Mechanical arm and humanoid robot

Abstract

The invention relates to the technical field of robots, in particular to a mechanical arm and a humanoid robot. The robot specifically comprises at least one joint actuator and at least one connecting piece, the output end of the joint actuator is connected with the first end of the connecting piece, and the other end of the joint actuator is connected with the second end of the connecting piece; a containing space is formed between the first end of the connecting piece and the second end of the connecting piece, and the joint actuator is rotatably arranged in the containing space. The connecting piece of the actuator is designed to be of the structure with the containing space between the two ends, the output end and the other end, away from the output end, of each joint actuator are connected with the two ends of the connecting piece correspondingly, so that the two ends of each joint actuator are fixed, stress on the two ends is more balanced in the rotating process of the joint actuators, and the stability of the joint actuators is improved. The stability of the mechanical arm in the moving process is improved, and the structure is simple and compact.

Description

Technical Field

[0001] The present disclosure relates to the field of robotics, and in particular to a robotic arm and a humanoid robot. Background Art

[0002] The manipulator arm of a humanoid robot usually consists of five degrees of freedom: three degrees of freedom at the shoulder joint and two degrees of freedom at the elbow joint. Each degree of freedom is usually controlled by an actuator. In order to achieve precise motion control of the manipulator arm, an encoder is usually directly or indirectly connected to the output end of each actuator. The encoder collects the rotational position information of the actuator output end and feeds it back to the controller. The controller controls the rotation of the actuator motor according to the rotational position information to achieve precise control of the actuator.

[0003] The prior art usually integrates multiple actuators and corresponding encoders to achieve multi-degree-of-freedom movement of the shoulder joint or elbow joint, but the integration method in the prior art has technical problems such as low integration, complex structure, and poor stability. For example, the Chinese invention patent application with application publication number CN116512308A discloses a mechanical arm of a humanoid robot, including a first swing actuator, a second swing actuator, a large arm rotation actuator, a small arm rotation actuator, and an elbow actuator. Among them, the elbow actuator is connected to the small arm rotation actuator through the elbow output part. The elbow output part is a single-link structure, which is only connected to one end of the elbow actuator. The robot arm is subjected to uneven force during movement, and the mechanical arm structure is poorly stable. In addition, the elbow actuator lacks an encoder installation position, and an additional encoder fixing structure needs to be added, which will increase the arm circumference of the mechanical arm, resulting in low integration and bloated appearance of the mechanical arm. Summary of the invention

[0004] The present disclosure provides a mechanical arm and a humanoid robot.

[0005] According to one aspect of the present disclosure, there is provided a robotic arm, comprising:

[0006] At least one joint actuator and at least one connecting member, wherein an output end of the joint actuator is connected to a first end of the connecting member, and the other end of the joint actuator is connected to a second end of the connecting member;

[0007] An accommodating space is formed between the first end of the connecting member and the second end of the connecting member, and the joint actuator is rotatably disposed in the accommodating space.

[0008] Optionally, the joint actuator is located in the upstream direction of the power and / or control signal, and the connecting member is located in the downstream direction of the power and / or control signal; or,

[0009] The joint actuator is located in the downstream direction of the power and / or control signal, and the connecting member is located in the upstream direction of the power and / or control signal.

[0010] Optionally, the robotic arm further includes:

[0011] Rotary actuators;

[0012] The rotary actuator is connected to the joint actuator; or, the rotary actuator is connected to the connecting member.

[0013] Optionally, the robotic arm further includes:

[0014] a second encoder corresponding to the rotary actuator;

[0015] The second encoder includes a second encoder circuit board and a second encoder magnet;

[0016] The second encoder circuit board and the second encoder magnet are arranged oppositely in the rotary actuator and are located on a second rotation axis corresponding to the rotary actuator;

[0017] The second encoder magnet is connected to the housing of the rotary actuator through a first transmission mechanism.

[0018] Optionally, the first transmission mechanism includes:

[0019] A first annular structure, fixed to the housing of the rotary actuator, wherein an inner wall of the first annular structure is provided with an inner gear;

[0020] The first gear is respectively connected to the inner gear and the second gear; wherein the second encoder magnet is arranged on the second gear.

[0021] Optionally, the robotic arm further includes:

[0022] The second annular structure is fixed on the output end of the rotary actuator, and the second encoder circuit board is arranged on the second annular structure.

