WO2021004178A1 - Waist joint mechanism and robot - Google Patents

Abstract

A waist joint mechanism and a robot, comprising: a waist ball seat (1) and a waist ball cap (2), a containing cavity (3) being formed jointly thereby, and the inner sidewall of the containing cavity (3) being provided with a first sunken part (31) and a second sunken part (32) which are symmetrical; and a waist ball (4) disposed in the containing cavity (3). The sidewall of the waist ball (4) is provided with a first limiting protrusion (41) and a second limiting protrusion (42) which are symmetrical. The first limiting protrusion (41) is inlaid in the first sunken part (31), and the second sunken protrusion (42) is inlaid in the second sunken part (32). Gaps (5) are formed between the upper end face and the lower end face of the first limiting protrusion (41) and the wall face of the first sunken part (31); and gaps (5) are formed between the upper end face and the lower end face of the second limiting protrusion (42) and the wall face of the second sunken part (32).

Description

Waist joint mechanism and robot Technical field

The invention relates to the technical field of humanoid robots, in particular to a waist joint mechanism and a robot.

Background technique

Humanoid robot is an advanced development stage of advanced robot technology. It comprehensively embodies the research and development level of advanced robots in many aspects such as mechanism, motion and dynamics, and is a complex integrated system. Among them, the waist joint of a humanoid robot is one of the difficulties in the design of a humanoid robot. The waist joint is added to the humanoid robot. The purpose is to improve the stability of the robot's walking and continuous and fast walking, so that the humanoid robot can realize the coordinated movements of the entire body (upper limbs, lower limbs and waist) like humans, while also completing Various jobs. The waist of the humanoid robot must not only realize the flexible waist bending function, but also have the characteristics of shock resistance in sports collisions. Only by satisfying these two points at the same time can the motion performance of the humanoid robot be realized to the greatest extent.

The waist joint of a humanoid robot usually adopts a tandem structure, that is, a tandem bearing structure plus a slewing support structure. However, the above structure has disadvantages such as complex structure and large inertia, and even some humanoid robots do not have a waist joint at all. In order to overcome the above shortcomings, many researchers turned their attention to the three-degree-of-freedom rotating parallel mechanism, such as the spherical 3-RRR parallel mechanism proposed by Gosselin et al., the 3-UPU mechanism proposed by Karouia, and the Argos mechanism proposed by Vischer. Di Gregorio's 3-RUU mechanism, Fang Yuefa's 3-UPR mechanism, spherical 3-RRR parallel mechanism, etc.

Summary of the invention

The inventor in this application found through analysis and research that the above-mentioned three-degree-of-freedom rotating parallel mechanism also has some shortcomings. For example, each axis of rotation of the spherical 3-RRR mechanism and the 3-UPR mechanism converge at a point in the space, which is very important for manufacturing. And the installation accuracy is very high, otherwise, the phenomenon of jamming will occur; and in the 3-RUU mechanism, there are two rotating pairs in each motion branch chain are not moving, which is equivalent to the 3-RRR mechanism, Each branch chain of the Argos mechanism contains spherical pairs, which leads to an increase in manufacturing costs and it is difficult to ensure accuracy, which brings some inconvenience to installation and manufacturing. In addition, the above-mentioned three mechanisms are relatively complex in structure, heavy in weight, and weak in impact resistance. In summary, the current waist joints have many shortcomings and need to be further improved to meet the needs of design and application.

In order to overcome the above-mentioned shortcomings of the prior art, the technical problem to be solved by the embodiments of the present invention is to provide a waist joint mechanism and a robot, which can have strong impact resistance during the robot's touch on the ground. The waist of the robot can be bent in multiple directions, and the manufacturing and installation accuracy requirements are relatively low, which is convenient for production, simple in structure, and light in weight.

