Upper limb mechanism and humanoid robot

Abstract

The upper limb mechanism comprises a shoulder joint assembly, an arm assembly and at least two locking pieces, the shoulder joint assembly comprises a pitching driving piece and a connecting plate, the pitching driving piece is connected with the connecting plate, one of the connecting plate and the arm assembly is provided with a limiting protrusion, and the other one of the connecting plate and the arm assembly is provided with a limiting groove; the limiting protrusion extends into the limiting groove so that the arm assembly and the connecting plate can be relatively fixed in the circumferential direction of the pitching driving piece. The connecting plate is further provided with a first locking groove, and the arm assembly is further provided with a second locking groove. The adjacent locking pieces are detachably connected and extend into the first locking groove and the second locking groove so that the arm assembly and the connecting plate can be relatively fixed in the axial direction of the pitching driving piece. When the arm assembly and the shoulder joint assembly are assembled, the arm assembly and the shoulder joint assembly can be assembled into a whole on respective assembly lines, and then the arm assembly and the shoulder joint assembly are quickly connected through the limiting bulge, the limiting groove and the locking piece, so that the assembly process is simplified.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to an upper limb mechanism and a humanoid robot. Background Art

[0002] Humanoid robots can imitate the appearance and movement of the human body and have broad development prospects. Similar to the human body, the upper limb mechanism of the humanoid robot includes an arm component and a shoulder joint component. The arm component is used to simulate the human arm, and the shoulder joint component is used to simulate the movement and connection function of the human shoulder.

[0003] In the related art, the structure of the upper limb assembly requires that when the arm assembly and the shoulder joint assembly are assembled, the arm assembly must first be disassembled into its individual components, and then the components must be assembled in sequence with the shoulder joint assembly to complete the installation process of the entire upper limb. This not only increases the complexity and time cost of assembly, but also easily leads to wear of parts and reduced precision during multiple disassembly and assembly processes. Summary of the invention

[0004] The purpose of this application is to provide an upper limb mechanism and a humanoid robot, aiming to solve the problem of difficulty in disassembling and assembling arm components and shoulder joint components in related technologies.

[0005] To achieve the purpose of the present application, in a first aspect, the present application provides an upper limb mechanism, the upper limb mechanism comprising a shoulder joint assembly, an arm assembly and at least two locking members, the shoulder joint assembly comprising a pitch driving member and a connecting plate, the pitch driving member being connected to the connecting plate, the pitch driving member being used to drive the connecting plate to rotate around the axis direction of the pitch driving member; One of the connecting plate and the arm assembly is provided with a limiting protrusion, and the other is provided with a limiting groove, wherein the limiting protrusion extends into the limiting groove, so that the arm assembly and the connecting plate are relatively fixed in the circumferential direction of the pitch driving member; the connecting plate is also provided with a first locking groove, and the arm assembly is also provided with a second locking groove; The locking members are arranged along the circumference of the pitch drive member, and adjacent locking members are detachably connected and extend into the first locking groove and the second locking groove so that the arm assembly and the connecting plate are relatively fixed in the axial direction of the pitch drive member.

[0006] The technical solution of the present application is to set a limiting protrusion and a limiting groove at the connection between the arm assembly and the shoulder joint assembly, and to achieve relative fixation of the arm assembly and the connecting plate in the circumferential direction of the pitch drive member through the limiting protrusion and the limiting groove, and to achieve relative fixation of the arm assembly and the connecting plate in the axial direction of the pitch drive member through at least two locking members arranged along the circumference of the pitch drive member and cooperating with the first locking groove and the second locking groove of the connecting plate and the arm assembly. In this way, when the arm assembly and the shoulder joint assembly are assembled, the arm assembly and the shoulder joint assembly can be assembled into one on their respective assembly lines, and then the arm assembly and the shoulder joint assembly can be quickly connected through the limiting protrusion, the limiting groove and the locking member, thereby simplifying the assembly process, improving the stability and movement accuracy of the connection, facilitating later maintenance and repair, and extending the service life of the equipment.

[0007] In a possible implementation, the locking member includes a body and a first convex strip and a second convex strip spaced apart from each other on the body along the axis direction of the pitch driving member; The first convex strip extends into the first locking groove, and the second convex strip extends into the second locking groove; the limiting protrusion and the limiting groove are accommodated between the first convex strip and the second convex strip, and the side wall surface of the limiting protrusion contacts the body.

[0008] In this embodiment, the locking member is composed of a main body and a first convex strip and a second convex strip which are arranged on the main body at intervals along the axial direction of the pitch drive member. When adjacent locking members are connected to each other, the movement of the locking member along the radial direction of the pitch drive member is locked, and the locking member is fixed between the connecting plate and the arm assembly. The first convex strip of the locking member extends into the first locking groove, and the second convex strip extends into the second locking groove, thereby limiting the axial movement of the connecting plate and the arm assembly along the pitch drive member, and achieving the locking of the shoulder joint assembly and the arm assembly. At the same time, the first convex strip and the second convex strip form a groove, and the limiting protrusion and part of the mechanism of the connecting plate are accommodated in the groove, and contact with the main body constituting the groove, thereby increasing the contact area between the locking member and the connecting plate and the arm assembly, and improving the connection strength of the locking member to the connecting plate and the arm assembly.

[0009] In a possible implementation, the first locking groove has a first guide surface inclined in a direction away from the pitch driving member; the first convex strip has a second guide surface inclined in a direction away from the second convex strip; when the first convex strip extends into the first locking groove, the first guide surface contacts the second guide surface; and / or The second locking groove has a third guide surface inclined along the direction of the pitch driving member, and the second convex strip has a fourth guide surface inclined along the direction away from the first convex strip. When the second convex strip extends into the second locking groove, the third guide surface contacts the fourth guide surface.

[0010] In this embodiment, the first locking groove has a first guide surface that is tilted away from the pitch driving member, and the first convex strip has a second guide surface that is tilted away from the second convex strip. The first guide surface and the second guide surface can provide guidance for the first convex strip to extend into the first locking groove, thereby reducing the friction between the first convex strip and the first locking groove, improving the smoothness of the first convex strip inserted into the first locking groove, and reducing the difficulty of assembling the locking member and the connecting plate. On the other hand, the first guide surface can also fit with the second guide surface when the first convex strip is engaged with the first locking groove, thereby increasing the contact area between the locking member and the connecting plate and improving the stability of the connection between the locking member and the connecting plate.

