Robot and multi-degree-of-freedom shoulder arm driving mechanism thereof

Abstract

The invention relates to the technical field of robots, and provides a multi-degree-of-freedom shoulder arm driving mechanism of a robot, which comprises a shoulder pulley block capable of driving a shoulder cross rod to rotate, a big arm pulley block capable of driving a big arm to swing, and a big arm driving group capable of driving the big arm to rotate, and the shoulder pulley block, the big arm pulley block and the big arm driving group receive linear driving force provided by a driving piece. The invention further provides a robot, the robot comprises a large arm and a shoulder cross rod, the large arm is in spherical hinge connection with the shoulder cross rod, the robot further comprises the multi-degree-of-freedom shoulder arm driving mechanism, the shoulder pulley block drives the shoulder cross rod to rotate, the large arm pulley block drives the large arm to swing, and the large arm driving group drives the large arm to rotate. The shoulder pulley block, the big arm pulley block and the big arm driving group are adopted to drive the shoulder cross rod and the big arm, and compared with a traditional driving mode of a motor and a speed reducer, the weight is light, the rotational inertia is small, the cost is low, and the size is small.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to a robot and a multi-degree-of-freedom shoulder-arm driving mechanism thereof. Background Art

[0002] In the field of robotics, shoulder transmission is mainly based on traditional mechanical transmission, and the swing arm and rotary arm are driven by motors and reducers. However, the existing robot shoulder transmission and drive components are heavy, have large moment of inertia, are large in size, have complex structures, and are costly. Summary of the invention

[0003] The object of the present invention is to provide a robot and a multi-degree-of-freedom shoulder-arm driving mechanism thereof, which can at least solve some of the defects in the prior art.

[0004] To achieve the above-mentioned objectives, an embodiment of the present invention provides the following technical solutions: a multi-degree-of-freedom shoulder-arm driving mechanism of a robot, comprising a shoulder pulley group that can drive the shoulder cross bar to rotate, a boom pulley group that can drive the boom to swing, and a boom driving group that can drive the boom to rotate, wherein the shoulder pulley group, the boom pulley group and the boom driving group all receive a linear driving force provided by a driving member.

[0005] Furthermore, the boom driving group includes a driving shaft that can pass through the boom and a force-bearing member that can be installed on the shoulder cross bar. Both ends of the driving shaft pass through the outside of the boom, and both ends of the driving shaft are respectively hinged with connecting members, and the other end of each connecting member is hinged to the force-bearing member, and the force-bearing member is hinged to the driving member.

[0006] Furthermore, the force-bearing member includes a swing frame that can be sleeved on the shoulder cross bar, and the swing frame has a hinge end for the connecting member and the driving member to be hinged.

[0007] Furthermore, there are two driving members hinged to the force-bearing member, and the driving directions of the two driving members are opposite.

[0008] Furthermore, the shoulder pulley assembly includes a first shoulder pulley rotatably mounted on the shoulder cross bar, an axis extension direction of the first shoulder pulley is consistent with an extension direction of the shoulder cross bar, and the first shoulder pulley is connected to the driving member via a traction line.

[0009] Furthermore, there are two driving members connected to the first shoulder pulley, and the driving directions of the two driving members are opposite.

[0010] Further, the boom pulley block comprises a first boom pulley which can be mounted on the boom, and an axis extension direction of the first boom pulley is perpendicular to a direction of a linear driving force provided by a driving member of the boom driving group.

[0011] An embodiment of the present invention provides another technical solution: a robot comprising a boom and a shoulder cross bar, wherein the boom and the shoulder cross bar are ball-jointed, and the robot also comprises the above-mentioned multi-degree-of-freedom shoulder-arm driving mechanism, wherein the shoulder pulley group drives the shoulder cross bar to rotate, the boom pulley group drives the boom to swing, and the boom driving group drives the boom to rotate.

[0012] Furthermore, a bracket is provided on the upper arm, and the upper arm pulley block is installed on the bracket.

[0013] Furthermore, a fixing frame is sleeved on the shoulder cross bar, the upper arm pulley block is connected to the driving member through a traction rope, and the other end of the traction rope is fixed on the fixing frame.

