CN216442551U - Waist structure and robot - Google Patents
Waist structure and robot Download PDFInfo
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- CN216442551U CN216442551U CN202122985254.1U CN202122985254U CN216442551U CN 216442551 U CN216442551 U CN 216442551U CN 202122985254 U CN202122985254 U CN 202122985254U CN 216442551 U CN216442551 U CN 216442551U
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Abstract
The application discloses waist structure and robot. The waist structure comprises a fixed base, a first driving bevel gear rotationally mounted on the fixed base, a first driving component in transmission connection with the first driving bevel gear, a second driving bevel gear rotationally mounted on the fixed base, a second driving component in transmission connection with the second driving bevel gear, and a driven bevel gear component; the driven bevel gear component comprises a rotating center seat, a first driven bevel gear, a second driven bevel gear and a connecting seat; the first driven bevel gear and the second driven bevel gear are meshed with the first driving bevel gear, and the first driven bevel gear and the second driven bevel gear are meshed with the second driving bevel gear. First drive bevel gear all has the region of coincidence in axial and first driven bevel gear and second driven bevel gear, and second drive bevel gear also all has the region of coincidence with first driven bevel gear and second driven bevel gear in the axial, and then realizes having reduced the space that occupies in the width direction.
Description
Technical Field
The application relates to the field of humanoid robots, in particular to a waist structure and a robot.
Background
For the humanoid robot, the reasonability of the design of the waist structure plays an irreplaceable role in improving the anthropomorphic ability of the robot, and the waist of the human body can be simplified into the compound motion with a plurality of degrees of freedom. The waist structure of the human-shaped robot usually adopts a plurality of joint steering engines to realize the multi-degree-of-freedom movement of the waist. However, the waist structure adopting a plurality of steering engines for matching has a smaller movement range and a poor structure compactness, so that the occupied space is larger, and the anthropomorphic performance is not high during movement.
SUMMERY OF THE UTILITY MODEL
An object of this application is to provide a waist structure, aims at solving prior art, and humanoid robot waist structure occupies the great problem of space.
To achieve the purpose, the embodiment of the application adopts the following technical scheme:
the waist structure comprises a fixed base, a first driving bevel gear rotationally mounted on the fixed base, a first driving component in transmission connection with the first driving bevel gear, a second driving bevel gear rotationally mounted on the fixed base, a second driving component in transmission connection with the second driving bevel gear, and a driven bevel gear component arranged between the first driving bevel gear and the second driving bevel gear; the driven bevel gear component comprises a rotating center seat positioned between the first driving bevel gear and the second driving bevel gear, a first driven bevel gear and a second driven bevel gear which are respectively rotatably arranged at two opposite ends of the rotating center seat, and a connecting seat which is simultaneously connected with the first driven bevel gear and the second driven bevel gear; the first driven bevel gear and the second driven bevel gear are both meshed with the first driving bevel gear, and the first driven bevel gear and the second driven bevel gear are both meshed with the second driving bevel gear.
In one embodiment, the first bevel drive gear and the second bevel drive gear are rotatably connected to opposite sides of the rotating center base, and the axis of the first bevel drive gear and the axis of the second bevel drive gear are collinear.
In one embodiment, the rotating center base is cube-shaped, and the first driving bevel gear, the first driven bevel gear, the second driving bevel gear and the second driven bevel gear are sequentially connected to four vertical surfaces of the rotating center base in a rotating manner.
In one embodiment, a first bearing, a second bearing, a third bearing and a fourth bearing are respectively arranged on four vertical surfaces of the rotating center seat; a first gear shaft is connected between the first driving bevel gear and the first bearing, a second gear shaft is connected between the first driven bevel gear and the second bearing, a third gear shaft is connected between the second driving bevel gear and the third bearing, and a fourth gear shaft is connected between the second driven bevel gear and the fourth bearing.
In one embodiment, the fixed base is provided with a first rotating support seat and a second rotating support seat which are opposite and spaced from each other, and the first driving bevel gear and the second driving bevel gear are rotatably mounted on the first rotating support seat and the second rotating support seat respectively.
