Arm assembly and humanoid robot

Abstract

An arm assembly and a humanoid robot, the arm assembly is used for a humanoid robot, comprising: a forearm shell, a first connecting member, a first driving member, a second driving member, a transmission mechanism, a second connecting member and a palm member, the first connecting member is rotatably connected to the forearm shell, the first driving member is installed in the forearm shell, the second driving member is connected to the first connecting member, the transmission mechanism comprises a connecting rod and a crank, the crank is connected to the first driving member, one end of the connecting rod is rotatably connected to the crank, the other end of the connecting rod is rotatably connected to the first connecting member, the second connecting member is connected to the second driving member, and the palm member is connected to the second connecting member, wherein the first driving member is used to drive the palm member to rotate around a first axis relative to the forearm shell, the second driving member is used to drive the palm member to rotate around a second axis relative to the forearm shell, the extension direction of the first axis is perpendicular to the extension direction of the second axis, the arm assembly has fewer parts, and the assembly difficulty and space occupancy are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of humanoid robots, and in particular to an arm assembly and a humanoid robot. Background Art

[0002] At present, humanoid robots have good mobility when facing complex terrain, so the research and development of humanoid robots has received more and more attention in recent years. Humanoid robots need to set a driving structure to drive the palm and arm to rotate relative to each other to realize the function of the wrist joint. In the prior art, the driving structure for driving the palm and arm to rotate relative to each other has many parts, resulting in complex assembly and large space occupation. Summary of the invention

[0003] The purpose of the present invention is to provide an arm assembly and a humanoid robot to solve the problem in the prior art that the driving structure for driving the relative rotation of the palm and the arm has many parts, resulting in complex assembly and large space occupation.

[0004] To achieve the purpose of the present invention, the present invention provides the following technical solutions:

[0005] In the first aspect, the present invention provides an arm assembly for a humanoid robot, comprising: a forearm housing; a first connecting member, rotatably connected to the forearm housing; a first driving member, installed in the forearm housing; a second driving member, connected to the first connecting member; a transmission mechanism, comprising a connecting rod and a crank, the crank being connected to the first driving member, one end of the connecting rod being rotatably connected to the crank, and the other end of the connecting rod being rotatably connected to the first connecting member; a second connecting member, connected to the second driving member; a palm member, connected to the second connecting member; wherein the first driving member is used to drive the palm member to rotate relative to the forearm housing around a first axis, and the second driving member is used to drive the palm member to rotate relative to the forearm housing around a second axis, and the extension direction of the first axis is perpendicular to the extension direction of the second axis. By setting a first connecting member to be rotatably connected to the forearm housing, a first driving member is installed in the forearm housing, a second driving member is connected to the first connecting member, the second connecting member is connected to the second driving member, a palm member is connected to the second connecting member, a crank is connected to the first driving member, one end of a connecting rod is rotatably connected to the crank, and the other end of the connecting rod is rotatably connected to the first connecting member, the arm assembly can realize the wrist function under the drive of the first driving member and the second driving member, the arm assembly has fewer parts, and the assembly difficulty and space occupancy are reduced.

[0006] In one embodiment, the forearm housing includes a first cylinder and a first end plate, the first end plate is connected to the first cylinder, the first drive member is installed in the first cylinder and connected to the first end plate, the first end plate is provided with a first through hole and a first limiting groove extending along the annular direction of the first through hole, and the first limiting groove is connected to the first through hole; the crank includes a first main body and a first limiting part, the first limiting part is connected to the outer peripheral surface of the first main body, the first main body is accommodated in the first through hole and connected to the first drive member, the first limiting part is accommodated in the first limiting groove, and the first limiting part is used to abut against the side wall of the first limiting groove in the annular direction. By providing the first limiting groove and the first limiting part, the first limiting part is accommodated in the first limiting groove, and the first limiting part is used to abut against the side wall of the first limiting groove in the annular direction, so that the rotation angle of the crank relative to the forearm housing is limited within a certain range, preventing the crank from excessively rotating to cause motion interference between the connecting rod and the forearm housing, and preventing the second drive member and the first connecting member from excessively rotating to cause motion interference.

[0007] In one embodiment, a first calibration portion is provided on the forearm housing, and a second calibration portion is provided on the crank, and when the first calibration portion and the second calibration portion are aligned, the crank is in an initial position relative to the forearm housing, and the initial position is used as the zero point for the rotation of the crank relative to the forearm housing. By providing a first calibration portion on the forearm housing and a second calibration portion on the crank, and when the first calibration portion and the second calibration portion are aligned, the crank is in an initial position relative to the forearm housing, and the initial position is used as the zero point for the rotation of the crank relative to the forearm housing, during the rotation of the crank relative to the forearm housing, whether it is clockwise or counterclockwise, the zero point is used as a reference point, so that the first drive member can accurately control the rotation angle of the crank.