The specific technical solutions of the embodiments of the present invention are:

A waist joint mechanism, including:

A lumbar ball seat and a lumbar ball cover, the lumbar ball seat and the lumbar ball cover jointly form an accommodating cavity, the accommodating cavity is partially spherical, and the inner side wall of the accommodating cavity has a first symmetrical recess in the circumferential direction And the second depression;

A lumbar at least partially in the shape of a sphere is provided at least partially in the containing cavity, and the sidewall of the lumbar is provided with symmetrical first limiting protrusions and second limiting protrusions in the circumferential direction, the first The limiting protrusion is embedded in the first recess, the second limiting protrusion is embedded in the second recess, the upper end surface of the first limiting protrusion and the lower part of the first limiting protrusion There is a gap between the end surface and the wall surface of the first recessed portion, and there is a gap between the upper end surface of the second limiting protrusion, the lower end surface of the second limiting protrusion and the wall surface of the second recessed portion. gap.

Preferably, the inner side wall of the accommodating cavity has a symmetrical third recess and a fourth recess in the circumferential direction, and the side wall of the waist ball has a symmetrical third and fourth limiting protrusion in the circumferential direction. The third limiting protrusion is embedded in the third recess, the fourth limiting protrusion is embedded in the fourth recess, the upper end surface of the third limiting protrusion, the There is a gap between the lower end surface of the third limiting protrusion and the wall surface of the third recessed portion, the upper end surface of the fourth limiting protrusion, the lower end surface of the fourth limiting protrusion and the first There is a gap between the wall surfaces of the four recesses; the straight line formed by the first limiting protrusion and the second limiting protrusion is formed by the third limiting protrusion and the fourth limiting protrusion The straight lines are perpendicular.

Preferably, the upper surface of the waist ball cover has an opening, and the upper end of the waist ball exposes the waist ball cover through the opening of the waist ball cover.

Preferably, the part of the lumbar ball exposed from the lumbar ball cover is used to connect the body part of the robot; the lower end of the lumbar ball seat is used to connect the leg of the robot.

Preferably, the upper end of the lumbar ball seat has a concave first cavity, the lower end of the lumbar ball cover has a concave second cavity, and the first cavity and the second cavity form the receiving Cavity.

Preferably, the waist ball is made of peek material.

Preferably, the waist joint mechanism further comprises: a first side plate and a second side plate, the first side wall and the second side plate are respectively arranged on both sides of the lumbar ball seat and the lumbar ball cover The first side plate is respectively fixedly connected with the lumbar ball seat and the lumbar ball cover by screws, and the second side plate is respectively fixedly connected with the lumbar ball seat and the lumbar ball cover by screws.

Preferably, the first side plate and the second side plate are made of carbon fiber material.

Preferably, when the waist ball rotates a predetermined angle in the direction of the first limiting protrusion, the lower end surface of the first limiting protrusion abuts against the wall surface of the first recessed portion, and the second The upper end surface of the limiting protrusion abuts against the wall surface of the second concave portion, thereby restricting the rotation range of the waist ball; when the waist ball rotates in the direction of the second limiting protrusion by a preset angle , The lower end surface of the second limiting protrusion abuts against the wall surface of the second recessed portion, and the upper end surface of the first limiting protrusion abuts against the wall surface of the first recessed portion, thereby opposing the waist The rotation range of the ball is limited.

A robot comprising: the waist joint mechanism as described above; a body connected to the upper end of the lumbar ball; and a leg connected to the lower end of the lumbar ball seat.

