Shoulder structure and robot

Abstract

The application discloses a shoulder structure and a robot, and relates to the technical field of robots. The shoulder structure comprises a support part, a driving part arranged on the support part, a transmission part provided with a strip-shaped hole, and a shoulder joint connected with the transmission part. The driving part comprises a driving piece, a rotating piece and a driving shaft. The rotating piece is connected between the driving piece and the driving shaft. The driving piece is used for driving the rotating piece to rotate. The axis of the driving shaft does not coincide with the rotating axis of the rotating piece. The part of the driving shaft away from the rotating piece is movably arranged in the strip-shaped hole. At least one of the shoulder joint and the transmission part is in sliding connection with the support part. The shoulder structure provided by the application can convert the rotary motion of the rotating piece into the linear motion of the shoulder joint, realizes the lifting shoulder and sinking shoulder actions, has higher stability, has a more simplified structure, optimizes the service life and manufacturing cost of the shoulder structure, and improves the market competitiveness of the robot.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a shoulder structure and robot. Background Technology

[0002] A humanoid robot is a robot that resembles a human in appearance and possesses a certain degree of human-computer interaction and movement capabilities. The shoulder structure is an important component of a humanoid robot, typically located between the chest and neck structures.

[0003] In related technologies, the shoulder structure of humanoid robots uses electric actuators to drive the shoulder joint rotation to simulate shoulder raising and lowering movements. However, using actuators requires complex coordination of multiple drive mechanisms, resulting in poor motion stability of the shoulder structure, a more complex structure, and consequently, a shorter lifespan and increased manufacturing costs. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a shoulder structure and robot, which aims to solve the technical problems of poor motion stability and complex structure of the shoulder structure in the prior art.

[0005] To achieve the above objectives, the technical solution adopted in this application is as follows:

[0006] In a first aspect, embodiments of this application provide a shoulder structure, including:

[0007] Support section;

[0008] A driving unit is disposed on the support unit. The driving unit includes a driving member, a rotating member, and a driving shaft. The rotating member is connected between the driving member and the driving shaft. The driving member is used to drive the rotating member to rotate. The axis of the driving shaft does not coincide with the rotation axis of the rotating member.

[0009] The transmission part has a strip-shaped hole along a first direction, and the portion of the drive shaft away from the rotating member is movably disposed through the strip-shaped hole;

[0010] A shoulder joint connected to the transmission part, at least one of the shoulder joint and the transmission part being slidably connected to the support part along a second direction perpendicular to the first direction.

[0011] In one embodiment of the first aspect, the drive shaft is a cylindrical shaft, and both ends of the strip hole along the first direction are provided with arc surfaces adapted to the shape of the cylindrical shaft. The cylindrical shaft is fixedly connected to the rotating member and is clearance-fitted with the strip hole.

[0012] In one embodiment of the first aspect, the distance between the axis of the drive shaft and the axis of rotation of the rotating member is R, and the distance between the centers of the two arc surfaces is L, satisfying the following relationship:

[0013] R = L, 10mm ≤ R ≤ 30mm.

[0014] In one embodiment of the first aspect, the diameter of the cylindrical shaft is d, and the distance between the two ends of the strip hole along the second direction is W, satisfying the following relationship:

[0015] W>d, 5mm≤d≤10mm.

[0016] In one embodiment of the first aspect, along a third direction, the distance between the two ends of the strip hole is D, and the length of the portion of the drive shaft housed within the strip hole is H, satisfying the following relationship:

[0017] H = D, 4mm ≤ D ≤ 10mm;

[0018] The third direction is perpendicular to both the first direction and the second direction.

[0019] In one embodiment of the first aspect, the transmission part includes a connecting plate and a connecting seat. The connecting plate is connected to the shoulder joint. The connecting plate has a through mounting hole. The connecting seat is fixed to the mounting hole and protrudes from the mounting hole in the direction of the rotating member. The connecting seat has a through strip hole.

[0020] In one embodiment of the first aspect, two shoulder joints are provided, each shoulder joint being disposed on opposite sides of the support portion along the first direction, and the transmission portion is connected between the two shoulder joints.

