A simulation robot arm structure and a simulation robot

Abstract

The application provides a simulation robot arm structure and a simulation robot. The first shoulder driving assembly for controlling the arm assembly to swing forward and backward and the second shoulder driving assembly for controlling the arm assembly to swing sideways are arranged in the trunk of the simulation robot, so that the arrangement position and arrangement mode of the transmission structure and the fastening structure in the whole arm are adjusted, the length of the arm is shortened, the volume of the joint part is reduced, the whole arm is miniaturized, the appearance of the whole arm is closer to the real arm shape, the joint motion track and the bending degree are more natural and lifelike, and the appearance and motion simulation degree of the arm are improved.

Description

Technical Field

[0001] This application relates to the field of simulation robots, specifically to a simulation robot arm structure and a simulation robot. Background Technology

[0002] Humanoid robots, also known as humanoid robots or humanoid robots, refer to robots that possess human-like form and function, that is, they have human-like limbs, motor and operational skills, as well as perception, learning, and cognitive abilities. Humanoid robots possess human-like physical characteristics and mobility, can walk on two legs, perform simple functions through the coordination of their arms and body, and communicate with humans through simple language. However, the applicant's research has found that the existing humanoid robot arm connection method is unreasonable, with various control motors located in the joints, upper arm, or forearm, resulting in enlarged joints, arm movements that do not meet the normal bending angle requirements of the human body, and affecting appearance. Summary of the Invention

[0003] This application provides a simulated robot arm structure and a simulated robot, the specific technical solution of which is as follows:

[0004] A simulated robot arm structure includes a shoulder drive assembly and an arm assembly. The shoulder drive assembly includes a first shoulder drive assembly and a second shoulder drive assembly. The first shoulder drive assembly is used to control the arm assembly to swing back and forth, and the second shoulder drive assembly is used to control the arm assembly to raise laterally. The first shoulder drive assembly is fully assembled inside the torso of the simulated robot, and at least the main body of the second shoulder drive assembly is assembled inside the torso of the simulated robot.

[0005] Furthermore, the first shoulder drive assembly includes a first fixed frame, a swing arm motor, and a drive cylindrical gear. The first fixed frame is mounted inside the torso of the simulated robot, the swing arm motor is mounted on the first fixed frame and is used to control the arm assembly to swing back and forth, and the drive cylindrical gear is coaxially mounted on the output shaft of the swing arm motor.

[0006] Furthermore, the first shoulder drive assembly also includes a motor cover plate, a first bearing, a second bearing, a wiring bracket, and a first angle sensor. The swing arm motor is mounted within a collar formed by the first fixing frame and the motor cover plate. The first bearing is coaxially fitted within the groove of the driving cylindrical gear and is mounted between the swing arm motor and the driving cylindrical gear. The outer ring of the first bearing is fixedly mounted to the driving cylindrical gear. The second bearing is coaxially mounted on the output shaft of the swing arm motor and is mounted on the non-groove side of the driving cylindrical gear. The wiring bracket has a cylindrical sleeve fitted onto the second bearing. The outer ring of the second bearing is fixedly mounted to the wiring bracket. The wiring bracket also has a buckle for fixing wires. The first angle sensor is coaxially mounted on the output shaft of the swing arm motor.

[0007] Furthermore, the second shoulder drive assembly includes a driven cylindrical gear, an arm-raising motor, and a first driving bevel gear, wherein the driven cylindrical gear meshes with the driving cylindrical gear, the arm-raising motor is coaxially mounted with the driven cylindrical gear, and is used to control the arm assembly to achieve lateral raising, and the first driving bevel gear is coaxially mounted on the output shaft of the arm-raising motor.

[0008] Furthermore, the second shoulder drive assembly also includes an upper shoulder shell, a lower shoulder shell, a third bearing, and a second angle sensor. The lifting arm motor is assembled within a collar formed by the upper shoulder shell and the lower shoulder shell. The collar formed by the upper shoulder shell and the lower shoulder shell includes a first mounting position and a second mounting position. The driven cylindrical gear is coaxially mounted on the first mounting position, the third bearing is coaxially mounted on the second mounting position, and the second angle sensor is coaxially mounted on the output shaft of the lifting arm motor.

[0009] Furthermore, the driven cylindrical gear includes a hollow cylinder and meshing teeth disposed on the outer surface of the hollow cylinder. The hollow cylinder has two sets of symmetrical screw through holes at the contact position with the first mounting position. Based on the screw through holes, the driven cylindrical gear is fixedly connected to the collar formed by the upper shoulder shell and the lower shoulder shell by screws. The meshing teeth are designed with an angle limiting structure, so that after the driven cylindrical gear meshes with the driving cylindrical gear, the second shoulder drive assembly rotates within a preset working angle range.

[0010] Furthermore, the shoulder shell includes a decorative cover and a wiring channel designed below the decorative cover, the wiring channel communicating with the hollow space of the hollow cylinder.

[0011] Furthermore, the collar formed by the upper shoulder shell and the lower shoulder shell also includes a third mounting position, which is used to assemble the arm assembly. When the driving cylindrical gear rotates, it drives the driven cylindrical gear to rotate, thereby enabling the second shoulder drive assembly to drive the arm assembly to swing back and forth.

[0012] Furthermore, the arm assembly includes an upper arm assembly, an elbow joint assembly, and a forearm assembly, wherein the elbow joint assembly is used to connect the upper arm assembly and the forearm assembly, and the upper arm assembly is connected to the second shoulder drive assembly.