[0008] In one embodiment, the forearm housing further includes a first connection portion and a second connection portion, the first connection portion is connected to the first end plate, the second connection portion is connected to one end of the first cylinder away from the first end plate, the first connection portion is rotationally connected to the first connection member around the first axis, and the second connection portion is rotationally connected to the first connection member around the first axis. By setting the forearm housing to further include a first connection portion and a second connection portion, the first connection portion is connected to the first end plate, the second connection portion is connected to one end of the first cylinder away from the first end plate, the first connection portion is rotationally connected to the first connection member around the first axis, and the second connection portion is rotationally connected to the first connection member around the first axis, the distance between the second drive member and the first connection member and the first drive member is extended, so that the first drive member and the first connection member will not interfere with the first drive member when rotating around the first axis.

[0009] In one embodiment, the connecting rod includes a first section, a second section, and a third section connected in sequence, the first section is rotationally connected to the crank, and the third section is rotationally connected to the first connecting member; the first section is located on the side of the first connecting part facing away from the second connecting part, and the third section is located on the side of the first connecting part in the first direction. By setting the connecting rod to include a first section, a second section, and a third section connected in sequence, the first section is rotationally connected to the crank, the third section is rotationally connected to the first connecting member, the first section is located on the side of the first connecting part facing away from the second connecting part, and the third section is located on the side of the first connecting part in the first direction, the arm assembly is smaller in size in the second direction, thereby improving the compactness and humanoid effect of the arm assembly.

[0010] In one embodiment, the first end plate has an escape groove formed on its end surface close to the first connection portion, the side wall surface of the escape groove is connected to the surface of the first connection portion facing away from the second connection portion, and at least a portion of the second section is accommodated in the escape groove. By providing the first end plate with an escape groove formed on its end surface close to the first connection portion, the side wall surface of the escape groove is connected to the surface of the first connection portion facing away from the second connection portion, and a portion of the second section is accommodated in the escape groove, when the connecting rod moves relative to the forearm housing under the drive of the crank, no wear or collision occurs between the second section and the first end plate.

[0011] In one embodiment, one end of the connecting rod is rotatably connected to the crank around a third axis, the other end of the connecting rod is rotatably connected to the first connecting member around a fourth axis, the crank is rotatably connected to the arm housing around a fifth axis, and the extension direction of the third axis, the extension direction of the fourth axis, and the extension direction of the fifth axis are all parallel to the extension direction of the first axis; in the orthographic projection in the extension direction of the first axis, the crank, the connecting rod, the arm housing, and the first connecting member form a parallelogram structure. By setting one end of the connecting rod to be rotatably connected to the crank around a third axis, the other end of the connecting rod is rotatably connected to the first connecting member around a fourth axis, and the crank is rotatably connected to the arm housing around a fifth axis, the extension direction of the third axis, the extension direction of the fourth axis, and the extension direction of the fifth axis are all parallel to the extension direction of the first axis, in the orthographic projection in the extension direction of the first axis, the crank, the connecting rod, the arm housing, and the first connecting member form a parallelogram structure, so that the transmission when the first driving member drives the palm member to rotate around the first axis is stable and has a strong torque load capacity.

[0012] In one embodiment, the first connecting member includes a second cylinder and a second end plate, the second end plate is connected to the second cylinder, the second end plate is provided with a second through hole, the second cylinder is sleeved on the second driving member, the second driving member is connected to the second end plate and connected to the second connecting member through the second through hole; the second cylinder is rotatably connected to the arm housing around the first axis, one end of the connecting rod is rotatably connected to the second cylinder around the fourth axis, and the first axis and the fourth axis both intersect with the second axis. By setting the first connecting member to include a second cylinder and a second end plate, the second end plate is connected to the second cylinder, the second end plate is provided with a second through hole, the second cylinder is sleeved on the second driving member, the second driving member is connected to the second end plate and connected to the second connecting member through the second through hole, the second cylinder is rotatably connected to the arm housing around the first axis, one end of the connecting rod is rotatably connected to the second cylinder around the fourth axis, and the first axis and the fourth axis both intersect with the second axis, so that the connection between the second driving member and the first connecting member is more stable, and the rotation between the arm housing and the first connecting member will not interfere with the rotation between the connecting rod and the first and the first connecting members, thereby improving the stability of the transmission mechanism.

[0013] In one embodiment, the second connecting member includes a first connecting plate, a second connecting plate, and a third connecting plate connected in sequence, the first connecting plate is connected to the second driving member, the third connecting plate is connected to the palm member, and the first connecting plate and the third connecting plate are arranged perpendicular to each other. By setting the second connecting member to include a first connecting plate, a second connecting plate, and a third connecting plate connected in sequence, the first connecting plate is connected to the second driving member, the third connecting plate is connected to the palm member, and the first connecting plate and the third connecting plate are arranged perpendicular to each other, the palm member can be arranged directly below the forearm housing in the third direction, thereby improving the humanoid effect of the humanoid robot.