[0021] In one embodiment of the first aspect, the shoulder structure further includes a reinforcement disposed on the side of the support portion opposite to the transmission portion and connected between the two shoulder joints.

[0022] In one embodiment of the first aspect, the shoulder joint includes a first connector and a second connector, the first connector being connected to the transmission part, and the second connector being rotatably connected to the first connector via a first driving element and rotatably connected to the arm via a second driving element.

[0023] Secondly, embodiments of this application also provide a robot including the shoulder structure described in any of the above embodiments.

[0024] The beneficial effects of this application are:

[0025] The shoulder structure provided in this application connects the drive component and the drive shaft via a rotating component. A slotted hole is provided on the transmission part connected to the shoulder joint, and the portion of the drive shaft away from the rotating component movably passes through the slotted hole. This allows the rotational motion of the rotating component to be converted into linear motion of the shoulder joint, enabling both shoulder raising and lowering movements. This process eliminates the need for multiple drive mechanisms, resulting in higher stability and a more streamlined structure. Consequently, the service life and manufacturing cost of the shoulder structure are optimized, enhancing the robot's market competitiveness.

[0026] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0027] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This application shows a schematic diagram of the shoulder structure from one perspective in some embodiments;

[0029] Figure 2 This paper shows another perspective structural schematic diagram of the shoulder structure in some embodiments of this application;

[0030] Figure 3 This paper shows an exploded view of the shoulder structure in some embodiments of the present application.

[0031] Figure 4 This paper shows an exploded view of the shoulder structure in some embodiments of the present application.

[0032] Figure 5 This application shows a schematic diagram of the assembly structure of the transmission part, drive shaft and rotating part from one perspective in some embodiments of the present application;

[0033] Figure 6 This application shows a schematic diagram of the transmission section from one perspective in some embodiments;

[0034] Figure 7 It shows Figure 6 A schematic cross-sectional view of the central transmission unit at point AA;

[0035] Figure 8 This paper shows a schematic diagram of the assembly structure of the rotating component and the drive shaft from one perspective in some embodiments of this application;

[0036] Figure 9 This invention provides a schematic diagram of the assembly structure of the rotating component and the drive shaft from another perspective in some embodiments of this application.

[0037] Figure 10 This illustration shows another perspective of the assembly structure of the rotating component and the drive shaft in some embodiments of this application.

[0038] Explanation of key component symbols:

[0039] 100 - Shoulder structure; 110 - Support part; 111 - First bracket; 1111 - Guide component; 112 - Second bracket; 1121 - Mounting cavity; 113 - Third bracket; 114 - Back plate; 120 - Drive part; 121 - Drive component; 122 - Rotating component; 1221 - Rotating body; 1222 - Boss; 123 - Drive shaft; 130 - Transmission part; 131 - Connecting plate; 1311 - Mounting hole; 1312 - Sliding component; 1313 - First notch groove; 1314 - Second notch groove; 132 - Connecting seat; 1321 - Strip hole; 140 - Shoulder joint; 141 - First connecting component; 142 - Second connecting component; 143 - First driving element; 144 - Second driving element; 150 - Reinforcing part. Detailed Implementation

[0040] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0041] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not 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.

[0042] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0043] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0044] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0045] like Figure 1 As shown, in a first aspect, embodiments of this application provide a shoulder structure 100, which relates to the field of robotics and is mainly used in humanoid robots. Of course, it can also be used in animal bionic robots.

[0046] like Figure 1 and Figure 2 As shown, the length direction of the shoulder structure 100 is defined as the first direction, the height direction of the shoulder structure 100 as the second direction, and the width direction of the shoulder structure 100 as the third direction. It should be noted that the above definitions are only for the convenience of understanding and describing the relative positional relationships of the parts in the shoulder structure 100, and should not be construed as limitations on this application.

[0047] Combination Figures 1 to 3 As shown, the shoulder structure 100 mainly includes: a support part 110, a drive part 120, a transmission part 130, and a shoulder joint 140.