In one embodiment, a fifth bearing is mounted on the first rotary supporting seat, and a sixth bearing is mounted on the second rotary supporting seat; the first driving bevel gear is mounted on the fifth bearing, and the second driving bevel gear is mounted on the sixth bearing.
In one embodiment, a first mounting seat and a second mounting seat which is opposite to the first mounting seat and is arranged at an interval are arranged on the fixed base; the first driving assembly and the second driving assembly are respectively arranged on the first mounting seat and the second mounting seat; the first driving bevel gear, the second driving bevel gear, the first driven bevel gear and the second driven bevel gear are all located between the first mounting seat and the second mounting seat.
In one embodiment, the first driving assembly comprises a first driving motor mounted on the first mounting seat, a first driving pulley connected with the first driving motor, a first driven pulley rotatably mounted on the first mounting seat, a first transmission belt arranged between the first driving pulley and the first driven pulley, a first tensioning wheel rotatably mounted on the first mounting seat and pressed on the first transmission belt, and a first speed reducer connected between the first driven pulley and the first driving bevel gear; the second driving assembly comprises a second driving motor installed on the second installation seat, a second driving belt wheel connected with the second driving motor, a second driven belt wheel rotatably installed on the second installation seat, a second transmission belt arranged between the second driving belt wheel and the second driven belt wheel, a second tensioning wheel rotatably installed on the second installation seat and pressed on the second transmission belt, and a second speed reducer connected between the second driven belt wheel and the second driving bevel gear.
In one embodiment, the waist frame and the rotary steering engine are arranged on the waist frame, and the fixed base is connected with the output end of the rotary steering engine.
In one embodiment, the connecting seat includes a first connecting plate connected to the first driven bevel gear, a second connecting plate connected to the second driven bevel gear, and a third connecting plate connected between the first connecting plate and the second connecting plate; the first connecting plate and the second connecting plate are opposite and arranged at intervals, and the first driven bevel gear and the second driven bevel gear are located between the first connecting plate and the second connecting plate.
In one embodiment, the axis of the first driven bevel gear is collinear with the axis of the second driven bevel gear; the axis of the first driving bevel gear, the axis of the second driving bevel gear, the axis of the first driven bevel gear, and the axis of the second driven bevel gear are located on the same plane.
A robot comprising a waist structure as described in any of the above embodiments, a leg structure connected to the fixed base, and a chest structure connected to the connecting base.
The beneficial effects of the embodiment of the application are as follows: the first driving bevel gear, the second driving bevel gear, the first driven bevel gear and the second driven bevel gear are respectively positioned around the rotating center seat and are sequentially meshed with each other. Therefore, in the left-right direction (width direction), the first driving bevel gear has an area overlapping with the first driven bevel gear and the second driven bevel gear in the axial direction, and the second driving bevel gear also has an area overlapping with the first driven bevel gear and the second driven bevel gear in the axial direction, so that the space occupied in the width direction is reduced. In the front-rear direction, the first driven bevel gear and the first driving bevel gear and the second driving bevel gear have overlapped areas in the axial direction, and the second driven bevel gear and the first driving bevel gear and the second driving bevel gear have overlapped areas in the axial direction, so that the space occupied in the front-rear direction is reduced. Compared with the prior art, the mode that two independent steering engines are adopted to drive the front and back and the left and right degrees of freedom of the waist structure can effectively reduce the space occupied by the waist structure and realize the compactness of the waist structure.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural view of a robot having a waist structure in an embodiment of the present application;
FIG. 2 is a schematic view of the waist structure of FIG. 1;
FIG. 3 is a cross-sectional view of the lumbar structure of FIG. 2;
FIG. 4 is a schematic view of the robot of FIG. 1 after the waist structure has been rotated by a certain angle;
in the figure:
1. a fixed base; 101. a first rotary support seat; 1011. a fifth bearing; 102. a second rotary support seat; 1021. a sixth bearing; 103. a first mounting seat; 104. a second mounting seat; 2. a first drive bevel gear; 3. a first drive assembly; 301. a first drive motor; 302. a first driving pulley; 303. a first driven pulley; 304. a first drive belt; 305. a first tensioning wheel; 306. a first decelerator; 4. a second drive bevel gear; 5. a second drive assembly; 501. a second drive motor; 502. a second driving pulley; 503. a second driven pulley; 504. a second belt; 505. a second tensioning wheel; 506. a second decelerator; 6. a driven bevel gear assembly; 601. a rotating center base; 6011. a first bearing; 6012. a second bearing; 6013. a third bearing; 6014. a fourth bearing; 602. a first driven bevel gear; 603. a second driven bevel gear; 604. a connecting seat; 6041. a first connecting plate; 6042. a second connecting plate; 6043. a third connecting plate; 605. a first gear shaft; 606. a second gear shaft; 607. a third gear shaft; 608. a fourth gear shaft; 7. a waist frame; 8. rotating the steering engine; 9. a leg structure; 10. the thoracic cavity structure.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, refer to an orientation or positional relationship illustrated in the drawings for convenience in describing the present application and to simplify description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present application.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
The following detailed description of implementations of the present application refers to the accompanying drawings.
