A humanoid mechanical arm

Abstract

The utility model relates to the technical field of manipulators, and in particular to a humanoid manipulator arm, comprising a shoulder joint assembly, an elbow joint assembly and a wrist joint assembly, wherein the shoulder joint assembly comprises a first shoulder rotation module, a second shoulder rotation module connected to the output end of the first shoulder rotation module and a third shoulder rotation module connected to the output end of the second shoulder rotation module; the elbow joint assembly comprises a large arm rotation connector connected to the output end of the third shoulder rotation module, an elbow connector rotatably connected to the large arm rotation connector and a forearm rotation module mounted on the elbow connector; the wrist joint assembly comprises a small arm rotation connector mounted at the output end of the forearm rotation module, a wrist connector and a manipulator adapter rotatably connected to the wrist connector, a manipulator driving mechanism for driving the manipulator adapter to rotate is mounted on the wrist connector, and the humanoid manipulator arm of the utility model is similar to a human body and has good flexibility.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to a humanoid mechanical arm. Background Art

[0002] The current design of humanoid robotic arms is quite different from human arms in appearance, and its overall structure is converted from traditional industrial robotic arms. The movement mode and range of motion are still different from those of human arms, and the flexibility is poor. Due to the structural differences, the positions of its movement and rotation are different. Utility Model Content

[0003] In order to solve the problem in the prior art that the appearance of the existing mechanical arm is greatly different from that of a human hand and the flexibility is poor, the utility model provides a humanoid mechanical arm with high flexibility that is close to that of a human arm.

[0004] The technical solution adopted by the utility model to solve its technical problems is:

[0005] A humanoid mechanical arm, comprising:

[0006] A shoulder joint assembly, wherein the shoulder joint assembly comprises a first shoulder rotation module, a second shoulder rotation module and a third shoulder rotation module, wherein the second shoulder rotation module is connected to the output end of the first shoulder rotation module, and the third shoulder rotation module is connected to the output end of the second shoulder rotation module;

[0007] An elbow joint assembly, the elbow joint assembly comprising a large arm rotating connector connected to the output end of the third shoulder rotating module, an elbow connector rotatably connected to the large arm rotating connector, and a forearm rotating module mounted on the elbow connector;

[0008] A wrist joint assembly, the wrist joint assembly includes a forearm rotating connector installed at the output end of a forearm rotating module, a wrist connector fixed to the forearm rotating connector, and a manipulator adapter rotatably connected to the wrist connector, wherein a manipulator driving mechanism for driving the manipulator adapter to rotate is installed on the wrist connector.

[0009] Furthermore, the output end of the first shoulder rotation module is connected to a shoulder connecting piece, the shoulder connecting piece is fixed or integrally formed with a large arm connecting piece, the second shoulder rotation module is installed on the large arm connecting piece, the output end of the second shoulder rotation module is connected to a shoulder front vertical plate, the large arm connecting piece is rotatably connected to a shoulder rear vertical plate arranged opposite to the shoulder front vertical plate, and the third shoulder rotation module is installed between the shoulder front vertical plate and the shoulder rear vertical plate.

[0010] Furthermore, a shoulder bearing is installed on the upper arm connecting piece, and the outer ring of the shoulder bearing contacts the inner circle of the shoulder rear vertical plate.

[0011] Furthermore, the shoulder front vertical plate and the shoulder rear vertical plate are provided with wiring holes.

[0012] Furthermore, an elbow rotation module is installed on the boom rotation connector, the boom rotation connector is connected to a harmonic reducer, the output end of the elbow rotation module is transmission-connected to the input end of the harmonic reducer, and the output end of the harmonic reducer is connected to the elbow connector. The use of a harmonic reducer at the elbow rotation position increases the load-bearing capacity.

[0013] Furthermore, a limiting protrusion is provided on the rear side of the upper arm rotating connecting piece, and a limiting baffle is provided on the rear side of the elbow connecting piece to block the limiting protrusion. The limiting baffle blocks the limiting protrusion so that the forearm of the humanoid robotic arm can only move in front of the body, while limiting the backward movement of the elbow.

