Patent Publication Number: US-2020282573-A1

Title: Robot waist skeleton and robot

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application claims priority to Chinese Patent Application No. 201910154350.6, filed with the Chinese Patent Office on Mar. 1, 2019, titled “ROBOT WAIST SKELETON AND ROBOT”, the entire contents of which are incorporated herein by reference. 
     TECHNICAL FIELD 
     Embodiments of the present application relate to the technical field of robots, and in particular, relate to a robot waist skeleton and a robot. 
     BACKGROUND 
     At present, a variety of robots are being provided. In different fields, since different robots implement different functions, the robots are also different in terms of structure. For example, bionic robots are serving in the restaurants industry or government affairs, and the appearance of these robots is the same as the human being. 
     However, during implementation of the present application, the inventors have identified that in the conventional bionic robots, with respect to waist parts of the bionic robot serving as transitional parts bridging half-body parts and head parts of the robot, most of these parts are integrally designed and fail to move. 
     SUMMARY 
     An embodiment of the present application provides a robot waist skeleton. The robot waist skeleton includes: a swing waist effector; a first bracket, one end of which is connected to an output end of the swing waist effector; a bend waist effector, a case of which is connected to the other end of the first bracket; a second bracket, one end of which is connected to the case of the swing waist effector; a rotate waist effector, an output end of which is connected to the other end of the second bracket; and a third bracket, one end of which is connected to a case of the swing waist effector. 
     Another embodiment of the present application provides a robot. The robot includes a robot waist skeleton. The robot waist skeleton includes: a swing waist effector; a first bracket, one end of which is connected to an output end of the swing waist effector; a bend waist effector, a case of which is connected to the other end of the first bracket; a second bracket, one end of which is connected to the case of the swing waist effector; a rotate waist effector, an output end of which is connected to the other end of the second bracket; and a third bracket, one end of which is connected to a case of the swing waist effector. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       For clearer descriptions of the technical solutions according to the specific embodiments of the present application or the technical solutions in the related art, the accompanying drawings incorporated for illustrating the specific embodiments or the related art are briefly described hereinafter. In all the accompanying drawings, like elements or parts are generally denoted by like reference numerals. In the accompanying drawings, various elements or parts are not necessarily drawn according to the actual scale. 
         FIG. 1  is an assembling view of a robot waist skeleton according to an embodiment of the present application; 
         FIG. 2  is an exploded view of a robot waist skeleton according to an embodiment of the present application; 
         FIG. 3  is a three-dimensional view of a swing waist effector of the robot waist skeleton according to an embodiment of the present application; 
         FIG. 4  is an exploded view of a first bracket of the robot waist skeleton according to an embodiment of the present application; 
         FIG. 5  is a three-dimensional view of a bend waist effector of the robot waist skeleton according to an embodiment of the present application; 
         FIG. 6  is an exploded view of a second bracket of the robot waist skeleton according to an embodiment of the present application; and 
         FIG. 7  is an exploded view of a third bracket of the robot waist skeleton according to an embodiment of the present application. 
     
    
    
     REFERENCE NUMERALS AND DENOTATIONS THEREOF 
     
         
         
           
             Robot waist skeleton  100 ; 
             swing waist effector  10 ; 
             First bracket  20 ; 
             First bearing  30 ; 
             Bend waist effector  40 ; 
             Second bracket  50 ; 
             Second bearing  60 ; 
             Rotate waist effector  70 ; 
             Third bracket  80 ; 
             First boss  11 ; 
             First screw hole  12 ; 
             First stand plate  21 ; 
             Second stand plate  22 ; 
             First through hole  211 ; 
             First connecting hole  212 ; 
             Second connecting hole  221 ; 
             Third connecting hole  222 ; 
             Stand plate connecting block  23 ; 
             Second screw hole  41 ; 
             Second boss  42 ; 
             First planar portion  43 ; 
             Second planar portion  44 ; 
             Third screw hole  431 ; 
             Fourth screw hole  441 ; 
             Third stand plate  51 ; 
             Fourth stand plate  52 ; 
             First connecting block  53 ; 
             Second through hole  511 ; 
             First groove  512 ; 
             Second groove  521 ; 
             Fourth connecting hole  522 ; 
             Third through hole  531 ; 
             First protrusion  532 ; 
             Second protrusion  533 ; 
             Third boss  71 ; 
             Fourth boss  72 ; 
             Stand post  81 ; 
             Second connecting block  82 ; 
             Fifth stand plate  83 ; 
             Sixth stand plate  84 ; 
             Stand post positioning protrusion  821 ; 
             Third boss  822 ; 
             Fourth protrusion  823 ; 
             Third groove  831 ; 
             Fourth groove  841 . 
           
