Robotic arms and humanoid robots

Abstract

A mechanical arm and a humanoid robot, the mechanical arm comprises a first shell, a first motor, a connecting rod and a hand assembly, the first shell comprises a first main shell and two connecting arms, the two connecting arms are spaced apart at one end of the first main shell, the first main shell and the two connecting arms are an integrated structure, the outer surface of the first shell is a smooth curved surface and is used to simulate the shape of a human forearm; the first motor is accommodated in the first main shell, the first motor comprises a first housing and a first output part, the first motor has a first axis; the second motor comprises a second housing and a second output part, the second motor has a second axis; the connecting rod comprises a first end and a second end, the first end is rotatably connected to the first output part, the second end is rotatably connected to the second housing, the first end deviates from the first axis, and the second end is spaced apart from the connecting arm in the direction of the second axis; the hand assembly is connected and fixed to the second output part. The structure of the first shell of the mechanical arm of the present application is reused, and the anthropomorphic effect is good.

Description

Technical Field

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

[0002] At present, humanoid robots have good mobility when facing complex terrain, so the research and development of humanoid robots has received more and more attention in recent years. Humanoid robots are equipped with multiple drive motors and connection structures to enable the palms and arms to move with multiple degrees of freedom.

[0003] The mechanical arm in the prior art generally includes several structural parts and a drive motor. The drive motor is generally arranged on the outside of the structural parts, and additional appearance parts are required to cover it, which makes the size difference of different parts of the mechanical arm of the existing humanoid robot too large and the anthropomorphic effect is poor. Summary of the invention

[0004] The purpose of this application is to provide a mechanical arm and a humanoid robot to solve the problem of poor anthropomorphic effect of the mechanical arm.

[0005] To achieve the purpose of this application, this application provides the following technical solutions:

[0006] In a first aspect, the present application provides a mechanical arm for a humanoid robot, comprising:

[0007] A first shell, comprising a first main shell and two connecting arms, wherein the two connecting arms are spaced apart and arranged at one end of the first main shell, the first main shell and the two connecting arms are an integrated structure, and an outer surface of the first shell is a smooth curved surface and is used to simulate the shape of a human forearm;

[0008] A first motor is accommodated in the first main housing, the first motor comprises a first housing and a first output portion, the first housing is connected and fixed to the first main housing, and the first motor has a first axis;

[0009] A second motor, comprising a second housing and a second output portion, the second motor is disposed between the two connecting arms, the second housing is rotatably connected to the two connecting arms, and the second motor has a second axis;

[0010] A connecting rod, comprising a first end and a second end, wherein the first end is rotatably connected to the first output portion, the second end is rotatably connected to the second housing, the first end deviates from the first axis, and the second end is spaced from the connecting arm in the direction of the second axis;

[0011] A hand assembly, connected and fixed to the second output part;

[0012] The first motor is used to drive the hand assembly to rotate around the first axis, and the second motor is used to drive the hand assembly to rotate around the second axis, and the first axis is perpendicular to the second axis.

[0013] In this way, the first shell of the robotic arm serves as a support for the first motor, and the outer surface of the first shell is also used to simulate the skin of the human forearm, thereby realizing structural reuse of the first shell. The outer surface of the first shell is a smooth curved surface, so that the sizes of different parts of the robotic arm of the humanoid robot are relatively uniform, and there is no need to set up additional appearance parts. The first motor and the second motor are connected by a connecting rod. The first motor and the second motor enable the hand assembly to have two degrees of freedom of movement, so that the robotic arm can realize the wrist function under the drive of the first motor and the second motor. The robotic arm has fewer parts, which reduces the difficulty of assembly and space occupancy. Therefore, the robotic arm of the present application has a compact structure and a good anthropomorphic effect.

[0014] In one embodiment, the first main housing includes a first sub-housing and a second sub-housing that are arranged opposite to each other, the first sub-housing and the second sub-housing are each connected to a connecting arm, the first sub-housing and the second sub-housing enclose a first receiving space, and the first motor is received in the first receiving space;

[0015] The first main housing further comprises a mounting tube, one axial end of which is arranged on the inner wall surface of the first sub-housing facing the second sub-housing, the mounting tube is connected and fixed to the first housing, and the first output portion extends into the mounting tube;

[0016] A connecting hole is formed on the side wall of the mounting tube, and the connecting rod passes through the connecting hole and is rotatably connected to the first output part.

[0017] Such an arrangement can reasonably utilize the first receiving space, facilitate the connection between the connecting rod and the first output part, allow the connecting rod to avoid other components, avoid movement interference between the connecting rod and other components, and at the same time improve the connection strength between the first motor and the first main shell.

[0018] In one embodiment, the first main housing further includes a support portion, the support portion is connected to the second sub-housing and is spaced apart from the mounting tube, and the support portion is used to support the first housing. In this way, the surface of the support portion facing the first housing is in close contact with the outer surface of the first housing, so that the support portion supports the first motor, thereby increasing the connection strength between the first motor and the first main housing and increasing the overall structural strength of the robotic arm.

[0019] In one embodiment, the first end is farther away from the second subshell than the second end in the direction of the first axis. This arrangement allows the connecting rod to better utilize space and avoid interference with other components, making the spatial layout of the robotic arm more compact and efficient, thereby improving the compactness and humanoid effect of the robotic arm.

[0020] In one embodiment, the first housing includes a first cover and a first cylinder, the first cover is disposed at an end of the first cylinder in the direction of the first axis, the first housing has a mounting hole penetrating the first cover and the first cylinder, and the first output portion passes through the mounting hole;

[0021] The first cover body has a limiting groove, which extends along the circumference of the mounting hole and is communicated with the mounting hole. The first output part also includes a limiting part, which extends into the limiting groove. The first end is connected to the limiting part, and the limiting groove is used to limit the rotation angle of the limiting part.

[0022] With such arrangement, the rotation angle of the first output part around the first axis is limited within a certain range through the cooperation of the limit groove and the limit part, thereby limiting the movement of the connecting rod and the second motor, avoiding that the rotation angle of the first output part around the first axis is too large, causing the connecting rod and the second motor to interfere with the other parts, and improving the movement accuracy of the robot arm.

