CN211761525U - Robot and waist structure thereof - Google Patents
Robot and waist structure thereof Download PDFInfo
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- CN211761525U CN211761525U CN202020059649.1U CN202020059649U CN211761525U CN 211761525 U CN211761525 U CN 211761525U CN 202020059649 U CN202020059649 U CN 202020059649U CN 211761525 U CN211761525 U CN 211761525U
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- sliding seat
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Abstract
The utility model provides a robot and a waist structure thereof, wherein the waist structure of the robot comprises a bowing component and a bowing driving device, the bowing component is fixedly connected with the body structure of the robot, an accommodating space is arranged in the bowing component, an accommodating groove is arranged in the accommodating space, and the bowing component rotates relative to the lower limb structure of the robot; the driving device bends over, accommodate in accommodating space, the driving device bends over includes sliding seat and actuating mechanism, the gliding installation of sliding seat is in the accepting groove, the sliding seat stretches out the part of bending over and can rotate for the low limbs structure, actuating mechanism fixed mounting is in accommodating space, and the drive sliding seat slides in the accepting groove, with the distance between change sliding seat and the accepting groove inner wall, and make sliding seat and the part of bending over rotate for the low limbs structure respectively, adopt and control the pivoted mode of the part of bending over through changing the distance between part of bending over and the sliding seat, the effectual stability and the life that have improved the structure.
Description
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 comprises a bowing component and a bowing driving device, wherein the bowing component is fixedly connected with a body structure of the robot, an accommodating space is arranged in the bowing component, an accommodating groove is arranged in the accommodating space, and the bowing component rotates relative to a lower limb structure of the robot; the bowing driving device is accommodated in the accommodating space and comprises a sliding seat and a driving mechanism, the sliding seat is slidably arranged in the accommodating groove, the sliding seat extends out of the bowing component and can rotate relative to the lower limb structure, the driving mechanism is fixedly arranged in the accommodating space and drives the sliding seat to slide in the accommodating groove so as to change the distance between the sliding seat and the inner wall of the accommodating groove and enable the sliding seat and the bowing component to rotate relative to the lower limb structure respectively, when the sliding seat slides in the bowing component, the distance between the sliding seat and the bowing component is changed, namely the sliding seat and the bowing component displace along the sliding direction, as the sliding seat can only rotate relative to the lower limb structure, the bowing component is limited to displace synchronously, and the bowing component rotates relative to the robot, the rotation of the bowing component can be realized, and the body structure is synchronously driven to tilt forwards or backwards, the waist structure of the robot adopts a mode of controlling the rotation of the bowing component by changing the distance between the bowing component and the sliding seat, thereby avoiding the technical defects of poor mechanical property and short service life caused by adopting a rotating shaft connecting rod mechanism; meanwhile, the bowing driving device is arranged in the bowing component, so that the bowing driving device is further protected, and the stability and the service life of the structure are comprehensively and effectively improved.
Furthermore, the driving device for stooping further comprises a sliding push rod, a through hole is formed in the sliding seat corresponding to the matching of the sliding push rod, one end of the sliding push rod is rotatably inserted into the inner wall of the accommodating groove, the sliding push rod penetrates through the through hole, the driving mechanism drives the sliding push rod to axially move in the through hole, and then the sliding push rod is arranged, so that the sliding seat can move on the stooping component, and the moving direction is limited to be axially arranged along the sliding push rod.
Further, the driving mechanism comprises 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.
Furthermore, the sliding seat is in a vertical symmetrical shape, and the through hole is formed in the symmetrical center of the sliding seat; the sliding seat is provided with two sliding holes, the connecting line of the two sliding holes is horizontally arranged and vertically and symmetrically arranged on the sliding seat, and sliding rods are arranged in the two sliding holes; the part of bowing is formed with accommodating space including the first casing and the second casing that each other approximately closes, be provided with the fixed slot in the first casing, and slide bar fixed mounting is in the fixed slot, is symmetrical structure through setting up with the sliding seat setting to the setting of slide bar symmetry is on the sliding seat, has guaranteed the gliding stability of sliding seat in the part of bowing, further improvement the stability of the part structure of bowing and the stability of actuating.