[0011] The second locking groove has a third guide surface inclined along the direction of the pitch driving member, and the second convex strip has a fourth guide surface inclined in the direction away from the first convex strip. The third guide surface and the fourth guide surface can provide guidance for the second convex strip to extend into the second locking groove, thereby reducing the friction between the second convex strip and the second locking groove, improving the smoothness of the second convex strip inserted into the second locking groove, and reducing the difficulty of assembling the locking member and the arm assembly. On the other hand, the third guide surface can also fit with the fourth guide surface when the second convex strip is engaged with the second locking groove, thereby increasing the contact area between the locking member and the arm assembly and improving the stability of the connection between the locking member and the arm assembly.

[0012] In a possible implementation, the first guide surface smoothly transitions to the outer peripheral surface of the connecting plate; and the third guide surface smoothly transitions to the outer peripheral surface of the arm assembly.

[0013] In this embodiment, the first guide surface and the outer peripheral surface of the connecting plate have a smooth transition, thereby reducing the friction of the first guide surface at the notch of the first locking groove, improving the smoothness of the first convex strip inserted into the first locking groove, and reducing the difficulty of assembling the locking member and the connecting plate. The third guide surface and the outer peripheral surface of the arm assembly have a smooth transition, thereby reducing the friction of the third guide surface at the notch of the second locking groove, improving the smoothness of the second convex strip inserted into the second locking groove, and reducing the difficulty of assembling the locking member and the arm assembly.

[0014] In a possible implementation, the first locking groove and the second locking groove are arranged along the circumference of the pitch driving member; The locking members are arranged in an arc shape, and adjacent locking members are detachably connected along a tangential direction of the circumference of the pitch driving member.

[0015] In this embodiment, the first locking groove and the second locking groove are arranged around the circumference of the pitch driving member, and the locking member is arranged in an arc shape that matches the first locking groove and the second locking groove, so as to increase the contact area between the locking member and the first locking groove and the second locking groove ring, and increase the contact area between the locking member and the shoulder joint assembly and the arm assembly. Adjacent locking members are detachably connected along the tangential direction of the circumference of the pitch driving member, so as to avoid the obstruction of the shoulder joint assembly and the arm assembly to the locking member connection, increase the operable space of the connection of each adjacent locking member, reduce the difficulty of the locking member connection, and improve the assembly efficiency of the shoulder joint assembly and the arm assembly.

[0016] In a possible implementation manner, a chamfer is provided on a side of the limiting protrusion facing the limiting groove.

[0017] In this embodiment, a chamfer is provided on the side of the limiting protrusion facing the limiting groove, and the chamfer can provide a guide for the limiting protrusion to be inserted into the limiting groove, thereby reducing the friction between the limiting protrusion and the limiting groove, improving the smoothness of the limiting protrusion being inserted into the limiting groove, and reducing the difficulty of assembling the locking member and the arm assembly.

[0018] In a possible implementation, the limiting groove has a first opening and a second opening which are arranged opposite to each other along the radial direction of the pitch driving member; The first through opening is closer to the outer edge of the connecting plate than the second through opening, and the diameter of the first through opening is larger than the diameter of the second through opening.

[0019] In this embodiment, the limiting groove passes through the pitch driving member in the radial direction and has a first opening and a second opening. The diameter of the first opening is larger than that of the second opening, and the first opening is closer to the outer edge of the connecting plate than the second opening. The first opening, which is larger on the outside, can more conveniently guide the limiting protrusion into the limiting groove, and the smaller second opening can reduce the matching clearance between the limiting protrusion and the limiting groove, thereby ensuring the stability of the connection between the connecting plate and the arm assembly.

[0020] In a possible implementation, a fool-proofing protrusion is provided in the limiting groove; the limiting protrusion is recessed inwardly on a side facing the outer edge of the connecting plate to form a fool-proofing groove; When the limiting protrusion cooperates with the limiting groove, the fool-proofing protrusion extends into the fool-proofing groove.

[0021] This embodiment provides a foolproof groove on the limiting protrusion and a foolproof convex point in the limiting groove, so as to reuse the limiting groove and the limiting protrusion, thereby ensuring that the shoulder joint assembly and the arm assembly can only be installed in the correct direction and position without adding other structures, thereby avoiding the occurrence of mis-installation. The structure of the shoulder joint assembly and the arm assembly is simplified, the volume of the connection between the shoulder joint assembly and the arm assembly is reduced, and the accuracy of the installation of the shoulder joint assembly and the arm assembly is improved.

[0022] In a possible implementation, the shoulder joint assembly further includes a shoulder joint support frame, the shoulder joint support frame having a receiving cavity with an opening on one side, the receiving cavity being used to receive the pitch driving member; the shoulder joint support frame is provided with a first alignment groove, and a first sensing member is provided in the first alignment groove; The connecting plate cover is arranged on the opening, the connecting plate is provided with a second alignment groove, a second sensor is arranged in the second alignment groove, when the anti-mistake protrusion extends into the anti-mistake groove, the first alignment groove and the second alignment groove are connected with each other, and the first sensor and the second sensor are aligned with each other.

[0023] This embodiment coordinates the anti-mistake protrusions, anti-mistake grooves and the zero-point alignment structure of the pitch drive component to ensure that after the shoulder joint assembly and the arm assembly are installed, the rotation angle of the pitch drive component relative to the arm assembly is exactly zero, that is, the arm assembly is just in a vertical downward state, thereby ensuring the accuracy of the humanoid robot's movements.

[0024] In a possible implementation manner, the first alignment groove penetrates through the cavity wall of the accommodating cavity along the radial direction of the pitch driving member; A positioning protrusion is provided on one side of the connecting plate facing the opening, and the positioning protrusion is located in the accommodating cavity; and the second positioning groove is provided on the positioning protrusion.

