Pitching transferring integrated waist structure of human-like robot
A robot and humanoid technology, applied in the field of robotics, can solve the problems of difficult control of humanoid robots, and the range of pitch angle cannot be compared with the range of motion of human waist, etc., and achieve the effect of large reduction ratio, small size and improved driving torque
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[0010] Such as figure 1 with figure 2 As shown, the present invention includes: chest plate 1, angular contact ball bearing 2, snap ring 3, end cover 4, shaft 5, abdominal cavity cover plate 6, abdominal cavity plate 7, relay drive motor 8, first harmonic reducer 9 ( Including the first harmonic reducer input shaft sleeve 10, the first harmonic reducer static wheel 11, the first harmonic reducer dynamic wheel 12), the connecting plate 13, the pitch drive motor 14, the second harmonic reducer 15 (including the second harmonic reducer input shaft sleeve 16, the second harmonic reducer static wheel 17, the second harmonic reducer dynamic wheel 18).
[0011] The angular contact ball bearing 2 is arranged in the end cover 4, and is axially fixed with the shaft 5 through the snap ring 3, and the left part of the chest cavity plate 1 is connected with the left part of the connecting plate 13 by the shaft 5; the static rigid wheel of the second harmonic reducer 17 is fixedly connec...
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