CN116423473A - Waist structure of robot and robot - Google Patents

Abstract

The application discloses a waist structure of robot and robot, can be applied to various scenes such as artificial intelligence, robotechnology, mechatronics. The waist structure comprises: the device comprises a fixed platform, a connecting component, a movable platform, a rotating component and two transmission components. The connecting assembly comprises a first shaft and a second shaft, the first shaft is fixedly connected with the fixed platform, and the second shaft is rotatably connected with the first shaft. The movable platform is rotatably connected with the second shaft. The rotating assembly is arranged on the movable platform and comprises a rotating piece, and the rotating piece can rotate along a first direction relative to the movable platform. Each transmission component is connected with the movable platform and the fixed platform, and is used for driving the movable platform to rotate around the second shaft along the second direction and driving the movable platform and the connecting component to rotate along the third direction relative to the fixed platform. The first direction, the second direction, and the third direction are all different. The waist structure is a series-parallel structure with three rotational degrees of freedom, and has higher load capacity and larger working space.

Description

Waist structure of robot and robot

Technical Field

The application relates to the technical field of robots, in particular to a waist structure of a robot and the robot.

Background

The waist of the humanoid robot is used as an important structure for supporting the trunk and the upper limbs, the operation space is enlarged, and the whole robot can move more flexibly. To achieve a skillful operation of the upper body, the waist is required to have sufficient degrees of freedom and high carrying capacity, and simultaneously to be able to rapidly achieve bending, leaning back, rolling and other actions.

The waist of the existing humanoid robot is realized by adopting a serial configuration, generally, a motor and a speed reducer are integrated into a whole set of modules to form an actuator, the modules are heavy in mass, generally, the carrying capacity is poor, the flexibility is low, and the working space is limited. Therefore, how to reasonably design the waist structure is important for the system construction of the humanoid robot.

Disclosure of Invention

The embodiment of the application provides a waist structure and robot of robot, waist structure is for having three rotational freedom's series-parallel connection structure, and the flexibility ratio is high, possesses higher load capacity and great working space.

The embodiment of the application provides a waist structure of robot, waist structure includes: the device comprises a fixed platform, a connecting component, a movable platform, a rotating component and two transmission components. The connecting assembly comprises a first shaft and a second shaft, the first shaft is fixedly connected with the fixed platform, and the second shaft is rotatably connected with the first shaft. The movable platform is rotatably connected with the second shaft. The rotating assembly is arranged on the movable platform and comprises a rotating piece, and the rotating piece can rotate along a first direction relative to the movable platform. Each transmission assembly is connected with the movable platform and the fixed platform, and is used for driving the movable platform to rotate around the second shaft along a second direction and driving the movable platform and the connecting assembly to rotate relative to the fixed platform along a third direction. The first direction, the second direction, and the third direction are all different.

Optionally, the first direction is a yaw angle direction, the second direction is a pitch angle direction, and the third direction is a roll angle direction.

Optionally, the angle range of rotation of the movable platform along the second direction relative to the yaw axis is [ -15 °,90 ° ].

Optionally, the angle range of rotation of the movable platform along the third direction relative to the yaw axis is [ -25 °,25 ° ].

Optionally, the fixed platform includes base, two buttress, and support, two buttress symmetry set up in the base, the support connect two buttress and with the base interval sets up, coupling assembling set up in the support.

Optionally, the support is equipped with installation department and sets up in two through-holes of installation department both sides on the back, first axle with installation department fixed connection, the through-hole is used for dodging the second is around the moving path when first axle rotates.

Optionally, each transmission assembly includes a transmission motor and a first connecting rod fixedly connected with the transmission motor, two transmission motors are respectively installed on two supporting walls, supporting wall holes are formed in the supporting walls, and the first connecting rod penetrates through the supporting wall holes.

Optionally, under the condition that the two transmission motors synchronously rotate in the same direction, the transmission assembly drives the movable platform to rotate around the second shaft in a second direction. Under the condition that the rotation directions of the two transmission motors are different, the transmission assembly drives the movable platform and the second shaft to rotate along a third direction relative to the first shaft.

Optionally, the transmission assembly further includes: the movable platform comprises a second connecting rod, a first hinge and a second hinge, wherein the second connecting rod is connected with the first connecting rod through the first hinge, and the second connecting rod is connected with the movable platform through the second hinge.

Optionally, the first hinge is a ball hinge, and the first connecting rod and the first hinge form a spherical pair.

Optionally, the second hinge is a ball hinge, and the second connecting rod and the second hinge form a spherical pair.