[0014] In one embodiment, the second main body further includes a reinforcing rib, the reinforcing rib is connected to the second connecting plate, one end of the reinforcing rib is connected to the first connecting plate, and the other end of the reinforcing rib is connected to the third connecting plate. By setting the second connecting member to further include a reinforcing rib, the reinforcing rib is connected to the second connecting plate, one end of the reinforcing rib is connected to the first connecting plate, and the other end of the reinforcing rib is connected to the third connecting plate, the structural strength of the second connecting member is higher, and it is not easy to deform and break when subjected to a large torque.

[0015] In one embodiment, the transmission mechanism further includes a first bearing and a first fixing member, the inner ring of the first bearing is connected to the crank, the outer ring of the first bearing is connected to the connecting rod, the first fixing member is connected to the connecting rod, and the first fixing member abuts against the end face of the outer ring of the first bearing facing away from the crank. By providing the first bearing and the first fixing member, the inner ring of the first bearing is connected to the crank, the outer ring of the first bearing is connected to the connecting rod, the first fixing member is connected to the connecting rod, and the first fixing member abuts against the end face of the outer ring of the first bearing facing away from the crank, the first bearing is not easily separated from the connecting rod in the axial direction, thereby improving the stability of the transmission mechanism.

[0016] In a second aspect, the present invention further provides a humanoid robot, comprising the arm assembly described in any one of the embodiments of the first aspect. The humanoid robot provided by the present invention, by adopting the arm assembly in the embodiment of the present invention, realizes the humanoid upper limb movement of the humanoid robot, reduces the assembly difficulty and layout space occupation of the arm assembly, and has a good humanoid effect of the humanoid upper limb movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 is a block diagram of an arm assembly of an embodiment;

[0019] Figure 2 is a partial diagram of an arm structure of an embodiment;

[0020] Figure 3 is a partial exploded view of an arm structure of an embodiment;

[0021] Figure 4 This is a structural diagram of a second connecting member of an embodiment.

[0022] Description of reference numerals:

[0023] 100-arm assembly, 10-forearm housing, 11-first cylinder, 12-first end plate, 121-first through hole, 122-first limiting groove, 123-first calibration part, 124-avoidance groove, 13-first connecting part, 14-second connecting part, 20-first connecting member, 21-second cylinder, 22-second end plate, 221-second through hole, 30-first driving member, 31-second driving member, 32-third driving member, 33-fourth driving member, 34-fifth driving member, 35-sixth driving member, 36-seventh driving member, 40-transmission mechanism, 41-connecting rod, 411-first section, 412-second section, 413-third section, 42-crank, 42 1-first main body, 422-second calibration part, 423-first limiting part, 424-first rotating shaft, 43-second rotating shaft, 44-second bearing, 45-third bearing, 46-first bearing, 47-first fixing part, 48-fourth bearing, 49-second fixing part, 50-second connecting part, 51-first connecting plate, 52-second connecting plate, 53-third connecting plate, 54-reinforcement rib, 60-palm part, 70-elbow joint shell, 71-upper arm shell, 72-shoulder joint shell, L1-first axis, L2-second axis, L3-third axis, L4-fourth axis, L5-fifth axis, X-first direction, Y-second direction, Z-third direction. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there can be a central component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there can be a central component at the same time.

[0026] Unless otherwise defined, all technical and scientific terms used in the present invention have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used in the present invention includes any and all combinations of one or more of the related listed items.

[0027] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0028] Please refer to Figure 1 The present invention provides a humanoid robot, including the arm assembly 100 in the embodiment of the present invention. The humanoid robot also includes a trunk assembly, a lower limb assembly and a head and neck assembly. The arm assembly 100, the lower limb assembly and the head and neck assembly in the embodiment of the present invention are all connected to the trunk assembly, and can rotate relative to the trunk assembly. Optionally, there are two arm assemblies 100 and two lower limb assemblies. The humanoid robot provided by the present invention realizes the humanoid upper limb movement of the humanoid robot by adopting the arm assembly 100 in the embodiment of the present invention, reduces the assembly difficulty and layout space occupation of the arm assembly, and has a good humanoid effect of the humanoid upper limb movement.

[0029] Please refer to Figure 1 The present invention also provides an arm assembly 100 for a humanoid robot, comprising: a forearm housing 10, a first connecting member 20, a first driving member 30, a second driving member 31, a transmission mechanism 40, a second connecting member 50 and a palm member 60, wherein the first connecting member 20 is rotatably connected to the forearm housing 10, the first driving member 30 is installed in the forearm housing 10, the second driving member 31 is connected to the first connecting member 20, the transmission mechanism 40 comprises a connecting rod 41 and a crank 42, the crank 42 is connected to the first driving member 30, and the connecting rod 41 is connected to the second driving member 31. One end of the rod 41 is rotatably connected to the crank 42, the other end of the connecting rod 41 is rotatably connected to the first connecting member 20, the second connecting member 50 is connected to the second driving member 31, and the palm member 60 is connected to the second connecting member 50, wherein the first driving member 30 is used to drive the palm member 60 to rotate around the first axis L1 relative to the forearm housing 10, and the second driving member 31 is used to drive the palm member 60 to rotate around the second axis L2 relative to the forearm housing 10, and the extension direction of the first axis L1 is perpendicular to the extension direction of the second axis L2.

