Upper limb mechanism and humanoid robot

Abstract

An upper limb mechanism and a humanoid robot. The upper limb mechanism includes a shoulder joint assembly, an arm assembly, and at least two locking members. The shoulder joint assembly includes a pitching drive member and a connecting plate. The pitching drive member is connected to the connecting plate. One of the connecting plate and the arm assembly is provided with a limiting protrusion, and the other is provided with a limiting groove. The limiting protrusion extends into the limiting groove so that the arm assembly and the connecting plate are relatively fixed in the circumferential direction of the pitching drive member. The connecting plate is further provided with a first locking groove, and the arm assembly is further provided with a second locking groove. Adjacent locking members are detachably connected and extend into the first locking groove and the second locking groove so that the arm assembly and the connecting plate are relatively fixed in the axial direction of the pitching drive member. When the arm assembly and the shoulder joint assembly are assembled, the arm assembly and the shoulder joint assembly can be first assembled into one body on their respective assembly lines, and then the arm assembly and the shoulder joint assembly can be quickly connected through the limiting protrusion, the limiting groove, and the locking members, thereby simplifying the assembly process.

Description

Technical Field

[0001] This application relates to the technical field of robots, and particularly relates to an upper limb mechanism and a humanoid robot. Background Art

[0002] A humanoid robot can imitate the shape and movement postures of a human body and has broad development prospects. Similar to a human body, the upper limb mechanism of a humanoid robot includes an arm assembly and a shoulder joint assembly. The arm assembly is used to simulate a human arm, and the shoulder joint assembly is used to simulate the movement and connection functions of a human shoulder.

[0003] In the related art, due to the structure of the upper limb assembly, when assembling the arm assembly and the shoulder joint assembly, it is necessary to first disassemble the arm assembly into individual scattered components, and then assemble each component with the shoulder joint assembly in sequence to complete the installation process of the entire upper limb. This not only increases the complexity and time cost of assembly, but also easily causes part wear and accuracy degradation during multiple disassembly and assembly processes. Summary of the Invention

[0004] The purpose of this application is to provide an upper limb mechanism and a humanoid robot, aiming to solve the problem of difficult disassembly and assembly of the arm assembly and the shoulder joint assembly in the related art.

[0005] To achieve the purpose of this application, in a first aspect, this application provides an upper limb mechanism. The upper limb mechanism includes a shoulder joint assembly, an arm assembly, and at least two locking members. The shoulder joint assembly includes a pitch driving member and a connecting plate. The pitch driving member is connected to the connecting plate, and the pitch driving member is used to drive the connecting plate to rotate around the axis direction of the pitch driving member;

[0006] One of the connecting plate and the arm assembly is provided with a limiting protrusion, and the other is provided with a limiting groove. The limiting protrusion extends into the limiting groove to relatively fix the arm assembly and the connecting plate in the circumferential direction of the pitch driving member; the connecting plate is further provided with a first locking groove, and the arm assembly is further provided with a second locking groove;

[0007] Each of the locking members is arranged circumferentially along the pitch driving member. Adjacent locking members are detachably connected and extend into the first locking groove and the second locking groove to relatively fix the arm assembly and the connecting plate in the axial direction of the pitch driving member.

[0008] The technical solution of this application sets a limiting protrusion and a limiting groove at the connection between the arm assembly and the shoulder joint assembly, and realizes the relative fixation of the arm assembly and the connecting plate in the circumferential direction of the pitching driving member through the limiting protrusion and the limiting groove. And through at least two locking members arranged circumferentially along the pitching driving member to cooperate with the first locking groove and the second locking groove of the connecting plate and the arm assembly, the relative fixation of the arm assembly and the connecting plate in the axial direction of the pitching driving member is realized. In this way, when the arm assembly and the shoulder joint assembly are assembled, the arm assembly and the shoulder joint assembly can be first assembled into one body on their respective assembly lines, and then the arm assembly and the shoulder joint assembly can be quickly connected through the limiting protrusion, the limiting groove and the locking member, thereby simplifying the assembly process, improving the connection stability and motion accuracy, facilitating later maintenance and repair, and extending the service life of the equipment.

[0009] In a possible implementation manner, the locking member includes a body, and a first rib and a second rib that are spaced along the axis direction of the pitching driving member and arranged on the body;

[0010] The first rib extends into the first locking groove, and the second rib extends into the second locking groove; the limiting protrusion and the limiting groove are accommodated between the first rib and the second rib, and the side wall surface of the limiting protrusion is in contact with the body.

[0011] In this embodiment, the locking member is composed of a body, a first rib and a second rib that are spaced along the axis direction of the pitching driving member and arranged on the body. When adjacent locking members are connected to each other, the movement of the locking member in the radial direction of the pitching driving member is locked, and the locking member is fixed between the connecting plate and the arm assembly. The first rib of the locking member extends into the first locking groove, and the second rib extends into the second locking groove, thereby restricting the movement of the connecting plate and the arm assembly in the axial direction of the pitching driving member and realizing the locking of the shoulder joint assembly and the arm assembly. At the same time, the first rib and the second rib form a groove, and the limiting protrusion and a part of the mechanism of the connecting plate are accommodated in the groove and are in contact with the body constituting the groove, thereby increasing the contact area between the locking member and the connecting plate and the arm assembly and improving the connection strength of the locking member to the connecting plate and the arm assembly.

[0012] In a possible implementation manner, the first locking groove has a first guiding surface that is inclined in a direction away from the pitching driving member; the first rib has a second guiding surface that is inclined in a direction away from the second rib; when the first rib extends into the first locking groove, the first guiding surface and the second guiding surface are in contact; and / or

[0013] The second locking groove has a third guiding surface inclined in the direction of the pitching driving member, and the second rib has a fourth guiding surface inclined in the direction away from the first rib. When the second rib extends into the second locking groove, the third guiding surface and the fourth guiding surface are in contact with each other.