[0014] Furthermore, at least two elbow bearings are provided between the upper arm rotating connector and the harmonic drive shaft of the harmonic reducer.

[0015] Furthermore, the output end of the elbow rotation module is connected to the input end of the harmonic reducer through a synchronous wheel set and a synchronous belt.

[0016] Furthermore, a tensioning device for tensioning the synchronous belt is also installed on the upper arm rotating connecting piece.

[0017] Furthermore, a wrist axis is installed on the wrist connector, and the manipulator adapter is rotatably connected to the wrist connector via the wrist axis. The manipulator driving mechanism includes a wrist rotation module installed on the wrist connector, and a wrist connecting rod is connected between the output end of the wrist rotation module and the manipulator adapter. The first end of the wrist connecting rod is hinged to the output end of the wrist rotation module, and the hinge position of the first end of the wrist connecting rod avoids the rotation center of the wrist rotation module, and the second end of the wrist connecting rod is hinged to the manipulator adapter.

[0018] Beneficial effects:

[0019] (1) The humanoid mechanical arm of the utility model is similar to the human arm in appearance and structure. The range of motion of its elbow and wrist joints is also similar to that of the human body, and it has good flexibility;

[0020] (2) The integrated joint reduces the size of the robot arm, and a harmonic reducer is used at the elbow rotation point to increase the load-bearing capacity;

[0021] (3) In order to make the movement of the elbow similar to that of a human, a blocking structure is designed behind the elbow. Specifically, the forearm of the humanoid robot arm can move in front of the body, while the elbow is restricted from moving backwards.

[0022] (4) In order to make the structure close to the human arm, a conveyor belt is used at the elbow. The rotation of the elbow rotation module drives the rotation of the elbow, thereby reducing the volume of the elbow and making the range of motion close to that of the human body. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 This is a front view structural diagram of a humanoid mechanical arm of the utility model;

[0025] Figure 2 It is a rear view structural schematic diagram of the humanoid mechanical arm of the utility model;

[0026] Figure 3 It is a side view structural diagram of a humanoid mechanical arm of the utility model;

[0027] Figure 4 It is a front view structural schematic diagram of the shoulder joint assembly of the utility model;

[0028] Figure 5 It is a rear view structural schematic diagram of the shoulder joint assembly of the utility model;

[0029] Figure 6 It is a side structural schematic diagram of the shoulder joint assembly of the utility model;

[0030] Figure 7 It is a front view structural schematic diagram of the elbow joint assembly of the utility model;

[0031] Figure 8 It is a schematic diagram of the right side structure of the elbow joint assembly of the utility model;

[0032] Fig. 9 It is a schematic diagram of the left side structure of the elbow joint assembly of the utility model;

[0033] Fig.10 It is a schematic diagram of the connection relationship between the elbow rotation module and the harmonic reducer of the utility model;

[0034] Fig.11 It is a schematic diagram of the installation structure of the harmonic drive shaft and the elbow bearing.

[0035] 1. The first shoulder rotation module, 2. The shoulder connector, 3. The upper arm connector, 4. The second shoulder rotation module, 5. The shoulder front vertical plate, 6. The shoulder rear vertical plate, 7. The third shoulder rotation module, 8. The upper arm rotation connector, 81. The limiting bump, 9. The shoulder bearing, 10. The elbow rotation module, 11. The harmonic reducer, 111. The harmonic drive shaft, 12. The elbow connector, 121. The limiting baffle, 13. The elbow bearing, 14. The synchronous wheel set, 15. The synchronous belt, 16. The tensioning device, 17. The forearm rotation module, 18. The forearm rotation connector, 19. The wrist connector, 20. The wrist axis, 21. The manipulator adapter, 22. The wrist rotation module, 23. The wrist connecting rod, 24. The wrist joint bearing seat. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means a limitation on the utility model and its application or use. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model.

[0037] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0038] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the utility model. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0039] In the description of the present utility model, it needs to be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present utility model and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present utility model; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0040] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0041] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the utility model.

