CN221021002U

CN221021002U - Robot body structure and robot

Info

Publication number: CN221021002U
Application number: CN202323072456.2U
Authority: CN
Inventors: 房雄远; 刘乐锋; 索文豪; 钱光跃; 梁忠浩
Original assignee: Ubtech Robotics Corp
Current assignee: Ubtech Robotics Corp
Priority date: 2023-11-13
Filing date: 2023-11-13
Publication date: 2024-05-28
Anticipated expiration: 2033-11-13

Abstract

The utility model provides a robot body structure and a robot, the robot body structure includes: crotch component, waist component and expansion component. The waist assembly and the crotch assembly are arranged at intervals along the first direction; the telescopic component comprises a first telescopic piece and a second telescopic piece, the first telescopic piece and the second telescopic piece are respectively positioned at two sides of the waist component along the second direction, one end of the first telescopic piece is rotationally connected with the waist component, the other end of the first telescopic piece is rotationally connected with the crotch component, the telescopic end of the first telescopic piece is connected with the waist component, one end of the second telescopic piece is rotationally connected with the waist component, the other end of the second telescopic piece is rotationally connected with the crotch component, and the telescopic end of the second telescopic piece is connected with the waist component; wherein the first direction and the second direction are perpendicular to each other. The robot body structure can reduce the manufacturing cost of the robot.

Description

Robot body structure and robot

Technical Field

The utility model relates to the technical field of robots, in particular to a robot body structure and a robot.

Background

With the development of intelligent technology, a growing variety of robots have been developed, wherein a humanoid robot is capable of mimicking some simple human actions, such as work of bending down or the like. However, the current humanoid robot needs to use a plurality of steering engines (the steering engines are also called servo motors, and are firstly used for realizing the steering function of the robot on a ship when the robot bends, and because the steering angles of the steering engines can be continuously controlled through a program, the steering engines are widely applied to intelligent trolleys to realize steering and various joint movements of the robot) so as to realize the rotation of waist and hip joints, thereby the manufacturing cost of the robot is too high.

Disclosure of utility model

In view of the above, the present utility model aims to overcome the shortcomings in the prior art, and provide a robot body structure capable of reducing the manufacturing cost of a robot.

The utility model also provides a robot

The utility model provides the following technical scheme:

According to an embodiment of the first aspect of the present utility model, a robot body structure includes: a crotch assembly; a waist feature spaced from the crotch feature along a first direction; the telescopic component comprises a first telescopic piece and a second telescopic piece, the first telescopic piece and the second telescopic piece are respectively positioned on two sides of the waist component along a second direction, one end of the first telescopic piece is rotationally connected with the waist component, the other end of the first telescopic piece is rotationally connected with the crotch component, the telescopic end of the first telescopic piece is connected with the waist component, one end of the second telescopic piece is rotationally connected with the waist component, the other end of the second telescopic piece is rotationally connected with the crotch component, and the telescopic end of the second telescopic piece is connected with the waist component; wherein the first direction and the second direction are perpendicular to each other.

The robot body structure has the following advantages:

In the robot trunk structure described above, the first and second stretchable members of the stretchable member are used to connect the crotch member and the waist member, and both ends of the first stretchable member are rotatably connected to the crotch member and the waist member, respectively, and both ends of the second stretchable member are rotatably connected to the crotch member and the waist member, respectively, so that the relative positional relationship between the second stretchable member and the crotch member and the waist member can be changed by changing the relative positional relationship between the first stretchable member and the crotch member and the waist member, so that the relative positional relationship between the waist member and the crotch member is changed, and the robot can perform the actions such as bending, leaning back, rocking left and right. In this process, because the first expansion member and the second expansion member are located on both sides of the waist member along the second direction, that is, on both sides of the waist member, respectively, and the expansion end of the first expansion member is connected with the waist member, and the expansion end of the second expansion member is connected with the waist member, therefore, the waist member can swing in the direction close to the second expansion member by extending the expansion end of the first expansion member and shortening the expansion end of the second expansion member, and the waist member can swing in the direction close to the first expansion member by shortening the expansion end of the first expansion member and extending the expansion end of the second expansion member, so as to realize the left-right swing of the waist member, and further, the waist member can swing in the direction far away from the first expansion member and the second expansion member by extending the expansion end of the first expansion member, so as to realize the back of the waist member, and further, the waist member can swing in the direction close to the first expansion member and the second expansion member by shortening the expansion end of the first expansion member, so as to realize the bending of the waist member. Therefore, the swing of the waist component can be realized through the rotating connection of the telescopic component and the waist component and the crotch component, so that the robot can finish the actions such as bending down, leaning back, swinging left and right, and the like, and the process does not need to be driven by a steering engine, so that the manufacturing cost of the robot can be greatly reduced.

According to the robot body structure of the first aspect of the embodiment of the utility model, the telescopic component further comprises a first connecting piece and a second connecting piece, the first telescopic piece and the second telescopic piece are arranged at intervals along a third direction, the second connecting piece, the first telescopic piece and the second telescopic piece are arranged at intervals along the third direction, one end of the first connecting piece is fixedly connected with the crotch component, the other end of the first connecting piece is rotatably connected with one end of the second connecting piece, and the other end of the second connecting piece is fixedly connected with the waist component;

wherein the third direction is perpendicular to the first direction and the second direction.

According to the robot trunk structure of the first aspect of the embodiment of the utility model, the first connecting member includes a first connecting portion, one end of which is fixedly connected with the crotch member, and a rotating portion, which rotates around the second direction with respect to the other end of the first connecting portion, and the second connecting member includes a second connecting portion, one end of which is fixed to the waist member, and the other end of which rotates around the third direction with respect to the rotating portion.

According to the robot body structure of the embodiment of the first aspect of the utility model, the second connecting part is provided with a rotation space, the second connecting part further comprises a third connecting part, the third connecting part is fixed on the waist component, the third connecting part and the rotating part are both arranged in the rotation space, one end, far away from the first telescopic part, of the rotating part along the third direction is provided with a supporting surface, and the supporting surface abuts against one end, far away from the waist component, of the third connecting part.

According to the robot body structure of the embodiment of the first aspect of the utility model, the first telescopic part is a first telescopic cylinder, one end, connected with the waist component, of the first telescopic cylinder is a piston end, the second telescopic part is a second telescopic cylinder, and one end, connected with the waist component, of the second telescopic cylinder is a piston end.

According to the robot torso structure of the embodiment of the first aspect of the present utility model, the waist member includes a first waist part, the end of the first stretchable member away from the crotch member, the end of the second stretchable member away from the crotch member are rotatably connected to the first waist part, the end of the second stretchable member away from the first connecting member is fixedly connected to the first waist part, the ends of the first stretchable member away from the crotch member and the second stretchable member away from the crotch member are located at both ends of the first waist part in the second direction, respectively, and the ends of the first stretchable member away from the crotch member and the second stretchable member away from the crotch member are located at one end of the first waist part in the third direction, and the end of the second connecting member away from the first connecting member is located at the other end of the first waist part in the third direction.

According to an embodiment of the first aspect of the utility model, the waist assembly further comprises a second waist member rotatably connected to the first waist member at an end thereof remote from the crotch assembly in the first direction.

According to the robot body structure of the embodiment of the first aspect of the utility model, the first waist member comprises a driving part, the second waist member comprises a rotating part and a waist body, one end of the rotating part is in driving connection with the driving part, the other end of the rotating part is fixedly connected with the waist body, and the driving part can drive the rotating part to rotate around a first direction.