[0023] In one embodiment, the robotic arm further includes a wrist support, the wrist support includes a first part and a second part, the first part and the second part are arranged relative to each other and connected in the direction of the second axis, the first part and the second part enclose a second receiving space, the second motor is received in the second receiving space, one end of the second output part is rotationally connected to the first part, the other end of the second output part is rotationally connected to the second part, and the end face of the wrist support facing away from the first motor is connected to the hand assembly. Such an arrangement increases the connection stability between the second motor and the wrist support, improves the overall structural strength of the robotic arm, and the second motor is received in the second receiving space formed by the wrist support, which helps to improve the integration of the robotic arm and makes the layout of the robotic arm compact.

[0024] In one embodiment, the outer surface of the wrist support is a smooth curved surface, and the outer surface of the second motor smoothly transitions to the outer surface of the wrist support. This arrangement makes the overall appearance of the robotic arm beautiful, and the smooth transition helps to simplify the assembly process and improve assembly efficiency.

[0025] In one embodiment, a first wiring hole is formed on the surface of the second housing facing the first receiving space, and the first wiring hole is arranged at one end of the second housing close to the second part. In this way, the wiring of the first motor can enter the interior of the second housing from the first receiving space through the first wiring hole, thereby realizing signal transmission between the first motor and the second point solution and optimizing the wiring layout.

[0026] In one embodiment, the second part has a wiring groove, the opening of which faces away from the hand assembly, the first part includes a connecting part, a main body and a protruding part connected in sequence, the connecting part is rotatably connected to the second output part, the main body is cylindrical, the main body has a second wiring hole that runs through it, the protruding part is arranged on the outer peripheral surface of the main body, the protruding part extends into the wiring groove and is spaced from the bottom wall of the wiring groove, and the wiring groove is connected to the second wiring hole from the side wall of the main body. Such an arrangement allows the wiring of the robotic arm to pass through the first receiving space, the first wiring hole, the interior of the second housing, the wiring groove, the second wiring hole to the motor of the hand assembly in sequence. The wiring arrangement of the robotic arm of the present application is smooth, which reduces the crossing and interference between the lines, optimizes the wiring layout, improves the stability and reliability of the circuit, reduces the transmission delay and loss of the signal between the motors, and improves the response speed of each motor of the robotic arm.

[0027] In one embodiment, the robotic arm further comprises an elbow joint assembly, the elbow joint assembly comprises an elbow joint bracket and a third motor, the third motor comprises a third housing and a third output portion, the third output portion is rotatably connected to the end of the elbow joint bracket facing the first housing, the third housing is accommodated in the first main housing, the third motor is used to drive the first housing to rotate around a third axis, and the first axis, the second axis and the third axis are perpendicular to each other;

[0028] The robotic arm also includes a fourth motor, which is accommodated in the elbow joint bracket, and includes a fourth output part, which is rotatably connected to the elbow joint bracket, and the fourth motor is used to drive the first housing to rotate around the first axis. In this way, the third motor realizes the rotation of the first housing as a whole around the third axis, achieving a motion effect similar to the rotation of the human forearm relative to the upper arm, and the fourth motor realizes the rotation of the first housing as a whole around the first axis, achieving a swing similar to the human forearm relative to the upper arm, which is conducive to improving the anthropomorphism of the robotic arm, and the fourth motor is accommodated in the elbow joint bracket, which helps to improve the integration of the robotic arm and make the layout of the robotic arm compact.

[0029] In one embodiment, the robotic arm further includes a second housing, the fourth motor further includes a fourth housing, the fourth motor is contained in the second housing, and the fourth housing is connected and fixed to the second housing, the outer surface of the elbow joint support and the outer surface of the second housing are both smooth curved surfaces, the outer surface of the elbow joint support and the second housing transition smoothly, and the outer surface of the second housing is used to simulate the shape of a human upper arm. With such a configuration, the second housing of the robotic arm serves as a support for the fourth motor, and the outer surface of the second housing is also used to simulate the skin of a human upper arm, thereby achieving structural reuse of the second housing, making the structure of the robotic arm of the present application compact and having a good anthropomorphic effect.

[0030] In one embodiment, the robotic arm further includes a fifth motor, the fifth motor includes a fifth output part, the fifth output part is rotatably connected to the end of the second housing away from the fourth motor, and the fifth motor drives the second housing to rotate around the third axis. In this way, the fifth motor realizes the rotation of the second housing as a whole around the third axis, achieving a motion effect similar to the rotation of a human upper arm relative to a shoulder, which is conducive to improving the anthropomorphism of the robotic arm.

[0031] In a second aspect, the present application provides a humanoid robot, comprising a mechanical arm as described in any one of the various embodiments of the first aspect. By adopting the mechanical arm in the embodiment of the present application, the humanoid upper limb movement of the humanoid robot is realized, and the mechanical arm in the embodiment of the present application has a compact structure and a good anthropomorphic effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0033] Figure 1 is a three-dimensional diagram of a mechanical arm of an embodiment;

[0034] Figure 2 is a three-dimensional diagram of a partial structure of a robotic arm of an embodiment;

[0035] Figure 3 is an exploded view of a partial structure of a robotic arm of an embodiment;

[0036] Figure 4 is a perspective view of a first main shell of an embodiment;

[0037] Figure 5 is a perspective view of a second main shell of an embodiment;

[0038] Figure 6 is a three-dimensional diagram of a partial structure of a wrist support of an embodiment;

[0039] Figure 7 is a three-dimensional diagram of another part of the structure of a wrist support of an embodiment;

[0040] Figure 8 is a three-dimensional diagram of a partial structure of a robot arm of another embodiment;

[0041] Fig. 9 FIG. 4 is an exploded view of a portion of a shoulder assembly according to another embodiment.

