of the present invention;

[0024] FIG3 is an exploded view of the present invention;

[0025] FIG4 is a schematic diagram of a first orientation of a portion of the structure of the present invention after the hip joint frame is removed;

[0026] FIG5 is a schematic diagram of a second orientation of a portion of the structure of the present invention after the hip joint frame is removed;

[0027] FIG6 is a schematic structural diagram of a hip joint frame;

[0028] FIG7 is a schematic structural diagram of a differential rotation power source;

[0029] FIG8 is a cross-sectional view of a differential rotation power source;

[0030] FIG9 is a partial enlarged view of point A in FIG8 ;

[0031] FIG10 is a cross-sectional view of the waist rotation power source;

[0032] Figure 11 is a partial structural diagram of a single harmonic reduction motor.

[0033] In the figure: 1-hip joint frame; 2-waist rotation power source; 3-swing assembly; 4-main shaft; 5-support fixed fork; 6-differential rotation power source; 7-trunk structure; 31-rocker; 32-connecting rod; 41-sleeve; 42-rocker arm; 61-cross ring; 62-trunk rotation power source; 63-large gear; 64-small gear; 611-rotating connector; a1-center shaft; a2-motor stator; a3-motor rotor; a4-harmonic reduction unit; a5-harmonic rigid wheel; a6-cross roller bearing; a7-rear cover; a11-rolling bearing; a41-cam; a42-flexible bearing; a43-flexible wheel; a44-output flange. DETAILED DESCRIPTION

[0034] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0035] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention. It should be noted that the embodiments of the present invention and the features therein may be combined with each other unless there is a conflict.

[0036] As shown in Figures 1 to 6, the mechanism for realizing curved motion in this embodiment includes a hip joint frame 1, two waist rotation power sources 2 are installed on the hip joint frame 1, the output end of the waist rotation power source 2 is connected to a swing component 3, the hip joint frame 1 is rotatably connected to a main shaft 4, a shaft sleeve 41 is fixedly connected to the main shaft 4, one end of the swing component 3 away from the waist rotation power source 2 is connected to the shaft sleeve 41, the main shaft 4 is rotatably connected to a rocker rod 42, the other end of the rocker rod 42 is rotatably connected to the hip joint frame 1, and the other end of the main shaft 4 is fixed with a support fixed thereto. Fork 5; it also includes a differential rotation power source 6 and a trunk structure 7, the differential rotation power source 6 includes a cross ring 61, the cross ring 61 is rotatably connected to the supporting fixed fork 5, both sides of the cross ring 61 are rotatably connected to the trunk rotation power source 62, the output ends of the two trunk rotation power sources 62 are respectively connected to the trunk structure 7, the shell of the trunk rotation power source 62 is rotatably connected to the cross ring 61, the shell of the trunk rotation power source 62 is fixed with a large gear 63, and the cross ring 61 is rotatably connected to a small gear 64, and the large gear 63 is engaged with the small gear 64.

[0037] The two waist rotation power sources 2 of the present invention drive the two swinging components 3 to move, and the two swinging components 3 drive the main shaft 4 of the waist to move. When the two waist rotation power sources 2 rotate in the same direction and at the same speed, the main shaft 4 rotates on its own to simulate the rotation of the waist. When the two waist rotation power sources 2 are in other motion states, the waist performs a conical swing around the bottom vertex of the main shaft 4, and can also rotate around the main shaft 4. When the two trunk rotation power sources 62 rotate in the same direction and at the same speed, the trunk structure 7 swings back and forth relative to the support fixed fork 5 to simulate the pitching movement of the human waist. When the two trunk rotation power sources 62 rotate in opposite directions and at the same speed, the trunk structure 7 rotates around the rotating shaft of the support fixed fork 5 and the cross ring 61 bracket as the center to simulate the left and right swinging of the human waist. When the two trunk rotation power sources 62 are in other motion states, the trunk structure 7 performs a compound movement of swinging back and forth and left and right relative to the support fixed fork 5. In summary, the mechanism of the present invention can realize the rotation of the main shaft 4, twisting at a certain angle, swinging of the trunk mechanism back and forth, swinging of the trunk mechanism left and right, etc., and can simulate the curved movement of the human waist, and its bionics is relatively high.

[0038] The swing assembly 3 includes a rocker 31, which is fixed to the output end of the waist rotation power source 2. The other end of the rocker 31 is rotatably connected to a connecting rod 32, and the other end of the connecting rod 32 is rotatably connected to the shaft sleeve 41. The waist rotation power source 2 drives the rocker 31 to rotate, and the rocker 31 drives the connecting rod 32 to move, thereby driving the main shaft 4 to move.