[0023] Optionally, the robotic arm further includes:

[0024] A first encoder corresponding to the joint actuator;

[0025] The first encoder includes a first encoder circuit board and a first encoder magnet;

[0026] The first encoder magnet is disposed on the corresponding connecting member, the first encoder circuit board is disposed on the joint actuator, and the first encoder circuit board and the first encoder magnet are located on a first rotation axis corresponding to the joint actuator.

[0027] Optionally, the robotic arm further includes a bearing, and the other end of each joint actuator is connected to the connecting member via the corresponding bearing.

[0028] Optionally, the robotic arm further includes a fixing member, and the first encoder magnet is fixed to the connecting member via the corresponding fixing member.

[0029] Optionally, the robotic arm further includes:

[0030] Shoulder swing actuator;

[0031] The output end of the shoulder swing actuator is connected to the joint actuator; or, the output end of the shoulder swing actuator is connected to the connecting member.

[0032] Optionally, the robotic arm further includes:

[0033] a third encoder corresponding to the shoulder swing actuator;

[0034] The third encoder and the shoulder swing actuator rotate about a third rotation axis;

[0035] The third encoder includes a third encoder circuit board and a third encoder magnet which are correspondingly arranged on a fourth rotation axis parallel to the third rotation axis, and the third encoder magnet is connected to the output end of the shoulder swing actuator through a second transmission mechanism.

[0036] Optionally, the second transmission mechanism includes:

[0037] A rotating assembly, disposed on the fourth rotating axis and connected to the output end of the shoulder swing actuator via a transmission belt or a gear structure;

[0038] a transmission shaft, connected to the rotating assembly and the third encoder magnet respectively;

[0039] The third encoder circuit board is fixed on the housing of the shoulder swing actuator.

[0040] Optionally, the robotic arm comprises:

[0041] The at least one joint actuator comprises a shoulder joint actuator and an elbow joint actuator;

[0042] The at least one rotary actuator comprises a large arm rotary actuator and a small arm rotary actuator;

[0043] The upper arm rotation actuator is connected to the upper arm structure, and the lower arm rotation actuator is connected to the lower arm structure.

[0044] According to another aspect of the present disclosure, a humanoid robot is provided, comprising the robotic arm described in any one of the above technical solutions.

[0045] The robotic arm and humanoid robot provided by the present invention are designed to have a structure with a accommodating space between the two ends of the connecting piece of the actuator. The output end of each joint actuator and the other end away from the output end are respectively connected to the two ends of the connecting piece, so that both ends of the joint actuator are fixed. During the rotation of the joint actuator, the forces on both ends are more balanced, thereby improving the stability of the robotic arm during movement. The structure is simple and compact.

[0046] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure.

[0048] Figure 1 is a structural schematic diagram of an implementation of a mechanical arm in an embodiment of the present disclosure;

[0049] Figure 2 is a structural schematic diagram of another implementation of the mechanical arm in the embodiment of the present disclosure;

[0050] Figure 3 is a schematic structural diagram of a joint actuator and a connecting member in an embodiment of the present disclosure;

[0051] Figure 4 is an exploded structural diagram of a joint actuator and a connecting member in an embodiment of the present disclosure;

[0052] Figure 5 is a cross-sectional structural diagram of a joint actuator and a connecting member in an embodiment of the present disclosure;

[0053] Figure 6 is a cross-sectional structural diagram of a rotary actuator in an embodiment of the present disclosure;

[0054] Figure 7 is an overall structural diagram of a rotary actuator in an embodiment of the present disclosure;

[0055] Figure 8 Schematic diagram of the structure of the shoulder swing actuator in the embodiment of the present disclosure.

[0056] The reference numerals in the specific implementation manner are as follows:

[0057] Joint actuator 101; shoulder joint actuator 101a; elbow joint actuator 101b; connector 102; shoulder joint connector 102a; elbow joint connector 102b; rotation actuator 106; upper arm rotation actuator 106a; lower arm rotation actuator 106b; shoulder swing actuator 113; upper arm structure 3; lower arm structure 4; output end 1011 of joint actuator; other end 1012 of joint actuator; first end 1021 of connector; second end 1022 of connector; third end 1023 of connector; first encoder 103; first encoder circuit board 103a; first encoder magnet 103b; bearing 104; fixing member 105; connecting part 105a; protrusion Output 105b; housing 1061 of rotary actuator; output end 1062 of rotary actuator; second encoder 107; second encoder circuit board 107a; second encoder magnet 107b; first annular structure 108; internal gear 109; first gear 110; second gear 111; second annular structure 112; output end 1131 of shoulder swing actuator; third encoder 114; third encoder circuit board 114a; third encoder magnet 114b; rotating assembly 115; transmission shaft 116; first screw 117; second screw 118; third screw 119; first rotation axis E1; second rotation axis E2; third rotation axis E3; fourth rotation axis E4. DETAILED DESCRIPTION