[0042] Description of reference numerals:

[0043] 100-mechanical arm, 10-first housing, 11-first main housing, 111-first sub-housing, 112-second sub-housing, 113-installation cylinder, 114-connection hole, 115-support part, 116-installation block, 117-positioning rib, 12-connection arm;

[0044] 20-first motor, 21-first housing, 211-first cover, 212-first cylinder, 214-limiting groove, 215-recessed portion, 22-first output portion, 221-limiting portion;

[0045] 30 - second motor, 31 - second housing, 311 - first wiring hole;

[0046] 40-connecting rod, 41-first end, 42-second end, 43-first section, 44-second section, 45-third section;

[0047] 50-hand assembly;

[0048] 60- wrist support, 61- first part, 611- connection part, 612- main body, 6121- second wiring hole, 6122- through hole, 613- raised part, 62- second part, 621- wiring groove, 63- third part, 64- second receiving space;

[0049] 70-elbow joint assembly, 71-elbow joint bracket, 711-fourth part, 712-fifth part, 72-third motor, 721-third output part, 73-fourth motor, 80-second housing, 81-fifth motor, 90-shoulder assembly, 91-sixth motor, 92-seventh motor, 93-shoulder bracket;

[0050] E1-first axis, E2-second axis, E3-third axis. DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0052] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there can be a central component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there can be a central component at the same time.

[0053] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in this application and in the specification are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in this application includes any and all combinations of one or more of the related listed items.

[0054] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0055] The robot arm in the prior art generally includes several structural parts and a drive motor. The drive motor is generally arranged outside the structural parts. Therefore, the size of the robot arm is large at the drive motor and small at the structural parts close to the drive motor, resulting in excessive size differences in different parts of the robot arm.

[0056] For reference Figure 1 The present application provides a humanoid robot, including the mechanical arm 100 in the embodiment of the present application. The humanoid robot also includes a trunk device (not shown), a lower limb device (not shown) and a head and neck device (not shown). The mechanical arm 100, the lower limb device and the head and neck device in the embodiment of the present application are all connected to the trunk device, and can rotate relative to the trunk device. Specifically, there are two mechanical arms 100 and two lower limb devices. The humanoid robot provided in the present application realizes the humanoid upper limb movement of the humanoid robot by adopting the mechanical arm 100 in the embodiment of the present application, and the mechanical arm 100 in the embodiment of the present application has a compact structure and a good anthropomorphic effect.

[0057] like Figure 1 As shown, the initial state of the robot arm 100 of the present application is the first state, that is, the robot arm 100 of the embodiment of the present application is linear as a whole.

[0058] For reference Figure 1 and Figure 2 The present application provides a mechanical arm 100 for a humanoid robot. The mechanical arm 100 includes a first housing 10, a first motor 20, a second motor 30, a connecting rod 40 and a hand assembly 50. The first housing 10 includes a first main housing 11 and two connecting arms 12. The two connecting arms 12 are arranged at one end of the first main housing 11 at intervals. The first main housing 11 and the two connecting arms 12 are an integrated structure. The outer surface of the first housing 10 is a smooth curved surface and is used to simulate the shape of a human forearm. The first motor 20 is accommodated in the first main housing 11. The first motor 20 includes a first housing 21 and a first output part 22. The first housing 21 is connected and fixed to the first main housing 11. The first motor 20 has a first axis E1. The second motor 30 includes a second housing 31 and a second output part. The second motor 30 is arranged between the two connecting arms 12. The second housing 31 is rotatably connected to the two connecting arms 12. The second motor 30 has a second axis E2. The connecting rod 40 includes a first end 41 and a second end 42, wherein the first end 41 is rotatably connected to the first output portion 22, and the second end 42 is rotatably connected to the second housing 31, the first end 41 deviates from the first axis E1, and the second end 42 is spaced apart from the connecting arm 12 in the direction of the second axis E2. The hand assembly 50 is fixedly connected to the second output portion. The first motor 20 is used to drive the hand assembly 50 to rotate around the first axis E1, and the second motor 30 is used to drive the hand assembly 50 to rotate around the second axis E2, and the first axis E1 is perpendicular to the second axis E2.

[0059] Optionally, the first shell 10, the first housing 21, the second housing 31 and the connecting rod 40 of the robotic arm 100 can all be made of materials that meet the requirements of structural strength, corrosion resistance and easy processing and forming, specifically aluminum alloy, carbon fiber, stainless steel and magnesium alloy, etc., without limitation.

[0060] Optionally, the projection of the connecting arm 12 in the direction of the first axis E1 may be a trapezoid, and any two adjacent sides of the trapezoid may have a smooth transition, and the two side edges of the trapezoid may be straight lines or curves without limitation.

[0061] Optionally, the cross-sectional shape of the first shell 10 may be circular, square, elliptical, triangular, etc., without limitation.

[0062] The first housing 21 and the first main housing 11 may be connected and fixed by welding, screwing, clamping, bonding, etc., without limitation.

[0063] Optionally, the first end 41 and the second end 42 are both annular, and the robot arm 100 also includes a first bearing and a second bearing, the inner ring of the first bearing is connected to the first output part 22, the outer ring of the first bearing is connected to the first end 41, the outer ring of the second bearing is connected to the second end 42, and the inner ring of the second bearing is connected to the second housing 31.

[0064] For reference Figure 2 and Figure 8 Optionally, the first end 41 deviates from the first axis E1, that is, the first motor 20 and the second motor 30 are connected by a crank, and the rotational motion of the first motor 20 is converted into the reciprocating motion of the second motor 30 and the hand assembly 50 in the direction of the third axis E3 through the crank structure. In addition to realizing the transmission cooperation between the first motor 20 and the second motor 30, the connecting rod 40 also has a certain supporting function, which can withstand and transmit the lateral force from the first output part 22, and ensure the stable operation of the first motor 20 and the second motor 30.

[0065] Optionally, the second motor 30 further includes two mounting portions, which are disposed on the outer surface of the second housing 31 and are disposed opposite to each other in the direction of the first axis E1, and each mounting portion is correspondingly connected to a connecting arm 12. Compared to the other mounting portion, the mounting portion closer to the second end 42 is spaced apart from the second end 42 in the direction of the second axis E2.

[0066] The first output part 22 and the second output part are used to transfer energy to an external device by mechanical means. Optionally, the first output part 22 includes an output shaft, a bearing, an iron core, etc. The output shaft is an extension of the rotor of the first motor 20 and is used to transfer power and torque. The first output part 22 also includes a tail, a gear, a reducer and other structures to meet the requirements of precise control and high torque output of the first motor 20. The structure of the second output part can refer to the first output part 22.

