Shoulder joint structure and humanoid robot

Abstract

The present application provides a shoulder joint structure and a humanoid robot. The shoulder joint structure includes a mounting shell, a driving member and a connecting frame. The mounting shell is used to connect with the shoulder structure of the humanoid robot; the first connecting arm is directly connected to the rotor of the driving member exposed from the mounting shell, and is responsible for receiving power from the driving member. The second connecting arm is rotatably connected to the mounting seat to form a double support point. When the upper arm structure performs an opening and closing action, the rotating connection point formed between the mounting seat and the second connecting arm, as the rotation axis of the opening and closing action of the upper arm structure, provides stable support. The generated lateral force and torque are effectively dispersed to the mounting seat, reducing the lateral force directly acting on the output shaft of the driving member, and reducing the risk of damage to the driving member or deformation of the output shaft of the driving member due to stress concentration. The stable connection point and the stress dispersion mechanism work together to reduce the vibration and shaking of the upper arm structure during movement, and improve the movement stability and movement accuracy.

Description

Technical Field

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

[0002] In the design and application of humanoid robots, the shoulder joint is the key part connecting the torso and the upper arm, and its performance directly affects the overall flexibility and accuracy of the robot. The traditional shoulder joint structure is only directly subjected to force by the output shaft of the driver, which results in the output shaft being subject to a large torque when performing these actions, which is prone to deformation and wear. This deformation not only reduces the movement accuracy of the joint, but may also cause the movement trajectory to deviate, affecting the overall movement stability and coordination of the humanoid robot. Summary of the invention

[0003] The present application provides a shoulder joint structure and a humanoid robot that are beneficial to improving movement stability and coordination.

[0004] In the first aspect, an embodiment of the present application provides a shoulder joint structure for a humanoid robot; the shoulder joint structure includes a mounting shell, a connecting frame and a driving member, the mounting shell is used to connect with the shoulder structure of the humanoid robot; the mounting shell includes an end plate, a mounting sleeve and a mounting seat, the end plate and the mounting seat are arranged at opposite ends of the mounting sleeve and together form a mounting cavity, and the end plate is provided with an opening connected to the mounting cavity; the driving member is accommodated in the mounting cavity, the stator of the driving member is connected to the end plate, and the rotor of the driving member is exposed from the opening; the connecting frame includes a first connecting arm, a second connecting arm and an adapter plate connecting the first connecting arm and the second connecting arm, the first connecting arm is connected to the exposed rotor of the driving member, the second connecting arm is rotatably connected to the mounting seat, and the adapter plate is used to connect with the upper arm structure of the humanoid robot.

[0005] In the present application, the driving member provides a driving force to make the connecting frame drive the boom structure to swing, the first connecting arm is directly connected to the rotor of the driving member, and the first connecting arm and the second connecting arm form a double support point. When the boom structure is opened and closed, the rotating connection point formed between the mounting seat and the second connecting arm, as the rotation axis of the opening and closing action of the boom structure, provides stable support. The generated lateral force and torque are effectively dispersed to the mounting seat, reducing the lateral force directly acting on the output shaft of the driving member, and reducing the risk of damage to the driving member or deformation of the output shaft of the driving member due to stress concentration. The stable connection point and the stress dispersion mechanism work together to reduce the vibration and shaking of the boom structure during movement, and improve movement stability and movement accuracy.

[0006] According to the first aspect, in a possible implementation, the first connecting arm is provided with an annular limiting plate, and the limiting plate is sleeved on the periphery of the rotor of the driving member. The limiting plate is sleeved on the periphery of the exposed portion of the driving member to form a stable connection interface, ensure the position accuracy of the first connecting arm during connection, prevent the first connecting arm from being relatively displaced or loosened with the rotor of the driving member during movement, thereby improving the stability and reliability of the connection.

[0007] According to the first aspect, in a possible implementation, a limiting groove is provided on the first connecting arm, and the limiting groove is located at the periphery of the limiting plate and extends along the circumference of the limiting plate; a limiting block is provided on the end plate, and the limiting block is used to abut against both ends of the limiting groove along the circumference of the limiting plate to limit the rotation angle of the first connecting arm in the circumferential direction, that is, to limit the opening and closing range of the large arm structure; the limiting groove is designed with the limiting plate as the inner boundary, and its trajectory is consistent with the circumferential extension of the limiting plate. This design ensures that the limiting groove and the limiting block can maintain a smooth trajectory during the contact process, and the limiting plate can automatically align the limiting block and the limiting groove when the output shaft of the driving member cooperates.