The technical solution of the present invention has the following significant beneficial effects:

The lumbar ball in the form of a sphere in the present application is matched with an at least partly spherical accommodating cavity. The lumbar ball has a large contact surface with the lumbar ball seat and the lumbar ball cover. When the lumbar ball and the upper end of the lumbar ball are connected to the body When part of the force is applied, the impact force can be evenly distributed to the lumbar tee and the lumbar ball cap; when the lumbar tee, the lumbar ball cap and the legs connected to their lower ends receive force during the process of contacting the ground, The impact force can be evenly distributed to the waist ball. Through the above method, the overall impact resistance of the robot can be effectively improved, and a single component can be prevented from being damaged by excessive force at a certain position. Secondly, there is a gap between the upper end surface of the first limiting protrusion, the lower end surface of the first limiting protrusion and the wall surface of the first recessed portion, and the upper end surface of the second limiting protrusion There is a gap between the lower end surface of the second limiting protrusion and the wall surface of the second recessed portion, so that the waist ball can rotate a certain angle toward the first limiting protrusion or the second limiting protrusion, and then Realize the bending movement of the robot's waist in multiple directions. Through the above structure, the robot's motion ability and environmental adaptability are effectively improved. Finally, the waist joint mechanism has a small number of parts, a simple structure, low manufacturing and installation accuracy requirements, and is easy to produce.

With reference to the following description and drawings, specific embodiments of the present invention are disclosed in detail, indicating the ways in which the principles of the present invention can be adopted. It should be understood that the scope of the embodiments of the present invention is not limited thereby. Within the spirit and scope of the terms of the appended claims, the embodiments of the present invention include many changes, modifications and equivalents. Features described and/or shown for one embodiment can be used in one or more other embodiments in the same or similar manner, combined with features in other embodiments, or substituted for features in other embodiments .

Description of the drawings

The drawings described herein are only for explanatory purposes, and are not intended to limit the scope of the present disclosure in any way. In addition, the shape and proportional size of each component in the figure are only schematic and are used to help the understanding of the present invention, and do not specifically limit the shape and proportional size of each component of the present invention. Under the teaching of the present invention, those skilled in the art can choose various possible shapes and proportional sizes according to specific conditions to implement the present invention.

Figure 1 is a perspective view of a waist joint mechanism in an embodiment of the invention.

Figure 2 is an exploded exploded view of the waist joint mechanism in the embodiment of the present invention.

Figure 3 is a top view of the waist joint mechanism in the embodiment of the present invention.

Figure 4 is a front view of the waist joint mechanism in the embodiment of the present invention.

Figure 5 is a right side view of the waist joint mechanism in the embodiment of the present invention.

Fig. 6 is a plan view of the position and direction along the B-B section line in Fig. 3;

Fig. 7 is a plan view of the position and direction along the A-A section line in Fig. 3;

Reference signs of the above drawings:

1. Lumbar ball seat; 2. Lumbar ball cover; 21. Opening; 3. Receiving cavity; 31. First depression; 32. Second depression; 4. Lumbar ball; 41. First limiting protrusion; 42 5. Second limiting protrusion; 5. Gap; 6. First side plate; 7. Second side plate; 8A, threaded hole; 8B, bolt hole; 9A, counterbore; 9B, blind hole.

Detailed ways

The details of the present invention can be understood more clearly in combination with the drawings and the description of the specific embodiments of the present invention. However, the specific embodiments of the present invention described herein are only used to explain the purpose of the present invention, and cannot be construed as limiting the present invention in any way. Under the teaching of the present invention, the skilled person can conceive any possible modifications based on the present invention, and these should be regarded as belonging to the scope of the present invention. It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or a central element may also exist. When an element is considered to be "connected" to another element, it can be directly connected to the other element or an intermediate element may be present at the same time. The terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a mechanical connection or an electrical connection, or it can be a connection between two components, which can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meaning of the above-mentioned terms can be understood according to specific circumstances. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and do not mean the only implementation.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of this application. The terminology used in the specification of the application herein is only for the purpose of describing specific embodiments, and is not intended to limit the application. The term "and/or" as used herein includes any and all combinations of one or more related listed items.

