Arm assembly and humanoid robot

Abstract

An arm assembly and humanoid robot, the arm assembly comprising a first housing, a first driving mechanism, a second housing, a second driving mechanism and a first cable, the first housing comprising a main body shell, a first cantilever and a second cantilever, the main body shell having a first space, the first cantilever and the second cantilever being connected with the main body shell; the first driving mechanism comprising a first driving member, the first driving member being accommodated in the first space; the second housing being rotatably connected with the first cantilever, the second cantilever and the first driving mechanism, the second housing having a second space; the second driving mechanism comprising a second driving member, the second driving member being accommodated in the second space; the first cable being connected with the first driving member and the second driving member, a first wire channel of the first cantilever being in communication with the first space, a second wire channel of the second housing being in communication with the second space and the first wire channel, the first cable being arranged in the first wire channel and the second wire channel, so as to avoid the first cable from affecting the freedom of movement of the arm.

Description

Technical Field

[0001] This application relates to the field of humanoid robot technology, specifically to an arm assembly and a humanoid robot. Background Technology

[0002] Currently, with the rapid development of humanoid robots, which can mimic the shape and movement of the human body, they have broad development prospects. Humanoid robots include an arm assembly, which requires wiring to achieve electrical connections between drive components. Currently, the primary cables of the arm assembly are exposed, which is unsightly, and also interferes with the arm assembly's degrees of freedom of movement. Summary of the Invention

[0003] The purpose of this application is to provide an arm assembly and a humanoid robot that improves the problem of the first cable affecting the degree of freedom of movement of the arm assembly.

[0004] To achieve the objectives of this application, the following technical solution is provided:

[0005] In a first aspect, this application provides an arm assembly for a humanoid robot, the arm assembly comprising: a first shell including a main shell, a first cantilever, and a second cantilever, the main shell enclosing a first space, the first cantilever and the second cantilever being connected to the same end of the main shell and disposed opposite to each other; a first drive mechanism including a first drive member, the first drive member being housed in the first space and fixedly connected to the main shell; a second shell rotatably connected to the first cantilever and the second cantilever, the second shell also being rotatably connected to the first drive mechanism, the second shell enclosing a second space; a second drive mechanism including a second drive member, the second drive member being housed in the second space and fixedly connected to the second shell; a first cable, one end connected to the first drive member and the other end connected to the second drive member; wherein, the first cantilever has a first wiring channel, the second shell has a second wiring channel, the first wiring channel communicating with the first space, the second wiring channel communicating with the second space, the first wiring channel and the second wiring channel communicating, and the first cable passing through the first wiring channel and the second wiring channel.

[0006] Thus, one end of the first cable is connected to the first drive component, and the other end of the first cable is connected to the second drive component. The first cantilever has a first wiring channel, and the second housing has a second wiring channel. The first wiring channel is connected to the first space, and the second wiring channel is connected to the second space. The first wiring channel and the second wiring channel are connected. The first cable passes through the first wiring channel and the second wiring channel. When the arm assembly moves, the first cable is not exposed and will not affect the freedom of movement of the arm. Moreover, it improves the overall appearance and aesthetics.

[0007] In one embodiment, the first drive mechanism further includes a first crank and a first connecting rod. One end of the first crank is connected to the first drive member, and the other end of the first crank is rotatably connected to one end of the first connecting rod. The other end of the first connecting rod is rotatably connected to the second drive member, and the first connecting rod is disposed adjacent to the second cantilever.

[0008] Thus, the first drive unit outputs rotational motion, with its output shaft fixing the first crank. The crank rotates with the shaft, and the other end of the first crank forms a revolute joint with the first connecting rod, converting the rotational motion into the reciprocating oscillation of the first connecting rod. The other end of the first connecting rod then connects to the second drive unit, thereby transmitting the oscillation to the second drive unit. To ensure the shortest transmission chain and the largest lever arm, the first connecting rod is positioned near the second cantilever, making the force line almost parallel to the second cantilever, reducing bending moment. The first crank-first connecting rod mechanism decomposes continuous rotation into controlled oscillation, saving space and improving accuracy. The first connecting rod's proximity to the second cantilever allows the driving force to act directly on the load end, reducing the bending moment at the root of the second cantilever and improving structural lifespan. Concealing the first crank and first connecting rod entirely within the first housing avoids the risk of pinching fingers due to the exposed first connecting rod, enhancing safety.

[0009] In one embodiment, the main body shell includes a first shell and a second shell, which are disposed opposite to and connected to each other, and enclose the first space. The first shell includes a first cantilever, and the second shell includes a second cantilever. The first shell is connected to one end of the first driving member, and the second shell is connected to the other end of the first driving member.