[0048] The drive unit 120 is disposed on the support unit 110. The drive unit 120 includes a drive member 121, a rotating member 122 and a drive shaft 123. The drive member 121 can be a servo motor or a motor. The rotating member 122 can be a turntable or a rotating arm. The rotating member 122 is connected between the drive member 121 and the drive shaft 123. The drive member 121 is used to drive the rotating member 122 to rotate. The axis of the drive shaft 123 does not coincide with the axis of rotation of the rotating member 122, so that when the drive member 121 is working, the drive shaft 123 revolves around the axis of rotation of the rotating member 122.

[0049] The transmission part 130 has a strip-shaped hole 1321 along a first direction, that is, the length direction of the strip-shaped hole 1321 is parallel to the first direction. The portion of the drive shaft 123 away from the rotating member 122 is movably inserted through the strip-shaped hole 1321 so that the drive shaft 123 can slide along the hole wall of the strip-shaped hole 1321 when the rotating member 122 rotates. The shoulder joint 140 is connected to the transmission part 130, and at least one of the shoulder joint 140 and the transmission part 130 is slidably connected to the support part 110 along a second direction, which is perpendicular to the first direction.

[0050] For example, the connection between the drive shaft 123 and the rotating part 122 can be a fixed connection, that is, the drive shaft 123 cannot rotate relative to the rotating part 122, such as welding, snap-fit, screw connection, etc.

[0051] Of course, the drive shaft 123 and the rotating member 122 can also be rotatably connected, so that when the rotating member 122 rotates, the drive shaft 123 can rotate around its axis and revolve around the rotation axis of the rotating member 122.

[0052] It should be noted that at least one of the shoulder joint 140 and the transmission part 130 is slidably connected to the support part 110 along the second direction. That is, either the transmission part 130 or the support part 110 can be slidably connected along the second direction. Alternatively, both the shoulder joint 140 and the transmission part 130 can be slidably connected to the support part 110 along the second direction, allowing the shoulder joint 140 to slide relative to the support part 110 in the second direction. The specific choice can be made according to design requirements.

[0053] It is understood that when the shoulder structure 100 provided in this embodiment is working, the drive member 121 drives the rotating member 122 to rotate, so as to drive the drive shaft 123 to revolve around the rotation axis of the rotating member 122. At this time, the part of the drive shaft 123 away from the rotating member 122 slides along the hole wall of the strip hole 1321 in the first direction, thereby driving the shoulder joint 140 to slide relative to the support part 110 in the second direction through the transmission part 130, so that the robot can simulate the human to perform shoulder raising and lowering movements.

[0054] To facilitate the description of shoulder raising and lowering movements, the second direction is decomposed into a direction away from the support 110 and a direction towards the support 110. Exemplarily, the shoulder structure 100 has two selectable operating modes as follows:

[0055] refer to Figure 1As shown, when the rotating member 122 rotates clockwise, the drive shaft 123 drives the shoulder joint 140 to slide in a direction away from the support part 110 through the transmission part 130, thereby realizing the shoulder raising action. When the shoulder joint 140 is raised to the highest position, the rotating member 122 continues to rotate clockwise. At this time, the shoulder joint 140 slides in a direction close to the support part 110, thereby realizing the shoulder lowering action.

[0056] Same reference Figure 1 As shown, when the rotating part 122 rotates counterclockwise, the drive shaft 123 drives the shoulder joint 140 to slide in a direction away from the support part 110 through the transmission part 130, thereby realizing the shoulder sinking action. When the shoulder joint 140 sinks to the lowest position, the rotating part 122 continues to rotate counterclockwise. At this time, the shoulder joint 140 slides in a direction close to the support part 110, thereby realizing the shoulder raising action.

[0057] The shoulder structure in the related technology uses an electric push rod to drive the shoulder joint to rotate in order to simulate the shoulder raising and lowering movements. The use of push rods requires the complex coordination of multiple drive mechanisms, which results in poor movement stability of the shoulder structure and a more complex structure, thereby shortening the service life of the shoulder structure and increasing manufacturing costs.