According to the robot body structure of the first aspect of the embodiment of the utility model, the first waist part further comprises a connecting support part and a rotating support part, the connecting support part is rotationally connected with the first telescopic piece and the second telescopic piece and is fixedly connected with the second connecting piece, the connecting support part is provided with an avoidance through hole, the rotating part and the rotating support part are both arranged in the avoidance through hole in a penetrating way, and the rotating support part is sleeved on the rotating part.

According to an embodiment of the second aspect of the present utility model, a robot includes: the robot body structure as described above.

The robot of the utility model has the following advantages:

In the robot, the waist component can swing around the second direction, the third direction and the first direction relative to the crotch component, so that the robot can complete the actions such as bending, leaning back, swinging left and right, turning around and the like, and the robot can be driven by a steering engine in the process without using a steering engine, and the actions can be realized only by a telescopic component, so that the manufacturing cost of the robot can be greatly reduced.

In order to make the above objects, features and advantages of the present utility model more comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present utility model and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 shows a schematic structural view of a robot body structure according to an embodiment of the present utility model;

fig. 2 shows a second schematic structural view of a robot body structure according to an embodiment of the present utility model;

FIG. 3 shows a third schematic structural view of a robot body structure according to an embodiment of the present utility model;

FIG. 4 shows an enlarged schematic view of the structure at A in FIG. 3;

Fig. 5 shows an exploded structural schematic view of a robot body structure according to an embodiment of the present utility model.

Description of main reference numerals:

A 100-crotch assembly;

200-lumbar assembly; 210-a first waist feature; 211-a driving part; 212-connecting the support part; 2121-avoiding a through hole; 213-a rotation support; 220-a second waist feature; 221-a rotating part; 222-a waist body;

300-telescoping assembly; 310-a first telescoping member; 320-a second telescoping member; 330-a first connector; 331-first connection portion; 332-a rotating part; 3321—a support surface; 340-a second connector; 341-a second connection; 3411—space of rotation; 342-third connection.

Detailed Description

Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the utility model.

It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.

In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present utility model, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. The terminology used in the description of the templates herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

Referring to fig. 1 to 3, the present utility model relates to a robot body structure of a robot, comprising: crotch assembly 100, waist assembly 200, and telescoping assembly 300.

Specifically, the waist feature 200 is spaced from the crotch feature 100 along the first direction; the telescopic assembly 300 comprises a first telescopic member 310 and a second telescopic member 320, wherein the first telescopic member 310 and the second telescopic member 320 are respectively positioned at two sides of the waist assembly 200 along the second direction, one end of the first telescopic member 310 is rotationally connected with the waist assembly 200, the other end of the first telescopic member 310 is rotationally connected with the crotch assembly 100, the telescopic end of the first telescopic member 310 is connected with the waist assembly 200, one end of the second telescopic member 320 is rotationally connected with the waist assembly 200, the other end of the second telescopic member 320 is rotationally connected with the crotch assembly 100, and the telescopic end of the second telescopic member 320 is connected with the waist assembly 200; wherein the first direction and the second direction are perpendicular to each other.

It should be noted that the first direction is indicated by x in fig. 2, the waist member 200 can be raised or lowered in the first direction with respect to the crotch member 100, and the second direction is indicated by y in fig. 2, and the waist member 200 can swing in the second direction with respect to the crotch member 100, thereby achieving bending or reclining of the waist member 200.