[0010] Thus, the main shell is split into a first shell and a second shell, which are detachably connected by screws or clips to form a complete first space to accommodate the first drive mechanism. The first cantilever and the second cantilever form an opposing structure, with both ends of the first drive component fixed in the first and second shells respectively, achieving end-to-end support and avoiding stress on the cantilever beam. The split shell reduces mold complexity and facilitates injection molding; the opposing structure makes the first drive component a simply supported beam at both ends, significantly reducing shaft deflection and improving repeatability; when maintenance is required, only the first or second shell needs to be removed to expose the entire first drive mechanism, shortening maintenance time.

[0011] In one embodiment, the first shell includes a shell body and a cover plate. The shell body is connected to the second shell. The shell body includes the first cantilever. A first groove is formed on the outer surface of the shell body facing away from the second shell. The cover plate covers the first groove. The first groove includes a portion of the first wiring channel. The first groove accommodates at least a portion of the first cable and a portion of the first drive component.

[0012] Thus, the first shell consists of a shell body and a cover plate. The outer surface of the shell body, facing away from the second shell, has a first groove milled or injection molded out. The groove depth is slightly larger than the diameter of the first cable. The first groove is divided into a wiring area and a drive component area. The first cable is arranged along the bottom of the first groove, and the first drive component is partially embedded in the first groove. The first groove-cover plate structure forms a natural cable channel, avoiding interference between the first cable and the motion mechanism. The semi-embedded design of the first drive component shortens the axial dimension and reduces the overall thickness of the device. The cover plate is removable, facilitating on-site replacement of the first cable or maintenance of the first drive component. The outer surface of the first shell has no exposed screws, improving the overall appearance and meeting the aesthetic requirements of consumer electronics. Moreover, the absence of exposed wiring does not interfere with the freedom of movement of the arm.

[0013] In one embodiment, the first slot further includes a first mounting space, the first cantilever has a first opening, the first mounting space is connected to the first wiring channel through the first opening, and the first mounting space is used to install the first drive component.

[0014] Thus, a first installation space is formed by excavating further inward within the first groove, its shape matching the outline of the first drive component. A first opening is created on the first cantilever, connecting the installation space to the first wiring channel. During installation, the first drive component is slid into the first installation space from the groove opening, and the first cable directly enters the first wiring channel through the first opening. The integrated design of the first installation space and the first wiring channel reduces the number of adapters and assembly errors; the first opening is located at the root of the first cantilever, minimizing the cable's path and reducing bending fatigue; and the first drive component is completely constrained by the first space, improving seismic resistance.

[0015] In one embodiment, the first housing further includes a first protrusion that protrudes from the inner wall surface of the first housing, the first protrusion enclosing the first mounting space, and the first protrusion being in close contact with a portion of the outer surface of the first driving member in the circumferential direction.

[0016] Thus, the first protrusion covers a certain proportion of the first drive component along its axial length, forming a circumferential grip on the first drive component. The first protrusion forms an additional bearing seat, absorbing radial force and reducing output shaft runout; the circumferential close contact of the first protrusion increases the heat dissipation area of ​​the first drive component, reducing its temperature; the first protrusion is part of the first housing, reducing the number of connecting parts and lowering costs; the gripping structure dampens vibrations and reduces the noise of the first drive component during operation.

[0017] In one embodiment, the first wiring channel includes a first segment and a second segment. One end of the first segment is connected to the first opening, the other end of the first segment is connected to one end of the second segment, and the other end of the second segment is connected to the second wiring channel. The second segment is used to accommodate a portion of the second drive mechanism.

[0018] Thus, the first wiring channel is divided into a first section and a second section. The first section extends in a straight line from the first opening along the inner cavity of the cantilever to the joint; the second section serves as a shared space, both for wiring and accommodating the second drive mechanism, improving the space utilization of the arm assembly; the arc transition between the first and second sections avoids sharp bends, reducing the risk of signal line breakage; during assembly and disassembly, the second drive mechanism can slide in along the second section, achieving blind insertion, reducing assembly time and improving assembly efficiency.

[0019] In one embodiment, the second housing includes a protrusion, the first cantilever includes a cantilever protrusion, the cantilever protrusion is rotatably connected to the protrusion, the cantilever protrusion has a receiving space, the receiving space is in communication with the second wiring channel, the second segment includes the receiving space, and the receiving space receives a portion of the protrusion.