[0058] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0059] All technical terms used in this document have the same meanings as those generally understood by technicians in the technical field to which this application belongs; the terms used in this document are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0060] In the description of the embodiments of the present application, the term "at least one" refers to one or more, and "plurality" refers to more than two (including two).

[0061] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present application.

[0062] In view of the technical problems in the prior art that the actuator connection method of the mechanical arm of a humanoid robot is complex, the structure is not compact, and the stability is not high, the present disclosure provides a mechanical arm.

[0063] The robot arm is a multi-joint serial structure, and the robot arm is connected to the robot shoulder. The robot arm includes a shoulder joint, an upper arm, an elbow joint, a lower arm, a wrist joint, and a hand. According to the transmission direction of the robot's power and / or control signal, for the robot arm, the shoulder belongs to the upstream direction of the power and / or control signal, and the hand belongs to the downstream direction of the power and / or control signal. In other words, the shoulder relatively belongs to the source side of the power and / or control signal, and the shoulder joint, upper arm, elbow joint, lower arm, wrist joint, and hand relatively belong to the execution side of the power and / or control signal.

[0064] like Figure 1 and Figure 2 As shown, the joint actuator 101 and the connection 102 in this embodiment can be applied to at least one joint of a robotic arm, such as a shoulder joint and / or an elbow joint. The actuators and the connection parts of the shoulder joint and the elbow joint can adopt the same structure, including a shoulder joint actuator 101a and a corresponding shoulder joint connection part 102a, and an elbow joint actuator 101b and a corresponding elbow joint connection part 102b.

[0065] like Figure 1 As shown, the joint actuators 101a and 101b are located in the downstream direction of the power and / or control signal, and the connecting members 102a and 102b are located in the upstream direction of the power and / or control signal.

[0066] like Figure 2 As shown, the position of the U-shaped structure is Figure 1 The joint actuators 101a and 101b are located in the upstream direction of the power and / or control signal, and the connecting members 102a and 101b are located in the downstream direction of the power and / or control signal.

[0067] Figure 2The advantage of the connection method shown is that the power and / or control signal comes from the upstream direction, and the joint actuator is directly connected to the power and / or control signal from the upstream, which can form a relatively stable and reliable cable connection relationship, so that the cable will not be damaged due to frequent movement.

[0068] like Figure 3 and Figure 4 As shown, the robot arm includes at least one joint actuator 101 and at least one connecting member 102 , the output end 1011 of the joint actuator 101 is connected to the first end 1021 of the connecting member 102 , and the other end 1012 of the joint actuator 101 is connected to the second end 1022 of the connecting member 102 .

[0069] An accommodation space is formed between the first end 1021 of the connecting member 102 and the second end 1022 of the connecting member 102 , and the joint actuator 101 is rotatably disposed in the accommodation space.

[0070] An accommodating space is formed between the first end 1021 of the connecting member 102 and the second end 1022 of the connecting member 102 . This structure may be referred to as a U-shaped structure.

[0071] like Figure 3 and Figure 4 As shown, the connector 102 is a U-shaped structure, and a storage space is formed between its two ends. In one embodiment, the first end 1021 of the connector 102 and the second end 1022 of the connector are arranged in parallel to each other to form a corresponding storage space. In other embodiments, the first end 1021 and the second end 1022 may be arranged non-parallel, for example, they are arranged at a certain angle according to the structure of the device to be stored; for example, they are arranged at a certain angle according to the limitation of the space in which they are located. The first end 1021 of the connector 102 and the second end 1022 of the connector can be designed to accommodate a disc structure in the middle, and the center of the disc structure is located on the rotation axis where the joint actuator 101 is located. The joint actuator 101 can rotate around the first rotation axis E1 in the storage space of the connector 102. The two ends of the joint actuator 101 are fixed by the connector. During the rotation of the joint actuator 101, the forces on the two ends are more balanced, which improves the stability of the robot arm during movement. The structure is simple and compact.

