Robotic arms and humanoid robots

Abstract

The present application provides a mechanical arm and a humanoid robot. The mechanical arm includes a plurality of structural parts connected in sequence, wherein one of any two adjacent structural parts is provided with a driving part, and the other structural part is connected to the output shaft of the driving part, and the driving part is used to drive the two adjacent structural parts to rotate relative to each other, and the extension direction of the axis of rotation of any two adjacent driving parts is perpendicular; the plurality of structural parts include a shoulder connecting frame, a large arm housing, a first connecting arm, a small arm housing, a connecting sleeve and a second connecting arm arranged in sequence, the shoulder connecting frame is used to connect to the shoulder structure, and the second connecting arm is used to connect to the dexterous hand. In the present application, each motor of the mechanical arm is independently controlled, which reduces the motion interference problem caused by the uncoordinated motor drive. In the case of adopting a series drive design, there is no need for a complex transmission mechanism and control system to coordinate the synchronous motion of multiple motors, reducing the risk of stuck points due to the complexity of the transmission mechanism.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a robotic arm and a humanoid robot. Background Art

[0002] Humanoid robots can be used as service robots and industrial robots in the service industry and industrial manufacturing industry, replacing workers with humanoid robots to ensure the safety of workers. At present, in order to apply humanoid robots to more complex working environments, the mechanical arms of humanoid robots usually use multiple driving parts in parallel to act on one point to achieve multiple degrees of freedom. When multiple driving parts are driven synchronously, there is a risk of motion interference and deadlock at different points. Summary of the invention

[0003] The present application provides a mechanical arm and a humanoid robot that are helpful in reducing the risk of motion interference and singular point jamming.

[0004] In a first aspect, an embodiment of the present application provides a robotic arm for a humanoid robot, the robotic arm comprising a plurality of structural members connected in sequence, one of any two adjacent structural members being provided with a driving member, the other being connected to an output shaft of the driving member, the driving member being used to drive the two adjacent structural members to rotate relative to each other, the extension directions of the rotation axes of any two adjacent driving members being perpendicular; the plurality of structural members comprising a shoulder connecting frame, an upper arm housing, a first connecting arm, a lower arm housing, a connecting sleeve and a second connecting arm being arranged in sequence, the shoulder connecting frame being used to connect to the shoulder structure, the second connecting arm being used to connect to a dexterous hand.

[0005] In the present application, the shoulder connecting frame, the upper arm housing, the first connecting arm, the lower arm housing, the connecting sleeve and the second connecting arm are connected in sequence to form a continuous mechanical chain. Each joint (i.e., the connection point between two adjacent structural members) is equipped with a motor as a driving member. The motor is connected to the adjacent structural members through its output shaft to drive the relative rotation between them. That is, the mechanical arm in this embodiment adopts a series drive design, and each motor can be independently controlled, so that the mechanical arm can achieve complex motion trajectories and posture adjustments in three-dimensional space, reducing the motion interference problem caused by the uncoordinated motor drive. In the case of adopting a series drive design, each motor is directly connected to the structural member driven by it, and the power transmission can be achieved through a simple transmission device such as a gear, a belt or a bearing. There is no need to design a complex transmission mechanism and a control system to coordinate the synchronous motion of multiple motors, thereby reducing the risk of stuck points due to the complexity of the transmission mechanism.

[0006] According to the first aspect, in a possible implementation, the driving member includes a first driving member; the upper arm housing includes an upper arm shell and a mounting plate, the upper arm shell includes a first mounting portion, the first mounting portion forms a first mounting cavity having a first opening at one end, and the mounting plate is arranged at the first opening; the first driving member is arranged in the first mounting cavity and connected to the mounting plate; a portion of the shoulder connecting frame passes through the mounting plate and is connected to an output shaft of the first driving member; the first driving member is used to drive the upper arm shell to rotate around a first axis. The first mounting portion provides a safe and stable installation environment for the first driving member. The first driving member can directly drive the shoulder connecting frame, thereby driving the rotation of the entire upper arm shell, so that the robotic arm covers a wider working area.

[0007] According to the first aspect, in a possible implementation, the mounting plate is at least partially exposed from the shoulder connecting frame, and the portion of the mounting plate exposed from the shoulder connecting frame is detachably connected to the arm housing. That is, the mounting plate is at least partially not blocked by the connecting frame, which facilitates external fixing of the mounting plate and the arm housing; and the first driving member is allowed to be pre-fixed on the mounting plate and then installed as a whole in the first mounting cavity, which avoids complicated operations when the installation space is limited, and reduces the difficulty of assembling the first driving member, the mounting plate and the arm housing.