[0020] Thus, a cantilever protrusion is machined at the end of the first cantilever, and the second wiring channel runs through the receiving space, allowing the protrusion to be partially embedded in the receiving space. The cantilever protrusion simultaneously serves as both a bearing housing and a second wiring channel, reducing the number of parts; the protrusion is partially embedded in the first cantilever, reducing the joint thickness and making it lighter and thinner; the first cable passes through the internal space and is completely protected by the first shell, achieving anti-pinch and anti-cut levels, and there are no exposed cables, preventing the first cable from twisting and not interfering with the arm's freedom of movement.

[0021] In one embodiment, the second housing further includes a second protrusion that protrudes from the inner wall surface of the second housing. The second protrusion is in close contact with the outer surface of a portion of the first drive member in the circumferential direction. The second protrusion surrounds a second groove that communicates with the first space. The second groove accommodates at least a portion of the first connecting rod, the first crank, and a portion of the first drive mechanism.

[0022] Thus, the second protrusion forms a second support point for the first drive component. The second protrusion encloses a second groove, the depth of which can accommodate the swing range of the first crank and the first connecting rod. The first and second protrusions of the first housing form a "double bearing seat" structure, improving the shaft rigidity of the first drive component; the second groove serves as the swing cavity for the crank and connecting rod, avoiding interference with the first housing and reducing noise; the through design balances internal pressure and prevents seal failure caused by high-temperature expansion.

[0023] Secondly, this application also provides a humanoid robot, including an arm assembly as described in any of the various embodiments of the first aspect. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the first structure of an arm assembly according to one embodiment;

[0026] Figure 2 This is a right view of an arm assembly according to one embodiment;

[0027] Figure 3 This is a schematic diagram of the second structure of an arm assembly according to one embodiment;

[0028] Figure 4 This is a schematic diagram of the structure of a portion of the arm assembly in one embodiment;

[0029] Figure 5 This is a schematic diagram of the structure of the first outer casing in one embodiment;

[0030] Figure 6 This is a cross-sectional view of the first housing along the XX direction of one embodiment;

[0031] Figure 7 This is a cross-sectional view of the first housing along the YY axis of one embodiment;

[0032] Figure 8 This is a partial perspective view of a portion of an arm assembly according to one embodiment.

[0033] Explanation of reference numerals in the attached figures:

[0034] 1000 - Arm assembly, 10 - First outer shell, 11 - Main shell, 111 - First space, 112 - First shell, 1121 - Shell body, 1122 - Cover plate, 1123 - First groove, 1124 - First mounting space, 1125 - First protrusion, 113 - Second shell, 1131 - Second protrusion, 1132 - Second groove, 12 - First cantilever, 121 - First wiring channel, 122 - First segment, 123 - Second segment, 124 - Cantilever protrusion, 125 - Reception space, 126 - First opening, 13 - Second cantilever, 14 - First drive mechanism, 141 - First drive component, 15 - Second outer shell, 151 - Second space, 152 - Second wiring channel, 153 - Protrusion, 16 - Second drive mechanism, 161 - Second drive component, 17 - First cable, 18 - Third outer shell, 19 - Second cable. Detailed Implementation

[0035] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort 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 it can be in a middle component. When a component is said to be "connected" to another component, it can be directly connected to the other component or it may be in a middle component.

[0037] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. The terminology used in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used in this application includes any and all combinations of one or more of the associated listed items.

[0038] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0039] Please refer to Figures 1 to 7 This application provides a humanoid robot, including the arm assembly 1000 in this application embodiment.

[0040] The humanoid robot of this application embodiment can mimic the shape and movement posture of a human, and may include a torso component (not shown), a head component (not shown), an arm component 1000, and a lower limb component (not shown). The arm component 1000 of this application embodiment will be described in detail below.

[0041] Please refer to Figure 1 , Figure 2 and Figure 3 This application provides an arm assembly 1000 for use in a humanoid robot. It should be understood that the arm assembly 1000 includes a left hand portion and a right hand portion, and the structures of the left hand portion and the right hand portion are symmetrical. Therefore, this application embodiment will only describe either the left hand portion or the right hand portion.

[0042] Please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6The arm assembly 1000 includes a first housing 10, a first drive mechanism 14, a second housing 15, a third housing 18, a second drive mechanism 16, and a first cable 17.

[0043] Please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 The first outer shell 10 includes a main shell 11, a first cantilever 12 and a second cantilever 13. The main shell 11 encloses a first space 111. The first cantilever 12 and the second cantilever 13 are connected to the same end of the main shell 11 and are arranged opposite to each other.

[0044] Please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 The first drive mechanism 14 includes a first drive member 141, which is housed in a first space 111 and connected and fixed to the main body shell 11.

[0045] Please refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 The second outer shell 15 is rotatably connected to the first cantilever 12 and the second cantilever 13, and the second outer shell 15 is also rotatably connected to the first drive mechanism 14. The second outer shell 15 encloses the second space 151.