[0014] Compared with the prior art, the beneficial effects of the present invention are: the shoulder pulley group, the boom pulley group and the boom drive group are used to drive the shoulder cross bar and the boom. Compared with the traditional motor and reducer drive method, it has light weight, small rotational inertia, low cost and small size. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A schematic diagram of a shoulder-arm driving mechanism of a robot from a first perspective provided in Embodiment 1 of the present invention;

[0016] Figure 2 A schematic diagram of a shoulder-arm driving mechanism of a robot provided in Embodiment 1 of the present invention from a second viewing angle;

[0017] Figure 3 A schematic diagram of the coordination of an arm rod and a ball head of a shoulder-arm drive mechanism of a robot provided in the first embodiment of the present invention;

[0018] Figure 4 A schematic diagram of a shoulder-arm driving mechanism of a robot provided in Embodiment 2 of the present invention;

[0019] Figure 5 A partially enlarged first-view schematic diagram of a shoulder-arm driving mechanism of a robot provided in Embodiment 2 of the present invention;

[0020] Figure 6 A partially enlarged second-viewing perspective schematic diagram of a shoulder-arm driving mechanism of a robot provided in the second embodiment of the present invention;

[0021] Figure 7 A schematic diagram of a large arm pulley block of a shoulder-arm driving mechanism of a robot provided in the second embodiment of the present invention;

[0022] Figure 8 A schematic diagram of a large arm of a shoulder-arm driving mechanism of a robot provided in Embodiment 2 of the present invention;

[0023] Fig. 9 A schematic diagram of a shoulder-arm driving mechanism of a robot from a first perspective provided in Embodiment 3 of the present invention;

[0024] Fig.10 A schematic diagram of a shoulder-arm driving mechanism of a robot from a second viewing angle provided in Embodiment 3 of the present invention;

[0025] Fig.11 A partially enlarged schematic diagram of a shoulder-arm driving mechanism of a robot provided in Embodiment 3 of the present invention;

[0026] Fig.12 A schematic diagram of a large arm of a shoulder-arm driving mechanism of a robot provided in Embodiment 3 of the present invention;

[0027] Fig.13 A horizontal cross-sectional schematic diagram of a shoulder-arm driving mechanism of a robot provided in Embodiment 3 of the present invention;

[0028] In the reference numerals:

[0029] 10-first arm pulley; 11-second arm pulley; 12-third arm pulley; 13-fourth arm pulley; 14-fifth arm pulley; 16-sixth arm pulley; 17-seventh arm pulley; 18-eighth arm pulley; 19-ninth arm pulley; 20-tenth arm pulley; 21-first shoulder pulley; 22-second shoulder pulley; 23-third shoulder pulley; 24-fourth shoulder pulley; 25-drive shaft; 26-connector; 27-swing frame; 28-arm; 2 9-arm; 30-ball head; 31-shoulder cross bar; 32-driving member; 33-traction rope; 34-connecting rod; 35-bushing; 36-first guide wheel; 37-second guide wheel; 38-pulley frame; 39-first pin shaft; 40-second pin shaft; 41-third pin shaft; 42-first bearing; 43-second bearing; 44-third bearing; 45-first pin rope; 46-second pin rope; 47-end cover; 48-rolling sleeve; 49-ring screw; 50-bracket; 51-fixed frame. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] See also Figures 1 to 13The embodiment of the present invention provides a robot, which can be a humanoid robot or a robot of other forms, as long as it has limbs and a shoulder crossbar 31, including but not limited to dog-type robots and various types of robots with different functional attributes. The robot includes a large arm 28 and a shoulder crossbar 31, and both ends of the shoulder crossbar 31 are spherically hinged with a large arm 28. The large arm 28 and the shoulder crossbar 31 are driven by a shoulder-arm driving mechanism. This embodiment shows three specific driving modes, wherein the driving modes shown in the first and second embodiments can drive the large arm 28 to swing and the shoulder crossbar 31 to rotate, respectively, and the driving mode shown in the third embodiment can drive the large arm 28 to rotate in addition to driving the large arm 28 to swing and the shoulder crossbar 31 to rotate. In the three embodiments, the driving of the robot is realized by a simpler pulley, traction rope 33, linear drive member, and connecting rod 34 mechanism, which is light in weight, small in rotational inertia, low in cost, and small in size compared to the traditional driving mode of a motor and a reducer. The three embodiments are described in detail one by one below. The components in these three embodiments can be replaced or their functions can be combined as needed.

[0032] Embodiment 1:

[0033] See also Figures 1 to 3 The shoulder-arm driving mechanism of the robot includes a shoulder pulley block that can drive the shoulder cross bar 31 to rotate and a large arm pulley block that can drive the large arm 28 to swing.