[0008] According to the first aspect, in a possible implementation, the first connecting arm is provided with a wire-passing slot, and the wire-passing slot extends from the rotation center of the first connecting arm to the adapter plate; the wire-passing slot is provided with a first mounting portion at one end close to the adapter plate, and the first mounting portion is used to install a sensor, and the first mounting portion is provided with a detection channel connected to the wire-passing slot. The sensor is installed on the first mounting portion, and the transmitting end or the receiving end of the sensor is arranged opposite to the detection channel for detecting the zero point position of the large arm structure. The wire-passing slot extends from the rotation center of the first connecting arm to the adapter plate, providing a convenient wiring channel for the sensor connected to the first mounting portion, and protecting the signal line from interference and damage from the external environment.

[0009] According to the first aspect, in a possible implementation, the second connecting arm is provided with a second mounting portion protruding toward the first connecting arm, and a mounting hole is provided on the mounting seat; the second mounting portion extends into the mounting hole, and a bearing is provided between the second mounting portion and the inner wall of the mounting hole. The protruding second mounting portion cooperates with the mounting hole to achieve a stable connection structure, and a bearing is provided between the second mounting portion and the inner wall of the mounting hole. The friction and wear of the second connecting arm during the rotation process are reduced, and the smoothness and stability of the rotation are improved.

[0010] According to the first aspect, in a possible implementation, the second mounting portion is provided with a through hole extending along a first direction, wherein the first direction is the direction in which the first connecting arm points to the second connecting arm. The through hole is adapted to a driving member having a hollow channel, so as to facilitate leading out a signal line fixed in the wire groove.

[0011] According to the first aspect, in a possible implementation, the connecting frame further includes a reinforcement member, the two ends of which are respectively connected to the first connecting arm and the second connecting arm, and the reinforcement member is spaced apart from the adapter plate. A stable support frame of a triangular or similar structure is formed. This design significantly enhances the connection strength between the two connecting arms, preventing deformation or breakage caused by excessive force. This enables the shoulder joint to maintain a stable posture and performance when subjected to various complex forces and movements.

[0012] According to the first aspect, in a possible implementation, a wire-passing hole is provided on the adapter plate, and the wire-passing hole, the spacing between the reinforcement and the adapter plate are used for the signal line connecting the driving member and the large arm structure to pass through. The main function of the wire-passing hole is to serve as a channel for the signal line, so that the cables connecting the driving member and the large arm structure can pass through the adapter plate in an orderly manner. The spacing between the reinforcement and the adapter plate is not only to avoid direct contact and interference between the two, but also cleverly serves as an additional channel space for the signal line.

[0013] According to the first aspect, in a possible implementation, the end plate and the mounting sleeve are an integral structure, and the mounting seat is detachably connected to the mounting sleeve. As an integral structure, the end plate and the mounting sleeve can jointly withstand various forces and moments from the shoulder joint structure. This design enhances the structural strength of the entire connecting component and improves its stability and durability. The detachable connection design between the mounting seat and the mounting sleeve makes it easy to remove the mounting seat from the mounting sleeve when repair or replacement of parts is required, which facilitates the disassembly and assembly of the drive member.

[0014] According to the first aspect, in a possible implementation, the mounting seat includes a fixing ring, a seat body and connecting ribs, the seat body is rotatably connected to the second connecting arm, the fixing ring is arranged on the periphery of the seat body, and the fixing ring is detachably connected to the mounting shell; there are multiple connecting ribs, each of which is connected between the fixing ring and the seat body, and multiple connecting ribs are arranged at intervals along the periphery of the seat body. By organically combining the three parts of the fixing ring, the seat body and the connecting ribs, the mounting seat not only realizes the rotatable connection with the second connecting arm and the detachable connection with the mounting shell, but also has high structural strength and stability. This design makes the installation and fixation of the drive member more convenient and reliable, and also improves the overall performance and durability of the robot shoulder joint.