[0014] In this embodiment, the first locking groove has a first guiding surface inclined in the direction away from the pitching driving member, and the first rib has a second guiding surface inclined in the direction away from the second rib. The first guiding surface and the second guiding surface can guide the first rib to extend into the first locking groove, thereby reducing the friction between the first rib and the first locking groove, improving the smoothness of the first rib inserted into the first locking groove, and reducing the assembly difficulty of the locking member and the connecting plate. On the other hand, the first guiding surface can also be in fit with the second guiding surface when the first rib is engaged with the first locking groove, thereby increasing the contact area between the locking member and the connecting plate and improving the connection stability between the locking member and the connecting plate.

[0015] The second locking groove has a third guiding surface inclined in the direction of the pitching driving member, and the second rib has a fourth guiding surface inclined in the direction away from the first rib. The third guiding surface and the fourth guiding surface can guide the second rib to extend into the second locking groove, thereby reducing the friction between the second rib and the second locking groove, improving the smoothness of the second rib inserted into the second locking groove, and reducing the assembly difficulty of the locking member and the arm assembly. On the other hand, the third guiding surface can also be in fit with the fourth guiding surface when the second rib is engaged with the second locking groove, thereby increasing the contact area between the locking member and the arm assembly and improving the connection stability between the locking member and the arm assembly.

[0016] In a possible implementation manner, the first guiding surface is smoothly transitioned with the outer peripheral surface of the connecting plate; the third guiding surface is smoothly transitioned with the outer peripheral surface of the arm assembly.

[0017] In this embodiment, the first guiding surface is smoothly transitioned with the outer peripheral surface of the connecting plate; thereby reducing the friction of the first guiding surface at the notch of the first locking groove, improving the smoothness of the first rib inserted into the first locking groove, and reducing the assembly difficulty of the locking member and the connecting plate. The third guiding surface is smoothly transitioned with the outer peripheral surface of the arm assembly, thereby reducing the friction of the third guiding surface at the notch of the second locking groove, improving the smoothness of the second rib inserted into the second locking groove, and reducing the assembly difficulty of the locking member and the arm assembly.

[0018] In a possible implementation manner, the first locking groove and the second locking groove are arranged along the circumferential direction of the pitching driving member;

[0019] The locking member is arranged in an arc shape, and adjacent locking members are detachably connected along the tangential direction of the circumferential direction of the pitching driving member.

[0020] In this embodiment, the first locking groove and the second locking groove are arranged around the circumference of the pitching drive member, and the locking member is arranged in an arc shape adapted to the first locking groove and the second locking groove. In this way, the contact area between the locking member and the first locking groove and the second locking groove ring is increased, and the contact area between the locking member and the shoulder joint assembly and the arm assembly is improved. The adjacent locking members are detachably connected along the tangential direction of the circumference of the pitching drive member, so that the blocking of the shoulder joint assembly and the arm assembly on the connection of the locking members can be avoided, the operable space for connecting the adjacent locking members is increased, the connection difficulty of the locking members is reduced, and the assembly efficiency of the shoulder joint assembly and the arm assembly is improved.

[0021] In a possible implementation manner, a chamfer is provided on one side of the limiting protrusion facing the limiting groove.

[0022] In this embodiment, a chamfer is provided on one side of the limiting protrusion facing the limiting groove. The chamfer can provide guidance for the limiting protrusion to insert into the limiting groove, thereby reducing the friction between the limiting protrusion and the limiting groove, improving the smoothness of the limiting protrusion inserting into the limiting groove, and reducing the assembly difficulty of the locking member and the arm assembly.

[0023] In a possible implementation manner, the limiting groove has a first through opening and a second through opening that are oppositely arranged along the radial direction of the pitching drive member;

[0024] Compared with the second through opening, the first through opening is closer to the outer edge of the connecting plate, and the caliber of the first through opening is larger than that of the second through opening.

[0025] In this embodiment, the limiting groove penetrates along the radial direction of the pitching drive member and has a first through opening and a second through opening. The caliber of the first through opening is larger than that of the second through opening, and in terms of position, the first through opening is closer to the outer edge of the connecting plate than the second through opening. The larger first through opening on the outside can more conveniently guide the limiting protrusion into the limiting groove, and the smaller second through opening can reduce the fitting gap between the limiting protrusion and the limiting groove, ensuring the stability of the connection between the connecting plate and the arm assembly.

[0026] In a possible implementation manner, anti-fooling convex points are provided in the limiting groove; an anti-fooling groove is formed by inward depression on one side of the limiting protrusion facing the outer edge of the connecting plate;

[0027] When the limiting protrusion cooperates with the limiting groove, the anti-fooling convex points extend into the anti-fooling groove.

[0028] In this embodiment, by providing an anti-fooling groove on the limiting protrusion and an anti-fooling bump in the limiting groove, the structures of the limiting groove and the limiting protrusion are reused. Thus, without adding other structures additionally, it is ensured that the shoulder joint assembly and the arm assembly can only be installed in the correct direction and position, avoiding misinstallation. The structures of the shoulder joint assembly and the arm assembly are simplified, the volume at the connection of the shoulder joint assembly and the arm assembly is reduced, and the installation accuracy of the shoulder joint assembly and the arm assembly is improved.

[0029] In a possible implementation manner, the shoulder joint assembly further includes a shoulder joint support frame, which has a receiving cavity with an opening on one side. The receiving cavity is used to accommodate the pitching drive member; the shoulder joint support frame is provided with a first alignment groove, and a first sensing member is arranged in the first alignment groove;

[0030] The connecting plate covers the opening. The connecting plate is provided with a second alignment groove, and a second sensing member is arranged in the second alignment groove. When the anti-fooling bump extends into the anti-fooling groove, the first alignment groove and the second alignment groove communicate with each other, and the first sensing member and the second sensing member are aligned with each other.

[0031] In this embodiment, by cooperating the anti-fooling bump, the anti-fooling groove with the zero-point alignment structure of the pitching drive member, it is ensured that after the shoulder joint assembly and the arm assembly are installed, the rotation angle of the pitching drive member for the arm assembly is exactly zero, that is, the arm assembly is just in the vertically downward state, thereby ensuring the accuracy of the actions of the humanoid robot.

[0032] In a possible implementation manner, the first alignment groove penetrates through the wall of the receiving cavity along the radial direction of the pitching drive member;

[0033] The side of the connecting plate facing the opening is provided with an alignment protrusion, and the alignment protrusion is located in the receiving cavity; the second alignment groove is arranged on the alignment protrusion.