[0025] In this embodiment, the first alignment groove is provided on the cavity wall of the accommodating cavity, and the alignment protrusion provided with the second alignment groove is provided in the accommodating cavity, so that the first sensor and the second sensor can be arranged along the radial direction of the pitch driving member and aligned along the radial direction. In this way, the axial volume of the shoulder joint assembly is saved, the swing amplitude of the arm assembly is optimized, and the anthropomorphism of the arm assembly is improved.

[0026] In a possible implementation, the shoulder joint assembly further includes an elastic baffle, which is sleeved on the shoulder joint support frame; and each of the locking members is located in the elastic baffle.

[0027] This embodiment arranges an elastic baffle on the outer side of the shoulder joint support frame. When the shoulder joint assembly and the arm assembly are installed, the elastic baffle can be flipped to the side of the arm assembly to block the locking ring, thereby preventing external dust or impurities from entering the arm assembly or the shoulder joint assembly through the connection gap between the locking ring and the connecting plate or the arm assembly, thereby improving the reliability of the use of the humanoid robot. When the shoulder joint assembly and the arm assembly need to be inspected, the elastic baffle can be flipped to the side away from the arm assembly, and the locking part can be exposed to facilitate inspection. The elastic property of the elastic baffle allows maintenance personnel to only flip the elastic baffle left and right along the axial direction of the pitch drive member when assembling the arm assembly or the shoulder joint assembly, so as to expose or cover the locking part without disassembling the elastic baffle, thereby improving the inspection efficiency of the humanoid robot.

[0028] In a possible implementation, the limiting groove includes a first limiting groove and a second limiting groove; the limiting protrusion is arranged in the first limiting groove; The locking member is provided with a plurality of fixing protrusions, and the fixing protrusions extend into the second limiting grooves.

[0029] This embodiment divides the limiting groove into a first limiting groove and a second limiting groove, wherein the first limiting groove is used to cooperate with the limiting protrusion; so as to achieve relative fixation of the arm assembly and the connecting plate in the circumferential direction of the pitch drive component; the second limiting groove is used to cooperate with the fixed protrusion on the locking member, so as to achieve the limitation of the locking member and the connecting plate or the arm assembly, increase the contact area between the locking member and the connecting plate or the arm assembly, and improve the stability of the connection between the locking member and the connecting plate and the arm assembly.

[0030] In a second aspect, the present application further proposes a humanoid robot, the humanoid robot comprising an upper limb mechanism, the upper limb mechanism comprising a shoulder joint assembly, an arm assembly and at least two locking members, the shoulder joint assembly comprising a pitch driving member and a connecting plate, the pitch driving member being connected to the connecting plate, the pitch driving member being used to drive the connecting plate to rotate around the axis direction of the pitch driving member; One of the connecting plate and the arm assembly is provided with a limiting protrusion, and the other is provided with a limiting groove, wherein the limiting protrusion extends into the limiting groove, so that the arm assembly and the connecting plate are relatively fixed in the circumferential direction of the pitch driving member; the connecting plate is also provided with a first locking groove, and the arm assembly is also provided with a second locking groove; The locking members are arranged along the circumference of the pitch drive member, and adjacent locking members are detachably connected and extend into the first locking groove and the second locking groove so that the arm assembly and the connecting plate are relatively fixed in the axial direction of the pitch drive member.

[0031] The technical solution of the present application is to set a limiting protrusion and a limiting groove at the connection between the arm assembly and the shoulder joint assembly, and to achieve relative fixation of the arm assembly and the connecting plate in the circumferential direction of the pitch drive member through the limiting protrusion and the limiting groove, and to achieve relative fixation of the arm assembly and the connecting plate in the axial direction of the pitch drive member through at least two locking members arranged along the circumference of the pitch drive member and cooperating with the first locking groove and the second locking groove of the connecting plate and the arm assembly. In this way, when the arm assembly and the shoulder joint assembly are assembled, the arm assembly and the shoulder joint assembly can be assembled into one on their respective assembly lines, and then the arm assembly and the shoulder joint assembly can be quickly connected through the limiting protrusion, the limiting groove and the locking member, thereby simplifying the assembly process, improving the stability and movement accuracy of the connection, facilitating later maintenance and repair, and extending the service life of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0033] Figure 1 A schematic structural diagram of an embodiment of the upper limb mechanism provided in this application; Figure 2 for Figure 1 Exploded view of some structures in the shoulder joint assembly and arm assembly; Figure 3 for Figure 1 a cross-sectional view at one viewing angle; Figure 4 for Figure 1 A partial schematic diagram of the middle arm assembly; Figure 5 for Figure 1 Structural diagram of the middle connecting plate; Figure 6 for Figure 1 A cross-sectional view from another perspective; Figure 7 for Figure 1 Exploded view of the mid-shoulder joint support frame, connecting plate, and arm assembly; Figure 8 for Figure 3 A magnified view at point A; Fig. 9 for Figure 1 Assembly diagram of the middle shoulder joint component, arm component and locking part.

[0034] Description of reference numerals: 1000-upper limb mechanism; 1-shoulder joint assembly, 11-pitch driving member, 12-connecting plate, 121-limiting protrusion, 1211-anti-fool groove, 122-first locking groove, 1221-second guide surface, 123-aligning protrusion, 1231-second alignment groove, 13-shoulder joint support frame, 131-accommodating cavity, 132-opening, 133-first alignment groove; 2-arm assembly, 21-forearm piece, 211-limiting groove, 2111-first opening, 2112-second opening, 2213-first limiting groove, 2214-second limiting groove, 212-anti-foolproofing convex point, 23-second locking groove, 231-fourth guide surface, 22-palm piece; 3-locking member, 31-body, 32-first convex strip, 321-first guide surface, 33-second convex strip, 331-third guide surface, 34-fixing protrusion; 4-Elastic baffle; 5-Threaded parts. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0036] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there can be a central component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there can be a central component at the same time.

[0037] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in this application and in the specification are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in this application includes any and all combinations of one or more of the related listed items.