[0015] According to the first aspect, in a possible implementation, the mounting shell includes a third mounting portion, one end of the third mounting portion is connected to the mounting sleeve, and the other end of the third mounting portion is used to connect to the shoulder structure of the humanoid robot. The third mounting portion, the mounting sleeve and the end plate of the mounting shell are designed as an integrated structure, which brings higher structural strength, manufacturing accuracy, installation convenience and aesthetics to the robot shoulder joint. This design not only improves the overall performance of the robot, but also reduces manufacturing costs and maintenance difficulties.

[0016] According to the first aspect, in a possible implementation, the third mounting portion includes a connecting section, a connecting flange and a reinforcing rib, wherein the connecting section extends from the side wall of the mounting sleeve along the radial direction of the mounting sleeve, the connecting flange is provided at one end of the connecting section away from the mounting sleeve, and the connecting flange is used to connect to the shoulder structure of the humanoid robot; the reinforcing rib connects the connecting flange, the connecting section and the mounting sleeve. A stable connecting component is formed by combining the connecting section, the connecting flange and the reinforcing rib. It can not only withstand various forces and moments from the shoulder structure, but also ensure the tight connection and coordinated work between the shoulder joint and the overall structure of the humanoid robot, reducing the risk of failure caused by loose or damaged connecting components.

[0017] In a second aspect, the present application also provides a humanoid robot, the humanoid robot comprising a shoulder structure, a large arm structure, and the shoulder joint structure as described in the first aspect, the mounting shell is connected to the shoulder structure, and the adapter plate is connected to the large arm structure. Since the humanoid robot uses the shoulder joint structure described in the first aspect to connect the shoulder structure and the large arm structure, by improving the strength and stability of the shoulder joint structure, the posture control and force balance of the humanoid robot during movement are facilitated. 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 It is a schematic diagram of the connection structure of the shoulder structure, the shoulder joint structure and the upper arm structure in one embodiment of the present application;

[0020] Figure 2 is a combined schematic diagram of a shoulder joint structure in one embodiment of the present application;

[0021] Figure 3 is a cross-sectional schematic diagram of a shoulder joint structure in one embodiment of the present application;

[0022] Figure 4 It is a schematic diagram of a partially disassembled structure of a shoulder joint structure in one embodiment of the present application;

[0023] Figure 5 is a schematic diagram of the disassembled structure of a connecting frame in one embodiment of the present application;

[0024] Figure 6 It is a schematic diagram of the disassembled structure of the mounting shell and the motor in one embodiment of the present application.

[0025] Reference numerals:

[0026] 100-shoulder joint structure; 10-mounting shell; 11-end plate; 111-opening; 112-limiting block; 12-mounting sleeve; 13-mounting seat; 131-mounting hole; 132-fixing ring; 133-seat body; 134-connecting rib; 14-mounting cavity; 15-bearing; 16-third mounting part; 161-connecting section; 162-connecting flange; 163-reinforcement rib; 20-connecting frame; 21-first connecting arm; 211-limiting plate; 212-limiting groove; 213-wire groove; 214-first mounting part; 215-detection channel; 22-second connecting arm; 221-second mounting part; 222-through hole; 23-adapter plate; 231-wire hole; 24-reinforcement member; 30-driving member; 200-shoulder structure; 300-upper arm structure. DETAILED DESCRIPTION

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] This application provides a humanoid robot, see Figure 1 The humanoid robot includes a shoulder joint structure 100, a shoulder structure 200 and a large arm structure 300. One end of the shoulder joint structure 100 is connected to the shoulder structure 200, and the other end is connected to the large arm structure 300. The shoulder joint structure 100 can drive the large arm structure 300 to open and close.

[0032] 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. It 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, etc. The part where the upper limb component is connected to the trunk component is a shoulder structure 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 will not be described in detail in the present application.