[0034] The specific structure of the shoulder pulley block is detailed. Specifically, it can be composed of four shoulder pulleys, which are defined as the first shoulder pulley 21, the second shoulder pulley 22, the third shoulder pulley 23 and the fourth shoulder pulley 24. The first shoulder pulley 21 and the second shoulder pulley 22 are both sleeved on the shoulder cross bar 31, and the two are arranged oppositely, and the direction of the axis extension is consistent with the direction of the shoulder cross bar 31. In this way, when the first shoulder pulley 21 and the second shoulder pulley 22 rotate, the shoulder cross bar 31 can be driven to rotate, and the shoulder cross bar 31 can be rotated. Preferably, the first shoulder pulley 21 and the second shoulder pulley 22 here can also be integrated into one pulley, and only two grooves for the traction rope 33 to wrap around are provided on the pulley. Preferably, the first shoulder pulley 21 and the second shoulder pulley 22 rotate in different directions. Thus, when the first shoulder pulley 21 and the second shoulder pulley 22 are both connected to the driving member 32, the first shoulder pulley 21 and the second shoulder pulley 22 can rotate in different directions by driving the driving member 32 in different directions, thereby avoiding interference between the rotations in the two directions. For example, when one driving member 32 is extended, the other driving member 32 needs to be retracted accordingly. The driving member 32 used in this embodiment can be a fluid artificial muscle or other existing linear driving methods.

[0035] The shoulder pulley assembly described above is further refined, and the shoulder pulley assembly further includes a third shoulder pulley 23, and the first shoulder traction rope is sequentially wrapped around the third shoulder pulley 23 and the first shoulder pulley 21. There is a certain distance between the third shoulder pulley 23 and the shoulder cross bar 31, the purpose of which is to be able to restrict the direction of the traction rope 33 and to ensure that the traction rope 33 is in a tensioned state. The shoulder pulley assembly described above is further refined, and the shoulder pulley assembly further includes a second shoulder driving member for driving the second shoulder pulley 22 to rotate, and the second shoulder driving member is connected to the second shoulder pulley 22 through the second shoulder traction rope. Similarly, the shoulder pulley assembly further includes a fourth shoulder pulley 24, and the second shoulder traction rope is sequentially wrapped around the fourth shoulder pulley 24 and the second shoulder pulley 22. The function of the fourth shoulder pulley 24 is the same as that of the third shoulder pulley 23, and will not be repeated here.

[0036] The above-mentioned boom pulley block is refined, and the boom pulley block includes a first boom pulley 10 that can be installed on the boom 28, and the axis extension direction of the first boom pulley 10 is perpendicular to the axis extension direction of the first shoulder pulley 21. The first boom pulley 10 is used, and it can be horizontally arranged to realize the swing of the boom 28. Specifically, the boom pulley block also includes a first boom driving member for driving the first boom pulley 10 to rotate, and the first boom driving member is connected to the first boom pulley 10 through a first boom traction rope. The first boom driving member here can also use the above-mentioned artificial muscle, and cooperate with the traction rope 33 to apply a driving force to the first boom pulley 10, and the first boom pulley 10 rotates, thereby driving the boom 28 to swing. Continuing to refine the boom pulley block, the boom pulley block also includes a third boom pulley 12, and the first boom traction rope is sequentially wrapped around the third boom pulley 12 and the first boom pulley 10. By using the third boom pulley 12, the direction of the traction rope 33 can be changed, thereby adjusting the position of the first boom drive member, that is, the artificial muscle. Correspondingly, the boom pulley block also includes a second boom pulley 11 and a fourth boom pulley 13, wherein the second boom pulley 11 is arranged opposite to the first boom pulley 10, the two are arranged coaxially, and the second boom pulley 11 rotates in the opposite direction to the first boom pulley 10. By setting the second boom pulley 11, the first boom pulley 10 and the second boom pulley 11 can be rotated in different directions to avoid interference between the rotations in the two directions. For example, when one of the drive members 32 is extended, the other drive member 32 needs to be retracted accordingly. The boom pulley block also includes a second boom drive member for driving the second boom pulley 11 to rotate, the second boom drive member is connected to the second boom pulley 11 through a second boom traction rope, and the traction rope 33 and the drive member 32 can be used to drive the second boom pulley 11. The fourth arm pulley 13 is provided for the same purpose as the third arm pulley 12, that is, to change the direction of the traction rope 33, thereby adjusting the position of the first arm driving member, that is, the artificial muscle.