Optionally, the second shaft is provided with a through hole, and the first shaft penetrates through the through hole and is rotatably connected with the second shaft.

Optionally, the movable platform includes base and two intervals set up in the joint portion of base, the base with drive assembly fixed connection, the joint portion cover is located the second shaft.

Optionally, the shaft hole has been seted up to the joint portion, coupling assembling still includes support bearing and locating part, support bearing set up in the shaft hole, the second shaft wear to establish the shaft hole and with support bearing cooperation, the locating part cover is located the terminal of second shaft is in order to be used for limiting the second shaft with the axial displacement of joint portion.

Optionally, the rotating assembly further comprises a rotating motor and a fixing base, the movable platform further comprises a motor base, the rotating motor is installed on the motor base, the fixing base is connected with the motor base and is used for accommodating the rotating motor in an accommodating space between the fixing base and the motor base, the rotating piece is arranged on the fixing base, and the rotating motor is used for driving the rotating piece to rotate along a first direction relative to the movable platform.

Optionally, the rotating motor comprises an output shaft, the rotating assembly further comprises a force bearing, and the force bearing is sleeved on the output shaft and is located between the fixing seat and the rotating motor.

The embodiment of the application provides a robot, which comprises the waist structure, the trunk structure and the lower limb structure according to any one of the embodiments. The trunk structure is connected with the rotating piece. The lower limb structure is connected with the fixed platform. The waist structure of robot that this application embodiment provided is for having three rotational freedom's series-parallel connection structure, and the flexibility ratio is high, possesses higher load capacity and great working space.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is an axial view of a lumbar structure provided in an embodiment of the present application.

Fig. 2 is an exploded view of a lumbar structure provided in an embodiment of the present application.

Fig. 3 is a schematic structural diagram of a robot according to an embodiment of the present application.

Fig. 4 is a side view of a lumbar structure provided in an embodiment of the present application.

Fig. 5 is a side view of another pose of a lumbar structure provided by embodiments of the present application.

Fig. 6 is a front view of a transmission assembly provided in an embodiment of the present application.

Fig. 7 is a front view of another attitude of the transmission assembly provided by an embodiment of the present application.

Fig. 8 is a partially disassembled schematic illustration of a waist structure provided in an embodiment of the present application.

Fig. 9 is an exploded view of a connection assembly of a lumbar structure provided in an embodiment of the present application.

Fig. 10 is a schematic structural view of a transmission assembly with a waist structure according to an embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

In the description of the present application, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," etc. indicate or are based on the orientation or positional relationship shown in the drawings, merely for convenience of description and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more of the described features. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically connected, electrically connected or can be communicated with each other; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

In this application, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, and may also include the first and second features not being in direct contact but being in contact with each other by way of additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

The following disclosure provides many different embodiments or examples for implementing different structures of the present application. In order to simplify the disclosure of the present application, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present application. Furthermore, the present application may repeat reference numerals and/or letters in the various examples, which are for the purpose of brevity and clarity, and which do not in themselves indicate the relationship between the various embodiments and/or arrangements discussed. In addition, the present application provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize the application of other processes and/or the use of other materials.

The embodiment of the application can be applied to various application scenes such as artificial intelligence, robot technology, electromechanical integration and the like.

First, partial terms or terminology appearing in the course of describing the embodiments of the present application are explained as follows:

artificial intelligence (Artificial Intelligence, AI) is the theory, method, technique and application system that uses a digital computer or a machine controlled by a digital computer to simulate, extend and extend human intelligence, sense the environment, acquire knowledge and use the knowledge to obtain optimal results. In other words, artificial intelligence is an integrated technology of computer science that attempts to understand the essence of intelligence and to produce a new intelligent machine that can react in a similar way to human intelligence. Artificial intelligence, i.e. research on design principles and implementation methods of various intelligent machines, enables the machines to have functions of sensing, reasoning and decision.

A robot is a machine capable of performing tasks such as work or movement by programming and automatic control. The robot has the basic characteristics of perception, decision making, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the working efficiency and quality, serves the life of the human beings, and enlarges or extends the activity and capacity range of the human beings.

The electromechanical integration technology is a comprehensive high-new technology combining microelectronic technology, computer technology, information technology and mechanical technology, and is an organic combination of mechanical technology and microelectronic technology.

The degree of freedom is based on mechanical principles, the mechanism having a number of independent motion parameters that must be given in determining the motion. In the definition of degrees of freedom, the only, necessary, independent terms are three comparison keywords. Uniquely determining, i.e. giving the variables, that the robot has a unique position type; it must then be a minimum concept, i.e. the minimum number of variables that can determine the state of the robot; independent means that these variables can be varied independently.