As shown in fig. 1 to 3, an embodiment of the present application provides a waist structure, which includes a fixed base 1, a first driving bevel gear 2 rotatably mounted on the fixed base 1, a first driving assembly 3 in transmission connection with the first driving bevel gear 2, a second driving assembly 4 rotatably mounted on the fixed base 1, a second driving assembly 5 in transmission connection with the second driving bevel gear 4, and a driven bevel gear assembly 6 disposed between the first driving bevel gear 2 and the second driving bevel gear 4. The first driving component 3 is used for driving the first driving bevel gear 2 to rotate, and the second driving component 5 is used for driving the second driving bevel gear 4 to rotate, so as to indirectly drive the driven bevel gear component 6 between the first driving bevel gear 2 and the second driving bevel gear 4 to rotate.
A driven bevel gear assembly 6 including a rotation center base 601 between the first drive bevel gear 2 and the second drive bevel gear 4, a first driven bevel gear 602 and a second driven bevel gear 603 rotatably installed at opposite ends of the rotation center base 601, respectively, and a connecting base 604 connected to the first driven bevel gear 602 and the second driven bevel gear 603 at the same time; the first driven bevel gear 602 and the second driven bevel gear 603 are both engaged with the first drive bevel gear 2, and the first driven bevel gear 602 and the second driven bevel gear 603 are both engaged with the second drive bevel gear 4.
In the embodiment of the present application, the first driving bevel gear 2 is opposite to and spaced apart from the second driving bevel gear 4, the first driven bevel gear 602 is opposite to and spaced apart from the second driven bevel gear 603, and both the first driven bevel gear 602 and the second driven bevel gear 603 are engaged with the first driving bevel gear 2 and the second driving bevel gear 4 at the same time. Therefore, when the first driving bevel gear 2 and the second driving bevel gear 4 rotate in the same direction, the first driven bevel gear 602 and the second driven bevel gear 603 can be driven to rotate, and then the connecting base 604 (the connecting base 604 is used for connecting the thoracic structure 10 of the robot) is driven to integrally perform a front-back pitching motion, so that the motion with the first degree of freedom is realized. When the first driving bevel gear 2 and the second driving bevel gear 4 rotate in opposite directions at the same speed, the first driven bevel gear 602 and the second driven bevel gear 603 can be driven to rotate, so as to drive the connecting seat 604 to perform a left-right side-sway motion integrally, thereby realizing a motion with a second degree of freedom. Further, referring to fig. 4, in order to enrich the movement of the waist, the difference between the rotation speed and the rotation direction between the first driving bevel gear 2 and the second driving bevel gear 4 can be adjusted, so that the connecting seat 604 performs a compound movement of swinging left and right and pitching back and forth, and completes a movement with a plurality of angles.
