CN211565886U - Robot and waist structure thereof - Google Patents

Abstract

The utility model provides a robot and a waist structure thereof, wherein the waist structure of the robot comprises a driving device, a rotating part and a stooping part, and the driving device comprises a rotating driving device and a stooping driving device; the rotating part is rotatably connected with the lower limb structure, a sliding groove is formed in the rotating part, the bottom wall of the sliding groove is arranged in an arc curved surface, and the rotating driving device is arranged in the lower limb structure and drives the rotating part to rotate on a horizontal plane; the waist bending part is rotatably arranged in the rotating part and fixedly connected with the body structure, an accommodating space is arranged in the waist bending part, the bottom of the waist bending part is a circular arc curved surface relative to the sliding groove, and the bottom of the waist bending part slides in the sliding groove; the bowing driving device is arranged in the accommodating space and comprises a sliding seat and a driving mechanism, the sliding seat extends out of the bowing component and is connected with the rotating component in a rotating mode, and the driving mechanism drives the sliding seat to be installed in the accommodating space in a sliding mode, so that the robot bowing driving device is arranged on the basis of transferring and pitching motion of the robot bowing structure.

Description

Robot and waist structure thereof

Technical Field

The utility model relates to a robot equipment field especially relates to a robot and waist structure thereof.

Background

The robot is a machine device which automatically executes work, can receive human commands, can run a pre-arranged program, and can outline actions according to principles designated by an artificial intelligence technology, and along with the progress of the society and the improvement of the living standard of people, the intelligent robot is more and more widely applied in the fields of home accompanying and attending, business welcome and the like.

The waist of intelligent robot is the important joint that robot upper part of the body and low limbs are connected, along with the improvement of robot anthropomorphic degree, current intelligent robot's waist generally has two degrees of freedom in every single move and the transfer, the rotation of this waist generally drives carousel rotation control through the steering wheel, every single move control generally pushes away the pull rod through the steering wheel and controls, because intelligent robot's the first body often integrates various control, sensing, functional element, therefore moment of inertia is big, high to steering wheel mechanical properties's requirement, and adopt the phenomenon that the mode of pushing away the pull rod can take place the shake during motion, can take place cracked problem even when serious, and then make the stability of structure poor, and short service life, therefore, how to improve the stability of structure, improve life becomes for now the problem of waiting to solve urgently.

SUMMERY OF THE UTILITY MODEL

Therefore, the to-be-solved technical problem of the utility model lies in overcoming the technical defect that the robot waist structure of prior art is poor in stability, short in service life owing to adopt the connecting rod structure.

In order to achieve the above object, the present invention provides a robot waist structure, which includes a driving device, a rotating member and a stooping member, wherein the driving device includes a rotation driving device and a stooping driving device; the rotating part is rotatably connected with a lower limb structure of the robot, a sliding groove is formed in the rotating part, the bottom wall of the sliding groove is arranged in an arc curved surface, and the rotating driving device is arranged in the lower limb structure and drives the rotating part to rotate on a horizontal plane; the bending part is rotatably arranged in the rotating part and fixedly connected with the body structure of the robot, an accommodating space is arranged in the bending part, the bottom of the bending part is a circular arc curved surface relative to the sliding groove, and the bottom of the bending part slides in the sliding groove; the bowing driving device is arranged in the accommodating space and comprises a sliding seat and a driving mechanism, the sliding seat extends out of the bowing part and is connected with the rotating part in a rotating mode, the driving mechanism drives the sliding seat to be installed in the accommodating space in a sliding mode, and therefore on the basis of achieving transfer and front-back pitching motion of the robot bowing part structure, when the sliding seat slides in the bowing part, the sliding seat can only rotate relative to the lower limb structure, synchronous displacement of the bowing part is limited, and the bowing part can only rotate relative to the robot; in addition, the sliding groove and the sliding curved surface are matched, so that the bowing component is more stable in the rotating process, and meanwhile, the bowing driving device is arranged in the accommodating space, so that the interference between the bowing driving device and an external component is prevented, and the effects of high stability and long service life are achieved.

