Support assembly, upper limb assembly, and humanoid robot

Abstract

A support assembly, an upper limb assembly and a humanoid robot, wherein the support assembly includes a base, a first support member and a second support member, wherein the base is used to connect with a palm member, the first support member is rotatably connected to the base, the first support member is used to connect with a drive assembly, the second support member is rotatably connected to the base around a first axis, and the second support member is also rotatably connected to an arm member around a second axis. The technical solution of the present application is achieved by connecting the base to the palm member, and rotatably connecting the first support member and the second support member to the base along the first axis, and rotatably connecting the second support member to the arm member along the second axis. In this way, the drive assembly acts on a drive shaft (i.e., the first support member), which can drive the palm member to rotate relative to the arm member around the first axis, or drive the palm member to rotate relative to the arm member around the second axis, thereby reducing the number of drive shafts of the support assembly and improving the space utilization of the support assembly.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a support assembly, an upper limb assembly, and a humanoid robot. Background Art

[0002] The upper limb assembly of a humanoid robot generally includes an arm piece, a palm piece, a support assembly and a drive assembly. The arm piece and the palm piece are connected via the support assembly, and the drive assembly is connected to the support assembly and can drive the palm piece to move relative to the arm piece by driving the support assembly.

[0003] The palm piece can move forward and backward relative to the arm piece, and can also move left and right relative to the arm piece. To achieve the above movements, in the related art, at least two drive shafts for connecting with the drive assembly need to be provided on the support assembly to drive the support assembly to drive the palm piece to move forward and backward and left and right relative to the arm piece. The structural design of the support assembly is redundant, and the space utilization rate of the upper limb assembly is poor. Summary of the invention

[0004] The purpose of the present application is to provide a support assembly, an upper limb assembly and a humanoid robot, aiming to solve the problem of easy failure of the connection between the robot palm and arm parts in the related art.

[0005] To achieve the purpose of the present application, in a first aspect, the present application provides a support assembly, which is applied to an upper limb assembly of a humanoid robot, and the support assembly includes:

[0006] A base, the base being used to connect with the palm piece;

[0007] A first support member, the first support member is rotatably connected to the base, and the first support member is used to be connected to a driving assembly;

[0008] A second support member, the second support member is connected to the base for rotation around a first axis, the first axis extends along a first direction, the second support member is also used for rotation around a second axis for rotation around the arm member, the second axis extends along a second direction, and the second direction intersects with the first direction;

[0009] The base has a first state and a second state. In the first state, the base rotates around the first axis driven by the first support member; in the second state, the base rotates around the second axis driven by the first support member.

[0010] The technical solution of the present application is to connect the base to the palm piece, and to connect the first support piece and the second support piece to the base by rotation along the first axis, and to connect the second support piece to the arm piece by rotation along the second axis. In this way, the driving component acts on a driving shaft (i.e., the first support piece), which can drive the palm piece to rotate relative to the arm piece around the first axis (i.e., swing forward and backward), or drive the palm piece to rotate relative to the arm piece around the second axis (i.e., swing left and right), thereby reducing the number of driving shafts of the support component, streamlining the structure of the support component, reducing the setting cost of the support component, and improving the space utilization of the support component.

[0011] In a possible implementation, the first support member is provided with a first connecting groove and a second connecting groove spaced apart along the first direction; the inner wall of the first connecting groove is provided with a first rotating shaft hole, and the inner wall of the second connecting groove is provided with a second rotating shaft hole;

[0012] The support assembly includes a first rotating shaft and a second rotating shaft, the first rotating shaft is arranged in the first rotating shaft hole, and the first rotating shaft is used to be rotatably connected to the driving assembly extending into the first connecting groove;

[0013] The second rotating shaft is arranged in the second rotating shaft hole, and the second rotating shaft is used for rotationally connecting with the driving component extending into the second connecting groove.

[0014] This embodiment uses a first rotating shaft to connect the driving component extending into the first connecting groove, and uses a second rotating shaft to connect the driving component extending into the second connecting groove, thereby achieving accurate transmission and efficient distribution of driving force, enhancing the stability and carrying capacity of the overall structure, and improving the movement accuracy and flexibility of the robot's upper limb components.

[0015] In a possible implementation, a first protrusion is provided on a side wall of the first connecting groove, and the first rotating shaft hole is provided on the first protrusion; and / or

[0016] A second protrusion is disposed on the side wall of the second connecting groove, and the second rotating shaft hole is disposed on the second protrusion.

[0017] In this embodiment, a first protrusion is arranged in the first connecting groove, and the first rotating shaft hole passes through the first protrusion. At the same time, a second protrusion is arranged in the second connecting groove (or selectively at another position), and the first rotating shaft hole (or the corresponding second rotating shaft hole) also passes through the second protrusion, so as to increase the contact area between the first support member and the first rotating shaft and the second rotating shaft, thereby improving the stability and load-bearing capacity of the connection.

[0018] In a possible implementation, the second support member includes a first shaft segment and second shaft segments provided at both ends of the first shaft segment, the first shaft segment is used to be rotatably connected to the arm member, and the second shaft segment is rotatably connected to the base;

[0019] The shaft diameter of the first shaft section is greater than the shaft diameter of the second shaft section.