[0042] Robotic arms can replace humans to do some work, reduce the need for manpower, and complete work in dangerous scenarios. The humanoid robot arm is very similar to the human arm in terms of appearance, structure and function. The utility model studies the human arm, designs the joints of the shoulder, elbow and wrist, and makes the arm as lightweight as possible to reduce the overall weight. Specifically, Figures 1 to 3, is a humanoid mechanical arm of the utility model. The drawings of the utility model are all diagrams of the right arm. The structure of the left arm is symmetrical with that of the right arm, including a shoulder joint assembly, an elbow joint assembly and a wrist joint assembly. The shoulder joint assembly includes a first shoulder rotation module 1, a second shoulder rotation module 4 and a third shoulder rotation module 7. The second shoulder rotation module 4 is connected to the output end of the first shoulder rotation module 1, and the rotation center of the first shoulder rotation module 1 is perpendicular to the rotation center of the second shoulder rotation module 4, which may be non-perpendicular. The third shoulder rotation module 7 is connected to the output end of the second shoulder rotation module 4, and the rotation center of the second shoulder module is perpendicular to the rotation center of the third shoulder rotation module 7, which may be non-perpendicular.

[0043] like Figures 4 to 6 The output end of the first shoulder rotation module 1 is connected to a shoulder connector 2, and the shoulder connector 2 is fixed or integrally formed with a large arm connector 3. The second shoulder rotation module 4 is installed on the large arm connector 3. The second shoulder rotation module 4 is connected to the rear cover of the large arm connector 3 at one end of the large arm connector 3 by bolts. In order to reduce the weight, the shoulder is connected by two front and rear vertical plates. Specifically, the output end of the second shoulder rotation module 4 is connected to a shoulder front vertical plate 5, and the shoulder front vertical plate 5 is directly fixed to the output end of the second shoulder rotation module 4 by bolts. The large arm connector 3 is rotatably connected to a shoulder rear vertical plate 6 arranged opposite to the shoulder front vertical plate 5. The third shoulder rotation module 7 is installed between the shoulder front vertical plate 5 and the shoulder rear vertical plate 6. A semicircular hole is dug on the inner side of each of the shoulder front vertical plate 5 and the shoulder rear vertical plate 6 to reduce the weight. At the same time, the third shoulder rotation module 7 is stuck between the semicircular holes of the shoulder front vertical plate 5 and the shoulder rear vertical plate 6. At the same time, in order to imitate human arms, the shoulder front upright plate 5 and the shoulder rear upright plate 6 are designed with rounded corners on the inner and outer sides of the shoulders. The shoulder front upright plate 5 and the shoulder rear upright plate 6 are provided with wiring holes.

[0044] The shoulder bearing 9 is installed on the protruding outer circle of the rear cover of the upper arm connecting member 3, and the outer ring of the shoulder bearing 9 contacts the inner circle of the shoulder rear vertical plate 6. The shoulder bearing 9 reduces the friction during the movement. When the second shoulder rotating module 4 moves, the output end of the second shoulder rotating module 4 will move with the shoulder rear vertical plate 6, and the shoulder front vertical plate 5 will rotate together.

[0045] The range of motion of the human arm elbow is approximately 135-150 degrees. In order to realize the movement of the elbow, the elbow joint assembly includes an upper arm rotation connector 8 connected to the output end of the third shoulder rotation module 7, an elbow connector 12 rotationally connected to the upper arm rotation connector 8, and a forearm rotation module 17 installed on the elbow connector 12.