Furthermore, the bowing component comprises a first shell and a second shell which are mutually covered, an accommodating space is formed between the first shell and the second shell, an accommodating groove is formed in the inner wall of the first shell, and the sliding seat is slidably installed in the accommodating groove, so that the sliding installation of the sliding seat in the bowing component is realized.

Furthermore, the stooping driving device also comprises a sliding push rod, a through hole is arranged on the sliding seat corresponding to the sliding push rod in a matching way, the sliding push rod penetrates through the through hole, and one end of the sliding push rod is rotatably arranged in the accommodating groove; the driving mechanism is fixedly arranged in the accommodating space and drives the sliding push rod to move in the through hole along the axial direction, and further, the sliding seat is arranged on the bending part to move along the axial direction of the sliding push rod through the sliding push rod.

Furthermore, the driving mechanism is a speed reducer, and an output gear is connected to an output shaft of the speed reducer; the sliding push rod is a screw rod, the screw rod is in threaded fit with the through hole, a connecting gear in meshed transmission with the output gear is coaxially arranged on the screw rod, and the reducer drives the output gear to rotate so as to drive the screw rod to rotate through the connecting gear.

Further, the rotatable part includes the base, and the base is the column, and the upper surface undercut of base is formed with the sliding tray, and the upper surface of base is located the fixed installation department that is provided with around the sliding tray, and the part pivoted of bowing is installed in the base, and the horizontal direction of the part that bows of installation department restriction removes, and then has restricted the part of bowing through setting up the installation department and only can rotate in the rotatable part, has improved the pivoted stability of the part of bowing.

Furthermore, the installation part is provided with an installation hole, the bending part is provided with an installation column corresponding to the installation hole, and the installation column is rotatably inserted into the installation hole, so that the rotary installation of the bending part on the installation part is realized, namely, the rotation of the bending part relative to the rotary part is realized.

Furthermore, a limiting hole is formed in the rotating part, the limiting hole and the mounting hole are arranged in the same direction, and the limiting hole extends towards the mounting hole; the sliding seat is provided with a connecting part, the outer side surface of the connecting part is convexly provided with a limiting column along the left and right direction, the limiting column protrudes out of the bending part and is inserted in the limiting hole, the limiting corresponding to the limiting column slides in the limiting hole and can rotate in the limiting hole, and the sliding seat rotates relative to the rotating part through the rotating fit of the limiting column and the limiting hole; in addition, the limiting hole and the mounting hole are arranged in the same direction, and the limiting hole extends towards the mounting hole, so that the displacement offset direction and the offset of the rotation center of the sliding seat relative to the rotation center of the bending part are limited when the sliding seat and the bending part rotate relative to the rotating part synchronously, and the forward and backward rotation of the bending part is guaranteed.

Furthermore, the bottom of the base protrudes downwards to form a transmission column, a conical bearing is arranged on the periphery of the transmission column, the transmission column is rotatably installed in the lower limb structure through the conical bearing, the body structure of the robot is provided with a plurality of components, and the body structure is finally connected with the lower limb structure through a rotating structure, so that the corresponding mechanical bearing of the base is large, when the base rotates relative to the lower limb structure, the conical bearing is adopted, the radial load and the vertical square axial load can be effectively borne, and the stability of the action of the waist structure of the robot is improved.

Further, a transmission gear is sleeved outside the bottom of the transmission column; the rotation driving device comprises a mounting frame and a rotation motor, the mounting frame is positioned below the base and is fixedly mounted in the lower limb structure, so that the rotation driving device is mounted in the lower limb structure, the space of the lower limb structure is utilized, and the size of the waist structure of the robot is effectively reduced; the rotating motor is arranged in the mounting frame, a motor gear is arranged on a motor shaft of the rotating motor, and the motor gear and the transmission gear are mutually transmitted to drive the transmission column to rotate, so that the rotating control of the rotating part by the rotating driving device is realized.

In order to achieve the above object, the present invention further provides a robot, including any one of the above mentioned robot waist structures, and further having any one of the above mentioned advantages.