[0034] In this embodiment, by arranging the first alignment groove on the wall of the receiving cavity and arranging the alignment protrusion provided with the second alignment groove in the receiving cavity, the first sensor and the second sensor can be arranged along the radial direction of the pitching drive member and aligned along the radial direction. Thus, the axial volume of the shoulder joint assembly is saved, the swinging amplitude of the arm assembly is optimized, and the anthropomorphic degree of the arm assembly is improved.

[0035] In a possible implementation manner, the shoulder joint assembly further includes an elastic baffle, and the elastic baffle is sleeved on the shoulder joint support frame; each of the locking members is located inside the elastic baffle.

[0036] In this embodiment, an elastic baffle is sleeved outside the shoulder joint support frame. When the shoulder joint assembly and the arm assembly are installed, the elastic baffle can be flipped towards the arm assembly side to block the locking ring, thereby preventing external dust or impurities from entering the arm assembly or the shoulder joint assembly through the connection gap between the locking ring and the connecting plate or the arm assembly, and improving the reliability of the humanoid robot. When it is necessary to repair the shoulder joint assembly and the arm assembly, the elastic baffle can be flipped towards the side away from the arm assembly, and the locking member will be exposed, which is convenient for maintenance. The elastic characteristic of the elastic baffle enables maintenance personnel to simply flip the elastic baffle left and right along the axis direction of the pitching drive member when assembling the arm assembly or the shoulder joint assembly, so as to expose or block the locking member, without the need to disassemble the elastic baffle, improving the maintenance efficiency of the humanoid robot.

[0037] In a possible implementation manner, the limiting groove includes a first limiting groove and a second limiting groove; the limiting protrusion is arranged in the first limiting groove;

[0038] The locking member is provided with a plurality of fixing bumps, and the fixing bumps extend into the second limiting groove.

[0039] In this embodiment, by dividing the limiting groove into a first limiting groove and a second limiting groove, the first limiting groove is used to cooperate with the limiting protrusion to achieve the circumferential relative fixation of the arm assembly and the connecting plate on the pitching drive member; the second limiting groove is used to cooperate with the fixing bumps on the locking member to achieve the limitation of the locking member and the connecting plate or the arm assembly, increasing the contact area between the locking member and the connecting plate or the arm assembly, and improving the connection stability between the locking member and the connecting plate and the arm assembly.

[0040] In a second aspect, the present application also proposes a humanoid robot, which includes an upper limb mechanism. The upper limb mechanism includes a shoulder joint assembly, an arm assembly, and at least two locking members. The shoulder joint assembly includes a pitching drive member and a connecting plate. The pitching drive member is connected to the connecting plate, and the pitching drive member is used to drive the connecting plate to rotate around the axis direction of the pitching drive member;

[0041] One of the connecting plate and the arm assembly is provided with a limiting protrusion, and the other is provided with a limiting groove. The limiting protrusion extends into the limiting groove to make the arm assembly and the connecting plate relatively fixed in the circumferential direction of the pitching drive member; the connecting plate is also provided with a first locking groove, and the arm assembly is also provided with a second locking groove;

[0042] Each of the locking members is arranged along the circumferential direction of the pitching drive member, and adjacent locking members are detachably connected and extend into the first locking groove and the second locking groove to make the arm assembly and the connecting plate relatively fixed in the axial direction of the pitching drive member.

[0043] In the technical solution of the present application, a limiting protrusion and a limiting groove are provided at the connection between the arm assembly and the shoulder joint assembly, and the relative fixation of the arm assembly and the connecting plate in the circumferential direction of the pitching driving member is realized through the limiting protrusion and the limiting groove, and at least two locking members arranged along the circumferential direction of the pitching driving member cooperate with the first locking groove and the second locking groove of the connecting plate and the arm assembly to realize the relative fixation of the arm assembly and the connecting plate in the axial direction of the pitching driving member. In this way, when the arm assembly and the shoulder joint assembly are assembled, the arm assembly and the shoulder joint assembly can be first assembled into one body on their respective assembly lines, and then the arm assembly and the shoulder joint assembly can be quickly connected through the limiting protrusion, the limiting groove and the locking member, thereby simplifying the assembly process, improving the connection stability and motion accuracy, facilitating later maintenance and repair, and extending the service life of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts.

[0045] Figure 1 It is a schematic structural diagram of an embodiment of the upper limb mechanism provided by the present application;

[0046] Figure 2 It is Figure 1 an exploded view of some structures in the shoulder joint assembly and the arm assembly in

[0047] Figure 3 It is Figure 1 a cross-sectional view in one perspective;

[0048] Figure 4 It is Figure 1 a partial schematic diagram of the arm assembly in

[0049] Figure 5 It is Figure 1 a schematic structural diagram of the connecting plate in

[0050] Figure 6 It is Figure 1 a cross-sectional view in another perspective;

[0051] Figure 7 It is Figure 1 an exploded view of the shoulder joint support frame, the connecting plate and the arm assembly in

[0052] Figure 8 It is Figure 3 an enlarged view at A;

[0053] Figure 9 For Figure 1 the assembly schematic diagram of the shoulder joint assembly, the arm assembly and the locking member in

[0054] Description of the reference numerals in the drawings:

[0055] 1000 - upper limb mechanism;

[0056] 1 - shoulder joint assembly, 11 - pitching drive member, 12 - connecting plate, 121 - limiting protrusion, 1211 - anti - fooling groove, 122 - first locking groove, 1221 - second guiding surface, 123 - alignment protrusion, 1231 - second alignment groove, 13 - shoulder joint support frame, 131 - accommodating cavity, 132 - opening, 133 - first alignment groove;

[0057] 2 - arm assembly, 21 - forearm member, 211 - limiting groove, 2111 - first through - hole, 2112 - second through - hole, 2213 - first limiting groove, 2214 - second limiting groove, 212 - anti - fooling bump, 23 - second locking groove, 231 - fourth guiding surface, 22 - palm member;

[0058] 3 - locking member, 31 - body, 32 - first rib, 321 - first guiding surface, 33 - second rib, 331 - third guiding surface, 34 - fixing protrusion;

[0059] 4 - elastic baffle;

[0060] 5 - threaded member. Detailed implementation manners

[0061] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0062] It should be noted that when a component is referred to as being "fixed to" another component, it can be directly on the other component or there may also be an intermediate component. When a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be an intermediate component at the same time.