[0020] This embodiment uses a first shaft section with a larger shaft diameter to be rotatably connected to the arm member, which can effectively improve the bearing capacity of the second support member for the dynamic load generated by the arm member during movement, and reduce the risk of shaft section deformation or damage due to excessive load. Using a second shaft section with a smaller shaft diameter to connect to the base can reduce the weight of the overall structure while maintaining sufficient strength, which is conducive to improving the mobility and operational flexibility of the device.

[0021] In a possible implementation, the first shaft segment is provided with a third rotating shaft hole, and the third rotating shaft hole extends along the second direction;

[0022] The support assembly also includes a third connecting shaft, which is arranged in the third rotating shaft hole and is used for rotationally connecting with the arm member.

[0023] In this embodiment, the third shaft hole is provided on the first shaft section, and the third connecting shaft is inserted into the third shaft hole to realize the rotation connection between the second support member and the arm member, thereby simplifying the structural layout and reducing the complexity of the connection between the components. At the same time, when the connection between the second support member and the arm member fails, only the third connecting shaft needs to be replaced instead of the entire second connecting member, thereby reducing the maintenance cost of the support assembly and improving the maintenance efficiency of the support assembly.

[0024] In a possible implementation, the first shaft segment is provided with a third protrusion, and the third rotating shaft hole is provided in the third protrusion.

[0025] In this embodiment, a third protrusion is arranged on the first shaft section, and the third shaft hole passes through the third protrusion, so as to increase the contact area between the third rotating shaft and the third shaft hole, thereby improving the stability of the connection between the second support member and the arm member.

[0026] In a possible implementation, the base includes a main body, a hinged portion, and a connecting portion, and the hinged portion and the connecting portion are arranged on both sides of the main body;

[0027] The first supporting member and the second supporting member are rotatably connected to the hinged portion; the connecting portion is used to be connected to the palm member.

[0028] This embodiment effectively utilizes the lateral space of the base and avoids mutual interference and stacking between components by arranging the hinged portion for connecting the arm member and the drive assembly and the connecting portion for connecting the palm member on both sides of the main body. This layout makes the structure of the entire robot upper limb assembly more compact, helps to reduce the overall size and weight, and improves the flexibility of the upper limb assembly. At the same time, the hinged portion and the connecting portion are respectively located on both sides of the main body, forming a stable triangular support structure. This structure helps to disperse and withstand the forces and torques from the arm member and the palm member, and improves the structural stability and load-bearing capacity of the entire robot upper limb assembly.

[0029] In a possible implementation, the connecting portion is provided with a threaded hole extending along its radial direction;

[0030] The support assembly also includes a threaded member, which is used to pass through the palm member and extend into the threaded hole to detachably connect the palm member to the base.

[0031] In this embodiment, the palm piece is detachably connected to the base by using a screw member. When the palm piece or the arm piece needs to be maintained, the user can easily remove the palm piece from the support assembly, thereby reducing the maintenance difficulty of the upper limb assembly and improving the maintenance efficiency of the upper limb assembly. On the other hand, the threaded hole extending radially along the connecting portion can also facilitate the screwing in of the screw member, thereby improving the efficiency of disassembly and assembly of the palm piece on the support assembly.

[0032] In a possible implementation, the hinged portion includes a first hinged portion and a second hinged portion, the first support member is rotatably connected to the first hinged portion, and the second support member is rotatably connected to the second hinged portion;

[0033] A projection of the second hinge portion along the second direction at least partially overlaps with a projection of the first support member along the second direction.

[0034] The second support member serves as the main load-bearing structure of the support assembly. In this embodiment, the thickness of the second hinge portion is increased to improve the supporting capacity of the base for the second support member, effectively disperse and resist the force and torque from the second support member, reduce stress concentration and deformation, and thus extend the service life of the base and the support member.

[0035] In a second aspect, the present application further proposes an upper limb assembly, the upper limb assembly comprising an arm piece, a palm piece, a drive assembly and a support assembly, the support assembly being connected between the arm piece and the palm piece, and the support assembly comprising:

[0036] A base, the base being used to connect with the palm piece;

[0037] A first support member, the first support member is rotatably connected to the base, and the first support member is used to be connected to a driving assembly;

[0038] A second support member, the second support member is connected to the base for rotation around a first axis, the first axis extends along a first direction, the second support member is also used for rotation around a second axis for rotation around the arm member, the second axis extends along a second direction, and the second direction intersects with the first direction;

[0039] The base has a first state and a second state. In the first state, the base rotates around the first axis driven by the first support member; in the second state, the base rotates around the second axis driven by the first support member.

[0040] The upper limb assembly of the present application includes a support assembly. The technical solution of the present application is to connect the base to the palm member, and to connect the first support member and the second support member to the base along the first axis, and to connect the second support member to the arm member along the second axis. In this way, the driving assembly acts on a driving shaft (i.e., the first support member), which can drive the palm member to rotate relative to the arm member around the first axis (i.e., swing forward and backward), or drive the palm member to rotate relative to the arm member around the second axis (i.e., swing left and right), thereby reducing the number of driving shafts of the support assembly, streamlining the structure of the support assembly, reducing the setting cost of the support assembly, and improving the space utilization of the support assembly.