In the robot torso structure described above, the first and second elastic members 310 and 320 of the elastic member 300 are used to connect the waist member 200 and the crotch member 100, and both ends of the first elastic member 310 are rotatably connected to the crotch member 100 and the waist member 200, respectively, and both ends of the second elastic member 320 are rotatably connected to the crotch member 100 and the waist member 200, respectively, so that the relative positional relationship between the second elastic member 320 and the crotch member 100 and the waist member 200 can be changed by changing the relative positional relationship between the first elastic member 310 and the crotch member 100 and the waist member 200, so that the relative positional relationship between the waist member 200 and the crotch member 100 can be changed, thereby enabling the robot to perform such actions as bending, leaning back, rocking left and right. In this process, since the first and second telescopic members 310 and 320 are located at both sides of the lumbar assembly 200 in the second direction, that is, at both sides of the lumbar assembly 200, respectively, and the telescopic end of the first telescopic member 310 is connected to the lumbar assembly 200 and the telescopic end of the second telescopic member 320 is connected to the lumbar assembly 200, the lumbar assembly 200 can be swung in a direction approaching the second telescopic member 320 by extending the telescopic end of the first telescopic member 310 and shortening the telescopic end of the second telescopic member 320, the lumbar assembly 200 can be swung in a direction approaching the first telescopic member 310 by shortening the telescopic end of the first telescopic member 310 and extending the telescopic end of the second telescopic member 320, so as to swing the lumbar assembly 200 in a direction approaching the first telescopic member 310, and further, the lumbar assembly 200 can be swung in a direction approaching the first telescopic member 200 by extending the telescopic end of the first telescopic member 310 and extending the telescopic end of the second telescopic member 320, so as to realize the reclining of the lumbar assembly 200, and further, the lumbar assembly 200 can be swung in a direction approaching the second telescopic member 320 by shortening the telescopic end of the first telescopic member 310 and shortening the telescopic member 320. In this way, the swing of the waist assembly 200 can be realized by the rotational connection of the telescopic assembly 300 with the waist assembly 200 and the crotch assembly 100, so that the robot can complete the actions of bending, leaning back, swinging left and right, and the like, and the process does not need to be driven by a steering engine, so that the manufacturing cost of the robot can be greatly reduced.

Specifically, the first telescopic member 310 is a first telescopic cylinder, one end of the first telescopic cylinder connected to the lumbar assembly 200 is a piston end, the second telescopic member 320 is a second telescopic cylinder, and one end of the second telescopic cylinder connected to the lumbar assembly 200 is a piston end.

Referring to fig. 3, the telescopic assembly 300 further includes a first connector 330 and a second connector 340, the first connector 330 is disposed at intervals along the third direction with the first telescopic member 310 and the second telescopic member 320, the second connector 340 is disposed at intervals along the third direction with the first telescopic member and the second telescopic member 320, one end of the first connector 330 is fixedly connected with the crotch assembly 100, the other end of the first connector 330 is rotatably connected with one end of the second connector 340, and the other end of the second connector 340 is fixedly connected with the waist assembly 200; wherein the third direction is perpendicular to the first direction and the second direction.

The third direction is a direction z in fig. 3, and the waist member 200 can swing around the third direction with respect to the crotch member 100, thereby achieving the left-right swing of the waist member 200.

It will be appreciated that the first connecting member 330 and the second connecting member 340 can support the waist assembly 200, so that the waist assembly 200 does not tilt during the left-right swing, bending, leaning and the like, thereby ensuring the structural stability of the robot during the movement, and during the process, since the first connecting member 330 and the first telescopic member 310 and the second telescopic member 320 are arranged at intervals along the third direction, the second connecting member 340 and the first telescopic member 320 are arranged at intervals along the third direction, and the end of the first connecting member 330 away from the crotch assembly 100 is rotationally connected with the end of the second connecting member 340 away from the waist assembly 200, when the waist assembly 200 bends or leans back, the first connecting member 330 and the second connecting member 340 can be prevented from interfering with the waist assembly 200, thereby realizing the bending or leaning of the waist assembly 200. At the same time, the ends of the first and second drivers connected to the waist member 200, the ends of the second drivers connected to the waist member 200, and the ends of the second connectors 340 connected to the waist member 200 are formed into three apexes of a triangle structure, while the ends of the first and second drivers connected to the crotch member 100, the ends of the second drivers connected to the crotch member 100, and the ends of the first connectors 330 connected to the crotch member 100 are formed into three apexes of a triangle structure, thereby enabling a stable structural relationship among the first and second retractors 310, 320, 330, and 340 to better provide a supporting force to the waist member 200.

