Mechanical arm and humanoid robot

Abstract

The invention provides a mechanical arm and a humanoid robot, and relates to the technical field of robots. The mechanical arm comprises a big arm assembly, the big arm assembly comprises a big arm, a shoulder joint motor and an elbow joint motor, and the big arm is provided with an elbow joint end and a shoulder joint end; the shoulder joint motor is provided with a first shell and a first rotating shaft, and the first shell is connected with the shoulder joint end; the elbow joint motor is provided with a second shell and a second rotating shaft, and the second shell is connected with the elbow joint end; and at least one of the first shell and the second shell is integrated with the big arm. According to the mechanical arm provided by the invention, the large arm is subjected to integrated design, so that the requirements of light weight and low cost of a humanoid robot are met, and the requirements of application in the industrial field are met.

Description

Technical Field

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

[0002] The robotic arm is a representative complex component in the humanoid robot system. It is the basis for the humanoid robot to complete grasping operations and human-machine interaction. Its structure is complex and heavy. At the same time, the cost of the robotic arm is high. With the application of humanoid robots in the industrial field, higher requirements are placed on the lightweight and low-cost design of the robotic arm of humanoid robots. Summary of the invention

[0003] In view of this, the purpose of the present invention is to overcome the deficiencies in the prior art and to provide a robotic arm and a humanoid robot, which meet the lightweight and low-cost requirements of the humanoid robot through an integrated design of the upper arm, thereby meeting the requirements of industrial applications.

[0004] The present invention provides the following technical solutions:

[0005] In a first aspect, an embodiment of the present application provides a robotic arm, comprising a upper arm assembly, wherein the upper arm assembly comprises an upper arm, a shoulder joint motor and an elbow joint motor, wherein the upper arm has an elbow joint end and a shoulder joint end; the shoulder joint motor has a first shell and a first rotating shaft, and the first shell is connected to the shoulder joint end; the elbow joint motor has a second shell and a second rotating shaft, and the second shell is connected to the elbow joint end; wherein at least one of the first shell and the second shell is integrated with the upper arm.

[0006] In one embodiment of the first aspect, the second shell and the upper arm are integrally arranged, the axis of the second rotating shaft and the axis of the first rotating shaft are arranged perpendicularly, and the axis of the first rotating shaft and the axis of the upper arm coincide with or are parallel, the shoulder joint end is provided with a first groove portion, the shoulder joint motor is located in the first groove portion, the first groove portion has at least two first groove walls, and the first shell is connected to the first groove wall on the corresponding side.

[0007] In one embodiment of the first aspect, the first groove portion comprises a first groove bottom and two first groove walls, the two first groove walls are arranged opposite to each other, the first groove bottom abuts against the first shell, and the first groove wall abuts against the first shell;

[0008] The first groove bottom and / or the first groove wall are provided with weight-reducing holes; the upper arm is provided with a weight-reducing groove, and the upper arm is also provided with reinforcing ribs.

[0009] In one embodiment of the first aspect, the robot arm further comprises a shoulder assembly, the shoulder assembly having a shoulder connection end, the shoulder connection end being provided with a second groove portion, and the second groove portion having a second groove wall;

[0010] The boom assembly also includes:

[0011] A first adapter, the first adapter is connected to the first rotating shaft, the first adapter is inserted into the second groove, the first adapter is connected to the second groove wall, and the first adapter and the second groove are transitionally fitted or interference fit.

[0012] In one embodiment of the first aspect, the boom assembly further comprises:

[0013] A first marking part, the first marking part is connected to the first shell of the shoulder joint motor, and the first marking part has a first marking hole; wherein the shoulder connecting end has a first marking matching hole, the first marking matching hole is located on the moving path of the first marking matching hole, and when the first marking matching hole and the first marking matching hole are coaxial, the first rotating shaft is in a zero position state.

[0014] In one embodiment of the first aspect, the robotic arm also includes a small arm assembly, and the large arm assembly also includes a second adapter, the second adapter is connected to the second rotating shaft, and the second adapter has a first connecting end and a second connecting end relatively arranged, the first connecting end is connected to the second rotating shaft, the second connecting end is rotatably connected to the second shell, and the second connecting end rotates coaxially with the first connecting end.

[0015] In one embodiment of the first aspect, the boom assembly also includes a third adapter, the third adapter having an insertion end, and an end of the third adapter facing away from the insertion end is connected to the second connecting end; wherein, the second shell has a third groove portion, a bearing is arranged in the third groove portion, the bearing and the third groove portion are interference fit, the bearing and the second rotating shaft are coaxially arranged, and the second connecting end has a mounting hole, the insertion end is penetrated through the mounting hole and the inner ring of the bearing, the insertion end and the inner ring of the bearing are interference fit, and a gap is arranged between the second connecting end and the bearing.