[0041] In a possible implementation, the first support member includes a body and hinged parts provided at both ends of the body; the hinged parts are rotatably connected to the base; the body includes a first connecting groove and a second connecting groove arranged at intervals;

[0042] The driving assembly comprises a first connecting rod, a second connecting rod and a driving member, the first connecting rod has a first end and a second end, the first end is drivingly connected to the driving member, and the second end is rotatably connected to the first connecting groove along a second direction;

[0043] The second connecting rod has a third end and a fourth end, the third end is drivingly connected to the driving member, and the fourth end is rotatably connected to the second connecting groove along the second direction.

[0044] In this embodiment, the palm piece is driven to move by the first connecting rod, the second connecting rod and the driving member in cooperation with the supporting assembly. The first connecting rod and the second connecting rod are respectively connected to the first connecting slot and the second connecting slot by rotation along the second direction. When the first connecting rod moves upward, the arm piece swings to the left, and when the second connecting rod moves upward, the arm piece swings to the right. When the first connecting rod and the second connecting rod move upward at the same time driven by the driving member, the palm piece moves toward the arm piece. When the first connecting rod and the second connecting rod move downward at the same time driven by the driving member, the palm piece moves away from the arm piece.

[0045] In a possible implementation, along the first direction, the length of the second end is A, the length of the first connecting groove is B, and 1.4×A≤B≤1.6×A; and / or

[0046] Along the first direction, the length of the fourth end is C, the length of the second connecting groove is D, and 1.4×C≤D≤1.6×C.

[0047] This embodiment sets the length of the first connecting groove and the second connecting groove to 1.4-1.6 times that of the first connecting rod and the second connecting rod, thereby ensuring that the first connecting rod has sufficient space to swing in the first connecting groove and / or the second connecting rod in the second connecting groove, thereby improving the smoothness of the swinging of the first connecting rod in the first connecting groove and / or the second connecting rod in the second connecting groove, and further improving the smoothness of the swinging of the palm piece relative to the arm piece.

[0048] In a third aspect, the present application further proposes a humanoid robot, the humanoid robot comprising an upper limb assembly, the upper limb assembly comprising an arm piece, a palm piece, a drive assembly and a support assembly, the support assembly being connected between the arm piece and the palm piece, and the support assembly comprising:

[0049] A base, the base being used to connect with the palm piece;

[0050] A first support member, the first support member is rotatably connected to the base, and the first support member is used to be connected to a driving assembly;

[0051] A second support member, the second support member is connected to the base for rotation around a first axis, the first axis extends along a first direction, the second support member is also used for rotation around a second axis for rotation around the arm member, the second axis extends along a second direction, and the second direction intersects with the first direction;

[0052] The base has a first state and a second state. In the first state, the base rotates around the first axis driven by the first support member; in the second state, the base rotates around the second axis driven by the first support member.

[0053] The humanoid robot of the present application includes an upper limb assembly, and the upper limb assembly includes a support assembly. The technical solution of the present application is to connect the base to the palm member, and to connect the first support member and the second support member to the base along the first axis, and to connect the second support member to the arm member along the second axis. In this way, the driving assembly acts on a driving shaft (i.e., the first support member), which can drive the palm member to rotate relative to the arm member around the first axis (i.e., swing forward and backward), or drive the palm member to rotate relative to the arm member around the second axis (i.e., swing left and right), thereby reducing the number of driving shafts of the support assembly, streamlining the structure of the support assembly, reducing the setting cost of the support assembly, and improving the space utilization rate of the support assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] 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.

[0055] Figure 1 A schematic diagram of the three-dimensional structure of an embodiment of an upper limb assembly provided by the present application;

[0056] Figure 2 for Figure 1 A schematic diagram of the three-dimensional structure of the middle support assembly;

[0057] Figure 3 for Figure 2 Schematic diagram of the three-dimensional structure of the middle base;

[0058] Figure 4 for Figure 1 Assembly diagram of the middle drive assembly and the support assembly;

[0059] Figure 5 for Figure 4 A schematic diagram of the three-dimensional structure of the first support member;

[0060] Figure 6 for Figure 1 Schematic diagram of the assembly of the second support member and the arm member;

[0061] Figure 7 for Figure 6 A magnified view at point A;

[0062] Figure 8 for Figure 7 Schematic diagram of the three-dimensional structure of the second support member.