[0030] The first axis L1 extends along the second direction Y, which corresponds to the thickness direction of the palm piece 60 . The second axis L2 extends along the first direction X, which corresponds to the width direction of the palm piece 60 .

[0031] Optionally, the arm assembly 100 further includes an elbow joint housing 70, an upper arm housing 71 and a shoulder joint housing 72. The shoulder joint housing 72, the upper arm housing 71, the elbow joint housing 70, the forearm housing 10 and the palm member 60 are rotatably connected in sequence along a third direction Z. The elbow joint housing 70 is connected to the aforementioned torso assembly. The third direction Z corresponds to the length direction of the palm member 60. Optionally, a third driving member 32 is also installed in the forearm housing 10, and the third driving member 32 is connected to the elbow joint housing 70. Optionally, a fourth driving member 33 is installed in the upper arm housing 71, and the fourth driving member 33 is connected to the elbow joint housing 70. Optionally, a fifth driving member 34 is also installed in the upper arm housing 71, and the fifth driving member 34 is connected to the shoulder joint housing 72. Optionally, the shoulder joint housing 72 is also equipped with a sixth driving member 35 and a seventh driving member 36, the sixth driving member 35 is connected to the seventh driving member 36, the sixth driving member 35 is connected to the shoulder joint housing 72, and the seventh driving member 36 is connected to the torso component.

[0032] Optionally, the forearm housing 10 may be made of a material that meets the requirements of structural strength, corrosion resistance and ease of processing and forming, specifically aluminum alloy, carbon fiber, stainless steel and magnesium alloy, etc., without limitation. Optionally, the materials of the elbow joint housing 70, the upper arm housing 71 and the shoulder joint housing 72 are similar to those of the forearm housing 10, which can be used for reference only and will not be described in detail.

[0033] Optionally, the first driving member 30 and the second driving member 31 are both motors, the arm housing 10 is connected and fixed to the stator of the first driving member 30, the crank 42 is connected and fixed to the rotor of the first driving member 30, the first connecting member 20 is connected and fixed to the stator of the second driving member 31, and the second connecting member 50 is connected and fixed to the rotor of the second driving member 31. The first driving member 30 can drive the palm member 60 to rotate around the first axis L1 relative to the arm housing 10, the second driving member 31 can drive the palm member 60 to rotate around the second axis L2 relative to the arm housing 10, and the first driving member 30 and the second driving member 31 can also cooperate with each other to drive the palm member 60 to rotate around the first axis L1 and the second axis L2 at the same time, without limitation.

[0034] By setting the first connecting member 20 to be rotatably connected to the forearm housing 10, the first driving member 30 is installed in the forearm housing 10, the second driving member 31 is connected to the first connecting member 20, the second connecting member 50 is connected to the second driving member 31, the palm member 60 is connected to the second connecting member 50, the crank 42 is connected to the first driving member 30, one end of the connecting rod 41 is rotatably connected to the crank 42, and the other end of the connecting rod 41 is rotatably connected to the first connecting member 20, so that the arm assembly 100 can realize the wrist function under the drive of the first driving member 30 and the second driving member 31, and the arm assembly 100 has fewer parts, which reduces the assembly difficulty and space occupancy.

[0035] Please refer to Figure 2 and Figure 3 The forearm housing 10 includes a first cylinder 11 and a first end plate 12, the first end plate 12 is connected to the first cylinder 11, the first driving member 30 is installed in the first cylinder 11 and connected to the first end plate 12, the first end plate 12 is provided with a first through hole 121 and a first limiting groove 122 extending in the circumferential direction of the first through hole 121, the first limiting groove 122 is connected to the first through hole 121; the crank 42 includes a first main body 421 and a first limiting portion 423, the first limiting portion 423 is connected to the outer peripheral surface of the first main body 421, the first main body 421 is accommodated in the first through hole 121 and connected to the first driving member 30, the first limiting portion 423 is accommodated in the first limiting groove 122, and the first limiting portion 423 is used to abut against the side wall of the first limiting groove 122 in the circumferential direction.

[0036] Optionally, the two sidewalls of the first limiting groove 122 in the annular direction and the two end faces of the first limiting portion 423 in the annular direction are both planes, so that the first limiting portion 423 is in surface contact with the first limiting groove 122 instead of point contact or line contact, thereby improving the limiting effect. At the same time, there is a spacing distance between the outer peripheral surface of the first main body 421 and the inner wall surface of the first through hole 121, and there is also a spacing distance between the first limiting portion 423 and the inner wall surface of the first limiting groove 122 extending in the annular direction, thereby preventing the crank 42 and the first end plate 12 from being worn.