[0067] The hand assembly 50 can be connected and fixed to the second output part by screw connection, welding, bonding, etc., without limitation. The hand assembly 50 includes a thumb piece, a palm piece and four finger pieces. The four finger pieces are arranged on the end face of the palm piece facing away from the second motor 30, and the four fingers are arranged at intervals. The thumb piece is arranged on the end face of the palm piece in the direction of the second axis E2, and the thumb piece is closer to the second motor 30 than the finger piece. The thumb piece and the four finger pieces can rotate relative to the palm piece, and the four finger pieces can be relatively close to or far away from each other to achieve the simulation of human hand movement. The first motor 20 drives the hand assembly 50 to rotate around the first axis E1, and the second motor 30 drives the hand assembly 50 to rotate around the second axis E2. The two work together to achieve the forward and backward swinging and left and right swinging of the hand relative to the forearm similar to the human body.

[0068] In this way, the first shell 10 of the robotic arm 100 serves as a support for the first motor 20, and the outer surface of the first shell 10 is also used to simulate the skin of the human forearm, thereby realizing structural reuse of the first shell 10. The outer surface of the first shell 10 is a smooth curved surface, so that the sizes of different parts of the robotic arm 100 of the humanoid robot are relatively uniform, and there is no need to set up additional appearance parts. The first motor 20 and the second motor 30 are connected by a connecting rod 40. The first motor 20 and the second motor 30 enable the hand assembly 50 to have two degrees of freedom of movement, so that the robotic arm 100 can realize the wrist function under the drive of the first motor 20 and the second motor 30. The robotic arm 100 has fewer parts, which reduces the difficulty of assembly and space occupancy. Therefore, the robotic arm 100 of the present application has a compact structure and a good anthropomorphic effect.

[0069] For reference Figure 1 , Figure 4 and Figure 5 In one embodiment, the first main shell 11 includes a first sub-shell 111 and a second sub-shell 112 which are arranged opposite to each other, and the first sub-shell 111 and the second sub-shell 112 are respectively connected to a connecting arm 12, and the first sub-shell 111 and the second sub-shell 112 enclose a first receiving space, and the first motor 20 is received in the first receiving space; the first main shell 11 also includes a mounting tube 113, and one axial end of the mounting tube 113 is arranged on the inner wall surface of the first sub-shell 111 facing the second sub-shell 112, the mounting tube 113 is connected and fixed to the first housing 21, and the first output part 22 extends into the mounting tube 113; a connecting hole 114 is opened on the side wall of the mounting tube 113, and the connecting rod 40 passes through the connecting hole 114 and is rotatably connected to the first output part 22.

[0070] Optionally, the first sub-shell 111 and the second sub-shell 112 may be connected by clamping, screwing, welding, bonding, etc., without limitation. The first sub-shell 111 and / or the second sub-shell 112 may be formed by a plurality of plates, and the plurality of plates may be curved plates and / or straight plates, without limitation.

[0071] Optionally, the mounting tube 113 is disposed at the end of the first sub-shell 111 close to the connecting arm 12, and part of the mounting tube 113 can be connected and fixed to the connecting arm 12, so as to reduce the size of the connecting rod 40 and the robot arm 100 on the third axis E3. Correspondingly, the connecting hole 114 is also disposed at the end of the mounting tube 113 close to the second motor 30.

[0072] For reference Figure 4 and Figure 8Optionally, the first main shell 11 further includes a mounting block 116 and a positioning rib 117. The positioning rib 117 is annular and connected end to end. The positioning rib 117 is arranged on the inner wall surface of the end of the first main shell 11 close to the third motor 72. There may be multiple mounting blocks 116. The mounting blocks 116 are arranged on the end surface of the positioning rib 117 facing the third motor 72. The multiple mounting blocks 116 are spaced apart in the circumferential direction of the third axis E3. The mounting blocks 116 are used to be connected and fixed to the third output portion 721 of the third motor 72, so that the third motor 72 drives the first main shell 11 to rotate around the third axis E3.

[0073] The mounting tube 113 and the first sub-shell 111 may be an integral structure, that is, an integral structure made by an integral molding process, and the integral molding process may be stamping, casting, etc., without limitation. The mounting tube 113 and the first sub-shell 111 may also be a split structure, that is, the mounting tube 113 and the first sub-shell 111 may be connected and fixed by welding, bonding, clamping, screwing, etc.

[0074] Optionally, a reinforcing rib is disposed on the inner wall surface of the first subshell 111 facing the second subshell 112 and / or the inner wall surface of the second subshell 112 facing the first subshell 111 . The reinforcing ribs are multiple and can be disposed at intervals or staggered without limitation.

[0075] The cross-sectional shape of the connection hole 114 can be circular, rectangular, etc., without limitation.

[0076] Such a configuration can reasonably utilize the first receiving space, facilitate the connection between the connecting rod 40 and the first output part 22, allow the connecting rod 40 to avoid other components, avoid movement interference between the connecting rod 40 and other components, and at the same time improve the connection strength between the first motor 20 and the first main shell 11.

[0077] For reference Figure 5 In one embodiment, the first main shell 11 further includes a supporting portion 115 , the supporting portion 115 is connected to the second sub-shell 112 , and is spaced apart from the mounting tube 113 , and the supporting portion 115 is used to support the first shell 21 .

[0078] The support portion 115 is disposed at a connection point between the second sub-case 112 and the connection arm 12 connected to the second sub-case 112 , and the support portion 115 extends along a direction of the first axis E1 .

[0079] The support portion 115 and the second sub-shell 112 may be an integrated structure or a split structure, without limitation.

[0080] Optionally, the support portion 115 is plate-shaped, and when the outer surface of the first housing 21 is a curved surface, the surface of the support portion 115 facing the first housing 21 can be correspondingly set as a curved surface, so as to increase the contact area between the support portion 115 and the first housing 21 and enhance the supporting effect of the support portion 115 on the first housing 21.

[0081] Optionally, the support portion 115 is in a strip shape. The support portion 115 may be one strip, or may be a plurality of strips that are staggered or spaced apart.