[0072] As an optional implementation, Figure 1 or Figure 2 As shown, each robotic arm also includes:

[0073] The rotary actuator 106 and the corresponding second encoder 107; wherein the second encoder 107 comprises a second encoder circuit board 107a and a second encoder magnet 107b.

[0074] like Figure 1 or Figure 2 As shown, the robot arm further includes a large arm rotation actuator 106a and a small arm rotation actuator 106b.

[0075] like Figure 1 As shown, when the joint actuator 101 is located in the downstream direction of the power and / or control signal, the rotation actuator 106 is connected to the joint actuator 101. Specifically, the upper arm rotation actuator 106a is connected to the shoulder joint actuator 101a, and the lower arm rotation actuator 106b is connected to the elbow joint actuator 101b.

[0076] like Figure 2 As shown, when the connecting member 102 is located in the downstream direction of the power and / or control signal, the rotary actuator 106 is connected to the connecting member 102. Specifically, the upper arm rotary actuator 106a is connected to the shoulder joint connecting member 102a, and the lower arm rotary actuator 106b is connected to the elbow joint connecting member 102b.

[0077] As an optional implementation, Figure 4 As shown, the robotic arm also includes:

[0078] The joint actuator 101 corresponds to a first encoder 103 , and the first encoder 103 includes a first encoder circuit board 103 a and a first encoder magnet 103 b .

[0079] The first encoder magnet 103b is disposed on the corresponding connecting member 102, the first encoder circuit board 103a is disposed on the joint actuator 101, and the first encoder circuit board 103a and the first encoder magnet 103b are located on the first rotation axis E1 corresponding to the joint actuator 101 (such as Figure 3 shown).

[0080] Specifically, Figure 4 As shown, the connecting member 102 is a U-shaped structure, and the output end 1011 of the joint actuator 101 can be connected by a first screw 117 (such as Figure 5 The output end 1011 of the joint actuator 101 rotates, and the first encoder circuit board 103a is driven to rotate. The first encoder magnet 103b corresponding to the first encoder circuit board 103a is fixed to the second end 1022 of the connecting member 102 through the fixing member 105, and will not rotate with the joint actuator 101. Therefore, during the rotation of the joint actuator 101, the first encoder magnet 103b and the first encoder circuit board 103a generate a relative rotation state, so as to collect the rotation angle signal of the joint actuator 101, and control and drive the joint actuator 101 according to the rotation angle signal.

[0081] In such Figure 1 In the U-shaped structure shown, the connecting piece 102 in this embodiment can not only be used to connect the joint actuator 101 to the shoulder of the robot, but also can play the role of fixing the first encoder magnet 103b. There is no need to add additional components to fix the encoder, which simplifies the structure of the shoulder joint and makes the shoulder joint structure of the robot more compact.

[0082] In such Figure 2 In the U-shaped structure shown, the connecting piece 102 in this embodiment can not only be used to connect the joint actuator 101 to the robot arm, but also can play the role of fixing the first encoder magnet 103b. There is no need to add additional components to fix the encoder, which simplifies the structure of the shoulder joint and makes the shoulder joint structure of the robot more compact.

[0083] like Figure 4 As shown, as an optional implementation, each robotic arm further includes a bearing 104 , and the other end 1012 of each joint actuator 101 is connected to the connecting member 102 via the corresponding bearing 104 .

[0084] like Figure 4 As shown, in this embodiment, the other end 1012 of the joint actuator 101 away from the output end 1011 is connected to the second end 1022 of the connecting member 102 through a bearing 104, so that when the output end of the joint actuator 101 rotates, the other end 1012 of the joint actuator 101 is driven to rotate inside the U-shaped structure of the connecting member 102.

[0085] As an optional implementation, Figure 4 As shown, each robot arm further includes a fixing member 105 , and the first encoder magnet 103 b is fixed to the connecting member 102 via the corresponding fixing member 105 .

[0086] As an optional embodiment, the two ends of the connecting member 102 are disks, and the center of the disks is located on the first rotation axis E1. The fixing member 105 includes a connecting portion 105a and a protruding portion 105b. The length of the connecting portion 105a matches the diameter of the second end 1022 of the connecting member 102. The protruding portion 105b is arranged at the center of the connecting portion 105a and is perpendicular to the connecting portion 105a. The center of the connecting portion 105a coincides with the center of the second end 1022 of the connecting member 102, so that the first encoder magnet 103b is located on the first rotation axis E1, and the first encoder circuit board 103a, the first encoder magnet 103b and the joint actuator 101 rotate coaxially.