Specifically, referring to fig. 1 to 10, a waist structure 100 of a robot 1000 is provided in an embodiment of the present application. The lumbar structure 100 includes a stationary platform 10, a connecting assembly 20, a movable platform 30, a rotating assembly 40, and two transmission assemblies 50. The connection assembly 20 includes a first shaft 21 rotatably connected to the fixed stage 10, and a second shaft 22 rotatably connected to the first shaft 21. The movable platform 30 is rotatably connected to the second shaft 22. The rotating assembly 40 is disposed on the movable platform 30, and the rotating assembly 40 includes a rotating member 41, where the rotating member 41 can rotate along a first direction (Y1/Y2) relative to the movable platform 30. Each transmission assembly 50 is connected to the movable platform 30 and the fixed platform 10, and the transmission assemblies 50 are used for driving the movable platform 30 to rotate around the second shaft 22 along the second direction (P1/P2) and for driving the movable platform 30 and the connection assembly 20 to rotate relative to the fixed platform 10 along the third direction (R1/R2). Wherein the first direction (Y1/Y2), the second direction (P1/P2), and the third direction (R1/R2) are different.

The term "stationary platform 10" and "movable platform 30" are intended to mean that the two platforms can move relative to each other, and are not limited to the stationary platform 10 being in a stationary state and the movable platform 30 being in a moving state. Accordingly, the stationary platform 10 and the movable platform 30 herein may be referred to as a "first platform" and a "second platform", respectively.

The first shaft 21 and the second shaft 22 form a serial revolute pair with two degrees of freedom of rotation, and the first shaft 21 is rotationally connected with the fixed platform 10, and the second shaft 22 is rotationally connected with the movable platform 30, so that the fixed platform 10, the movable platform 30, the connecting component 20 and the two transmission components 50 form a parallel structure. In the parallel structure, the movable platform 30 can rotate along the second direction (P1/P2) and the third direction (R1/R2) relative to the fixed platform 10, i.e. the parallel structure has two rotational degrees of freedom. The rotating assembly 40 is disposed on the movable platform 30, and the rotating member 41 can rotate along the first direction (Y1/Y2) relative to the movable platform 30, which is equivalent to connecting joints with one single degree of freedom in series on the parallel structure, so that the waist structure 100 has three degrees of freedom in rotation, which is the same as the number of degrees of freedom in rotation of the waist joints of the human body. In this manner, the present embodiments provide a waist structure 100 that can have an anthropomorphic working space and a large range of motion.

In addition, the two-degree-of-freedom parallel structure formed by the fixed platform 10, the movable platform 30, the connecting assembly 20 and the two transmission assemblies 50 has a higher bearing capacity than the two-degree-of-freedom serial structure. The movable platform 30 can independently rotate along the second direction (P1/P2) or the third direction (R1/R2) relative to the fixed platform 10, and can also rotate along the second direction (P1/P2) and the third direction (R1/R2) relative to the fixed platform 10, so that the parallel structure enables the movable platform 30 to have a better bearing capacity. Therefore, the waist structure 100 provided by the embodiment of the application can have smaller mass and faster response speed, has higher flexibility, and is easy to realize accurate control on the rotation of the movable platform 30.

Referring to fig. 3, fig. 3 illustrates a humanoid robot 1000 employing a lumbar structure 100. The humanoid robot 1000 includes an upper limb structure 200, a trunk structure 300, a waist structure 100, and a lower limb structure 400. The fixed platform 10 of the lumbar structure 100 is connected to the lower limb structure 400, and the rotating member 41 of the movable platform 30 is connected to the trunk structure 300. In this manner, the lumbar structure 100 is capable of connecting the torso structure 300 and the lower limb structure 400, and the torso structure 300 is capable of rotating in one or more of a first direction (Y1/Y2), a second direction (P1/P2), and a third direction (R1/R2) relative to the lower limb structure 400, such that the humanoid robot 1000 is capable of simulating human motions and attitudes. For example, referring to fig. 1, the humanoid robot 1000 is rotated by the rotating member 41 (shown in fig. 1) in the waist structure 100, and can drive the trunk structure 300 to rotate along the first direction (Y1/Y2) relative to the lower limb structure 400, so as to simulate a "left/right swivel" action. For another example, the motion platform 30 is driven to move by the transmission assembly 50 in the waist structure 100, so as to drive the trunk structure 300 to rotate relatively along the second direction (P1/P2) relative to the lower limb structure 400, so as to simulate a "left/right lateral bending" action; and the torso structure 300 is rotated relative to the lower limb structure 400 in a third direction (R1/R2) to simulate a "bowing" motion.