[0063] Description of reference numerals:

[0064] 1000 - upper limb components;

[0065] 100-support assembly;

[0066] 1-base, 11-main body, 12-hinge portion, 121-first hinge portion, 122-second hinge portion, 13-connecting portion, 131-threaded hole;

[0067] 2-first support member, 21-first connecting groove, 211-first rotating shaft hole, 212-first protruding portion, 22-second connecting groove, 221-second rotating shaft hole, 222-second protruding portion;

[0068] 3-second support member, 31-first shaft section, 311-third shaft hole, 312-third protrusion, 32-second shaft section;

[0069] 4-first rotating axis, 5-second rotating axis, 6-third connecting axis;

[0070] 200-arm parts;

[0071] 300-palm piece, 310-palm, 320-fingers;

[0072] 400 - driving assembly, 410 - first connecting rod, 420 - second connecting rod, 430 - driving member, 431 - motor, 432 - first connecting member, 433 - second connecting member, 434 - third connecting member, 435 - fourth connecting member, 436 - third connecting rod, 437 - fourth connecting rod, 438 - fifth connecting rod. DETAILED DESCRIPTION

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] The present application proposes a humanoid robot, which includes a trunk component, a head component, a lower limb component and an upper limb component. The trunk component serves as the supporting part of the humanoid robot and is used to support and connect other assemblies. The head component is connected to the trunk component, and the head component is used to imitate the structure and function of the human head. It includes sensing devices such as sensors, cameras, microphones, etc., and can perceive the surrounding environment, sound and image information like humans. At the same time, the head component is also equipped with a display screen or projection equipment, which can display the robot's expression, status or interactive information, and enhance the interactive experience with people or other objects. In addition, the head component also has a certain degree of freedom, which can realize actions such as turning the head and nodding, further increasing the flexibility and realism of the robot.

[0078] The lower limb assembly is arranged on the trunk assembly, and the lower limb assembly can be arranged in one, two, or more, and the present application does not limit this. In one embodiment of the present application, the lower limb assembly is arranged in two, and is symmetrically arranged at the lower part of the trunk assembly to simulate the structure of human legs.

[0079] The lower limb assembly is used to imitate the movement and walking style of human legs. It contains complex joint structures, drive devices and control systems, which can achieve multi-degree-of-freedom movement and precise gait control. By controlling the movement of the lower limb assembly, the robot can walk, run, jump, etc. in different terrains and environments, and complete various complex mobile tasks. In addition, the lower limb assembly also has a certain load-bearing capacity and stability, which can support the total weight of the robot's torso and upper limbs, and maintain balance during walking and movement. This design makes the humanoid robot more flexible and adaptable in practical applications, and can meet the needs of different scenarios and tasks.

[0080] The upper limb assembly is arranged on the trunk assembly, and the upper limb assembly can be arranged in one, two, or more, and the present application does not limit this. In one embodiment of the present application, the upper limb assembly is arranged in two, and is symmetrically arranged on the upper part of the trunk assembly to simulate the structure of human arms.

[0081] Please refer to Figure 1 The upper limb assembly 1000 is used to imitate the upper limb movement of humans. The upper limb assembly 1000 includes an arm member 200, a palm member 300, a drive assembly 400 and a support assembly 100. The arm member 200 is used to connect with the trunk assembly, as the main body 11 of the upper limb assembly 1000, and is used to connect with the trunk assembly.

[0082] The palm piece 300 is used to imitate the structure and function of the human palm to achieve precise interaction with objects. The palm piece 300 includes a palm 310 and fingers 320. The fingers 320 are used to simulate various movements of human fingers 320. The fingers 320 are usually designed as a multi-joint structure, and can achieve various movements such as bending, stretching, and rotation through a precise transmission mechanism and control system. These movements enable the fingers 320 to accurately grasp, carry, and manipulate various objects to meet the application requirements of the robot in different scenarios. At the same time, the end of the finger 320 may also be designed with a special clamping device or sensor to further improve the stability and accuracy of the grasping.

[0083] The palm 310 is the support and connection part of the fingers 320, which simulates the planar structure and muscle texture of the human palm. In some embodiments of the present application, the surface of the palm 310 is covered with a soft material to simulate the touch of the human palm and provide a certain buffering effect. In addition, the palm 310 may also be integrated with a sensor and a control system to monitor the contact state between the palm and the object in real time, and adjust and optimize as needed.

[0084] The support component 100 is connected between the arm part 200 and the palm part 300. The support component 100 is used to simulate a human wrist. The drive component 400 acts on the support component 100 to drive the palm part 300 to move relative to the arm part 200. The palm part 300 can move forward and backward relative to the arm part 200, and can also move left and right relative to the arm part 200. To achieve the above movements, in the related technology, at least two drive shafts for connecting with the drive component 400 are required to be provided on the support component 100, so as to drive the support component 100 to drive the palm part 300 to move forward and backward and left and right relative to the arm part 200. The structural design of the support component 100 is redundant, and the space utilization rate of the upper limb component 1000 is poor.

[0085] Please refer to Figure 2To solve the above problems, in the present application, the support assembly 100 includes a base 1, a first support member 2 and a second support member 3. The base 1 is used to connect with the palm member 300. The first support member 2 is rotatably connected to the base 1. The first support member 2 is used to connect with the driving assembly 400. The second support member 3 is rotatably connected to the base 1 around a first axis. The first axis extends along a first direction. The second support member 3 is also used to be rotatably connected to the arm member 200 around a second axis. The second axis extends along a second direction. The second direction intersects with the first direction.