That is, in the embodiment of the present application, the differential transmission cooperation of the first driving bevel gear 2, the second driving bevel gear 4, the first driven bevel gear 602, and the second driven bevel gear 603 can primarily implement the movement of the waist structure in two degrees of freedom. The first driving bevel gear 2, the second driving bevel gear 4, the first driven bevel gear 602, and the second driven bevel gear 603 are respectively located around the rotation center base 601, and are sequentially engaged with each other. Therefore, in the left-right direction (width direction), the first drive bevel gear 2 has an area overlapping with both the first driven bevel gear 602 and the second driven bevel gear 603 in the axial direction, and the second drive bevel gear 4 also has an area overlapping with both the first driven bevel gear 602 and the second driven bevel gear 603 in the axial direction, so that the space occupied in the width direction is reduced, the compactness in the width direction is realized, and the width of the waist structure is reduced. In the front-rear direction, the first driven bevel gear 602 has an area overlapping with both the first drive bevel gear 2 and the second drive bevel gear 4 in the axial direction, and the second driven bevel gear 603 has an area overlapping with both the first drive bevel gear 2 and the second drive bevel gear 4 in the axial direction, so that the space occupied in the front-rear direction is reduced, and the compactness in the front-rear direction is realized. Compared with the prior art, the mode that two independent steering engines are adopted to drive the front and back and the left and right degrees of freedom of the waist structure can effectively reduce the space occupied by the waist structure and realize the compactness of the waist structure.
The differential transmission fit of the first driving bevel gear 2, the second driving bevel gear 4, the first driven bevel gear 602 and the second driven bevel gear 603 are mutually meshed in sequence, the compactness of the structure is realized, meanwhile, the rigidity strength of the structure is also improved, compared with a mode of independently adopting a steering engine in the prior art, the strength of a waist structure can be improved, and the impact resistance and the load capacity are improved.
Meanwhile, in the vertical direction, the first driving bevel gear 2, the second driving bevel gear 4, the first driven bevel gear 602 and the second driven bevel gear 603 can be selectively located at the same height and are aligned up and down, so that the compactness in the vertical direction is realized, and the situation that the waist structure of the robot occupies more space of the thoracic cavity structure 10 is avoided.
Referring to fig. 2, as another specific embodiment of the waist structure provided by the present application, the waist structure further includes a waist frame 7 and a rotary steering engine 8 installed on the waist frame 7, and the fixed base 1 is connected to an output end of the rotary steering engine 8. And the rotary steering engine 8 is used for driving the fixed base 1 to rotate along a vertical line as a rotating shaft, so as to drive components on the fixed base 1 to rotate synchronously with the fixed base 1. This is the third degree of freedom of waist structure, with above-mentioned two degree of freedom cooperations, realizes the rotation of waist structure on three degree of freedom, and then realizes that the waist structure can compound motion to a plurality of states, approaches to the motion of human waist, and the imitative hommization of elevator robot waist structure.
Referring to fig. 2 to 3, as another embodiment of the waist structure provided by the present application, the first driving bevel gear 2 and the second driving bevel gear 4 are respectively rotatably connected to two opposite sides of the rotating center base 601, an axis of the first driving bevel gear 2 and an axis of the second driving bevel gear 4 are collinear, that is, axes of rotation of the first driving bevel gear 2 and the second driving bevel gear 4 are the same, when the first driving bevel gear 2 and the second driving bevel gear 4 are driven to rotate by matching with each other, a fault of interference and jamming is not easy to occur, and the occupied space in the height direction is small.
Referring to fig. 2 to 3, as another embodiment of the waist structure provided by the present application, the rotating center base 601 is a cube, and the first driving bevel gear 2, the first driven bevel gear 602, the second driving bevel gear 4 and the second driven bevel gear 603 are sequentially and rotatably connected to four vertical surfaces of the rotating center base 601. The rotating center seat 601 is used as a rotating support center, and when the first driving bevel gear 2, the first driven bevel gear 602, the second driving bevel gear 4 and the second driven bevel gear 603 are meshed with each other to drive and rotate, dislocation or movement is not easy to occur, stable meshing can be maintained among the bevel gears, and continuous and stable rotation is realized.