[0039] In order to avoid motion interference, one end of the connecting rod 32 is connected to the rocker 31 through a joint bearing, and the other end of the connecting rod 32 is connected to the sleeve 41 through a joint bearing. Both ends of the connecting rod 32 are connected to joint bearings to avoid motion interference when the main shaft 4 rotates. The lower part of the main shaft 4 is connected to the hip joint frame 1 through a joint bearing. The main shaft 4 can be freely twisted with the joint bearing at its lower end as the center, and the upper part of the main shaft 4 is rotatably connected to the hip joint frame 1 through a rocker rod 42. The main shaft 4 can make a conical swing along the line connecting the center of the joint bearing ball and the center of one side of the rocker rod 42, which can simulate various movements of the human waist.

[0040] Specifically, as shown in Figures 7 to 10, the waist rotation power source 2 and the trunk rotation power source 62 both include a single harmonic reduction motor, which includes a central axis a1, a motor stator a2 connected to the central axis a1, a motor rotor a3 sleeved on the motor stator a2, and a motor rotor a3 connected to a harmonic reduction unit a4. The output end of the harmonic reduction unit a4 of the trunk rotation power source 62 is fixed to the central axis a1, and the output end of the harmonic reduction unit a4 of the waist rotation power source 2 is fixed to the central axis a1. The output end is rotationally connected to the central axis a1, the output end teeth of the harmonic reduction unit a4 are engaged with the harmonic rigid wheel a5, the harmonic rigid wheel a5 of the waist rotation power source 2 is fixed to the hip joint frame 1, the harmonic rigid wheel a5 of the trunk rotation power source 62 is rotationally connected to the cross ring 61, one end of the central axis a1 of the waist rotation power source 2 is fixed with a back cover a7, the back cover a7 is fixed to the harmonic rigid wheel a5 of the waist rotation power source 2, and the large gear 63 is fixed on the harmonic rigid wheel a5 of the trunk rotation power source 62.

[0041] The output speed of harmonic reduction unit a4 is significantly lower than that of cam a41, resulting in stable, low-speed output from the harmonic reduction motor. The meshing of harmonic reduction unit a4 with the harmonic rigid wheel a5 ensures high transmission accuracy relative to cam a41. The output of harmonic reduction unit a4 is fixed to the central axis a1, securing the motor stator a2 and ensuring stable rotation of the motor rotor a3 relative to the stator a2.

[0042] As shown in Figure 11, the harmonic reduction unit a4 includes a cam a41, which is fixed to the motor rotor a3. A flexible bearing a42 is mounted on the cam a41. The outer ring of the flexible bearing a42 is fitted with a flexspline a43, which meshes with the harmonic rigid wheel a5. The number of teeth on the flexspline a43 is smaller than that on the harmonic rigid wheel a5. An output flange a44 is fixed to the flexspline a43 and fixed to the central axis a1. The output flange a44 of the waist rotation power source 2 is connected to the swing assembly 3, and the output flange a44 of the trunk rotation power source 62 is connected to the trunk structure 7. Both the cam a41 and the flexible bearing a42 are elliptical in shape. The flexspline a43 meshes with the harmonic rigid wheel a5 at two locations. The flexible bearing a42 propels the flexspline a43 and the harmonic rigid wheel a5 into engagement and transmission, ensuring stable transmission between the flexspline a43 and the harmonic rigid wheel a5.

[0043] The motor stator a2 and the electronic rotor a3 are built into the flexible spline a43, which can effectively utilize space, reduce the volume of the single harmonic reduction motor, and simplify the structure.

[0044] The deceleration principle of the harmonic reduction motor utilizes the relative motion of the flexspline a43, the harmonic rigid wheel a5, and the cam a41, primarily the controllable elastic deformation of the flexspline a43, to achieve motion and power transmission. The elliptical cam a41 rotates within the flexspline a43, causing the flexspline a43 to deform. When the teeth of the flexspline a43 at both ends of the long axis of the elliptical cam a41 and the teeth of the harmonic rigid wheel a5 enter into meshing, the teeth of the flexspline a43 at both ends of the short axis disengage from the teeth of the harmonic rigid wheel a5. The teeth between the long and short axes of the cam a41 are in a semi-meshing state, gradually entering into meshing, in different sections along the circumference of the flexspline a43 and the harmonic rigid wheel a5, which is called meshing in. The teeth are in a semi-meshing state, gradually exiting meshing, which is called meshing out. As cam a41 rotates continuously, flexspline a43 continuously deforms, causing the teeth of the two wheels to constantly change their original working states through four movements: engagement, disengagement, and disengagement. This produces staggered motion, enabling motion transmission between cam a41 and flexspline a43. The harmonic reduction motor provides smooth transmission, low noise, high motion precision, and a backlash of less than 10 arc seconds.