When the sliding seat slides in the bending part, the sliding seat can only rotate relative to the lower limb structure, so that the synchronous displacement of the bending part is limited, and the bending part can only rotate relative to the robot; in addition, the sliding groove and the sliding curved surface are matched, so that the bowing component is more stable in the rotating process, and meanwhile, the bowing driving device is arranged in the accommodating space, so that the interference between the bowing driving device and an external component is prevented, and the effects of high stability and long service life are achieved.

Drawings

In order to more clearly illustrate the technical solution of the embodiments of the present invention, the following provides a detailed description of the present invention with reference to the embodiments of the present invention and the accompanying drawings.

Fig. 1 is a schematic view of the waist structure of the robot of the present invention;

FIG. 2 is an exploded view of the lumbar structure of the robot shown in FIG. 1;

FIG. 3 is a schematic view of the lumbar structure of the robot of FIG. 1 with a second shell removed;

FIG. 4 is a schematic view of the waist structure of the robot shown in FIG. 1 illustrating the operation of the stooping member;

FIG. 5 is a left side view of the lumbar structure of the robot of FIG. 1 with the lumbar member removed;

figure 6 is a left side view of the lumbar structure of the robot of figure 4 with the lumbar member removed.

The reference numerals in the drawings are explained below.

11-a rotation drive; 111-a rotating electric machine; 112-a mounting frame; 113-motor gear;

12-a stooping driving device; 121-a sliding seat; 1211-puncturing; 1212-a connecting part;

1213-a spacing post; 1214-sliding holes; 122 — a drive mechanism; 123-sliding push rod;

124-output gear; 125-connecting gear; 2-a rotating member; 21-a base;

211-sliding grooves; 212-a drive column; 213-a transmission gear; 22-a mounting portion;

221-mounting holes; 222-a limiting hole; 3-a lumbar member; 31-a housing space;

32-a first housing; 321-a containing groove; 322-a fixation groove; 33-a second housing;

34-mounting posts; 4-tapered bearings; 5-a slide bar; 6-bearing.

Detailed Description

The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "left", "right", "inside", "outside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly stated or limited, the terms "mounted" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.

One embodiment of the robot as shown in fig. 1 to 4 comprises a robot waist structure comprising a driving device, a rotating part 2 and a stooping part 3, wherein the driving device comprises a rotating driving device 11 and a stooping driving device 12; the rotating part 2 is rotatably connected with a lower limb structure of the robot, a sliding groove 211 is formed in the rotating part 2, the bottom wall of the sliding groove 211 is arranged in an arc curved surface, and the rotating driving device 11 is arranged in the lower limb structure and drives the rotating part 2 to rotate on the horizontal plane; the stooping part 3 is rotatably arranged in the rotating part 2 and is fixedly connected with the body structure of the robot, an accommodating space 31 is arranged in the stooping part 3, the bottom of the stooping part 3 is a circular arc curved surface relative to the sliding groove 211, and the bottom of the stooping part 3 slides in the sliding groove 211; the stooping driving device 12 is disposed in the accommodating space 31, the stooping driving device 12 includes a sliding seat 121 and a driving mechanism 122, the sliding seat 121 extends out of the stooping part 3 and is rotatably connected with the rotating part 2, and the driving mechanism 122 drives the sliding seat 121 to be slidably mounted in the accommodating space 31.

According to the robot waist structure, on the basis of realizing the transfer and the front-back pitching motion of the robot waist structure, when the sliding seat 121 slides in the stooping part 3, as the sliding seat 121 can only rotate relative to the lower limb structure, the synchronous displacement of the stooping part 3 is limited, and the stooping part 3 can only rotate relative to the robot; in addition, the sliding groove 211 and the sliding curved surface are matched, so that the stooping part 3 is more stable in the rotating process, and meanwhile, the stooping driving device 12 is arranged in the accommodating space 31, so that the interference between the stooping driving device 12 and an external part is prevented, and the effects of high stability and long service life are achieved.