Referring to fig. 4 and 5, the first link 330 includes a first link 331 and a rotating portion 332, one end of the first link 331 is fixedly connected to the crotch member 100, the rotating portion 332 rotates about a second direction with respect to the other end of the first link 331, the second link 340 includes a second link 341, one end of the second link 341 is fixed to the waist member 200, and the other end of the second link 341 rotates about a third direction with respect to the rotating portion 332.

Specifically, in the above-described embodiment, the first connection portion 331, the rotation portion 332, and the second connection portion 341 together constitute a gimbal structure.

It will be appreciated that, since the rotating portion 332 rotates about the second direction with respect to the end of the first connecting portion 331 remote from the crotch member 100, and the end of the second connecting portion 341 remote from the waist member 200 rotates about the third direction with respect to the rotating portion 332, it is possible to relatively rotate the second connecting portion 341 and the first connecting portion 331 about the second direction, and simultaneously relatively rotate the second connecting portion 341 and the first connecting portion 331 about the third direction, thereby relatively rotating the first connecting member 330 and the second connecting member 340 about the second and third directions, thereby achieving the left-right swing, the bowing, and the reclining of the waist member 200.

Referring to fig. 4, the second connecting portion 341 is provided with a rotation space 3411, the second connecting member 340 further includes a third connecting portion 342, the third connecting portion 342 is fixed on the lumbar assembly 200, the third connecting portion 342 and the rotating portion 332 are disposed in the rotation space 3411, one end of the rotating portion 332 away from the first telescopic member 310 along the third direction has a supporting surface 3321, and the supporting surface 3321 abuts against one end of the third connecting portion 342 away from the lumbar assembly 200.

It will be appreciated that when the rotating portion 332 rotates about the second direction relative to the end of the first connecting portion 331 away from the crotch portion 100, the lumbar assembly 200 can be in a reclined state, and at this time, the third connecting portion 342 disposed in the rotating space 3411 can abut against the supporting surface 3321 of the rotating portion 332 to provide supporting force to the third connecting portion 342 through the supporting surface 3321, so as to avoid the phenomenon that the lumbar assembly 200 tilts when leaning backward, and thus improve the movement stability of the lumbar assembly 200.

Specifically, in the above embodiment, there are a plurality of support surfaces 3321, and the plurality of support surfaces 3321 are disposed on the surface of the rotating portion 332 at intervals around the second direction, and each support surface 3321 abuts against one end of the third connecting portion 342 away from the lumbar assembly 200.

Referring to fig. 3 and 5, the waist assembly 200 includes a first waist member 210, one end of a first stretchable member 310 away from the crotch member 100, one end of a second stretchable member 320 away from the crotch member 100 are rotatably connected to the first waist member 210, one end of a second stretchable member 340 away from a first connector 330 is fixedly connected to the first waist member 210, one end of the first stretchable member 310 away from the crotch member 100 and one end of the second stretchable member 320 away from the crotch member 100 are respectively located at two ends of the first waist member 210 in the second direction, one end of the first stretchable member 310 away from the crotch member 100 and one end of the second stretchable member 320 away from the crotch member 100 are both located at one end of the first waist member 210 in the third direction, and one end of the second stretchable member 340 away from the first connector 330 is located at the other end of the first waist member 210 in the third direction.

It will be appreciated that since the end of the first expansion member 310 away from the crotch member 100 and the end of the second expansion member 320 away from the crotch member 100 are both rotatably connected to the first waist member 210, the first waist member 210 can be driven to swing left and right, bend down, lean back, etc. with respect to the crotch member 100 by the first expansion member 310 and the second expansion member 320, so that the waist member 200 can be supported by the second expansion member 340 with respect to the crotch member 100, and simultaneously, the first waist member 210 can be prevented from being tilted by the second expansion member 340, since the end of the first expansion member 310 away from the crotch member 100 and the end of the second expansion member 320 away from the crotch member 100 are both positioned at the same end of the first waist member 210 in the third direction and the end of the second expansion member 340 away from the first connection member 330 are positioned at the other end of the first waist member 210 in the third direction, when the first expansion member 310 and the second expansion member 320 drive the first waist member 210 to bend down or lean back with respect to the crotch member 100.