[0087] As an optional implementation, the structure of each rotary actuator 106 and its corresponding second encoder 107 is as follows: Figure 6 and Figure 7shown.

[0088] The second encoder circuit board 107 a and the second encoder magnet 107 b are disposed opposite to each other in the rotary actuator 106 and are located on a second rotation axis E2 corresponding to the rotary actuator 106 .

[0089] The second encoder magnet 107 b is connected to the housing 1061 of the rotary actuator 106 via a first transmission mechanism.

[0090] like Figure 6 As shown, the second encoder circuit board 107a and the second encoder magnet 107b are relatively arranged in the rotary actuator 106 and are located on the second rotation axis E2 corresponding to the rotary actuator 106. The second encoder magnet 107b is connected to the housing 1061 of the rotary actuator 106 through the first transmission mechanism.

[0091] Specifically, Figure 6 and Figure 7 As shown, the rotary actuator 106 is used to drive the large arm structure 3 to rotate, and the second encoder corresponding to the rotary actuator 106 includes a second encoder circuit board 107a and a second encoder magnet 107b. The second encoder circuit board 107a and the second encoder magnet 107b are both arranged in the housing of the rotary actuator 106 and arranged correspondingly in the vertical direction, that is, the second encoder rotates coaxially with the rotary actuator 106. By arranging the second encoder circuit board 107a and the second encoder magnet 107b in the vertical direction, the space occupied by the rotary actuator 106 in the horizontal direction can be reduced, and the width of the mechanical arm in the horizontal direction is prevented from being too large, and the arm circumference of the mechanical arm is too large, so that the mechanical arm structure is more compact.

[0092] As an optional implementation, Figure 6 As shown, the first transmission mechanism includes:

[0093] The first annular structure 108 is fixed on the rotating component of the rotary actuator 106, and the inner wall of the first annular structure 108 is provided with a circle of internal gears 109;

[0094] The first gear 110 is connected to the inner gear 109 and the second gear 111 respectively; wherein the second encoder magnet 107 b is disposed on the second gear 111 .

[0095] As an optional implementation, Figure 6 As shown, the mechanical arm also includes:

[0096] The second annular structure 112 is fixed on the non-rotating component of the rotary actuator 106 , and the second encoder circuit board 107 a is disposed on the second annular structure 112 .

[0097] Specifically, the rotating part of the rotary actuator 106 may be the housing 1061 of the rotary actuator 106, and the non-rotating part of the rotary actuator 106 may be the output end 1062 of the rotary actuator 106. The second annular structure 112 and the output end 1062 of the rotary actuator are connected by a circumferential second screw 118 (such as Figure 7 The first annular structure 108 is fixedly connected by a third circumferential screw 119 (as shown); Figure 7 1061 of the rotary actuator. When the rotary actuator 106 generates a rotational motion, the housing 1061 of the rotary actuator 106 generates a relative rotational motion relative to the output end 1062 of the rotary actuator 106, thereby driving the first annular structure 108 to rotate. During the rotation of the first annular structure 108, the inner gear 109 on its inner wall drives the first gear 110 to rotate, and the first gear 110 drives the second gear 111 to rotate.

[0098] The second encoder magnet 107b is disposed at the bottom of the second gear 111 and corresponds to the second encoder circuit board 107a. The second encoder magnet 107b rotates under the drive of the second gear 111, thereby rotating relative to the second encoder circuit board 107a. The second encoder circuit board 107a obtains the rotation angle of the rotating component of the rotary actuator 106 by calculating the rotating magnetic field signal of the second encoder magnet 107b, thereby realizing accurate measurement of the rotation angle of the rotary actuator 106.

[0099] In this embodiment, the second encoder 107 corresponding to the rotary actuator 106 can be disposed inside the rotary actuator 106 through the first transmission mechanism, and rotate coaxially with the rotary actuator 106, thereby reducing the arm circumference of the robot arm and making the structure of the robot arm more compact.

[0100] As an optional implementation, Figure 1 and Figure 2 As shown, the robotic arm also includes:

[0101] The shoulder swing actuator 113 rotates around the third rotation axis E3 (eg Figure 8 shown) rotation.