[0016] In one of the embodiments of the first aspect, the shoulder assembly further has a limiting portion, and the shoulder assembly is arranged on the torso assembly, and the limiting portion is located on the moving path of the first mark part, and the limiting portion is used to limit the rotation range of the shoulder joint motor so that the torso assembly is located outside the moving range of the forearm assembly.

[0017] In one embodiment of the first aspect, the boom assembly further comprises:

[0018] A second zeroing part, wherein the second zeroing part is connected to the second adapter, and the second zeroing part has a second zeroing hole; wherein the second shell has a second zeroing matching hole, the second zeroing matching hole is located on the moving path of the second zeroing hole, and when the second zeroing matching hole and the second zeroing hole are coaxial, the second rotating shaft is in a zero position state.

[0019] In a second aspect, the present application also provides a humanoid robot, comprising a robotic arm as described in any one of the above embodiments.

[0020] The embodiments of the present invention have the following advantages:

[0021] With the mechanical arm provided by the present invention, at least one of the first shell and the second shell forms an integrated structure with the main arm. Obviously, this design can not only reduce the number of parts of the mechanical arm, simplify the assembly process, and reduce costs, but also effectively reduce the overall weight of the mechanical arm, thereby achieving the purpose of lightweight. In addition, the integrated design also helps to improve the strength and stability of the mechanical arm, ensuring that it can still maintain good performance under high-intensity working environments.

[0022] The present invention also relates to a humanoid robot. Since the above-mentioned robotic arm has the above-mentioned technical effects, the humanoid robot including the robotic arm should have the same technical effects, which will not be repeated here.

[0023] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0025] Figure 1 A schematic structural diagram of a mechanical arm provided by an embodiment of the present invention is shown;

[0026] Figure 2 An exploded schematic diagram of a mechanical arm provided by an embodiment of the present invention is shown;

[0027] Figure 3 A schematic diagram of assembling a second adapter and a small arm assembly in a mechanical arm provided by an embodiment of the present invention is shown;

[0028] Figure 4 A schematic structural diagram of a large arm assembly in a mechanical arm provided by an embodiment of the present invention is shown;

[0029] Figure 5 A schematic diagram of assembling a large arm assembly and a shoulder assembly in a mechanical arm provided by an embodiment of the present invention is shown;

[0030] Figure 6 An exploded schematic diagram of a large arm assembly and a small arm assembly in a mechanical arm provided by an embodiment of the present invention is shown;

[0031] Figure 7 A schematic diagram of a third adapter in a robotic arm provided by an embodiment of the present invention is shown.

[0032] Description of main component symbols:

[0033] 100-shoulder assembly; 110-shoulder connection end; 111-first zero hole; 112-limiting part; 200-upper arm assembly; 210-first standard part; 211-first zero hole; 220-shoulder joint motor; 221-first rotating shaft; 222-first housing; 230-first groove; 231-first groove wall; 232-first groove bottom; 240-upper arm; 241-shoulder joint end; 242-elbow joint end; 250-elbow joint motor; 251-second rotating shaft; 252-second housing; 2521-second zeroing hole; 2522-third groove; 253-bearing; 2531-inner ring; 260-second adapter; 261-first connecting end; 262-second connecting end; 2621-mounting hole; 2622-second zeroing hole; 270-first adapter; 280-clamp; 290-third adapter; 291-large diameter section; 292-middle diameter section; 293-small diameter section. DETAILED DESCRIPTION

[0034] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0035] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. In contrast, when an element is referred to as being "directly on" another element, there is no intermediate element. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0036] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0038] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of the template are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0039] In related technologies, with the advancement of science and technology, the research and application fields of robots are constantly expanding. Among them, the research and application of humanoid robots have received particular attention and has become one of the most active research hotspots in the field of robotics.

[0040] Among them, the robotic arm is a representative complex component in the humanoid robot system. It is the basis for the humanoid robot to complete grasping operations and human-machine interaction. Its structure is complex and heavy. At the same time, the cost of the robotic arm is high. With the application of humanoid robots in the industrial field, higher requirements are placed on the lightweight and low-cost design of the robotic arm of humanoid robots.