[0037] The shoulder-arm driving mechanism is further refined, and includes a guide wheel that can be sleeved on the shoulder cross bar 31, and the guide wheel is provided with a through hole, and the first large arm traction rope passes through the through hole and is connected to the first large arm pulley 10. The guide wheel can guide the direction of the traction rope 33. Preferably, there are two guide wheels, one of which is fixedly sleeved on the shoulder cross bar 31, and the other guide wheel is slidably sleeved on the shoulder cross bar 31. The two guide wheels can be defined as a first guide wheel 36 and a second guide wheel 37, respectively, wherein the first guide wheel 36 can be a fixed guide wheel, and the second guide wheel 37 can be a movable guide wheel, and the position of the second guide wheel 37 can be adjusted as needed, thereby changing the position of the traction rope 33 as needed.

[0038] The shoulder-arm driving mechanism is further detailed. It also includes a sleeve 35 that can be sleeved on the shoulder cross bar 31. The first arm pulley 10 is connected to the sleeve 35 through a connecting rod 34. The connecting rod 34 is hinged to the boss on the sleeve 35. The first arm pulley 10 and the second arm pulley 11 can be respectively provided with two connecting rods 34. It also includes a pulley frame 38, and the pulley frame 38 can be used to install the third arm pulley 12 and the fourth arm pulley 13. The pulley frame 38 is sleeved on the shoulder cross bar 31. Figure 3 As shown, the upper arm 28 includes an arm rod 29 and a ball head 30, wherein the ball head 30 is hinged to the end of the shoulder cross bar 31, and the spherical surface of the ball head 30 less than one-half is hinged to the shoulder cross bar 31, and in conjunction with the action of the connecting rod 34, unlike the traditional joint bearing in which the concave ball head covers the convex ball head, this connection method of this embodiment can increase the swing angle of the upper arm 28. There is a horizontal hole on the ball head 30 for the drive shaft 25 to pass through, thereby realizing the swing of the upper arm 28. So far, this embodiment uses the characteristics of artificial muscle that pressurizes and contracts, and decompresses and stretches to drive the steel wire rope to drive the arm to rotate and swing.

[0039] The above embodiment only introduces in detail the shoulder-arm driving mechanism at one end of the shoulder cross bar 31 , and another large arm 28 and the shoulder-arm driving mechanism are symmetrically arranged at the other end of the shoulder cross bar 31 . The two are symmetrically arranged.

[0040] Embodiment 2:

[0041] See also Figures 4 to 8 The robot includes a boom 28 and a shoulder cross bar 31, and also includes a shoulder pulley group for driving the shoulder cross bar 31 to rotate and a boom pulley group for driving the boom 28 to swing. The boom 28 and the shoulder cross bar 31 are ball-jointed, and the boom pulley group includes a first boom pulley 10 rotatably mounted on the boom 28, and the shoulder pulley group includes a first shoulder pulley 21 rotatably mounted on the shoulder cross bar 31, and the first boom pulley 10 is spaced apart from the first shoulder pulley 21.

[0042] The structure of the upper arm 28 is detailed. The upper arm 28 includes an arm rod 29 and a ball head 30. The end of the shoulder cross bar 31 is hinged to the ball head 30. The first upper arm pulley 10 is installed on the ball head 30. The ball head 30 has a horizontal hole for the drive shaft 25 to pass through. Figure 3 As shown, the ball head 30 is hinged on the shoulder cross bar 31 with a spherical surface less than half, and the ball head 30 is connected to the shoulder cross bar 31 through a connecting rod 34. Different from the traditional joint bearing in which the concave ball head covers the convex ball head, this connection method of the present embodiment can increase the swing angle of the upper arm 28.

[0043] The above-mentioned boom pulley block is refined, and the boom pulley block includes a first boom pulley 10 that can be installed on the boom 28, and the axis extension direction of the first boom pulley 10 is perpendicular to the axis extension direction of the first shoulder pulley 21. The first boom pulley 10 is used, and it can be horizontally arranged to achieve the swing of the boom 28. Specifically, the boom pulley block also includes a first boom driving member for driving the first boom pulley 10 to rotate, and the first boom driving member is connected to the first boom pulley 10 through a first boom traction rope. The first boom driving member here can also use the above-mentioned artificial muscle, and cooperate with the traction rope 33 to apply a driving force to the first boom pulley 10, and the first boom pulley 10 rotates, thereby driving the boom 28 to swing. The boom pulley assembly also includes a second boom pulley 11 installed on the shoulder cross bar 31, and the first boom traction rope is sequentially wrapped around the second boom pulley 11 and the first boom pulley 10. The second boom pulley 11 is used to change the direction of the traction rope 33, thereby adjusting the first boom driving component, that is, the position of the driving component 32 (artificial muscle).