[0038] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0039] The present application proposes a humanoid robot, which includes a trunk mechanism, a head mechanism, an upper limb mechanism and a lower limb mechanism. The trunk mechanism serves as the supporting part of the humanoid robot and is used to support and connect other assemblies. The head mechanism is connected to the trunk mechanism, and the head mechanism is used to imitate the structure and function of the human head. It contains sensing devices such as sensors, cameras, microphones, etc., and can perceive the surrounding environment, sound and image information like humans. At the same time, the head mechanism is also equipped with a display screen or projection equipment, which can display the robot's expression, status or interactive information, and enhance the interactive experience with people or other objects. In addition, the head mechanism also has a certain degree of freedom, which can realize actions such as turning the head and nodding, further increasing the flexibility and realism of the robot.

[0040] The lower limb mechanism is connected to the trunk mechanism to imitate the movement of human legs and the way of walking. It contains a complex joint structure, a drive device and a control system, which can achieve multi-degree-of-freedom movement and precise gait control. By controlling the movement of the lower limb mechanism, the robot can walk, run, jump, etc. in different terrains and environments, and complete various complex mobile tasks. In addition, the lower limb mechanism also has a certain load-bearing capacity and stability, which can support the total weight of the robot's trunk and upper limbs, and maintain balance during walking and movement. This design makes the humanoid robot more flexible and adaptable in practical applications, and can meet the needs of different scenarios and tasks.

[0041] Please refer to Figure 1 , the upper limb mechanism 1000 is connected to the trunk mechanism to simulate the structure of human arms. The upper limb mechanism 1000 includes an arm assembly 2 and a shoulder joint assembly 1. The arm assembly 2 is used to simulate human hands. In some embodiments, the arm assembly 2 includes a forearm piece 21 and a palm piece 22. The forearm piece 21 is used to simulate the forearm part of the human body and realize basic telescopic and rotation functions to enhance flexibility and range of motion. The palm piece 22 is used to perform fine operations and can be combined with multi-degree-of-freedom joints to realize complex finger movements, thereby simulating the grasping and operating capabilities of human hands. This design enables the robot to perform a variety of tasks and adapt to different application scenarios.

[0042] The shoulder joint assembly 1 is connected between the arm assembly 2 and the trunk mechanism to simulate the movement of the human shoulder joint, so that the arm assembly 2 can move in multiple directions. In one embodiment of the present application, the shells of the shoulder joint assembly 1 and the arm assembly 2 adopt smooth curved surfaces, and the shells are smoothly connected to each other, thereby imitating the muscle texture of the human arm and shoulder joint, and improving the anthropomorphism of the humanoid robot.

[0043] In the related art, the structure of the upper limb assembly requires that when the arm assembly and the shoulder joint assembly are assembled, the arm assembly needs to be disassembled into individual components first, and then the components are assembled with the shoulder joint assembly in sequence to complete the installation process of the entire upper limb. This not only increases the complexity and time cost of assembly, but also easily causes wear of parts and reduced precision during multiple disassembly and assembly processes.

[0044] Please refer to Figures 2 to 5 To solve the above problems, in one embodiment of the present application, the upper limb mechanism 1000 includes a shoulder joint assembly 1, an arm assembly 2 and at least two locking members 3. The shoulder joint assembly 1 includes a pitch driving member 11 and a connecting plate 12. The pitch driving member 11 is connected to the connecting plate 12. The pitch driving member 11 is used to drive the connecting plate 12 to rotate around the axis direction of the pitch driving member 11. One of the connecting plate 12 and the arm assembly 2 is provided with a limiting protrusion 121, and the other is provided with a limiting groove 211. The limiting protrusion 121 extends into the limiting groove 211, so that the arm assembly 2 and the connecting plate 12 are relatively fixed in the circumferential direction of the pitch driving member 11; the connecting plate 12 is also provided with a first locking groove 122, and the arm assembly 2 is also provided with a second locking groove 23; each locking member 3 is arranged along the circumferential direction of the pitch driving member 11, and adjacent locking members 3 are detachably connected and extend into the first locking groove 122 and the second locking groove 23, so that the arm assembly 2 and the connecting plate 12 are relatively fixed in the axial direction of the pitch driving member 11.

[0045] The technical solution of the present application is to provide a limiting protrusion 121 and a limiting groove 211 at the connection between the arm assembly 2 and the shoulder joint assembly 1, and to achieve relative fixation of the arm assembly 2 and the connecting plate 12 in the circumferential direction of the pitch drive member 11 through the limiting protrusion 121 and the limiting groove 211, and to achieve relative fixation of the arm assembly 2 and the connecting plate 12 in the axial direction of the pitch drive member 11 through at least two locking members 3 arranged along the circumference of the pitch drive member 11, in cooperation with the first locking groove 122 and the second locking groove 23 of the connecting plate 12 and the arm assembly 2. In this way, when the arm assembly 2 and the shoulder joint assembly 1 are assembled, the arm assembly 2 and the shoulder joint assembly 1 can be first assembled into one on their respective assembly lines, and then the arm assembly 2 and the shoulder joint assembly 1 can be quickly connected through the limiting protrusion 121, the limiting groove 211 and the locking member 3, thereby simplifying the assembly process, improving the stability and movement accuracy of the connection, facilitating later maintenance and repair, and extending the service life of the equipment.

[0046] The upper limb assembly provided in the present application will be described in detail below in conjunction with the accompanying drawings.

[0047] The upper limb mechanism 1000 includes a shoulder joint component 1 and an arm component 2. The shoulder joint component 1 is used to simulate the shoulder joint of the human body to achieve the connection between the arm component 2 and the trunk mechanism.

[0048] The shoulder joint assembly 1 includes a shoulder joint support frame 13, a pitch driving member 11 and a connecting plate 12. The shoulder joint support frame 13 is used as a supporting structure of the shoulder joint assembly 1 to support and connect the various parts of the shoulder joint assembly 1. The shoulder joint assembly 1 is connected to the trunk mechanism through the shoulder joint support frame 13. The shoulder joint support frame 13 is formed with a receiving cavity 131. The receiving cavity 131 has an opening 132. The pitch driving member 11 can be installed in the receiving cavity 131 through the opening 132.