[0046] Please refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 The second drive mechanism 16 includes a second drive member 161, which is housed in the second space 151 and connected and fixed to the second housing 15.

[0047] Please refer to Figure 3 and Figure 6 One end of the first cable 17 is connected to the first drive unit 141, and the other end of the first cable 17 is connected to the second drive unit 161.

[0048] The first cantilever 12 has a first wiring channel 121, the second housing 15 has a second wiring channel 152, the first wiring channel 121 is connected to the first space 111, the second wiring channel 152 is connected to the second space 151, the first wiring channel 121 and the second wiring channel 152 are connected, and the first cable 17 passes through the first wiring channel 121 and the second wiring channel 152.

[0049] In the existing technology, please refer to Figure 6 and Figure 8 The second cable 19 is exposed, which affects the freedom of movement of the arm assembly 1000 during movement and is also unsightly. However, the first cable 17 in this application is located in the first wiring channel 121 and is not exposed.

[0050] It is understood that one end of the first cable 17 is connected to the first drive component 141, and the other end of the first cable 17 is connected to the second drive component 161. The first cantilever 12 has a first wiring channel 121, and the second housing 15 has a second wiring channel 152. The first wiring channel 121 is connected to the first space 111, and the second wiring channel 152 is connected to the second space 151. The first wiring channel 121 and the second wiring channel 152 are connected. The first cable 17 passes through the first wiring channel 121 and the second wiring channel 152. When the arm assembly 1000 moves, the first cable 17 is not exposed and will not affect the freedom of movement of the arm. Moreover, it improves the appearance and aesthetics.

[0051] In one embodiment, please refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 The first drive mechanism 14 also includes a first crank and a first connecting rod. One end of the first crank is connected to the first drive member 141, and the other end of the first crank is rotatably connected to one end of the first connecting rod. The other end of the first connecting rod is rotatably connected to the second drive member 161. The first connecting rod is located near the second cantilever 13.

[0052] Optionally, the first crank is 3D printed in one piece using carbon fiber composite material, with an internally embedded metal insert as a bearing seat, which reduces weight while maintaining torque transmission rigidity and reducing the load inertia of the first drive component 141.

[0053] Optionally, an aerodynamic airfoil section of a preset thickness is milled on the side of the first link adjacent to the second cantilever 13, which reduces wind resistance and noise when the first link swings at high speed.

[0054] Optionally, a preloaded torsion spring is added between the first link and the second cantilever 13. When the first drive component 141 is de-energized, the torsion spring provides a reverse torque, causing the second drive component 161 to automatically return to the neutral position, avoiding the risk of falling and improving the safety level.

[0055] Optionally, the first drive unit 141 (which can be a motor) outputs rotational motion. Its output shaft is fixed to the first crank, which rotates with the shaft. The other end of the first crank forms a revolute joint with the first connecting rod via a pin, converting the rotational motion into the reciprocating oscillation of the first connecting rod. The other end of the first connecting rod is then connected to the second drive unit 161 (such as a servo motor) via a pin, thereby transmitting the oscillation to the second drive unit 161. To ensure the shortest transmission chain and the largest lever arm, the first connecting rod is positioned near the second cantilever 13, making the force line almost parallel to the second cantilever 13, thus reducing bending moment.

[0056] It is understandable that the first crank-first connecting rod mechanism decomposes continuous rotation into controlled oscillation, which saves space and improves precision; the first connecting rod is arranged close to the second cantilever 13, so that the driving force acts directly on the load end, reducing the bending moment at the root of the second cantilever 13 and improving the structural life; the first crank and the first connecting rod are completely hidden inside the first housing 10, avoiding the risk of pinching hands caused by the exposed first connecting rod and improving safety; the oscillation amplitude can be quickly adjusted by changing the radius of the first crank, realizing parametric design and reducing the cost of later modification.

[0057] In one embodiment, please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 The main body shell 11 includes a first shell 112 and a second shell 113. The first shell 112 and the second shell 113 are arranged opposite to each other and connected. The first shell 112 and the second shell 113 enclose a first space 111. The first shell 112 includes a first cantilever 12, and the second shell 113 includes a second cantilever 13. The first shell 112 is connected to one end of the first driving member 141, and the second shell 113 is connected to the other end of the first driving member 141.

[0058] Optionally, the first shell 112 and the second shell 113 are made of magnesium alloy by die casting, and the internal honeycomb reinforcing ribs are set to enhance the structural rigidity. This not only makes them lighter than traditional metals, but also improves the rigidity of the first shell 112 and the second shell 113.