[0063] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by those skilled in the technical field to which this application belongs. The terms used in this application 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.

[0064] The following will describe in detail some embodiments of this application with reference to the accompanying drawings. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0065] This application provides a humanoid robot, which includes a torso mechanism, a head mechanism, an upper limb mechanism, and a lower limb mechanism. The torso mechanism, as the support part of the humanoid robot, is used to support and connect other assemblies. The head mechanism is connected to the torso mechanism and is used to imitate the structure and functions of the human head. It includes sensing devices such as sensors, cameras, and microphones, and can perceive the surrounding environment, sound, and image information like humans. At the same time, the head mechanism is also equipped with a display screen or projection device, which can display the robot's expressions, states, or interaction information to enhance the interaction experience with people or other objects. In addition, the head mechanism also has a certain degree of freedom and can perform actions such as turning the head and nodding, further increasing the flexibility and realism of the robot.

[0066] The lower limb mechanism is connected to the torso mechanism to imitate the leg movements and walking patterns of humans. It includes complex joint structures, driving devices, and control systems, and can achieve multi-degree-of-freedom movements and precise gait control. By controlling the movement of the lower limb mechanism, the robot can walk, run, jump, etc. on different terrains and in different environments to complete various complex movement tasks. In addition, the lower limb mechanism also has a certain load-bearing capacity and stability, can support the total weight of the robot's torso and upper limbs, and maintain balance during walking and moving. This design enables the humanoid robot to have higher flexibility and adaptability in practical applications and can meet the requirements of different scenarios and tasks.

[0067] Please refer to Figure 1 , the upper limb mechanism 1000 is connected to the torso mechanism to simulate the structure of human arms. The upper limb mechanism 1000 includes an arm assembly 2 and a shoulder joint assembly 1. The arm assembly 2 is used to simulate human hands. In some embodiments, the arm assembly 2 includes a forearm member 21 and a palm member 22. The forearm member 21 is used to simulate the forearm part of the human body and realizes basic telescopic and rotational functions to enhance flexibility and range of motion. The palm member 22 is used to perform fine operations and can combine with multi-degree-of-freedom joints to achieve complex finger movements, thereby simulating the grasping and operating abilities of the human hand. This design enables the robot to perform a variety of tasks and adapt to different application scenarios.

[0068] The shoulder joint assembly 1 is connected between the arm assembly 2 and the torso mechanism to simulate the movement of the human shoulder joint, so that the arm assembly 2 can move in multiple directions. In an implementable embodiment of the present application, the shells of the shoulder joint assembly 1 and the arm assembly 2 adopt smooth curved surfaces, and the connection between the shells is smooth, so as to imitate the muscle texture of the human arm and shoulder joint and improve the anthropomorphic degree of the humanoid robot.

[0069] In the related art, due to the structure of the upper limb assembly, when assembling the arm assembly and the shoulder joint assembly, it is necessary to first disassemble the arm assembly into individual scattered components, and then assemble each component with the shoulder joint assembly in sequence to complete the installation process of the entire upper limb. This not only increases the complexity and time cost of assembly, but also easily causes part wear and accuracy degradation during multiple disassembly and assembly processes.

[0070] Please refer to Figures 2 to 5 , to solve the above problems, in an implementable embodiment of the present application, the upper limb mechanism 1000 includes a shoulder joint assembly 1, an arm assembly 2, and at least two locking members 3. The shoulder joint assembly 1 includes a pitching drive member 11 and a connecting plate 12. The pitching drive member 11 is connected to the connecting plate 12, and the pitching drive member 11 is used to drive the connecting plate 12 to rotate around the axis direction of the pitching drive member 11; one of the connecting plate 12 and the arm assembly 2 is provided with a limiting protrusion 121, and the other is provided with a limiting groove 211. The limiting protrusion 121 extends into the limiting groove 211 to relatively fix the arm assembly 2 and the connecting plate 12 in the circumferential direction of the pitching drive member 11; the connecting plate 12 is further provided with a first locking groove 122, and the arm assembly 2 is further provided with a second locking groove 23; each locking member 3 is arranged along the circumferential direction of the pitching drive member 11, and adjacent locking members 3 are detachably connected and extend into the first locking groove 122 and the second locking groove 23 to relatively fix the arm assembly 2 and the connecting plate 12 in the axial direction of the pitching drive member 11.

[0071] In the technical solution of the present application, a limiting protrusion 121 and a limiting groove 211 are provided at the connection between the arm assembly 2 and the shoulder joint assembly 1. The limiting protrusion 121 and the limiting groove 211 are used to relatively fix the arm assembly 2 and the connecting plate 12 in the circumferential direction of the pitching drive member 11. At least two locking members 3 arranged along the circumferential direction of the pitching drive member 11 cooperate with the first locking groove 122 and the second locking groove 23 of the connecting plate 12 and the arm assembly 2 to relatively fix the arm assembly 2 and the connecting plate 12 in the axial direction of the pitching drive member 11. In this way, when the arm assembly 2 and the shoulder joint assembly 1 are assembled, the arm assembly 2 and the shoulder joint assembly 1 can be first assembled into one body on their respective assembly lines, and then the arm assembly 2 and the shoulder joint assembly 1 can be quickly connected by the limiting protrusion 121, the limiting groove 211 and the locking member 3, thereby simplifying the assembly process, improving the connection stability and motion accuracy, facilitating later maintenance and repair, and extending the service life of the equipment.

[0072] Hereinafter, the upper limb assembly provided by the present application will be described in detail with reference to the accompanying drawings.

[0073] The upper limb mechanism 1000 includes a shoulder joint assembly 1 and an arm assembly 2. The shoulder joint assembly 1 is used to simulate the shoulder joint of the human body to realize the connection between the arm assembly 2 and the trunk mechanism.