         
       
    
     DETAILED DESCRIPTION 
     The embodiments containing the technical solutions of the present application are described in detail with reference to the accompanying drawings. The embodiments hereinafter are only used to clearly describe the technical solutions of the present application. Therefore, these embodiments are only used as examples, but are not intended to limit the protection scope of the present application. 
     It should be noted that unless otherwise specified, the technical terms and scientific terms used in the present application shall express general meanings that may be understood by a person skilled in the art. 
     In the description of the present application, it should be understood that the terms “upper”, “lower”, “inner”, “outer”, “axial”, “radial”, and the like indicate orientations and position relationships which are based on the illustrations in the accompanying drawings, and these terms are merely for ease and brevity of the description, instead of indicating or implying that the devices or elements shall have a particular orientation and shall be structured and operated based on the particular orientation. Accordingly, these terms shall not be construed as limiting the present application. 
     In addition, terms of “first”, “second” are only used for description, but shall not be understood as indication or implication of relative importance or implicit indication of the number of the specific technical features. In the description of the present application, the term “more” or “a plurality of” signifies at least two, unless otherwise specified. 
     In the description of the present application, it should be noted that unless otherwise specified and defined, the terms “mounted”, “coupled”, “connected” and “fixed” and derivative forms thereof shall be understood in a broad sense, which, for example, may be understood as fixed connection, detachable connection or integral connection; may be understood as mechanical connection or electrical connection, or understood as direct connection, indirect connection via an intermediate medium, or communication between the interiors of two elements or interactions between two elements. Persons of ordinary skill in the art may understand the specific meanings of the above terms in the present application according to the actual circumstances and contexts. 
     In the present application, unless otherwise specified or defined, by defining that a first feature is disposed “above” or “below” or “beneath” a second feature, it may be meant that the first feature is in direct contact with the second feature, or the first feature is in indirect contact with the second feature via an intermediate medium. In addition, by defining that a first feature is disposed “over” or “above” a second feature, it may be meant that the first feature is rightly over the second feature or is obliquely above the second feature, or the horizontal height of the first feature is greater than that of the second feature. In addition, by defining that a first feature is disposed “under” or “blow” or “beneath” a second feature, it may be meant that the first feature is rightly under the second feature or is obliquely below the second feature, or the horizontal height of the first feature is less than that of the second feature. 
     As illustrated in  FIG. 1  and  FIG. 2 , a robot waist skeleton  100  includes a swing waist effector  10 , a first bracket  20 , a first bearing  30 , a bend waist effector  40 , a second bracket  50 , a second bearing  60 , a rotate waist effector  70 , and a third bracket  80 . A case of the swing waist effector  10  is configured to be fixed to other parts of a robot, an output end of the swing waist effector  10  is connected to one end of the first bracket  20 , the other end of the first bracket  20  is connected to a case of the bend waist effector  40 , one end of the second bracket  50  is connected to an output end of the bend waist effector  40 , the other end of the second bracket  50  is connected to an output end of the rotate waist effector  70 , and a case of the rotate waist effector  70  is connected to the third bracket  80 . 
     With respect to the swing waist effector  10 , as illustrated in  FIG. 2  and  FIG. 3 , the case of the swing waist effector  10  is provided with a first boss  11 , and the output end of the swing waist effector  10  is provided with a first screw hole  12 . The first boss  11  and the first screw hole  12  of the swing waist effector  10  are oppositely disposed. 
     With respect to the first bracket  20 , as illustrated in  FIG. 2  and  FIG. 4 , the first bracket  20  includes a first stand plate  21  and a second stand plate  22 . One end of the first stand plate  21  is provided with a first through hole  211 , and the other end of the first stand plate  21  is provided with a first connecting hole  212 . One end of the second stand plate  22  is provided with a second connecting hole  221 , and the other end of the second stand plate  22  is provided with a third connecting hole  222 . The first boss  11  is sleeved onto the interior of an inner ring of the first bearing  30 , and an outer ring of the first bearing  30  is fixed into the first through hole  211 , such that the first stand plate  21  is rotatably connected to the case of the swing waist effector  10 . A screw is threaded, via the second connecting hole  221 , to the first screw hole  12 , such that the end of the second stand plate  22  is connected to the output end of the swing waist effector  10 . It may be understood that the second stand plate  22  may also be connected to the swing waist effector  10  in other modes such as snap-fitting or insertion or the like. 