[0044] The above-mentioned boom pulley block is further refined, and the boom pulley block also includes a first limiting structure for limiting the first boom traction rope. The first limiting structure can limit the position of the traction rope 33. Preferably, the first limiting structure includes a third boom pulley 12 and a fourth boom pulley 13 arranged relatively, and the first boom traction rope passes through the gap between the third boom pulley 12 and the fourth boom pulley 13. Specifically, the limiting can be achieved by using two relatively arranged boom 28 pulleys to cooperate, and a groove can be provided on at least one of the third boom pulley 12 and the fourth boom pulley 13 for the traction rope 33 to be embedded. Preferably, a pulley frame 38 is sleeved on the shoulder cross bar 31, and the first limiting structure is installed on the pulley frame 38, and the pulley frame 38 is arranged between the first boom pulley 10 and the first shoulder pulley 21. The pulley frame 38 is provided for the third boom pulley 12 and the fourth boom pulley 13 to be arranged, so that the structure can be more compact. At the same time, it is also convenient to set the second limiting structure.

[0045] The above-mentioned boom pulley block is further refined, and the boom pulley block further includes a fifth boom pulley 14, and the first boom traction rope is sequentially wrapped around the fifth boom pulley 14 and the first boom pulley 10. The fifth boom pulley 14 is used to change the direction of the traction rope 33, thereby adjusting the position of the first boom driving member, that is, the artificial muscle.

[0046] Continuing to refine the above-mentioned boom pulley block, the boom pulley block also includes a sixth boom pulley 16 that can be installed on the boom 28, and the axis extension direction of the sixth boom pulley 16 is perpendicular to the axis extension direction of the first shoulder pulley 21. The sixth boom pulley 16 is used, which can be horizontally arranged to achieve the swing of the boom 28. The sixth boom pulley 16 is arranged opposite to and coaxially with the first boom pulley 10, and the rotation directions of the two are opposite. Specifically, the boom pulley block also includes a second boom driving member for driving the sixth boom pulley 16 to rotate, the second boom driving member is connected to the sixth boom pulley 16 through a second boom traction rope, and the driving direction of the second boom driving member is opposite to the driving direction of the first boom driving member, so that it can be ensured that the two do not interfere when driving the boom 28 to swing in different directions, for example, when one driving member 32 is extended, the other driving member 32 needs to be retracted accordingly. The second arm driving member here can also use the above-mentioned artificial muscle, and cooperate with the traction rope 33 to apply driving force to the sixth arm pulley 16, and the sixth arm pulley 16 rotates, thereby driving the arm 28 to swing. The arm pulley group also includes a seventh arm pulley 17 installed on the shoulder cross bar 31, and the second arm traction rope is sequentially wrapped around the seventh arm pulley 17 and the sixth arm pulley 16. The seventh arm pulley 17 can be used to change the direction of the traction rope 33, thereby adjusting the second arm driving member, that is, the position where the driving member 32 (artificial muscle) is set.

[0047] The above-mentioned boom pulley block is further refined, and the boom pulley block also includes a second limiting structure for limiting the position of the second boom traction rope. The second limiting structure can limit the position of the traction rope 33. Preferably, the second limiting structure includes an eighth boom pulley 18 and a ninth boom pulley 19 arranged opposite to each other, and the second boom traction rope passes through the gap between the eighth boom pulley 18 and the ninth boom pulley 19. Specifically, the limiting can be achieved by using two relatively arranged boom 28 pulleys to cooperate, and a groove can be provided on at least one of the eighth boom pulley 18 and the ninth boom pulley 19 for the traction rope 33 to be embedded. Preferably, a pulley frame 38 is sleeved on the shoulder cross bar 31, and the second limiting structure is installed on the pulley frame 38, and the pulley frame 38 is arranged between the sixth boom pulley 16 and the first shoulder pulley 21. The pulley frame 38 is provided for the eighth boom pulley 18 and the ninth boom pulley 19 to be arranged, so that the structure can be more compact. At the same time, it is also convenient to set the second limiting structure.