Furthermore, the sliding seat is provided with a connecting part, the connecting part protrudes out of the stooping part, the connecting part is provided with a limiting column, and when the sliding seat moves in the accommodating space, the connecting part rotates around the limiting column relative to the lower limb structure, so that the sliding seat rotates relative to the lower limb structure.
The lower limb structure is rotatably connected with the lower limb structure, and the rotating part is provided with a mounting hole; the outer surface of the bowing component is provided with the mounting column corresponding to the mounting hole, the bowing component rotates relative to the rotating component, the mounting column is rotatably inserted into the mounting hole, and then the robot waist structure has the degrees of freedom in the horizontal direction and the vertical direction at the same time, so that the rotating and bowing functions of the robot waist structure are realized, and the purpose of improving the personifying degree of the robot waist structure is achieved.
Furthermore, two limiting holes are oppositely arranged on the rotating part, the limiting holes and the mounting holes are arranged in the same direction, and the limiting holes extend towards the mounting holes; the two opposite outer side surfaces of the connecting part are provided with vertically symmetrical limiting columns, the limiting columns are correspondingly limited in the limiting holes in a sliding manner and can rotate in the limiting holes, the sliding seat rotates relative to the rotating part through the rotating fit of the limiting columns and the limiting holes, and the rotating part is arranged in the lower limb structure, so that the sliding seat rotates relative to the lower limb structure; 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 rotation part synchronously, and the front and back rotation of the bending part is guaranteed.
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.
The utility model provides a robot and waist structure thereof, when the sliding seat slides in the part of bowing, the distance between the two changes, sliding seat and the part of bowing take place the displacement along gliding direction promptly, because the sliding seat only can rotate the setting for low limbs structure, and then has restricted the part of bowing and has taken place the displacement in step, the part of bowing sets up for the robot rotation in addition, can realize the rotation of the part of bowing, and drive the body structure in step and lean forward or lean back, in order to realize anthropomorphic action, the robot waist structure adopts and controls the mode that the part of bowing rotates through changing the distance between the part of bowing and the sliding seat, it has avoided adopting the mechanical properties that pivot link mechanism caused poor, the short technological defect of life; meanwhile, the bowing driving device is arranged in the bowing component, so that the bowing driving device is further protected, and the stability and the service life of the structure are comprehensively and effectively improved.
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 shown in fig. 1 to 4 comprises a robot waist structure, the robot waist structure comprises a stooping member 3 and a stooping driving device 12, wherein the stooping member 3 is fixedly connected with a body structure (not shown) of the robot, a containing space 31 is arranged in the stooping member 3, a containing groove 321 is arranged in the containing space 31, and the stooping member 3 rotates relative to a lower limb structure (not shown) of the robot; the stooping driving device 12 is accommodated in the accommodating space 31, the stooping driving device 12 comprises a sliding seat 121 and a driving mechanism 122, the sliding seat 121 is slidably installed in the accommodating groove 321, the sliding seat 121 extends out of the stooping part 3 and can rotate relative to the lower limb structure, the driving mechanism 122 is fixedly installed in the accommodating space 31 and drives the sliding seat 121 to slide in the accommodating groove 321 so as to change the distance between the sliding seat 121 and the inner wall of the accommodating groove 321 and enable the sliding seat 121 and the stooping part 3 to rotate relative to the lower limb structure respectively.