In order to have strong impact resistance during the robot touching the ground, the waist of the robot can be bent in multiple directions during the movement of the robot, and its manufacturing and installation accuracy requirements are relatively low, which is convenient for production and simple structure , The weight is relatively light. In this application, a waist joint mechanism is proposed. FIG. 1 is a perspective view of the waist joint mechanism in an embodiment of the present invention, and FIG. 2 is an exploded exploded view. As shown in FIG. 1 and FIG. 2, the waist joint mechanism includes: a lumbar ball seat 1, a lumbar ball cover 2 and a lumbar ball 4 at least partially disposed in the containing cavity 3. Wherein, the lumbar ball seat 1 and the lumbar ball cover 2 jointly form a receiving cavity 3 which is partially spherical in shape. The inner wall of the receiving cavity 3 has a symmetrical first recess 31 and a second recess 32 in the circumferential direction. The side wall of the waist ball 4 has a first limiting protrusion 41 and a second limiting protrusion 42 that are symmetrical in the circumferential direction. The first limiting protrusion 41 is embedded in the first recess 31, and the second limiting protrusion 42 Embedded in the second recessed portion 32, the upper end surface of the first limiting protrusion 41, the lower end surface of the first limiting protrusion 41 and the wall surface of the first recessed portion 31 have a gap 5 between, and the second limiting protrusion 42 There is a gap 5 between the upper end surface, the lower end surface of the second limiting protrusion 42 and the wall surface of the second recess 32.

In the present application, the lumbar ball 4 in the form of a sphere fits with the accommodating cavity 3 that is at least partially spherical, and the lumbar ball 4 has a large contact surface with the lumbar ball seat 1, the lumbar ball cover 2. 4 When the upper part of the body is under force, the impact force can be evenly distributed to the lumbar ball socket 1, lumbar ball cap 2. When the lumbar ball socket 1, lumbar ball cap 2 and their lower connected legs are in the process of touching the ground In the case of moderate force, the impact force can be evenly distributed to the waist ball 4. Through the above method, the overall impact resistance of the robot can be effectively improved, and a single component can be prevented from being damaged by excessive force at a certain position.

Secondly, there is a gap 5 between the upper end surface of the first limiting protrusion 41, the lower end surface of the first limiting protrusion 41 and the wall surface of the first recess 31, and the upper end surface of the second limiting protrusion 42 and the second There is a gap 5 between the lower end surface of the limiting protrusion 42 and the wall surface of the second recessed portion 32. In this way, the waist ball 4 can rotate a certain angle in any direction with the two limiting protrusions as the axis, thereby realizing the waist of the robot. Bending movement in multiple directions. Through the above structure, the robot's motion ability and environmental adaptability are effectively improved. Finally, the waist joint mechanism has a small number of parts, a simple structure, low manufacturing and installation accuracy requirements, and is easy to produce.

In order to better understand the waist joint mechanism in this application, it will be further explained and described below. As shown in Figure 1, both the lumbar ball seat 1 and the lumbar ball cover 2 extend in the horizontal direction, and both have a certain thickness. The lumbar ball cover 2 is arranged on the lumbar ball seat 1 and the two are closely attached, so that the lumbar ball seat 1 and the lumbar ball cover 2 jointly form a receiving cavity 3, and the receiving cavity 3 is partially spherical. Specifically, the upper end of the lumbar ball seat 1 has a first cavity recessed downward, and the lower end of the lumbar ball cover 2 has a second cavity recessed upward. The first cavity and the second cavity form the accommodating cavity 3. The upper surface of the lumbar cover 2 has an opening 21, so that the lower half of the receiving cavity 3 is spherical. Further, the first recessed portion 31 and the second recessed portion 32 are also formed by the first cavity and the second cavity, so as to install the waist ball.

In the above embodiment, the lumbar ball socket 1 and the lumbar ball cover 2 can be fixed by threaded connections. For example, the lumbar ball socket 1 has circumferentially distributed counterbores 9A, and the lumbar ball cover 2 has corresponding uniformly distributed blind holes. The hole 9B and the blind hole 9B have internal threads, and bolts or screws can be used to fix the lumbar ball seat 1 and the lumbar ball cover 2.