[0086] The base 1 has a first state and a second state. In the first state, the base 1 rotates around a first axis driven by the first support member 2 ; in the second state, the base 1 rotates around a second axis driven by the first support member 2 .

[0087] The technical solution of the present application connects the base 1 to the palm member 300, rotates the first support member 2 and the second support member 3 to the base 1 along the first axis, and rotates the second support member 3 to the arm member 200 along the second axis. In this way, the driving component acts on a driving shaft (i.e., the first support member 2), which can drive the palm member 300 to rotate relative to the arm member 200 around the first axis (i.e., swing forward and backward), or drive the palm member 300 to rotate relative to the arm member 200 around the second axis (i.e., swing left and right), thereby reducing the number of driving shafts of the support component 100, streamlining the structure of the support component 100, reducing the setting cost of the support component 100, and improving the space utilization of the support component 100.

[0088] Hereinafter, the support assembly 100 provided in the present application will be described in detail with reference to the accompanying drawings.

[0089] Please refer to Figure 2 The support assembly 100 includes a base 1, which is used as the structural body of the support assembly 100 to provide a stable support base for the support assembly 100. The base 1 is usually made of high-strength, corrosion-resistant materials such as steel and aluminum alloy. The shape of the base 1 can be cylindrical, square, or other regular or irregular shapes, which is not limited in this application.

[0090] The base 1 is connected to the second support member 3 for rotation along the first axis, and is connected to the arm member 200 for rotation along the second axis through the second support member 3. Under this connection structure, the base 1 has a first state and a second state. In the first state, the driving component 400 can drive the base 1 to rotate around the first axis by acting on the first support member 2, and thereby drive the palm member 300 to rotate around the first axis to move closer to or away from the arm member 200. In the second state, the driving component 400 can drive the base 1 to rotate around the second axis by acting on the first support member 2, and thereby drive the palm member 300 to swing left and right around the second axis.

[0091] It can be understood that in other possible implementations of the present application, the base 1 should also be able to have a third state. In the third state, the base 1 can rotate around the first axis under the drive of the driving component 400, and thereby drive the palm piece 300 to rotate around the first axis to approach or move away from the arm piece 200. It can also rotate around the second axis under the drive of the driving component 400, and thereby drive the palm piece 300 to swing left and right around the second axis.

[0092] Please refer to Figure 3 The base 1 includes a main body 11, an articulated portion 12 and a connecting portion 13. In this embodiment, the articulated portion 12 for connecting the arm piece 200 and the drive assembly 400, and the connecting portion 13 for connecting the palm piece 300 are arranged on both sides of the main body 11, thereby effectively utilizing the lateral space of the base 1 and avoiding mutual interference and stacking between components. This layout makes the structure of the entire robot upper limb assembly 1000 more compact, helps to reduce the overall size and weight, and improves the flexibility of the upper limb assembly 1000. At the same time, the articulated portion 12 and the connecting portion 13 are respectively located on both sides of the main body 11, forming a stable triangular support structure, which helps to disperse and withstand the forces and torques from the arm piece 200 and the palm piece 300, and improves the structural stability and carrying capacity of the entire robot upper limb assembly 1000.

[0093] Specifically, the main body 11 serves as a framework of the base 1 and is used to support and connect various parts of the base 1. The hinge 12 is disposed on one side of the main body 11, and the first support member 2 and the second support member 3 are rotatably connected to the hinge 12.

[0094] In one embodiment of the present application, the hinge 12 includes a first hinge 121 and a second hinge 122, the first support member 2 is rotatably connected to the first hinge 121, and the second support member 3 is rotatably connected to the second hinge 122; the projection of the second hinge 122 along the second direction at least partially overlaps with the projection of the first support member 2 along the second direction. The second support member is a main load-bearing structure of the support assembly 100. In this embodiment, the thickness of the second hinge 122 is increased to improve the support capacity of the base 1 for the second support member, effectively disperse and resist the force and moment from the second support member 3, reduce stress concentration and deformation, and thus extend the service life of the base 1 and the support member.

[0095] The connecting portion 13 is arranged on the side of the main body 11 away from the hinge portion, and the connecting portion 13 is used to connect with the palm member 300. In one embodiment of the present application, the connecting portion 13 is provided with a threaded hole 131 extending along its radial direction; the support assembly 100 also includes a threaded member, which is used to pass through the palm member 300 and extend into the threaded hole 131 to detachably connect the palm member 300 to the base 1. In this embodiment, the palm member 300 is detachably connected to the base 1 by using a threaded member. When the palm member 300 or the arm member 200 needs to be maintained, the user can easily remove the palm member 300 from the support assembly 100, thereby reducing the maintenance difficulty of the upper limb assembly 1000 and improving the maintenance efficiency of the upper limb assembly 1000. On the other hand, the threaded hole 131 extending along the radial direction of the connecting portion 13 can also facilitate the screwing in of the threaded member, thereby improving the efficiency of disassembly and assembly of the palm member 300 on the support assembly 100.