[0008] According to the first aspect, in a possible implementation, the inner side wall of the first mounting cavity is provided with a support platform, and the end of the upper arm housing located at the first opening is provided with a positioning groove connected to the first mounting cavity; the mounting plate is provided with a positioning protrusion, the mounting plate is supported on the support platform, and the positioning protrusion is snapped into the positioning groove. The support platform provides an additional support point for the mounting plate, and when the mounting plate is placed in the first mounting cavity and supported on the support platform, the positioning protrusion will snap into the positioning groove, thereby achieving precise positioning of the mounting plate, so that the mounting plate can be accurately installed to a predetermined position, and relative rotation between the mounting plate and the upper arm housing is prevented.

[0009] According to the first aspect, in a possible implementation, the driving member includes a second driving member; the arm housing further includes a second mounting portion, the second mounting portion includes an end plate and a side panel extending from the edge of the end plate along the axis of the end plate; the second driving member is connected to the end plate, the output shaft of the second driving member passes through the end plate and is connected to the first connecting arm, the second driving member is used to drive the first connecting arm to rotate around a second axis, and the second axis is perpendicular to the first axis. The second driving member can realize the folding and unfolding between the arm housing and the forearm housing, thereby increasing the flexibility and working range of the robot arm.

[0010] According to the first aspect, in a possible implementation, the side panel is covered on the outer side wall of the second driving member, and a portion of the second driving member is exposed from the side panel. The exposed portion can be held to adjust the angle of the second driving member when installing the second driving member, thereby improving work efficiency and convenience of operation.

[0011] According to the first aspect, in a possible implementation, the first connecting arm includes a first connecting plate and a second connecting plate connected at an angle, the first connecting plate is connected to the output shaft of the second driving member; the driving member also includes a third driving member, the third driving member is connected to the arm housing, the output shaft of the third driving member is connected to the second connecting plate, and the third driving member is used to drive the arm housing to rotate around a third axis, and the third axis intersects with the first axis. The first connecting arm plays a switching role, and the direction of the third axis is adjusted by the angle design. When the output shaft of the third driving member is connected to the second connecting plate, the third axis can be colinear or intersecting with the first axis as the first connecting arm rotates, so that the robot arm can achieve fine adjustment of the angle of the end actuator by adjusting the angle of the arm housing while maintaining a certain posture.

[0012] According to the first aspect, in a possible implementation, the driving member includes a third driving member and a fourth driving member; a third installation cavity and a fourth installation cavity that are interconnected are formed in the forearm housing, the third driving member is arranged in the third installation cavity, and the fourth driving member is arranged in the fourth installation cavity; the forearm housing is provided with an installation channel that is connected to the fourth installation cavity, and the connecting sleeve is installed in the installation channel. The staff can operate along the installation channel, which simplifies the disassembly and assembly process, thereby improving the disassembly and assembly efficiency.

[0013] According to the first aspect, in a possible implementation, the output shaft of the third driving member is connected to the first connecting arm, and the third driving member is used to drive the forearm housing to rotate along the third axis; the output shaft of the fourth driving member is transmission-connected to the second connecting arm, and the fourth driving member is used to drive the second connecting arm to swing along the fourth axis; the third axis is perpendicular to the fourth axis. In the actual working process of the robot arm, the third driving member and the fourth driving member work together to achieve complex motion trajectories and posture adjustments, so that the end actuator, such as a dexterous hand, is aligned with the target object.

[0014] According to the first aspect, in a possible implementation, the end of the forearm housing away from the first connecting arm is provided with two oppositely arranged support arms, the installation channel is located between the two support arms, and the opposite sides of the outer peripheral surface of the connecting sleeve are respectively rotatably connected to the two support arms; the forearm housing also includes a transmission rod, one end of which is transmission-connected to the output shaft of the fourth driving member, and the other end is rotationally connected to the connecting sleeve. The fourth driving member, the connecting rod, the connecting sleeve and the support arm form a connecting rod transmission structure, so that the rotation axis of the connecting sleeve is parallel to the fourth axis, and the power of the fourth driving member can be smoothly transmitted to the connecting sleeve. The connecting rod transmission structure realizes efficient power transmission through direct physical connection and precise transmission path.

