Humanoid robot and high-integration modularized humanoid mechanical arm thereof

Abstract

The invention provides a humanoid robot and a high-integration modularized humanoid mechanical arm thereof. The high-integration modularized humanoid mechanical arm comprises a shoulder joint, an elbow joint and a wrist joint, wherein the shoulder joint comprises shoulder joints A, B and C and an L-shaped shoulder connecting piece, the upper end of the shoulder connecting piece is fixed to one end of the shoulder joint A, the shoulder joint B is fixed to the lower end of the shoulder connecting piece, the upper end of the shoulder joint C is fixedly connected with the bottom end of the shoulder joint B, and the lower end of the shoulder joint C is connected with the elbow joint through a cylindrical hollow big arm connecting piece; the elbow joint comprises an oblique-angle-shaped elbow joint connecting piece and elbow joints A and B, the elbow joint A is fixed at the lower end of the elbow joint connecting piece, and one end of the elbow joint B is fixedly connected with the lower end of the elbow joint A; and the wrist joint comprises a wrist joint A, a wrist joint B and a wrist connecting rod, the wrist connecting rod is fixedly connected with the wrist joint A and the wrist joint B, the other end of the elbow joint B is fixedly connected with one end of a forearm connecting piece shaped like a Chinese character "yue", the other end of the forearm connecting piece is connected with the wrist joint B, and the wrist joint A is arranged inside the forearm connecting piece. The high-integration modularized humanoid mechanical arm has the characteristics of being high in integration level, modularized, high in load weight ratio and large in motion space.

Description

technical field [0001] The invention relates to the technical field of humanoid robots, in particular to a humanoid robot and a highly integrated modular humanoid mechanical arm thereof. Background technique [0002] An arm with 7 degrees of freedom can ensure that the manipulator terminal can perform more complex tasks, among which 3 degrees of freedom of the shoulder joint, 2 degrees of freedom of the elbow joint and 2 degrees of freedom of the wrist joint can ensure a larger movement space for the arm, so The humanoid robotic arm needs to have the above 7 degrees of freedom to achieve human-like arm movement. When a humanoid robot uses a manipulator terminal to perform tasks, especially tasks with loads, as a cantilever structure, each joint of the arm has different functions and requirements. For example, the shoulder joint, as the connection between the arm and the torso, needs to output the maximum torque , and needs to bear the maximum force and moment, and also need...

AI Technical Summary

Problems solved by technology

[0003] The problems that often occur in the existing humanoid robotic arms are: (1) the number of degrees of freedom is not enough, it is difficult to complete more complex operation tasks; (2) the strength of the arm is poor, the weight-to-load ratio is low, and it can only complete some demonstration actions or light loads (3) Insufficient space for joint movement; (4) Many singular points, difficult to control; (5) Complex structure, difficult to assemble and disassemble

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