Specifically, as shown in fig. 1 to 3, the rotating member 2 includes a base 21, the base 21 is in a column shape, an upper surface of the base 21 is recessed downward to form a sliding groove 211, an upper surface of the base 21 is fixedly provided with a mounting portion 22 around the sliding groove 211, the mounting portion 22 is provided with a limiting hole 222 and a mounting hole 221, the mounting hole 221 is provided with a bearing 6, the limiting hole 222 is opened in the same direction as the mounting hole 221, and the limiting hole 222 extends toward the mounting hole 221.

In a preferred embodiment, the sliding groove 211 is located in the middle of the upper surface of the base 21, there are two mounting portions 22, and the opposite side surfaces of each mounting portion 22 are respectively provided with a mounting hole 221; when the lumbar support 3 is disposed in the slide groove 211, the two mounting portions 22 are disposed on both sides of the lumbar support 3 in the rotational axial direction, respectively; the two opposite outer side surfaces of the stooping part 3 are respectively provided with an installation column 34 along the axial direction, and the two installation columns 34 are correspondingly arranged in the installation holes 221 of the two installation parts 22 one by one. In the present embodiment, the mounting portion 22 and the base 21 are formed separately, but may be formed integrally.

Meanwhile, the bottom of the base 21 is protruded downwards to form a transmission column 212 which is mutually transmitted with the rotation driving device 11, and a transmission gear 213 is sleeved outside the bottom of the transmission column 212; the upper part of the periphery of the transmission column 212 is provided with the tapered bearing 4, the transmission column 212 is rotatably installed in a lower limb structure through the tapered bearing 4, as the number of parts in the body structure of the robot is large, the body structure is finally connected with the lower limb structure through a rotating structure, and further the corresponding mechanical bearing of the base 21 is large, when the base 21 rotates around the axis of the transmission column 212 relative to the lower limb structure, the tapered bearing 4 is adopted, so that the radial load and the vertical square axial load can be effectively borne, and the stability of the action of the waist structure of the robot is improved.

As shown in fig. 1 to 4, the lumbar support 3 is rotatably mounted on the base 21, the mounting portion 22 restricts the movement of the lumbar support 3 in the horizontal direction, and the lumbar support 3 is restricted from rotating only in the rotating member 2 by the mounting portion 22, so that the rotational stability of the lumbar support 3 is improved.

The stooping part 3 comprises a first shell 32 and a second shell 33 which are mutually covered, a containing space 31 is formed between the first shell 32 and the second shell 33, a containing groove 321 is formed on the inner wall of the first shell 32, a fixing groove 322 is formed on the inner wall of the containing groove 321, the sliding seat 121 is slidably arranged in the containing groove 321, and the sliding seat 121 is slidably arranged in the stooping part 3; meanwhile, the outer surface of the stooping part 3 is provided with the mounting post 34 corresponding to the mounting hole 221, the mounting post 34 is rotatably mounted in the bearing 6, so that the mounting post 34 is rotatably inserted into the mounting hole 221, the friction of the mounting post 34 during rotation is reduced through the bearing 6, the stability of rotation and the service life of the installation post are improved, the rotation mounting of the stooping part 3 on the mounting part 22 is realized, and the rotation of the stooping part 3 relative to the rotating part 2 is realized.

As shown in fig. 2 and fig. 3, the stooping driving device 12 further includes a sliding push rod 123, a through hole 1211 is disposed on the sliding seat 121 and is adapted to correspond to the sliding push rod 123, the sliding push rod 123 passes through the through hole 1211, and one end of the sliding push rod 123 is rotatably inserted into the receiving groove 321; the driving mechanism 122 is fixedly installed in the accommodating space 31 and drives the sliding push rod 123 to move in the axial direction in the through hole 1211, and further, by providing the sliding push rod 123, the sliding seat 121 is moved on the stooping part 3 in the axial direction of the sliding push rod 123.

As shown in fig. 2, 3, 5 and 6, the sliding seat 121 has a vertically symmetrical shape, and the through hole 1211 is disposed at the symmetrical center of the sliding seat 121; two slip holes 1214 have been seted up on sliding seat 121, the line level setting of two slip holes 1214, and vertical symmetry sets up on sliding seat 121, be provided with slide bar 5 in two slip holes 1214, slide bar 5 fixed mounting is in fixed slot 322, be symmetrical structure with sliding seat 121 setting through the setting, and the setting of slide bar 5 symmetry is on sliding seat 121, the gliding stability of sliding seat 121 in the part of bowing 3 has been guaranteed, further improvement the stability of the part of bowing 3 structure and the stability of actuating.