[0013] Furthermore, the upper arm assembly includes a first driven bevel gear and a fourth bearing. The first driven bevel gear includes a first fixed rod and a first bevel tooth. The first fixed rod and the first bevel tooth are integrally designed. Each end of the first fixed rod is fitted with a fourth bearing. When the fourth bearing is assembled in the third mounting position, the first bevel tooth meshes with the first driving bevel gear. When the first driving bevel gear rotates, it drives the first driven bevel gear to rotate, thereby enabling the second shoulder drive assembly to drive the arm assembly to achieve lateral raise.

[0014] Furthermore, the upper arm assembly also includes a second fixing frame and a rotating arm motor, the rotating arm motor being at least partially fitted inside the second fixing frame, for controlling the rotation of the elbow joint assembly, thereby driving the forearm assembly to rotate.

[0015] Furthermore, the upper arm assembly also includes a first upper arm housing, a second upper arm housing, a third angle sensor, and a fifth bearing. The first upper arm housing is connected to one end of the first fixing rod of the first driven bevel gear by screws, and the second upper arm housing is connected to the other end of the first fixing rod of the first driven bevel gear by screws. The swivel arm motor and the second fixing frame are assembled in a collar formed by the first upper arm housing and the second upper arm housing. The third angle sensor is coaxially assembled on the output shaft of the swivel arm motor, and the fifth bearing is coaxially mounted on the second fixing frame.

[0016] Furthermore, the second fixing frame includes a first annular structure, and the inner ring of the fifth bearing is fitted onto the first annular structure, wherein the first annular structure is disposed outside the collar formed by the first upper arm housing and the second upper arm housing.

[0017] Furthermore, the output shaft of the swivel arm motor extends outside the first annular structure, so that the elbow joint assembly is coaxially mounted on the output shaft of the swivel arm motor.

[0018] Furthermore, the elbow joint assembly includes an elbow outer shell and an elbow inner shell, wherein the elbow outer shell is fixedly connected to the forearm assembly, the elbow inner shell is coaxially fitted inside the elbow outer shell, and the elbow inner shell is also coaxially mounted on the output shaft of the rotary arm motor. When the rotary arm motor controls the elbow joint assembly to rotate, it drives the forearm assembly to rotate.

[0019] Furthermore, the elbow inner shell includes a wire passage hole, a limiting post, and a connecting hole. The elbow inner shell is coaxially mounted on the output shaft of the rotary arm motor through the connecting hole. The limiting post cooperates with the limiting groove provided on the first annular structure to achieve limiting. The wire passage hole is used for wire routing.

[0020] Furthermore, the elbow housing includes a second annular structure and a retaining rib, wherein the elbow inner housing is coaxially fitted inside the second annular structure, and the second annular structure is coaxially fitted on the outer ring of the fifth bearing, thereby enabling the elbow inner housing to be coaxially assembled on the output shaft of the rotary arm motor through the connecting hole and enabling the limiting post of the elbow inner housing to be assembled in the limiting groove on the first annular structure, and the retaining rib is used to connect the forearm assembly.

[0021] Furthermore, the forearm assembly includes a crank arm motor, a second driving bevel gear, and a second driven bevel gear. The second driving bevel gear is coaxially mounted on the output shaft of the crank arm motor and meshes with the second driven bevel gear. The second driven bevel gear is fixedly connected to the retaining rib. When the crank arm motor controls the second driving bevel gear to rotate, the forearm assembly moves in a circular motion around the second driven bevel gear, thereby achieving forearm bending.

[0022] Furthermore, the second driven bevel gear includes a second fixed rod and a second bevel tooth, wherein the second fixed rod and the second bevel tooth are integrally designed, and the second fixed rod is provided with a slot structure for assembling the retaining rib to realize the connection between the forearm assembly and the elbow joint assembly.

[0023] Furthermore, the slot structure includes a first slot structure and a second slot structure, and the retaining rib includes a first retaining rib and a second retaining rib. The first slot structure is used to assemble the first retaining rib, the second slot structure is used to assemble the second retaining rib, and the second conical tooth is located in the space formed by the first retaining rib and the second retaining rib.

[0024] Furthermore, the forearm assembly also includes a first forearm housing, a second forearm housing, a sixth bearing, and a fourth angle sensor. The articulated arm motor is mounted within a collar formed by the first and second forearm housings. The fourth angle sensor is coaxially mounted on the output shaft of the articulated arm motor. Each end of the second fixing rod is fitted with a sixth bearing, which is mounted on the first and second forearm housings, such that the second bevel gear meshes with the second driving bevel gear. When the articulated arm motor controls the second driving bevel gear to rotate, the forearm assembly performs a circular motion around the second driven bevel gear, thereby achieving forearm bending.

[0025] Furthermore, the output shafts of the lifting arm motor and the articulated arm motor are designed with D-shaped and I-shaped ends, respectively. Specifically, the D-shaped section of the output shaft of the lifting arm motor mates with the D-shaped hole of the second angle sensor, and the I-shaped section mates with the I-shaped hole of the first active bevel gear. Similarly, the D-shaped section of the output shaft of the articulated arm motor mates with the D-shaped hole of the fourth angle sensor, and the I-shaped section mates with the I-shaped hole of the second active bevel gear.

[0026] Furthermore, the output shafts of the swing arm motor and the rotary arm motor are designed with a D-shaped structure, wherein the output shaft of the swing arm motor mates with the D-shaped hole of the first angle sensor, and the output shaft of the rotary arm motor mates with the D-shaped hole of the third angle sensor.