With continued reference to fig. 3 and 5, the waist feature 200 further includes a second waist feature 220, the second waist feature 220 being rotatably connected to the first waist feature 210 at an end thereof remote from the crotch feature 100 in a first direction.

It will be appreciated that, as the second waist member 220 is rotatably connected to the first waist member 210 at an end thereof remote from the crotch assembly 100 in the first direction, the second waist member 220 can rotate relative to the first waist member 210, thereby enabling the waist assembly 200 to rotate relative to the crotch assembly 100 about the first direction to enable the robot to perform a steering action.

With continued reference to fig. 3 and 5, the first waist member 210 includes a driving portion 211, the second waist member 220 includes a rotating portion 221 and a waist body 222, one end of the rotating portion 221 is in driving connection with the driving portion 211, the other end of the rotating portion 221 is fixedly connected with the waist body 222, and the driving portion 211 can drive the rotating portion 221 to rotate around the first direction.

Specifically, in the above-described embodiment, the driving section 211 is a driving motor.

It will be appreciated that, since one end of the rotation portion 221 is drivingly connected to the driving portion 211 and the other end of the rotation portion 221 is fixedly connected to the waist body 222, when the driving portion 211 drives the rotation portion 221 to rotate in the first direction, the waist body 222 can rotate in the first direction under the action of the rotation portion 221, so that the second waist member 220 can rotate in the first direction relative to the first waist member 210, thereby enabling the waist assembly 200 to rotate in the first direction relative to the crotch assembly 100, so that the robot can perform the steering action.

With continued reference to fig. 3 and 5, the first waist member 210 further includes a connection support portion 212 and a rotation support portion 213, the connection support portion 212 is rotationally connected with the first telescopic member 310 and the second telescopic member 320 and is fixedly connected with the second connecting member 340, the connection support portion 212 is provided with a through hole 2121, the rotation portion 221 and the rotation support portion 213 are all disposed in the through hole 2121 in a penetrating manner, and the rotation support portion 213 is sleeved on the rotation portion 221.

Specifically, in the above embodiment, the rotation support portion 213 is a bearing sleeved on the rotation portion 221, the end of the first telescopic member 310 away from the crotch assembly 100 and the end of the second telescopic member 320 away from the crotch assembly 100 are both rotatably connected to the connection support portion 212, and the end of the second connecting member 340 away from the first connecting member 330 is fixedly connected to the connection support portion 212.

It can be appreciated that, when the rotating portion 221 drives the waist body 222 to rotate around the first direction, the rotating supporting portion 213 penetrating the avoidance through hole 2121 and sleeved on the rotating portion 221 can provide a limiting and supporting effect for the rotating portion 221, so as to reduce the influence of torsional stress on the rotating portion 221 during the rotation process, thereby prolonging the service life of the rotating portion 221 and ensuring the coaxiality of the rotating portion 221 during the rotation around the first direction.

The robot according to the embodiment of the utility model comprises the robot body structure.

In the above robot, since the waist unit 200 can swing around the second direction, the third direction, and the first direction with respect to the crotch unit 100, the above robot can perform the operations such as bending, leaning back, swinging left and right, turning around, and the like, and the above operations can be realized by only the telescopic unit 300 without using the steering engine in the process, the manufacturing cost of the above robot can be greatly reduced.

Any particular values in all examples shown and described herein are to be construed as merely illustrative and not a limitation, and thus other examples of exemplary embodiments may have different values.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

The above examples merely represent a few embodiments of the present utility model, which are described in more detail and are not to be construed as limiting the scope of the present utility model. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the utility model, which are all within the scope of the utility model.