[0045] When the motor is powered on, the motor rotor a3 rotates relative to the motor stator a2, driving the cam a41. This cam, through the flexible bearing a42, pushes the flexspline a43 into engagement with the harmonic rigid wheel a5. Flexible bearing a42 is also elliptical and rotates synchronously with cam a41. Flexspline a43 is made of a flexible material and fits over the flexspline a43. As flexible bearing a42 rotates, the teeth of the harmonic rigid wheel a5 block the teeth of the flexspline a43, causing it to slide on the flexible bearing a42. Due to the compression of flexible bearing a42, the meshing position of the flexspline a43 and the harmonic rigid wheel a5 continuously changes. Because the number of teeth on the flexspline a43 is smaller than that on the harmonic rigid wheel a5, the meshing position of the flexspline a43 and the harmonic rigid wheel a5 does not change a single revolution for each rotation of the cam a41. If the number of teeth on flexspline a43 is N less than that on harmonic rigid wheel a5, flexspline a43 rotates N teeth relative to harmonic rigid wheel a5 for each rotation of cam a41. This significantly reduces the speed of output flange a44 connected to flexspline a43, ensuring stable output force and ensuring transmission accuracy through gear transmission. In Figure 11, flexspline a43 has two fewer teeth than harmonic rigid wheel a5. For each rotation of cam a41, flexspline a43 rotates two teeth, and output flange a44 rotates by a corresponding angle along with cam a41.

[0046] In order to support the cam a41, the inner side of the cam a41 is connected to the central shaft a1 via a rolling bearing a11. The central shaft a1 reliably supports the cam a41, and the central shaft a1 and the cam a41 can rotate relative to each other.

[0047] The large gear 63 is rotatably connected to the output flange a44 of the trunk rotation power source 62; the single harmonic reduction motor also includes a cross roller bearing a6, the inner ring of the cross roller bearing a6 is integrally formed with or fixedly connected to the output flange a44, the outer ring of the cross roller bearing a6 of the waist rotation power source 2 is integrally formed with or fixedly connected to the harmonic rigid wheel a5, and the outer ring of the cross roller bearing a6 of the trunk rotation power source 62 is integrally formed with or fixedly connected to the large gear 63.

[0048] To facilitate wiring connections, a wiring hole is provided on the central axis a1, through which the wiring for the motor stator a2 is passed. Wiring the wiring through the wiring hole facilitates wiring. Rotating connectors 611 are provided at two locations 180° apart on the cross ring 61. The pinion 64 is connected to the cross ring 61 via one of these connectors, and the support fork 5 is connected to each of these connectors. The support fork 5 can be connected to both connectors 611, ensuring the stability of the differential rotation power source 6.

[0049] In order to further reduce the occupied space, the small gear 64 and the large gear 63 are both bevel gears, so that the outer contour of the differential rotation power source 6 is closer to a sphere, which is convenient for installing it at the waist position of the bionic robot.

[0050] The present invention is not limited to the above-mentioned optional implementation modes. Anyone can derive other forms of products under the inspiration of the present invention. However, no matter what changes are made in the shape or structure, any technical solution that falls within the scope defined by the claims of the present invention falls within the scope of protection of the present invention.

Claims

1. A mechanism for realizing curvilinear motion, characterized in that: The invention comprises a hip joint frame (1), two waist rotation power sources (2) are installed on the hip joint frame (1), the output end of the waist rotation power source (2) is connected to a swing assembly (3), the hip joint frame (1) is rotatably connected to a main shaft (4), a shaft sleeve (41) is fixedly connected to the main shaft (4), one end of the swing assembly (3) away from the waist rotation power source (2) is connected to the shaft sleeve (41), a swing rod (42) is rotatably connected to the main shaft (4), the other end of the swing rod (42) is rotatably connected to the hip joint frame (1), and a supporting fixed fork (5) is fixedly connected to the other end of the main shaft (4); and the invention also comprises a differential rotation power The differential rotation power source (6) comprises a cross ring (61), the cross ring (61) is rotatably connected to the supporting fixed fork (5), both sides of the cross ring (61) are rotatably connected to the trunk rotation power source (62), the output ends of the two trunk rotation power sources (62) are respectively connected to the trunk structure (7), the shell of the trunk rotation power source (62) is rotatably connected to the cross ring (61), a large gear (63) is fixed to the shell of the trunk rotation power source (62), a small gear (64) is rotatably connected to the cross ring (61), and the large gear (63) is meshed with the small gear (64).