[0046] like Figures 7 to 11, an elbow rotation module 10 is installed on the boom rotation connection member 8, and the boom rotation connection member 8 is connected to a harmonic reducer 11. Specifically, the boom rotation connection member 8 extends downward, and the body of the harmonic reducer 11 is connected to the boom rotation connection member 8. The output end of the elbow rotation module 10 is transmission-connected to the input end of the harmonic reducer 11, and the output end of the harmonic reducer 11 is connected to the elbow connection member 12. The output end of the elbow rotation module 10 is connected to the input end of the harmonic reducer through a synchronous wheel set 14 and a synchronous belt 15. A tensioning device 16 for tensioning the synchronous belt 15 is also installed on the boom rotation connection member 8. The tensioning device 16 is optional but not limited to a tensioning wheel. As an embodiment, the tensioning wheel can be installed on a movable frame, and the movable frame can be rotatably connected to the boom rotation connection member 8, and the rotation center can be locked by bolts or the like. The boom rotating connector 8 is connected to the elbow rotating module 10 by bolts, and the output end of the elbow rotating module 10 is connected to one of the synchronous wheels of the synchronous wheel set 14, and the other synchronous wheel of the synchronous wheel set 14 is connected to the harmonic drive shaft 111 of the harmonic reducer 11. The two synchronous wheels and the synchronous belt 15 can complete the force transmission, so that the harmonic reducer 11 can rotate.

[0047] In order to reduce friction during movement, at least two elbow bearings 13 are provided between the upper arm rotating connector 8 and the harmonic drive shaft 111 of the harmonic reducer. When the elbow rotating module 10 rotates, the synchronous belt 15 and the synchronous wheel set 14 rotate at the same time, and the harmonic reducer 11 drives the elbow connector 12 to complete the rotation of the elbow. In order to be similar to the movement of the human elbow, a blocking structure is designed at the back of the elbow. Specifically, the forearm of the humanoid robot arm can move in front of the body, while the elbow is restricted from moving backward. A limiting bump 81 is provided on the rear side of the upper arm rotating connector 8, and a limiting baffle 121 is provided on the rear side of the elbow connector 12. The limiting baffle 121 blocks the limiting bump 81 so that the forearm of the humanoid robot arm can only move in front of the body. At the same time, in order to reduce weight, part of the material of the elbow is removed by digging holes, and this joint is symmetrical at the left and right arms.

[0048] like Figures 1 to 3 The wrist joint assembly includes a forearm rotating connector 18 installed at the output end of the forearm rotating module 17, a wrist connector 19 fixed or integrally formed with the forearm rotating connector 18, and a manipulator adapter 21 rotatably connected to the wrist connector 19, and a manipulator driving mechanism for driving the manipulator adapter 21 to rotate is installed on the wrist connector 19. A wrist shaft 20 is installed on the wrist connector 19, and the manipulator adapter 21 is rotatably connected to the wrist connector 19 through the wrist shaft 20. The manipulator driving mechanism includes a wrist rotating module 22 installed on the wrist connector 19, and a wrist connecting rod 23 is connected between the output end of the wrist rotating module 22 and the manipulator adapter 21.

[0049] The range of motion of the wrist joint for dorsiflexion and palmar flexion is between 60 degrees. To complete the rotation of the hand, the first end of the wrist link 23 is hinged to the output end of the wrist rotation module 22, and the hinge position of the first end of the wrist link 23 avoids the rotation center of the wrist rotation module 22, and the second end of the wrist link 23 is hinged to the manipulator adapter 21. Specifically, the output end of the wrist rotation module 22 is connected to the wrist joint bearing seat 23, and the second end of the wrist link 22 is hinged to the wrist joint bearing seat 23. A deformed four-bar mechanism is formed, which converts the rotation of the wrist rotation module 22 into the wrist manipulator connector 21 swinging up and down around the wrist axis 20.

[0050] The rotating modules involved in the utility model can be selected but not limited to motors, and the connecting parts between each motor are basically a whole. It is characterized by small size, light weight, high integration, and can complete movements similar to human arms.

[0051] The above are only preferred specific implementation methods of the utility model, but the protection scope of the utility model is not limited to this. Any technician familiar with the technical field within the technical scope disclosed by the utility model, who makes equivalent replacements or changes based on the technical scheme and utility model concept of the utility model, should be covered by the protection scope of the utility model.