[0027] A simulation robot includes a simulation robot arm structure and a torso. A first shoulder drive component of the simulation robot arm structure is integrally assembled inside the torso, and at least a main part of a second shoulder drive component of the simulation robot arm structure is assembled inside the torso. The first shoulder drive component is used to control the simulation robot arm structure to swing back and forth, and the second shoulder drive component is used to control the simulation robot arm structure to raise laterally.

[0028] Furthermore, the torso includes a first torso shell and a second torso shell. When the first torso shell and the second torso shell are combined, they form an assembly groove communicating with the outside at the shoulder position of the torso. The assembly groove is used to assemble the third bearing of the second shoulder drive assembly.

[0029] Furthermore, the first torso shell and the second torso shell, when combined, form a limiting groove inside the torso, the limiting groove being used to assemble the first angle sensor of the first shoulder drive assembly.

[0030] The simulated robot arm structure described in this application, by placing the first shoulder drive component that controls the arm assembly to swing back and forth and the second shoulder drive component that controls the arm assembly to raise laterally inside the simulated robot's torso, adjusts the position and arrangement of the transmission and fastening structures in the entire arm, shortens the arm length, reduces the volume of the joints, and achieves overall arm miniaturization. This makes the overall arm appearance closer to the shape of a real arm, while the joint movement trajectory and bending degree can be more natural and realistic, improving the appearance and motion simulation of the arm. Attached Figure Description

[0031] Figure 1 This is an exploded view of the simulated robot arm structure and simulated robot torso according to one embodiment of this application.

[0032] Figure 2 This is an exploded view of the first shoulder drive assembly according to one embodiment of this application.

[0033] Figure 3 This is an exploded view of the second shoulder drive assembly according to one embodiment of this application.

[0034] Figure 4 This is a cross-sectional view of the simulated robot arm structure and simulated robot torso according to one embodiment of this application.

[0035] Figure 5 This is an exploded view of the upper arm assembly according to one embodiment of this application.

[0036] Figure 6 This is an exploded view of an elbow joint assembly according to one embodiment of this application.

[0037] Figure 7 This is an exploded view of the forearm assembly according to one embodiment of this application. Detailed Implementation

[0038] The technical solutions in the embodiments of this application will now be described in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described below are only for explaining this application and are not intended to limit this application.

[0039] In the following description, specific details are set forth to provide a thorough understanding of the embodiments. However, those skilled in the art will understand that the embodiments may be practiced without these specific details. For example, circuits may be shown in block diagrams so as not to obscure the embodiments with unnecessary detail. In other instances, well-known circuits, structures, and techniques may not be shown in detail so as not to obscure the embodiments.

[0040] In the description of this specification, the references to "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0041] Humanoid robots, also known as humanoid robots or humanoid robots, refer to robots that possess human-like form and function, that is, they have human-like limbs, motor and operational skills, as well as perception, learning, and cognitive abilities. Humanoid robots possess human-like physical characteristics and mobility, can walk on two legs, perform simple functions through the coordination of their arms and body, and communicate with humans through simple language. However, the applicant's research has found that the existing humanoid robot arm connection method is unreasonable, with various control motors located in the joints, upper arm, or forearm, resulting in enlarged joints, arm movements that do not meet the normal bending angle requirements of the human body, and affecting appearance.

[0042] To address the aforementioned technical problems, this application provides a simulated robot arm structure. By placing a first shoulder drive component that controls the arm assembly to swing back and forth and a second shoulder drive component that controls the arm assembly to raise laterally inside the simulated robot's torso, the position and arrangement of the transmission and fastening structures in the entire arm are adjusted. This shortens the arm length, reduces the volume of the joints, and achieves overall arm miniaturization. The overall arm appearance is closer to the shape of a real arm, and the joint movement trajectory and bending degree are more natural and realistic, improving the arm's appearance and motion simulation.

[0043] like Figure 1As shown, the simulated robot arm structure includes a shoulder drive assembly and an arm assembly. The shoulder drive assembly includes a first shoulder drive assembly 2 and a second shoulder drive assembly 3. The first shoulder drive assembly 2 controls the arm assembly to swing back and forth, while the second shoulder drive assembly 3 controls the arm assembly to extend laterally. The first shoulder drive assembly 2 is entirely assembled inside the simulated robot's torso, and at least the main body of the second shoulder drive assembly 3 is assembled inside the simulated robot's torso. The main body of the second shoulder drive assembly 3 primarily refers to core components such as motors and gears, while the parts extending outside the torso are mainly structures for connecting the arm assembly. This arrangement of the first shoulder drive assembly 2 and the second shoulder drive assembly 3 fully utilizes the internal space of the simulated robot's torso while freeing up significant space for the arm assembly, facilitating optimization of the arm assembly's structure and ultimately achieving overall arm miniaturization and more natural arm movements.

[0044] As one implementation method, such as Figure 2 As shown, the first shoulder drive assembly 2 includes a first fixed frame 21, a swing arm motor 23, and a drive cylindrical gear 24. The first fixed frame 21 is mounted inside the torso of the simulation robot, the swing arm motor 23 is mounted on the first fixed frame 21 and is used to control the arm assembly to swing back and forth, and the drive cylindrical gear 24 is coaxially mounted on the output shaft of the swing arm motor 23.