[0015] According to the first aspect, in a possible implementation, the shape of the portion of the forearm housing corresponding to the third driving member is adapted to the shape of the third driving member, and the shape of the portion of the forearm housing corresponding to the fourth driving member is adapted to the shape of the fourth driving member. Reducing the internal gap of the forearm housing is conducive to reducing the peripheral size of the outer periphery of the forearm, and the signal line connected to the third driving member can pass through the via.

[0016] According to the first aspect, in a possible implementation, the shoulder connecting frame includes two third connecting plates arranged opposite to each other and an adapter plate connecting the two third connecting plates, wherein one of the third connecting plates is connected to the driving member of the shoulder structure, and the other third connecting plate is rotationally connected to the shoulder structure. The third connecting plate connected to the motor of the shoulder structure transmits power, and the third connecting plate connected to the shoulder structure rotates to form a stable support point and determine the rotation axis. The two third connecting plates provide two support points to form a stable support frame, which helps to reduce vibration and deviation during rotation and improve the overall performance and precision of the robotic arm.

[0017] In a second aspect, the embodiments of the present application further provide a humanoid robot, the humanoid robot comprising the mechanical arm as described in the first aspect. Since the humanoid robot adopts the mechanical arm as described in the first aspect, each motor can be independently controlled, so that the mechanical arm can achieve complex motion trajectories and posture adjustments in three-dimensional space, thereby adapting to various working environments and task requirements, such as grasping, carrying, operating tools, or performing other fine movements. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 is a schematic diagram of the structure of the shoulder structure, the arm structure and the dexterous hand in one embodiment of the present application;

[0020] Figure 2 is a schematic diagram of an arm structure in one embodiment of the present application;

[0021] Figure 3 is a disassembled schematic diagram of an arm structure in one embodiment of the present application;

[0022] Figure 4 It is a disassembly diagram of the housing of the upper arm in one embodiment of the present application;

[0023] Figure 5 It is a schematic diagram of the forearm housing in one embodiment of the present application.

[0024] Reference numerals:

[0025] 100-mechanical arm; 10-shoulder connecting frame; 11-third connecting plate; 12-adapter plate; 13-reinforcement plate; 20-big arm shell; 21-big arm shell; 211-first mounting part; 2111-support platform; 2112-positioning groove; 212-second mounting part; 2121-end plate; 2122-side panel; 22-mounting plate; 221-positioning protrusion; 30-first connecting arm; 31-first connecting plate; 32-second connecting plate; 40-small arm Shell; 41-third mounting cavity; 42-fourth mounting cavity; 43-mounting channel; 44-support arm; 45-transmission rod; 50-connecting sleeve; 60-second connecting arm; 71-first driving member; 72-second driving member; 73-third driving member; 74-fourth driving member; 75-fifth driving member; L1-first axis; L2-second axis; L3-third axis; L4-fourth axis; L5-fifth axis; 200-shoulder structure; 300-dexterous hand. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0027] 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.

[0028] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in this application and in the specification are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in this application includes any and all combinations of one or more of the related listed items.

[0029] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0030] This application provides a humanoid robot, see Figure 1 and Figure 2 The humanoid robot includes a mechanical arm 100, one end of the mechanical arm 100 is connected to a shoulder structure 200, and the other end is connected to a dexterous hand 300, and multiple degrees of freedom are used to achieve omnidirectional movement of the mechanical arm 100.

[0031] The humanoid robot of the embodiment of the present application can imitate the appearance and movement posture of a human to achieve more natural and flexible human-machine interaction and automated operation. The humanoid robot may include a trunk component (not shown), a head component (not shown), an upper limb component (not shown), a lower limb component (not shown), and a dexterous hand 300, etc. The upper limb component is connected to the trunk component by a shoulder structure 200 and a shoulder joint structure. These components work together to enable the robot to perform complex tasks, such as walking, grasping, operating tools, etc., which are not described in detail in the present application.

[0032] In one embodiment of the present application, the robotic arm 100 includes a plurality of structural members connected in sequence, among any two adjacent structural members, one of the structural members is provided with a driving member, and the other structural member is connected to the output shaft of the driving member, the driving member is used to drive the two adjacent structural members to rotate relative to each other, and the extension directions of the rotation axes of any two adjacent driving members are perpendicular; the plurality of structural members include a shoulder connecting frame 10, an upper arm housing 20, a first connecting arm 30, a lower arm housing 40, a connecting sleeve 50 and a second connecting arm 60 which are arranged in sequence, the shoulder connecting frame 10 is used to connect to the shoulder structure 200, and the second connecting arm 60 is used to connect to the dexterous hand 300.