The waist structure 100 of the present embodiment is not limited to application in the humanoid robot 1000. In some biomimetic robots, for example: the waist structure 100 can be applied to robots having a trunk structure and a lower limb structure, such as a four-foot robot, a six-foot robot, an eight-foot robot, a snake-shaped robot, etc., so that the motion of the trunk structure relative to the lower limb structure has three degrees of freedom, thereby improving the motion range and the motion dexterity of the bionic robot.

In summary, in the waist structure 100 of the embodiment of the present application, the rotation assembly 40 having one rotation degree of freedom is connected in series with the parallel structure having two rotation degrees of freedom, so that the waist structure 100 has three rotation degrees of freedom, the parallel structure is composed of the fixed platform 10, the movable platform 30, the connection assembly 20, and the two transmission assemblies 50, the structure is compact, and the two transmission assemblies 50 participate in parallel connection so that the waist structure 100 has higher bearing capacity in the second direction (P1/P2) and the third direction (R1/R2). In this manner, the waist structure 100 can have a higher load carrying capacity and a larger working space.

The waist structure 100 provided in the embodiments of the present application is described in detail below with reference to the accompanying drawings.

Optionally, referring to fig. 1, in the inertial frame illustrated in fig. 1, the first direction (Y1/Y2) is a yaw angle (yaw angle) direction, the second direction (P1/P2) is a pitch angle (pitch angle) direction, and the third direction (R1/R2) is a roll angle (roll angle) direction. That is, the parallel structure of the fixed stage 10, the movable stage 30, the connection unit 20, and the two transmission units 50 has rotational degrees of freedom in both pitch angle and roll angle, and the rotation unit 40 has rotational degrees of freedom in yaw angle.

Alternatively, referring to fig. 1 to 5, in the inertial frame illustrated in fig. 1, the angle of rotation of the movable platform 30 along the second direction (P1/P2) relative to the yaw axis is schematically defined as [ -15 °,90 ° ], for example, the angle of rotation of the movable platform 30 relative to the yaw axis may be-15 °, 0 °, 30 °, 60 °,90 °, or any other angle within the range, which is not specifically shown herein. In the following description, the rotatable range of this embodiment will be taken as an example, and in other embodiments of the present invention, the structure of the waist structure 100 is different, and the rotation range actually achievable by the movable platform 30 rotating along the second direction (P1/P2) with respect to the yaw axis is not limited to [ -15 °,90 ° ], but is not limited thereto.

In one embodiment, when the humanoid robot 1000 stands on a horizontal ground, the yaw axis is perpendicular to the horizontal ground, and the left side of the waist structure 100 is the front and the right side is the rear in the view angles illustrated in fig. 4 and 5, and the movable platform 30 can rotate counterclockwise relative to the yaw axis in the view angles, so that the humanoid robot can make a 90-degree forward "bending" motion; the movable platform 30 can also rotate clockwise relative to the yaw axis at this angle of view, causing a 15 ° rearward "pitch-back" action on the humanoid machine. Thus, the waist structure 100 has a wide range of motion in the pitch angle direction, so that the humanoid robot 1000 using the waist structure 100 can better simulate the front-back bending motion of a human body.

Alternatively, referring to fig. 1 to 7, in the inertial frame illustrated in fig. 1, the angle of rotation of the movable platform 30 along the third direction (R1/R2) relative to the yaw axis is schematically defined as [ -25 °,25 ° ], for example, the angle of rotation of the movable platform 30 relative to the yaw axis may be-25 °, -15 °, 0 °, 15 °,25 °, or any other angle within the range, which is not specifically shown herein. In the following description, the rotatable range of this embodiment will be taken as an example, and in other embodiments of the present invention, the waist structure 100 is different in structure, and the actually achievable rotatable range of the movable platform 30 relative to the yaw axis in the third direction (R1/R2) is not limited to [ -15 °,90 ° ], but is not limited thereto.

In one embodiment, when the humanoid robot 1000 stands on a horizontal ground, the yaw axis is perpendicular to the horizontal ground, and in the view angles illustrated in fig. 6 and 7, the left side of the waist structure 100 is set to the right, the right side is set to the left, and the movable platform 30 can rotate counterclockwise relative to the yaw axis under the view angle, so that a right 25-degree right-side bending motion is performed on the humanoid robot; the movable platform 30 can also rotate clockwise relative to the yaw axis at this angle, causing a 25 ° left "right side bend" action on the humanoid machine. In this way, the waist structure 100 has a wide range of motion in the roll angle direction, so that the humanoid robot 1000 using the waist structure 100 can better simulate the left and right side bending motion of a human body.