[0045] In one embodiment, the first shoulder drive assembly 2 further includes a motor cover plate 22, a first bearing 25, a second bearing 26, a cable routing bracket 27, and a first angle sensor 28. The swing arm motor 23 is mounted within a collar formed by the first fixing frame 21 and the motor cover plate 22. The first bearing 25 is coaxially fitted within the groove of the drive cylindrical gear 24 and is mounted between the swing arm motor 23 and the drive cylindrical gear 24. The outer ring of the first bearing 25 is fixedly mounted to the drive cylindrical gear 24. The second bearing 26 is coaxially mounted on the output shaft of the swing arm motor 23 and is mounted on the non-groove side of the drive cylindrical gear 24. The cable routing bracket 27 has a cylindrical sleeve 272 fitted onto the second bearing 26. The outer ring of the second bearing 26 is fixedly mounted to the cable routing bracket 27. The cable routing bracket 27 also has a buckle 271 for fixing wires. The first angle sensor 28 is coaxially mounted on the output shaft of the swing arm motor 23. The first bearing 25 provides direct rigidity support to the meshing position of the drive cylindrical gear 24, preventing deformation that could lead to discontinuous arm movements. The inner ring of the first bearing 25 is fitted onto the motor cover plate 22. Figure 2As shown, the motor cover plate 22 comprises two parts, an upper and a lower cover plate, which together fix the swing arm motor 23. Simultaneously, the right side of the combined two cover plates also forms an annular mounting position, where the inner ring of the first bearing 25 is fixedly assembled. It should be noted that the cable routing bracket 27 has an arc-shaped structure, and a screw through hole is provided at the other end of the cylindrical sleeve 272. The cable routing bracket 27 is fixed to the first fixing frame 21 by screws.

[0046] As one implementation method, such as Figure 3 As shown, the second shoulder drive assembly 3 includes a driven cylindrical gear 35, an arm raising motor 33, and a first driving bevel gear 34. The driven cylindrical gear 35 meshes with the driving cylindrical gear 24, and the arm raising motor 33 is coaxially mounted with the driven cylindrical gear 35 to control the arm assembly to achieve lateral raising. The first driving bevel gear 34 is coaxially mounted on the output shaft of the arm raising motor 33.

[0047] In one embodiment, the second shoulder drive assembly 3 further includes an upper shoulder shell 32, a lower shoulder shell 31, a third bearing 36, and a second angle sensor 37. The arm-raising motor 33 is mounted within a collar formed by the upper shoulder shell 32 and the lower shoulder shell 31. The collar includes a first mounting position 321 and a second mounting position 311. The driven cylindrical gear 35 is coaxially mounted on the first mounting position 321, the third bearing 36 is coaxially mounted on the second mounting position 311, and the second angle sensor 37 is coaxially mounted on the output shaft of the arm-raising motor 33. It should be noted that the first mounting position 321 and the second mounting position 311 are located on the outer surface of the collar formed by the upper shoulder shell 32 and the lower shoulder shell 31. The inner side of the driven cylindrical gear 35 is mounted on the first mounting position 321, and the inner ring of the third bearing 36 is coaxially mounted on the second mounting position 311.

[0048] In one embodiment, the driven cylindrical gear 35 includes a hollow cylinder and meshing teeth disposed on the outer surface of the hollow cylinder. Two sets of symmetrical screw through holes 352 are designed at the contact position between the hollow cylinder and the first mounting position 321. Based on the screw through holes 352, the driven cylindrical gear 35 is fixedly connected to a collar formed by the upper shoulder shell 32 and the lower shoulder shell 31 via screws. The meshing teeth are designed with an angle limiting structure 351, so that after the driven cylindrical gear 35 meshes with the driving cylindrical gear 24, the second shoulder drive assembly 3 rotates within a preset working angle range. The design of two sets of symmetrical screw through holes 352 allows for material handling in both arms, thereby reducing production costs. The angle limiting structure 351 on the meshing teeth is to block the meshing teeth outside the working angle range, allowing the second shoulder drive assembly 3 to rotate within a reasonable range, thus protecting related structures and wires from damage.

[0049] As one implementation method, such as Figure 4 As shown, the shoulder shell 32 includes a decorative cover 38 and a wiring groove 39 designed below the decorative cover 38. The wiring groove 39 communicates with the hollow space of the hollow cylinder. The decorative cover 38 refers to the shoulder area of ​​the simulation robot, which is directly observable by the user (i.e., the outer surface of the simulation robot). The decorative cover 38 not only protects the wires but also enhances the appearance. It should be noted that a circular wire-passing hole 353 is provided at the center of the end face of the driven cylindrical gear 35. The wire passes through the circular wire-passing hole 353, through the hollow space of the hollow cylinder, and reaches the wiring groove 39, extending to the arm assembly. The wire travels within the internal space of the second shoulder drive assembly 3, avoiding damage caused by excessive passive traction or friction during wire movement, and also preventing damage from gear meshing. The cable tray 39 is designed with a cylindrical surface that is coaxial with the first driven bevel gear 54. This design facilitates wire bending and avoids wire breakage due to the different lengths of different wires when the cable is in an extreme position.

[0050] In one embodiment, the collar formed by the upper shoulder shell 32 and the lower shoulder shell 31 further includes a third mounting position 312. The third mounting position 312 is used to assemble the arm assembly. When the driving cylindrical gear 24 rotates, it drives the driven cylindrical gear 35 to rotate, thereby causing the second shoulder drive assembly 3 to drive the arm assembly to swing back and forth. It is understood that since the first shoulder drive assembly 2 is located inside the torso of the simulated robot, the arm assembly is not directly driven by the first shoulder drive assembly 2 to swing back and forth, but rather indirectly driven by controlling the second shoulder drive assembly 3.