[0096] Please refer to Figure 4 and Figure 5The support assembly 100 also includes a first support member 2, which is rotatably connected to the base 1, and the first support member 2 is used to connect with the driving assembly 400. The driving assembly 400 can drive the support assembly 100 to move by applying a driving force to the first support member 2. There are many ways to connect the driving assembly 400 with the first support member 2. In one embodiment of the present application, the first support member 2 is provided with a first connection groove 21 and a second connection groove 22 arranged at intervals along the first direction; the first connection groove 21 and the second connection groove 22 are used for the driving assembly 400 to extend into, so as to drive the support assembly 100 to move. In this embodiment, the first connection groove 21 and the second connection groove 22 are arranged at intervals on the first support member 2 for the driving assembly 400 to extend into, so as to increase the contact points and force points between the driving assembly 400 and the first support member 2, thereby effectively dispersing the stress and load at the connection, enhancing the stability of the connection, and reducing the risk of connection failure between the driving assembly 400 and the first support frame due to vibration or impact. On the other hand, the first connecting groove 21 and the second connecting groove 22 arranged at intervals provide a variety of connection point options, so that the driving component 400 can be connected to the first support member 2 at different angles and directions to meet different movement requirements.

[0097] Specifically, the first support member 2 is provided with a first rotating shaft hole 211 and a second rotating shaft hole 221, the axes of the first rotating shaft hole 211 and the second rotating shaft hole 221 extend along the second direction, the first rotating shaft hole 211 is connected to the first connecting groove 21, and the second rotating shaft hole 221 is connected to the second connecting groove 22; the support assembly 100 also includes a first rotating shaft 4 and a second rotating shaft 5, the first rotating shaft 4 is arranged in the first rotating shaft hole 211, and the second rotating shaft 5 is arranged in the second rotating shaft 5, the driving assembly 400 includes a first connecting rod 410, a second connecting rod 420 and a driving member 430, the first connecting rod 410 has a first end and a second end, the first end is drivingly connected to the driving member 430, and the second end is rotatably connected to the first connecting groove 21 along the second direction; the second connecting rod 420 has a third end and a fourth end, the third end is drivingly connected to the driving member 430, and the fourth end is rotatably connected to the second connecting groove 22 along the second direction.

[0098] In this embodiment, the palm member 300 is driven to move by the first connecting rod 410, the second connecting rod 420 and the driving member 430 in cooperation with the supporting assembly 100. The first connecting rod 410 and the second connecting rod 420 are respectively connected to the first connecting groove 21 and the second connecting groove 22 by rotation along the second direction. When the first connecting rod 410 moves upward, the arm member 200 swings to the left. When the second connecting rod 420 moves upward, the arm member 200 swings to the right. When the first connecting rod 410 and the second connecting rod 420 move upward at the same time driven by the driving member 430, the palm member 300 moves toward the arm member 200. When the first connecting rod 410 and the second connecting rod 420 move downward at the same time driven by the driving member 430, the palm member 300 moves away from the arm member 200. At the same time, this embodiment connects the driving component 400 extending into the first connecting groove 21 with the first rotating shaft 4 and the driving component 400 extending into the second connecting groove 22 with the second rotating shaft 5, thereby achieving accurate transmission and efficient distribution of driving force, enhancing the stability and carrying capacity of the overall structure, and improving the movement accuracy and flexibility of the robot upper limb component 1000.

[0099] It can be understood that in the above structure, the driving member 430 can adopt a motor 431 or a cylinder, and the present application does not impose any restrictions on this. In one embodiment of the present application, the driving member 430 includes a motor 431, a first connecting member 432, a second connecting member 433, a third connecting member 434, a fourth connecting member 435, a third connecting rod 436, a fourth connecting rod 437, a fifth connecting rod 438 and a sixth connecting rod (not shown in the figure). The first connecting member 432 is drivingly connected to the motor 431, and the first connecting member 432 has a first connecting end and a second connecting end spaced apart from each other; the second connecting member 433 has a third connecting end and a fourth connecting end arranged opposite to each other, the third connecting end and the first connecting end are connected via a third connecting rod 436, and the fourth connecting end and the second connecting end are connected via a fourth connecting rod 437; the first end of the first connecting rod 410 is connected to the second connecting end; the third connecting member 434 is drivingly connected to the motor 431, and the third connecting member 434 has a fifth connecting end and a sixth connecting end spaced apart from each other; the fourth connecting member 435 has a seventh connecting end and an eighth connecting end arranged opposite to each other, the seventh connecting end and the fifth connecting end are connected via a fifth connecting rod 438, and the eighth connecting end and the sixth connecting end are connected via a sixth connecting rod (not shown in the figure); the first end of the first connecting rod 410 is connected to the sixth connecting end.

[0100] The arrangement of the motor 431, the first connecting member 432, the second connecting member 433, the third connecting member 434, the fourth connecting member 435, the third connecting rod 436, the fourth connecting rod 437, the fifth connecting rod 438 and the sixth connecting rod (not shown in the figure) optimizes the spatial structure of the driving member 430, reduces the lateral space occupied by the driving member 430 in the upper limb assembly 1000, and improves the space utilization rate of the upper limb assembly 1000 in the lateral space.