[0082] In this way, the surface of the support part 115 facing the first housing 21 is in close contact with the outer surface of the first housing 21, so that the support part 115 supports the first motor 20, thereby increasing the connection strength between the first motor 20 and the first main housing 11, and increasing the overall structural strength of the robot arm 100.

[0083] For reference Figure 2 and Figure 3 In one embodiment, the first end 41 is farther away from the second sub-shell 112 than the second end 42 in the direction of the first axis E1.

[0084] Optionally, the connecting rod 40 includes a first section 43, a second section 44 and a third section 45 connected in sequence, the first end 41 is the end of the first section 43 away from the second section 44, and the second end 42 is the end of the third section 45 away from the second section 44. The first section 43, the second section 44 and the third section 45 can be smoothly transitioned. There is an angle between the first section 43 and the second section 44, and between the second section 44 and the third section 45, and the first section 43 and the third section 45 are parallel. The connecting rod 40 can be an integral structure, that is, an integral structure made by an integral molding process, and the integral molding process can be specifically stamping, casting, etc., without limitation. The connecting rod 40 can also be a split structure, that is, the first section 43, the second section 44 and the third section 45 can be connected and fixed by welding, bonding, clamping, screwing, etc. When the broken line connecting rod 40 is subjected to force, the stress can be dispersed in multiple directions, thereby reducing the risk of stress concentration and fatigue failure, thereby improving the strength and durability of the connecting rod 40.

[0085] Optionally, the connecting rod 40 is arc-shaped as a whole, and the first end 41 is farther away from the second sub-shell 112 than the second end 42 in the direction of the first axis E1.

[0086] Such an arrangement enables the connecting rod 40 to better utilize space and avoid interference with other components, making the spatial layout of the robot arm 100 more compact and efficient, thereby improving the compactness and anthropomorphic effect of the robot arm 100.

[0087] For reference Figure 2 and Figure 3In one embodiment, the first housing 21 includes a first cover 211 and a first cylinder 212, the first cover 211 is disposed at an end of the first cylinder 212 in the direction of the first axis E1, the first housing 21 has a mounting hole penetrating the first cover 211 and the first cylinder 212, and the first output portion 22 is provided with the mounting hole;

[0088] The first cover body 211 has a limiting groove 214, which extends along the circumference of the mounting hole and is connected to the mounting hole. The first output part 22 also includes a limiting part 221, which extends into the limiting groove 214. The first end 41 is connected to the limiting part 221. The limiting groove 214 is used to limit the rotation angle of the limiting part 221.

[0089] The first output portion 22 is provided with a mounting hole and is rotatably connected to the first housing 21 .

[0090] Optionally, the first cylinder 212 and the first cover 211 are an integrated structure made by an integrated molding process, and the integrated molding process can be stamping, casting, etc., without limitation. The first cylinder 212 and the first cover 211 can also be connected and fixed by welding, bonding, clamping, screwing, magnetic attraction, etc.

[0091] Optionally, the first cover 211 further includes a flat portion and a recessed portion 215, wherein the recessed portion 215 is closer to the second sub-shell 112 than the flat portion in the direction of the first axis E1. The recessed portion 215 is connected to the outer wall of the limiting groove 214 close to the second motor 30, and the recessed portion 215 is used to avoid the connecting rod 40. The orthographic projection of the recessed portion 215 in the direction of the first axis E1 can be a sector, a rectangle, a triangle, etc., without limitation.

[0092] With such arrangement, the rotation angle of the first output portion 22 around the first axis E1 is limited within a certain range through the cooperation between the limit groove 214 and the limit portion 221, thereby limiting the movement of the connecting rod 40 and the second motor 30, and preventing the first output portion 22 from rotating too much around the first axis E1, causing the connecting rod 40 and the second motor 30 to interfere with the movement of other parts, thereby improving the movement accuracy of the robot arm 100.

[0093] For reference Figure 1 and Figure 3 In one embodiment, the robotic arm 100 also includes a wrist support 60, which includes a first portion 61 and a second portion 62. The first portion 61 and the second portion 62 are relatively arranged and connected in the direction of the second axis E2. The first portion 61 and the second portion 62 enclose a second receiving space 64. The second motor 30 is received in the second receiving space 64. One end of the second output portion is rotatably connected to the first portion 61, and the other end of the second output portion is rotatably connected to the second portion 62. The end surface of the wrist support 60 facing away from the first motor 20 is connected to the hand assembly 50.

[0094] Optionally, the wrist bracket 60 may be an integrated structure, that is, an integrated structure made by an integrated molding process, and the integrated molding process may be stamping, casting, etc., without limitation. The wrist bracket 60 may also be a split structure, that is, the first part 61 and the second part 62 may be connected and fixed by welding, bonding, clamping, screwing, etc.

[0095] The wrist support 60 is made of a material with high structural strength, specifically metal materials, high-strength plastics, ceramics, etc. The metal materials include aluminum, aluminum alloy, magnesium alloy, iron and iron alloy, etc., without limitation.

[0096] Optionally, the wrist support 60 further includes a third portion 63, which is disposed on the end surfaces of the first portion 61 and the second portion 62 facing away from the first motor 20, and is connected to both the first portion 61 and the second portion 62. The third portion 63 and the hand assembly 50 may be connected by screw connection, clamping connection, bonding, etc., without limitation. The first portion 61 and the second portion 62 are quasi-L-shaped, and the third portion 63 is cylindrical or truncated.

[0097] Such a configuration increases the connection stability between the second motor 30 and the wrist support 60, improves the overall structural strength of the robot arm 100, and the second motor 30 is accommodated in the second accommodation space 64 formed by the wrist support 60, which helps to improve the integration of the robot arm 100 and makes the layout of the robot arm 100 compact.

[0098] For reference Figure 1 In one embodiment, the outer surface of the wrist support 60 is a smooth curved surface, and the outer surface of the second motor 30 transitions smoothly with the outer surface of the wrist support 60 .

[0099] Specifically, an end surface of the first plate away from the second plate, an end surface of the third plate away from the second plate, and an outer surface of the second motor 30 are smoothly transitioned.

[0100] Optionally, each part of the first part 61 , the second part 62 and the third part 63 has a smooth transition, and the connection between any two of the first part 61 , the second part 62 and the third part 63 has a smooth transition.