[0041] like Figure 1 , Figure 2 and Figure 4As shown, in order to solve the above-mentioned technical problems, an embodiment of the present application provides a robotic arm, which includes a large arm assembly 200, and the large arm assembly 200 includes a large arm 240, a shoulder joint motor 220 and an elbow joint motor 250, the large arm 240 has an elbow joint end 242 and a shoulder joint end 241; the shoulder joint motor has a first shell 222 and a first rotating shaft 221, and the first shell 222 is connected to the shoulder joint end 241; the elbow joint motor 250 has a second shell 252 and a second rotating shaft 251, the second shell 252 is connected to the elbow joint end 242, and the axis of the second rotating shaft 251 is cross-arranged with the axis of the first rotating shaft 221; wherein, at least one of the first shell 222 and the second shell 252 is integrated with the large arm 240.

[0042] In these embodiments, the upper arm 240 is the main structural part of the entire robot arm, and the upper arm 240 has two key endpoints, namely the elbow joint end 242 and the shoulder joint end 241. These two ends are respectively used to connect the elbow joint motor 250 and the shoulder joint motor 220, so that the robot arm can achieve multi-degree-of-freedom movement.

[0043] The shoulder joint motor 220 is responsible for driving the mechanical arm to rotate at the shoulder. The shoulder joint motor 220 includes a first housing 222 and a first shaft 221. The first housing 222 is connected to the shoulder joint end 241, and the first shaft 221 is used to transmit power to rotate the upper arm 240 around the shoulder. For example, the shoulder joint motor 220 is a steering gear. Of course, the shoulder joint motor 220 can also be a servo motor, a stepper motor, etc.

[0044] The elbow joint motor 250 is responsible for driving the bending and straightening of the robot arm at the elbow. The elbow joint motor 250 also has a second housing 252 and a second rotating shaft 251. The second housing 252 is connected to the elbow joint end 242, and the axis of the second rotating shaft 251 is arranged crosswise with the axis of the first rotating shaft 221. This design helps to improve the flexibility and range of motion of the robot arm in space. For example, in this embodiment, the axis of the second rotating shaft 251 and the axis of the first rotating shaft 221 are arranged vertically. Of course, in other embodiments, the angle between the axis of the second rotating shaft 251 and the axis of the first rotating shaft 221 is set to 30°, 40°, 50°, 60° or 70°, etc., which is not specifically limited here and is set according to the specific usage scenario. For example, the elbow joint motor 250 is a steering gear. Of course, the elbow joint motor 250 can also be a servo motor, a stepper motor, etc.

[0045] It is worth noting that in the present application, at least one of the first shell 222 and the second shell 252 forms an integrated structure with the large arm 240. Obviously, this design can not only reduce the number of parts of the robot arm, simplify the assembly process, and reduce costs, but also effectively reduce the overall weight of the robot arm, thereby achieving the purpose of lightweight. In addition, the integrated design also helps to improve the strength and stability of the robot arm, ensuring that it can still maintain good performance in a high-intensity working environment.

[0046] For example, in this embodiment, the second housing 252 and the arm 240 are integrated. Of course, in other embodiments, the second housing 252 and the arm 240 are integrated. Alternatively, the second housing 252, the first housing 222 and the arm 240 are integrated.

[0047] like Figure 4 As shown, in some embodiments, when the second shell 252 and the upper arm 240 are integrated, the axis of the second rotating shaft 251 and the axis of the first rotating shaft 221 are vertically arranged, and the axis of the first rotating shaft 221 and the axis of the upper arm 240 coincide with or are parallel, the shoulder joint end 241 is provided with a first groove portion 230, the shoulder joint motor 220 is located in the first groove portion 230, the first groove portion 230 has at least two first groove walls 231, and the first shell 222 is connected to the first groove wall 231 on the corresponding side.

[0048] In these embodiments, this design not only helps to improve the structural compactness of the robotic arm, but also ensures a stable connection between the shoulder joint motor 220 and the upper arm 240, thereby improving the overall stability and reliability of the robotic arm.

[0049] For example, the first groove portion 230 of the shoulder joint end 241 can be designed to be "U" shaped or "C" shaped, which can provide enough space for accommodating the shoulder joint motor 220, and ensure that the motor is firmly fixed on the upper arm 240 through the connection between the first groove walls 231 on both sides and the first housing 222. This structural design not only simplifies the assembly process, but also reduces the number of external connectors, thereby reducing the weight and cost of the robot arm.

[0050] At the same time, due to the direct connection between the shoulder joint motor 220 and the upper arm 240, the energy loss during the power transmission process is reduced and the working efficiency of the robot arm is improved.