Referring to fig. 2-3, as another embodiment of the waist structure provided in the present application, a first bearing 6011, a second bearing 6012, a third bearing 6013, and a fourth bearing 6014 are respectively mounted on four vertical surfaces of a center seat 601; a first gear shaft 605 is connected between the first driving bevel gear 2 and the first bearing 6011, so that the first driving bevel gear 2 is mounted on an inner ring of the first bearing 6011, the rotational stability of the first driving bevel gear 2 is ensured, a second gear shaft 606 is connected between the first driven bevel gear 602 and the second bearing 6012, so that the first driven bevel gear 602 is mounted on an inner ring of the second bearing 6012, the rotational stability of the first driven bevel gear 602 is ensured, a third gear shaft 607 is connected between the second driving bevel gear 4 and the third bearing 6013, so that the second driving bevel gear 4 is rotatably mounted on the third bearing 6013, the rotational stability of the second driving bevel gear 4 is ensured, a fourth gear shaft 608 is connected between the second driven bevel gear 603 and the fourth bearing 6014, so that the second driven bevel gear 603 is mounted on the fourth bearing 6014, and the rotational stability of the second driven bevel gear 603 is ensured.
Referring to fig. 2-3, as another embodiment of the waist structure provided by the present application, a first rotating support seat 101 and a second rotating support seat 102 are disposed on a fixed base 1, and the first driving bevel gear 2 and the second driving bevel gear 4 are respectively rotatably mounted on the first rotating support seat 101 and the second rotating support seat 102, so that a certain gap is formed between the first driving bevel gear 2 and the second driving bevel gear 4 and the surface of the fixed base 1, and the interference between the rotation of the first driving bevel gear 2 and the rotation of the second driving bevel gear 4 is not easily caused. And the parts such as the first driven bevel gear 602 and the second driven bevel gear 603 are also positioned between the first rotary supporting seat 101 and the second rotary supporting seat 102, so that the gap between the first rotary supporting seat 101 and the second rotary supporting seat 102 can be fully utilized, the compactness of the waist structure is improved, the wires of the first driving assembly 3 and the second driving assembly 5 can be isolated from the tooth parts of the first driving bevel gear 2 and the second driving bevel gear 4, and the wires are not easy to wear.
Referring to fig. 2-3, as another embodiment of the waist structure provided in the present application, a fifth bearing 1011 is installed on the first rotation support seat 101, and a sixth bearing 1021 is installed on the second rotation support seat 102; the first driving bevel gear 2 is mounted on the fifth bearing 1011 to improve the rotating stability of the first driving bevel gear 2, and the second driving bevel gear 4 is mounted on the sixth bearing 1021 to improve the rotating stability of the second driving bevel gear 4.
Referring to fig. 2-3, as another embodiment of the waist structure provided by the present application, a first mounting seat 103 and a second mounting seat 104 opposite to the first mounting seat 103 and spaced apart from the first mounting seat 103 are disposed on the fixing base 1; the first driving assembly 3 and the second driving assembly 5 are respectively installed on the first installation seat 103 and the second installation seat 104; the first driving bevel gear 2, the second driving bevel gear 4, the first driven bevel gear 602 and the second driven bevel gear 603 are all located between the first mounting seat 103 and the second mounting seat 104, and the gap between the first mounting seat 103 and the second mounting seat 104 can be fully utilized, so that the compactness of the waist structure is improved.
Referring to fig. 2-3, as another embodiment of the waist structure provided by the present application, the first driving assembly 3 includes a first driving motor 301 mounted on the first mounting base 103, a first driving pulley 302 connected to the first driving motor 301, a first driven pulley 303 rotatably mounted on the first mounting base 103, a first transmission belt 304 disposed between the first driving pulley 302 and the first driven pulley 303, a first tensioning wheel 305 rotatably mounted on the first mounting base 103 and pressed against the first transmission belt 304, and a first speed reducer 306 connected between the first driven pulley 303 and the first driving bevel gear 2; the second driving assembly 5 includes a second driving motor 501 mounted on the second mounting base 104, a second driving pulley 502 connected to the second driving motor 501, a second driven pulley 503 rotatably mounted on the second mounting base 104, a second transmission belt 504 disposed between the second driving pulley 502 and the second driven pulley 503, a second tension pulley 505 rotatably mounted on the second mounting base 104 and pressed against the second transmission belt 504, and a second speed reducer 506 connected between the second driven pulley 503 and the second driving bevel gear 4. Of course, in other embodiments, the first driving assembly 3 and the second driving assembly 5 may also be a motor-driven gear assembly, and the like, which are not described herein again.