[0058] However, the shoulder structure 100 provided in this embodiment connects the drive member 121 and the drive shaft 123 through the rotating member 122. At the same time, a strip hole 1321 is provided on the transmission part 130 connected to the shoulder joint 140, and the part of the drive shaft 123 away from the rotating member 122 is movably inserted through the strip hole 1321. In this way, the rotational motion of the rotating member 122 can be converted into the linear motion of the shoulder joint 140, and the shoulder raising and lowering actions can also be completed. In this process, there is no need to use multiple drive mechanisms to cooperate, which makes the shoulder structure 100 more stable and the structure more streamlined. Thus, the service life and manufacturing cost of the shoulder structure 100 are optimized, and the market competitiveness of the robot is improved.

[0059] In one embodiment, the drive shaft 123 is a cylindrical shaft, and both ends of the strip hole 1321 along the first direction are provided with arc surfaces adapted to the shape of the cylindrical shaft. The cylindrical shaft is fixedly connected to the rotating member 122 and is clearance-fitted with the strip hole 1321.

[0060] Understandably, compared to a rotatable connection between the cylindrical shaft and the rotating component 122, a fixed connection reduces wear and loosening caused by the relative movement of the cylindrical shaft and the rotating component 122, thereby improving the connection strength between the cylindrical shaft and the rotating component 122. On this basis, the cylindrical shaft and the strip hole 1321 with an arc surface are in clearance fit. In this way, when the rotating component 122 is driven by the drive component 121 to rotate, the cylindrical shaft can slide more smoothly in the strip hole 1321. Thus, the motion stability of the robot during the shoulder raising and lowering process is effectively improved.

[0061] Combination Figure 6 and Figure 10 As shown, further, the distance between the axis of the drive shaft 123 and the axis of rotation of the rotating component 122 is R, and the distance between the centers of the two arc surfaces is L, satisfying the relationship: R=L, 10mm≤R≤30mm.

[0062] For example, R can be selected as 20mm. Of course, R can also be selected as 10mm, 12mm, 15mm, 15.6mm, 18mm, 19mm, 19.5mm, 20.2mm, 25mm, 28mm, 30mm, etc.

[0063] It is understandable that by setting the drive shaft 123 and the strip hole 1321 to satisfy the above relationship, the distance between the axis of the drive shaft 123 and the rotation axis of the rotating member 122 is equal to the distance between the centers of the two arc surfaces. At the same time, the distance between the axis of the drive shaft 123 and the rotation axis of the rotating member 122 is within the range of 10mm to 30mm, so that the shoulder joint 140 has a sufficient range of motion, thus improving the biomimetic effect of the shoulder structure 100.

[0064] Taking a distance of 20mm between the axis of the drive shaft 123 and the axis of rotation of the rotating component 122 as an example, the limit distance for raising the shoulder and the limit distance for lowering the shoulder are both 20mm.

[0065] Combination Figure 7 , Figure 9 and Figure 10 As shown, further, the diameter of the cylindrical shaft is d, and the distance between the two ends of the strip hole 1321 along the second direction is W, which satisfies the relationship: W>d, 5mm≤d≤10mm.

[0066] For example, d can be selected as 7mm, that is, the diameter of the cylindrical shaft is 7mm. Of course, d can also be selected as 5mm, 6mm, 6.5mm, 6.8mm, 7.2mm, 7.5mm, 8mm, 9mm, 10mm, etc.

[0067] Understandably, by setting the cylindrical shaft and the slotted hole 1321 to satisfy the above relationship, such that the distance between the two ends of the slotted hole 1321 is greater than the diameter of the cylindrical shaft, and the cylindrical shaft and the slotted hole 1321 are in a clearance fit, the probability of interference between the cylindrical shaft and the hole wall of the slotted hole 1321 during movement can be reduced. Furthermore, since the diameter of the cylindrical shaft is in the range of 5mm to 10mm, the cylindrical shaft has sufficient rigidity and strength, which can effectively reduce the probability of breakage or bending of the cylindrical shaft during long-term use.

[0068] This allows the cylindrical shaft to slide smoothly and stably within the slot 1321, thereby extending the service life of the shoulder structure 100 and reducing maintenance and upkeep costs.