[0101] In one possible implementation of the present application, a first protrusion 212 is provided in the first connection groove 21, and the first rotation shaft hole 211 passes through the first protrusion 212; and / or a second protrusion 222 is provided in the second connection groove 22, and the first rotation shaft hole 211 passes through the second protrusion 222. In this implementation, by providing the first protrusion 212 in the first connection groove 21, and allowing the first rotation shaft hole 211 to pass through the first protrusion 212, and providing the second protrusion 222 in the second connection groove 22 (or selectively at another position), and also allowing the first rotation shaft hole 211 (or the corresponding second rotation shaft hole 221) to pass through the second protrusion 222, the contact area between the first support member 2 and the first rotation shaft 4 and the second rotation shaft 5 is increased, thereby improving the stability and load-bearing capacity of the connection.

[0102] In one possible implementation of the present application, along the first direction, the length of the second end is A, the length of the first connecting groove 21 is B, 1.4×A≤B≤1.6×A; and / or along the first direction, the length of the fourth end is C, the length of the second connecting groove 22 is D, 1.4×C≤D≤1.6×C. In this implementation, by setting the length of the first connecting groove 21 and the second connecting groove 22 to 1.4-1.6 times that of the first connecting rod 410 and the second connecting rod 420, it is ensured that the first connecting rod 410 has enough space to swing in the first connecting groove 21 and / or the second connecting rod 420 in the second connecting groove 22, thereby improving the smoothness of the swing of the first connecting rod 410 in the first connecting groove 21 and / or the second connecting rod 420 in the second connecting groove 22, and further improving the smoothness of the swing of the palm member 300 relative to the arm member 200.

[0103] Please refer to Figures 6 to 8 The support assembly 100 also includes a second support member 3, which is used to provide a fulcrum for the palm member 300 to rotate around the arm member 200. The second support member 3 is rotatably connected to the base 1 around a first axis, and the second support member 3 is also rotatably connected to the arm member 200 around a second axis.

[0104] The second support member 3 includes a first shaft segment 31 and second shaft segments 32 arranged at both ends of the first shaft segment 31. The first shaft segment 31 is used to be rotatably connected to the arm member 200, and the second shaft segment 32 is rotatably connected to the base 1; the shaft diameter of the first shaft segment 31 is larger than the shaft diameter of the second shaft segment 32. In this embodiment, the first shaft segment 31 with a larger shaft diameter is rotatably connected to the arm member 200, which can effectively improve the bearing capacity of the second support member 3 for the dynamic load generated by the arm member 200 during movement, and reduce the risk of shaft segment deformation or damage caused by excessive load. The use of the second shaft segment 32 with a smaller shaft diameter to connect to the base 1 can reduce the weight of the overall structure while maintaining sufficient strength, which is beneficial to improving the mobility and operational flexibility of the equipment.

[0105] There are many ways to connect the first shaft section 31 with the arm member 200. The first shaft section 31 can be rotatably connected to the arm member 200 by itself, or it can be rotatably connected to the arm member 200 through a third-party part. In one embodiment of the present application, the first shaft section 31 is provided with a third shaft hole 311, and the third shaft hole 311 passes through the first shaft section 31 along the second direction; the support assembly 100 also includes a third connecting shaft 6, and the third connecting shaft 6 is provided in the third shaft hole 311, and the third connecting shaft 6 is used to rotate the connecting member with the arm member 200. In this embodiment, the third shaft hole 311 is provided on the first shaft section 31, and the third connecting shaft 6 is inserted into the third shaft hole 311 to realize the rotation connection between the second support member 3 and the arm member 200, which simplifies the structural layout and reduces the complexity of the connection between the components. At the same time, when the connection between the second support member 3 and the arm member 200 fails, it is only necessary to replace the third connecting shaft 6 instead of replacing the entire second connecting member 433, which reduces the maintenance cost of the support assembly 100 and improves the maintenance efficiency of the support assembly 100.

[0106] In one embodiment of the present application, the first shaft section 31 is provided with a third protrusion 312, and the third shaft hole 311 passes through the third protrusion 312. In this embodiment, by providing the third protrusion 312 on the first shaft section 31 and allowing the third shaft hole 311 to pass through the third protrusion 312, the contact area between the third rotation axis and the third shaft hole 311 is increased, thereby improving the stability of the connection between the second support member 3 and the arm member 200.

[0107] In one embodiment of the present application, the axis of the third connecting shaft 6 passes through the first shaft section 31. In this embodiment, the axis of the third connecting shaft 6 is arranged near the first shaft section 31, so as to ensure that the connection position between the second support member 3 and the arm member 200 is on the same plane as the connection position between the first support member 2 and the base 1, thereby extending the force arm of the driving component 400 to drive the support component 100 to rotate, reducing the torque of the driving component 400 to drive the support component 100 to rotate, and reducing the energy consumption of the driving component 400.

