Forearm assembly, arm assembly and humanoid robot

Abstract

A forearm assembly, an arm assembly and a humanoid robot, wherein the forearm assembly comprises a forearm housing, a first driving member, a second driving member, a first transmission mechanism and a second transmission mechanism, the forearm housing having a receiving space for connecting with a palm member, the first driving member being received in the receiving space and connected with the forearm housing, the second driving member being received in the receiving space and connected with the forearm housing, the first transmission mechanism being partially received in the receiving space and connected with the first driving member, the first transmission mechanism extending out of the receiving space and connected with the palm member, the second transmission mechanism being partially received in the receiving space and connected with the second driving member, the second transmission mechanism extending out of the receiving space and connected with the palm member, the first driving member and the second driving member being used to simultaneously drive the palm member to rotate relative to the forearm housing around a first axis and a second axis, the extension direction of the first axis intersecting with the extension direction of the second axis, thereby improving the integration of the forearm assembly and achieving a better humanoid effect.

Description

Technical Field

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

[0002] At present, humanoid robots have good mobility when facing complex terrain, so the research and development of humanoid robots has received more and more attention in recent years. Humanoid robots need to set a driving structure to drive the palm and arm to rotate relative to realize the function of the wrist joint.

[0003] The driving structure for driving the palm and arm to rotate relative to each other in the prior art occupies a large space and is arranged on a supporting structure between the palm and the arm, and then a humanoid skin is separately provided for covering. There are problems such as low integration between the driving structure and the arm and poor humanoid effect. Summary of the invention

[0004] The purpose of the present invention is to provide a forearm component, an arm assembly and a humanoid robot to solve the problems of low integration between a drive structure and an arm and poor humanoid effect.

[0005] To achieve the purpose of the present invention, the present invention provides the following technical solutions:

[0006] In the first aspect, the present invention provides a forearm assembly, comprising: a forearm housing having a receiving space for connecting to a palm piece; a first driving member received in the receiving space and connected to the forearm housing; a second driving member received in the receiving space and connected to the forearm housing; a first transmission mechanism, partially received in the receiving space and connected to the first driving member, the first transmission mechanism extending out of the receiving space and used to connect to the palm piece; a second transmission mechanism, partially received in the receiving space and connected to the second driving member, the second transmission mechanism extending out of the receiving space and used to connect to the palm piece; the first driving member and the second driving member are used to simultaneously drive the palm piece to rotate relative to the forearm housing around a first axis and a second axis, and the extension direction of the first axis and the extension direction of the second axis intersect. By setting a first driving member, a second driving member, a first transmission mechanism and a second transmission mechanism, the first driving member and the second driving member operate synchronously to realize the rotation of the palm member relative to the forearm assembly around the first axis and the second axis, thereby realizing the function of the wrist joint, and at the same time reducing the torque output of the first driving member and the second driving member, reducing the equipment cost, and arranging the first driving member and the second driving member to be accommodated in the accommodation space, and only the parts of the first transmission mechanism and the second transmission mechanism connected to the palm member extend out of the accommodation space, and the rest are accommodated in the accommodation space, thereby improving the integration of the forearm assembly and achieving a better anthropomorphic effect.

[0007] In one embodiment, the forearm housing includes a first shell, a second shell and a third shell, and the first shell, the second shell and the third shell are enclosed to form the receiving space; the first shell is provided with a first through hole and a second through hole, and the first through hole and the second through hole are both connected to the receiving space, the first through hole is used to install the first driving member and the first transmission mechanism, and the second through hole is used to install the second driving member and the second transmission mechanism; the second shell is detachably connected to the first shell and closes the first through hole, and the third shell is detachably connected to the first shell and closes the second through hole, and the outer surface of the second shell and the outer surface of the third shell are both connected to and flush with the outer surface of the first shell. By setting the first shell to open a first through hole and a second through hole, the first through hole and the second through hole are both connected to the receiving space, the first through hole is used to install the first driving member and the first transmission mechanism, and the second through hole is used to install the second driving member and the second transmission mechanism, thereby reducing the difficulty of assembly; by setting the second shell and the third shell, the second shell is detachably connected to the first shell and closes the first through hole, and the third shell is detachably connected to the first shell and closes the second through hole; the first shell, the second shell and the third shell are enclosed to form a receiving space, and the outer surface of the second shell and the outer surface of the third shell are both connected to and flush with the outer surface of the first shell, so that the outer surface of the forearm shell is smooth, thereby improving the humanoid effect of the forearm shell and preventing water and dust from entering.

[0008] In one embodiment, the forearm housing further comprises a first bracket, the first bracket is received in the receiving space and connected to the first housing, and the first drive member and the second drive member are both connected to the first bracket. By providing the first bracket, the first bracket is received in the receiving space and connected to the first housing, and the first drive member and the second drive member are both connected to the first bracket, the connection stability of the first drive member and the second drive member with the forearm housing is improved.

[0009] In one embodiment, the first bracket includes a first connecting plate and a second connecting plate, the first connecting plate and the second connecting plate are spaced apart in a first direction and spaced apart in a second direction, and the first direction intersects with the second direction; the first driving member is connected to a surface of the first connecting plate facing the second connecting plate, and the second driving member is connected to a surface of the second connecting plate facing the first connecting plate. By providing the first connecting plate and the second connecting plate, the first connecting plate and the second connecting plate are spaced apart in the first direction and spaced apart in the second direction, the first direction intersects with the second direction, the first driving member is connected to a surface of the first connecting plate facing the second connecting plate, and the second driving member is connected to a surface of the second connecting plate facing the first connecting plate, the connection stability of the first driving member and the second driving member with the forearm housing is improved.

[0010] In one embodiment, the first transmission mechanism includes a first crank, a second crank, a first connecting rod, a second connecting rod and a third connecting rod, the first crank is connected to the first driving member, the two ends of the first connecting rod are respectively rotatably connected to the first crank and the second crank, the two ends of the second connecting rod are respectively rotatably connected to the first crank and the second crank, the first crank, the second crank, the first connecting rod and the second connecting rod form a parallelogram structure, one end of the third connecting rod is accommodated in the accommodation space and is rotatably connected to the second crank, and the other end of the third connecting rod extends out of the accommodation space and is used to connect to the palm member. By setting the first crank, the second crank, the first connecting rod and the second connecting rod to form a parallelogram structure, the first crank is connected to the first driving member, one end of the third connecting rod is accommodated in the accommodation space and is rotatably connected to the second crank, and the other end of the third connecting rod extends out of the accommodation space and is used to connect to the palm member, so that the transmission of the first transmission mechanism is stable, the moment load capacity is strong and the space occupied is small.