[0033] See also Figures 1 to 3 The shoulder joint structure 100 in the embodiment of the present application includes a mounting shell 10 and a connecting frame 20. The mounting shell 10 is used to connect with the shoulder structure 200 of the humanoid robot; the mounting shell 10 includes an end plate 11, a mounting sleeve 12 and a mounting seat 13. The end plate 11 and the mounting seat 13 are respectively arranged at opposite ends of the mounting sleeve 12 and together form a mounting cavity 14. The mounting sleeve 12 is a hollow cylindrical structure, and the mounting sleeve 12 is connected to the outer edge of the end plate 11, that is, the end plate 11 is a flange structure bent inward from the end edge of the mounting sleeve 12, and the driving member 30 can be fixed by fasteners such as bolts; the mounting seat 13 is connected to the end of the mounting sleeve 12 away from the end plate 11, so that the end plate 11, the mounting sleeve 12 and the mounting seat 13 form a mounting cavity 14, and the end plate 11 is provided with an opening 111 connected to the mounting cavity 14; the driving member 30 is arranged in the mounting cavity 14, that is, the entire mounting shell 10 is covered on the periphery of the driving member 30, so as to protect the driving member 30; the stator of the driving member 30 is connected to the end plate 11, and the rotor of the driving member 30 is exposed from the opening 111. The connecting frame 20 includes a first connecting arm 21, a second connecting arm 22 and an adapter plate 23 connecting the first connecting arm 21 and the second connecting arm 22. The first connecting arm 21 is connected to the rotor of the driving member 30, and the second connecting arm 22 is rotatably connected to the mounting seat 13. The adapter plate 23 is used to connect to the upper arm structure 300 of the humanoid robot.

[0034] The first connecting arm 21 is directly connected to the rotor of the driving member 30 and is responsible for receiving the power from the driving member 30. The second connecting arm 22 is rotatably connected to the mounting seat 13. Normally, the rotation center of the second connecting arm 22 and the mounting seat 13 is colinear with the axis of the output shaft of the driving member 30, thereby forming a double support point. When the big arm structure 300 is opened and closed, the rotation connection point formed between the mounting seat 13 and the second connecting arm 22, as the rotation axis of the opening and closing action of the big arm structure 300, provides stable support. The generated lateral force and torque are effectively dispersed to the mounting seat 13, reducing the lateral force directly acting on the output shaft of the driving member 30, and reducing the risk of damage to the driving member 30 or deformation of the output shaft of the driving member 30 due to stress concentration. The stable connection point and the stress dispersion mechanism work together to reduce the vibration and shaking of the big arm structure 300 during movement, and improve the movement stability and movement accuracy.

[0035] Furthermore, since a stable rotation axis is formed between the mounting seat 13 and the second connecting arm 22, in actual applications, a buffer structure can be provided between the output shaft of the driving member 30 and the first connecting arm 21. The output shaft of the driving member 30 only provides rotational power, and the mounting seat 13 assumes the main supporting role. In this way, the driving member 30 can be effectively protected while transmitting power, avoiding damage caused by directly bearing lateral forces. The existence of the buffer structure not only reduces the burden on the driving member 30, but also reduces the wear caused by impact and vibration. The service life of the driving member 30 is extended, the maintenance cost is reduced, and the reliability of the entire shoulder joint structure 100 is improved.

[0036] The driving member 30 is a power source for driving the big arm structure 300 to open and close. The driving member 30 is generally composed of components such as a motor and a reducer. The driving member 30 can be a disk motor with a hollow channel, thereby increasing the contact area between the first connecting arm 21 and the motor output shaft.

[0037] In one embodiment, see Figures 3 to 5 The first connecting arm 21 is provided with an annular limiting plate 211, which is sleeved on the periphery of the exposed portion of the driving member 30. As an additional connecting member between the first connecting arm 21 and the driving member 30, the limiting plate 211 is tightly sleeved on the exposed portion of the driving member 30 through its annular structure, which can effectively limit the relative movement between the first connecting arm 21 and the driving member 30, reduce looseness and misalignment caused by vibration or impact, thereby enhancing the connection stability between the two, and the output shaft is effectively constrained in the center hole of the limiting plate 211, reducing the decrease in accuracy caused by offset or misalignment.

[0038] The exposed portion of the driving member 30 is the output shaft of the driving member 30, and the limit plate 211 also plays a role in positioning and guiding. It ensures that the first connecting arm 21 can maintain the correct trajectory and posture during the rotation process, that is, it ensures that the rotation centers of the first connecting arm 21 and the second connecting arm 22 are coaxial to avoid jamming and blocking.