[0048] Continuing to refine the above-mentioned boom pulley block, the boom pulley block also includes a tenth boom pulley 20, and the second boom traction rope is sequentially wrapped around the tenth boom pulley 20 and the sixth boom pulley 16. The tenth boom pulley 20 is used to change the direction of the traction rope 33, thereby adjusting the second boom drive member, that is, the position where the artificial muscle is set.

[0049] The shoulder pulley assembly described above can be specifically composed of four shoulder pulleys, which are respectively defined as the first shoulder pulley 21, the second shoulder pulley 22, the third shoulder pulley 23 and the fourth shoulder pulley 24. The first shoulder pulley 21 and the second shoulder pulley 22 are both sleeved on the shoulder cross bar 31, and the two are arranged opposite to each other, and the direction in which the axis extends is consistent with the direction in which the shoulder cross bar 31 extends, so that when the first shoulder pulley 21 and the second shoulder pulley 22 rotate, the shoulder cross bar 31 can be driven to rotate, and the shoulder cross bar 31 can be rotated. Preferably, the first shoulder pulley 21 and the second shoulder pulley 22 here can also be integrated into one pulley, and only two grooves for the traction rope 33 to wrap around are provided on the pulley. Preferably, the first shoulder pulley 21 and the second shoulder pulley 22 rotate in different directions. Thus, when the first shoulder pulley 21 and the second shoulder pulley 22 are both connected to the driving member 32, the first shoulder pulley 21 and the second shoulder pulley 22 can rotate in different directions by driving the driving member 32 in different directions, thereby avoiding interference between the rotations in the two directions. For example, when one driving member 32 is extended, the other driving member 32 needs to be retracted accordingly. The driving member 32 used in this embodiment can be a fluid artificial muscle or other existing linear driving methods.

[0050] The shoulder pulley assembly described above is further refined, and the shoulder pulley assembly further includes a third shoulder pulley 23, and the first shoulder traction rope is sequentially wrapped around the third shoulder pulley 23 and the first shoulder pulley 21. There is a certain distance between the third shoulder pulley 23 and the shoulder cross bar 31, the purpose of which is to be able to restrict the direction of the traction rope 33 and to ensure that the traction rope 33 is in a tensioned state. The shoulder pulley assembly described above is further refined, and the shoulder pulley assembly further includes a second shoulder driving member for driving the second shoulder pulley 22 to rotate, and the second shoulder driving member is connected to the second shoulder pulley 22 through the second shoulder traction rope. Similarly, the shoulder pulley assembly further includes a fourth shoulder pulley 24, and the second shoulder traction rope is sequentially wrapped around the fourth shoulder pulley 24 and the second shoulder pulley 22. The function of the fourth shoulder pulley 24 is the same as that of the third shoulder pulley 23, and will not be repeated here.

[0051] Embodiment three:

[0052] See also Figures 9 to 13The shoulder-arm driving mechanism of the robot includes a shoulder pulley block that can drive the shoulder crossbar 31 to rotate, a large arm pulley block that can drive the large arm 28 to swing, and a large arm driving group that can drive the large arm 28 to rotate. The shoulder pulley block, the large arm pulley block, and the large arm driving group all receive a linear driving force provided by a driving member 32. On the basis of the above two embodiments, this embodiment has a third degree of freedom drive, that is, driving the large arm 28 to rotate.