[0011] In one embodiment, the end surface of the first shell near the palm piece is further provided with a third through hole, the third through hole is communicated with the receiving space, the third connecting rod is passed through the third through hole and is used to connect with the palm piece. By setting the end surface of the first shell near the palm piece to be further provided with a third through hole, the third through hole is communicated with the receiving space, the third connecting rod is passed through the third through hole and is used to connect with the palm piece, so that when the third connecting rod moves relative to the first shell, there will be no motion interference, and only a part of the third connecting rod extends out of the receiving space and is located in the gap between the forearm shell and the palm piece, the human-like effect is better.

[0012] In one embodiment, the first driving member and the first crank are respectively arranged on opposite sides of the first connecting plate, and the first driving member passes through the first connecting plate and is connected to the first crank; the first bracket also includes a first limiter, the first limiter is connected to the surface of the first connecting plate facing away from the second connecting plate, and the first limiter is used to abut against the first crank to limit the rotation angle of the first crank. By setting the first limiter, the first limiter is connected to the surface of the first connecting plate facing away from the second connecting plate, and the first limiter is used to abut against the first crank to limit the rotation angle of the first crank, so that the first crank abuts against the first limiter and stops rotating after being driven by the first driving member to rotate to a preset angle, thereby preventing the first transmission mechanism from being damaged and the palm member from rotating excessively and causing motion interference.

[0013] In one embodiment, the first bracket further includes a third connecting plate and a fourth connecting plate, the third connecting plate and the fourth connecting plate are both received in the receiving space and connected to the first shell, the third connecting plate connects the first connecting plate and the second connecting plate, and the fourth connecting plate is connected to an end of the second connecting plate away from the first connecting plate. By setting the first bracket to also include a third connecting plate and a fourth connecting plate, the third connecting plate and the fourth connecting plate are both received in the receiving space and connected to the first shell, the third connecting plate connects the first connecting plate and the second connecting plate, and the fourth connecting plate is connected to an end of the second connecting plate away from the first connecting plate, the connection between the first connecting plate and the second connecting plate and the first shell is more stable, thereby improving the stability and safety of the first driving member and the second driving member.

[0014] In one embodiment, the first connecting plate is provided with a first wiring opening, and / or the second connecting plate is provided with a second wiring opening, and / or the third connecting plate is provided with a third wiring opening. By providing the first connecting plate with a first wiring opening, and / or the second connecting plate with a second wiring opening, and / or the third connecting plate with a third wiring opening, the wires received in the receiving space are spaced apart from the first transmission mechanism and the second transmission mechanism under the limiting action of the first wiring opening, the second wiring opening and the third wiring opening, and the wires are not easily entangled with the first transmission mechanism and the second transmission mechanism, thereby improving the stability and safety of the small arm assembly.

[0015] In one embodiment, the forearm housing further includes a second bracket, the second bracket is received in the receiving space and connected and fixed to the first housing, the second bracket is connected to one end of the first bracket close to the palm piece, and the second crank is rotatably connected to the second bracket. By setting the forearm housing further including a second bracket, the second bracket is received in the receiving space and connected and fixed to the first housing, the second bracket is connected to one end of the first bracket close to the palm piece, and the second crank is rotatably connected to the second bracket, the second crank is more stable when it rotates driven by the first connecting rod and the second connecting rod, and is not prone to tilting and twisting, thereby improving the stability of the first transmission mechanism.

[0016] In one embodiment, the forearm housing further comprises a fourth housing, the fourth housing is connected to one end of the first housing close to the palm member, and the fourth housing is rotatably connected to the palm member. By providing the fourth housing, the fourth housing is connected to one end of the first housing close to the palm member, and the fourth housing is rotatably connected to the palm member, so that the palm member can rotate around the first axis under the cooperation of the fourth housing and the first rotating shaft, thereby improving the connection stability between the palm member and the forearm housing.

[0017] In one embodiment, the first shell and the fourth shell are an integrated structure, and / or the first bracket and the second bracket are an integrated structure, and / or the first shell and the first bracket are an integrated structure, and / or the first shell and the second bracket are an integrated structure. By setting the first shell and the fourth shell as an integrated structure, and / or the first bracket and the second bracket as an integrated structure, and / or the first shell and the first bracket are an integrated structure, and / or the first shell and the second bracket are an integrated structure, the structural strength of the forearm shell is high, and it can be detachably connected according to actual assembly requirements, reducing the assembly difficulty of the forearm assembly.

[0018] In a second aspect, the present invention further provides an arm assembly, comprising a palm piece and a forearm assembly according to any one of the embodiments of the first aspect, wherein the forearm assembly is rotatably connected to the palm piece around the first axis and the second axis. The arm assembly provided by the present invention, by adopting a palm piece and a forearm assembly in an embodiment of the present invention, the forearm assembly is rotatably connected to the palm piece around the first axis and the second axis, so that the arm assembly can realize the function of a wrist joint, improve the integration of the forearm assembly, and have a good humanoid effect.

[0019] In one embodiment, the palm member includes a palm body, a first rotating shaft and a second rotating shaft, the first rotating shaft is rotationally connected to the palm body around the first axis, the first rotating shaft is also rotationally connected to the forearm housing around the second axis, the second rotating shaft is rotationally connected to the palm body around a third axis, the first transmission mechanism is rotationally connected to the second rotating shaft around a fourth axis, and the second transmission mechanism is rotationally connected to the second rotating shaft around a fifth axis; the third axis is parallel to the first axis, and the fourth axis and the fifth axis are both parallel to the second axis. By setting a first rotating shaft connected to the palm body for rotation around a first axis, the first rotating shaft is also connected to the forearm shell for rotation around a second axis, the second rotating shaft is connected to the palm body for rotation around a third axis, the first transmission mechanism is connected to the second rotating shaft for rotation around a fourth axis, the second transmission mechanism is connected to the second rotating shaft for rotation around a fifth axis, the third axis is parallel to the first axis, and the fourth axis and the fifth axis are both parallel to the second axis, so that when the palm piece rotates relative to the forearm shell about the first axis and the second axis, the first rotating shaft and the palm body, the second rotating shaft and the first transmission mechanism and the second transmission mechanism will all rotate in coordination, so that no motion interference will occur between the palm piece and the forearm shell.