[0037] Optionally, the first crank 42 also includes a first rotating shaft 424, the first rotating shaft 424 is connected to the surface of the first limiting portion 423 facing away from the first driving member 30, and the connecting rod 41 is connected to the first rotating shaft 424. Optionally, the first cylinder 11 and the first end plate 12 can be an integral structure, or they can be detachably connected by means of snap-on, screw-on and riveting, without limitation. Optionally, the first main body 421 and the first limiting portion 423 can be an integral structure, or they can be detachably connected by means of snap-on, screw-on and riveting, without limitation. Optionally, the first rotating shaft 424 and the first limiting portion 423 can be an integral structure, or they can be detachably connected by means of snap-on, screw-on and riveting, without limitation. Optionally, the first driving member 30 and the first end plate 12 can be detachably connected by means of snap-on, screw-on and riveting, without limitation.

[0038] By setting the first limiting groove 122 and the first limiting portion 423, the first limiting portion 423 is accommodated in the first limiting groove 122, and the first limiting portion 423 is used to abut against the side wall of the first limiting groove 122 in the annular direction, so that the rotation angle of the crank 42 relative to the forearm housing 10 is limited within a certain range, preventing the crank 42 from rotating excessively to cause motion interference between the connecting rod 41 and the forearm housing 10, and at the same time preventing the second driving member 31 and the first connecting member 20 from rotating excessively to cause motion interference.

[0039] Please refer to Figure 2 and Figure 3 A first calibration portion 123 is provided on the forearm housing 10, and a second calibration portion 422 is provided on the crank 42. When the first calibration portion 123 and the second calibration portion 422 are aligned, the crank 42 is in an initial position relative to the forearm housing 10, and the initial position is used as the zero point for the rotation of the crank 42 relative to the forearm housing 10.

[0040] In the process of the crank 42 rotating relative to the forearm housing 10, whether it rotates clockwise or counterclockwise, the zero point is used as the reference point, so that the first driving member 30 can accurately control the rotation angle of the crank 42. Exemplarily, the first calibration portion 123 is a groove provided on the aforementioned first end plate 12, and the second calibration portion 422 is a groove provided on the aforementioned first main body portion 421. Optionally, the first calibration portion 123 and the second calibration portion 422 can also be convex structures or textures, without limitation.

[0041] By setting a first calibration portion 123 on the forearm housing 10 and a second calibration portion 422 on the crank 42, when the first calibration portion 123 and the second calibration portion 422 are aligned, the crank 42 is in an initial position relative to the forearm housing 10, and the initial position is used as the zero point for the rotation of the crank 42 relative to the forearm housing 10, so that during the rotation of the crank 42 relative to the forearm housing 10, whether it rotates clockwise or counterclockwise, the zero point is used as a reference point, so that the first driving member 30 can accurately control the rotation angle of the crank 42.

[0042] Please refer to Figure 2 and Figure 3 The forearm housing 10 also includes a first connecting portion 13 and a second connecting portion 14. The first connecting portion 13 is connected to the first end plate 12, and the second connecting portion 14 is connected to an end of the first cylinder 11 away from the first end plate 12. The first connecting portion 13 is rotatably connected to the first connecting member 20 around the first axis L1, and the second connecting portion 14 is rotatably connected to the first connecting member 20 around the first axis L1.

[0043] Optionally, the first connection portion 13 protrudes from the end surface of the first end plate 12 facing away from the first cylinder 11, and the second connection portion 14 protrudes from the end surface of the first cylinder 11 facing away from the first end plate 12. Optionally, from the direction of the first cylinder 11 approaching the first connection member 20, the width of the first connection portion 13 gradually decreases, and the width of the second connection portion 14 gradually decreases.

[0044] Optionally, the first connecting portion 13 and the first barrel 11 may be an integral structure, or may be detachably connected by means of a clamping connection, a screw connection, a riveting connection, etc., without limitation. Optionally, the second connecting portion 14 and the first barrel 11 may be an integral structure, or may be detachably connected by means of a clamping connection, a screw connection, a riveting connection, etc., without limitation.

[0045] Optionally, the transmission mechanism 40 also includes a second bearing 44 and a third bearing 45, the outer ring of the second bearing 44 is connected and fixed to the first connecting part 13, the inner ring of the second bearing 44 is connected and fixed to the first connecting member 20, the outer ring of the third bearing 45 is connected and fixed to the second connecting part 14, and the inner ring of the third bearing 45 is connected and fixed to the first connecting member 20.

[0046] By setting the forearm housing 10 also including a first connecting part 13 and a second connecting part 14, the first connecting part 13 is connected to the first end plate 12, the second connecting part 14 is connected to the end of the first cylinder 11 away from the first end plate 12, the first connecting part 13 is rotatably connected to the first connecting member 20 around the first axis L1, and the second connecting part 14 is rotatably connected to the first connecting member 20 around the first axis L1, so that the distance between the second driving member 31 and the first connecting member 20 and the first driving member 30 is extended, so that the first driving member 30 and the first connecting member 20 will not interfere with the first driving member 30 when rotating around the first axis L1.