[0039] Based on the above embodiment, a limiting groove 212 is provided on the first connecting arm 21, and the limiting groove 212 extends along the circumference of the limiting plate 211; a limiting block 112 is provided on the end plate 11, and the limiting block 112 is used to abut against both ends of the limiting groove 212 along the circumference of the limiting plate 211. The cooperation between the limiting groove 212 and the limiting block 112 limits the rotation angle range of the connecting frame 20 (especially the first connecting arm 21). When the limiting block 112 abuts against both ends of the limiting groove 212, the rotation of the connecting frame 20 will be prevented, thereby limiting the maximum opening and closing range of the upper arm. This design avoids structural damage or inaccurate movement caused by excessive opening and closing.

[0040] In the above embodiment, by setting the extension length of the limit slot 212 to limit the swing opening and closing range of the big arm structure 300, the rotation angle of the first connecting arm 21 (connecting frame 20) can be set to 180°, so as to prevent the big arm structure 300 from colliding with the trunk component or the head component due to excessive rotation and opening and closing. Of course, in other embodiments, the rotation angle of the first connecting arm 21 (connecting frame 20) can also be set to a larger or smaller angle, and this application does not limit this.

[0041] Among them, the limit groove 212 can be located on the periphery of the limit plate 211, and the limit plate 211 serves as the boundary of the limit groove 212, providing a solid and precise reference datum. This datum ensures that all relevant components (such as connecting arms, drive members 30, etc.) can be precisely aligned during the manufacturing and assembly process. This precise alignment reduces the errors caused by component position deviations and improves the accuracy of the overall structure. The design of the limit groove 212 is laid out with the output shaft of the drive member 30 as the axis, which means that the geometric center of the limit groove 212 coincides with the rotation center of the output shaft. When the limit block 112 moves in the limit groove 212, its motion trajectory can remain consistent with the rotation center of the output shaft. This consistency eliminates errors caused by eccentricity or misalignment, and ensures the stability and accuracy of the connecting arm during rotation.

[0042] It is understandable that the limiting groove 212 and the limiting plate 211 can be independent of each other; the limiting groove 212 can also be eliminated, and only two stoppers are provided on the first connecting arm 21, and when the limiting block 112 abuts against the stoppers, the connecting frame rotates to the limit position. This application does not limit this.

[0043] When assembling the shoulder joint, the limiting plate 211 only needs to be sleeved on the output shaft of the driving member 30, and the limiting block 112 can automatically align and extend into the limiting groove 212. Such a setting improves the assembly efficiency and can also reduce the error caused by improper human operation.

[0044] In one embodiment, see Figures 3 to 5 The first connecting arm 21 is provided with a wire groove 213, which extends from the rotation center of the first connecting arm 21 to the adapter plate 23; a first mounting portion 214 is provided at one end of the wire groove 213 close to the adapter plate 23, and the first mounting portion 214 is used to install a sensor, and the first mounting portion 214 is provided with a detection channel 215 connected to the wire groove 213. The sensor is used to detect the zero point position of the large arm structure 300. The sensor can be a through-beam sensor, and the transmitting end or the sensing end of the sensor is arranged opposite to the detection channel 215, which is used to cooperate with the transmitting end or the sensing end installed on the large arm structure 300 to determine the zero point position of the large arm structure 300. The cable of the sensor through the wire groove 213 provides an orderly and safe channel. This helps to reduce the friction and wear of the cable during the rotation of the connecting arm, and also avoids the cable from being exposed to the outside in a disorderly manner, thereby improving the overall aesthetics and safety. Due to the existence of the wire groove 213, the cable can move flexibly with the rotation of the connecting arm without being subject to excessive restrictions or obstacles. This ensures the smoothness and flexibility of the robot's shoulder joint structure during movement.

[0045] See also Figure 3 , Figure 4 and Figure 6 The second connecting arm 22 is provided with a second mounting portion 221 protruding toward the first connecting arm 21, and a mounting hole 131 is provided on the mounting seat 13; the second mounting portion 221 extends into the mounting hole 131, and the diameter and shape of the mounting hole 131 need to be precisely matched with the second mounting portion 221 to ensure seamless connection between the two. This precise matching helps to reduce vibration and noise caused by improper installation, while improving the rigidity of the overall structure. A bearing 15 can also be provided between the second mounting portion 221 and the inner wall of the mounting hole 131, and the bearing 15 can allow the second connecting arm 22 to rotate smoothly in the mounting hole 131, while reducing friction and heat generated by direct contact.