[0020] In a third aspect, the present invention further provides a humanoid robot, comprising the arm assembly described in any one of the embodiments of the second aspect. The humanoid robot provided by the present invention, by adopting the arm assembly in the embodiment of the present invention, realizes the humanoid upper limb movement of the humanoid robot, improves the integration of the arm assembly, and has a good humanoid effect of the humanoid upper limb movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 is a structural diagram of an arm assembly of an embodiment;

[0023] Figure 2 is an exploded view A of a forearm assembly of an embodiment;

[0024] Figure 3 is an exploded view B of a forearm assembly of an embodiment;

[0025] Figure 4 is an exploded view C of a small arm assembly of an embodiment;

[0026] Figure 5 FIG. 4 is an exploded view D of a forearm assembly of an embodiment.

[0027] Description of reference numerals:

[0028] 1000-arm assembly;

[0029] 100- small arm assembly;

[0030] 10-arm housing, 11-accommodating space, 12-first shell, 121-first through hole, 122-second through hole, 123-third through hole, 124-fourth through hole, 13-second shell, 14-third shell, 15-first bracket, 151-structural hole, 152-first connecting plate, 1521-fifth through hole, 1522-first wiring opening, 153-second connecting plate, 1531-second wiring opening, 154-first limiting member, 155-second limiting member, 156-third connecting plate, 1561-third wiring opening, 157-fourth connecting plate, 16-second bracket, 161-bracket body, 162-third connecting shaft, 163-fourth connecting shaft, 17-fourth shell;

[0031] 20-first driving member, 21-mounting housing, 22-speed reduction device, 23-plug-in terminal;

[0032] 30- second driving member;

[0033] 40-first transmission mechanism, 41-first crank, 411-first main body, 412-first side panel, 413-first connecting part, 414-second connecting part, 415-first limiting part, 416-second limiting part, 42-second crank, 421-second main body, 422-third connecting part, 423-fourth connecting part, 424-fifth connecting part, 43-first connecting rod, 44-second connecting rod, 45-third connecting rod;

[0034] 50 - second transmission mechanism, 51 - third crank, 52 - fourth crank, 53 - fourth connecting rod, 54 - fifth connecting rod, 55 - sixth connecting rod;

[0035] 200-palm piece, 201-palm body, 202-first rotating shaft, 2021-first connecting shaft, 2022-second connecting shaft, 203-second rotating shaft, 2031-first mounting opening, 2032-second mounting opening, 204-first mounting plate, 205-second mounting plate;

[0036] 300-shoulder joint shell;

[0037] 400-big arm housing;

[0038] 500-Elbow joint housing;

[0039] L1-first axis, L2-second axis, L3-third axis, L4-fourth axis, L5-fifth axis;

[0040] X-second direction, Y-third direction, Z-first direction. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] 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.

[0043] Unless otherwise defined, all technical and scientific terms used in the present invention have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used in the present invention includes any and all combinations of one or more of the related listed items.

[0044] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0045] Please refer to Figure 1 The present invention provides a humanoid robot, including the arm assembly 1000 in the embodiment of the present invention. The humanoid robot also includes a trunk assembly (not shown), a lower limb assembly (not shown) and a head and neck assembly (not shown). The arm assembly 1000, the lower limb assembly and the head and neck assembly in the embodiment of the present invention are all connected to the trunk assembly, and can rotate relative to the trunk assembly. Optionally, there are two arm assemblies and two lower limb assemblies. The humanoid robot provided by the present invention realizes the humanoid upper limb movement of the humanoid robot by adopting the arm assembly 1000 in the embodiment of the present invention, improves the integration of the arm assembly 1000, and has a good humanoid effect of the humanoid upper limb movement.

[0046] Please refer to Figure 1 The present invention further provides an arm assembly 1000, including a palm member 200 and a forearm assembly 100 in an embodiment of the present invention, wherein the forearm assembly 100 is rotatably connected to the palm member 200 around a first axis L1 and a second axis L2.

[0047] Optionally, the first axis L1 extends along the second direction X, and the second axis L2 extends along the third direction Y, the second direction X corresponds to the width direction of the palm member 200, and the third direction Y corresponds to the thickness direction of the palm member 200. Optionally, the palm member 200 can rotate around the first axis L1 relative to the forearm assembly 100, can also rotate around the second axis L2 relative to the forearm assembly 100, and can also rotate around the first axis L1 and the second axis L2 relative to the forearm assembly 100 at the same time, without limitation.

[0048] Optionally, the arm assembly 1000 further includes an elbow joint housing 500, an upper arm housing 400 and a shoulder joint housing 300. The shoulder joint housing 300, the upper arm housing 400, the elbow joint housing 500, the lower arm housing 10 and the palm member 200 are sequentially rotatably connected along a first direction Z. The elbow joint housing 500 is connected to the aforementioned torso assembly. The first direction Z corresponds to the length direction of the palm member 200. Optionally, the arm assembly 1000 can be made of a material that meets structural strength, corrosion resistance and is easy to process and form, specifically aluminum alloy, carbon fiber, stainless steel and magnesium alloy, etc., without limitation.

[0049] The arm assembly 1000 provided by the present invention adopts a palm piece 200 and a forearm assembly 100 in an embodiment of the present invention. The forearm assembly 100 is rotatably connected to the palm piece 200 around a first axis L1 and a second axis L2, so that the arm assembly 1000 can realize the wrist joint function, improve the integration of the forearm assembly 100, and have a good humanoid effect.

[0050] Please refer to Figures 1 to 5 The palm member 200 includes a palm body 201, a first rotating shaft 202 and a second rotating shaft 203. The first rotating shaft 202 is connected to the palm body 201 for rotation around a first axis L1. The first rotating shaft 202 is also connected to the forearm housing 10 for rotation around a second axis L2. The second rotating shaft 203 is connected to the palm body 201 for rotation around a third axis L3. The first transmission mechanism 40 is connected to the second rotating shaft 203 for rotation around a fourth axis L4. The second transmission mechanism 50 is connected to the second rotating shaft 203 for rotation around a fifth axis L5. The third axis L3 is parallel to the first axis L1. The fourth axis L4 and the fifth axis L5 are both parallel to the second axis L2.