[0051] As one implementation method, such as Figure 1 As shown, the arm assembly includes an upper arm assembly 5, an elbow joint assembly 6, and a forearm assembly 7, wherein the elbow joint assembly 6 is used to connect the upper arm assembly 5 and the forearm assembly 7, and the upper arm assembly 5 is connected to the second shoulder drive assembly 3.

[0052] As one implementation method, such as Figure 5 As shown, the upper arm assembly 5 includes a first driven bevel gear 54 and a fourth bearing 55. The first driven bevel gear 54 includes a first fixed rod and a first bevel tooth, which are integrally designed. Each end of the first fixed rod is fitted with a fourth bearing 55. When the fourth bearing 55 is mounted on the third mounting position 312, the first bevel tooth meshes with the first driving bevel gear 34. When the first driving bevel gear 34 rotates, it drives the first driven bevel gear 54 to rotate, thereby causing the second shoulder drive assembly 3 to drive the arm assembly to achieve lateral elevation. The inner ring of the fourth bearing 55 is fixedly mounted on the first fixed rod, and the outer ring of the fourth bearing 55 is fixedly mounted on the third mounting position 312. It should be noted that the second shoulder drive assembly 3 is located at the shoulder position of the simulation robot and connected to the arm assembly; therefore, the second shoulder drive assembly 3 directly drives the arm assembly to achieve lateral elevation.

[0053] In one embodiment, the upper arm assembly 5 further includes a second fixing frame 57 and a rotary arm motor 53. The rotary arm motor 53 is at least partially fitted within the second fixing frame 57 and is used to control the rotation of the elbow joint assembly 6, thereby driving the forearm assembly 7 to rotate. Compared with the prior art, the first shoulder drive assembly 2 and the second shoulder drive assembly 3 are no longer assembled in the upper arm assembly 5, freeing up a large amount of space for the upper arm assembly 5. Assembling the rotary arm motor 53 only requires occupying a portion of the freed-up space, ultimately effectively reducing the volume of the upper arm assembly 5.

[0054] In one embodiment, the upper arm assembly 5 further includes a first upper arm housing 51, a second upper arm housing 52, a third angle sensor 56, and a fifth bearing 58. The first upper arm housing 51 is connected to one end of the first fixing rod of the first driven bevel gear 54 by screws, and the second upper arm housing 52 is connected to the other end of the first fixing rod of the first driven bevel gear 54 by screws. The swivel arm motor 53 and the second fixing frame 57 are assembled in the collar formed by the first upper arm housing 51 and the second upper arm housing 52. The third angle sensor 56 is coaxially assembled on the output shaft of the swivel arm motor 53, and the fifth bearing 58 is coaxially mounted on the second fixing frame 57.

[0055] In one embodiment, the second fixing frame 57 includes a first annular structure 571, and the inner ring of the fifth bearing 58 is fitted onto the first annular structure 571. The first annular structure 571 is disposed outside the collar formed by the first upper arm housing 51 and the second upper arm housing 52.

[0056] In one embodiment, the output shaft of the swivel arm motor 53 extends outside the first annular structure 571, so that the elbow joint assembly 6 is coaxially mounted on the output shaft of the swivel arm motor 53.

[0057] As one implementation method, such as Figure 6 As shown, the elbow joint assembly 6 includes an elbow outer shell 61 and an elbow inner shell 62. The elbow outer shell 61 is fixedly connected to the forearm assembly 7. The elbow inner shell 62 is coaxially fitted inside the elbow outer shell 61. The elbow inner shell 62 is also coaxially mounted on the output shaft of the rotary arm motor 53. When the rotary arm motor 53 controls the elbow joint assembly 6 to rotate, it drives the forearm assembly 7 to rotate.

[0058] In one embodiment, the elbow inner housing 62 includes a wire passage hole 621, a limiting post 622, and a connecting hole 623. The elbow inner housing 62 is coaxially mounted on the output shaft of the rotary arm motor 53 via the connecting hole 623. The limiting post 622 engages with a limiting groove on the first annular structure 571 to achieve limiting. The wire passage hole 621 is used for wire routing. The wire passage hole 621 is spatially connected to the wire routing groove 39.

[0059] In one embodiment, the elbow housing 61 includes a second annular structure 611 and a retaining rib. The elbow inner housing 62 is coaxially fitted inside the second annular structure 611, and the second annular structure 611 is coaxially fitted on the outer ring of the fifth bearing 58. This allows the elbow inner housing 62 to be coaxially mounted on the output shaft of the rotary arm motor 53 through the connecting hole 623, and allows the limiting post 622 of the elbow inner housing 62 to be mounted in the limiting groove on the first annular structure 571. The retaining rib is used to connect the forearm assembly 7.

[0060] As one implementation method, such as Figure 7 As shown, the forearm assembly 7 includes a scissor motor 73, a second driving bevel gear 74, and a second driven bevel gear 75. The second driving bevel gear 74 is coaxially mounted on the output shaft of the scissor motor 73 and meshes with the second driven bevel gear 75. The second driven bevel gear 75 is fixedly connected to the retaining rib. When the scissor motor 73 controls the second driving bevel gear 74 to rotate, the forearm assembly 7 performs a circular motion around the second driven bevel gear 75, thereby achieving forearm bending. As mentioned above, the scissor motor 53, which controls the rotation of the forearm assembly 7, is mounted in the upper arm assembly 5, thus reducing the size of the forearm assembly 7 and achieving overall miniaturization of the arm assembly.