[0051] Obviously, through the above technical solution, the present application provides a robotic arm design with compact structure, light weight, low cost and reliable performance, which greatly improves the applicability and economy of humanoid robots in industrial applications.

[0052] Of course, in other embodiments, the number of the first slot walls 231 is 3, 4, etc., which is not specifically limited here.

[0053] like Figure 4 As shown, in some embodiments, the first groove portion 230 has a first groove bottom 232 and two first groove walls 231 , the two first groove walls 231 are arranged opposite to each other, and the first groove bottom 232 abuts against the first shell 222 , and the first groove wall 231 abuts against the first shell 222 .

[0054] In these embodiments, the shoulder joint end 241 is provided with a first groove portion 230, and the shoulder joint motor 220 is located in the first groove portion 230. Specifically, the first groove portion 230 has a first groove bottom 232 and two first groove walls 231, and the two first groove walls 231 are arranged opposite to each other. The first groove bottom 232 abuts against the first shell 222, and the two first groove walls 231 also abut against the first shell 222 respectively. This structural design not only ensures a stable connection between the shoulder joint motor 220 and the upper arm 240, but also achieves the purpose of lightweight by reducing the number of external connecting parts.

[0055] The first groove 230 of the shoulder joint end 241 can be designed as a "U"-shaped groove, the center of which is the first groove bottom 232, and the two sides are the first groove walls 231. This groove structure can effectively accommodate the shoulder joint motor 220, and through the contact between the first groove bottom 232 and the first groove wall 231 and the first housing 222 respectively, the position of the motor in the upper arm 240 is ensured to be stable, and the use of additional connecting parts is reduced, thereby reducing the total weight and manufacturing cost of the robot arm.

[0056] In addition, this design also helps to improve the reliability and durability of the robot arm. Since the motor is directly embedded in the arm 240, the influence of external factors on the motor is reduced, so that the robot arm can still maintain high working efficiency and accuracy during long-term continuous operation. At the same time, since the external connecting parts are reduced, the possibility of failure of the robot arm during use is also reduced.

[0057] Exemplarily, the first groove wall 231 is connected to the first housing 222 of the shoulder joint motor 220 by bolts or screws. Since the bottom of the first housing 222 is in contact with the first groove bottom 232 , there is no need to fix the bottom of the first housing 222 .

[0058] For ease of understanding, the following installation method is provided: the first housing 222 of the shoulder joint motor 220 is placed in the first groove portion 230 of the shoulder joint end 241, ensuring that the first groove bottom 232 abuts against the first housing 222, and the two first groove walls 231 abut against the first housing 222 to form a stable connection. The first housing 222 of the shoulder joint motor 220 is placed in the first groove portion 230 of the shoulder joint end 241. The shape of the first groove portion 230 is designed to fit closely to the shape of the first housing 222 to ensure that the motor is stably installed. The first groove bottom 232 contacts the bottom of the first housing 222 to form a stable support surface. The two opposite first groove walls 231 contact the two sides of the first housing 222 to form a stable lateral support.

[0059] like Figure 4 As shown, in some embodiments, the first groove bottom 232 and / or the first groove wall 231 are provided with weight-reducing holes; the upper arm 240 is provided with a weight-reducing groove, and the upper arm 240 is also provided with reinforcing ribs.

[0060] In these embodiments, in order to further reduce the weight of the robotic arm, the first groove bottom 232 and / or the first groove wall 231 are provided with weight-reducing holes; illustratively, in the present embodiment, both the first groove bottom 232 and the first groove wall 231 are provided with weight-reducing holes. Of course, in other embodiments, the first groove bottom 232 is provided with weight-reducing holes. Alternatively, the first groove wall 231 is provided with weight-reducing holes. It should be noted that the weight-reducing holes can increase the contact area between the shoulder joint motor 220 and the outside air, which is beneficial to the heat dissipation performance of the shoulder joint motor 220. Obviously, weight-reducing holes are designed on the first groove bottom 232 and / or the first groove wall 231 to ensure that these holes do not affect the structural strength of the robotic arm.

[0061] For example, the number of the weight-reducing holes is multiple, that is, the weight-reducing holes are dispersedly arranged to ensure the strength of the first groove bottom 232 and the first groove wall 231. Of course, the hole shape of the weight-reducing hole can be circular, square, oval, triangular, special-shaped, etc.

[0062] In addition, the arm 240 is provided with a weight-reducing groove, and in order to ensure the structural strength of the mechanical arm, a reinforcing rib is also provided on the arm 240. It should be noted that by providing the weight-reducing groove, the bottom of the weight-reducing groove cooperates with the reinforcing rib to ensure the strength of the arm 240 on the basis of weight reduction.