[0102] like Figure 1 As shown, the output end 1131 of the shoulder swing actuator 113 is connected to the third end 1023 of the connecting member 102 , and the output end 1131 is connected to the first end 1021 of the connecting member 102 and the second end 1022 of the connecting member 102 respectively.

[0103] like Figure 2As shown, the output end 1131 of the shoulder swing actuator 113 is connected to the shoulder joint actuator 101a. The power and / or control signal comes from the upstream direction, and the shoulder joint actuator 101a is directly connected to the power and / or control signal from the upstream, which can form a relatively stable and reliable cable connection relationship, so that the cable will not be damaged due to frequent movement.

[0104] like Figure 8 As shown, the third encoder 114 corresponding to the shoulder swing actuator 113 includes a third encoder circuit board 114a and a third encoder magnet 114b, wherein the third encoder circuit board 114a and the third encoder magnet 114b are correspondingly arranged on a fourth rotation axis E4 parallel to the third rotation axis E3, and the third encoder magnet 114b is connected to the output end 1131 of the shoulder swing actuator 113 through a second transmission mechanism.

[0105] Specifically, the third encoder circuit board 114a and the third encoder magnet 114b are not coaxially arranged with the output end 1131 of the shoulder swing actuator 113, but are arranged in parallel with the output end 1131 of the shoulder swing actuator 113, and the power of the output end 1131 of the shoulder swing actuator 113 is transmitted through the second transmission mechanism. As the output end 1131 of the shoulder swing actuator 113 rotates, the third encoder circuit board 114a obtains the rotation angle of the third encoder magnet 114b by calculating the rotating magnetic field signal of the third encoder magnet 114b, thereby realizing accurate measurement of the rotation angle of the third encoder magnet 114b. Thereby shortening the axial length of the shoulder swing actuator 113, avoiding the robot's shoulder being too wide, affecting the overall appearance and flexibility of the robot, and thus improving the integration of the robot's shoulder.

[0106] As an optional implementation, Figure 8 As shown, the second transmission mechanism includes:

[0107] The rotating assembly 115 is disposed on the fourth rotating axis E4 and is connected to the output end 1131 of the shoulder swing actuator 113 via a transmission belt or a gear structure.

[0108] The transmission shaft 116 is respectively connected to the rotating assembly 115 and the third encoder magnet 114b.

[0109] The third encoder circuit board 114 a is fixed to the housing of the shoulder swing actuator 113 .

[0110] Figure 8The gear structure is shown, by respectively setting a circle of gears at the output end 1131s of the shoulder swing actuator 113 and the circumference of the rotating assembly 115, the output end 1131 of the shoulder swing actuator 113 drives the rotating assembly 115 to rotate through gear transmission. In addition, a transmission belt can also be used to transmit power between the output end 1131 of the shoulder swing actuator 113 and the rotating assembly 115.

[0111] As an optional implementation, Figure 1 As shown, the mechanical arm further comprises a large arm structure 3 and a small arm structure 4. At least one joint actuator (101) comprises a shoulder joint actuator (101a) and an elbow joint actuator (101b);

[0112] The at least one rotary actuator (106) comprises a large arm rotary actuator (106a) and a small arm rotary actuator (106b);

[0113] The upper arm rotation actuator (106a) is connected to the upper arm structure (3), and the lower arm rotation actuator (106b) is connected to the lower arm structure (4).

[0114] The present disclosure also provides a humanoid robot, such as Figure 1 As shown, the robot arm including any one of the above embodiments includes: at least one joint actuator 101 and at least one connecting member 102, the output end of the joint actuator 101 is connected to the first end of the connecting member 102, and the other end 1012 of the joint actuator 101 is connected to the second end of the connecting member 102. An accommodating space is formed between the first end 1021 of the connecting member 102 and the second end 1022 of the connecting member 102, and the joint actuator 101 is rotatably arranged in the accommodating space.

[0115] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0116] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A robotic arm, characterized in that: include: At least one joint actuator (101) and at least one connecting member (102), wherein an output end (1011) of the joint actuator (101) is connected to a first end (1021) of the connecting member (102), and the other end (1012) of the joint actuator (101) is connected to a second end (1022) of the connecting member (102); An accommodation space is formed between the first end (1021) of the connecting member (102) and the second end (1022) of the connecting member (102), and the joint actuator (101) is rotatably arranged in the accommodation space.