[0108] In one possible implementation of the present application, the axis of the first shaft segment 31 is parallel to the axis of the first support member 2. This implementation ensures that the palm member 300 can move along a stable and predictable trajectory when swinging back and forth relative to the arm, thereby improving the movement accuracy of the palm member 300 and reducing the design difficulty. Designers can more easily predict and control the movement path of the palm member 300, thereby saving design time and cost. On the other hand, the setting of parallel axes also helps to optimize the force transmission path, reduce energy loss and friction resistance during the transmission process, and thus improve the movement efficiency and response speed of the entire robot upper limb assembly 1000.

[0109] 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.

[0110] 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 support assembly, It is characterized in that The support assembly is applied to an upper limb assembly of a humanoid robot, and the support assembly comprises: A base, the base being used to connect with the palm piece; A first support member, the first support member is rotatably connected to the base, and the first support member is used to be connected to the driving assembly; A second support member, the second support member is connected to the base for rotation around a first axis, the first axis extends along a first direction, the second support member is also used for rotation around a second axis for rotation around the arm member, the second axis extends along a second direction, and the second direction intersects the first direction; The base has a first state and a second state. In the first state, the base rotates around the first axis driven by the first support member; in the second state, the base rotates around the second axis driven by the first support member; The base comprises a main body, a hinge part and a connecting part, wherein the hinge part and the connecting part are arranged on both sides of the main body; the first supporting member and the second supporting member are rotatably connected to the hinge part; the connecting part is used to connect with the palm part; The hinged portion includes two first hinged portions spaced apart along the first direction, and two second hinged portions spaced apart along the first direction, the two first hinged portions and the two second hinged portions are connected in a one-to-one correspondence in the second direction; the first support member is rotatably connected to the two first hinged portions, and the second support member is rotatably connected to the two second hinged portions; A dimension of the first hinge portion along the first direction is smaller than a dimension of the second hinge portion along the first direction, and a distance between two first hinge portions is greater than a distance between two second hinge portions.

2. The support assembly according to claim 1, It is characterized in that The first supporting member is provided with a first connecting groove and a second connecting groove spaced apart along the first direction; the inner wall of the first connecting groove is provided with a first rotating shaft hole, and the inner wall of the second connecting groove is provided with a second rotating shaft hole; The support assembly includes a first rotating shaft and a second rotating shaft, the first rotating shaft is arranged in the first rotating shaft hole, and the first rotating shaft is used to be rotatably connected to the driving assembly extending into the first connecting groove; The second rotating shaft is arranged in the second rotating shaft hole, and the second rotating shaft is used for rotationally connecting with the driving component extending into the second connecting groove.

3. The support assembly according to claim 2, It is characterized in that The side wall of the first connecting groove is provided with a first protruding portion, and the first rotating shaft hole is provided in the first protruding portion; and / or A second protrusion is disposed on the side wall of the second connecting groove, and the second rotating shaft hole is disposed on the second protrusion.

4. The support assembly according to claim 1, It is characterized in that The second support member includes a first shaft segment and second shaft segments provided at both ends of the first shaft segment, the first shaft segment is used to be rotatably connected to the arm member, and the second shaft segment is rotatably connected to the base; The shaft diameter of the first shaft section is greater than the shaft diameter of the second shaft section.

5. The support assembly according to claim 4, It is characterized in that The first shaft segment is provided with a third rotating shaft hole, and the third rotating shaft hole extends along the second direction; The support assembly also includes a third connecting shaft, which is arranged in the third rotating shaft hole and is used for rotationally connecting with the arm member.

6. The support assembly according to claim 5, It is characterized in that The first shaft section is provided with a third protruding portion, and the third rotating shaft hole is provided in the third protruding portion.

7. The support assembly according to claim 1, It is characterized in that The connecting portion is provided with a threaded hole extending in its radial direction; The support assembly also includes a threaded member, which is used to pass through the palm member and extend into the threaded hole to detachably connect the palm member to the base.

8. The support assembly according to claim 7, It is characterized in that A projection of the second hinge portion along the second direction at least partially overlaps with a projection of the first support member along the second direction.

9. An upper limb assembly, It is characterized in that The upper limb assembly includes an arm piece, a palm piece, a driving assembly, and a support assembly as described in any one of claims 1-8, and the support assembly is connected between the arm piece and the palm piece.

10. The upper limb assembly according to claim 9, It is characterized in that The first support member includes a body and hinged parts arranged at both ends of the body; the hinged parts are rotatably connected to the base; the body includes a first connecting groove and a second connecting groove arranged at intervals; The driving assembly comprises a first connecting rod, a second connecting rod and a driving member, the first connecting rod has a first end and a second end, the first end is drivingly connected to the driving member, and the second end is rotatably connected to the first connecting groove along a second direction; The second connecting rod has a third end and a fourth end, the third end is drivingly connected to the driving member, and the fourth end is rotatably connected to the second connecting groove along the second direction.

11. The upper limb assembly according to claim 10, It is characterized in that Along the first direction, the length of the second end is A, the length of the first connecting groove is B, 1.4×A≤B≤1.6×A; and / or Along the first direction, the length of the fourth end is C, the length of the second connecting groove is D, and 1.4×C≤D≤1.6×C.

12. A humanoid robot, It is characterized in that Comprising an upper limb assembly as described in any one of claims 9-11.

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