[0051] Optionally, the first rotating shaft 202 includes a first connecting shaft 2021 and a second connecting shaft 2022, the first connecting shaft 2021 and the second connecting shaft 2022 are connected in a third direction Y, the first connecting shaft 2021 extends along the second direction X and is rotatably connected to the palm body 201 around the first axis L1, and the second connecting shaft 2022 extends along the third direction Y and is rotatably connected to the forearm housing 10 around the second axis L2.

[0052] Optionally, the second rotating shaft 203 is provided with a first mounting opening 2031 and a second mounting opening 2032, the first transmission mechanism 40 extends into the first mounting opening 2031 and is rotatably connected with the inner wall surface of the first mounting opening 2031 around a fourth axis L4, and the second transmission mechanism 50 extends into the second mounting opening 2032 and is rotatably connected with the inner wall surface of the second mounting opening 2032 around a fifth axis L5.

[0053] Optionally, the palm member 200 further includes a first mounting plate 204 and a second mounting plate 205, the first mounting plate 204 and the second mounting plate 205 are relatively spaced apart from each other on the palm body 201 in the second direction X, and the first rotating shaft 202 and the second rotating shaft 203 are both arranged between the first mounting plate 204 and the second mounting plate 205. Optionally, the first rotating shaft 202 and the first mounting plate 204, the second mounting plate 205 and the forearm housing 10 can be rotatably connected through structures such as bearings and latches, and the second rotating shaft 203 and the first mounting plate 204, the second mounting plate 205, the first transmission mechanism 40 and the second transmission mechanism 50 can also be rotatably connected through structures such as bearings and latches, without limitation.

[0054] By setting the first rotating shaft 202 to be rotatably connected with the palm body 201 around the first axis L1, the first rotating shaft 202 is also rotatably connected with the forearm housing 10 around the second axis L2, the second rotating shaft 203 is rotatably connected with the palm body 201 around the third axis L3, the first transmission mechanism 40 is rotatably connected with the second rotating shaft 203 around the fourth axis L4, the second transmission mechanism 50 is rotatably connected with the second rotating shaft 203 around the fifth axis L5, the third axis L3 is parallel to the first axis L1, and the fourth axis L4 and the fifth axis L5 are both parallel to the second axis L2, so that when the palm piece 200 rotates relative to the forearm housing 10 around the first axis L1 and the second axis L2, the first rotating shaft 202 and the palm body 201, the second rotating shaft 203 and the palm body 201, and the second rotating shaft 203 and the first transmission mechanism 40 and the second transmission mechanism 50 will all rotate in coordination, so that no motion interference will occur between the palm piece 200 and the forearm housing 10.

[0055] Please refer to Figures 1 to 5 The present invention also provides a forearm assembly 100, including a forearm housing 10, a first driving member 20, a second driving member 30, a first transmission mechanism 40 and a second transmission mechanism 50. The forearm housing 10 has a receiving space 11 for connecting with a palm member 200. The first driving member 20 is received in the receiving space 11 and connected to the forearm housing 10. The second driving member 30 is received in the receiving space 11 and connected to the forearm housing 10. The first transmission mechanism 40 is partially received in the receiving space 11 and connected to the first driving member 20. The first transmission mechanism 40 extends out of the receiving space 11 and is used to connect with the palm member 200. The second transmission mechanism 50 is partially received in the receiving space 11 and connected to the second driving member 30. The second transmission mechanism 50 extends out of the receiving space 11 and is used to connect with the palm member 200. The first driving member 20 and the second driving member 30 are used to simultaneously drive the palm member 200 to rotate relative to the forearm housing 10 around the first axis L1 and the second axis L2. The extension direction of the first axis L1 intersects with the extension direction of the second axis L2.

[0056] Exemplarily, the first drive member 20 and the second drive member 30 may be spaced apart from each other in the first direction Z, and the output end of the first drive member 20 and the output end of the second drive member 30 are disposed opposite to each other in the second direction X. Correspondingly, the first transmission mechanism 40 and the second transmission mechanism 50 are respectively located at the two ends of the forearm housing 10 in the second direction X. Optionally, the first drive member 20 and the second drive member 30 may also be spaced apart from each other in the second direction X or the third direction Y without limitation. Optionally, the first transmission mechanism 40 and the second transmission mechanism 50 may be a crank-connecting rod mechanism, a screw-screw structure, a worm gear structure, etc. without limitation. Optionally, the first drive member 20 and the second drive member 30 may be connected and fixed to the forearm housing 10 by means of screw connection, clamping, riveting, magnetic attraction, welding, etc. without limitation.

[0057] Optionally, the first driving member 20 includes a mounting shell 21, a motor (not shown), a circuit board (not shown) and a reduction device 22, and the motor, the circuit board and the reduction device 22 are all accommodated in the mounting shell 21. The circuit board is electrically connected to the motor to control the speed and rotation direction of the motor, the plug-in terminal 23 of the circuit board is exposed from the mounting shell 21, the reduction device 22 is connected to the output shaft of the motor, and the output end of the reduction device 22 is exposed from the mounting shell 21 and connected to the first transmission mechanism 40. Optionally, the structure of the second driving member 30 is similar to that of the first driving member 20, and reference can be made thereto without further description.

[0058] Optionally, the forearm housing 10 is provided with a fourth through hole 124 (not shown) at one end away from the palm member 200, the fourth through hole 124 being connected to the receiving space 11, and a motor for driving the forearm housing 10 and the aforementioned elbow joint housing 500 to rotate relative to each other is received in the receiving space 11 and connected to the elbow joint housing 500 through the fourth through hole 124. Optionally, the cross-sectional shape of the forearm housing 10 may be circular, square, elliptical, triangular, etc., without limitation.

[0059] By setting the first driving member 20, the second driving member 30, the first transmission mechanism 40 and the second transmission mechanism 50, the first driving member 20 and the second driving member 30 operate synchronously to realize the rotation of the palm member 200 relative to the forearm assembly 100 around the first axis L1 and the second axis L2, thereby realizing the function of the wrist joint and reducing the torque output of the first driving member 20 and the second driving member 30, thereby reducing the equipment cost. The first driving member 20 and the second driving member 30 are both accommodated in the accommodation space 11, and only the parts of the first transmission mechanism 40 and the second transmission mechanism 50 connected to the palm member 200 extend out of the accommodation space 11, and the rest are all accommodated in the accommodation space 11, thereby improving the integration of the forearm assembly 100 and achieving a better humanoid effect.