[0101] Such a configuration makes the overall appearance of the robot arm 100 beautiful, and the smooth transition helps to simplify the assembly process and improve assembly efficiency.

[0102] For reference Figure 3 In one embodiment, a first wiring hole 311 is opened on a surface of the second housing 31 facing the first receiving space, and the first wiring hole 311 is disposed at an end of the second housing 31 close to the second portion 62 .

[0103] The cross-sectional shape of the first wiring hole 311 can be rectangular, circular, elliptical, etc., without limitation.

[0104] There can be one or more first wiring holes 311 , and the plurality of first wiring holes 311 are arranged at intervals.

[0105] Such arrangement enables the wiring of the first motor 20 to enter the interior of the second housing 31 from the first receiving space through the first wiring hole 311, thereby realizing signal transmission between the first motor 20 and the second point solution and optimizing the wiring layout.

[0106] For reference Figure 6 and Figure 7 In one embodiment, the second portion 62 has a wiring groove 621, the opening of the wiring groove 621 faces away from the hand assembly 50, the first portion 61 includes a connecting portion 611, a main body 612 and a protruding portion 613 connected in sequence, the connecting portion 611 is rotatably connected to the second output portion, the main body 612 is cylindrical, and the main body 612 has a second wiring hole 6121 passing through itself, the protruding portion 613 is arranged on the outer peripheral surface of the main body 612, the protruding portion 613 extends into the wiring groove 621 and is spaced from the bottom wall of the wiring groove 621, and the wiring groove 621 is connected to the second wiring hole 6121 from the side wall of the main body 612.

[0107] Optionally, the bottom wall of the wiring groove 621 may be a smooth curved surface or a flat surface without limitation.

[0108] Optionally, the protrusion 613 may be block-shaped or sheet-shaped. When the protrusion 613 is block-shaped, the protrusion 613 and the main body 612 have a through hole 6122 that penetrates both in the direction of the second axis E2, and the wiring groove 621 is connected to the second wiring hole 6121 from the through hole 6122. When the protrusion 613 is sheet-shaped, only the main body 612 has a through hole 6122 that penetrates itself in the direction of the second axis E2, and the wiring groove 621 is connected to the second wiring hole 6121 from the gap between the protrusion 613 and the wiring groove 621 and the bottom wall and the through hole 6122.

[0109] Optionally, the third portion 63 further has a third wiring hole that passes through itself in the direction of the third axis E3, and the third wiring hole is coaxial with and connected to the second wiring hole 6121, so that the wiring can be smoothly connected to the motor of the hand assembly 50.

[0110] Such a configuration allows the wiring of the robotic arm 100 to pass through the first housing space, the first wiring hole 311, the interior of the second housing 31, the wiring groove 621, the second wiring hole 6121 to the motor of the hand assembly 50 in sequence. The wiring setting of the robotic arm 100 of the present application is smooth, which reduces the crossing and interference between lines, optimizes the wiring layout, improves the stability and reliability of the circuit, reduces the transmission delay and loss of signals between motors, and improves the response speed of each motor of the robotic arm 100.

[0111] For reference Figure 1 , Figure 2 and Figure 8 In one embodiment, the robot arm 100 further includes an elbow joint assembly 70, the elbow joint assembly 70 includes an elbow joint bracket 71 and a third motor 72, the third motor 72 includes a third housing and a third output portion 721, the third output portion 721 is rotatably connected to the end of the elbow joint bracket 71 toward the first housing 10, the third housing is accommodated in the first main housing 11, and the third motor 72 is used to drive the first housing 10 to rotate around the third axis E3, and the first axis E1, the second axis E2 and the third axis E3 are perpendicular to each other;

[0112] The robot arm 100 further includes a fourth motor 73 , which is accommodated in the elbow joint bracket 71 . The fourth motor 73 includes a fourth output portion, which is rotationally connected to the elbow joint bracket 71 . The fourth motor 73 is used to drive the first housing 10 to rotate around the first axis E1 .

[0113] Optionally, the elbow joint bracket 71 includes a fourth portion 711, a fifth portion 712 and a sixth portion. The fourth portion 711 and the fifth portion 712 are relatively arranged and connected in the direction of the first axis E1, and the fourth portion 711 and the fifth portion 712 are both in an "L" shape. The sixth portion is arranged on the end faces of the fourth portion 711 and the fifth portion 712 facing the first motor 20, and the sixth portion is used to connect to the third housing. The elbow joint bracket 71 can be an integrated structure, that is, an integrated structure made by an integrated molding process, and the integrated molding process can be specifically stamping, casting, etc., without limitation. The elbow joint bracket 71 can also be a split structure, that is, the fourth portion 711, the fifth portion 712 and the sixth portion can be connected and fixed by welding, bonding, clamping, screwing, etc.

[0114] One end of the fourth output portion is connected to the fourth portion 711 , and the other end of the fourth output portion is connected to the fifth portion 712 .

[0115] Optionally, the end surface of the elbow joint support 71 facing the first housing 10 is provided with a plurality of weight-reducing grooves, the plurality of weight-reducing grooves are arranged at intervals, and the cross-sectional shapes of the plurality of weight-reducing grooves may be the same or different, without limitation. Such an arrangement is conducive to strengthening the robot arm 100.

[0116] With such arrangement, the third motor 72 realizes the overall rotation of the first shell 10 around the third axis line E3, achieving a movement effect similar to the rotation of the human forearm relative to the upper arm. The fourth motor 73 realizes the overall rotation of the first shell 10 around the first axis line E1, achieving a swinging effect similar to the human forearm relative to the upper arm, which is beneficial to improving the anthropomorphism of the robotic arm 100. The fourth motor 73 is accommodated in the elbow joint bracket 71, which helps to improve the integration of the robotic arm 100 and makes the layout of the robotic arm 100 compact.

[0117] For reference Figure 1and Figure 8 In one embodiment, the robotic arm 100 also includes a second shell 80, the fourth motor 73 also includes a fourth housing, the fourth motor 73 is accommodated in the second shell 80, and the fourth housing is connected and fixed to the second shell 80, the outer surface of the elbow joint bracket 71 and the outer surface of the second shell 80 are both smooth curved surfaces, the outer surface of the elbow joint bracket 71 and the second shell 80 have a smooth transition, and the outer surface of the second shell 80 is used to simulate the shape of a human upper arm.