The sliding seat 121 is provided with a connecting part 1212, the outer side surface of the connecting part 1212 is convexly provided with a limiting column 1213 along the left-right direction, the limiting column 1213 protrudes out of the stooping part 3 and is inserted into the limiting hole 222, the limiting column 1213 correspondingly slides in the limiting hole 222 and can rotate in the limiting hole 222, the sliding seat 121 rotates relative to the rotating part 2 through the rotating fit of the limiting column 1213 and the limiting hole 222, and the rotating part 2 is arranged in the lower limb structure, so that the sliding seat 121 rotates relative to the lower limb structure; in addition, the limiting hole 222 is formed in the same direction as the mounting hole 221, and the limiting hole 222 extends toward the mounting hole 221, so that when the sliding seat 121 and the stooping member 3 synchronously rotate relative to the rotating member 2, the displacement offset direction and the offset of the rotation center of the sliding seat 121 relative to the rotation center of the stooping member 3 are limited, and the forward and backward rotation of the stooping member 3 is ensured.

As a preferred embodiment, as shown in fig. 2 and 5, the driving mechanism 122 includes a speed reducer having an output shaft to which an output gear 124 is connected; the sliding push rod 123 is a screw rod, the screw rod is in threaded fit with the through hole 1211, a connecting gear 125 in meshing transmission with the output gear 124 is coaxially arranged on the screw rod, and the reducer drives the connecting gear 125 to rotate so as to drive the screw rod to rotate through the transmission gear 213.

As shown in fig. 1 and 2, the rotation driving device 11 includes a mounting bracket 112 and a rotation motor 111, the mounting bracket 112 is located below the base 21 and is fixedly installed in the lower limb structure, so that the installation of the rotation driving device 11 in the lower limb structure is realized, the space of the lower limb structure is utilized, and the volume of the robot waist structure is effectively reduced; the rotating motor 111 is installed in the mounting frame 112, a motor gear 113 is installed on a motor shaft of the rotating motor 111, the motor gear 113 and the transmission gear 213 are mutually transmitted to drive the transmission post 212 to rotate, and further, the rotation control of the rotating part 2 by the rotation driving device 11 is realized.

When the robot waist structure executes a rotating action, the rotating motor 111 drives the motor gear 113 to transmit, the motor gear 113 is meshed with the transmission gear 213 to transmit so as to drive the transmission post 212 to rotate, and then the transmission post 212 drives the base 21 to rotate, so that the rotation of the rotating part 2 relative to the lower limb structure is realized, namely, the function of waist transfer is realized; when the bending-down action is executed, the reducer drives the output gear 124 to rotate, the output gear 124 is in meshing transmission with the connecting gear 125 to drive the screw rod to rotate, at this time, the screw rod is in threaded fit with the through hole 1211 of the sliding seat 121 to further drive the sliding seat 121 to slide in the accommodating groove 321, the sliding seat 121 and the bending-down component 3 are rotatably arranged in the installation part 22, the limiting hole 222 extends towards the installation hole 221, and further the bending-down component 3 is limited to synchronously displace along the sliding direction of the sliding seat 121, so that the bending-down component 3 can only rotate relative to the robot, and the bending-down action of the bending-down component 3 is realized.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.