[0047] Please refer to Figure 2 and Figure 3 The connecting rod 41 includes a first section 411, a second section 412 and a third section 413 which are connected in sequence. The first section 411 is rotationally connected to the crank 42, and the third section 413 is rotationally connected to the first connecting member 20. The first section 411 is located on the side of the first connecting portion 13 facing away from the second connecting portion 14, and the third section 413 is located on the side of the first connecting portion 13 in the first direction X.

[0048] Optionally, the first section 411, the second section 412 and the third section 413 may be an integrated structure, or may be detachably connected by means of snap connection, screw connection and riveting, etc., without limitation. Optionally, the connection between the second section 412 and the first section 411 and the third section 413 is smoothly connected.

[0049] By setting the connecting rod 41 to include a first section 411, a second section 412 and a third section 413 which are connected in sequence, the first section 411 is rotatably connected to the crank 42, the third section 413 is rotatably connected to the first connecting member 20, the first section 411 is located on the side of the first connecting portion 13 facing away from the second connecting portion 14, and the third section 413 is located on the side of the first connecting portion 13 in the first direction X, so that the arm assembly 100 is smaller in size in the second direction Y, thereby improving the compactness and anthropomorphic effect of the arm assembly 100.

[0050] Please refer to Figure 2 and Figure 3The first end plate 12 is provided with an avoidance groove 124 at one end close to the first connection portion 13. The avoidance groove 124 is recessed in the end surface of the first end plate 12 facing away from the first cylinder 11, and at least part of the second section 412 is received in the avoidance groove 124. Optionally, the inner wall surface of the avoidance groove 124 is smoothly connected to the connection point of the first connection portion 13.

[0051] Optionally, the extension direction of the bottom wall of the avoidance groove 124 is parallel to the extension direction of the second section 412, so that when the connecting rod 41 moves relative to the forearm housing 10 driven by the crank 42, the spacing distance between the second section 412 and the bottom wall of the avoidance groove 124 remains unchanged, preventing wear and collision.

[0052] An avoidance groove 124 is provided at one end of the first end plate 12 close to the first connecting portion 13, and the avoidance groove 124 is recessed in the end surface of the first end plate 12 facing away from the first cylinder 11. At least a portion of the second section 412 is accommodated in the avoidance groove 124, so that when the connecting rod 41 moves relative to the forearm housing 10 driven by the crank 42, no wear or collision will occur between the second section 412 and the first end plate 12.

[0053] Please refer to Figure 2 and Figure 3 One end of the connecting rod 41 is rotatably connected to the crank 42 around the third axis L3, the other end of the connecting rod 41 is rotatably connected to the first connecting member 20 around the fourth axis L4, the crank 42 is rotatably connected to the forearm housing 10 around the fifth axis L5, and the extension directions of the third axis L3, the fourth axis L4 and the fifth axis L5 are all parallel to the extension direction of the first axis L1. In the orthographic projection on the extension direction of the first axis L1, the crank 42, the connecting rod 41, the forearm housing 10 and the first connecting member 20 form a parallelogram structure.

[0054] By setting one end of the connecting rod 41 to be rotatably connected to the crank 42 around the third axis L3, the other end of the connecting rod 41 is rotatably connected to the first connecting member 20 around the fourth axis L4, and the crank 42 is rotatably connected to the forearm housing 10 around the fifth axis L5, the extension direction of the third axis L3, the extension direction of the fourth axis L4 and the extension direction of the fifth axis L5 are all parallel to the extension direction of the first axis L1. In the orthographic projection on the extension direction of the first axis L1, the crank 42, the connecting rod 41, the forearm housing 10 and the first connecting member 20 form a parallelogram structure, so that the transmission when the first driving member 30 drives the palm member 60 to rotate around the first axis L1 is stable and the torque load capacity is strong.

[0055] Please refer to Figure 2 and Figure 3The first connecting member 20 includes a second cylinder 21 and a second end plate 22, the second end plate 22 is connected to the second cylinder 21, the second end plate 22 is provided with a second through hole 221, the second cylinder 21 is sleeved on the second driving member 31, the second driving member 31 is connected to the second end plate 22 and is connected to the second connecting member 50 through the second through hole 221, the second cylinder 21 is rotatably connected to the forearm housing 10 around the first axis L1, one end of the connecting rod 41 is rotatably connected to the second cylinder 21 around the fourth axis L4, and the first axis L1 and the fourth axis L4 both intersect with the second axis L2.

[0056] Optionally, the second cylinder 21 and the second end plate 22 may be an integral structure, or may be detachably connected by means of a clamping connection, a screw connection, a riveting connection, etc., without limitation. Optionally, the second drive member 31 and the second end plate 22 may be detachably connected by means of a clamping connection, a screw connection, a riveting connection, etc., without limitation.

[0057] Optionally, the transmission mechanism 40 further includes a second shaft 43, which is connected to the second cylinder 21, and the second shaft 43 is connected to the aforementioned connecting rod 41. Optionally, the second shaft 43 and the second cylinder 21 may be an integral structure, or may be detachably connected by means of snap connection, screw connection, riveting, etc., without limitation.