[0033] A plurality of structural parts (such as the shoulder connecting frame 10, the upper arm housing 20, the first connecting arm 30, the lower arm housing 40, the connecting sleeve 50 and the second connecting arm 60) are connected in sequence to form a continuous mechanical chain. Each joint (i.e., the connection point between two adjacent structural parts) is equipped with a motor as a driving part. The motor is connected to the adjacent structural parts through its output shaft to drive the relative rotation between them. That is, the mechanical arm 100 in this embodiment adopts a series drive design, and each motor can be independently controlled, so that the mechanical arm 100 can achieve complex motion trajectories and posture adjustments in three-dimensional space, reducing the motion interference problem caused by the uncoordinated motor drive. In the case of a series drive design, each motor is directly connected to the structural part it drives, and the power transmission can be achieved through simple transmission devices such as gears, belts or bearings. There is no need to design a complex transmission mechanism and control system to coordinate the synchronous movement of multiple motors, thereby reducing the risk of stuck points due to the complexity of the transmission mechanism.

[0034] Furthermore, in the case of a serial drive design, if a motor or structural component fails, it will generally only affect the joint driven by the motor, making fault detection and repair easier and improving the fault tolerance of the entire multi-freedom robot arm 100.

[0035] Please refer to Figure 3, multiple driving members include a first driving member 71, a second driving member 72, a third driving member 73, a fourth driving member 74 and a fifth driving member 75. The first driving member 71 and the second driving member 72 are installed in the arm housing 20. The first driving member 71 drives the arm housing 21 to rotate around the first axis L1, which is the basis for the robot arm 100 to achieve a wide range of motion, so that the entire arm can rotate on a horizontal plane or a similar plane, thereby covering a wider working area. The second driving member 72 drives the first connecting arm 30 to rotate around the second axis L2, and the second axis L2 is perpendicular to the first axis L1, so that the small arm assembly is close to or away from the large arm assembly to achieve a certain degree of folding, and the flexibility and adaptability of the robot arm 100. The third driving member 73 and the fourth driving member 74 are installed in the arm housing 40. The third driving member 73 drives the arm housing 40 to rotate around the third axis L3. The third axis L3 and the first axis L1 are coplanar. When the second driving member 72 drives the first connecting arm 30 to rotate, the third axis L3 can intersect or coincide with the first axis L1. This enables the robot arm 100 to achieve fine adjustment of the angle of the end actuator by adjusting the angle of the forearm housing 40 while maintaining a certain posture. The fourth drive member 74 drives the connecting sleeve 50 to rotate around the fourth axis L4, and the fourth axis L4 is perpendicular to the third axis L3. This layout is similar to the human wrist joint, which enables the connecting sleeve 50 (and the end actuator connected to it) to further rotate and tilt on the basis of the forearm housing 40. This design greatly increases the flexibility and operational accuracy of the robot arm 100. The fifth drive member 75 is installed in the connecting sleeve 50, and the fifth drive member 75 drives the second connecting arm 60 to rotate around the fifth axis L5. This level of drive provides additional degrees of freedom for the end actuator, enabling it to perform more complex movements and operations in three-dimensional space.

[0036] Taking the arm length direction of the robot arm 100 as the length direction, the upper arm housing 20 and the lower arm housing 40 extend a distance in the length direction to better simulate the motion characteristics and length ratio of a real arm. The first driving member 71 and the second driving member 72 are arranged at intervals in the upper arm housing 20 along the length direction, and the third driving member 73 and the fourth driving member 74 are arranged at intervals in the length direction, so as to make full use of the internal space of the upper arm housing 20 and the lower arm housing 40, and minimize the length dimension of the shoulder connecting frame 10 in the first connecting arm 30.

[0037] In one embodiment, see Figures 2 to 4The upper arm housing 20 includes an upper arm housing 21 and a mounting plate 22. The upper arm housing 21 includes a first mounting portion 211. The first mounting portion 211 forms a first mounting cavity with a first opening at one end. The mounting plate 22 is disposed at the first opening. The first driving member 71 is disposed in the first mounting cavity and connected to the mounting plate 22. The first mounting portion 211 provides a safe and stable installation environment for the first driving member 71. Part of the shoulder connecting frame 10 passes through the mounting plate 22 and is connected to the output shaft of the first driving member 71. The first driving member 71 can directly drive the shoulder connecting frame 10, thereby driving the rotation of the entire upper arm housing 21.