Optionally, referring to fig. 8, the fixed platform 10 includes a base 11, two supporting walls 12, and a bracket 13, where the two supporting walls 12 are symmetrically disposed on the base 11, the bracket 13 is connected to the two supporting walls 12 and is disposed at a distance from the base 11, and the connecting component 20 is disposed on the bracket 13. The arm may be fixedly attached to the base 11 or may be a structure extending from the surface of the base 11, which is not limited thereto. The base 11, the two supporting walls 12 and the bracket 13 enclose a cavity structure 17, and the cavity structure 17 can be used for accommodating the transmission assemblies 50 and can provide a movable space for the two transmission assemblies 50. In addition, the support structure formed by the two supporting walls 12 and the bracket 13 has a strong bearing capacity and can bear a large weight of the automatic platform 30 and a load (such as a trunk structure) loaded on the same platform. And the base 11, the two supporting walls 12 and the bracket 13 enclose a cavity structure 17, so that the quality of the fixed platform 10 can be reduced under the condition of ensuring the strength, and the waist structure 100 has lighter weight.

Optionally, referring to fig. 8, the bracket 13 is provided with a mounting portion 131 and two through holes 132 formed on opposite sides of the mounting portion 131. The first shaft 21 is rotatably connected to the mounting portion 131, and the through hole 132 is used to avoid a rotational path when the second shaft 22 rotates around the first shaft 21.

Optionally, referring to fig. 9, the second shaft 22 is provided with a through hole 221, and the first shaft 21 is fixedly connected to the second shaft 22 through the through hole 221. Referring to fig. 8 and 9, the through hole 221 of the second shaft 22 is sleeved on the first shaft 21, two ends of the second shaft 22 are respectively located at two through holes 132, and a cavity structure 17 enclosed by the base 11, the two supporting walls 12, and the bracket 13 is located below the through holes 132. Referring to fig. 1, in the case that the two shafts rotate around the first shaft 21 in the third direction (R1/R2), the second shaft 22 moves at the through hole 132 to avoid the movement of the second shaft 22 from being blocked.

Optionally, referring to fig. 9, the connection assembly 20 further includes two connection bearings 23 and two restraints 24. Two restriction pieces 24 are provided at both ends of the first shaft 21, respectively, and two connecting bearings 23 are located between the two restriction pieces 24. Referring to fig. 8, the connection bearing 23 is fixedly connected to the mounting portion 131, and the first shaft 21 passes through the connection bearing 23 to be mounted on the mounting portion 131. The restriction member 24 is used to restrict the axial displacement of the first shaft 21, so as to avoid the first shaft 21 from being deviated when the waist structure 100 moves.

Alternatively, referring to fig. 1 and 10, each transmission assembly 50 includes a transmission motor 51 and a first link 52 fixedly connected to the transmission motor 51. Referring to fig. 8, two driving motors 51 are respectively mounted on two supporting walls 12, supporting wall 12 is provided with a supporting wall hole 121, and the first connecting rod 52 passes through the supporting wall hole 121. The two supporting walls 12 are symmetrically disposed at both sides of the base 11, so that the two driving motors 51 mounted to the supporting walls 12 are symmetrical to each other, and the two driving assemblies 50 are symmetrical to each other. The two transmission assemblies 50 bear the mass of the movable platform 30 and the load (such as a trunk structure) on the movable platform 30 together, so that the problem that the output torque is increased in a mode of increasing a high reduction ratio harmonic reducer due to insufficient driving force of a serial mechanism of a single motor is avoided, and the mass of the waist structure 100 is reduced.

Optionally, referring to fig. 10, the transmission assembly 50 further includes: the second link 53, the first hinge 54, and the second hinge 55, the second link 53 and the first link 52 are connected by the first hinge 54, and the second link 53 and the movable platform 30 are connected by the second hinge 55. Referring to fig. 8, in one embodiment, the cavity structure 17 can provide a movable space for movement of the first link 52, the second link 53, the first hinge 54, and the second hinge 55 to avoid blocking movement of the transmission assembly 50. Referring to fig. 4 and 5, in another embodiment, the first link 52, the second link 53, the first hinge 54, and the second hinge 55 do not pass through the cavity structure 17, in which case the driving motor 51 may be disposed in the cavity structure 17 to reduce the size of the waist structure 100; instead of the cavity structure 17, a solid structure may be used, or a supporting structure such as a supporting rod may be disposed in the cavity structure 17, so as to improve the bearing capacity of the fixed platform 10.