[0060] Please refer to Figures 1 to 5 The forearm housing 10 includes a first shell 12, a second shell 13 and a third shell 14, which enclose a receiving space 11. The first shell 12 is provided with a first through hole 121 and a second through hole 122, which are both connected to the receiving space 11. The first through hole 121 is used to install the first driving member 20 and the first transmission mechanism 40, and the second through hole 122 is used to install the second driving member 30 and the second transmission mechanism 50. The second shell 13 is detachably connected to the first shell 12 and closes the first through hole 121. The third shell 14 is detachably connected to the first shell 12 and closes the second through hole 122. The outer surface of the second shell 13 and the outer surface of the third shell 14 are both connected to and flush with the outer surface of the first shell 12.

[0061] Optionally, the first through hole 121 is formed at one end of the first shell 12 in the second direction X, and the second through hole 122 is formed at the other end of the first shell 12 in the second direction X, and the first through hole 121 and the second through hole 122 are arranged opposite to each other in the second direction X. Optionally, one end of the first through hole 121 in the first direction Z is connected to the end surface of the first shell 12 close to the palm piece 200, and the other end of the first through hole 121 in the first direction Z is spaced apart from the end surface of the first shell 12 facing away from the palm piece 200. Optionally, both the second shell 13 and the third shell 14 can be detachably connected to the first shell 12 by means of snap connection, screw connection, riveting, magnetic attraction, etc., without limitation.

[0062] Optionally, the outer circumferential surface of the second shell 13 and the outer circumferential surface of the third shell 14 are both provided with a seal (not shown), and the seal abuts against the inner wall surface of the first through hole 121 and the inner wall surface of the second through hole 122 to prevent water or dust from entering the gap between the first shell 12 and the second shell 13 and the gap between the first shell 12 and the third shell 14. Optionally, the seal may also be provided around the inner wall surface of the first through hole 121 and the inner wall surface of the second through hole 122.

[0063] By setting the first shell 12 to be provided with a first through hole 121 and a second through hole 122, the first through hole 121 and the second through hole 122 are both connected to the receiving space 11, the first through hole 121 is used to install the first driving member 20 and the first transmission mechanism 40, and the second through hole 122 is used to install the second driving member 30 and the second transmission mechanism 50, thereby reducing the difficulty of assembly; by setting the second shell 13 and the third shell 14, the second shell 13 is detachably connected to the first shell 12 and closes the first through hole 121, and the third shell 14 is detachably connected to the first shell 12 and closes the second through hole 122, the first shell 12, the second shell 13 and the third shell 14 are enclosed to form the receiving space 11, the outer surface of the second shell 13 and the outer surface of the third shell 14 are both connected to and flush with the outer surface of the first shell 12, so that the outer surface of the forearm shell 10 is smooth, the humanoid effect of the forearm shell 10 is improved, and water and dust are prevented from entering.

[0064] Please refer to Figures 1 to 5 The forearm housing 10 also includes a first bracket 15, which is received in the receiving space 11 and connected to the first shell 12, and the first drive member 20 and the second drive member 30 are both connected to the first bracket 15. Optionally, the first bracket 15 and the first shell 12 can be an integral structure, or can be detachably connected by means of snap connection, screw connection, and riveting, without limitation. Optionally, the two end faces of the first bracket 15 facing each other in the second direction X are flush with the first through hole 121 and the second through hole 122, respectively. Optionally, the first bracket 15 is also provided with a plurality of structural holes 151, which are used to reduce the weight of the first bracket 15 and improve the lightweight degree of the forearm assembly.

[0065] By setting the first bracket 15, the first bracket 15 is received in the receiving space 11 and connected to the first shell 12, and the first driving member 20 and the second driving member 30 are both connected to the first bracket 15, thereby improving the connection stability between the first driving member 20 and the second driving member 30 and the forearm housing 10.

[0066] Please refer to Figures 1 to 5 The first bracket 15 includes a first connecting plate 152 and a second connecting plate 153. The first connecting plate 152 and the second connecting plate 153 are spaced apart in the first direction Z and spaced apart in the second direction X. The first direction Z intersects with the second direction X. The first driving member 20 is connected to the surface of the first connecting plate 152 facing the second connecting plate 153, and the second driving member 30 is connected to the surface of the second connecting plate 153 facing the first connecting plate 152.

[0067] Optionally, the first connecting plate 152 is disposed at the aforementioned first through hole 121, and the second connecting plate 153 is disposed at the aforementioned second through hole 122. Optionally, a first countersunk hole (not shown) is provided on the surface of the first connecting plate 152 facing the second connecting plate 153, a fifth through hole 1521 is provided on the bottom wall of the first countersunk hole, the diameter of the fifth through hole 1521 is smaller than the diameter of the first countersunk hole, the first driving member 20 passes through the first countersunk hole and is connected to the bottom wall of the first countersunk hole, and the first driving member 20 extends into the fifth through hole 1521 and is connected to the first transmission mechanism 40. Optionally, the structure of the second connecting plate 153 is similar to that of the first connecting plate 152, and can be used as a reference, and will not be repeated.

[0068] By setting the first connecting plate 152 and the second connecting plate 153, the first connecting plate 152 and the second connecting plate 153 are spaced apart in the first direction Z and spaced apart in the second direction X, the first direction Z intersects the second direction X, the first driving member 20 is connected to the surface of the first connecting plate 152 facing the second connecting plate 153, and the second driving member 30 is connected to the surface of the second connecting plate 153 facing the first connecting plate 152, thereby improving the connection stability between the first driving member 20 and the second driving member 30 and the forearm housing 10.

[0069] Please refer to Figures 1 to 5The first transmission mechanism 40 includes a first crank 41, a second crank 42, a first connecting rod 43, a second connecting rod 44 and a third connecting rod 45. The first crank 41 is connected to the first driving member 20, and the two ends of the first connecting rod 43 are rotatably connected to the first crank 41 and the second crank 42 respectively. The two ends of the second connecting rod 44 are rotatably connected to the first crank 41 and the second crank 42 respectively. The first crank 41, the second crank 42, the first connecting rod 43 and the second connecting rod 44 form a parallelogram structure. One end of the third connecting rod 45 is accommodated in the accommodation space 11 and is rotatably connected to the second crank 42. The other end of the third connecting rod 45 extends out of the accommodation space 11 and is used to be connected to the palm member 200.