[0038] Based on the above embodiment, the mounting plate 22 is at least partially exposed from the shoulder connecting frame 10, and the portion of the mounting plate 22 exposed from the shoulder connecting frame 10 is detachably connected to the upper arm housing 21, that is, part of the mounting plate 22 is not blocked by the connecting frame, which facilitates external fixation of the mounting plate 22 and the upper arm housing 21, for example, by locking with fasteners such as bolts, so that the mounting plate 22 can be easily installed and removed.

[0039] The mounting plate 22 can be set to a circular structure, and the portion where the shoulder connecting frame 10 is connected to the first driving member 71 can be set to a rectangular structure, so that when the mounting plate 22 and the connecting frame are aligned in the center, both opposite sides of the mounting can be partially exposed from the connecting frame, so that multiple points of fixation can be performed in the circumferential direction of the mounting plate 22, thereby improving the connection stability between the mounting plate 22 and the upper arm housing 21. It can be understood that the edge of the connecting plate can be provided with an avoidance notch to increase the exposed area of ​​the mounting plate 22, thereby providing more space for the fastening operation.

[0040] In this embodiment, the first driving member 71 is allowed to be pre-fixed on the mounting plate 22 and then installed as a whole into the first mounting cavity, thereby avoiding complicated operations when the installation space is limited.

[0041] For further information, see Figure 3 and Figure 4 , the inner side wall of the first mounting cavity is provided with a support platform 2111, which is a protruding structure formed on the inner side wall of the first mounting cavity, and provides an additional support point for the mounting plate 22. When the mounting plate 22 is subjected to the force from the first driving member 71 or other components, the mounting plate 22 can more stably maintain the position of the mounting plate 22. A positioning groove 2112 communicating with the first mounting cavity is provided at one end of the first opening of the upper arm housing 21. A positioning protrusion 221 matching the positioning groove 2112 is provided on the mounting plate 22. When the mounting plate 22 is placed in the first mounting cavity and supported on the support platform 2111, the positioning protrusion 221 will be stuck in the positioning groove 2112, thereby realizing the precise positioning of the mounting plate 22, so that the mounting plate 22 can be accurately installed to the predetermined position, and at the same time, the cooperation between the positioning groove 2112 and the positioning protrusion 221 prevents the mounting plate 22 and the upper arm housing 21 from rotating relative to each other.

[0042] Among them, the support platform 2111 can extend along the circumference of the first installation cavity to form an annular platform, thereby forming a continuous support surface, so that the mounting plate 22 forms a stable support in the entire circumference; at the same time, the support platform 2111 is equivalent to increasing the thickness of the upper arm shell 21, thereby enhancing the rigidity of the upper arm shell 21 and preventing excessive deformation when the mounting plate 22 or other components are subjected to force. The support platform 2111 may also include a plurality of support columns arranged at intervals along the circumference of the first installation cavity to form a plurality of discrete support points. The number and position of the support columns can be adjusted as needed to adapt to different installation requirements and space limitations. This application does not limit this.

[0043] In one embodiment, see Figure 3 and Figure 4 The upper arm housing 21 also includes a second mounting portion 212, and the second mounting portion 212 includes an end plate 2121 and a side panel 2122 extending from the edge of the end plate 2121 along the axis of the end plate 2121; the second driving member 72 is connected to the end plate 2121, and the output shaft of the second driving member 72 passes through the end plate 2121 and is connected to the first connecting arm 30, and the second driving member 72 is used to drive the first connecting arm 30 to rotate around the second axis L2, and the second axis L2 is perpendicular to the first axis L1. The second driving member 72 drives the first connecting arm 30 to rotate around the second axis L2. Since the second axis L2 is perpendicular to the first axis L1, the second driving member 72 can realize the folding and unfolding between the upper arm housing 21 and the lower arm housing 40, thereby increasing the flexibility and working range of the robot arm 100.

[0044] The side panel 2122 can be covered on the outer side wall of the second driving member 72, and part of the second driving member 72 is exposed from the side panel 2122, such as a heat sink, an interface or an adjustment mechanism. At the same time, the exposed part can be held to adjust the angle of the second driving member 72 when installing the second driving member 72, thereby improving work efficiency and convenience of operation.