[0061] In one embodiment, the second driven bevel gear 75 includes a second fixed rod and a second bevel tooth, wherein the second fixed rod and the second bevel tooth are integrally designed, and the second fixed rod is provided with a slot structure for assembling the retaining rib to realize the connection between the forearm assembly 7 and the elbow joint assembly 6.

[0062] In one embodiment, the slot structure includes a first slot structure 751 and a second slot structure 752, and the retaining rib includes a first retaining rib 612 and a second retaining rib 613. The first slot structure 751 is used to assemble the first retaining rib 612, and the second slot structure 752 is used to assemble the second retaining rib 613. The second conical gear is located in the space formed by the first retaining rib 612 and the second retaining rib 613. The method described in this embodiment can limit and fix the second driven bevel gear 75 in both axial and radial directions.

[0063] In one embodiment, the forearm assembly 7 further includes a first forearm housing 71, a second forearm housing 72, a sixth bearing 76, and a fourth angle sensor 77. The flexor arm motor 73 is mounted within a collar formed by the first forearm housing 71 and the second forearm housing 72. The fourth angle sensor 77 is coaxially mounted on the output shaft of the flexor arm motor 73. Each end of the second fixing rod is fitted with a sixth bearing 76, which is mounted on the first forearm housing 71 and the second forearm housing 72, such that the second bevel tooth meshes with the second driving bevel gear 74. When the flexor arm motor 73 controls the second driving bevel gear 74 to rotate, the forearm assembly 7 makes a circular motion around the second driven bevel gear 75, thereby achieving forearm bending. It should be noted that the second driven bevel gear 75 is fixed. In this case, when the crank arm motor 73 rotates, the second driving bevel gear 74 moves in a circular motion around the second driven bevel gear 75, thereby causing the forearm assembly 7 to bend. That is, the forearm assembly 7 rotates around the second driven bevel gear 75 as an axis, thereby raising the forearm.

[0064] In one embodiment, the output shafts of the lifting arm motor 33 and the articulated arm motor 73 are designed with D-shaped and I-shaped ends. The D-shaped section of the output shaft of the lifting arm motor 33 mates with the D-shaped hole of the second angle sensor 37, and the I-shaped section mates with the I-shaped hole of the first drive bevel gear 34. Similarly, the D-shaped section of the output shaft of the articulated arm motor 73 mates with the D-shaped hole of the fourth angle sensor 77, and the I-shaped section mates with the I-shaped hole of the second drive bevel gear 74. The I-shaped section is located at the end of the output shaft. Designing both D-shaped and I-shaped structures on a single output shaft improves adaptability and makes the overall structure more compact.

[0065] In one embodiment, the output shafts of the swing arm motor 23 and the rotary arm motor 53 are designed with a D-shaped structure. The output shaft of the swing arm motor 23 is engaged with the D-shaped hole of the first angle sensor 28, and the output shaft of the rotary arm motor 53 is engaged with the D-shaped hole of the third angle sensor 56.

[0066] This application provides a simulated robot, such as... Figure 1 As shown, the simulated robot includes a simulated robot arm structure and a torso. The first shoulder drive component 2 of the simulated robot arm structure is integrally assembled inside the torso, and at least the main body of the second shoulder drive component 3 of the simulated robot arm structure is assembled inside the torso. The first shoulder drive component 2 is used to control the simulated robot arm structure to swing back and forth, and the second shoulder drive component 3 is used to control the simulated robot arm structure to raise laterally.

[0067] The simulated robot described in this application can be an industrial-grade humanoid robot, or a service robot or entertainment robot for home use. The simulated robot arm structure described in this application is particularly suitable for small robots, such as story machines for children.

[0068] In one embodiment, the torso includes a first torso shell 1 and a second torso shell 4. The first torso shell 1 and the second torso shell 4, when combined, form an externally communicating mounting groove 41 at the shoulder position of the torso. The mounting groove 41 is used to assemble the third bearing 36 of the second shoulder drive assembly 3. The outer ring of the third bearing 36 is fixedly mounted in the mounting groove 41, which can limit and secure the third bearing 36 in both axial and radial directions.

[0069] In one embodiment, the first torso shell 1 and the second torso shell 4, when combined, form a limiting groove 42 inside the torso. The limiting groove 42 is used to assemble the first angle sensor 28 of the first shoulder drive assembly 2. The limiting groove 42 can limit and secure the first angle sensor 28.

[0070] The simulated robot described in this application, by placing the first shoulder drive component that controls the arm assembly to swing back and forth and the second shoulder drive component that controls the arm assembly to raise laterally inside the body of the simulated robot, adjusts the position and method of the transmission structure and fastening structure in the entire arm, shortens the arm length, reduces the volume of the joint parts, and achieves overall arm miniaturization, making the appearance of the entire arm closer to the shape of a real arm. At the same time, the joint movement trajectory and bending degree can be more natural and realistic, improving the appearance and motion simulation degree of the arm.

[0071] Obviously, the above embodiments are only some embodiments of this application, not all embodiments, and the technical solutions of various embodiments can be combined with each other. Furthermore, if terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" appear in the embodiments, the orientation or positional relationship indicated is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. If terms such as "first," "second," and "third" appear in the embodiments, it is for the convenience of distinguishing related features, and should not be construed as indicating or implying their relative importance, order, or number of technical features.