[0058] By setting the first connecting member 20 to include a second cylinder 21 and a second end plate 22, the second end plate 22 is connected to the second cylinder 21, the second end plate 22 is provided with a second through hole 221, the second cylinder 21 is sleeved on the second driving member 31, the second driving member 31 is connected to the second end plate 22 and is connected to the second connecting member 50 through the second through hole 221, the second cylinder 21 is rotatably connected to the forearm housing 10 around the first axis L1, one end of the connecting rod 41 is rotatably connected to the second cylinder 21 around the fourth axis L4, the first axis L1 and the fourth axis L4 both intersect with the second axis L2, so that the connection between the second driving member 31 and the first connecting member 20 is more stable, and the rotation between the forearm housing 10 and the first connecting member 20 will not interfere with the rotation between the connecting rod 41 and the first and second connecting members 20, thereby improving the stability of the transmission mechanism 40.

[0059] Please refer to Figures 2 to 4 The second connecting member 50 includes a first connecting plate 51, a second connecting plate 52 and a third connecting plate 53 which are connected in sequence. The first connecting plate 51 is connected to the second driving member 31, and the third connecting plate 53 is connected to the palm member 60. The first connecting plate 51 and the third connecting plate 53 are arranged perpendicular to each other.

[0060] Optionally, the first connecting plate 51, the second connecting plate 52 and the third connecting plate 53 are an integrated structure, and can also be detachably connected by means of clamping, screwing and riveting, etc., without limitation. Optionally, the connection between the second connecting plate 52 and the first connecting plate 51 and the third connecting plate 53 is rounded to prevent damage to other parts and personnel. Optionally, the second connecting plate 52 is an arc-shaped plate to connect the vertical first connecting plate 51 and the third connecting plate 53.

[0061] By setting the second connecting member 50 including the first connecting plate 51, the second connecting plate 52 and the third connecting plate 53 which are connected in sequence, the first connecting plate 51 is connected to the second driving member 31, the third connecting plate 53 is connected to the palm member 60, and the first connecting plate 51 and the third connecting plate 53 are arranged perpendicular to each other, so that the palm member 60 can be installed under the forearm housing 10, thereby improving the humanoid effect of the humanoid robot.

[0062] Please refer to Figure 4 The second connecting member 50 also includes a reinforcing rib 54 , which is connected to the second connecting plate 52 , one end of the reinforcing rib 54 is connected to the first connecting plate 51 , and the other end of the reinforcing rib 54 is connected to the third connecting plate 53 .

[0063] Optionally, there may be multiple reinforcing ribs 54, and the multiple reinforcing ribs 54 are arranged at intervals. Optionally, the reinforcing ribs 54 and the first connecting plate 51, the second connecting plate 52 and the third connecting plate 53 may be an integrated structure, or may be detachably connected by means of snap connection, screw connection and riveting, etc., without limitation.

[0064] By setting the second connecting member 50 to also include a reinforcing rib 54, the reinforcing rib 54 is connected to the second connecting plate 52, one end of the reinforcing rib 54 is connected to the first connecting plate 51, and the other end of the reinforcing rib 54 is connected to the third connecting plate 53, so that the structural strength of the second connecting member 50 is higher and it is not easy to be deformed or broken when subjected to a large torque.

[0065] Please refer to Figure 2 and Figure 3 The transmission mechanism 40 also includes a first bearing 46 and a first fixing member 47. The inner ring of the first bearing 46 is connected to the crank 42, the outer ring of the first bearing 46 is connected to the connecting rod 41, the first fixing member 47 is connected to the connecting rod 41, and the first fixing member 47 abuts against the end face of the outer ring of the first bearing 46 facing away from the crank 42.

[0066] Specifically, the first bearing 46 and the first fixing member 47 are both disposed on the aforementioned second section 412. Optionally, the first bearing 46 may be a ball bearing, a roller bearing, etc., without limitation. Optionally, the first fixing member 47 and the first section 411 may be detachably connected by means of snap connection, screw connection, riveting, etc.

[0067] Optionally, the transmission mechanism 40 also includes a fourth bearing 48 and a second fixing member 49, the inner ring of the fourth bearing 48 is connected and fixed to the first connecting member 20, the outer ring of the fourth bearing 48 is connected and fixed to the third section 413, the second fixing member 49 is connected and fixed to the third section 413, and the second fixing member 49 abuts against the end face of the outer ring of the fourth bearing 48 facing away from the first connecting member 20.

[0068] By setting the first bearing 46 and the first fixing member 47, the inner ring of the first bearing 46 is connected to the crank 42, the outer ring of the first bearing 46 is connected to the connecting rod 41, the first fixing member 47 is connected to the connecting rod 41, and the first fixing member 47 abuts against the end surface of the outer ring of the first bearing 46 facing away from the crank 42, so that the first bearing 46 is not easy to detach from the connecting rod 41 in the axial direction, thereby improving the stability of the transmission mechanism 40.