[0069] Of course, in the above embodiment, the drive shaft 123 can also be a square shaft, and the square shaft is rotatably connected to the rotating member 122. Both ends of the strip hole 1321 along the first direction are flat. In this way, the drive shaft 123 can also slide along the hole wall of the strip hole 1321, thereby driving the shoulder joint 140 to move along the second direction, simulating the shoulder raising and lowering movements.

[0070] Combination Figure 7 and Figure 9 As shown, in one embodiment, along a third direction, the distance between the two ends of the strip hole 1321 is D, and the length of the portion of the drive shaft 123 housed within the strip hole 1321 is H, satisfying the relationship: H=D, 4mm≤D≤10mm, and the third direction is perpendicular to the first direction and the second direction respectively.

[0071] For example, D can be selected as 5.45mm. Of course, D can also be selected as 4mm, 4.5mm, 4.8mm, 5mm, 5.2mm, 6mm, 7mm, 8mm, 9mm, 10mm, etc.

[0072] It is understandable that by setting the strip hole 1321 and drive shaft 123 to satisfy the above relationship, the distance between the two ends of the strip hole 1321 along the third direction is within the range of 4mm to 10mm. At the same time, since the distance between the two ends of the strip hole 1321 along the third direction is equal to the length of the part of the drive shaft 123 housed in the strip hole 1321, that is, the drive shaft 123 passes through the strip hole 1321 to the end, the smoothness and stability of the drive shaft 123 sliding in the strip hole 1321 can be improved, the interference caused by the insufficient fit length between the strip hole 1321 and the drive shaft 123 leading to bending of the drive shaft 123 can be reduced, and the service life of the shoulder structure 100 can be extended.

[0073] Combination Figures 5 to 7 As shown, in one embodiment, the transmission part 130 includes a connecting plate 131 and a connecting seat 132. The connecting plate 131 is connected to the shoulder joint 140. The connecting plate 131 has a through mounting hole 1311. The connecting seat 132 is fixed at the mounting hole 1311, for example, by welding, screw connection or other means. The connecting seat 132 protrudes from the mounting hole 1311 in the direction of the rotating member 122. The connecting seat 132 has a through slot 1321, that is, the slot 1321 is a through hole.

[0074] Understandably, by dividing the transmission part 130 into two components, a connecting plate 131 and a connecting seat 132, the connecting seat 132 can be made of a material with high hardness and wear resistance, while the connecting plate 131 can be made of a material with relatively low hardness and wear resistance. For example, the connecting plate 131 can be made of aluminum alloy, while the connecting seat 132 can be made of steel alloy (an alloy material containing iron and carbon). This not only meets the requirement of stable sliding of the drive shaft 123 in the strip hole 1321 and extends the service life of the shoulder structure 100, but also reduces the use of expensive materials, thereby reducing the manufacturing cost of the transmission part 130.

[0075] Meanwhile, the connecting seat 132 protrudes from the mounting hole 1311 in the direction of the rotating member 122, and the strip hole 1321 penetrates the connecting seat 132. This facilitates the opening of the strip hole 1321, ensuring that the strip hole 1321 has sufficient size in the third direction, thereby ensuring that the drive shaft 123 can have sufficient mating length with the strip hole 1321, thus improving the stability of the drive shaft 123 sliding within the strip hole 1321.

[0076] like Figure 5 and Figure 6 As shown, the connecting plate 131 further has a first notch 1313 on one side along the second direction and a second notch 1314 on the other side along the second direction.

[0077] It is understandable that by opening the first notch 1313 and the second notch 1314 on the connecting plate 131, the weight of the connecting plate 131 can be reduced and the use of materials can be saved, which is conducive to the miniaturization design of the shoulder structure 100.

[0078] Meanwhile, with the weight reduction of the connecting plate 131, a lower-power drive component 121 can be selected when designing the shoulder structure 100, thereby reducing power consumption and improving the robot's endurance.

[0079] like Figure 1 As shown, in one embodiment, there are two shoulder joints 140, which are respectively disposed on two opposite sides of the support portion 110 along the first direction, and the transmission portion 130 is connected between the two shoulder joints 140.