[0070] Optionally, the first crank 41 includes a first main body 411 and a first side panel 412, the first side panel 412 is disposed around the surface of the first main body 411 facing the first connecting plate 152, the outer peripheral surface of the first side panel 412 is flush with the outer peripheral surface of the first main body 411, the first side panel 412 is received in the fifth through hole 1521 and sleeved on the first driving member 20, and the first main body 411 is connected and fixed to the first driving member 20. Optionally, the first crank 41 also includes a first connecting portion 413 and a second connecting portion 414, the first connecting portion 413 and the second connecting portion 414 are respectively disposed at opposite ends of the first main body 411, the first connecting portion 413 is rotatably connected to the first connecting rod 43 through a bearing, and the second connecting portion 414 is rotatably connected to the second connecting rod 44 through a bearing.

[0071] Optionally, the second crank 42 includes a second main body portion 421, a third connecting portion 422, a fourth connecting portion 423 and a fifth connecting portion 424, the second main body portion 421 is rotatably connected to the forearm housing 10 via a bearing, the third connecting portion 422 and the fourth connecting portion 423 are spaced apart from each other on the surface of the second main body portion 421 facing away from the first shell 12, the fifth connecting portion 424 is connected to the surface of the second main body portion 421 facing away from the third connecting portion 422, the fifth connecting portion 424 and the third connecting portion 422 are arranged opposite each other in the second direction X, the first crank 41 is rotatably connected to the third connecting portion 422 via a bearing, the second crank 42 is rotatably connected to the fourth connecting portion 423 via a bearing, and the third connecting rod 45 is rotatably connected to the fifth connecting portion 424 via a bearing.

[0072] Optionally, the second transmission mechanism 50 includes a third crank 51, a fourth crank 52, a fourth connecting rod 53, a fifth connecting rod 54 and a sixth connecting rod 55, the third crank 51 is connected to the first driving member 20, the two ends of the fourth connecting rod 53 are respectively rotatably connected to the third crank 51 and the fourth crank 52, the two ends of the fifth connecting rod 54 are respectively rotatably connected to the third crank 51 and the fourth crank 52, the third crank 51, the fourth crank 52, the fourth connecting rod 53 and the fifth connecting rod 54 form a parallelogram structure, one end of the sixth connecting rod 55 is received in the receiving space 11 and is rotatably connected to the fourth crank 52, and the other end of the sixth connecting rod 55 extends out of the receiving space 11 and is used to connect to the palm member 200. Optionally, the third connecting rod 45 and the sixth connecting rod 55 are both rotatably connected to the aforementioned second rotating shaft 203. Optionally, the structure of the second transmission mechanism 50 is similar to that of the first transmission mechanism 40, and reference can be made thereto without further description.

[0073] When the third link 45 and the sixth link 55 move synchronously toward or away from the palm member 200, the palm member 200 rotates relative to the forearm housing 10 about the first axis L1. The first driving member 20 drives the third link 45 to move along the first direction Z by a distance A, and the second driving member 30 drives the sixth link 55 to move along the first direction Z by a distance B. When A is not equal to B, the palm member 200 rotates relative to the forearm housing 10 about the second axis L2.

[0074] A parallelogram structure is formed by setting a first crank 41, a second crank 42, a first connecting rod 43 and a second connecting rod 44. The first crank 41 is connected to the first driving member 20, one end of the third connecting rod 45 is received in the receiving space 11 and is rotationally connected to the second crank 42, and the other end of the third connecting rod 45 extends out of the receiving space 11 and is used to be connected to the palm member 200, so that the transmission of the first transmission mechanism 40 is stable, the torque load capacity is strong and the space occupied is small.

[0075] Please refer to Figures 1 to 5 The end surface of the first housing 12 near the palm member 200 is also provided with a third through hole 123, the third through hole 123 is communicated with the receiving space 11, and the third connecting rod 45 passes through the third through hole 123 and is used to connect with the palm member 200. Optionally, there are two third through holes 123, and the two third through holes 123 are arranged at intervals in the second direction X, and the aforementioned sixth connecting rod 55 passes through another third through hole 123 and is rotatably connected with the aforementioned second rotating shaft 203. Optionally, in the orthographic projection on the first direction Z, the contour shape of the third through hole 123 can be rectangular, elliptical, circular, etc., without limitation.

[0076] By setting a third through hole 123 on the end surface of the first shell 12 close to the palm piece 200, the third through hole 123 is connected to the receiving space 11, and the third connecting rod 45 passes through the third through hole 123 and is used to connect with the palm piece 200, so that there will be no motion interference when the third connecting rod 45 moves relative to the first shell 12, and only a part of the third connecting rod 45 extends out of the receiving space 11 and is located in the gap between the forearm shell 10 and the palm piece 200, so the human-like effect is better.

[0077] Please refer to Figures 1 to 5 The first driving member 20 and the first crank 41 are respectively arranged on opposite sides of the first connecting plate 152. The first driving member 20 passes through the first connecting plate 152 and is connected to the first crank 41. The first bracket 15 also includes a first limiting member 154. The first limiting member 154 is connected to the surface of the first connecting plate 152 facing away from the second connecting plate 153. The first limiting member 154 is used to abut against the first crank 41 to limit the rotation angle of the first crank 41.

[0078] Optionally, the first stopper 154 and the first connecting plate 152 are an integrated structure. Optionally, the first stopper 154 is disposed on the outer side of the fifth through hole 1521. Optionally, the first crank 41 further includes a first stopper 415 and a second stopper 416, the first stopper 415 and the second stopper 416 are respectively connected to the opposite ends of the first main body 411, the first connecting portion 413 is connected to the surface of the first stopper 415 facing away from the first connecting plate 152, the second connecting portion 414 is connected to the surface of the second stopper 416 facing away from the first connecting plate 152, and the first stopper 154 is used to abut against the first stopper 415 or the second stopper 416.

[0079] Optionally, the two opposite side surfaces of the first limiting portion 415 are both planes and are smoothly connected to the outer peripheral surface of the first main body portion 411. The structure of the second limiting portion 416 is similar to that of the first limiting portion 415, which can be used as a reference and will not be described in detail. Optionally, the surface of the first limiting member 154 used to abut against the first limiting portion 415 or the second limiting portion 416 is also a plane to cooperate with the side surface of the first limiting portion 415 and the side surface of the second limiting portion 416.