[0045] The second mounting portion 212 and the first mounting portion 211 are an integrated structure, and the integrated structure also improves the overall rigidity and stability of the upper arm housing 21, making the robot arm 100 more stable and reliable during operation.

[0046] In one embodiment, see Figure 2 and Figure 3The first connecting arm 30 includes a first connecting plate 31 and a second connecting plate 32 connected at an angle. The first connecting plate 31 is connected to the output shaft of the second driving member 72; the second connecting plate 32 is connected to the output shaft of the third driving member 73 disposed in the arm housing 40, and the third driving member 73 is used to drive the arm housing 40 to rotate around the third axis L3. The first connecting arm 30 plays a switching role. The first connecting arm 30 is L-shaped. The direction of the third axis L3 is adjusted by the angle design. Due to the angle between the first connecting plate 31 and the second connecting plate 32, when the output shaft of the third driving member 73 is connected to the second connecting plate 32, the third axis L3 (i.e., the rotation axis of the arm housing 40) can intersect with the first axis L1 (the rotation axis of the arm housing 21).

[0047] See also Figure 3 and Figure 5 In one embodiment, a third installation cavity 41 and a fourth installation cavity 42 which are interconnected are formed in the arm housing 40, the third driving member 73 is arranged in the third installation cavity 41, and the fourth driving member 74 is arranged in the fourth installation cavity 42; the arm housing 40 is provided with an installation channel 43 which is connected with the fourth installation cavity 42, and the connecting sleeve 50 is installed in the installation channel 43. During the disassembly and assembly process, the staff can operate along the installation channel 43, which greatly simplifies the disassembly and assembly process and improves the disassembly and assembly efficiency.

[0048] The installation channel 43 is coaxially arranged with the third installation cavity 41, and the interconnected design of the third installation cavity 41 and the fourth installation cavity 42 makes efficient use of the space inside the forearm housing 40. This design reduces unnecessary space waste and improves the compactness and integration of the entire robotic arm 100. The installation channel 43 is connected to the fourth installation cavity 42 and is also coaxially arranged with the third installation cavity 41, which means that during the disassembly and assembly process, the staff can operate along the installation channel 43 that is the same as the axis of the third drive member 73, simplifying the disassembly and assembly process. In addition, the cross-sectional size of the installation channel 43 is greater than or equal to the cross-sectional size of the third installation cavity 41, so as to avoid the fourth drive member 74 being restricted or obstructed during the installation or removal process, thereby improving the disassembly and assembly efficiency.

[0049] See also Figure 2 , Figure 3 and Figure 5, the output shaft of the third driving member 73 is connected to the first connecting arm 30, and the third driving member 73 is used to drive the small arm housing 40 to rotate along the third axis L3; the output shaft of the fourth driving member 74 is transmission-connected to the second connecting arm 60, and the fourth driving member 74 is used to drive the second connecting arm 60 to swing along the fourth axis L4; the third axis L3 is perpendicular to the fourth axis L4. In the actual working process of the robotic arm 100, the third driving member 73 and the fourth driving member 74 usually work together to achieve complex motion trajectories and posture adjustments. For example, when grasping an object, it may be necessary to first adjust the direction of the small arm housing 40 through the third driving member 73 so that the end effector (dexterous hand 300) is aligned with the target object; and then drive the second connecting arm 60 through the fourth driving member 74 for fine-tuning to ensure that the end effector can grasp the object accurately and stably.

[0050] In one embodiment, the arm housing 40 is provided with two support arms 44 arranged opposite to each other at one end away from the first connecting arm 30, and the two support arms 44 provide a stable support platform 2111 for the installation of the connecting sleeve 50; the two sides of the connecting sleeve 50 are respectively rotatably connected to the two support arms 44, allowing the connecting sleeve 50 to swing around an axis under the constraint of the support arms 44. The arm housing 40 also includes a transmission rod 45, one end of which is connected to the output shaft of the fourth driving member 74, and the other end is connected to the second connecting arm 60. The fourth driving member 74, the transmission rod 45, the connecting sleeve 50 and the support arms 44 form a connecting rod transmission structure, so that the rotation axis of the connecting sleeve 50 is parallel to the fourth axis L4, and the power of the fourth driving member 74 can be smoothly transmitted to the second connecting arm 60. The connecting rod transmission structure realizes efficient transmission of power through direct physical connection and precise transmission path.