[0080] Understandably, since the transmission unit 130 is connected between the two shoulder joints 140, meaning each shoulder joint 140 is connected to the transmission unit 130, when the rotating member 122 is driven to rotate by the driving member 121, the driving shaft 123 drives the two shoulder joints 140 to slide together relative to the support member 110 in the second direction via the transmission unit 130. In this way, there is no need to set up two sets of driving components to drive the two shoulder joints 140 to perform lifting and lowering movements; only one driving member 121 is needed to drive the two shoulder joints 140 to move synchronously. This saves on the use of driving components, facilitates the miniaturization design of the shoulder structure 100, and reduces the manufacturing cost of the shoulder structure 100.

[0081] like Figure 2 and Figure 4 As shown, the shoulder structure 100 further includes a reinforcing part 150, such as a reinforcing rib or a plate-like structure. The reinforcing part 150 is disposed on the side of the support part 110 away from the transmission part 130 and is connected between the two shoulder joints 140.

[0082] It is understandable that the reinforcement 150 is used to connect the two shoulder joints 140. Since the reinforcement 150 has high structural strength, it can maintain its original shape, thereby applying a fixed stress to each shoulder joint 140 to restrict the relative movement of the two shoulder joints 140. This allows the two shoulder joints 140 to slide stably and synchronously in the second direction under the drive of the drive member 121, thus improving the stability of the shoulder structure 100.

[0083] like Figure 3 and Figure 4 As shown, in one embodiment, the shoulder joint 140 includes a first connector 141 and a second connector 142. The first connector 141 is connected to the transmission part 130, and the second connector 142 is rotatably connected to the first connector 141 via a first drive element 143 and rotatably connected to the arm via a second drive element 144.

[0084] For example, both the first drive element 143 and the second drive element 144 can be selected from devices capable of outputting torque, such as servos or motors.

[0085] Understandably, since the second connector 142 is rotatably connected to the first connector 141 through the first driving element 143, the first driving element 143 can drive the first connector 141 to rotate, thereby realizing the swinging of the arm. On this basis, the second connector 142 is also rotatably connected to the arm through the second driving element 144, which can drive the arm to rotate. In this way, the robot can not only complete the shoulder raising and lowering movements, but also perform arm rotation, arm swinging and other movements, making the bionic effect more ideal.

[0086] Combination Figure 3 and Figure 4 As shown, in one embodiment, a sliding member 1312 is provided on the transmission part 130, and a guide member 1111 adapted to the sliding member 1312 is provided on the support part 110. The sliding member 1312 and the guide member 1111 are slidably connected. In this way, when the driving member 121 is working, the sliding member 1312 can slide along the guide member 1111 to realize that the shoulder joint 140 slides relative to the support part 110 in the second direction.

[0087] For example, the slider 1312 can be a slider and the guide 1111 can be a guide rail. Of course, the slider 1312 can also be a linear bearing and the guide 1111 can be a guide rod, which can also realize the sliding of the shoulder joint 140 relative to the support portion 110 in the second direction.

[0088] In another embodiment, the transmission part 130 is provided with a strip-shaped sliding protrusion along the second direction, and the support part 110 is provided with a guide groove along the second direction. The sliding protrusion is slidably disposed in the guide groove. In this way, when the drive member 121 is working, the shoulder joint 140 can also slide relative to the support part 110 along the second direction.

[0089] like Figure 8 and Figure 9 As shown, in one embodiment, the rotating member 122 includes a rotating body 1221 and a boss 1222. The boss 1222 is fixedly connected to the rotating body 1221, for example, by welding, snap-fitting, screw connection or other means. The drive shaft 123 is fixedly connected to the boss 1222.

[0090] It is understandable that by setting a rotating member 122 with a boss 1222, the length of the drive shaft 123 can be shortened when designing the shoulder structure 100, thereby improving the bending resistance of the drive shaft 123, reducing the probability of interference between the drive shaft 123 and the strip hole 1321 after bending, and extending the service life of the shoulder structure 100.

[0091] like Figure 3 and Figure 4 As shown, the support 110 includes a first bracket 111, a second bracket 112 and a third bracket 113. The second bracket 112 is connected between the first bracket 111 and the third bracket 113 and defines a mounting cavity 1121 for placing the drive member 121. The transmission part 130 is slidably connected to the first bracket 111 in a second direction.