[0072] Furthermore, in the description of this application, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0073] Although embodiments of this application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of this application. The scope of this application is defined by the appended claims and their equivalents. The above descriptions are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A simulated robot arm structure, characterized in that, The simulated robot arm structure includes a shoulder drive assembly and an arm assembly, wherein... The shoulder drive assembly includes a first shoulder drive assembly and a second shoulder drive assembly. The first shoulder drive assembly controls the arm assembly to swing back and forth, and the second shoulder drive assembly controls the arm assembly to raise laterally. The first shoulder drive assembly is fully assembled inside the torso of the simulated robot, and at least the main body of the second shoulder drive assembly is assembled inside the torso of the simulated robot. The first shoulder drive assembly includes a first fixed frame, a swing arm motor, and a drive cylindrical gear. The first fixed frame is installed inside the torso of the simulated robot. The swing arm motor is installed on the first fixed frame and is used to control the arm assembly to swing back and forth. The drive cylindrical gear is coaxially installed on the output shaft of the swing arm motor. The first shoulder drive assembly further includes a motor cover plate, a first bearing, a second bearing, a wiring bracket, and a first angle sensor. The swing arm motor is assembled in a collar formed by the first fixing frame and the motor cover plate. The first bearing is coaxially fitted in the groove of the driving cylindrical gear and is assembled between the swing arm motor and the driving cylindrical gear. The outer ring of the first bearing is fixedly assembled with the driving cylindrical gear. The second bearing is coaxially assembled on the output shaft of the swing arm motor and is assembled on the non-groove side of the driving cylindrical gear. The wiring bracket has a cylindrical sleeve and is fitted on the second bearing. The outer ring of the second bearing is fixedly assembled with the wiring bracket. The wiring bracket also has a buckle for fixing the wire. The first angle sensor is coaxially assembled on the output shaft of the swing arm motor. The second shoulder drive assembly includes a driven cylindrical gear, an arm-raising motor, and a first driving bevel gear. The driven cylindrical gear meshes with the driving cylindrical gear, and the arm-raising motor is coaxially mounted with the driven cylindrical gear to control the arm assembly to achieve lateral raising. The first driving bevel gear is coaxially mounted on the output shaft of the arm-raising motor. The second shoulder drive assembly further includes an upper shoulder shell, a lower shoulder shell, a third bearing, and a second angle sensor. The lifting arm motor is assembled in a collar formed by the upper shoulder shell and the lower shoulder shell. The collar formed by the upper shoulder shell and the lower shoulder shell includes a first mounting position and a second mounting position. The driven cylindrical gear is coaxially mounted on the first mounting position, the third bearing is coaxially mounted on the second mounting position, and the second angle sensor is coaxially mounted on the output shaft of the lifting arm motor.

2. The simulated robot arm structure according to claim 1, characterized in that, The driven cylindrical gear includes a hollow cylinder and meshing teeth disposed on the outer surface of the hollow cylinder, wherein, The hollow cylinder has two sets of symmetrical screw through holes at the contact position with the first mounting position. Based on these screw through holes, the driven cylindrical gear is fixedly connected to the collar formed by the upper and lower shoulder shells via screws. The meshing teeth are designed with an angle limiting structure, so that after the driven cylindrical gear meshes with the driving cylindrical gear, the second shoulder drive assembly rotates within a preset working angle range.

3. The simulated robot arm structure according to claim 2, characterized in that, The shoulder shell includes a decorative cover and a wiring channel designed below the decorative cover, the wiring channel being connected to the hollow space of the hollow cylinder.

4. The simulated robot arm structure according to claim 1, characterized in that, The collar formed by the upper shoulder shell and the lower shoulder shell also includes a third mounting position, which is used to assemble the arm assembly. When the driving cylindrical gear rotates, it drives the driven cylindrical gear to rotate, thereby causing the second shoulder drive assembly to drive the arm assembly to swing back and forth.

5. The simulated robot arm structure according to claim 4, characterized in that, The arm assembly includes an upper arm assembly, an elbow joint assembly, and a forearm assembly, wherein the elbow joint assembly is used to connect the upper arm assembly and the forearm assembly, and the upper arm assembly is connected to the second shoulder drive assembly.

6. The simulated robot arm structure according to claim 5, characterized in that, The upper arm assembly includes a first driven bevel gear and a fourth bearing, wherein, The first driven bevel gear includes a first fixed rod and a first bevel tooth, which are integrally designed. Each end of the first fixed rod is fitted with a fourth bearing. When the fourth bearing is assembled in the third mounting position, the first conical tooth meshes with the first active conical gear. When the first active conical gear rotates, it drives the first driven conical gear to rotate, thereby enabling the second shoulder drive assembly to drive the arm assembly to achieve lateral raise.

7. The simulated robot arm structure according to claim 6, characterized in that, The upper arm assembly also includes a second fixing frame and a rotating arm motor. The rotating arm motor is at least partially installed in the second fixing frame and is used to control the rotation of the elbow joint assembly, thereby driving the forearm assembly to rotate.

8. The simulated robot arm structure according to claim 7, characterized in that, The upper arm assembly also includes a first upper arm housing, a second upper arm housing, a third angle sensor, and a fifth bearing, wherein... The first upper arm housing is connected to one end of the first fixing rod of the first driven bevel gear by screws, and the second upper arm housing is connected to the other end of the first fixing rod of the first driven bevel gear by screws. The swivel arm motor and the second fixing frame are assembled within a collar formed by the first upper arm housing and the second upper arm housing. The third angle sensor is coaxially mounted on the output shaft of the rotary arm motor. The fifth bearing is coaxially mounted on the second fixing frame.