[0051] The mounting channel 43 is located between two support arms 44, and the support arms 44 serve as the two side boundaries of the mounting channel 43, providing a stable support for the mounting channel 43. This design enhances the stability of the mounting channel 43 and reduces the risk of damage caused by vibration or impact.

[0052] The shape of the part of the forearm housing 40 corresponding to the third driving member 73 is adapted to the shape of the third driving member 73, and the shape of the part of the forearm housing 40 corresponding to the fourth driving member 74 is adapted to the shape of the fourth driving member 74. By reducing the internal gap, it is beneficial to reduce the peripheral size of the outer periphery of the forearm, and a through hole connected to the third mounting cavity 41 is provided on the forearm housing 40, and the signal line connected to the third driving member 73 can pass through the through hole. It should be noted that the through hole can be located between the third driving member 73 and the fourth driving member 74 to prevent the signal line connected to the third driving member 73 from passing through the gap between the fourth driving member 74 and the forearm housing 40.

[0053] The part of the forearm housing 40 used to install the third driving member 73 is a cylindrical structure, and the end of the forearm housing 40 forms a connecting flange, so it is necessary to open a mounting channel 43 on the side away from the third mounting cavity 41. The second connecting plate 32 of the first connecting arm 30 is provided with an annular rib, and the second mounting plate 22 is connected to the output shaft of the third driving member 73. The annular rib is sleeved on the outer periphery of the forearm structure and can rotate relative to the forearm structure. The annular rib can block the gap between the second connecting plate 32 and the end face of the forearm housing 40, and can adjust the overall strength of the first connecting arm 30.

[0054] See also Figure 1 and Figure 2 The shoulder connecting frame 10 includes two third connecting plates 11 arranged opposite to each other and an adapter plate 12 connecting the two third connecting plates 11, and the adapter plate 12 passes through the mounting plate 22 and is connected to the output shaft of the first driving member 71. One of the third connecting plates 11 is connected to the driving member of the shoulder structure 200 to transmit power, and the other third connecting plate 11 is rotatably connected to the shoulder structure 200 to form a stable support point to determine the rotation axis. The two third connecting plates 11 provide two support points to form a stable support frame, which helps to reduce vibration and deviation during rotation and improve the overall performance and accuracy of the robot arm 100.

[0055] The shoulder connecting frame 10 also includes a reinforcing plate 13. Since the shoulder connecting frame 10 bears the gravity of the entire arm structure and various dynamic loads generated when performing tasks, the reinforcing plate 13 increases the strength and rigidity of the structure, thereby enhancing the bearing capacity of the entire structure, so that the shoulder connecting frame 10 can better resist deformation and damage and maintain its stability and reliability.

[0056] The shoulder connecting frame 10 includes two third connecting plates 11 arranged opposite to each other and an adapter plate 12 connecting the two third connecting plates 11, and the adapter plate 12 passes through the mounting plate 22 and is connected to the output shaft of the first driving member 71. One of the third connecting plates 11 is connected to the driving member of the shoulder structure 200 to transmit power, and the other third connecting plate 11 is rotatably connected to the shoulder structure 200 to form a stable support point to determine the rotation axis. The two third connecting plates 11 provide two support points to form a stable support frame, which helps to reduce vibration and deviation during rotation and improve the overall performance and accuracy of the robot arm 100.

[0057] The second connecting arm 60 may also be an L-shaped structure, one side of the L-shaped structure is connected to the output shaft of the fifth driving member 75, and the other side is connected to the dexterous hand 300. The second connecting arm 60 is similar to the first connecting arm 30, and will not be described in detail in this application.