[0046] The bearing 15 can be a pressure bearing, and the high load bearing capacity and low friction coefficient of the pressure bearing help improve the accuracy and stability of the shoulder joint of the humanoid robot. This enables the robot to perform predetermined actions more accurately and improve overall work efficiency.

[0047] The second mounting portion 221 is provided with a through hole 222 extending in a first direction, where the first direction is the direction from the first connecting arm 21 to the second connecting arm 22. The through hole 222 provided on the second mounting portion 221 allows a cable or other transmission medium to enter the shoulder joint from the outside, and then be connected to the driving member 30 or other components that require power supply or signal transmission.

[0048] The driving member 30 (such as a motor) is designed with a hollow channel, so that the cable can pass directly through the hollow channel without complicated wiring outside the motor. This design not only reduces the length and weight of the cable, but also reduces the loss and failure risk caused by cable bending and extrusion.

[0049] When the driving member 30 uses a motor with a hollow channel, the hollow channel needs to be aligned with the through hole 222 on the second mounting portion 221 to ensure that the cable can pass through smoothly. The through hole 222 is aligned with the hollow channel, and the projection of the axis of the hollow channel (or hollow channel) on the first connecting arm 21 coincides with the position of the wire groove 213. This design ensures that the cable can directly enter the wire groove 213 after passing through the hollow channel, further simplifying the direction and fixation of the cable.

[0050] A rib structure may be provided on opposite sides of the first connecting arm 21 and the second connecting arm 22, and a plurality of rib structures may be staggered to form a plurality of triangular or triangular-like areas, thereby improving the strength of the first connecting arm 21 and the second connecting arm 22 without destroying the appearance of the first connecting arm 21 and the second connecting arm 22.

[0051] In one embodiment, see Figures 3 to 5 The connecting frame 20 further includes a reinforcing member 24, the two ends of which are respectively connected to the first connecting arm 21 and the second connecting arm 22, and the reinforcing member 24 is spaced apart from the adapter plate 23. By firmly connecting the reinforcing member 24 to the two connecting arms, a more stable triangular support structure can be formed, which significantly enhances the overall strength of the shoulder joint structure 100. When the robot performs complex actions or bears a large load, the reinforcing member 24 can effectively disperse stress and prevent the connecting arm from being deformed or broken.

[0052] The adapter plate 23 is provided with a wire hole 231, and the space between the wire hole 231, the reinforcement 24 and the adapter plate 23 is used for the signal line connecting the drive member 30 and the large arm structure 300 to pass through. The wire hole 231 serves as a channel for the signal line to enter or leave the adapter plate 23, and can accurately guide the direction of the signal line. Constraining the routing path helps reduce the friction and collision risk between the signal line and other components inside the robot. This reduces the robot failure rate caused by damage to the signal line and improves the overall safety and reliability of the robot.

[0053] The edges of the wire holes 231 are usually smoothed to reduce wear on the signal wires. At the same time, the size and shape of the wire holes 231 are also accurately designed according to the diameter and number of the signal wires to ensure that the signal wires can pass through smoothly without obstruction.

[0054] The two sides of the adapter plate 23 are detachably connected to the first connecting arm 21 and the second connecting arm 22, respectively. After the first connecting arm 21 is connected to the driving member 30 and the second connecting arm 22 is connected to the mounting seat 13, the adapter plate 23 is fixed between the first connecting arm 21 and the second connecting arm 22. Notches can be provided on both sides of the adapter plate 23, so that the two sides of the adapter plate 23 are divided into multiple sections; that is, the portion where the adapter plate 23 contacts the first connecting arm 21 / the second connecting arm 22 is a small area, so as to avoid using the entire side of the adapter plate 23 as the connection positioning surface.

[0055] In one embodiment, see Figure 3 , Figure 4 and Figure 6 The end plate 11 and the mounting sleeve 12 are an integrated structure, and the end plate 11 and the mounting sleeve 12 as an integral structure can provide better structural stability and rigidity. The risk of looseness or deformation caused by poor connection between components is reduced, and the stability and reliability of the shoulder joint structure 100 during the movement of the robot are improved. The mounting seat 13 and the mounting sleeve 12 are detachably connected, making the installation of the driving member 30 more flexible and convenient. It is convenient for subsequent maintenance and overhaul work.