9. The simulated robot arm structure according to claim 8, characterized in that, The second fixing frame includes a first annular structure, and the inner ring of the fifth bearing is fitted onto the first annular structure, wherein the first annular structure is disposed outside the collar formed by the first upper arm housing and the second upper arm housing.

10. A simulated robot arm structure according to claim 9, characterized in that, The output shaft of the swivel arm motor extends outside the first annular structure, so that the elbow joint assembly is coaxially mounted on the output shaft of the swivel arm motor.

11. The simulated robot arm structure according to claim 10, characterized in that, The elbow joint assembly includes an outer elbow shell and an inner elbow shell, wherein... The elbow housing is fixedly connected to the forearm assembly. The inner elbow housing is coaxially fitted inside the outer elbow housing, and the inner elbow housing is also coaxially mounted on the output shaft of the rotary arm motor. When the rotary arm motor controls the elbow joint assembly to rotate, it drives the forearm assembly to rotate.

12. The simulated robot arm structure according to claim 11, characterized in that, The elbow inner shell includes a wire passage hole, a limiting post, and a connecting hole, wherein, The elbow inner housing is coaxially mounted on the output shaft of the rotary arm motor through the connecting hole. The limiting post cooperates with the limiting groove provided on the first annular structure to achieve limiting. The via hole is used for routing cables.

13. The simulated robot arm structure according to claim 12, characterized in that, The elbow housing includes a second annular structure and a retaining rib, wherein, The elbow inner housing is coaxially fitted inside the second annular structure, and the second annular structure is coaxially fitted on the outer ring of the fifth bearing, thereby enabling the elbow inner housing to be coaxially assembled on the output shaft of the rotary arm motor through the connecting hole and enabling the limiting post of the elbow inner housing to be assembled in the limiting groove on the first annular structure. The retaining rib is used to connect the forearm assembly.

14. The simulated robot arm structure according to claim 13, characterized in that, The forearm assembly includes a crank arm motor, a second driving bevel gear, and a second driven bevel gear, wherein... The second driving bevel gear is coaxially mounted on the output shaft of the crank arm motor and meshes with the second driven bevel gear. The second driven bevel gear is fixedly connected to the retaining rib. When the crank arm motor controls the second driving bevel gear to rotate, the forearm assembly makes a circular motion around the second driven bevel gear, thereby achieving forearm bending.

15. A simulated robot arm structure according to claim 14, characterized in that, The second driven bevel gear includes a second fixed rod and a second bevel tooth, wherein, The second fixing rod and the second conical tooth are designed as a single unit. The second fixing rod is provided with a slot structure, which is used to assemble the retaining rib to realize the connection between the forearm assembly and the elbow joint assembly.

16. The simulated robot arm structure according to claim 15, characterized in that, The slot structure includes a first slot structure and a second slot structure, and the retaining rib includes a first retaining rib and a second retaining rib. The first slot structure is used to assemble the first retaining rib, the second slot structure is used to assemble the second retaining rib, and the second conical tooth is located in the space formed by the first retaining rib and the second retaining rib.

17. A simulated robot arm structure according to claim 15, characterized in that, The forearm assembly also includes a first forearm housing, a second forearm housing, a sixth bearing, and a fourth angle sensor, wherein, The articulated arm motor is assembled within a collar formed by the first forearm housing and the second forearm housing. The fourth angle sensor is coaxially mounted on the output shaft of the crank arm motor. Each end of the second fixing rod is fitted with a sixth bearing, and the sixth bearing is mounted on the first forearm housing and the second forearm housing, so that the second bevel tooth meshes with the second active bevel gear. When the crank arm motor controls the second active bevel gear to rotate, the forearm assembly makes a circular motion around the second driven bevel gear, thereby achieving forearm bending.

18. The simulated robot arm structure according to claim 17, characterized in that, The output shafts of the lifting arm motor and the articulated arm motor are designed with D-shaped and I-shaped ends. The D-shaped section of the output shaft of the lifting arm motor mates with the D-shaped hole of the second angle sensor, and the I-shaped section mates with the I-shaped hole of the first active bevel gear. The D-shaped section of the output shaft of the articulated arm motor mates with the D-shaped hole of the fourth angle sensor, and the I-shaped section mates with the I-shaped hole of the second active bevel gear.

19. A simulated robot arm structure according to claim 17, characterized in that, The output shafts of the swing arm motor and the rotary arm motor are designed with a D-shaped structure. The output shaft of the swing arm motor mates with the D-shaped hole of the first angle sensor, and the output shaft of the rotary arm motor mates with the D-shaped hole of the third angle sensor.

20. A simulated robot, characterized in that, The simulated robot includes the simulated robot arm structure according to any one of claims 1 to 19, and the simulated robot also includes a torso. The first shoulder drive component of the simulated robot arm structure is integrally assembled inside the torso, and at least the main body of the second shoulder drive component of the simulated robot arm structure is assembled inside the torso. The first shoulder drive component is used to control the simulated robot arm structure to swing back and forth, and the second shoulder drive component is used to control the simulated robot arm structure to raise laterally.

21. A simulated robot according to claim 20, characterized in that, The torso includes a first torso shell and a second torso shell. When the first torso shell and the second torso shell are combined, they form an assembly groove communicating with the outside at the shoulder position of the torso. The assembly groove is used to assemble the third bearing of the second shoulder drive assembly.

22. A simulated robot according to claim 21, characterized in that, The first torso shell and the second torso shell are combined to form a limiting groove inside the torso, and the limiting groove is used to assemble the first angle sensor of the first shoulder drive assembly.

Images