In order to fix the waist joint mechanism in the present application on the bionic robot, the waist joint mechanism may further include: a first side plate 6 and a second side plate 7, and the first side wall and the second side plate 7 are respectively arranged on the waist ball seat 1 and both sides of the lumbar ball cover 2; the first side plate 6 is fixedly connected to the lumbar ball seat 1 and the lumbar ball cover 2 by screws, and the second side plate 7 is fixedly connected to the lumbar ball seat 1 and the lumbar ball cover 2 by screws. . The lumbar ball seat 1 and the lumbar ball 4 are fixed as described above, so that the two are always combined together, and at the same time, it is convenient for the lumbar ball 4 to be detached or installed in the receiving cavity 3.

As shown in Figs. 1-7, the waist ball 4 in the form of a partial sphere is partially arranged in the containing cavity 3. The upper surface of the waist ball cover 2 has an opening 21, and the upper end of the waist ball 4 exposes the waist ball cover 2 through the opening 21 of the waist ball cover 2. Therefore, the lower half of the waist ball 4 is a sphere. The upper part of the lumbar ball 4 exposed from the lumbar ball cover 2 is a step portion, which is used to connect the body part of the robot. For example, on the step portion of the lumbar ball 4, a plurality of threaded holes 8A distributed in the circumferential direction are vertically opened, and the middle of the lumbar ball 4 has a non-through hole, and the robot body can be screwed into the lumbar ball 4 by screws. The threaded hole 8 is inserted into the opening of the lumbar ball 4 to realize the detachable connection between the body part of the robot and the lumbar ball 4.

As shown in Figures 6 and 7, the lower end of the lumbar ball seat 1 is used to connect the legs of the robot. For example, there is a platform at the lower end of the lumbar ball seat 1, and a stepped hole 8B can be opened along the vertical direction. The upper orifice position of the stepped hole 8B can be located in the first cavity, and the lower hole position is located in the lumbar ball seat 1. In the annular groove at the bottom end. The annular groove is used for docking the robot leg structure, and the robot leg structure can be detachably connected to the lumbar ball socket 1 by screwing bolts into the stepped hole 8B of the lumbar ball socket 1.

Secondly, the lower part of the lumbar ball 4, the position of the circumferential infinite bulge, and the upper half of the lumbar ball 4 except for the part that exposes the lumbar ball cover 2 are all connected with the lumbar ball seat 1, the lumbar ball cover 2, and form the accommodating cavity 3. The sidewalls of the lumbar ball 4 are in close contact with each other. Therefore, the lumbar ball 4 has a large contact area with the lumbar ball seat 1 and lumbar ball cover 2, which can transfer the impact force received by the robot on the lumbar ball 4, lumbar ball seat 1, and lumbar ball cover 2. Evenly dispersed between each other. Through the above method, the overall impact resistance of the robot can be effectively improved, and a single component can be prevented from being damaged by excessive force at a certain position.

In the above embodiment, in order to connect with the robot leg, the bottom of the lumbar ball seat 1 has a stepped hole 8B. The upper orifice of the stepped hole 8B can be arranged in the first cavity of the lumbar ball seat 1. The surface area occupied by the orifice is smaller than the surface area of the wall of the entire first cavity. Therefore, the lumbar ball 4 and the lumbar ball seat The first cavity of 1 has a large contact area.

In a feasible embodiment, the first side plate 6 and the second side plate 7 may be made of carbon fiber material. In this way, the weight of the entire waist joint mechanism can be greatly reduced, and the sufficient strength of the first side plate 6 and the second side plate 7 can be effectively ensured.

As shown in FIG. 1, the inner side wall of the accommodating cavity 3 has a first concave portion 31 and a second concave portion 32 that are symmetrical in the circumferential direction. The side wall of the waist ball 4 has a first limiting protrusion 41 and a second limiting protrusion 42 that are symmetrical in the circumferential direction. The first limiting protrusion 41 is embedded in the first recess 31, and the second limiting protrusion 42 Embedded in the second recess 32.