[0059] Optionally, the shell mating surface is designed with a mortise and tenon structure, which first uses an interference tenon for positioning, and then uses bolts and nuts for connection and fixation, improving the ease of connection.

[0060] Optionally, a first reinforcing rib is added to the first cantilever 12 and a second reinforcing rib is added to the second cantilever 13, so that the stress on the first cantilever 12 and the second cantilever 13 is reduced and the service life is extended when bearing the end load.

[0061] Optionally, a liquid silicone sealing ring is embedded at the seam between the first shell 112 and the second shell 113, which gives it better waterproof and other liquid protection functions, allowing the humanoid robot to work underwater for a preset time without leakage.

[0062] Optionally, the two ends of the first driving member 141 are connected to the main body shell 11 through elastic floating supports. The elastic floating supports are beryllium copper springs that can absorb the axial thermal expansion of the first driving member 141.

[0063] Optionally, the first shell 112 and the second shell 113 are painted in different colors (such as gray + black) to prevent assembly errors of the first shell 112 and the second shell 113 through visual differentiation, thereby reducing the defect rate of the production line.

[0064] Optionally, the edges of the first shell 112 and the second shell 113 are rounded and polished to prevent the operator from being cut and to prevent injury to others, thus improving the safety of the humanoid robot.

[0065] Optionally, the main shell 11 can be split into a first shell 112 and a second shell 113, which are detachably connected by screws or clips to form a complete first space 111 to accommodate the first drive mechanism 14. The first shell 112 extends outward to form a first cantilever 12, and the second shell 113 extends outward to form a second cantilever 13, forming an opposing structure. The two ends of the first drive member 141 are respectively fixed in the corresponding mounting holes of the first shell 112 and the second shell 113 to achieve end support and avoid stress on the cantilever beam.

[0066] It is understandable that the split shell reduces the complexity of the mold and facilitates injection molding; the opposing structure makes the first drive component 141 a simply supported beam at both ends, which significantly reduces the shaft deflection and improves the repeatability of positioning accuracy; the first cantilever 12 and the shell part of the first shell 112 are integrally formed, reducing assembly steps and improving rigidity; when maintenance is required, only the first shell 112 or the second shell 113 needs to be removed to expose the entire first drive mechanism 14, which shortens the maintenance time.

[0067] In one embodiment, please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 The first shell 112 includes a shell body 1121 and a cover plate 1122. The shell body 1121 is connected to the second shell 113. The shell body 1121 includes a first cantilever 12. A first groove 1123 is formed on the outer surface of the shell body 1121 facing away from the second shell 113. The cover plate 1122 covers the first groove 1123. The first groove 1123 includes a part of the first wiring channel 121. The first groove 1123 accommodates at least a part of the first cable 17 and a part of the first drive component 141.

[0068] Optionally, a T-shaped guide rail is milled into the bottom of the first groove 1123, and the cover plate 1122 is installed by sliding rail and then fixed with an anti-loosening screw to achieve quick disassembly and improve maintenance and repair efficiency.

[0069] Optionally, a sound-dampening pad can be attached to the inside of the cover plate 1122 to prevent the first cable 17 from vibrating and making abnormal noise, thus reducing noise.

[0070] Optionally, multiple cable tie bridges can be added to the side wall of the first slot 1123, with the top of the bridges having a rounded transition to avoid the first cable 17 bending at a ninety-degree angle.

[0071] Optionally, the cover plate 1122 is injection molded from a transparent material, which allows for quick viewing of the internal first cable 17 and the operation of the first drive component 141, improving quality inspection efficiency.

[0072] Optionally, a thermally conductive silicone grease pad can be pre-placed at the bottom of the first slot 1123 to conduct the heat of the first drive component 141 to the housing body 1121, thereby reducing thermal resistance and extending the life of the first drive component 141.

[0073] Optionally, a drainage hole is provided on the bottom wall of the first groove 1123, and the opening of the drainage hole is covered with a waterproof and breathable membrane to prevent condensation from accumulating and causing a short circuit in the circuit of the first cable 17.

[0074] Optionally, the first shell 112 consists of a shell body 1121 and a cover plate 1122. A first groove 1123 is milled or injection-molded onto the outer surface of the shell body 1121 facing away from the second shell 113. The groove depth is slightly greater than the diameter of the first cable 17. The cover plate 1122 is sealed with screws. The first groove 1123 is divided into a wiring area and a drive component area. The first cable 17 is arranged along the bottom of the first groove 1123, and the first drive component 141 is partially embedded in the first groove 1123. A sealing ring is added between the cover plate 1122 and the shell body 1121 to prevent liquid intrusion.