In the embodiment of the present application, the first driving motor 301 and the second driving motor 501 are respectively installed on the first installation seat 103 and the second installation seat 104, and the bevel gears of the waist structure are both located between the first installation seat 103 and the second installation seat 104, so that the wires of the first driving motor 301 and the second driving motor 501 are not easily affected by the moving components such as the bevel gears, and when the waist structure of the robot works, the wires are not easily worn and the design of the wires is simple.
Referring to fig. 2-3, as another embodiment of the waist structure provided by the present application, the connecting seat 604 includes a first connecting plate 6041 connected to the first driven bevel gear 602, a second connecting plate 6042 connected to the second driven bevel gear 603, and a third connecting plate 6043 connected between the first connecting plate 6041 and the second connecting plate 6042; the first connecting plate 6041 and the second connecting plate 6042 are arranged oppositely and at an interval, and the first driven bevel gear 602 and the second driven bevel gear 603 are positioned between the first connecting plate 6041 and the second connecting plate 6042. The connecting seat 604 is connected with the first driven bevel gear 602 and the second driven bevel gear 603 through the first connecting plate 6041 and the second connecting plate 6042 respectively, and then transmits the motion of the first driven bevel gear 602 and the second driven bevel gear 603 to the thoracic structure 10 of the robot, so that the motion of the lumbar structure driving the thoracic structure 10 is realized. The first driven bevel gear 602 and the second driven bevel gear 603 are located between the first connecting plate 6041 and the second connecting plate 6042, and the compactness of the waist structure can be further achieved. Alternatively, the first connecting plate 6041 and the second connecting plate 6042 may be disposed in parallel, and the third connecting plate 6043 may be vertically connected between the first connecting plate 6041 and the second connecting plate 6042.
Referring to fig. 2-3, as another embodiment of the waist structure provided by the present application, the axis of the first driven bevel gear 602 is collinear with the axis of the second driven bevel gear 603; the axis of the first drive bevel gear 2, the axis of the second drive bevel gear 4, the axis of the first driven bevel gear 602, and the axis of the second driven bevel gear 603 are located on the same plane and intersect at the center of the rotation center base 601. When the first driving bevel gear 2, the first driven bevel gear 602, the second driving bevel gear 4 and the second driven bevel gear 603 select bevel gears with the same specification, the tops and bottoms of the four components are flush, the space occupied in the vertical direction is minimized, and the compactness of the waist structure is improved.
The robot, including the waist structure in any one of the above embodiments, the leg structure 9 connected to the fixed base 1, and the chest structure 10 connected to the connecting seat 604, has the advantages of compactness and higher rigidity strength of the waist structure, and can realize miniaturization and high strength of the waist structure of the robot, and improve the strength of the robot.
It is to be understood that aspects of the present invention may be practiced otherwise than as specifically described.
It should be understood that the above examples are merely examples for clearly illustrating the present application, and are not intended to limit the embodiments of the present application. 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. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.
Claims (12)
1. The waist structure is characterized by comprising a fixed base, a first driving bevel gear rotatably mounted on the fixed base, a first driving component in transmission connection with the first driving bevel gear, a second driving bevel gear rotatably mounted on the fixed base, a second driving component in transmission connection with the second driving bevel gear, and a driven bevel gear component arranged between the first driving bevel gear and the second driving bevel gear; the driven bevel gear assembly comprises a rotating center seat positioned between the first driving bevel gear and the second driving bevel gear, a first driven bevel gear and a second driven bevel gear which are respectively rotatably installed at two opposite ends of the rotating center seat, and a connecting seat which is simultaneously connected with the first driven bevel gear and the second driven bevel gear; the first driven bevel gear and the second driven bevel gear are both meshed with the first driving bevel gear, and the first driven bevel gear and the second driven bevel gear are both meshed with the second driving bevel gear.
2. The lumbar structure of claim 1, wherein said first bevel drive gear and said second bevel drive gear are rotatably coupled to opposite sides of said center of rotation housing, respectively, and wherein an axis of said first bevel drive gear and an axis of said second bevel drive gear are collinear.