[0063] In other words, a weight-reducing groove is provided on the upper arm 240 to reduce the amount of material used, but at the same time, the stress of the robot arm needs to be considered to ensure that the strength is not reduced while reducing the weight. In addition, reinforcing ribs are provided to compensate for the weakening of the structural strength caused by the weight-reducing groove, ensuring that the robot arm can still maintain good performance in a high-intensity working environment.

[0064] For example, the arm 240 is configured as a plate-like structure, and weight-reducing grooves are provided on both sides of the arm 240. Alternatively, in other embodiments, a weight-reducing groove is provided on one side of the arm 240.

[0065] like Figure 1 , Figure 2 , Figure 4 and Figure 5 As shown, in some embodiments, the robot arm further includes a shoulder assembly 100, the shoulder assembly 100 has a shoulder connection end 110, the shoulder connection end 110 is provided with a second groove portion, and the second groove portion has a second groove wall;

[0066] The arm assembly 200 further includes a first adapter 270, which is connected to the first rotating shaft 221, is passed through the second groove, is connected to the second groove wall, and has a transition fit or interference fit with the second groove.

[0067] In these embodiments, a stable connection between the shoulder assembly 100 and the boom assembly 200 is ensured. The shoulder connection end 110 of the shoulder assembly 100 is connected to the first adapter 270 of the boom assembly 200 to ensure a stable connection between the two. The first adapter 270 is passed through the second groove portion of the shoulder connection end 110, and a transition fit or interference fit is ensured between the first adapter 270 and the second groove wall to achieve stable positioning between the shoulder assembly 100 and the boom assembly 200.

[0068] Furthermore, the second groove wall of the second groove portion and the first adapter 270 are connected by screws or bolts. For example, the first adapter 270 is provided with a cylindrical shape, the lower end of the first adapter 270 is connected to the first rotating shaft 221, the upper end of the first adapter 270 is penetrated in the second groove portion, the second groove portion is provided as a round hole, the second groove portion and the first adapter 270 are transitionally matched or interference-fitted, so that the second groove wall of the second groove portion and the first adapter 270 are abutted, thereby improving the stability of the connection between the two. The second groove wall is provided with a through hole, the first adapter 270 is provided with a threaded hole, and the screw passes through the through hole and is connected to the threaded hole.

[0069] In addition, this design not only improves the rigidity of the robotic arm, but also simplifies the assembly process, further reducing manufacturing costs.

[0070] like Figure 5As shown, in some embodiments, the upper arm assembly 200 also includes a first marking part 210, which is connected to the first shell 222 of the shoulder joint motor 220, and the first marking part 210 has a first marking hole 211; wherein, the shoulder connection end 110 has a first marking matching hole 111, and the first marking matching hole 111 is located on the moving path of the first marking hole 211, and when the first marking matching hole 111 and the first marking hole 211 are coaxial, the first rotating shaft 221 is in a zero position state.

[0071] In these embodiments, in order to facilitate the calibration and maintenance of the robot arm, by adjusting the position of the first zero hole 211, when the first zero hole 211 is coaxially aligned with the first zero matching hole 111, the first rotating shaft 221 is in a zero position state, thereby facilitating the initialization and position correction of the robot arm, that is, ensuring that the robot arm can be accurately reset during use, thereby improving the reliability and accuracy of the system. Obviously, it is necessary to consider that the first mark part 210 is connected to the first housing 222 of the shoulder joint motor 220, and ensuring that the first zero hole 211 on the first mark part 210 and the first zero matching hole 111 on the shoulder connection end 110 can be coaxially aligned.

[0072] That is to say, when the shoulder joint motor 220 needs to be zeroed, it is only necessary to align the first zeroing hole 211 on the first marking part 210 with the first zeroing hole 111 on the side of the shoulder connecting end 110 of the shoulder assembly 100, and use a pin of equal diameter to penetrate the first zeroing hole 211 and the first zeroing hole 111 to achieve zeroing of the shoulder joint motor 220.

[0073] For example, the first component 210 is equipped with a wire clamp 280 to fix the cable. The wire clamp 280 may be a C-shaped wire clamp 280 .