As shown in Figure 1, when the first limiting protrusion 41 and the second limiting protrusion 42 of the waist ball 4 are located on a horizontal line, the upper end surface of the first limiting protrusion 41 and the first limiting protrusion 41 There is a gap 5 between the lower end surface and the wall surface of the first recessed portion 31, and there is a gap 5 between the upper end surface of the second limiting protrusion 42 and the lower end surface of the second limiting protrusion 42 and the wall surface of the second recessed portion 32. . Through the above structure, the waist ball 4 can be rotated in the direction of the first limiting protrusion 41 or the second limiting protrusion 42, thereby realizing the front and back bending motion or the left and right bending motion of the waist and upper body of the robot. .

The gap mentioned here means that the volume of the concave portion of the containing cavity 3 is larger than the limiting protrusion of the lumbar ball 4, so that it can rotate within a certain angle range. The limited volume of the concave portion of the receiving cavity 3 also limits the limiting protrusion of the lumbar ball 4, and the limiting protrusion of the lumbar ball 4 cannot be rotated to the non-recessed portion of the receiving cavity 3.

The first concave portion 31 and the second concave portion 32 of the accommodating cavity 3 are configured such that within a certain angle range, the waist ball 4 rotates in any direction relative to the accommodating cavity 3 with two limiting protrusions as axes, and the first limit The protruding top end of the positioning protrusion 41 abuts against the inner wall of the first recessed portion 31, preferably tangentially matching. Similarly, the second limiting protrusion 42 and the second recessed portion 32 are also the same.

For example, the upper limbs of the robot are connected to the lumbar ball 4, and the legs are connected to the lumbar ball seat 1. When the lumbar ball 4 rotates forward with respect to the lumbar ball seat 1 and the lumbar seat 2 with the two limiting protrusions as the axis , The upper body of the robot can bend forward. When the 3 waist ball rotates backwards relative to the waist ball seat 1 and the waist ball seat 2 with two limiting protrusions as the axis, the upper body part of the robot can bend backward. action. When the two limiting protrusions of the lumbar ball 4 rotate left and right in the accommodating cavity 3 and the recess formed by the lumbar ball seat 1 and the lumbar ball seat 2, the upper body of the robot can complete the left and right bending motion. When the lumbar ball 4 rotates forwards and backwards relative to the lumbar ball seat 1 and the lumbar ball seat 2 with the two limiting protrusions as the axis, at the same time the two limiting protrusions of the lumbar ball 4 are on the lumbar ball seat 1 and the lumbar ball seat. When the accommodating cavity composed of 2 and the recessed part rotate left and right, the upper body of the robot can bend in other directions.

When the waist ball 4 rotates a predetermined angle in the direction of the first limiting protrusion 41, the lower end surface of the first limiting protrusion 41 abuts against the wall surface of the first recessed portion 31, and the upper end surface of the second limiting protrusion 42 and The wall surfaces of the second concave portion 32 abut against each other to match the rotation amplitude of the waist ball 4; when the waist ball 4 rotates by a preset angle in the direction of the second limiting protrusion 42, the lower end surface of the second limiting protrusion 42 and The wall surface of the second concave portion 32 abuts, and the upper end surface of the first limiting protrusion 41 abuts the wall surface of the first concave portion 31, so as to match the rotation amplitude of the waist ball 4.