Alternatively, referring to fig. 10, the first hinge 54 is a ball hinge, and the first link 52 and the first hinge 54 form a spherical pair.

Optionally, referring to fig. 10, the second hinge 55 is a ball hinge, and the second link 53 and the second hinge 55 form a spherical pair. In one embodiment, the first hinge 54 and the second hinge 55 are both ball hinges. The first link 52 is fixedly connected with an output shaft of the transmission motor 51 fixed to the fixed platform 10, and can be regarded as a rotational joint which can be driven between the output shaft of the motor 51 and the fixed platform 10. If the spherical pair is denoted by "S" and the revolute joint is denoted by "R", one transmission assembly 50 includes one revolute pair and two spherical pairs, which form an RSS type transmission chain. The ball pair of the "RSS" type driving chain provides a larger torsion angle, so that the driving chain has a larger working space, so that the rotation of the fixed platform 10 relative to the movable platform 30 in a plurality of angles in a first direction (Y1/Y2) and a second direction (P1/P2) can be satisfied, and the posture of the fixed platform 10 relative to the movable platform 30 maintained in a plurality of different angles can be satisfied. Referring to fig. 1, in the parallel structure formed by the fixed platform 10, the movable platform 30, the connecting assembly 20 and the two transmission assemblies 50, the two transmission assemblies 50 form two paired RSS type transmission chains, and are arranged on the fixed platform 10 in a mirror symmetry manner, so that the bearing capacity is high. The "RSS" type drive chain can facilitate the transmission assembly 50 to transmit the driving force in all directions so as to precisely drive the rotation of the movable platform 30, and can be maintained in the current posture after the rotation of the drive motor 51 is stopped, so that the lumbar structure 100 can be maintained in the non-moving state without deviation of the posture.

Optionally, referring to fig. 8, the movable platform 30 includes a base 31 and two coupling parts 32 disposed at intervals on the base 31, wherein the base 31 is fixedly connected with the transmission assembly 50, and specifically, the second hinge 55 connects the second link 53 and the base 31. The coupling portion 32 is sleeved on the second shaft 22, so that the movable platform 30 can rotate around the second shaft 22.

Optionally, referring to fig. 8, the joint portion 32 is provided with a shaft hole 321, the connection assembly 20 further includes a support bearing 25 and a limiting member 26, the support bearing 25 is disposed in the shaft hole 321, the second shaft 22 penetrates through the shaft hole 321 and cooperates with the support bearing 25, and the limiting member 26 is sleeved at the end of the second shaft 22 to be used for limiting the axial displacement of the second shaft 22 and the joint portion 32.

Alternatively, referring to fig. 1 and 8, the two coupling portions 32 are symmetrical about the first axis 21, and the connection point between the second hinge 55 and the base 31 is symmetrical about the first axis 21, so as to provide a sufficient angle to enable the movable platform 30 to rotate about the first axis 21 in two degrees of freedom.

Alternatively, referring to fig. 1 to 5, in case that the two driving motors 51 are rotated synchronously in the same direction, the driving assembly 50 drives the movable platform 30 to rotate around the second shaft 22 in the second direction (P1/P2). For example, in the view of fig. 4, the synchronous rotation of the two drive motors 51 in the counterclockwise direction can rotate the movable platform 30 about the second axis 22 in the second direction (P1/P2). When the movable platform 30 rotates along the second direction P1 until the base 31 abuts against the bracket 13, the rotation of the movable platform 30 along the second direction P1 reaches the maximum limit position, and at this time, the central axis L1 of the movable platform 30 is deflected by 90 ° relative to the yaw axis. Under the view of fig. 5, the two driving motors 51 rotate synchronously in the clockwise direction to drive the movable platform 30 to rotate around the second shaft 22 in the second direction P2. When the movable platform 30 rotates in the second direction until the base 31 abuts against the bracket 13, the movable platform 30 rotates in the second direction P2 to reach the maximum limit position, and at this time, the central axis L1 of the movable platform 30 is deflected by 15 ° relative to the yaw axis.