[0074] like Figure 2 , Figure 3 and Figure 6 As shown, in some embodiments, the robotic arm also includes a small arm assembly, and the large arm assembly 200 also includes a second adapter 260, the second adapter 260 is connected to the second rotating shaft 251, and the second adapter 260 has a first connecting end 261 and a second connecting end 262 that are relatively arranged, the first connecting end 261 is connected to the second rotating shaft 251, the second connecting end 262 is rotatably connected to the second shell 252, and the second connecting end 262 and the first connecting end 261 rotate coaxially.

[0075] In these embodiments, in the design of the small arm assembly, the first connection end 261 of the second adapter 260 is connected to the second rotating shaft 251, the second connection end 262 is rotationally connected to the second shell 252, and the second connection end 262 and the first connection end 261 rotate coaxially. This design enables the small arm assembly to achieve a stable connection with the large arm assembly 200, and can move flexibly in multiple dimensions. In other words, the first connection end 261 is connected to the second rotating shaft 251 to rotate through the second rotating shaft 251 of the elbow joint motor 250, thereby driving the small arm assembly to straighten or bend, and the second connection end 262 is rotatably connected to the second shell 252, thereby achieving auxiliary support for the tail of the small arm assembly and the elbow joint motor 250, which is beneficial to enhance the connection stability and connection strength between the small arm assembly and the large arm assembly 200.

[0076] Obviously, the first connecting end 261 and the second connecting end 262 are arranged in a U-shape, which can reduce the overall weight while ensuring the connection between the small arm assembly and the large arm assembly 200 .

[0077] It should be noted that the rotational connection position between the second connection end 262 and the second shell 252 is planned and set so that the first connection end 261 and the second connection end 262 can both rotate around the axis of the second main shaft.

[0078] like Figure 6 and Figure 7 As shown, in some embodiments, the arm assembly 200 also includes a third adapter 290, the third adapter 290 has an insertion end, and the end of the third adapter 290 away from the insertion end is connected to the second connection end 262; wherein, the second shell 252 has a third groove 2522, and a bearing 253 is arranged in the third groove 2522, the bearing 253 and the third groove 2522 are interference fit, the bearing 253 and the second rotating shaft 251 are coaxially arranged, and the second connection end 262 has a mounting hole 2621, the insertion end is penetrated through the mounting hole 2621 and the inner ring 2531 of the bearing 253, the insertion end and the inner ring 2531 of the bearing 253 are interference fit, and a gap is arranged between the second connection end 262 and the bearing 253.

[0079] In these embodiments, the boom assembly 200 is not limited to its basic structure, but also integrates a third adapter 290, which plays a key role in the flexibility and stability of the robot. Specifically, the third adapter 290 has an insertion end for assembly, and the other end is connected to the second connection end 262 in the boom assembly 200. In order to ensure that this connection mechanism can operate efficiently, a third groove 2522 is specially provided in the second shell 252 of the boom assembly 200. A bearing 253 is arranged inside the third groove 2522, and the fit between the bearing 253 and the groove adopts an interference fit, which means that the bearing 253 is tightly fixed in the groove, thereby reducing looseness or displacement during movement, ensuring the stability of the robot during operation, and eliminating the fixation by fasteners such as bolts, so as to achieve the purpose of reducing weight and cost.

[0080] Furthermore, the second connection end 262 located on the arm assembly 200 includes a mounting hole 2621. When assembled, the insertion end of the third adapter 290 will pass through this mounting hole 2621 and extend into the inner ring 2531 of the bearing 253, also tightly fitting in an interference fit. This design ensures a firm connection between the first adapter 270 and the bearing 253, and maintains good performance even when subjected to high loads or performing rapid movements. It is worth noting that a certain gap is reserved between the second connection end 262 and the bearing 253. This design allows a certain degree of freedom, which helps to absorb slight deviations or vibrations generated during the movement of the robot arm, thereby enhancing the overall stability and durability of the system. In addition, it can prevent the second connection end 262 from contacting the second housing 252 and the bearing 253 and causing jamming.

[0081] For example, in this embodiment, the end of the third adapter 290 away from the insertion end is connected to the second connection end 262 by bolts. Specifically, the third adapter 290 has a large diameter section 291, a middle diameter section 292 and a small diameter section 293, the mounting hole 2621 and the middle diameter section 292 are interference fit, the outer diameter of the middle diameter section 292 is larger than the inner diameter of the inner ring 2531 but smaller than the outer diameter of the inner ring 2531, the shoulder between the middle diameter section 292 and the small diameter section 293 and the end of the inner ring 2531 are in contact, the outer diameter of the large diameter section 291 is larger than the aperture of the mounting hole 2621, the second connection end 262 is connected to the large diameter section 291 by bolts, and the axial length of the middle diameter section 292 is larger than the thickness of the second connection end 262.