[0075] It is understandable that the structure of the first groove 1123-cover plate 1122 forms a natural groove to avoid interference between the first cable 17 and the motion mechanism; the semi-embedded design of the first drive component 141 shortens the axial dimension and reduces the overall thickness; the cover plate 1122 is detachable, which facilitates on-site replacement of the first cable 17 or maintenance of the first drive component 141; the outer surface of the first shell 112 has no exposed screws, which improves the appearance and meets the aesthetic requirements of consumer electronics, and there are no exposed wires, so as not to interfere with the freedom of movement of the arm.

[0076] In one embodiment, please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6The first slot 1123 also includes a first installation space 1124. The first cantilever 12 has a first opening 126. The first installation space 1124 is connected to the first wiring channel 121 through the first opening 126. The first installation space 1124 is used to install the first drive component 141.

[0077] Optionally, the first mounting space 1124 is designed as a stepped hole structure, with the large-diameter section of the stepped hole accommodating the flange of the first drive member 141, and the small-diameter section of the stepped hole serving as the bearing chamber of the first drive member 141.

[0078] Optionally, a guide sleeve is provided at the edge of the first opening 126, and the inside of the sleeve is chamfered so that the first cable 17 is automatically aligned when it is threaded through, thus avoiding scratching the first cable 17.

[0079] Optionally, an elastic preload pad (wave spring steel) is provided at the bottom of the first installation space 1124 to absorb the axial movement of the first drive member 141 and reduce gear meshing noise.

[0080] Optionally, a ventilation groove is formed on the side wall of the first installation space 1124, which is connected to the first space 111 to balance the internal and external pressure difference caused by the heat generated by the first driving component 141.

[0081] Optionally, a first installation space 1124 is formed by further excavating within the first groove 1123. Its shape matches the shape of the first drive component 141. The first cantilever 12 has a first opening 126, which allows the installation space to communicate with the first wiring channel 121. During installation, the first drive component 141 is first slid into the first installation space 1124 from the groove opening. The first cable 17 enters the first wiring channel 121 directly through the first opening 126, and finally the cover is closed.

[0082] It is understandable that the first installation space 1124 and the first wiring channel 121 are integrated, reducing the number of adapters and assembly errors; the first opening 126 is located at the root of the first cantilever 12, so the first cable 17 does not need to go around, the path is the shortest, and bending fatigue is reduced; the first drive component 141 is completely constrained by the first space 111, which improves the seismic performance.

[0083] In one embodiment, please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 The first housing 112 also includes a first protrusion 1125, which protrudes from the inner wall surface of the first housing 112 and encloses the first mounting space 1124. The first protrusion 1125 is in close contact with the outer surface of part of the first driving member 141 in the circumferential direction.

[0084] Optionally, the first protrusion 1125 is designed as a "C"-shaped open ring with an opening angle of 30 to 60 degrees, which increases the thermal expansion and contraction buffer space of the first driving component 141 and prevents the first driving component 141 from breaking through the first protrusion 1125 under high temperature due to thermal expansion.

[0085] Optionally, a first buffer pad is provided between the first protrusion 1125 and the first driving member 141. The first buffer pad is an elastomer and has a good thermal conductivity, which can optimize the heat dissipation and vibration reduction of the first driving member 141.

[0086] Optionally, a first reinforcing rib may be added to the first protrusion 1125 to enhance the strength of the first protrusion 1125 and prevent the first protrusion 1125 from breaking when subjected to impact.

[0087] Optionally, the first protrusion 1125 includes multiple sub-protrusions, which are arranged in a segmented structure. For example, the first protrusion 1125 includes three sub-protrusions, and the distance between two adjacent sub-protrusions is set at 120°.

[0088] Optionally, the first protrusion 1125 is annular and integrally formed on the inner wall of the shell body 1121. The height of the first protrusion 1125 covers a preset proportion of the axial length of the drive component, forming a circumferential clamping effect. Optionally, a heat dissipation notch is provided on the first protrusion 1125 to avoid poor heat dissipation of the first drive component 141 and the formation of local overheating.

[0089] It is understandable that the first protrusion 1125 forms an additional bearing seat to absorb radial force and reduce output shaft runout; the first protrusion 1125 circumferentially close to increase the heat dissipation area of ​​the first drive member 141 and reduce the temperature of the first drive member 141; the first protrusion 1125 is part of the first housing 112, reducing the number of parts used for connection and reducing costs; the clamping structure can dampen vibration and reduce the noise of the first drive member 141 during operation.

[0090] In one embodiment, please refer to Figure 4 and Figure 6 The first wiring channel 121 includes a first segment 122 and a second segment 123. One end of the first segment 122 is connected to the first opening 126, and the other end of the first segment 122 is connected to one end of the second segment 123. The other end of the second segment 123 is connected to the second wiring channel 152. The second segment 123 is used to accommodate part of the second drive mechanism 16.