[0053] The boom drive group is detailed. The boom drive group includes a driving shaft 25 that can pass through the boom 28 and a force-bearing member that can be installed on the shoulder cross bar 31. Both ends of the driving shaft 25 are passed out of the boom 28, and both ends of the driving shaft 25 are respectively hinged with connecting members 26, and the other end of each connecting member 26 is hinged on the force-bearing member, and the force-bearing member is hinged with the driving member 32. In this embodiment, the driving shaft 25, two connecting members 26 and the force-bearing member can form a four-bar linkage. When the boom 28 does not rotate, the four-bar linkage forms a rectangular structure, and when the boom 28 rotates, the four-bar linkage forms a parallelogram structure. Because in fact, the rotation range of the boom 28 of the humanoid robot does not need to be so large, the four-bar linkage can meet the rotation range of the boom 28. Preferably, the force-bearing member includes a swing frame 27 that can be sleeved on the shoulder cross bar 31, and the swing frame 27 has a hinged end for the connecting member 26 and the driving member 32 to be hinged. The swing frame 27 can be used as the force-bearing member. The swing frame 27 is preferably elliptical or circular with a diameter slightly larger than the shoulder cross bar 31, so that it can be ensured that the swing frame 27 can produce a certain amplitude of deflection relative to the shoulder cross bar 31. Preferably, there are two driving members 32 hinged to the force-bearing member, and the two driving members 32 drive in opposite directions, so that it can be ensured that the rotation of the upper arm 28 in both positive and negative directions is not interfered. For example, when one driving member 32 is extended, the other driving member 32 needs to be retracted accordingly. Preferably, when connected, one end of the driving member 32 is fixed to the roller sleeve 48 by an annular screw 49, and the roller sleeve 48 can rotate around the shoulder cross bar 31 through the first bearing 42, the second bearing 43 and the third bearing 44. When the driving member 32 is retracted, the traction rope 33 drives the shoulder pulley to rotate, and the shoulder pulley is fixed to the roller sleeve 48. The roller sleeve 48 drives the swing frame 27 to rotate, and the swing frame 27 drives the big arm 28 to swing through the connecting rod 34. The connecting rod 34 is connected to the end cover 47 through the first pin 39. Then, the other end of the driving member 32 is fixed to the swing frame 27 through the first pin rope 45, the second pin rope 46 and the third pin shaft 41. The swing frame 27 is fixed to the roller sleeve 48 through the second pin shaft 40 and can swing around the second pin shaft 40. When the driving member 32 contracts, the driving member 32 drives the swing frame 27 to swing through the first pin rope 45 and the third pin shaft 41, and the swing frame 27 drives the upper arm 28 to rotate through the connecting rod 34. At the same time, the other relative driving member 32 is extended to avoid hindering the rotation of the upper arm 28.

[0054] The above-mentioned shoulder pulley group can be specifically composed of three or four shoulder pulleys. For example, when three shoulder pulleys are used, they are defined as the first shoulder pulley 21, the second shoulder pulley 22 and the third shoulder pulley 23. The first shoulder pulley 21 is sleeved on the shoulder cross bar 31, and two grooves for the traction rope 33 to wrap around are arranged on the pulley. In this way, the first shoulder pulley 21 can be driven to rotate forward or reversely in cooperation with two driving members 32 in different directions. Of course, two first shoulder pulleys 21 can also be provided, which are arranged opposite to each other, and the direction in which the axis extends is consistent with the direction in which the shoulder cross bar 31 extends. In this way, when the first shoulder pulley 21 rotates, the shoulder cross bar 31 can be driven to rotate, and the shoulder cross bar 31 can be rotated. The driving member 32 used in this embodiment can be a fluid artificial muscle, or other existing linear driving methods.

[0055] Continuing to refine the above-mentioned shoulder pulley assembly, the shoulder pulley assembly also includes a third shoulder pulley 23, and the first shoulder traction rope is sequentially wrapped around the third shoulder pulley 23 and the first shoulder pulley 21. There is a certain distance between the third shoulder pulley 23 and the shoulder cross bar 31, the purpose of which is to be able to restrict the direction of the traction rope 33 and to ensure that the traction rope 33 is in a tensioned state. Similarly, the shoulder pulley assembly also includes a third shoulder pulley 23, and the second shoulder traction rope is sequentially wrapped around the third shoulder pulley 23 and the first shoulder pulley 21. The function of the third shoulder pulley 23 is the same as that of the second shoulder pulley 22, which will not be repeated here.

[0056] The above-mentioned boom pulley block is refined, and it can be specifically composed of three boom pulleys, which can be defined as the first boom pulley 10, the second boom pulley 11 and the third boom pulley 12, wherein the first boom pulley 10 and the second boom pulley 11 are arranged opposite to each other and connected by a rotating shaft, and then used in conjunction with the fixing frame 51. Here, in order to make the swing control of the boom 28 more refined and the structure more compact, two driving members 32 can be used to simultaneously control the swing of the boom 28 in one direction, and an independent driving member 32 can be used to control the swing of the boom 28 in another direction, thereby ensuring that the swing of the boom 28 in both positive and negative directions is not interfered. The three drives all transmit their linear driving forces through the traction rope 33.