Alternatively, referring to fig. 6 and 7, in the case that the rotation directions of the two driving motors 51 are different, the driving assembly 50 drives the movable platform 30 and the connecting assembly 20 to rotate along the third direction (R1/R2) relative to the fixed platform 10. For example, the direction in which the transmission motor 51 rotates to drive the second link 53 to move downward is the reverse rotation direction of the transmission motor 51, and the direction in which the transmission motor 51 rotates to drive the second link 53 to move upward is the forward rotation direction of the transmission motor 51. In the view of fig. 6, the driving motor 51 at the left side of the base 11 rotates reversely to pull the movable platform 30 downward; the transmission motor 51 on the right side of the base 11 rotates forward, pushing the movable platform 30 upward, and rotating the movable platform 30 in the third direction R1. When the second link 53 moves to collide with the base 11, the rotation of the movable platform 30 in the third direction R1 reaches the maximum limit, and the center axis of the movable platform 30 is deflected by 15 ° with respect to the yaw axis. Under the view of fig. 7, the driving motor 51 at the left side of the base 11 rotates forward to push the movable platform 30 upward; the transmission motor 51 on the right side of the base 11 rotates reversely, and pulls the movable platform 30 downward, so that the movable platform 30 rotates along the third direction R2. When the second link 53 moves to collide with the base 11, the rotation of the movable platform 30 in the third direction R2 reaches the maximum limit, and at this time, the central axis of the movable platform 30 is deflected by 15 ° with respect to the Yaw axis (i.e., yaw axis, the same applies below).

Alternatively, referring to fig. 4 to 7, the lumbar structure 100 can be flexibly moved by controlling the rotation directions and rotation speeds of the two driving motors 51 to precisely drive the rotation of the movable platform 30 in the second direction (P1/P2), the third direction (R1/R2), or both the second direction (P1/P2) and the third direction (R1/R2). For example, both the driving motors 51 rotate forward to drive the second link 53 to move upward to drive the movable platform 30 to rotate in the second direction (P1/P2), but the rotation speeds of the two motors are different, so that the movable platform 30 rotates in the second direction (P1/P2) and also rotates in the third direction (R1/R2).

Optionally, referring to fig. 1, 2 and 8, the rotating assembly 40 further includes a rotating motor 42 and a fixing base 43, the movable platform 30 further includes a motor base 33, the rotating motor 42 is mounted on the motor base 33, the fixing base 43 is connected with the motor base 33 and accommodates the rotating motor 42 in an accommodating space 37 between the fixing base 43 and the motor base 33, the rotating member 41 is disposed on the fixing base 43, and the rotating motor 42 is used for driving the rotating member 41 to rotate along a first direction (Y1/Y2) relative to the movable platform 30.

Optionally, referring to fig. 1, the rotating motor 42 includes an output shaft 45, the rotating assembly 40 further includes a force bearing 44, and the force bearing 44 is sleeved on the output shaft 45 and located between the fixing seat 43 and the rotating motor 42. Referring to fig. 3, in the case where the rotating assembly 40 is connected to a torso structure or other load, the load bearing bearings 44 are capable of unloading the load force onto the anchor mounts 43 to enhance the load carrying capacity of the lumbar structure 100 in the first direction (Y1/Y2).

Referring to fig. 1, the rotating assembly 40, the fixed platform 10, the movable platform 30, the connecting assembly 20, and the two transmission assemblies 50 form a series-parallel structure, and the rotation of the rotating member 41 along the first direction (Y1/Y2) is not blocked, so that the device has high flexibility. In one embodiment, the angular range of rotation of the rotating member 41 in the first direction (Y1/Y2) is [ -180 DEG, 180 DEG ] which is greater than the rotational range of the waist of a typical human body in the first direction (Y1/Y2).

All the above technical solutions may be combined to form an optional embodiment of the present application, which is not described here in detail.

Referring to fig. 3, an embodiment of the present application provides a robot 1000, where the robot 1000 includes a waist structure 100, a torso structure 300, and a lower limb structure 400 in any of the above embodiments. Referring to fig. 1, the trunk structure 300 is fixedly connected to the rotating member 41 (shown in fig. 1). The lower limb structure 400 is fixedly connected with the base 11 of the fixed platform 10. The robot 1000 provided in this embodiment adopts the waist structure 100 with three degrees of freedom of rotation to connect the trunk structure 300 and the lower limb structure 400, so that the trunk structure 300 can move reversely along one or more of the first direction (Y1/Y2), the second direction (P1/P2) and the third direction (R1/R2) relative to the lower limb structure 400, has a larger working space, and can better simulate the rotation range of the waist of the human body. The waist structure 100 of the robot 1000 is formed by connecting a parallel structure formed by the fixed platform 10, the movable platform 30, the connecting component 20 and the two transmission components 50 in series with the rotating component 40, namely, the waist structure 100 is a series-parallel structure, so that the robot 1000 has higher load capacity and better movement capacity.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments.