[0049] The connecting plate 12 covers the opening 132, one end surface of the connecting plate 12 is connected to the pitch driving member 11, and the other end surface is connected to the arm assembly 2. The driving force of the pitch driving member 11 can be transmitted to the arm assembly 2 via the connecting plate 12, thereby driving the arm assembly 2 to swing, thereby simulating the forward and backward movement of the human arm.

[0050] To achieve the installation of the connecting plate 12 and the arm assembly 2, in one embodiment of the present application, one of the connecting plate 12 and the arm assembly 2 is provided with a limiting protrusion 121, and the other is provided with a limiting groove 211. The limiting protrusion 121 is used to extend into the limiting groove 211 when the connecting plate 12 is connected to the arm assembly 2, thereby limiting the rotation of the connecting plate 12 and the arm assembly 2 in the circumferential direction of the pitch drive member 11, thereby achieving relative fixation of the arm assembly 2 and the connecting plate 12 in the circumferential direction of the pitch drive member 11.

[0051] The number of the limiting protrusion 121 and the limiting groove 211 can be one or more, and the present application does not impose any limitation on this.

[0052] The limiting protrusion 121 can be provided on the connecting plate 12, or on the arm assembly 2, or partially on the connecting plate 12 and partially on the arm assembly 2. Correspondingly, the limiting groove 211 can be provided on the arm assembly 2, or on the connecting plate 12, or partially on the connecting plate 12 and partially on the arm assembly 2. This application does not impose any limitation on this.

[0053] Please refer to Figure 4 and Figure 5 In one possible implementation mode of the present application, a plurality of protrusions of the same shape and equal number are provided on the connecting plate 12 and the arm assembly 2, and the protrusions are arranged alternately in the circumferential direction of the pitch drive member 11. The protrusions can serve as the limiting protrusions 121 in the above-mentioned implementation mode, and the gaps between the protrusions can form the limiting grooves 211 in the above-mentioned implementation mode.

[0054] Compared with forming special limiting protrusions 121 and limiting grooves 211 on the connecting plate 12 and the arm assembly 2, an equal number of protrusions with staggered positions are formed on the connecting plate 12 and the arm assembly 2, so that the limiting protrusions 121 are formed by the protrusions, and the limiting grooves 211 are formed by the gaps between the protrusions. This can reduce the number of molds, reduce the production costs of the limiting protrusions 121 and the limiting grooves 211, simplify the design and manufacturing process, and improve the assembly efficiency and the stability of the overall structure.

[0055] Based on the above embodiments, in one possible implementation mode of the present application, a chamfer is provided on the side of the limiting protrusion 121 facing the limiting groove 211, and the chamfer can provide a guide for the limiting protrusion 121 to be inserted into the limiting groove 211, thereby reducing the friction between the limiting protrusion 121 and the limiting groove 211, improving the smoothness of the limiting protrusion 121 inserted into the limiting groove 211, and reducing the difficulty of assembling the locking member 3 and the arm assembly 2.

[0056] In order to improve the installation smoothness of the connecting plate 12 and the arm assembly 2, in one embodiment of the present application, the limiting groove 211 has a first opening 2111 and a second opening 2112 which are relatively arranged along the radial direction of the pitch drive member 11; compared with the second opening 2112, the first opening 2111 is closer to the outer edge of the connecting plate 12, and the diameter of the first opening 2111 is larger than that of the second opening 2112.

[0057] In this embodiment, the limiting groove 211 passes through the pitch driving member 11 in the radial direction and has a first opening 2111 and a second opening 2112. The diameter of the first opening 2111 is larger than that of the second opening 2112, and the first opening 2111 is closer to the outer edge of the connecting plate 12 than the second opening 2112. The first opening 2111, which is larger on the outside, can more conveniently guide the limiting protrusion 121 into the limiting groove 211, and the smaller second opening 2112 can reduce the matching clearance between the limiting protrusion 121 and the limiting groove 211, thereby ensuring the stability of the connection between the connecting plate 12 and the arm assembly 2.

[0058] In one possible implementation mode of the present application, a foolproofing protrusion 212 is provided in the limiting groove 211; the limiting protrusion 121 is recessed inwardly on the outer edge side facing the connecting plate 12 to form a foolproofing groove 1211; when the limiting protrusion 121 cooperates with the limiting groove 211, the foolproofing protrusion 212 extends into the foolproofing groove 1211. By providing a foolproofing groove 1211 on the limiting protrusion 121 and providing a foolproofing protrusion 212 in the limiting groove 211, the limiting groove 211 and the limiting protrusion 121 are structurally reused, thereby ensuring that the shoulder joint assembly 1 and the arm assembly 2 can only be installed in the correct direction and position without adding other structures, thereby avoiding the occurrence of mis-installation. The structure of the shoulder joint assembly 1 and the arm assembly 2 is simplified, the volume of the connection between the shoulder joint assembly 1 and the arm assembly 2 is reduced, and the accuracy of the installation of the shoulder joint assembly 1 and the arm assembly 2 is improved.

[0059] Please refer to Figure 6 In one embodiment of the present application, the limiting groove 211 includes a first limiting groove 2213 and a second limiting groove 2214; the limiting protrusion 121 is arranged in the first limiting groove 2213; the locking member 3 is provided with a plurality of fixing protrusions 34, and the fixing protrusions 34 extend into the second limiting groove 2214. In this embodiment, the limiting groove is divided into the first limiting groove 2213 and the second limiting groove 2214, and the first limiting groove 2213 is used to cooperate with the limiting protrusion 121; so as to achieve the relative fixation of the arm assembly 2 and the connecting plate 12 in the circumferential direction of the pitch driving member; the second limiting groove 2214 is used to cooperate with the fixing protrusion 34 on the locking member 3, so as to achieve the limiting of the locking member 3 and the connecting plate 12 or the arm assembly 2, increase the contact area between the locking member 3 and the connecting plate 12 or the arm assembly 2, and improve the stability of the connection between the locking member 3 and the connecting plate 12 and the arm assembly 2.