[0074] The shoulder joint assembly 1 includes a shoulder joint support frame 13, a pitching drive member 11 and a connecting plate 12. The shoulder joint support frame 13 serves as the support structure of the shoulder joint assembly 1 and is used to support and connect the various component assemblies of the shoulder joint assembly 1. The shoulder joint assembly 1 is connected to the trunk mechanism through the shoulder joint support frame 13. The shoulder joint support frame 13 is formed with a receiving cavity 131, and the receiving cavity 131 has an opening 132. The pitching drive member 11 can be installed in the receiving cavity 131 through the opening 132.

[0075] The connecting plate 12 covers the opening 132. One end face of the connecting plate 12 is connected to the pitching drive member 11, and the other end face is connected to the arm assembly 2. The driving force of the pitching drive member 11 can be transmitted to the arm assembly 2 through the connecting plate 12, thereby driving the arm assembly 2 to swing and further simulating the forward and backward movement of the human arm.

[0076] To realize the installation of the connecting plate 12 and the arm assembly 2, in an embodiment of the present application, one of the connecting plate 12 and the arm assembly 2 is provided with a limiting protrusion 121, and the other is provided with a limiting groove 211. The limiting protrusion 121 is used to extend into the limiting groove 211 when the connecting plate 12 and the arm assembly 2 are connected, so as to limit the rotation of the connecting plate 12 and the arm assembly 2 in the circumferential direction of the pitching drive member 11, and further realize the relative fixation of the arm assembly 2 and the connecting plate 12 in the circumferential direction of the pitching drive member 11.

[0077] The number of the limiting protrusions 121 and the limiting grooves 211 can be set to one or multiple, and the present application does not limit this.

[0078] The limiting protrusions 121 can be arranged on the connecting plate 12, or on the arm assembly 2, or partially on the connecting plate 12 and partially on the arm assembly 2. Correspondingly, the limiting grooves 211 can be arranged on the arm assembly 2, or on the connecting plate 12, or partially on the connecting plate 12 and partially on the arm assembly 2. The present application does not limit this.

[0079] Please refer to Figure 4 and Figure 5 , in an implementable embodiment of the present application, the connecting plate 12 and the arm assembly 2 are provided with a plurality of bumps having the same shape and the same number, and the bumps are arranged staggeredly in the circumferential direction of the pitching driving member 11. These bumps can serve as the limiting protrusions 121 in the above embodiment, and the gaps between the bumps can form the limiting grooves 211 in the above embodiment.

[0080] Compared with forming dedicated limiting protrusions 121 and limiting grooves 211 on the connecting plate 12 and the arm assembly 2, forming bumps with the same number and staggered positions on the connecting plate 12 and the arm assembly 2, so that the limiting protrusions 121 are formed by the bumps and the limiting grooves 211 are formed by the gaps between the bumps, can reduce the number of molds, lower the manufacturing cost of the limiting protrusions 121 and the limiting grooves 211, simplify the design and manufacturing process, and improve the assembly efficiency and the stability of the overall structure.

[0081] Based on the above embodiments, in an implementable embodiment of the present application, a chamfer is provided on the side of the limiting protrusion 121 facing the limiting groove 211. The chamfer can provide guidance for the limiting protrusion 121 to insert into the limiting groove 211, thereby reducing the friction between the limiting protrusion 121 and the limiting groove 211, improving the smoothness of the limiting protrusion 121 inserting into the limiting groove 211, and reducing the assembly difficulty of the locking member 3 and the arm assembly 2.

[0082] To improve the installation smoothness of the connecting plate 12 and the arm assembly 2, in an implementable embodiment of the present application, the limiting groove 211 has a first through port 2111 and a second through port 2112 that are oppositely arranged along the radial direction of the pitching driving member 11; compared with the second through port 2112, the first through port 2111 is closer to the outer edge of the connecting plate 12, and the caliber of the first through port 2111 is larger than the caliber of the second through port 2112.

[0083] In this embodiment, the limiting groove 211 penetrates along the radial direction of the pitching drive member 11 and has a first through port 2111 and a second through port 2112. The diameter of the first through port 2111 is larger than that of the second through port 2112, and in terms of position, the first through port 2111 is closer to the outer edge of the connecting plate 12 than the second through port 2112. The larger first through port 2111 located outside can more conveniently guide the limiting protrusion 121 into the limiting groove 211, while the smaller second through port 2112 can reduce the fitting clearance between the limiting protrusion 121 and the limiting groove 211, ensuring the stability of the connection between the connecting plate 12 and the arm assembly 2.

[0084] In an implementable embodiment of the present application, anti-fooling bumps 212 are provided in the limiting groove 211; the side of the limiting protrusion 121 facing the outer edge of the connecting plate 12 is recessed inward to form an anti-fooling groove 1211; when the limiting protrusion 121 cooperates with the limiting groove 211, the anti-fooling bumps 212 extend into the anti-fooling groove 1211. By providing the anti-fooling groove 1211 on the limiting protrusion 121 and the anti-fooling bumps 212 in the limiting groove 211, in this way, the structures of the limiting groove 211 and the limiting protrusion 121 are reused, and thus, without adding other structures additionally, it is ensured that the shoulder joint assembly 1 and the arm assembly 2 can only be installed in the correct direction and position, avoiding the occurrence of misinstallation. The structures of the shoulder joint assembly 1 and the arm assembly 2 are simplified, the volume at the connection of the shoulder joint assembly 1 and the arm assembly 2 is reduced, and the installation accuracy of the shoulder joint assembly 1 and the arm assembly 2 is improved.

[0085] Please refer to Figure 6 , in an implementable embodiment of the present application, the limiting groove 211 includes a first limiting groove 2213 and a second limiting groove 2214; the limiting protrusion 121 is provided in the first limiting groove 2213; the locking member 3 is provided with a plurality of fixing protrusions 34, and the fixing protrusions 34 extend into the second limiting groove 2214. In this embodiment, by dividing the limiting groove into the first limiting groove 2213 and the second limiting groove 2214, the first limiting groove 2213 is used to cooperate with the limiting protrusion 121; to achieve the circumferential relative fixation of the arm assembly 2 and the connecting plate 12 on the pitching drive member; the second limiting groove 2214 is used to cooperate with the fixing protrusions 34 on the locking member 3 to realize the limitation of the locking member 3 with the connecting plate 12 or the arm assembly 2, increase the contact area between the locking member 3 and the connecting plate 12 or the arm assembly 2, and improve the stability of the connection between the locking member 3 and the connecting plate 12 and the arm assembly 2.