In the description of the embodiments of the present application, a particular feature, structure, material, or characteristic may be combined in any one or more embodiments or examples in a suitable manner.

The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (15)

1. A waist structure of a robot, comprising:

a fixed platform;

the connecting assembly comprises a first shaft and a second shaft, the first shaft is fixedly connected with the fixed platform, and the second shaft is rotatably connected with the first shaft;

the movable platform is rotatably connected with the second shaft;

the rotating assembly is arranged on the movable platform and comprises a rotating piece, and the rotating piece can rotate along a first direction relative to the movable platform; a kind of electronic device with high-pressure air-conditioning system

The two transmission assemblies are connected with the movable platform and the fixed platform, and are used for driving the movable platform to rotate around the second shaft along a second direction and driving the movable platform and the connecting assembly to rotate along a third direction relative to the movable platform; the first direction, the second direction, and the third direction are all different.

2. The lumbar structure of claim 1, wherein the first direction is a yaw direction, the second direction is a pitch direction, and the third direction is a roll direction.

3. The waist structure of claim 1, wherein the waist region is formed of a material selected from the group consisting of,

the angle range of the movable platform rotating along the second direction relative to the yaw axis is [ -15 degrees, 90 degrees ]; and/or

The angle range of the movable platform rotating along the third direction relative to the yaw axis is [ -25 degrees, 25 degrees ].

4. The lumbar structure of claim 1, wherein the stationary platform comprises a base, two support walls, and a bracket, the two support walls are symmetrically disposed on the base, the bracket connects the two support walls and is disposed at a distance from the base, and the connecting assembly is disposed on the bracket.

5. The lumbar structure of claim 4, wherein the bracket is provided with a mounting portion and two through holes formed in opposite sides of the mounting portion, the first shaft is fixedly connected to the mounting portion, and the through holes are used for avoiding a moving path of the second shaft when the second shaft rotates around the first shaft.

6. The lumbar structure of claim 5, wherein each of the transmission assemblies includes a transmission motor and a first link fixedly connected to the transmission motor, the two transmission motors are respectively mounted on the two support walls, the support walls are provided with support wall holes, and the first link penetrates through the support wall holes.

7. The waist structure of claim 6 wherein the waist region is configured to receive the waist region,

under the condition that the two transmission motors synchronously rotate in the same direction, the transmission assembly drives the movable platform to rotate around the second shaft in a second direction;

under the condition that the rotation directions of the two transmission motors are different, the transmission assembly drives the movable platform and the second shaft to rotate along a third direction relative to the first shaft.

8. The lumbar structure of claim 7, wherein said transmission assembly further comprises: the movable platform comprises a second connecting rod, a first hinge and a second hinge, wherein the second connecting rod is connected with the first connecting rod through the first hinge, and the second connecting rod is connected with the movable platform through the second hinge.

9. The lumbar structure of claim 8, wherein the first hinge is a ball hinge, the first link and the first hinge forming a spherical pair; and/or

The second hinge is a ball hinge, and the second connecting rod and the second hinge form a spherical pair.

10. The lumbar structure of claim 1, wherein said second shaft is perforated with perforations, said first shaft passing through said perforations and being rotatably connected to said second shaft.

11. The lumbar structure of claim 1, wherein the movable platform comprises a base and two joint portions arranged at intervals on the base, the base is fixedly connected with the transmission assembly, and the joint portions are sleeved on the second shaft.

12. The lumbar structure of claim 11, wherein the coupling portion is provided with a shaft hole, the connection assembly further comprises a support bearing and a limiting member, the support bearing is disposed in the shaft hole, the second shaft penetrates through the shaft hole and is matched with the support bearing, and the limiting member is sleeved at the tail end of the second shaft to limit axial displacement of the second shaft and the coupling portion.

13. The lumbar structure of claim 11, wherein the rotating assembly further comprises a rotating motor and a fixing base, the movable platform further comprises a motor base, the rotating motor is mounted on the motor base, the fixing base is connected with the motor base and accommodates the rotating motor in an accommodating space between the fixing base and the motor base, the rotating member is disposed on the fixing base, and the rotating motor is used for driving the rotating member to rotate along a first direction relative to the movable platform.

14. The lumbar structure of claim 13, wherein the rotary motor includes an output shaft, and the rotary assembly further includes a load bearing, the load bearing being disposed around the output shaft and between the fixed base and the rotary motor.

15. A robot, comprising:

the waist structure of any one of claims 1-14;

the trunk structure is connected with the rotating piece; a kind of electronic device with high-pressure air-conditioning system

And the lower limb structure is connected with the fixed platform.

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