In a feasible embodiment, the waist ball 4 may be made of peek (polyether ether ketone) material. Polyether ether ketone resin is a special engineering plastic with excellent performance. Compared with other special engineering plastics, it has more significant advantages. In this application, it makes full use of its excellent mechanical properties, good self-lubricity, peel resistance, and resistance to peeling. These special properties of abrasiveness. The good self-lubricity of the polyetheretherketone resin can make the lumbar ball 4 rotate freely in the receiving cavity 3 formed by the lumbar ball seat 1 and the lumbar ball cover 2 without jamming. The excellent peel resistance and wear resistance make the lumbar ball 4 still have a long enough lifespan in high-frequency rotation, fully guarantee the use time of the robot, and reduce the possibility of failure of the waist joint mechanism. The excellent mechanical properties can make the waist ball 4 easy to process, and it can resist high pressure or high impact force, avoiding its easy cracking and so on. Finally, the waist ball 4 made of peek (polyether ether ketone) has a small weight, which can reduce the weight of the waist joint mechanism to the greatest extent.

In a preferred embodiment, in order to simultaneously realize the front and rear bending motions of the waist and the upper body of the robot and the left and right bending motions in the two directions, the inner wall of the accommodating cavity 3 has a symmetrical third in the circumferential direction. The concave portion and the fourth concave portion, the side wall of the waist ball 4 has symmetrical third and fourth limiting protrusions in the circumferential direction, and the third limiting protrusion is embedded in the third concave portion, and the fourth limiting protrusion The positioning protrusion is embedded in the fourth recessed portion, the upper end surface of the third limiting protrusion, the lower end surface of the third limiting protrusion and the wall surface of the third recessed portion have a gap 5 between the upper end surface of the fourth limiting protrusion There is a gap 5 between the lower end surface of the fourth limiting protrusion and the wall surface of the fourth recessed portion; the straight line formed by the first limiting protrusion 41 and the second limiting protrusion 42 is connected to the third limiting protrusion and the first limiting protrusion. The straight lines formed by the four limiting protrusions are perpendicular to each other. In this embodiment, the waist ball 4 can rotate in the direction of the first limiting protrusion 41 and the second limiting protrusion 42, or in the direction of the third limiting protrusion and the fourth limiting protrusion. Since the first limiting protrusion 41 and the second limiting protrusion 42 are in opposite directions, the third limiting protrusion and the fourth limiting protrusion are in opposite directions, and the angle between adjacent limiting protrusions is At 90 degrees, the setting of multiple pairs of limiting protrusions and recesses is beneficial to the lumbar ball rotation process more stable.

In another embodiment, as shown in Figs. 1, 2, 4, and 5, the back of the lumbar ball seat 1 has a bearing portion with a larger length to support the body part of the robot. The front part of the waist ball cover 2 has an inclined surface, that is, the opening 21 is not in the same plane, but the contour of the opening 21 is along the spherical surface of the waist ball 4.

This application also proposes a robot, which is specifically aimed at a humanoid robot, which may include: any one of the above-mentioned waist joint mechanisms; a body connected to the upper end of the lumbar ball 4; Legs. Through the waist joint mechanism, the body part of the robot can rotate in multiple directions relative to the legs, such as bending forward and backward, and turning left and right.

All articles and references disclosed, including patent applications and publications, are incorporated herein by reference for various purposes. The term "consisting essentially of" describing a combination shall include the determined element, component, component or step and other elements, components, components or steps that do not substantially affect the basic novel characteristics of the combination. The use of the term "comprising" or "including" to describe a combination of elements, components, components or steps herein also contemplates an embodiment basically consisting of these elements, components, components or steps. The term "may" is used here to illustrate that any of the described attributes included in "may" are optional. Multiple elements, components, components or steps can be provided by a single integrated element, component, component or step. Alternatively, a single integrated element, ingredient, component or step may be divided into separate multiple elements, ingredients, components or steps. The disclosure of "a" or "an" used to describe an element, ingredient, component or step does not mean to exclude other elements, ingredients, components or steps.

The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referred to each other. The above-mentioned embodiments are only to illustrate the technical concept and characteristics of the present invention, and their purpose is to enable those familiar with the technology to understand the content of the present invention and implement them accordingly, and cannot limit the protection scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention should be covered by the protection scope of the present invention.