[0056] The connection method between the mounting seat 13 and the mounting sleeve 12 may include threaded connection, snap connection, pin connection and other methods, which are not limited in this application.

[0057] In one embodiment, see Figure 3 , Figure 4 and Figure 6The mounting seat 13 includes a fixing ring 132, a seat body 133 and a connecting rib 134. The seat body 133 is the core part of the mounting seat 13 and is rotatably connected to the second connecting arm 22. This allows the robot to flexibly rotate and swing at the shoulder joint structure 100 during movement, meeting the needs of various complex movements. The fixing ring 132 is arranged on the periphery of the seat body 133 as an interface connected to the mounting shell 10. Through the detachable connection between the fixing ring 132 and the mounting shell 10, the entire mounting seat 13 and the driving member 30 thereon can be easily installed or removed. There are multiple connecting ribs 134, each connecting rib 134 is connected between the fixing ring 132 and the seat body 133, and multiple connecting ribs 134 are arranged at intervals along the outer periphery of the seat body 133. This layout can ensure that the connection between the fixing ring 132 and the seat body 133 is uniform and stable, and improve the structural strength of the entire mounting seat 13. And the gap between two adjacent connecting ribs 134 can expose the port of the driving member 30. And perform wiring operations.

[0058] like Figure 6 As shown, the mounting base includes three connecting ribs 134. In other embodiments, the number of the connecting ribs 134 may be 4, 5 or even more. The multiple connecting ribs 134 may be evenly spaced or unevenly distributed, which is not limited in the present application.

[0059] In one embodiment, see Figure 3 , Figure 4 and Figure 6 , the mounting shell 10 includes a third mounting portion 16, one end of the third mounting portion 16 is connected to the mounting sleeve 12, and the other end of the third mounting portion 16 is used to connect to the shoulder structure 200 of the humanoid robot. Integrating the third mounting portion 16, the mounting sleeve 12 and the end plate 11 into one reduces the connection points and potential loosening risks between the components, thereby significantly enhancing the strength of the entire shoulder joint structure 100. This integrated structure can better resist the various forces and moments generated during the movement of the robot, ensuring the stability and durability of the shoulder joint. Since the third mounting portion 16, the mounting sleeve 12 and the end plate 11 have been integrated into one, when installed to the shoulder structure 200 of the humanoid robot, only a single interface connection is required, which greatly simplifies the installation process. This not only reduces the difficulty of installation, but also improves the installation efficiency.

[0060] Specifically, the third mounting portion 16 includes a connecting section 161, a connecting flange 162 and a reinforcing rib 163. The connecting section 161 extends from the side wall of the mounting sleeve 12 along the radial direction of the mounting sleeve 12, and serves as a transition portion between the connecting flange 162 and the mounting sleeve 12, and plays a bridge role. The connecting flange 162 is arranged at one end of the connecting section 161 away from the mounting sleeve 12, and the connecting flange 162 is used to connect with the shoulder structure 200 of the humanoid robot; the connecting flange 162 is usually designed with a mounting hole 131, a positioning pin hole and other connecting interfaces, so as to facilitate accurate docking and fixing with the shoulder structure 200. The reinforcing rib 163 connects the connecting flange 162, the connecting section 161 and the mounting sleeve 12 to form a whole, which plays a role in enhancing the overall structural strength and rigidity. Through reasonable layout and quantity design, the reinforcing rib 163 can effectively disperse and resist the force and torque from the shoulder structure 200, and prevent the connection components from deformation or damage.

[0061] The connecting section 161 may be a hollow shell structure, and a through hole communicating with the hollow portion thereof may be opened on the connecting section 161 , so that the signal line of the motor on the shoulder structure 200 can be led out from the hollow portion and the through hole of the connecting section 161 .

[0062] The connecting flange 162 is connected to the motor on the shoulder structure 200. Similar to the first connecting arm 21, an annular limit rib and a limit block located outside the limit rib can be set on the side of the connecting flange 162 facing away from the connecting section 161. The limit rib is used to be mounted on the output shaft of the motor on the shoulder structure 200, and the limit block is used to cooperate with the upper limit piece of the shoulder structure to limit the swing angle of the shoulder joint structure 100.

[0063] 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.