[0086] Please refer to Figure 7, when a humanoid robot starts or resets, it usually needs to perform zero-point alignment on the execution structure to ensure that the robot starts operating from a known and standard position, thereby ensuring the accuracy of the actions of the humanoid robot. Specifically in this application, the shoulder joint support frame 13 is provided with a first alignment groove 133, a first sensing member is installed in the first alignment groove 133, a second alignment groove 1231 is provided on the connecting plate 12, and a second sensing member is provided in the second alignment groove 1231. The first sensing member and the second sensing member can be optoelectronic sensing members, Hall sensing members, or mechanical limit switches, and this application does not limit this. When the arm assembly 2 is in the initial position relative to the shoulder joint assembly 1 (this initial position is usually set such that the arm assembly 2 is vertically downward and parallel to the torso mechanism), the first sensing member and the second sensing member are exactly in the alignment state.

[0087] When the humanoid robot starts, the pitching drive member 11 will drive the connecting plate 12 to rotate until the first sensing member and the second sensing member are aligned with each other. When the first sensing member and the second sensing member reach the alignment state, the first sensing member and the second sensing member will send a homing signal to the controller of the humanoid robot, and indicate that the arm assembly 2 has swung to the initial state, thereby facilitating the controller to accurately control the position of the arm assembly 2.

[0088] In an implementable embodiment of this application, when the anti-fooling bump 212 extends into the anti-fooling groove 1211, the first alignment groove 133 and the second alignment groove 1231 communicate with each other, and the first sensing member and the second sensing member are aligned with each other.

[0089] In this embodiment, by cooperating the anti-fooling bump 212, the anti-fooling groove 1211 with the zero-point alignment structure of the pitching drive member 11, to ensure that after the shoulder joint assembly 1 and the arm assembly 2 are installed, the rotation angle of the pitching drive member 11 for the arm assembly 2 is exactly zero, that is, the arm assembly 2 is exactly in the vertically downward state, thereby ensuring the accuracy of the actions of the humanoid robot.

[0090] There can be various choices for the alignment angle of the first sensing member and the second sensing member. The alignment direction of the first sensing member and the second sensing member can be perpendicular to the axis direction of the pitching drive member 11, parallel to the axis direction of the pitching drive member 11, or obliquely intersect with the axis direction of the pitching drive member 11, and this application does not limit this. In an implementable embodiment of this application, the first alignment groove 133 penetrates the cavity wall of the accommodating cavity 131 along the radial direction of the pitching drive member 11;

[0091] On one side of the connecting plate 12 facing the opening 132, there is a positioning protrusion 123, and the positioning protrusion 123 is located in the accommodating cavity 131; the second positioning groove 1231 is provided on the positioning protrusion 123. By arranging the first positioning groove 133 on the cavity wall of the accommodating cavity 131 and arranging the positioning protrusion 123 provided with the second positioning groove 1231 in the accommodating cavity 131, the first sensor and the second sensor can be arranged along the radial direction of the pitching driving member 11 and be radially aligned. In this way, the axial volume of the shoulder joint assembly 1 can be saved, the swinging amplitude of the arm assembly 2 can be optimized, and the anthropomorphic degree of the arm assembly 2 can be improved.

[0092] Please refer to Figure 2 , the upper limb mechanism 1000 further includes at least two locking members 3. The locking members 3 are arranged circumferentially along the pitching driving member 11, and adjacent locking members 3 are detachably connected. The locking members 3 can cooperate with the connecting plate 12 and the arm assembly 2 to relatively fix the arm assembly 2 and the connecting plate 12 in the axial direction of the pitching driving member 11. Specifically, the connecting plate 12 is further provided with a first locking groove 122, and the arm assembly 2 is further provided with a second locking groove 23. The locking member 3 includes a body 31 and a first rib 32 and a second rib 33 that are arranged at intervals along the axis direction of the pitching driving member 11 on the body 31; the first rib 32 extends into the first locking groove 122, and the second rib 33 extends into the second locking groove 23; the limiting protrusion 121 and the limiting groove 211 are accommodated between the first rib 32 and the second rib 33, and the side wall surface of the limiting protrusion 121 is in contact with the body 31.

[0093] Please refer to Figure 8 , in this embodiment, the locking member 3 is composed of a body 31 and a first rib 32 and a second rib 33 that are arranged at intervals along the axis direction of the pitching driving member 11 on the body 31. When adjacent locking members 3 are connected to each other, the movement of the locking member 3 in the radial direction of the pitching driving member 11 is locked, and the locking member 3 is fixed between the connecting plate 12 and the arm assembly 2. The first rib 32 of the locking member 3 extends into the first locking groove 122, and the second rib 33 extends into the second locking groove 23, thereby restricting the movement of the connecting plate 12 and the arm assembly 2 in the axial direction of the pitching driving member 11 and realizing the locking of the shoulder joint assembly 1 and the arm assembly 2. At the same time, a groove is formed between the first rib 32 and the second rib 33, and the limiting protrusion 121 and a part of the mechanism of the connecting plate 12 are accommodated in the groove and are in contact with the body 31 forming the groove, thereby increasing the contact area between the locking member 3 and the connecting plate 12 and the arm assembly 2 and improving the connection strength of the locking member 3 to the connecting plate 12 and the arm assembly 2.

[0094] In a specific application, through the limiting protrusion 121, the limiting groove 211, and the locking member 3, when the shoulder joint assembly 1 and the arm assembly 2 are installed, the arm assembly 2 and the shoulder joint assembly 1 can be first assembled into one on their respective assembly lines, and then the arm assembly 2 and the shoulder joint assembly 1 can be quickly connected through the limiting protrusion 121, the limiting groove 211, and the locking member 3, thereby simplifying the assembly process, improving the connection stability and movement accuracy, facilitating later maintenance and repair, and extending the service life of the device.