[0057] The structure of the upper arm 28 is detailed. The upper arm 28 includes an arm rod 29 and a ball head 30. The end of the shoulder cross bar 31 is hinged to the ball head 30. The first upper arm pulley 10 is installed on the ball head 30. The ball head 30 has a horizontal hole for the drive shaft 25 to pass through. Figure 3As shown, the ball head 30 is hinged on the shoulder cross bar 31 with a spherical surface less than half, and the ball head 30 and the shoulder cross bar 31 are connected by a connecting rod 34. Different from the traditional joint bearing in which the concave ball head covers the convex ball head, this connection method of the present embodiment can increase the swing angle of the upper arm 28. Both ends of the drive shaft 25 are provided with end covers 47, which are mounted on the ball head 30.

[0058] To refine the robot, the arm 28 is provided with a bracket 50, and the arm pulley block is installed on the bracket 50. Specifically, two brackets 50 are formed on the arm 28, one bracket 50 is used to install the first arm pulley 10 and the second arm pulley 11, and the other bracket 50 is used to install the third arm pulley 12. Such a design can avoid using another structure to set the arm pulley block.

[0059] To refine the above-mentioned robot, a fixing frame 51 is mounted on the shoulder cross bar 31, and the upper arm pulley group is connected to the driving member 32 through a traction rope 33. The other end of the traction rope 33 is fixed to the fixing frame 51. The fixing frame 51 is provided for the installation of the traction rope 33. One end of the three traction ropes 33 is connected to the driving member 32. When the traction rope 33 passes around the pulley of the upper arm 28, it is connected to the fixing frame 51.

[0060] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-degree-of-freedom shoulder-arm driving mechanism of a robot, characterized in that: It comprises a shoulder pulley block capable of driving the shoulder crossbar to rotate, a boom pulley block capable of driving the boom to swing, and a boom driving block capable of driving the boom to rotate. The shoulder pulley block, the boom pulley block and the boom driving block all receive a linear driving force provided by a driving member.

2. The multi-degree-of-freedom shoulder-arm driving mechanism of the robot according to claim 1, characterized in that: The boom driving group includes a driving shaft that can pass through the boom and a force-bearing member that can be installed on the shoulder cross bar. Both ends of the driving shaft pass through the outside of the boom, and both ends of the driving shaft are hinged with connecting members, and the other end of each connecting member is hinged on the force-bearing member. The force-bearing member is hinged to the driving member.

3. The multi-degree-of-freedom shoulder-arm driving mechanism of the robot according to claim 2, characterized in that: The force-bearing member comprises a swing frame which can be sleeved on the shoulder crossbar, and the swing frame is provided with a hinge end for hinged connection of the connecting member and the driving member.

4. The multi-degree-of-freedom shoulder-arm driving mechanism of the robot according to claim 2, characterized in that: There are two driving members hinged to the force-bearing member, and the two driving members drive in opposite directions.

5. The multi-degree-of-freedom shoulder-arm driving mechanism of the robot according to claim 1, characterized in that: The shoulder pulley assembly includes a first shoulder pulley rotatably mounted on the shoulder cross bar, an axis extension direction of the first shoulder pulley is consistent with an extension direction of the shoulder cross bar, and the first shoulder pulley is connected to the driving member via a traction line.

6. The multi-degree-of-freedom shoulder-arm driving mechanism of the robot according to claim 5, characterized in that: There are two driving members connected to the first shoulder pulley, and the driving directions of the two driving members are opposite.

7. The multi-degree-of-freedom shoulder-arm driving mechanism of the robot according to claim 1, characterized in that: The boom pulley block comprises a first boom pulley which can be mounted on the boom, wherein an axis line of the first boom pulley extends in a direction perpendicular to a direction of a linear driving force provided by a driving member of the boom driving block.

8. A robot comprising an upper arm and a shoulder crossbar, characterized in that: The upper arm and the shoulder cross bar are connected by a ball joint, and the robot also includes a multi-degree-of-freedom shoulder-arm driving mechanism as described in any one of claims 1-7, the shoulder pulley group drives the shoulder cross bar to rotate, the upper arm pulley group drives the upper arm to swing, and the upper arm driving group drives the upper arm to rotate.

9. The robot according to claim 8, characterized in that: A bracket is arranged on the upper arm, and the upper arm pulley block is arranged on the bracket.

10. The robot according to claim 8, characterized in that: A fixing frame is sleeved on the shoulder cross bar, and the upper arm pulley block is connected to the driving member through a traction rope, and the other end of the traction rope is fixed on the fixing frame.

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