[0060] Please refer to Figure 7 When a humanoid robot is started or reset, it is usually necessary to perform zero-point alignment on the execution structure to ensure that the robot starts operating from a known, standard position, thereby ensuring the accuracy of the humanoid robot's movements. Specifically in the present application, the shoulder joint support frame 13 is provided with a first alignment groove 133, in which a first sensor is installed, and a second alignment groove 1231 is provided on the connecting plate 12, in which a second sensor is provided. The first sensor and the second sensor can be photoelectric sensors, Hall sensors, or mechanical limit switches, and the present application does not impose any restrictions on this. When the arm assembly 2 is in an initial position relative to the shoulder joint assembly 1 (the initial position is usually set to be that the arm assembly 2 is vertically downward and parallel to the torso mechanism), the first sensor and the second sensor are just in alignment.

[0061] When the humanoid robot is started, the pitch driving member 11 will drive the connecting plate 12 to rotate until the first sensor member and the second sensor member are aligned with each other. When the first sensor member and the second sensor member reach the aligned state, the first sensor member and the second sensor member will send a homing signal to the controller of the humanoid robot and the surface arm assembly 2 will swing to the initial state, thereby facilitating the controller to accurately control the position of the arm assembly 2.

[0062] In one possible implementation mode of the present application, when the fool-proof protrusion 212 extends into the fool-proof groove 1211, the first alignment groove 133 and the second alignment groove 1231 are connected to each other, and the first sensor element and the second sensor element are aligned with each other.

[0063] This embodiment matches the anti-mistake protrusion 212, the anti-mistake groove 1211 and the zero-point alignment structure of the pitch drive component 11 to ensure that after the shoulder joint assembly 1 and the arm assembly 2 are installed, the rotation angle of the pitch drive component 11 relative to the arm assembly 2 is exactly zero, that is, the arm assembly 2 is just in a vertical downward state, thereby ensuring the accuracy of the humanoid robot's movements.

[0064] There are many options for the alignment angle of the first sensor and the second sensor. The alignment direction of the first sensor and the second sensor can be perpendicular to the axis direction of the pitch drive member 11, parallel to the axis direction of the pitch drive member 11, or obliquely intersecting with the axis direction of the pitch drive member 11. The present application does not limit this. In one embodiment of the present application, the first alignment groove 133 passes through the cavity wall of the accommodating cavity 131 along the radial direction of the pitch drive member 11; The connecting plate 12 is provided with an alignment protrusion 123 on the side facing the opening 132, and the alignment protrusion 123 is located in the accommodating cavity 131; the second alignment groove 1231 is provided on the alignment protrusion 123. By providing the first alignment groove 133 on the cavity wall of the accommodating cavity 131, and providing the alignment protrusion 123 provided with the second alignment groove 1231 in the accommodating cavity 131, the first sensor and the second sensor can be arranged along the radial direction of the pitch driving member 11, and aligned along the radial direction. In this way, the axial volume of the shoulder joint assembly 1 is saved, the swing amplitude of the arm assembly 2 is optimized, and the anthropomorphism of the arm assembly 2 is improved.

[0065] Please refer to Figure 2The upper limb mechanism 1000 further includes at least two locking members 3, which are arranged along the circumference of the pitch driving member 11, and adjacent locking members 3 are detachably connected. The locking members 3 can cooperate with the connecting plate 12 and the arm assembly 2, so that the arm assembly 2 and the connecting plate 12 are relatively fixed in the axial direction of the pitch driving member 11. Specifically, the connecting plate 12 is also provided with a first locking groove 122, and the arm assembly 2 is also provided with a second locking groove 23. The locking member 3 includes a body 31 and a first convex strip 32 and a second convex strip 33 which are arranged on the body 31 at intervals along the axial direction of the pitch driving member 11; the first convex strip 32 extends into the first locking groove 122, and the second convex strip 33 extends into the second locking groove 23; the limiting protrusion 121 and the limiting groove 211 are accommodated between the first convex strip 32 and the second convex strip 33, and the side wall surface of the limiting protrusion 121 contacts the body 31.

[0066] Please refer to Figure 8 In this embodiment, the locking member 3 is composed of a body 31 and a first convex strip 32 and a second convex strip 33 which are arranged on the body 31 at intervals along the axial direction of the pitch driving member 11. When the adjacent locking members 3 are connected to each other, the movement of the locking member 3 along the radial direction of the pitch driving member 11 is locked, and the locking member 3 is fixed between the connecting plate 12 and the arm assembly 2. The first convex strip 32 of the locking member 3 extends into the first locking groove 122, and the second convex strip 33 extends into the second locking groove 23, thereby limiting the movement of the connecting plate 12 and the arm assembly 2 along the axial direction of the pitch driving member 11, and realizing the locking of the shoulder joint assembly 1 and the arm assembly 2. At the same time, the first convex strip 32 and the second convex strip 33 form a groove, and the limiting protrusion 121 and part of the mechanism of the connecting plate 12 are accommodated in the groove, and contact with the body 31 constituting the groove, thereby increasing the contact area between the locking member 3 and the connecting plate 12 and the arm assembly 2, and improving the connection strength of the locking member 3 to the connecting plate 12 and the arm assembly 2.

[0067] In specific applications, through the limiting protrusion 121, the limiting groove 211 and the locking member 3, when the shoulder joint assembly 1 and the arm assembly 2 are installed, the arm assembly 2 and the shoulder joint assembly 1 can be first assembled into one on their respective assembly lines, and then the arm assembly 2 and the shoulder joint assembly 1 can be quickly connected through the limiting protrusion 121, the limiting groove 211 and the locking member 3, thereby simplifying the assembly process, improving the stability of the connection and the movement accuracy, facilitating later maintenance and repair, and extending the service life of the equipment.

[0068] Please refer to Fig. 9The number of locking members 3 can be two, three, or four, and this application does not impose any restrictions on this. Adjacent locking members 3 can be detachably connected by snaps or by threaded members 5, and this application does not impose any restrictions on this. In one embodiment of this application, the upper limb mechanism 1000 includes two locking members 3, one of the bodies 31 of the two locking members 3 is provided with a threaded hole, and the other is provided with a through hole, and the upper limb mechanism 1000 also includes a threaded member 5, which passes through the through hole and the threaded hole in sequence, thereby fixing the two locking members 3 between the connecting plate 12 and the arm assembly 2.