[0064] 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 shoulder joint structure for a humanoid robot; characterized in that: The shoulder joint structure includes: A mounting shell, the mounting shell being used to be connected to the shoulder structure of the humanoid robot; the mounting shell comprising an end plate, a mounting sleeve and a mounting seat, the end plate and the mounting seat being arranged at opposite ends of the mounting sleeve and jointly enclosing a mounting cavity, and the end plate is provided with an opening communicating with the mounting cavity; A driving member is accommodated in the installation cavity, a stator of the driving member is connected to the end plate, and a rotor of the driving member is exposed from the opening; A connecting frame includes a first connecting arm, a second connecting arm and an adapter plate connecting the first connecting arm and the second connecting arm, the first connecting arm is connected to the exposed rotor of the driving member, the second connecting arm is rotatably connected to the mounting seat, and the adapter plate is used to connect to the upper arm structure of the humanoid robot; a wire passing groove is provided on the surface of the first connecting arm facing the second connecting arm, and the wire passing groove extends from the rotation center of the first connecting arm to the adapter plate.

2. The shoulder joint structure according to claim 1, characterized in that: The first connecting arm is provided with a ring-shaped limiting plate, and the limiting plate is sleeved on the periphery of the rotor of the driving member.

3. The shoulder joint structure according to claim 2, characterized in that: A limiting groove is provided on the first connecting arm, and the limiting groove is located at the periphery of the limiting plate and extends along the circumference of the limiting plate; a limiting block is provided on the end plate, and the limiting block is used to abut against both ends of the limiting groove along the circumference of the limiting plate.

4. The shoulder joint structure according to claim 1, characterized in that: A first mounting portion is provided at one end of the wire-passing slot close to the adapter plate. The first mounting portion is used to mount a sensor. The first mounting portion is provided with a detection channel connected to the wire-passing slot.

5. The shoulder joint structure according to claim 1, characterized in that: The second connecting arm is provided with a second mounting portion protruding toward the first connecting arm, and the mounting seat is provided with a mounting hole; the second mounting portion extends into the mounting hole, and a bearing is provided between the second mounting portion and the inner wall of the mounting hole.

6. The shoulder joint structure according to claim 5, characterized in that: The second mounting portion is provided with a through hole penetrating along a first direction, and the first direction is a direction in which the first connecting arm points to the second connecting arm.

7. The shoulder joint structure according to claim 1, characterized in that: The connecting frame further includes a reinforcing member, two ends of which are respectively connected to the first connecting arm and the second connecting arm, and the reinforcing member is spaced apart from the adapter plate.

8. The shoulder joint structure according to claim 7, characterized in that: The adapter plate is provided with a wire-passing hole, and the wire-passing hole, the space between the reinforcement member and the adapter plate are used for passing a signal line connecting the driving member and the large arm structure.

9. The shoulder joint structure according to claim 1, characterized in that: The end plate and the mounting sleeve are an integral structure, and the mounting seat is detachably connected to the mounting sleeve.

10. The shoulder joint structure according to claim 9, characterized in that: The mounting seat includes a fixing ring, a seat body and connecting ribs, the seat body is rotatably connected to the second connecting arm, the fixing ring is arranged on the periphery of the seat body, and the fixing ring is detachably connected to the mounting shell; there are multiple connecting ribs, each of which is connected between the fixing ring and the seat body, and multiple connecting ribs are arranged at intervals along the outer periphery of the seat body.

11. The shoulder joint structure according to claim 1, characterized in that: The mounting shell comprises a third mounting portion, one end of the third mounting portion is connected to the mounting sleeve, and the other end of the third mounting portion is used to be connected to the shoulder structure of the humanoid robot.

12. The shoulder joint structure according to claim 11, characterized in that: The third mounting portion includes a connecting section, a connecting flange and reinforcing ribs, the connecting section extends from the side wall of the mounting sleeve along the radial direction of the mounting sleeve, the connecting flange is arranged at one end of the connecting section away from the mounting sleeve, and the connecting flange is used to connect to the shoulder structure of the humanoid robot; the reinforcing ribs connect the connecting flange, the connecting section and the mounting sleeve.

13. A humanoid robot, characterized in that: The humanoid robot comprises a shoulder structure, a large arm structure and a shoulder joint structure as claimed in any one of claims 1 to 12, the mounting shell is connected to the shoulder structure, and the adapter plate is connected to the large arm structure.

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