[0069] In the description of the embodiments of the present invention, it should be noted that the orientation or positional relationship of terms such as "center", "up", "down", "left", "right", "vertical", "horizontal", "inside" and "outside" are based on the orientation or positional relationship described in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0070] What is disclosed above is only a preferred embodiment of the present invention, and it certainly cannot be used to limit the scope of rights of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiment and equivalent changes made according to the claims of the present invention still fall within the scope covered by the present invention.

Claims

1. An arm assembly, characterized in that: For humanoid robots, including: The forearm housing comprises a first cylinder, a first end plate, a first connecting portion and a second connecting portion of an integrated structure, wherein the first end plate is connected to an axial end of the first cylinder, the first connecting portion is connected to the first end plate, and the second connecting portion is connected to an end of the first cylinder away from the first end plate, the first connecting portion and the second connecting portion are arranged with a relative interval, the first end plate is provided with a first through hole and a first limiting groove extending in a circumferential direction of the first through hole, and the first limiting groove is communicated with the first through hole; A first connecting member is located between the first connecting portion and the second connecting portion, the first connecting member includes a second cylinder and a second end plate of an integral structure, the second end plate is connected to an axial end of the second cylinder, and the second cylinder is connected to the first connecting portion and the second connecting portion for rotation around a first axis; A first driving member, received in the first cylinder and connected to the first end plate; a second driving member, partially received in the second cylinder and connected to the second end plate; The transmission mechanism comprises a connecting rod and a crank, wherein the crank comprises a first main body and a first limiting portion, wherein the first limiting portion is connected to the outer peripheral surface of the first main body, the first main body is received in the first through hole and is connected to the first driving member, the first limiting portion is received in the first limiting groove, and the first limiting portion is used to abut against the side wall of the first limiting groove in the annular direction; The connecting rod includes a first section, a second section and a third section which are connected in sequence, the first section is rotationally connected to the crank, the third section is rotationally connected to the second cylinder, the first section is located on a side of the first connection portion facing away from the second connection portion, at least a portion of the second section and the third section are both located on a side of the first connection portion in a first direction, an avoidance groove is provided at one end of the first end plate close to the first connection portion, the avoidance groove is recessed in an end surface of the first end plate facing away from the first cylinder, at least a portion of the second section is accommodated in the avoidance groove, so that the arm assembly is smaller in size in the second direction, thereby improving the compactness of the arm assembly, and the first direction intersects with the second direction; a second connecting member connected to the second driving member; A palm member connected to the second connecting member; Among them, the first driving member is used to drive the palm member to rotate around the first axis relative to the forearm housing, and the second driving member is used to drive the palm member to rotate around the second axis relative to the forearm housing. The extension direction of the first axis is perpendicular to the extension direction of the second axis. The first axis extends along the second direction, and the second direction corresponds to the thickness direction of the palm member. The second axis extends along the first direction, and the first direction corresponds to the width direction of the palm member.

2. The arm assembly according to claim 1, characterized in that: A first calibration portion is provided on the forearm housing, and a second calibration portion is provided on the crank. When the first calibration portion and the second calibration portion are aligned, the crank is in an initial position relative to the forearm housing, and the initial position is used as the zero point for the rotation of the crank relative to the forearm housing.

3. The arm assembly according to claim 1, characterized in that: One end of the connecting rod is rotatably connected to the crank around a third axis, the other end of the connecting rod is rotatably connected to the first connecting member around a fourth axis, the crank is rotatably connected to the arm housing around a fifth axis, and the extension direction of the third axis, the extension direction of the fourth axis and the extension direction of the fifth axis are all parallel to the extension direction of the first axis; In an orthographic projection in the extension direction of the first axis, the crank, the connecting rod, the forearm housing and the first connecting member form a parallelogram structure.

4. The arm assembly according to claim 3, characterized in that: The second end plate is provided with a second through hole, and the second driving member is connected to the second connecting member through the second through hole; One end of the connecting rod is rotatably connected to the second cylinder around the fourth axis, and the first axis and the fourth axis both intersect with the second axis.

5. The arm assembly according to claim 1, characterized in that: The second connecting member includes a first connecting plate, a second connecting plate and a third connecting plate which are connected in sequence, the first connecting plate is connected to the second driving member, the third connecting plate is connected to the palm member, and the first connecting plate and the third connecting plate are arranged perpendicular to each other.

6. The arm assembly according to claim 5, characterized in that: The second connecting member further includes a reinforcing rib, which is connected to the second connecting plate, one end of which is connected to the first connecting plate, and the other end of which is connected to the third connecting plate.

7. The arm assembly according to claim 1, characterized in that: The transmission mechanism also includes a first bearing and a first fixing member, the inner ring of the first bearing is connected to the crank, the outer ring of the first bearing is connected to the connecting rod, the first fixing member is connected to the connecting rod, and the first fixing member abuts against the end surface of the outer ring of the first bearing facing away from the crank.

8. A humanoid robot, characterized in that: Comprising an arm assembly as described in any one of claims 1-7.

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