[0069] Please refer to Figure 8 In a possible implementation, the first locking groove 122 has a first guide surface 321 that is tilted away from the pitch driving member 11; the first convex strip 32 has a second guide surface 1221 that is tilted away from the second convex strip 33; when the first convex strip 32 extends into the first locking groove 122, the first guide surface 321 and the second guide surface 1221 are in contact. The first guide surface 321 and the second guide surface 1221 can provide guidance for the first convex strip 32 to extend into the first locking groove 122, thereby reducing the friction between the first convex strip 32 and the first locking groove 122, improving the smoothness of the first convex strip 32 inserted into the first locking groove 122, and reducing the difficulty of assembling the locking member 3 and the connecting plate 12. On the other hand, the first guide surface 321 can also fit with the second guide surface 1221 when the first convex strip 32 is engaged with the first locking groove 122, thereby increasing the contact area between the locking member 3 and the connecting plate 12 and improving the stability of the connection between the locking member 3 and the connecting plate 12.

[0070] Similarly, the second locking groove 23 has a third guide surface 331 tilted in the direction of the pitch driving member 11, and the second convex strip 33 has a fourth guide surface 231 tilted in the direction away from the first convex strip 32. When the second convex strip 33 extends into the second locking groove 23, the third guide surface 331 and the fourth guide surface 231 are in contact. The third guide surface 331 and the fourth guide surface 231 can provide guidance for the second convex strip 33 to extend into the second locking groove 23, thereby reducing the friction between the second convex strip 33 and the second locking groove 23, improving the smoothness of the second convex strip 33 inserted into the second locking groove 23, and reducing the difficulty of assembling the locking member 3 and the arm assembly 2. On the other hand, the third guide surface 331 can also fit with the fourth guide surface 231 when the second convex strip 33 is engaged with the second locking groove 23, thereby increasing the contact area between the locking member 3 and the arm assembly 2 and improving the stability of the connection between the locking member 3 and the arm assembly 2.

[0071] The first guide surface 321 and the third guide surface 331 , the second guide surface 1221 and the fourth guide surface 231 may exist at the same time, or may exist selectively, and the present application does not impose any limitation on this.

[0072] Based on the above embodiments, in one possible implementation of the present application, the first guide surface 321 smoothly transitions with the outer peripheral surface of the connecting plate 12 ; the third guide surface 331 smoothly transitions with the outer peripheral surface of the arm assembly 2 .

[0073] In this embodiment, the first guide surface 321 and the outer peripheral surface of the connecting plate 12 have a smooth transition, thereby reducing the friction of the first guide surface 321 at the notch of the first locking groove 122, improving the smoothness of the first convex strip 32 inserted into the first locking groove 122, and reducing the difficulty of assembling the locking member 3 and the connecting plate 12. The third guide surface 331 and the outer peripheral surface of the arm assembly 2 have a smooth transition, thereby reducing the friction of the third guide surface 331 at the notch of the second locking groove 23, improving the smoothness of the second convex strip 33 inserted into the second locking groove 23, and reducing the difficulty of assembling the locking member 3 and the arm assembly 2.

[0074] The first locking groove 122 and the second locking groove 23 can exist continuously on the connecting plate 12 and the arm assembly 2, or can exist at intervals on the connecting plate 12 and the arm assembly 2. In one embodiment of the present application, the first locking groove 122 and the second locking groove 23 are arranged along the circumference of the pitch drive member 11; correspondingly, the locking member 3 is arranged in an arc shape, and adjacent locking members 3 are detachably connected along the tangential direction of the circumference of the pitch drive member 11.

[0075] In this embodiment, the first locking groove 122 and the second locking groove 23 are arranged around the circumference of the pitch driving member 11, and the locking member 3 is arranged in an arc shape that matches the first locking groove 122 and the second locking groove 23, so as to increase the contact area between the locking member 3 and the first locking groove 122 and the second locking groove 23 ring, and improve the contact area between the locking member 3 and the shoulder joint assembly 1 and the arm assembly 2. Adjacent locking members 3 can be detachably connected along the tangential direction of the circumference of the pitch driving member 11, so that the blocking of the shoulder joint assembly 1 and the arm assembly 2 to the connection of the locking members 3 can be avoided, the operable space for the connection of each adjacent locking member 3 is increased, the difficulty of connecting the locking members 3 is reduced, and the assembly efficiency of the shoulder joint assembly 1 and the arm assembly 2 is improved.

[0076] Please refer to Figure 2 and Figure 3 The shoulder joint assembly 1 further includes an elastic baffle 4, which can be made of rubber, silicone, or other elastic materials, which is not limited in the present application. The elastic baffle is sleeved on the shoulder joint support frame 13; each locking member 3 is located in the elastic baffle 4.

[0077] This embodiment is to arrange an elastic baffle on the shoulder joint support frame 13. When the shoulder joint assembly 1 and the arm assembly 2 are installed, the elastic baffle can be flipped to the side of the arm assembly 2 to block the locking ring, thereby preventing external dust or impurities from entering the arm assembly 2 or the shoulder joint assembly 1 through the connection gap between the locking ring and the connecting plate 12 or the arm assembly 2, thereby improving the reliability of the use of the humanoid robot. When the shoulder joint assembly 1 and the arm assembly 2 need to be inspected, the elastic baffle can be flipped to the side away from the arm assembly 2, and the locking member 3 can be exposed to facilitate inspection. The elastic characteristics of the elastic baffle allow maintenance personnel to only flip the elastic baffle left and right along the axial direction of the pitch drive member 11 when assembling the arm assembly 2 or the shoulder joint assembly 1, so as to expose or cover the locking member 3 without disassembling the elastic baffle, thereby improving the inspection efficiency of the humanoid robot.