3. The waist structure according to claim 2, wherein the rotating center base is cubic, and the first driving bevel gear, the first driven bevel gear, the second driving bevel gear and the second driven bevel gear are sequentially and rotatably connected to four vertical surfaces of the rotating center base.
4. The lumbar structure according to claim 3, characterized in that a first bearing, a second bearing, a third bearing and a fourth bearing are respectively mounted on four vertical faces of the rotation center base; a first gear shaft is connected between the first driving bevel gear and the first bearing, a second gear shaft is connected between the first driven bevel gear and the second bearing, a third gear shaft is connected between the second driving bevel gear and the third bearing, and a fourth gear shaft is connected between the second driven bevel gear and the fourth bearing.
5. The lumbar structure according to any one of claims 1-4, wherein the fixing base is provided with a first rotary support seat and a second rotary support seat which are oppositely and spaced apart from each other, and the first bevel gear and the second bevel gear are rotatably mounted on the first rotary support seat and the second rotary support seat, respectively.
6. The lumbar structure of claim 5, wherein a fifth bearing is mounted on the first rotary support and a sixth bearing is mounted on the second rotary support; the first driving bevel gear is mounted on the fifth bearing, and the second driving bevel gear is mounted on the sixth bearing.
7. The waist structure according to any one of claims 1 to 4, wherein the fixing base is provided with a first mounting seat and a second mounting seat opposite to and spaced from the first mounting seat; the first driving assembly and the second driving assembly are respectively arranged on the first mounting seat and the second mounting seat; the first driving bevel gear, the second driving bevel gear, the first driven bevel gear and the second driven bevel gear are all located between the first mounting seat and the second mounting seat.
8. The lumbar structure of claim 7, wherein the first drive assembly includes a first drive motor mounted to the first mounting block, a first drive pulley connected to the first drive motor, a first driven pulley rotatably mounted to the first mounting block, a first drive belt disposed between the first drive pulley and the first driven pulley, a first tension pulley rotatably mounted to the first mounting block and pressed against the first drive belt, and a first speed reducer connected between the first driven pulley and the first drive bevel gear; the second driving assembly comprises a second driving motor installed on the second installation seat, a second driving belt wheel connected with the second driving motor, a second driven belt wheel rotatably installed on the second installation seat, a second driving belt arranged between the second driving belt wheel and the second driven belt wheel, a second tensioning wheel rotatably installed on the second installation seat and pressed on the second driving belt, and a second speed reducer connected between the second driven belt wheel and the second driving bevel gear.
9. The waist structure according to any one of claims 1 to 4, further comprising a waist frame and a rotary steering engine mounted on the waist frame, wherein the fixed base is connected with an output end of the rotary steering engine.
10. The lumbar structure according to any of claims 1-4, wherein said connecting socket comprises a first connecting plate connected to said first driven bevel gear, a second connecting plate connected to said second driven bevel gear, and a third connecting plate connected between said first connecting plate and said second connecting plate; the first connecting plate and the second connecting plate are opposite and arranged at intervals, and the first driven bevel gear and the second driven bevel gear are located between the first connecting plate and the second connecting plate.
11. The lumbar structure of claim 4, wherein the axis of said first driven bevel gear is collinear with the axis of said second driven bevel gear; the axis of the first driving bevel gear, the axis of the second driving bevel gear, the axis of the first driven bevel gear, and the axis of the second driven bevel gear are located on the same plane.
12. A robot comprising a lumbar structure according to any of claims 1-11, a leg structure connected to the stationary base, and a chest structure connected to the connecting base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122985254.1U CN216442551U (en) | 2021-11-30 | 2021-11-30 | Waist structure and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122985254.1U CN216442551U (en) | 2021-11-30 | 2021-11-30 | Waist structure and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216442551U true CN216442551U (en) | 2022-05-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122985254.1U Active CN216442551U (en) | 2021-11-30 | 2021-11-30 | Waist structure and robot |
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| CN (1) | CN216442551U (en) |
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2021
- 2021-11-30 CN CN202122985254.1U patent/CN216442551U/en active Active
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