[0118] Optionally, the second shell 80 may be made of a material that meets the requirements of structural strength, corrosion resistance, and ease of processing and forming, specifically aluminum alloy, carbon fiber, stainless steel, magnesium alloy, etc., without limitation.

[0119] The outer surface of the elbow joint support 71 is a smooth curved surface. Specifically, the fourth part 711, the fifth part 712 and the sixth part themselves are all smoothly transitioned, and the connection between any two of the fourth part 711, the fifth part 712 and the sixth part is a smooth transition.

[0120] The fourth motor 73 and the second housing 80 may be connected in a screw connection, welding, clamping, etc., without limitation. The second housing 80 may include a third sub-shell and a fourth sub-shell arranged opposite to each other, the third sub-shell and the fourth sub-shell are connected correspondingly, and the inner wall surface of the third sub-shell facing the fourth sub-shell and / or the inner wall surface of the third sub-shell facing the third sub-shell may be provided with reinforcing ribs, and the reinforcing ribs may be multiple, and the multiple reinforcing ribs may be arranged at intervals or staggered.

[0121] The third subshell and the fourth subshell may be composed of multiple panels, which may be curved panels or flat panels without limitation, with smooth transitions between the panels, and the panels may be connected by clamping, bonding, welding, etc. without limitation.

[0122] Optionally, the maximum dimension of the first shell 10 in the direction of the first axis E1 is d1, the dimension of the end of the first shell 10 close to the elbow joint support 71 in the direction of the first axis E1 is d2, the maximum dimension of the second shell 80 in the direction of the first axis E1 is d3, and d1 / d2 satisfies: 0.8≤d1 / d2≤1.2, 0.8≤d3 / d2≤1.2, d1 / d2 can be 0.8, 0.9, 1, 1.05, 1.1, 1.15, 1.2, etc., and d3 / d2 can be 0.8, 0.9, 1, 1.05, 1.1, 1.15, 1.2, etc., without limitation. When d1 / d2<0.8 and d1 / d2>1.2, the anthropomorphic effect of the first shell 10 in simulating the human forearm is poor. When 0.8≤d1 / d2≤1.2, the dimensions of the first shell 10 are roughly uniform at various locations, and the anthropomorphic effect is good. When d3 / d2<0.8 and d3 / d2>1.2, the dimensions of different positions of the second shell 80 vary greatly, and the imitation effect of the human upper arm is poor. When 0.8≤d3 / d2≤1.2, the dimensions of the second shell 80 are roughly uniform at various locations. When 0.8≤d1 / d2≤1.2 and 0.8≤d3 / d2≤1.2, the dimensions of the entire robotic arm 100 are roughly uniform at various locations.

[0123] With such arrangement, the second shell 80 of the robotic arm 100 not only serves as a support for the fourth motor 73, but the outer surface of the second shell 80 is also used to simulate the skin of the upper arm of a human body, thereby achieving structural reuse of the second shell 80 and making the robotic arm 100 of the present application compact in structure and having a good anthropomorphic effect.

[0124] For reference Figure 1 and Figure 8 In one embodiment, the robot arm 100 also includes a fifth motor 81, the fifth motor 81 includes a fifth output part, the fifth output part is rotatably connected to the end of the second housing 80 away from the fourth motor 73, and the fifth motor 81 drives the second housing 80 to rotate around the third axis E3.

[0125] The fifth output portion and the second housing 80 may be connected by screw connection, clamping connection, bonding, etc., without limitation.

[0126] For reference Figure 1 and Fig. 9, Optionally, the fifth motor 81 also includes a fifth housing. The robotic arm 100 also includes a shoulder assembly 90, the shoulder assembly 90 includes a sixth motor 91, a seventh motor 92 and a shoulder bracket 93, the shoulder bracket 93 is connected to the fifth housing at the end surface facing the second housing 80, the sixth motor 91 is connected and fixed to the shoulder bracket 93, and is accommodated in the sixth motor 91. There is a smooth transition between the shoulder bracket 93 and the second housing 80. One end of the seventh motor 92 is connected to the torso device (not shown in the figure), and the other end of the seventh motor 92 is connected to the sixth motor 91. The sixth motor 91 is used to drive the second housing 80 to move around the second axis E2 to achieve an effect similar to the left and right swing of the human upper arm relative to the shoulder, and the seventh motor 92 is used to drive the second housing 80 to move around the first axis E1 to achieve an effect similar to the front and back swing of the human upper arm relative to the shoulder.

[0127] With such arrangement, the fifth motor 81 realizes the overall rotation of the second housing 80 around the third axis E3, achieving a movement effect similar to the rotation of the human upper arm relative to the shoulder, which is beneficial to improving the anthropomorphism of the robotic arm 100.