     In some embodiments, as illustrated in  FIG. 4 , the first bracket  20  may be further provided with a stand plate connecting block  23 . The stand plate connecting block  23  is disposed between the first stand plate  21  and the second stand plate  22 , and both ends of the stand plate connecting block  23  are respectively connected to the first stand plate  21  and the second stand plate  22  in such a mode as screw threading or pin insertion. By disposing the stand plate connecting block  23  between the first stand plate  21  and the second stand plate  22 , the strength of connection between the first stand plate  21  and the second stand plate  22  may be enhanced. 
     With respect to the bend waist effector  40 , as illustrated in  FIG. 2  and  FIG. 5 , the output end of the bend waist effector  40  is provided with a second screw hole  41 , and the case of the bend waist effector  40  is provided with a second boss  42 , a first planar portion  43 , and a second planar portion  44 . The second boss  42  and the output end of the bend waist effector  40  are oppositely disposed, and the first planar portion  43  and the second planar portion  44  are oppositely disposed. The first planar portion  43  is provided with a third screw hole  431 , and the second planar portion  44  is provided with a fourth screw hole  441 . A screw is threaded, via the first connecting hole  212 , to the third screw hole  431 , such that the other end of the first stand plate  21  is fixed to the first planar portion  43  of the case of the bend waist effector  40 ; and another screw is threaded, via the third connecting hole  222 , to the fourth screw hole  441 , such that the other end of the second stand plate  22  is fixed to the second planar portion  44  of the case of the bend waist effector  40 . It may be understood that the first stand plate  21  and the second stand plate  22  may be connected to the case of the bend waist effector  40  in other modes other than the above described mode, for example, snap-fitting, insertion, a combination of insertion and threading or the like. 
     When the swing waist effector  10  operates, the case of the swing waist effector  10  rotates relative to the first bracket  20 , such that the robot waist skeleton  100  swings the waist thereof. 
     With respect to the second bracket  50 , as illustrated in  FIG. 2  and  FIG. 6 , the second bracket  50  includes a third stand plate  51 , a fourth stand plate  52 , and a first connecting block  53 . One end of the third stand plate  51  is provided with a first groove  512 , and the other end of the third stand plate  51  is provided with a second through hole  511 . One end of the fourth stand plate  52  is provided with a second groove  521 , and the other end of the fourth stand plate  52  is provided with a fourth connecting hole  522 . The first connecting block  53  is provided with a third through hole  531 , a first protrusion  532 , and a second protrusion  533 . The first protrusion  532  and the second protrusion  533  are respectively disposed on two opposite sides of the first connecting block  53 . The first groove  512  and the first protrusion  532  fit to each other in a male-female engagement, and are detachably connected by threading or pin insertion or the like, such that one end of the third stand plate  51  is fixed to one side of the first connecting block  53 . The second groove  521  and the second protrusion  533  fit to each other in a male-female engagement, and are detachably connected by threading or pin insertion or the like, such that one end of the fourth stand plate  52  is fixed to the other side of the first connecting block  53 . In this way, the end of the third stand plate  51  and the end of the fourth stand plate  52  are respectively fixed to two opposite sides of the first connecting block  53 . An outer ring of the second bearing  60  is fixed into the second through hole  511 , and an inner ring of the second bearing  60  is sleeved onto the exterior of the second boss  42 , such that the other end of the third stand plate  51  is rotatably connected to the case of the bend waist effector  40 . A screw is threaded, via the fourth connecting hole  522 , to the second screw hole  41 , such that the other end of the fourth stand plate  52  is connected to the output end of the bend waist effector  40 . Nevertheless, the fourth stand plate  52  may also be connected to the output end of the bend waist effector  40  in other connection modes such as snap-fitting, or insertion or threading or the like, and the other end of the third stand plate  51  may also be rotatably connected to the case of the bend waist effector  40  in other modes. 
     When the bend waist effector  40  operates, the case of the bend waist effector  40  rotates relative to the second bracket  50 , such that the robot waist skeleton  100  swings the waist thereof. 