2. A mechanism for realizing curved motion according to claim 1, characterized in that: The swing assembly (3) comprises a rocker (31), the rocker (31) is fixed to the output end of the waist rotation power source (2), the other end of the rocker (31) is rotatably connected to a connecting rod (32), and the other end of the connecting rod (32) is rotatably connected to a shaft sleeve (41).

3. A mechanism for realizing curved motion according to claim 2, characterized in that: One end of the connecting rod (32) is connected to the rocker (31) via a joint bearing, and the other end of the connecting rod (32) is connected to the shaft sleeve (41) via a joint bearing.

4. A mechanism for realizing curved motion according to claim 1, characterized in that: The main shaft (4) is connected to the hip joint frame (1) via a joint bearing.

5. The mechanism for realizing curved motion according to claim 1, characterized in that: The waist rotation power source (2) and the trunk rotation power source (62) both include a single harmonic reduction motor, the single harmonic reduction motor includes a central axis (a1), a motor stator (a2) is connected to the central axis (a1), a motor rotor (a3) ​​is sleeved on the motor stator (a2), the motor rotor (a3) ​​is connected to a harmonic reduction unit (a4), and the output end of the harmonic reduction unit (a4) of the trunk rotation power source (62) is fixed to the central axis (a1). The output end teeth of the harmonic reduction unit (a4) are meshed with a harmonic rigid wheel (a5), the harmonic rigid wheel (a5) of the waist rotation power source (2) is fixed to the hip joint frame (1), a rear cover (a7) is fixed to one end of the central axis (a1) of the waist rotation power source (2), the rear cover (a7) is fixed to the harmonic rigid wheel (45) of the waist rotation power source (2), and the large gear (63) is fixed to the harmonic rigid wheel (a5) of the trunk rotation power source (62).

6. A mechanism for realizing curved motion according to claim 5, characterized in that: The harmonic reduction unit (a4) comprises a cam (a41), which is fixed on the motor rotor (a3), a flexible bearing (a42) is installed on the cam (a41), an outer ring sleeve of the flexible bearing (a42) is provided with a flexible wheel (a43), the flexible wheel (a43) is meshed with the harmonic rigid wheel (a5), the number of teeth of the flexible wheel (a43) is less than the number of teeth of the harmonic rigid wheel (a5), an output flange (a44) is fixed on the flexible wheel (a43), the flexible wheel (a43) of the trunk rotation power source (62) is fixed to the central axis (a1), the output flange (a44) of the waist rotation power source (2) is connected to the swing component (3), and the output flange (a44) of the trunk rotation power source (62) is connected to the trunk structure (7).

7. A mechanism for realizing curvilinear motion according to claim 6, characterized in that: The inner side of the cam (a41) is connected to the central axis (a1) via a rolling bearing (a6).

8. The mechanism for realizing curved motion according to claim 6, characterized in that: The large gear (63) is rotationally connected to the output flange (a44) of the trunk rotation power source (62); the single harmonic reduction motor also includes a cross roller bearing (46), the inner ring of the cross roller bearing (46) is integrally formed with or fixedly connected to the output flange (444), the outer ring of the cross roller bearing (46) of the waist rotation power source (2) is integrally formed with or fixedly connected to the harmonic rigid wheel (45), and the outer ring of the cross roller bearing (46) of the trunk rotation power source (62) is integrally formed with or fixedly connected to the large gear (63).

9. The mechanism for realizing curved motion according to claim 5, characterized in that: The central axis (a1) is provided with a wiring hole, and the wiring of the motor stator (a2) passes through the wiring hole.

10. A mechanism for realizing curvilinear motion according to any one of claims 1 to 9, characterized in that: Rotating connectors (611) are provided at two positions on the cross ring (61) spaced 180 degrees apart, the pinion (64) is connected to the cross ring (61) via one of the rotating connectors (611), and the supporting fixed fork (5) is connected to the two rotating connectors (611) respectively.

Images