Claims

1. A humanoid robotic arm, characterized in that: include: A shoulder joint assembly, the shoulder joint assembly comprising a first shoulder rotation module (1), a second shoulder rotation module (4) and a third shoulder rotation module (7), the second shoulder rotation module (4) being connected to the output end of the first shoulder rotation module (1), and the third shoulder rotation module (7) being connected to the output end of the second shoulder rotation module (4); An elbow joint assembly, the elbow joint assembly comprising an upper arm rotating connection member (8) connected to the output end of a third shoulder rotating module (7), an elbow connection member (12) rotatably connected to the upper arm rotating connection member (8), and a forearm rotating module (17) mounted on the elbow connection member (12); A wrist joint assembly, the wrist joint assembly comprising a forearm rotating connector (18) installed at the output end of a forearm rotating module (17), a wrist connector (19) fixed to the forearm rotating connector (18), and a manipulator adapter (21) rotatably connected to the wrist connector (19), wherein a manipulator driving mechanism for driving the manipulator adapter (21) to rotate is installed on the wrist connector (19).

2. A humanoid robotic arm according to claim 1, characterized in that: The output end of the first shoulder rotation module (1) is connected to a shoulder connecting member (2), the shoulder connecting member (2) is fixed or integrally formed with a large arm connecting member (3), the second shoulder rotation module (4) is installed on the large arm connecting member (3), the output end of the second shoulder rotation module (4) is connected to a shoulder front vertical plate (5), the large arm connecting member (3) is rotationally connected to a shoulder rear vertical plate (6) arranged opposite to the shoulder front vertical plate (5), and the third shoulder rotation module (7) is installed between the shoulder front vertical plate (5) and the shoulder rear vertical plate (6).

3. A humanoid robotic arm according to claim 2, characterized in that: A shoulder bearing (9) is installed on the upper arm connecting piece (3), and the outer ring of the shoulder bearing (9) contacts the inner circle of the shoulder rear vertical plate (6).

4. The humanoid robotic arm according to claim 2, characterized in that: The shoulder front vertical plate (5) and the shoulder rear vertical plate (6) are provided with wiring holes.

5. The humanoid robotic arm according to claim 1, characterized in that: An elbow rotation module (10) is installed on the boom rotation connection piece (8), and the boom rotation connection piece (8) is connected to a harmonic reducer (11). The output end of the elbow rotation module (10) is transmission-connected to the input end of the harmonic reducer (11), and the output end of the harmonic reducer (11) is connected to the elbow connection piece (12).

6. A humanoid robotic arm according to claim 5, characterized in that: A limiting convex block (81) is provided on the rear side of the upper arm rotating connecting piece (8), and a limiting baffle (121) for blocking the limiting convex block (81) is provided on the rear side of the elbow connecting piece (12).

7. The humanoid robotic arm according to claim 5, characterized in that: At least two elbow bearings (13) are provided between the upper arm rotating connection piece (8) and the harmonic transmission shaft (111) of the harmonic reducer.

8. The humanoid robotic arm according to claim 5, characterized in that: The output end of the elbow rotation module (10) and the input end of the harmonic reducer are connected via a synchronous wheel set (14) and a synchronous belt (15).

9. The humanoid robotic arm according to claim 8, characterized in that: A tensioning device (16) for tensioning the synchronous belt (15) is also installed on the upper arm rotating connecting piece (8).

10. The humanoid robotic arm according to claim 1, characterized in that: A wrist shaft (20) is installed on the wrist connecting member (19), and the manipulator adapter (21) is rotatably connected to the wrist connecting member (19) through the wrist shaft (20). The manipulator driving mechanism includes a wrist rotation module (22) installed on the wrist connecting member (19), and a wrist connecting rod (23) is connected between the output end of the wrist rotation module (22) and the manipulator adapter (21). The first end of the wrist connecting rod (23) is hinged to the output end of the wrist rotation module (22), and the hinge position of the first end of the wrist connecting rod (23) avoids the rotation center of the wrist rotation module (22), and the second end of the wrist connecting rod (23) is hinged to the manipulator adapter (21).

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