2. The robotic arm according to claim 1, characterized in that: The joint actuator (101) is located in the upstream direction of the power and / or control signal, and the connecting member (102) is located in the downstream direction of the power and / or control signal; or, The joint actuator (101) is located in the downstream direction of the power and / or control signal, and the connecting member (102) is located in the upstream direction of the power and / or control signal.

3. The robotic arm according to claim 1, characterized in that: Also includes: Rotary actuator (106); The rotary actuator (106) is connected to the joint actuator (101); or, the rotary actuator (106) is connected to the connecting member (102).

4. The robotic arm according to claim 3, characterized in that: Also includes: A second encoder (107) corresponding to the rotary actuator (106); The second encoder (107) comprises a second encoder circuit board (107a) and a second encoder magnet (107b); The second encoder circuit board (107a) and the second encoder magnet (107b) are arranged relatively inside the rotary actuator (106) and are located on a second rotary axis (E2) corresponding to the rotary actuator (106); The second encoder magnet (107b) is connected to the housing (1061) of the rotary actuator (106) via a first transmission mechanism.

5. The robotic arm according to claim 4, characterized in that: The first transmission mechanism comprises: A first annular structure (108) is fixed on a housing (1061) of the rotary actuator (106), wherein an inner wall of the first annular structure (108) is provided with a circle of internal gears (109); The first gear (110) is respectively connected to the internal gear (109) and the second gear (111); wherein the second encoder magnet (107b) is arranged on the second gear (111); The robotic arm also includes: The second annular structure (112) is fixed on the non-rotating component of the rotary actuator (106), and the second encoder circuit board (107a) is arranged on the second annular structure (112).

6. The robotic arm according to claim 1, characterized in that: Also includes: A first encoder (103) corresponding to the joint actuator (101); The first encoder (103) comprises a first encoder circuit board (103a) and a first encoder magnet (103b); The first encoder magnet (103b) is arranged on the corresponding connecting member (102), the first encoder circuit board (103a) is arranged on the joint actuator (101), and the first encoder circuit board (103a) and the first encoder magnet (103b) are located on a first rotation axis (E1) corresponding to the joint actuator (101).

7. The robotic arm according to claim 6, characterized in that: It also includes a bearing (104), and the other end (1012) of each joint actuator (101) is connected to the connecting member (102) via the corresponding bearing (104).

8. The robot arm according to claim 7, characterized in that: It also includes a fixing member (105), and the first encoder magnet (103b) is fixed to the connecting member (102) via the corresponding fixing member (105).

9. The robotic arm according to claim 2, characterized in that: The robotic arm also includes: Shoulder swing actuator (113); The output end of the shoulder swing actuator (113) is connected to the joint actuator (101); or, the output end of the shoulder swing actuator (113) is connected to the connecting member (102).

10. The robot arm according to claim 9, characterized in that: The robotic arm also includes: A third encoder (114) corresponding to the shoulder swing actuator (113); The third encoder (114) and the shoulder swing actuator (113) rotate around a third rotation axis (E3), The third encoder (114) comprises a third encoder circuit board (114a) and a third encoder magnet (114b) which are correspondingly arranged on a fourth rotation axis (E4) parallel to the third rotation axis (E3), and the third encoder magnet (114b) is connected to an output end (1131) of the shoulder swing actuator (113) via a second transmission mechanism.

11. The mechanical arm according to claim 10, characterized in that: The second transmission mechanism comprises: A rotating assembly (115) is disposed on the fourth rotating axis (E4) and is connected to an output end (1131) of the shoulder swing actuator (113) via a transmission belt or a gear structure; A transmission shaft (116) connected to the rotating assembly (115) and the third encoder magnet (114b) respectively; The third encoder circuit board (114a) is fixed on the housing of the shoulder swing actuator (113).

12. The robotic arm according to claim 9, characterized in that: The at least one joint actuator (101) comprises a shoulder joint actuator (101a) and an elbow joint actuator (101b); The at least one rotary actuator (106) comprises a large arm rotary actuator (106a) and a small arm rotary actuator (106b); The upper arm rotation actuator (106a) is connected to the upper arm structure (3), and the lower arm rotation actuator (106b) is connected to the lower arm structure (4).

13. A humanoid robot, characterized in that: A robotic arm comprising any one of claims 1-12.

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