[0128] In the description of the embodiments of the present application, it should be noted that the orientation or positional relationship of terms such as "center", "up", "down", "left", "right", "vertical", "horizontal", "inside" and "outside" are based on the orientation or positional relationship described in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0129] What is disclosed above is only a preferred embodiment of the present application, and it certainly cannot be used to limit the scope of rights of the present application. Ordinary technicians in this field can understand that all or part of the processes of implementing the above embodiment and equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A robotic arm (100), characterized in that: For humanoid robots, including: A first shell (10) comprises a first main shell (11) and two connecting arms (12), wherein the two connecting arms (12) are arranged at intervals at one end of the first main shell (11), the first main shell (11) and the two connecting arms (12) are an integrated structure, and the outer surface of the first shell (10) is a smooth curved surface and is used to simulate the shape of a human forearm; a first motor (20) housed in the first main housing (11), the first motor (20) comprising a first housing (21) and a first output portion (22), the first housing (21) being connected and fixed to the first main housing (11), and the first motor (20) having a first axis (E1); A second motor (30), comprising a second housing (31) and a second output portion, the second motor (30) being disposed between the two connecting arms (12), the second housing (31) being rotatably connected to the two connecting arms (12), and the second motor (30) having a second axis (E2); A connecting rod (40), comprising a first end (41) and a second end (42), wherein the first end (41) is rotatably connected to the first output portion (22), and the second end (42) is rotatably connected to the second housing (31), the first end (41) deviates from the first axis (E1), and the second end (42) is spaced from the connecting arm (12) in the direction of the second axis (E2); A hand assembly (50) connected and fixed to the second output portion; The first motor (20) is used to drive the hand assembly (50) to rotate around the first axis (E1), and the second motor (30) is used to drive the hand assembly (50) to rotate around the second axis (E2), and the first axis (E1) is perpendicular to the second axis (E2); The first main housing (11) comprises a first sub-housing (111) and a second sub-housing (112) which are arranged opposite to each other, the first sub-housing (111) and the second sub-housing (112) are each connected to a connecting arm (12), the first sub-housing (111) and the second sub-housing (112) enclose a first receiving space, and the first motor (20) is received in the first receiving space; The first main housing (11) further comprises a mounting tube (113), one axial end of the mounting tube (113) being arranged on an inner wall surface of the first sub-housing (111) facing the second sub-housing (112), the mounting tube (113) being connected and fixed to the first housing (21), and the first output portion (22) extending into the mounting tube (113); A connecting hole (114) is provided on the side wall of the installation cylinder (113), and the connecting rod (40) passes through the connecting hole (114) and is rotatably connected to the first output portion (22).

2. The robotic arm (100) according to claim 1, characterized in that: The first main shell (11) further comprises a supporting portion (115), the supporting portion (115) being connected to the second sub-shell (112) and spaced apart from the mounting tube (113), the supporting portion (115) being used to support the first housing (21).

3. The robotic arm (100) according to claim 1, characterized in that: The first end (41) is farther away from the second sub-shell (112) in the direction of the first axis (E1) than the second end (42).

4. The robotic arm (100) according to claim 1, characterized in that: The first housing (21) comprises a first cover body (211) and a first cylinder (212); the first cover body (211) is arranged at an end of the first cylinder (212) in the direction of the first axis (E1); the first housing (21) has a mounting hole penetrating the first cover body (211) and the first cylinder (212); the first output portion (22) is provided with the mounting hole; The first cover body (211) has a limiting groove (214), the limiting groove (214) extends along the circumference of the mounting hole, the limiting groove (214) is connected to the mounting hole, the first output part (22) also includes a limiting part (221), the limiting part (221) extends into the limiting groove (214), the first end (41) is connected to the limiting part (221), and the limiting groove (214) is used to limit the rotation angle of the limiting part (221).

5. The robotic arm (100) according to claim 1, characterized in that: The robotic arm (100) also includes a wrist support (60), and the wrist support (60) includes a first part (61) and a second part (62), the first part (61) and the second part (62) are arranged relative to each other and connected in the direction of the second axis (E2), the first part (61) and the second part (62) enclose a second receiving space (64), the second motor (30) is received in the second receiving space (64), one end of the second output part is rotationally connected to the first part (61), and the other end of the second output part is rotationally connected to the second part (62), and the end face of the wrist support (60) facing away from the first motor (20) is connected to the hand assembly (50).

6. The robotic arm (100) according to claim 5, characterized in that: The outer surface of the wrist support (60) is a smooth curved surface, and the outer surface of the second motor (30) transitions smoothly with the outer surface of the wrist support (60).

7. The robotic arm (100) according to claim 5, characterized in that: A first wiring hole (311) is provided on a surface of the second housing (31) facing the first receiving space. The first wiring hole (311) is arranged at an end of the second housing (31) close to the second part (62).

8. The robotic arm (100) according to claim 5, characterized in that: The second part (62) has a wiring groove (621), the opening of which faces away from the hand assembly (50); the first part (61) includes a connecting part (611), a main body (612) and a protruding part (613) which are connected in sequence; the connecting part (611) is rotatably connected to the second output part; the main body (612) is cylindrical; the main body (612) has a second wiring hole (6121) passing through the main body; the protruding part (613) is arranged on the outer peripheral surface of the main body (612); the protruding part (613) extends into the wiring groove (621) and is spaced apart from the bottom wall of the wiring groove (621); the wiring groove (621) is connected to the second wiring hole (6121) from the side wall of the main body (612).

9. The robotic arm (100) according to claim 1, characterized in that: The robotic arm (100) further comprises an elbow joint assembly (70), wherein the elbow joint assembly (70) comprises an elbow joint bracket (71) and a third motor (72), wherein the third motor (72) comprises a third housing and a third output portion (721), wherein the third output portion (721) is rotatably connected to the end of the elbow joint bracket (71) facing the first housing (10), wherein the third housing is accommodated in the first main housing (11), and wherein the third motor (72) is used to drive the first housing (10) to rotate around a third axis (E3), wherein the first axis (E1), the second axis (E2) and the third axis (E3) are perpendicular to each other; The robotic arm (100) further includes a fourth motor (73), which is housed in the elbow joint bracket (71). The fourth motor (73) includes a fourth output portion, which is rotationally connected to the elbow joint bracket (71). The fourth motor (73) is used to drive the first housing (10) to rotate around the first axis (E1).

10. The robotic arm (100) according to claim 9, characterized in that: The robotic arm (100) further includes a second housing (80), the fourth motor (73) further includes a fourth housing, the fourth motor (73) is accommodated in the second housing (80), and the fourth housing is connected and fixed to the second housing (80), the outer surface of the elbow joint support (71) and the outer surface of the second housing (80) are both smooth curved surfaces, the outer surface of the elbow joint support (71) and the second housing (80) have a smooth transition, and the outer surface of the second housing (80) is used to simulate the shape of a human upper arm.

11. The robotic arm (100) according to claim 10, characterized in that: The robotic arm (100) further comprises a fifth motor (81), wherein the fifth motor (81) comprises a fifth output portion, wherein the fifth output portion is rotationally connected to an end of the second housing (80) away from the fourth motor (73), and the fifth motor (81) drives the second housing (80) to rotate around the third axis (E3).

12. A humanoid robot, characterized in that: Comprising a robotic arm (100) as claimed in any one of claims 1 to 11.

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