In the robot waist structure, when the sliding seat 121 slides in the stooping part 3, the distance between the sliding seat 121 and the stooping part 3 is changed, namely the sliding seat 121 and the stooping part 3 displace along the sliding direction, because the sliding seat 121 can only rotate relative to the lower limb structure, the synchronous displacement of the stooping part 3 is limited, and in addition, the stooping part 3 rotates relative to the robot, the rotation of the stooping part 3 can be realized, and the body structure is synchronously driven to lean forward or backward to realize anthropomorphic action, the robot waist structure adopts a mode of controlling the rotation of the stooping part 3 by changing the distance between the stooping part 3 and the sliding seat 121, and the technical defects of poor mechanical property and short service life caused by adopting a rotating shaft connecting rod mechanism are avoided; meanwhile, the bowing driving device 12 is arranged in the bowing component 3, so that the bowing driving device 12 is further protected, the structural stability is comprehensively and effectively improved, and the service life is prolonged
Specifically, as shown in fig. 1 to 3, the robot further includes a rotating part 2 rotating in a horizontal plane, the rotating part 2 is rotatably connected with the lower limb structure of the robot, a sliding groove 211 is formed in the rotating part 2, and the bottom wall of the sliding groove 211 is arranged in an arc curved surface; the rotating part 2 comprises a base 21, the base 21 is columnar, a sliding groove 211 is formed in the downward concave of the upper surface of the base 21, an installation part 22 is fixedly arranged on the periphery of the sliding groove 211 on the upper surface of the base 21, a limiting hole 222 and an installation hole 221 are arranged on the installation part 22, a bearing 6 is arranged on the installation hole 221, the limiting hole 222 and the installation hole 221 are arranged in the same direction, and the limiting hole 222 extends towards the installation 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 6, the transmission column 212 is rotatably installed in a lower limb structure through the tapered bearing 6, because 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 then 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 6 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 stooping member 3 is rotatably mounted in the base 21, the bottom of the stooping member 3 is a circular arc curved surface relative to the sliding groove 211, the bottom of the stooping member 3 slides in the sliding groove 211, the mounting portion 22 limits the horizontal movement of the stooping member 3, and further, the mounting portion 22 limits the stooping member 3 to only rotate in the rotating member 2, so that the stability of the rotation of the stooping member 3 is improved; meanwhile, 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.
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, and a fixing groove 322 is arranged on the inner wall of a containing groove 321 of the first shell 32; 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 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 inner wall of the accommodating 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 robot waist structure further includes a rotation driving device 11, the rotation driving device 11 is disposed in the lower limb structure, 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 mounted in the lower limb structure, so that the mounting 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.
In the robot waist structure, when the rotation action is executed, the rotation 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 rotation 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 (8)
1. A robot waist structure, comprising:
the bending part (3) is fixedly connected with the body structure of the robot, an accommodating space (31) is formed in the bending part (3), an accommodating groove (321) is formed in the accommodating space (31), and the bending part (3) rotates relative to the lower limb structure of the robot; and
the stooping driving device (12) is accommodated in the accommodating space (31), the stooping driving device (12) comprises a sliding seat (121) and a driving mechanism (122), the sliding seat (121) is slidably installed in the accommodating groove (321), the sliding seat (121) extends out of the stooping part (3) and can rotate relative to the lower limb structure, the driving mechanism (122) is fixedly installed in the accommodating space (31) and drives the sliding seat (121) to slide in the accommodating groove (321) so as to change the distance between the inner walls of the sliding seat (121) and the accommodating groove (321) and enable the sliding seat (121) and the stooping part (3) to rotate relative to the lower limb structure respectively.
2. The robot waist structure according to claim 1, wherein the stooping driving device (12) further comprises a sliding push rod (123), a through hole (1211) is formed in the sliding seat (121) and is adapted to correspond to the sliding push rod (123), one end of the sliding push rod (123) is rotatably inserted into the inner wall of the accommodating groove (321), the sliding push rod (123) penetrates through the through hole (1211), and the driving mechanism (122) drives the sliding push rod (123) to move axially in the through hole (1211).