Claims

1. A robotic body structure comprising:

A crotch assembly;

a waist feature spaced from the crotch feature along a first direction;

The telescopic component comprises a first telescopic piece and a second telescopic piece, the first telescopic piece and the second telescopic piece are respectively positioned on two sides of the waist component along a second direction, one end of the first telescopic piece is rotationally connected with the waist component, the other end of the first telescopic piece is rotationally connected with the crotch component, the telescopic end of the first telescopic piece is connected with the waist component, one end of the second telescopic piece is rotationally connected with the waist component, the other end of the second telescopic piece is rotationally connected with the crotch component, and the telescopic end of the second telescopic piece is connected with the waist component;

Wherein the first direction and the second direction are perpendicular to each other.

2. The robotic body structure of claim 1, wherein the telescoping assembly further comprises a first connector and a second connector, the first connector is spaced apart from the first and second telescoping members along a third direction, the second connector is spaced apart from the first and second telescoping members along the third direction, one end of the first connector is fixedly connected to the crotch assembly, the other end of the first connector is rotatably connected to one end of the second connector, and the other end of the second connector is fixedly connected to the waist assembly;

3. The robot torso structure of claim 2, wherein the first link includes a first link portion having one end fixedly coupled to the crotch member and a rotating portion rotating about the second direction with respect to the other end of the first link portion, and the second link includes a second link portion having one end fixed to the waist member and the other end rotating about the third direction with respect to the rotating portion.

4. The robot torso structure of claim 3, wherein the second connecting portion is provided with a rotation space, the second connecting member further comprises a third connecting portion, the third connecting portion is fixed on the waist member, the third connecting portion and the rotating portion are both disposed in the rotation space, one end of the rotating portion, far away from the first telescopic member, in the third direction is provided with a supporting surface, and the supporting surface abuts against one end, far away from the waist member, of the third connecting portion.

5. The robotic body structure of any one of claims 1-4, wherein the first telescoping member is a first telescoping cylinder, the end of the first telescoping cylinder connected to the lumbar assembly is a piston end, the second telescoping member is a second telescoping cylinder, and the end of the second telescoping cylinder connected to the lumbar assembly is a piston end.

6. The robotic body structure of any one of claims 2-4, wherein the waist assembly comprises a first waist member, wherein the end of the first telescoping member distal from the crotch assembly and the end of the second telescoping member distal from the crotch assembly are both rotatably connected to the first waist member, wherein the end of the second connecting member distal from the first connecting member is fixedly connected to the first waist member, wherein the ends of the first telescoping member distal from the crotch assembly and the second telescoping member distal from the crotch assembly are located at the ends of the first waist member in the second direction, respectively, and wherein the ends of the first telescoping member distal from the crotch assembly and the second telescoping member distal from the crotch assembly are both located at the end of the first waist member in the third direction, and wherein the end of the second connecting member distal from the first connecting member is located at the other end of the first waist member in the third direction.

7. The robotic body structure of claim 6, wherein the waist assembly further comprises a second waist member rotatably connected to an end of the first waist member remote from the crotch assembly in the first direction.

8. The robot torso structure of claim 7, wherein the first waist member includes a driving portion, the second waist member includes a rotating portion and a waist body, one end of the rotating portion is in driving connection with the driving portion, the other end of the rotating portion is in fixed connection with the waist body, and the driving portion is capable of driving the rotating portion to rotate around a first direction.

9. The robotic body structure according to claim 8, wherein the first waist member further includes a connection support portion and a rotation support portion, the connection support portion is rotatably connected with the first telescopic member and the second telescopic member and is fixedly connected with the second connecting member, the connection support portion is provided with a through hole, the rotation portion and the rotation support portion are both disposed in the through hole, and the rotation support portion is disposed on the rotation portion in a sleeved manner.

10. A robot comprising a robot body structure according to any one of claims 1-9.