[0095] Please refer to Figure 9 , the number of the locking members 3 can be set to two, can be set to three, or can also be set to four, and the present application does not limit this. The adjacent locking members 3 can be detachably connected through a buckle, or can also be detachably connected through a threaded member 5, and the present application does not limit this. In an implementable manner of the present application, the upper limb mechanism 1000 includes two locking members 3. On the body 31 of the two locking members 3, one is provided with a threaded hole, and the other is provided with a through hole. The upper limb mechanism 1000 further includes a threaded member 5, and the threaded member 5 sequentially passes through the through hole and the threaded hole, thereby fixing the two locking members 3 between the connecting plate 12 and the arm assembly 2.

[0096] Please refer to Figure 8 , in a possible implementation manner, the first locking groove 122 has a first guiding surface 321 that is inclined in a direction away from the pitching driving member 11; the first protrusion 32 has a second guiding surface 1221 that is inclined in a direction away from the second protrusion 33; when the first protrusion 32 extends into the first locking groove 122, the first guiding surface 321 and the second guiding surface 1221 are in contact. The first guiding surface 321 and the second guiding surface 1221 can provide guidance for the first protrusion 32 to extend into the first locking groove 122, thereby reducing the friction between the first protrusion 32 and the first locking groove 122, improving the smoothness of the first protrusion 32 inserted into the first locking groove 122, and reducing the assembly difficulty of the locking member 3 and the connecting plate 12. On the other hand, the first guiding surface 321 can also be attached to the second guiding surface 1221 when the first protrusion 32 is engaged with the first locking groove 122, thereby increasing the contact area between the locking member 3 and the connecting plate 12 and improving the connection stability between the locking member 3 and the connecting plate 12.

[0097] Similarly, the second locking groove 23 has a third guiding surface 331 that is inclined in the direction of the pitching driving member 11, and the second rib 33 has a fourth guiding surface 231 that is inclined in the direction away from the first rib 32. When the second rib 33 extends into the second locking groove 23, the third guiding surface 331 and the fourth guiding surface 231 are in contact with each other. The third guiding surface 331 and the fourth guiding surface 231 can guide the second rib 33 to extend into the second locking groove 23, thereby reducing the friction between the second rib 33 and the second locking groove 23, improving the smoothness of the second rib 33 inserted into the second locking groove 23, and reducing the assembly difficulty of the locking member 3 and the arm assembly 2. On the other hand, the third guiding surface 331 can also be fitted with the fourth guiding surface 231 when the second rib 33 is engaged with the second locking groove 23, thereby increasing the contact area between the locking member 3 and the arm assembly 2 and improving the connection stability between the locking member 3 and the arm assembly 2.

[0098] The first guiding surface 321 and the third guiding surface 331, and the second guiding surface 1221 and the fourth guiding surface 231 can exist simultaneously or alternatively. The present application does not limit this.

[0099] Based on the above embodiments, in an implementable manner of the present application, the first guiding surface 321 is smoothly transitioned with the outer peripheral surface of the connecting plate 12; the third guiding surface 331 is smoothly transitioned with the outer peripheral surface of the arm assembly 2.

[0100] In this embodiment, the first guiding surface 321 is smoothly transitioned with the outer peripheral surface of the connecting plate 12; thereby reducing the friction of the first guiding surface 321 at the notch of the first locking groove 122, improving the smoothness of the first rib 32 inserted into the first locking groove 122, and reducing the assembly difficulty of the locking member 3 and the connecting plate 12. The third guiding surface 331 is smoothly transitioned with the outer peripheral surface of the arm assembly 2, thereby reducing the friction of the third guiding surface 331 at the notch of the second locking groove 23, improving the smoothness of the second rib 33 inserted into the second locking groove 23, and reducing the assembly difficulty of the locking member 3 and the arm assembly 2.

[0101] The first locking groove 122 and the second locking groove 23 can continuously exist on the connecting plate 12 and the arm assembly 2, or can be spaced apart on the connecting plate 12 and the arm assembly 2. In an implementable manner of the present application, the first locking groove 122 and the second locking groove 23 are arranged along the circumferential direction of the pitching driving member 11; correspondingly, the locking member 3 is arranged in an arc shape, and adjacent locking members 3 are detachably connected along the tangential direction of the circumferential direction of the pitching driving member 11.

[0102] In this embodiment, the first locking groove 122 and the second locking groove 23 are arranged around the circumference of the pitch driving member 11, and the locking member 3 is arranged in an arc shape that matches the first locking groove 122 and the second locking groove 23, so as to increase the contact area between the locking member 3 and the first locking groove 122 and the second locking groove 23 ring, and improve the contact area between the locking member 3 and the shoulder joint assembly 1 and the arm assembly 2. Adjacent locking members 3 can be detachably connected along the tangential direction of the circumference of the pitch driving member 11, so that the blocking of the shoulder joint assembly 1 and the arm assembly 2 to the connection of the locking members 3 can be avoided, the operable space for the connection of each adjacent locking member 3 is increased, the difficulty of connecting the locking members 3 is reduced, and the assembly efficiency of the shoulder joint assembly 1 and the arm assembly 2 is improved.

[0103] Please refer to Figure 2 and Figure 3 The shoulder joint assembly 1 further includes an elastic baffle 4, which can be made of rubber, silicone, or other elastic materials, which is not limited in the present application. The elastic baffle is sleeved on the shoulder joint support frame 13; each locking member 3 is located in the elastic baffle 4.

[0104] This embodiment is to arrange an elastic baffle on the shoulder joint support frame 13. When the shoulder joint assembly 1 and the arm assembly 2 are installed, the elastic baffle can be flipped to the side of the arm assembly 2 to block the locking ring, thereby preventing external dust or impurities from entering the arm assembly 2 or the shoulder joint assembly 1 through the connection gap between the locking ring and the connecting plate 12 or the arm assembly 2, thereby improving the reliability of the use of the humanoid robot. When the shoulder joint assembly 1 and the arm assembly 2 need to be inspected, the elastic baffle can be flipped to the side away from the arm assembly 2, and the locking member 3 can be exposed to facilitate inspection. The elastic characteristics of the elastic baffle allow maintenance personnel to only flip the elastic baffle left and right along the axial direction of the pitch drive member 11 when assembling the arm assembly 2 or the shoulder joint assembly 1, so as to expose or cover the locking member 3 without disassembling the elastic baffle, thereby improving the inspection efficiency of the humanoid robot.