3. The robot lumbar structure according to claim 2, 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).
4. The robot waist construction according to claim 2 or 3, characterized in that said sliding seat (121) is vertically symmetrical in shape, said perforation (1211) being provided in the centre of symmetry of said sliding seat (121); two sliding holes (1214) are formed in the sliding seat (121), the connecting line of the two sliding holes (1214) is horizontally arranged and vertically and symmetrically arranged on the sliding seat (121), and sliding rods (5) are arranged in the two sliding holes (1214); the waist bending part (3) comprises a first shell (32) and a second shell (33) which are mutually covered, the accommodating space (31) is formed between the first shell (32) and the second shell (33), a fixing groove (322) is formed in the first shell (32), and the sliding rod (5) is fixedly installed in the fixing groove (322).
5. Robot waist construction according to any of claims 1-3, wherein a connecting portion (1212) is provided on the sliding seat (121), said connecting portion (1212) protruding out of the lumbar support (3), a limit post (1213) being provided on said connecting portion (1212), said connecting portion (1212) rotating around said limit post (1213) relative to the lower limb construction when said sliding seat (121) moves in said receiving space (31).
6. The robot waist structure according to claim 5, characterized in that it further comprises a rotating part (2), said rotating part (2) is rotatably connected with said lower limb structure, said rotating part (2) is provided with a mounting hole (221); the outer surface of the bowing component (3) is provided with a mounting column (34) corresponding to the mounting hole (221), the bowing component (3) rotates relative to the rotating component (2), and the mounting column (34) is rotatably inserted into the mounting hole (221).
7. The robot waist structure according to claim 6, wherein the rotating part (2) is provided with two limiting holes (222) oppositely, the limiting holes (222) are opened in the same direction as the mounting holes (221), and the limiting holes (222) extend towards the mounting holes (221); the two opposite outer side surfaces of the connecting part (1212) are provided with vertically symmetrical limiting columns (1213), and the limiting columns (1213) are correspondingly limited in the limiting holes (222) in a sliding manner and can rotate in the limiting holes (222).
8. A robot characterized by comprising a robot waist construction according to any one of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020059649.1U CN211761525U (en) | 2020-01-10 | 2020-01-10 | Robot and waist structure thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020059649.1U CN211761525U (en) | 2020-01-10 | 2020-01-10 | Robot and waist structure thereof |
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| CN211761525U true CN211761525U (en) | 2020-10-27 |
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| CN202020059649.1U Active CN211761525U (en) | 2020-01-10 | 2020-01-10 | Robot and waist structure thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112545846A (en) * | 2020-12-29 | 2021-03-26 | 西北工业大学 | Power type multi-degree-of-freedom walking-aid lower limb exoskeleton robot based on intention recognition |
| CN114227679A (en) * | 2021-12-17 | 2022-03-25 | 深圳市金大智能创新科技有限公司 | Remote robot control method and system based on digital virtual human drive |
-
2020
- 2020-01-10 CN CN202020059649.1U patent/CN211761525U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112545846A (en) * | 2020-12-29 | 2021-03-26 | 西北工业大学 | Power type multi-degree-of-freedom walking-aid lower limb exoskeleton robot based on intention recognition |
| CN112545846B (en) * | 2020-12-29 | 2023-11-21 | 西北工业大学 | Power type multi-degree-of-freedom walking-assisting lower limb exoskeleton robot based on intention recognition |
| CN114227679A (en) * | 2021-12-17 | 2022-03-25 | 深圳市金大智能创新科技有限公司 | Remote robot control method and system based on digital virtual human drive |
| CN114227679B (en) * | 2021-12-17 | 2023-07-25 | 深圳市金大智能创新科技有限公司 | Remote robot control method and system based on digital virtual person driving |
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| CP02 | Change in the address of a patent holder |
Address after: 518000 floor 3, Workshop 12, Huanzhen Road, Dagang community, Shajing street, Bao'an District, Shenzhen City, Guangdong Province Patentee after: SHENZHEN KIM DAI INTELLIGENCE INNOVATION TECHNOLOGY Co.,Ltd. Address before: 518000 C, No. 12, Huan Zhen Road, Gang Gang Industrial Area, Baoan District, Shenzhen, Guangdong. Patentee before: SHENZHEN KIM DAI INTELLIGENCE INNOVATION TECHNOLOGY Co.,Ltd. |