Claims (10)

1. A robot waist structure, comprising:

a drive device comprising a rotation drive device (11) and a stooping drive device (12);

the rotating part (2) is rotatably connected with a lower limb structure of the robot, a sliding groove (211) is formed in the rotating part (2), the bottom wall of the sliding groove (211) is arranged in an arc curved surface, and the rotating driving device (11) is arranged in the lower limb structure and drives the rotating part (2) to rotate on a horizontal plane; and

the bending part (3) is rotatably installed in the rotating part (2) and fixedly connected with the body structure of the robot, an accommodating space (31) is formed in the bending part (3), the bottom of the bending part (3) is a circular arc curved surface relative to the sliding groove (211), and the bottom of the bending part (3) slides in the sliding groove (211);

the bowing driving device (12) is arranged in the accommodating space (31), the bowing driving device (12) comprises a sliding seat (121) and a driving mechanism (122), the sliding seat (121) extends out of the bowing component (3) and is connected with the rotating component (2) in a rotating mode, and the driving mechanism (122) drives the sliding seat (121) to be installed in the accommodating space (31) in a sliding mode.

2. The robot waist structure according to claim 1, wherein the lumbar support member (3) comprises a first housing (32) and a second housing (33) which are covered with each other, the receiving space (31) is formed between the first housing (32) and the second housing (33), a receiving groove (321) is formed on an inner wall of the first housing (32), and the sliding seat (121) is slidably mounted in the receiving groove (321).

3. The robot waist structure according to claim 2, wherein the bowing driving device (12) further comprises a sliding push rod (123), a through hole (1211) is disposed on the sliding seat (121) and is adapted to correspond to the sliding push rod (123), the sliding push rod (123) passes through the through hole (1211), and one end of the sliding push rod (123) is rotatably disposed in the accommodating groove (321); the driving mechanism (122) is fixedly arranged in the accommodating space (31) and drives the sliding push rod (123) to move in the through hole (1211) along the axial direction.

4. The robot lumbar structure according to claim 3, characterized in that the drive mechanism (122) is a reducer, an output gear (124) being connected to an output shaft of the reducer; the sliding push rod (123) is a screw rod, the screw rod is in threaded fit with the through hole (1211), a connecting gear (125) in meshing transmission with the output gear (124) is coaxially arranged on the screw rod, and the speed reducer drives the output gear (124) to rotate so as to drive the screw rod to rotate through the connecting gear (125).

5. The robot waist structure according to any one of claims 1 to 4, wherein the rotating member (2) comprises a base (21), the base (21) is columnar, the upper surface of the base (21) is recessed downward to form the sliding groove (211), an installation part (22) is fixedly arranged on the periphery of the sliding groove (211) on the upper surface of the base (21), the stooping member (3) is rotatably installed in the base (21), and the installation part (22) limits the horizontal movement of the stooping member (3).

6. Robot waist structure according to claim 5, characterized in that the mounting portion (22) is provided with a mounting hole (221), the lumbar support member (3) is provided with a mounting post (34) corresponding to the mounting hole (221), and the mounting post (34) is rotatably inserted in the mounting hole (221).

7. The robot waist structure according to claim 6, wherein a limiting hole (222) is formed in the rotating part (2), the limiting hole (222) is opened in the same direction as the mounting hole (221), and the limiting hole (222) extends towards the mounting hole (221); the sliding seat (121) is provided with a connecting portion (1212), the outer side surface of the connecting portion (1212) is provided with a limiting column (1213) in a protruding manner along the left-right direction, the limiting column (1213) protrudes out of the bowing component (3) and is inserted into the limiting hole (222), and the limiting column (1213) correspondingly limits the sliding in the limiting hole (222) and can rotate in the limiting hole (222).

8. Robot waist structure according to claim 5, characterized in that the bottom of the base (21) is formed with a transmission column (212) protruding downwards, the periphery of the transmission column (212) is provided with a conical bearing (4), and the transmission column (212) is rotatably mounted in the lower limb structure through the conical bearing (4).

9. The robot lumbar structure according to claim 8, characterized in that a transmission gear (213) is sleeved outside the bottom of the transmission column (212); the rotation driving device (11) comprises a rotation motor (111) and a mounting rack (112), wherein the mounting rack (112) is positioned below the base (21) and is fixedly arranged in the lower limb structure; the rotating motor (111) is installed in the mounting frame (112), a motor gear (113) is installed on a motor shaft of the rotating motor (111), and the motor gear (113) and the transmission gear (213) are mutually transmitted to drive the transmission column (212) to rotate.

10. A robot, characterized by comprising a robot waist construction according to any one of claims 1-9.

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