[0105] 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.

[0106] 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. An upper limb mechanism (1000), characterized in that: The invention comprises a shoulder joint assembly (1), an arm assembly (2) and at least two locking members (3), wherein the shoulder joint assembly (1) comprises a pitch driving member (11) and a connecting plate (12), wherein the pitch driving member (11) is connected to the connecting plate (12), and the pitch driving member (11) is used to drive the connecting plate (12) to rotate around the axis direction of the pitch driving member (11); One of the connecting plate (12) and the arm assembly (2) is provided with a limiting protrusion (121), and the other is provided with a limiting groove (211), wherein the limiting protrusion (121) extends into the limiting groove (211), so that the arm assembly (2) and the connecting plate (12) are relatively fixed in the circumferential direction of the pitch driving member (11); the connecting plate (12) is also provided with a first locking groove (122), and the arm assembly (2) is also provided with a second locking groove (23); The locking members (3) are arranged along the circumference of the pitch driving member (11), and adjacent locking members (3) are detachably connected and extend into the first locking groove (122) and the second locking groove (23), so that the arm assembly (2) and the connecting plate (12) are relatively fixed in the axial direction of the pitch driving member (11); The locking member (3) comprises a body (31) and a first convex strip (32) and a second convex strip (33) which are arranged on the body (31) at intervals along the axial direction of the pitch driving member (11); The first convex strip (32) extends into the first locking groove (122), and the second convex strip (33) extends into the second locking groove (23); the limiting protrusion (121) and the limiting groove (211) are accommodated between the first convex strip (32) and the second convex strip (33), and the side wall surface of the limiting protrusion (121) is in contact with the body (31); The limiting groove (211) comprises a first limiting groove (2213) and a second limiting groove (2214); the limiting protrusion (121) is arranged in the first limiting groove (2213); The locking member (3) is provided with a plurality of fixing protrusions (34), and the fixing protrusions (34) extend into the second limiting grooves (2214).

2. The upper limb mechanism (1000) according to claim 1, characterized in that: The first locking groove (122) has a first guide surface (321) arranged obliquely in a direction away from the pitch driving member (11); the first convex strip (32) has a second guide surface (1221) arranged obliquely in a direction away from the second convex strip (33); when the first convex strip (32) extends into the first locking groove (122), the first guide surface (321) and the second guide surface (1221) are in contact; and / or The second locking groove (23) has a third guide surface (331) arranged obliquely in the direction of the pitch driving member (11), and the second convex strip (33) has a fourth guide surface (231) arranged obliquely in a direction away from the first convex strip (32); when the second convex strip (33) extends into the second locking groove (23), the third guide surface (331) and the fourth guide surface (231) are in contact.

3. The upper limb mechanism (1000) according to claim 2, characterized in that: The first guide surface (321) smoothly transitions to the outer peripheral surface of the connecting plate (12); and the third guide surface (331) smoothly transitions to the outer peripheral surface of the arm assembly (2).

4. The upper limb mechanism (1000) according to any one of claims 1 to 3, characterized in that: The first locking groove (122) and the second locking groove (23) are arranged along the circumference of the pitch driving member (11); The locking member (3) is arranged in an arc shape, and adjacent locking members (3) are detachably connected along a tangential direction of the circumference of the pitch driving member (11).

5. The upper limb mechanism (1000) according to any one of claims 1 to 3, characterized in that: The limiting protrusion (121) is provided with a chamfer on the side facing the limiting groove (211).

6. The upper limb mechanism (1000) according to any one of claims 1 to 3, characterized in that: The limiting groove (211) comprises a first opening (2111) and a second opening (2112) which are arranged opposite to each other along the radial direction of the pitch driving member (11); Compared with the second opening (2112), the first opening (2111) is closer to the outer edge of the connecting plate (12), and the diameter of the first opening (2111) is larger than the diameter of the second opening (2112).

7. The upper limb mechanism (1000) according to any one of claims 1 to 3, characterized in that: An anti-mistake protrusion (212) is provided in the limiting groove (211); the limiting protrusion (121) is recessed inwardly on the side of the outer edge of the connecting plate (12) to form an anti-mistake groove (1211); When the limiting protrusion (121) cooperates with the limiting groove (211), the fool-proofing protrusion (212) extends into the fool-proofing groove (1211).

8. The upper limb mechanism (1000) according to claim 7, characterized in that: The shoulder joint assembly (1) further comprises a shoulder joint support frame (13), the shoulder joint support frame (13) having a receiving cavity (131) with an opening (132) on one side, the receiving cavity (131) being used to receive the pitch driving member (11); the shoulder joint support frame (13) is provided with a first alignment groove (133), and a first sensor is provided in the first alignment groove (133); The connecting plate (12) is covered on the opening (132), and the connecting plate (12) is provided with a second alignment groove (1231), and a second sensor is provided in the second alignment groove (1231). When the fool-proofing protrusion (212) extends into the fool-proofing groove (1211), the first alignment groove (133) and the second alignment groove (1231) are connected to each other, and the first sensor and the second sensor are aligned with each other.

9. The upper limb mechanism (1000) according to claim 8, characterized in that: The first alignment groove (133) penetrates the cavity wall of the accommodating cavity (131) along the radial direction of the pitch driving component (11); A positioning protrusion (123) is provided on the side of the connecting plate (12) facing the opening (132); the positioning protrusion (123) is located in the accommodating cavity (131); and the second positioning groove (1231) is provided on the positioning protrusion (123).

10. The upper limb mechanism (1000) according to claim 8, characterized in that: The shoulder joint assembly (1) further comprises an elastic baffle (4), wherein the elastic baffle (4) is sleeved on the shoulder joint support frame (13); each of the locking members (3) is located inside the elastic baffle (4).

11. A humanoid robot, characterized in that: It comprises an upper limb mechanism (1000) as described in any one of claims 1 to 10.

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