[0080] Optionally, the second driving member 30 and the second crank 42 are respectively arranged on opposite sides of the second connecting plate 153, the second driving member 30 penetrates the second connecting plate 153 and is connected to the second crank 42, the first bracket 15 further includes a second stopper 155, the second stopper 155 is connected to the surface of the second connecting plate 153 facing away from the first connecting plate 152, and the second stopper 155 is used to abut against the second crank 42 to limit the rotation angle of the second crank 42. Optionally, the structure of the second crank 42 is similar to that of the first crank 41, and reference can be made to it, and no further description is given. Optionally, the structure of the second stopper 155 is similar to that of the first stopper 154, and reference can be made to it, and no further description is given.

[0081] By setting a first limit member 154, the first limit member 154 is connected to the surface of the first connecting plate 152 facing away from the second connecting plate 153. The first limit member 154 is used to abut against the first crank 41 to limit the rotation angle of the first crank 41, so that after the first crank 41 is driven by the first driving member 20 to rotate to a preset angle, it abuts against the first limit member 154 and stops rotating, thereby preventing the first transmission mechanism 40 from being damaged and the palm member 200 from rotating excessively and causing motion interference.

[0082] Please refer to Figures 1 to 5 The first bracket 15 also includes a third connecting plate 156 and a fourth connecting plate 157. The third connecting plate 156 and the fourth connecting plate 157 are both accommodated in the accommodating space 11 and connected to the first shell 12. The third connecting plate 156 connects the first connecting plate 152 and the second connecting plate 153. The fourth connecting plate 157 is connected to an end of the second connecting plate 153 away from the first connecting plate 152.

[0083] Optionally, the third connecting plate 156 and the fourth connecting plate 157 are arranged opposite to each other in the first direction Z, or are arranged obliquely in the first direction Z. There is no limitation. Optionally, the first connecting plate 152, the second connecting plate 153, the third connecting plate 156 and the fourth connecting plate 157 are an integrated structure.

[0084] By setting the first bracket 15 also including a third connecting plate 156 and a fourth connecting plate 157, the third connecting plate 156 and the fourth connecting plate 157 are both accommodated in the accommodating space 11 and connected to the first shell body 12, the third connecting plate 156 connects the first connecting plate 152 and the second connecting plate 153, and the fourth connecting plate 157 is connected to an end of the second connecting plate 153 away from the first connecting plate 152, so that the connection between the first connecting plate 152 and the second connecting plate 153 and the first shell body 12 is more stable, thereby improving the stability and safety of the first driving member 20 and the second driving member 30.

[0085] Please refer to Figures 1 to 5The first connection plate 152 is provided with a first wiring opening 1522, and / or the second connection plate 153 is provided with a second wiring opening 1531, and / or the third connection plate 156 is provided with a third wiring opening 1561. The first wiring opening 1522, the second wiring opening 1531 and the third wiring opening 1561 are all used for wires (not shown) to pass through, and the wires are electrically connected to the first driving member 20 and the second driving member 30.

[0086] By providing the first connecting plate 152 with a first wiring opening 1522, and / or the second connecting plate 153 with a second wiring opening 1531, and / or the third connecting plate 156 with a third wiring opening 1561, the wires accommodated in the accommodating space 11 are spaced apart from the first transmission mechanism 40 and the second transmission mechanism 50 due to the limiting action of the first wiring opening 1522, the second wiring opening 1531 and the third wiring opening 1561, and the wires are not easily entangled with the first transmission mechanism 40 and the second transmission mechanism 50, thereby improving the stability and safety of the forearm assembly.

[0087] Please refer to Figures 1 to 5 The arm housing 10 further includes a second bracket 16, which is received in the receiving space 11 and connected and fixed to the first housing 12. The second bracket 16 is connected to one end of the first bracket 15 close to the palm member 200, and the second crank 42 is rotatably connected to the second bracket 16. Optionally, the second bracket 16 is also rotatably connected to the aforementioned fourth crank 52, and the fourth crank 52 and the second crank 42 are respectively located on both sides of the second bracket 16 in the second direction X. Optionally, the second bracket 16 is connected to the aforementioned fourth connecting plate 157.

[0088] Optionally, the second bracket 16 includes a bracket body 161, a third connecting shaft 162 and a fourth connecting shaft 163, the bracket body 161 is connected to both the first housing 12 and the first bracket 15, the third connecting shaft 162 and the fourth connecting shaft 163 are respectively connected to the two opposite ends of the bracket body 161 in the second direction X, the second crank 42 is rotatably connected to the third connecting shaft 162 through a bearing, and the fourth crank 52 is rotatably connected to the fourth connecting shaft 163 through a bearing. Optionally, the second bracket 16 is also provided with a plurality of structural holes 151, which are used to reduce the weight of the second bracket 16 and improve the lightweight degree of the forearm assembly.

[0089] By setting the forearm housing 10 to also include a second bracket 16, the second bracket 16 is received in the receiving space 11 and is fixedly connected to the first shell 12, the second bracket 16 is connected to one end of the first bracket 15 close to the palm piece 200, and the second crank 42 is rotatably connected to the second bracket 16, so that the second crank 42 is more stable when rotating under the drive of the aforementioned first connecting rod 43 and the second connecting rod 44, and is not prone to tilting and twisting, thereby improving the stability of the first transmission mechanism 40.

[0090] Please refer to Figures 1 to 5 The forearm housing 10 further includes a fourth housing 17, which is connected to one end of the first housing 12 close to the palm member 200, and the fourth housing 17 is rotatably connected to the palm member 200. Optionally, the fourth housing 17 is rotatably connected to the second connecting shaft 2022 of the aforementioned first rotating shaft 202 through a bearing. Optionally, the outer surface of the fourth housing 17 in the third direction Y is smoothly connected to the outer surface of the first housing 12.

[0091] By setting the fourth shell 17, the fourth shell 17 is connected to one end of the first shell 12 close to the palm piece 200, and the fourth shell 17 is rotatably connected to the palm piece 200, so that the palm piece 200 can rotate around the second axis L2 under the cooperation of the fourth shell 17 and the first rotating shaft 202, thereby improving the connection stability between the palm piece 200 and the forearm housing 10.

[0092] Please refer to Figures 1 to 5 The first housing 12 and the fourth housing 17 are an integrated structure, and / or the first bracket 15 and the second bracket 16 are an integrated structure, and / or the first housing 12 and the second bracket 16 are an integrated structure, and / or the first housing 12 and the first bracket 15 are an integrated structure. Exemplarily, the first housing 12, the fourth housing 17, the first bracket 15 and the second bracket 16 are an integrated structure.