     With respect to the rotate waist effector  70 , the output end of the rotate waist effector  70  is provided with a third boss  71 , and the case of the rotate waist effector  70  is provided with a fourth boss  72 . The third boss  71  and the fourth boss  72  are oppositely disposed. The third boss  71  is inserted into the third through hole  531 , and is fixedly connected to the first connecting block  53  in detachable connection mode such as screw threading or pin insertion or the like, such that the output end of the rotate waist effector  70  is fixedly connected to the second bracket  50 . 
     When the output end of the rotate waist effector  70  drives the first connecting block  53  to rotate, the first connecting block  53  drives the second bracket  50  to rotate relative to the output end of the rotate waist effector  70 , such that the robot waist skeleton  100  rotates the waist thereof. 
     With respect to the third bracket  80 , as illustrated in  FIG. 2  and  FIG. 7 , the third bracket  80  includes a stand post  81 , a second connecting block  82 , a fifth stand plate  83 , and a sixth stand plate  84 . The stand post  81  is a hollow cylindrical tubular structure. The second connecting block  82  is provided with a stand post positioning protrusion  821 , a third protrusion  822 , and a fourth protrusion  823 . The third protrusion  822  and the fourth protrusion  823  are oppositely disposed on both sides of the second connecting block  82 . One end of the fifth stand plate  83  is provided with a third groove  831 , and one end of the sixth stand plate  84  is provided with a fourth groove  841 . One end of the stand post  81  is inserted to the fourth boss  72 , and detachably connected to the fourth boss  72  by screw threading, pin insertion or snap-fitting or the like, such that the stand post  81  is fixed to the case of the rotate waist effector  70 . The other end of the stand post  81  is inserted to the stand post positioning protrusion  821 , and detachably connected to the stand post positioning protrusion  821  by threading, soldering, riveting or the like, such that the second connecting block  82  is connected to the stand post  81 . The third protrusion  822  and the third groove  831  fit to each other in a male-female engagement, and the fourth protrusion  823  and the fourth groove  841  fit to each other in a male-female engagement, and are detachably connected by threading, insertion or snap-fitting or the like, such that the fifth stand plate  83  and the sixth stand plate  84  are respectively fixed to two opposite sides of the second connecting block  82 . 
     In some embodiments, the swing waist effector  10  may be optionally a parallel effector, wherein the parallel effector is an effector in which the rotation shaft of a motor and the rotation shaft of a reducer are parallelly disposed. If the rotate waist effector  10  employs a parallel effector, the space axially occupied by the swing waist effector  10  may be reduced. The bend waist effector  40  and the rotate waist effector  70  are optionally coaxial effectors, wherein the coaxial effector is an effector in which the rotation shaft of a motor and the rotation shaft of a reducer are disposed on the same axial line. If the bend waist effector  40  and the rotate waist effector  70  employ coaxial effectors, the space radially occupied by the bend waist effector  40  and the rotate waist effector  70  may be reduced. 
     In the embodiments of the present application, the robot waist skeleton  100  is divided into six modules, including the swing waist effector  10 , the first bracket  20 , the bend waist effector  40 , the second bracket  50 , the rotate waist effector  70 , and the third bracket  80 , and the six modules are directly or indirectly connected to each other in a detachable connection mode, such that modularized design of the robot waist skeleton  100  is achieved. In addition, the swing waist effector  10  is configured to implement waist swinging movements of the robot waist skeleton  100 . The bend waist effector  40  is configured to implement waist bending movements of the robot waist skeleton  100 , and the rotate waist effector  70  is configured to implement waist rotation movements of the robot waist skeleton  100 , such that three-DOF movements of waist swinging, waist bending and waist rotation of the robot waist skeleton  100  are implemented. 
     Another embodiment of the present application provides a robot. The robot includes a robot waist skeleton  100 . The structure and functionality of the robot waist skeleton  100  are the same as those of the robot waist skeleton  100  as described in the above embodiments, which are not described herein any further. 
     It should be finally noted that the above-described embodiments are merely for illustration of the present application, but are not intended to limit the present application. Although the present application is described in detail with reference to these embodiments, a person skilled in the art may also make various modifications to the technical solutions disclosed in the embodiments, or make equivalent replacements to a part of or all technical features contained therein. Such modifications or replacement, made without departing from the principles of the present application, shall fall within the scope defined by the claims and the specification of the present application. Especially, various technical features mentioned in various embodiments may be combined in any mode as long as there is no structural conflict. The present application is not limited to the specific embodiments described herein in this specification, but also includes all the technical solutions falling within the scope subject to the appended claims.