Claims (10)

A waist joint mechanism, characterized by comprising: A lumbar ball seat and a lumbar ball cover, the lumbar ball seat and the lumbar ball cover jointly form an accommodating cavity, the accommodating cavity is partially spherical, and the inner side wall of the accommodating cavity has a first symmetrical recess in the circumferential direction And the second depression; A lumbar at least partially in the shape of a sphere is provided at least partially in the containing cavity, and the sidewall of the lumbar is provided with symmetrical first limiting protrusions and second limiting protrusions in the circumferential direction, the first The limiting protrusion is embedded in the first recess, the second limiting protrusion is embedded in the second recess, the upper end surface of the first limiting protrusion and the lower part of the first limiting protrusion There is a gap between the end surface and the wall surface of the first recessed portion, and there is a gap between the upper end surface of the second limiting protrusion, the lower end surface of the second limiting protrusion and the wall surface of the second recessed portion. gap. The waist joint mechanism according to claim 1, wherein the inner side wall of the accommodating cavity has a third concave portion and a fourth concave portion in the circumferential direction, and the side wall of the lumbar ball has a corresponding Symmetrical third and fourth limiting protrusions, the third limiting protrusion is embedded in the third recessed portion, the fourth limiting protrusion is embedded in the fourth recessed portion, the There is a gap between the upper end surface of the third limiting protrusion, the lower end surface of the third limiting protrusion and the wall surface of the third recessed portion, and the upper end surface of the fourth limiting protrusion and the first There is a gap between the lower end surface of the four limiting protrusions and the wall surface of the fourth concave portion; the straight line formed by the first limiting protrusion and the second limiting protrusion and the third limiting protrusion It is perpendicular to the straight line formed by the fourth limiting protrusion. The waist joint mechanism of claim 1, wherein the upper surface of the lumbar ball cover has an opening, and the upper end of the lumbar ball exposes the lumbar ball cover through the opening of the lumbar ball cover. The waist joint mechanism according to claim 3, wherein the part of the lumbar ball exposed from the lumbar ball cover is used to connect the body part of the robot; the lower end of the lumbar ball seat is used to connect the leg of the robot. The waist joint mechanism according to claim 1, wherein the upper end of the lumbar ball seat has a concave first cavity, the lower end of the lumbar ball cover has a concave second cavity, and the first cavity The body and the second cavity form the containing cavity. The waist joint mechanism according to claim 1, wherein the waist ball is made of peek material. The waist joint mechanism according to claim 1, characterized in that the waist joint mechanism further comprises: a first side plate and a second side plate, the first side wall and the second side plate are respectively arranged at the Both sides of the lumbar ball seat and the lumbar ball cover; the first side plate is respectively fixedly connected to the lumbar ball seat and the lumbar ball cover by screws, and the second side plate is respectively connected to the lumbar ball seat And the lumbar ball cover is fixedly connected with screws. The waist joint mechanism of claim 7, wherein the first side plate and the second side plate are made of carbon fiber material. The waist joint mechanism according to claim 1, wherein when the waist ball rotates a predetermined angle in the direction of the first limiting protrusion, the lower end surface of the first limiting protrusion and the The wall surface of the first recessed portion abuts, and the upper end surface of the second limiting protrusion abuts the wall surface of the second recessed portion, thereby restricting the rotation range of the waist ball; when the waist ball faces the After the second limiting protrusion is rotated by a predetermined angle in the direction, the lower end surface of the second limiting protrusion abuts against the wall surface of the second recessed portion, and the upper end surface of the first limiting protrusion is in contact with the first The wall surfaces of a recessed portion abut, thereby restricting the rotation range of the waist ball. A robot, characterized in that the robot comprises: the waist joint mechanism according to any one of claims 1 to 9; a body connected to the upper end of the lumbar ball; and a leg connected to the lower end of the lumbar ball seat .

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