[0093] By setting the first shell 12 and the fourth shell 17 as an integrated structure, and / or the first bracket 15 and the second bracket 16 as an integrated structure, and / or the first shell 12 and the first bracket 15 as an integrated structure, and / or the first shell 12 and the second bracket 16 as an integrated structure, the structural strength of the forearm housing 10 is high and can be detachably connected according to actual assembly requirements, thereby reducing the difficulty of assembling the forearm assembly.

[0094] In the description of the embodiments of the present invention, it should be noted that the orientation or positional relationship of terms such as "center", "up", "down", "left", "right", "vertical", "horizontal", "inside" and "outside" are based on the orientation or positional relationship described in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0095] What is disclosed above is only a preferred embodiment of the present invention, and it certainly cannot be used to limit the scope of rights of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiment and equivalent changes made according to the claims of the present invention still fall within the scope covered by the present invention.

Claims

1. A small arm assembly, characterized in that: include: A forearm housing having a receiving space for connecting with the palm member; A first driving member, received in the receiving space and connected to the forearm housing; A second driving member, received in the receiving space and connected to the forearm housing; a first transmission mechanism, partially received in the receiving space and connected to the first driving member, the first transmission mechanism extending out of the receiving space and used to be connected to the palm member; a second transmission mechanism, partially received in the receiving space and connected to the second driving member, the second transmission mechanism extending out of the receiving space and used to be connected to the palm member; The first driving member and the second driving member are used to simultaneously drive the palm member to rotate relative to the forearm housing around a first axis and a second axis, and the extension direction of the first axis intersects with the extension direction of the second axis; Among them, the first transmission mechanism includes a first crank, a second crank, a first connecting rod, a second connecting rod and a third connecting rod, the first crank is connected to the first driving member, the two ends of the first connecting rod are respectively rotatably connected to the first crank and the second crank, the two ends of the second connecting rod are respectively rotatably connected to the first crank and the second crank, the first crank, the second crank, the first connecting rod and the second connecting rod form a parallelogram structure, one end of the third connecting rod is accommodated in the accommodation space and is rotatably connected to the second crank, and the other end of the third connecting rod extends out of the accommodation space and is used to be connected to the palm member.

2. The small arm assembly according to claim 1, characterized in that: The forearm housing comprises a first shell, a second shell and a third shell, wherein the first shell, the second shell and the third shell are enclosed to form the receiving space; The first shell is provided with a first through hole and a second through hole, the first through hole and the second through hole are both connected to the receiving space, the first through hole is used to install the first driving member and the first transmission mechanism, and the second through hole is used to install the second driving member and the second transmission mechanism; The second shell is detachably connected to the first shell and closes the first through hole, the third shell is detachably connected to the first shell and closes the second through hole, and the outer surfaces of the second shell and the third shell are both connected to and flush with the outer surface of the first shell.

3. The small arm assembly according to claim 2, characterized in that: The forearm housing further includes a first bracket, which is received in the receiving space and connected to the first housing, and the first driving member and the second driving member are both connected to the first bracket.

4. The small arm assembly according to claim 3, characterized in that: The first bracket includes a first connecting plate and a second connecting plate, the first connecting plate and the second connecting plate are spaced apart in a first direction and spaced apart in a second direction, and the first direction intersects with the second direction; The first driving member is connected to a surface of the first connecting plate facing the second connecting plate, and the second driving member is connected to a surface of the second connecting plate facing the first connecting plate.

5. The small arm assembly according to claim 2, characterized in that: A third through hole is further formed on the end surface of the first shell close to the palm piece, the third through hole is communicated with the receiving space, and the third connecting rod passes through the third through hole and is used to be connected with the palm piece.

6. The small arm assembly according to claim 4, characterized in that: The first driving member and the first crank are respectively arranged on two opposite sides of the first connecting plate, and the first driving member passes through the first connecting plate and is connected to the first crank; The first bracket further includes a first limiter connected to a surface of the first connecting plate facing away from the second connecting plate, and the first limiter is used to abut against the first crank to limit a rotation angle of the first crank.

7. The forearm assembly according to claim 4, characterized in that: The first bracket also includes a third connecting plate and a fourth connecting plate, both of which are accommodated in the accommodating space and connected to the first shell, the third connecting plate connects the first connecting plate and the second connecting plate, and the fourth connecting plate is connected to an end of the second connecting plate away from the first connecting plate.

8. The forearm assembly according to claim 7, characterized in that: The first connection plate is provided with a first wiring opening, and / or the second connection plate is provided with a second wiring opening, and / or the third connection plate is provided with a third wiring opening.

9. The forearm assembly according to claim 4, characterized in that: The forearm housing also includes a second bracket, which is accommodated in the accommodating space and fixedly connected to the first shell, the second bracket is connected to an end of the first bracket close to the palm piece, and the second crank is rotatably connected to the second bracket.

10. The forearm assembly according to claim 9, characterized in that: The forearm housing further comprises a fourth housing, the fourth housing is connected to one end of the first housing close to the palm piece, and the fourth housing is rotatably connected to the palm piece.

11. The forearm assembly according to claim 10, characterized in that: The first shell and the fourth shell are an integral structure, and / or the first bracket and the second bracket are an integral structure, and / or the first shell and the first bracket are an integral structure, and / or the first shell and the second bracket are an integral structure.

12. An arm assembly, characterized in that: It comprises a palm piece and a forearm assembly as described in any one of claims 1 to 11, wherein the forearm assembly is rotatably connected to the palm piece around the first axis and the second axis.

13. The arm assembly according to claim 12, characterized in that: The palm member includes a palm body, a first rotating shaft and a second rotating shaft, the first rotating shaft is connected to the palm body for rotation around the first axis, the first rotating shaft is also connected to the forearm housing for rotation around the second axis, the second rotating shaft is connected to the palm body for rotation around the third axis, the first transmission mechanism is connected to the second rotating shaft for rotation around the fourth axis, and the second transmission mechanism is connected to the second rotating shaft for rotation around the fifth axis; The third axis is parallel to the first axis, and the fourth axis and the fifth axis are both parallel to the second axis.

14. A humanoid robot, characterized in that: Comprising an arm assembly as described in claim 12 or 13.

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