[0078] In the description of the embodiments of the present application, it should be noted that the orientation or positional relationship of terms such as "center", "up", "down", "left", "right", "vertical", "horizontal", "inside" and "outside" are based on the orientation or positional relationship described in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0079] What is disclosed above is only a preferred embodiment of the present application, and it certainly cannot be used to limit the scope of rights of the present application. Ordinary technicians in this field can understand that all or part of the processes of implementing the above embodiment and equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. An upper limb mechanism (1000), characterized in that: The invention comprises a shoulder joint assembly (1), an arm assembly (2) and at least two locking members (3), wherein the shoulder joint assembly (1) comprises a pitch driving member (11) and a connecting plate (12), wherein the pitch driving member (11) is connected to the connecting plate (12), and the pitch driving member (11) is used to drive the connecting plate (12) to rotate around the axis direction of the pitch driving member (11); One of the connecting plate (12) and the arm assembly (2) is provided with a limiting protrusion (121), and the other is provided with a limiting groove (211), wherein the limiting protrusion (121) extends into the limiting groove (211), so that the arm assembly (2) and the connecting plate (12) are relatively fixed in the circumferential direction of the pitch driving member (11); the connecting plate (12) is also provided with a first locking groove (122), and the arm assembly (2) is also provided with a second locking groove (23); Each of the locking members (3) is arranged along the circumference of the pitch drive member (11), and adjacent locking members (3) are detachably connected and extend into the first locking groove (122) and the second locking groove (23) so that the arm assembly (2) and the connecting plate (12) are relatively fixed in the axial direction of the pitch drive member (11).

2. The upper limb mechanism (1000) according to claim 1, characterized in that: The locking member (3) comprises a body (31) and a first convex strip (32) and a second convex strip (33) which are arranged on the body (31) at intervals along the axial direction of the pitch driving member (11); The first convex strip (32) extends into the first locking groove (122), and the second convex strip (33) extends into the second locking groove (23); the limiting protrusion (121) and the limiting groove (211) are accommodated between the first convex strip (32) and the second convex strip (33), and the side wall surface of the limiting protrusion (121) is in contact with the body (31).

3. The upper limb mechanism (1000) according to claim 2, characterized in that: The first locking groove (122) has a first guide surface (321) arranged obliquely in a direction away from the pitch driving member (11); the first convex strip (32) has a second guide surface (1221) arranged obliquely in a direction away from the second convex strip (33); when the first convex strip (32) extends into the first locking groove (122), the first guide surface (321) and the second guide surface (1221) are in contact; and / or The second locking groove (23) has a third guide surface (331) arranged obliquely in the direction of the pitch driving member (11), and the second convex strip (33) has a fourth guide surface (231) arranged obliquely in a direction away from the first convex strip (32); when the second convex strip (33) extends into the second locking groove (23), the third guide surface (331) and the fourth guide surface (231) are in contact.

4. The upper limb mechanism (1000) according to claim 3, characterized in that: The first guide surface (321) smoothly transitions to the outer peripheral surface of the connecting plate (12); and the third guide surface (331) smoothly transitions to the outer peripheral surface of the arm assembly (2).

5. The upper limb mechanism (1000) according to any one of claims 1 to 4, characterized in that: The first locking groove (122) and the second locking groove (23) are arranged along the circumference of the pitch driving member (11); The locking member (3) is arranged in an arc shape, and adjacent locking members (3) are detachably connected along a tangential direction of the circumference of the pitch driving member (11).

6. The upper limb mechanism (1000) according to any one of claims 1 to 4, characterized in that: The limiting protrusion (121) is provided with a chamfer on the side facing the limiting groove (211).

7. The upper limb mechanism (1000) according to any one of claims 1 to 4, characterized in that: The limiting groove (211) comprises a first opening (2111) and a second opening (2112) which are arranged opposite to each other along the radial direction of the pitch driving member (11); Compared with the second opening (2112), the first opening (2111) is closer to the outer edge of the connecting plate (12), and the diameter of the first opening (2111) is larger than the diameter of the second opening (2112).

8. The upper limb mechanism (1000) according to any one of claims 1 to 4, characterized in that: An anti-mistake protrusion (212) is provided in the limiting groove (211); the limiting protrusion (121) is recessed inwardly on the side of the outer edge of the connecting plate (12) to form an anti-mistake groove (1211); When the limiting protrusion (121) cooperates with the limiting groove (211), the fool-proofing protrusion (212) extends into the fool-proofing groove (1211).

9. The upper limb mechanism (1000) according to claim 8, characterized in that: The shoulder joint assembly (1) further comprises a shoulder joint support frame (13), the shoulder joint support frame (13) having a receiving cavity (131) with an opening (132) on one side, the receiving cavity (131) being used to receive the pitch driving member (11); the shoulder joint support frame (13) is provided with a first alignment groove (133), and a first sensor is provided in the first alignment groove (133); The connecting plate (12) is covered on the opening (132), and the connecting plate (12) is provided with a second alignment groove (1231), and a second sensor is provided in the second alignment groove (1231). When the fool-proofing protrusion (212) extends into the fool-proofing groove (1211), the first alignment groove (133) and the second alignment groove (1231) are connected to each other, and the first sensor and the second sensor are aligned with each other.

10. The upper limb mechanism (1000) according to claim 9, characterized in that: The first alignment groove (133) penetrates the cavity wall of the accommodating cavity (131) along the radial direction of the pitch driving component (11); A positioning protrusion (123) is provided on the side of the connecting plate (12) facing the opening (132); the positioning protrusion (123) is located in the accommodating cavity (131); and the second positioning groove (1231) is provided on the positioning protrusion (123).

11. The upper limb mechanism (1000) according to claim 9, characterized in that: The shoulder joint assembly (1) further comprises an elastic baffle (4), wherein the elastic baffle (4) is sleeved on the shoulder joint support frame (13); each of the locking members (3) is located inside the elastic baffle (4).

12. The upper limb mechanism (1000) according to any one of claims 1 to 4, characterized in that: The limiting groove (211) comprises a first limiting groove (2213) and a second limiting groove (2214); the limiting protrusion (121) is arranged in the first limiting groove (2213); The locking member (3) is provided with a plurality of fixing protrusions (34), and the fixing protrusions (34) extend into the second limiting grooves (2214).

13. A humanoid robot, characterized in that: Comprising an upper limb mechanism (1000) as described in any one of claims 1-12.

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