[0082] like Figure 5As shown, in some embodiments, the shoulder assembly 100 further has a limiting portion 112, and the shoulder assembly 100 is disposed on the trunk assembly. The limiting portion 112 is located on the moving path of the first marking part 210, and the limiting portion 112 is used to limit the rotation range of the shoulder joint motor so that the trunk assembly is located outside the moving range of the forearm assembly.

[0083] In these embodiments, in order to limit the rotation range of the shoulder joint motor 220 and prevent the robot arm from being damaged due to excessive rotation, the shoulder assembly 100 further has a limiter 112. The limiter 112 is located on the moving path of the first standard part 210, and the rotation range of the shoulder joint motor 220 can be limited by the limiter 112 to ensure that the robot arm operates within a safe range, even if the torso assembly is outside the moving range of the forearm assembly.

[0084] Exemplarily, the limiting portion 112 is disposed on a side of the shoulder connection end 110 close to the torso component of the humanoid robot to prevent the forearm component from rotating and colliding with the torso component of the humanoid robot.

[0085] As for the limiting portion 112, no specific limitation is made here. In the present embodiment, the limiting portion 112 is a protrusion on the side of the shoulder connection end 110. Of course, in other embodiments, the limiting portion 112 is a stopper fixed on the side of the shoulder connection end 110, etc.

[0086] More specifically, a protrusion may be arranged to extend along the circumference of the shoulder connection end 110 or the moving path of the first standard part 210, so as to limit the rotation range of the shoulder joint motor 220 by configuring its extension length. Of course, two protrusions may also be arranged on the moving path of the first standard part 210, and the same effect can be achieved by configuring the distance between the two protrusions.

[0087] like Figure 3 and Figure 6 As shown, in some embodiments, the upper arm assembly 200 also includes a second marking part, which is connected to the second adapter 260, and the second marking part has a second marking hole 2622; wherein, the second shell 252 has a second marking matching hole 2521, and the second marking matching hole 2521 is located on the moving path of the second marking hole 2622, and when the second marking matching hole 2521 and the second marking hole 2622 are coaxial, the second rotating shaft 251 is in a zero position state.

[0088] In these embodiments, in addition to the basic components, the upper arm assembly 200 is also equipped with a second zeroing part. The main function of this second zeroing part is to establish a connection with the second adapter 260, thereby providing a more accurate position reference for the entire robotic arm system. The second zeroing part is provided with a second zeroing hole 2622, and this second zeroing hole 2622 plays a vital role in the robotic arm positioning process. In order to achieve precise positioning, a second zeroing hole 2521 is specially designed on the second shell 252, and the position of this second zeroing hole 2521 is arranged on the expected moving path of the second zeroing hole 2622. The purpose of this design is to allow the second zeroing hole 2622 and the second zeroing hole 2521 to be aligned under specific conditions.

[0089] Specifically, when the second zero hole 2521 and the second zero hole 2622 are in a coaxial state, that is, the two are completely aligned and overlapped, at this time, the second rotating shaft 251 reaches the zero position state through the pin shaft passing through the second zero hole 2521 and the second zero hole 2622. This state is crucial for the calibration of the robot arm, defining a reference position of the robot arm, and all subsequent actions will be calculated and adjusted based on this initial position.

[0090] Exemplarily, the second mark part is arranged on the outer side of the second connecting end 262, and the second mark part is provided with a second mark hole 2622, the second mark hole 2622 passes through the second mark part and the second connecting end 262, and the second mark matching hole 2521 is arranged at the end of the elbow joint motor 250 away from the second rotating shaft 251.

[0091] For example, suppose that in an industrial automation environment, a robot arm needs to perform a series of complex tasks, such as assembling electronic components. Before starting any operation, the robot arm needs to be accurately calibrated to the zero position. The operator can move the second zero hole 2622 and align it with the second zero matching hole 2521 manually or automatically. Once the two holes are aligned, it means that the second rotating shaft 251 has returned to the zero position. At this time, the system can record this position as the starting point and execute subsequent action instructions based on this.

[0092] Obviously, this design not only improves the accuracy of the robot arm’s work, but also simplifies the operation process. During daily maintenance and use, the operator can quickly reset the robot arm to zero position, which is very important to ensure consistency and quality control on the production line.

[0093] The present application also provides a humanoid robot, which includes a robotic arm as described in any one of the above embodiments.