[0058] In the description of the embodiments of the present application, it should be noted that the orientation or positional relationship of terms such as "center", "up", "down", "left", "right", "vertical", "horizontal", "inside" and "outside" are based on the orientation or positional relationship described in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0059] What is disclosed above is only a preferred embodiment of the present application, and it certainly cannot be used to limit the scope of rights of the present application. Ordinary technicians in this field can understand that all or part of the processes of implementing the above embodiment and equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A mechanical arm for a humanoid robot, characterized in that: The robot arm comprises a plurality of structural members connected in sequence, wherein one of any two adjacent structural members is provided with a driving member, and the other structural member is connected to an output shaft of the driving member, and the driving member is used to drive the two adjacent structural members to rotate relative to each other, and the extension directions of the rotation axes of any two adjacent driving members are perpendicular; The multiple structural parts include a shoulder connecting frame, a large arm housing, a first connecting arm, a small arm housing, a connecting sleeve and a second connecting arm which are arranged in sequence, the shoulder connecting frame is used to connect with the shoulder structure, and the second connecting arm is used to connect with the dexterous hand; The driving member includes a first driving member and a second driving member, the arm housing includes an arm shell and a mounting plate, the arm shell includes a first mounting portion and a second mounting portion of an integral structure, the second mounting portion and the mounting plate are respectively connected to two ends of the first mounting portion in an axial direction, an end of the first mounting portion away from the second mounting portion forms a first mounting cavity with a first opening, an inner side wall of the first mounting cavity is provided with a supporting platform, the mounting plate is supported on the supporting platform, the first driving member is accommodated in the first mounting cavity and connected to the mounting plate, and the first driving member is used to drive the arm shell to rotate around a first axis; The second mounting portion comprises an end plate and a side panel extending from an edge of the end plate along an axis of the end plate, the side panel being connected to the first mounting portion, the second driving member being connected to the end plate, the output shaft of the second driving member passing through the end plate and connected to the first connecting arm, the side panel covering the outer side wall of the second driving member, and a portion of the second driving member being exposed from the side panel, the second driving member being used to drive the first connecting arm to rotate around a second axis, the second axis being perpendicular to the first axis; Part of the shoulder connecting frame passes through the mounting plate and is connected to the output shaft of the first driving member, the mounting plate is at least partially exposed from the shoulder connecting frame, and the part of the mounting plate exposed from the shoulder connecting frame is detachably connected to the upper arm housing.

2. The robotic arm according to claim 1, characterized in that: The arm housing is provided with a positioning groove communicating with the first installation cavity at one end of the first opening; The mounting plate is provided with a positioning protrusion, and the positioning protrusion is inserted into the positioning groove.

3. The robotic arm according to claim 1, characterized in that: The first connecting arm comprises a first connecting plate and a second connecting plate connected at an angle, and the first connecting plate is connected to the output shaft of the second driving member; The driving member also includes a third driving member, which is connected to the forearm housing, and the output shaft of the third driving member is connected to the second connecting plate. The third driving member is used to drive the forearm housing to rotate around a third axis, and the third axis intersects with the first axis.

4. The robotic arm according to claim 1, characterized in that: The driving member includes a third driving member and a fourth driving member; A third installation cavity and a fourth installation cavity which are interconnected are formed in the forearm housing, the third driving member is arranged in the third installation cavity, and the fourth driving member is arranged in the fourth installation cavity; the forearm housing is provided with an installation channel which is connected with the fourth installation cavity, and the connecting sleeve is installed in the installation channel.

5. The robotic arm according to claim 4, characterized in that: The output shaft of the third driving member is connected to the first connecting arm, and the third driving member is used to drive the forearm housing to rotate along a third axis; The output shaft of the fourth driving member is drivingly connected to the second connecting arm, and the fourth driving member is used to drive the second connecting arm to swing along a fourth axis; the third axis is perpendicular to the fourth axis.

6. The robotic arm according to claim 5, characterized in that: The end of the forearm housing away from the first connecting arm is provided with two supporting arms arranged opposite to each other, the installation channel is located between the two supporting arms, and the two opposite sides of the outer peripheral surface of the connecting sleeve are rotatably connected to the two supporting arms respectively; The forearm housing also includes a transmission rod, one end of which is transmission-connected to the output shaft of the fourth driving member, and the other end of which is rotationally connected to the connecting sleeve.

7. The robotic arm according to claim 4, characterized in that: The shape of the portion of the forearm housing corresponding to the third driving member is adapted to the shape of the third driving member, and the shape of the portion of the forearm housing corresponding to the fourth driving member is adapted to the shape of the fourth driving member.

8. The robotic arm according to claim 1, characterized in that: The shoulder connecting frame includes two third connecting plates arranged opposite to each other and an adapter plate connecting the two third connecting plates, wherein one of the third connecting plates is connected to the driving member of the shoulder structure, and the other third connecting plate is rotatably connected to the shoulder structure.

9. A humanoid robot, characterized in that: The humanoid robot comprises a robotic arm as claimed in any one of claims 1 to 8.

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