[0092] Understandably, the first bracket 111 and the third bracket 113 facilitate the assembly of the shoulder structure 100 with the robot's chest structure. The second bracket 112, which has a mounting cavity 1121, facilitates the assembly of the drive component 121.

[0093] like Figure 2 As shown, the support 110 further includes a back plate 114, one end of which is connected to the third bracket 113.

[0094] Understandably, by setting the back plate 114 at the position of the third support 113, it is convenient to assemble the shoulder structure 100 with the robot's chest. At the same time, the back plate 114 is also used to form the robot's back part, which facilitates the arrangement of the robot's skin.

[0095] Secondly, embodiments of this application provide a robot including the shoulder structure 100 in any of the above embodiments.

[0096] It should be noted that since the robot provided in this embodiment has the shoulder structure 100 in any of the embodiments of the first aspect, it has all the beneficial effects of the shoulder structure 100, which will not be listed and described one by one here.

[0097] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0098] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A shoulder structure, characterized by, The shoulder structure comprises: a support part; a driving part provided on the support part, the driving part comprising a driving member, a rotating member and a driving shaft, the rotating member being connected between the driving member and the driving shaft, the driving member being used to drive the rotating member to rotate, the axis of the driving shaft not coinciding with the rotation axis of the rotating member, the rotating member comprising a rotating body and a boss, the boss being fixedly connected with the rotating body, the driving shaft being fixedly connected with the boss; a transmission part provided with a strip-shaped hole in a first direction, the part of the driving shaft away from the rotating member being movably provided in the strip-shaped hole; a shoulder joint connected with the transmission part, the transmission part being slidably connected with the support part in a second direction, the second direction being perpendicular to the first direction.

2. The shoulder structure of claim 1, wherein The driving shaft is a cylindrical shaft, the strip-shaped hole being provided with a circular arc surface matching the outer shape of the cylindrical shaft at both ends in the first direction, the cylindrical shaft being fixedly connected with the rotating member and being in clearance fit with the strip-shaped hole.

3. The shoulder structure of claim 2, wherein The distance between the axis of the driving shaft and the rotation axis of the rotating member is R, the distance between the centers of the two circular arc surfaces is L, and the following relationship is satisfied: R = L, 10 mm ≤ R ≤ 30 mm.

4. The shoulder structure of claim 2, wherein The diameter of the cylindrical shaft is d, the distance between the two ends of the strip-shaped hole in the second direction is W, and the following relationship is satisfied: W > d, 5 mm ≤ d ≤ 10 mm.

5. The shoulder structure of claim 1, wherein In a third direction, the distance between the two ends of the strip-shaped hole is D, the length of the part of the driving shaft accommodated in the strip-shaped hole is H, and the following relationship is satisfied: H = D, 4 mm ≤ D ≤ 10 mm; wherein the third direction is perpendicular to the first direction and the second direction.

6. The shoulder structure according to any one of claims 1 to 5, characterized in that The transmission part comprises a connecting plate and a connecting seat, the connecting plate being connected with the shoulder joint, the connecting plate being provided with a mounting hole therethrough, the connecting seat being fixed at the mounting hole and protruding out of the mounting hole in the direction of the rotating member, the connecting seat being provided with the strip-shaped hole therethrough.

7. The shoulder structure according to any one of claims 1 to 5, characterized in that The shoulder joint is provided with two shoulder joints, the two shoulder joints being respectively provided on the two opposite sides of the support part in the first direction, and the transmission part being connected between the two shoulder joints.

8. The shoulder structure of claim 6, wherein The shoulder structure further comprises a reinforcing part, the reinforcing part being provided on the side of the support part away from the transmission part and being connected between the two shoulder joints.

9. The shoulder structure of any one of claims 1 to 5, wherein, The shoulder joint comprises a first connecting member and a second connecting member, the first connecting member being connected with the transmission part, the second connecting member being rotatably connected with the first connecting member through a first driving element and being rotatably connected with an arm through a second driving element.

10. A robot, characterized in that The shoulder structure comprises any one of claims 1 to 9.

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