[0091] Optionally, a funnel-shaped transition opening with an opening angle of 30 to 60 degrees is designed at the end of the first segment 122 to guide the first cable 17 to turn smoothly and avoid a sharp 90-degree bend.

[0092] Optionally, the first wiring channel 121 is divided into a first segment 122 and a second segment 123. The first segment 122 extends straight from the first opening 126 along the inner cavity of the cantilever to the joint; a smooth transition is provided between the first segment 122 and the second segment 123, and the second segment 123 is designed with an arc transition to smoothly connect with the second wiring channel 152. The internal cavity of the second segment 123 is widened to accommodate the protruding part of the second drive mechanism 16 (such as a motor or encoder).

[0093] It is understandable that the segmented design of the first wiring channel 121 ensures that the bending radius of the first cable 17 is always greater than the minimum allowable value, thereby improving the service life of the first cable 17; the second segment 123 serves as a shared space, both for wiring and accommodating the second drive mechanism 16, thus improving the space utilization of the arm assembly 1000; the arc transition between the first segment 122 and the second segment 123 avoids sharp-angle bends, reducing the risk of signal line breakage; during assembly and disassembly, the second drive mechanism 16 can slide in along the second segment 123 to achieve blind insertion, reducing assembly time and improving assembly efficiency.

[0094] In one embodiment, please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 The second housing 15 includes a protrusion 153, the first cantilever 12 includes a cantilever protrusion 124, the cantilever protrusion 124 is rotatably connected to the protrusion 153, the cantilever protrusion 124 has a receiving space 125, the receiving space 125 is connected to the second wiring channel 152, and the second segment 123 includes the receiving space 125, the receiving space 125 receives a part of the protrusion 153.

[0095] Optionally, the inner wall of the receiving space 125 is equipped with a replaceable bushing. When the bushing wears out, only the bushing needs to be replaced, reducing maintenance costs.

[0096] Optionally, a second reinforcing rib is provided on the cantilever protrusion 124. The second reinforcing rib enhances the impact resistance of the cantilever protrusion 124 and prevents the cantilever protrusion 124 from deforming when subjected to radial impact.

[0097] It is understood that a cantilever protrusion 124 is machined at the end of the first cantilever 12, and the second section 123, which is a wiring channel, passes through the receiving space 125, so that the protrusion 153 is partially embedded in the receiving space 125. The cantilever protrusion 124 simultaneously serves as a bearing seat and a second wiring channel 152, reducing the number of parts; the protrusion 153 is partially embedded in the first cantilever 12, reducing the joint thickness and making it lighter and thinner; the first cable 17 passes through the internal space and is completely protected by the first shell 112, achieving anti-pinch and anti-cut levels, and there are no exposed wires, preventing the first cable 17 from twisting and not interfering with the freedom of arm movement.

[0098] In one embodiment, please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 7 The second housing 113 also includes a second protrusion 1131, which protrudes from the inner wall surface of the second housing 113. The second protrusion 1131 is in close contact with the outer surface of a portion of the first drive member 141 in the circumferential direction. The second protrusion 1131 surrounds the second groove 1132, which communicates with the first space 111. The second groove 1132 accommodates at least a portion of the first connecting rod, the first crank, and a portion of the first drive mechanism 14.

[0099] Optionally, a second protrusion 1131 is integrally formed on the inner wall of the second housing 113. The second protrusion 1131 is annular, and its inner diameter is transitionally fitted with the other end of the housing of the first drive member 141 to form a second support point. The second protrusion 1131 encloses a second groove 1132, and the depth of the second groove 1132 can accommodate the swing range of the first crank and the first connecting rod. The second groove 1132 communicates with the first space 111 to ensure the circulation of grease or airflow.

[0100] It is understood that the first protrusion 1125 and the second protrusion 1131 of the first housing 10 form a "double bearing seat" structure, which improves the rigidity of the shaft system of the first drive component 141; the second groove 1132 serves as the swing cavity of the crank connecting rod, avoiding interference with the first housing 10 and reducing noise; the through design balances the internal pressure and prevents sealing failure caused by high temperature expansion; the second groove 1132 can act as an oil reservoir, which can provide long-term lubrication with a single oil filling, reducing the frequency of maintenance.

[0101] In the description of the embodiments of this application, it should be noted that the orientation or positional relationship of the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and other indicators are based on the orientation or positional relationship of the drawings, and are only for the convenience of describing this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0102] The above-disclosed embodiments are merely preferred embodiments of this application and should not be construed as limiting the scope of this application. Those skilled in the art will understand that all or part of the processes for implementing the above embodiments and equivalent variations made in accordance with the claims of this application are still within the scope of this application.