[0094] Obviously, the present application is not limited to a single robotic arm assembly, but also proposes a new integrated solution, namely a humanoid robot. This humanoid robot integrates the robotic arm technology described in the various embodiments above, aiming to provide users with a more intelligent, flexible and efficient automation solution. One of the design goals of a humanoid robot is to imitate the human body structure and movement ability to achieve more natural human-computer interaction and a wide range of application scenarios. As an important component of a humanoid robot, the robotic arm bears the key responsibilities of performing various tasks, such as grasping objects, performing fine operations, etc.

[0095] In all examples shown and described herein, any specific values ​​should be interpreted as merely exemplary and not as limiting, and thus other examples of the exemplary embodiments may have different values.

[0096] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0097] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A robotic arm, comprising a large arm assembly, characterized in that: The upper arm assembly includes an upper arm, a shoulder joint motor and an elbow joint motor, the upper arm having an elbow joint end and a shoulder joint end; the shoulder joint motor having a first shell and a first rotating shaft, the first shell being connected to the shoulder joint end; the elbow joint motor having a second shell and a second rotating shaft, the second shell being connected to the elbow joint end; wherein at least one of the first shell and the second shell is integrally arranged with the upper arm.

2. The robotic arm according to claim 1, characterized in that: The second shell and the upper arm are integrated, the axis of the second rotating shaft is perpendicular to the axis of the first rotating shaft, and the axis of the first rotating shaft coincides with or is parallel to the axis of the upper arm, a first groove is provided at the shoulder joint end, the shoulder joint motor is located in the first groove, the first groove has at least two first groove walls, and the first shell is connected to the first groove wall on the corresponding side.

3. The robotic arm according to claim 2, characterized in that: The first groove portion has a first groove bottom and two first groove walls, the two first groove walls are arranged opposite to each other, the first groove bottom abuts against the first shell, and the first groove wall abuts against the first shell; The first groove bottom and / or the first groove wall are provided with weight-reducing holes; the upper arm is provided with a weight-reducing groove, and the upper arm is also provided with reinforcing ribs.

4. The robotic arm according to claim 3, characterized in that: The mechanical arm further comprises a shoulder assembly, the shoulder assembly having a shoulder connection end, the shoulder connection end being provided with a second groove portion, the second groove portion having a second groove wall; The big arm assembly also includes: A first adapter, the first adapter is connected to the first rotating shaft, the first adapter is inserted into the second groove, the first adapter is connected to the second groove wall, and the first adapter and the second groove are transitionally fitted or interference fit.

5. The robotic arm according to claim 4, characterized in that: The big arm assembly also includes: A first marking part, the first marking part is connected to the first shell of the shoulder joint motor, and the first marking part has a first marking hole; wherein the shoulder connecting end has a first marking matching hole, the first marking matching hole is located on the moving path of the first marking matching hole, and when the first marking matching hole and the first marking matching hole are coaxial, the first rotating shaft is in a zero position state.

6. The robotic arm according to claim 5, characterized in that: The robotic arm also includes a small arm assembly, and the large arm assembly also includes a second adapter, the second adapter is connected to the second rotating shaft, and the second adapter has a first connecting end and a second connecting end that are relatively arranged, the first connecting end is connected to the second rotating shaft, the second connecting end is rotatably connected to the second shell, and the second connecting end rotates coaxially with the first connecting end.

7. The robotic arm according to claim 6, characterized in that: The boom assembly also includes a third adapter, which has an insertion end, and one end of the third adapter facing away from the insertion end is connected to the second connecting end; wherein, the second shell has a third groove portion, a bearing is arranged in the third groove portion, the bearing and the third groove portion are interference fit, the bearing and the second rotating shaft are coaxially arranged, and the second connecting end has a mounting hole, the insertion end is penetrated through the mounting hole and the inner ring of the bearing, the insertion end and the inner ring of the bearing are interference fit, and a gap is arranged between the second connecting end and the bearing.

8. The robotic arm according to claim 6, characterized in that: The shoulder assembly also has a limiting portion, which is arranged on the torso assembly. The limiting portion is located on the moving path of the first mark part, and the limiting portion is used to limit the rotation range of the shoulder joint motor so that the torso assembly is located outside the moving range of the forearm assembly.

9. The robotic arm according to claim 6, characterized in that: The boom assembly also includes: A second zeroing part, wherein the second zeroing part is connected to the second adapter, and the second zeroing part has a second zeroing hole; wherein the second shell has a second zeroing matching hole, the second zeroing matching hole is located on the moving path of the second zeroing hole, and when the second zeroing matching hole and the second zeroing hole are coaxial, the second rotating shaft is in a zero position state.

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

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