Claims

1. An arm assembly (1000), characterized in that, For use in a humanoid robot, the arm assembly (1000) includes: The first outer shell (10) includes a main shell (11), a first cantilever (12) and a second cantilever (13). The main shell (11) encloses a first space (111). The first cantilever (12) and the second cantilever (13) are connected to the same end of the main shell (11), and the first cantilever (12) and the second cantilever (13) are arranged opposite to each other. The first drive mechanism (14) includes a first drive member (141), which is housed in the first space (111) and is connected and fixed to the main body shell (11); The second outer shell (15) is rotatably connected to the first cantilever (12) and the second cantilever (13), and the second outer shell (15) is also rotatably connected to the first drive mechanism (14). The second outer shell (15) encloses a second space (151). The second drive mechanism (16) includes a second drive member (161), which is housed in the second space (151) and connected and fixed to the second housing (15); The first cable (17) is connected at one end to the first drive unit (141) and at the other end to the second drive unit (161). The first cantilever (12) has a first wiring channel (121), the second housing (15) has a second wiring channel (152), the first wiring channel (121) is connected to the first space (111), the second wiring channel (152) is connected to the second space (151), the first wiring channel (121) and the second wiring channel (152) are connected, and the first cable (17) passes through the first wiring channel (121) and the second wiring channel (152). The first drive mechanism (14) further includes a first crank and a first connecting rod. One end of the first crank is connected to the first drive member (141), and the other end of the first crank is rotatably connected to one end of the first connecting rod. The other end of the first connecting rod is rotatably connected to the second drive member (161). The first connecting rod is located near the second cantilever (13). The main body shell (11) includes a first shell (112) and a second shell (113). The first shell (112) and the second shell (113) are arranged opposite to each other and connected. The first shell (112) and the second shell (113) enclose the first space (111). The first shell (112) includes the first cantilever (12), and the second shell (113) includes the second cantilever (13). The first shell (112) is connected to one end of the first driving member (141), and the second shell (113) is connected to the other end of the first driving member (141).

2. The arm assembly (1000) according to claim 1, characterized in that, The first shell (112) includes a shell body (1121) and a cover plate (1122). The shell body (1121) is connected to the second shell (113). The shell body (1121) includes the first cantilever (12). The outer surface of the shell body (1121) facing away from the second shell (113) has a first groove (1123). The cover plate (1122) covers the first groove (1123). The first groove (1123) includes a part of the first wiring channel (121). The first groove (1123) accommodates at least a part of the first cable (17) and a part of the first drive member (141).

3. The arm assembly (1000) according to claim 2, characterized in that, The first slot (1123) also includes a first installation space (1124), the first cantilever (12) has a first opening (126), the first installation space (1124) is connected to the first wiring channel (121) through the first opening (126), and the first installation space (1124) is used to install the first drive component (141).

4. The arm assembly (1000) according to claim 3, characterized in that, The first housing (112) further includes a first protrusion (1125), which protrudes from the inner wall surface of the first housing (112) and encloses the first mounting space (1124). The first protrusion (1125) is in close contact with the outer surface of a portion of the first drive member (141) in the circumferential direction.

5. The arm assembly (1000) according to claim 3, characterized in that, The first wiring channel (121) includes a first segment (122) and a second segment (123). One end of the first segment (122) is connected to the first opening (126), and the other end of the first segment (122) is connected to one end of the second segment (123). The other end of the second segment (123) is connected to the second wiring channel (152). The second segment (123) is used to accommodate part of the second drive mechanism (16).

6. The arm assembly (1000) according to claim 5, characterized in that, The second housing (15) includes a protrusion (153), the first cantilever (12) includes a cantilever protrusion (124), the cantilever protrusion (124) is rotatably connected to the protrusion (153), the cantilever protrusion (124) has a receiving space (125), the receiving space (125) is connected to the second wiring channel (152), the second segment (123) includes the receiving space (125), and the receiving space (125) receives a portion of the protrusion (153).

7. The arm assembly (1000) according to claim 1, characterized in that, The second housing (113) further includes a second protrusion (1131), which protrudes from the inner wall surface of the second housing (113). The second protrusion (1131) is in close contact with the outer surface of a portion of the first drive member (141) in the circumferential direction. The second protrusion (1131) surrounds a second groove (1132), which communicates with the first space (111). The second groove (1132) accommodates at least a portion of the first connecting rod, the first crank, and a portion of the first drive mechanism (14).

8. A humanoid robot, characterized in that, Includes the arm assembly (1000) as described in any one of claims 1 to 7.

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