Mechanical arm and humanoid robot

Abstract

The invention discloses a mechanical arm and a humanoid robot, and relates to the technical field of robots. The mechanical arm comprises a plurality of structural parts which are sequentially connected, the adjacent structural parts rotate relatively through driving parts, and the rotating axes of the adjacent driving parts are perpendicular to each other. The driving part comprises a horizontal driving part and a vertical driving part, the rotating axis of the horizontal driving part is perpendicular to the extending direction of the mechanical arm, and the rotating axis of the vertical driving part is parallel to the extending direction of the mechanical arm. An output shaft of the horizontal driving part drives the adjacent structural parts to rotate through the single cantilever, and a first wire harness fixing structure is arranged at the tail end of the horizontal driving part. An output shaft of the vertical driving piece is connected with a first crossed roller bearing through a connecting inner shaft sleeve, and the first crossed roller bearing is installed on an outer ring of the connecting inner shaft sleeve. After being led out from the first wire harness fixing structure, the wire harness extends along the side wall of the vertical driving piece, penetrates through the inner ring connected with the inner shaft sleeve and then extends to the first wire harness fixing structure of the next horizontal driving piece.

Description

Technical Field

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

[0002] The robotic arm of a humanoid robot realizes multiple degrees of freedom similar to that of a human arm by arranging a plurality of drive motors and connection structures, ensuring the flexibility of the robotic arm.

[0003] Most of the drive motors used in existing robotic arms are non-hollow motors, and the wiring harness can only be arranged between the drive motor and the structural member. When the robotic arm rotates with multiple degrees of freedom, the wiring harness repeatedly rubs between the drive motor and the structural member, resulting in relatively fast wear of the wiring harness and affecting the stability of the robotic arm. Summary of the Invention

[0004] The purpose of the present invention is to provide a robotic arm and a humanoid robot, so as to realize the flexible rotation of the robotic arm within multiple degrees of freedom while reducing the probability of wiring harness wear, thereby improving the stability of the robotic arm.

[0005] To achieve this purpose, the present invention adopts the following technical solutions:

[0006] A robotic arm, including a plurality of structural members connected in sequence, and adjacent structural members rotate relative to each other through a driving member, and the rotation axes of adjacent driving members are perpendicular to each other; wherein,

[0007] The driving member includes a horizontal driving member and a vertical driving member, the rotation axis of the horizontal driving member is perpendicular to the extension direction of the robotic arm, and the rotation axis of the vertical driving member is parallel to the extension direction of the robotic arm;

[0008] The output shaft of the horizontal driving member drives the adjacent structural member to rotate through a single cantilever, and a first wiring harness fixing structure is provided at the tail end of the horizontal driving member;

[0009] The output shaft of the vertical driving member is connected to a first crossed roller bearing through a connecting inner sleeve, and the first crossed roller bearing is installed on the outer ring of the connecting inner sleeve;

[0010] After the wiring harness is led out from the first wiring harness fixing structure, it extends along the side wall of the vertical driving member and passes through the inner ring of the connecting inner sleeve, and then extends to the first wiring harness fixing structure of the next horizontal driving member.

[0011] As an optional solution of the robotic arm, a connecting disc is provided on the output shaft of the vertical driving member, a first connecting block is eccentrically provided at one end of the connecting disc close to the connecting inner sleeve, a second connecting block is provided on the connecting inner sleeve corresponding to the first connecting block, and the first connecting block is connected and matched with the second connecting block.

[0012] As an alternative to the robotic arm, a second wire harness fixing structure is provided on the side wall of the vertical driving member.

[0013] As an alternative to the robotic arm, the driving member further includes a shoulder driving member, and the rotation axis of the shoulder driving member is perpendicular to the extending direction of the robotic arm;

[0014] An outlet is provided on the mounting seat of the shoulder driving member, and the wire harness passes through the outlet and then penetrates into the mounting seat of the horizontal driving member and extends to the first wire harness fixing structure.

[0015] As an alternative to the robotic arm, the plurality of structural members include a shoulder housing, a large arm housing, an internal connecting body, and a small arm housing connected in sequence. The horizontal driving member includes a first horizontal driving member and a second horizontal driving member. The vertical driving member includes a first vertical driving member and a second vertical driving member. The single cantilever includes a first single cantilever and a second single cantilever;

[0016] The first vertical driving member is disposed below the first horizontal driving member, and the shoulder housing surrounds the first horizontal driving member and is connected to the mounting seat of the first vertical driving member;

[0017] The output shaft of the first horizontal driving member is connected to the mounting seat of the first vertical driving member through the first single cantilever; the output shaft of the first vertical driving member is connected to the second horizontal driving member through the internal connecting body. The large arm housing surrounds the internal connecting body and the second horizontal driving member. The output shaft of the second horizontal driving member is connected to the mounting seat of the second vertical driving member through the second single cantilever. The small arm housing surrounds the second vertical driving member and is connected to the mounting seat of the second vertical driving member.

[0018] As an alternative to the robotic arm, the internal connecting body is provided as a hollow structure, and a third wire harness fixing structure is provided inside the internal connecting body.

[0019] As an alternative to the robotic arm, the first wire harness fixing structure located at the tail end of the second horizontal driving member is provided as a joint wire harness binding point, and the joint wire harness binding point is located on the extension line of the rotation axis of the second horizontal driving member.

[0020] As an alternative solution for the robotic arm, the horizontal driving member further includes a third horizontal driving member and a fourth horizontal driving member. The output shaft of the second vertical driving member is connected to the mounting seat of the third horizontal driving member. The output shaft of the third horizontal driving member is rotatably connected to the mounting seat of the fourth horizontal driving member through a connecting rod assembly. The single cantilever further includes a third single cantilever. The output shaft of the fourth horizontal driving member is connected to the end effector through the third single cantilever.

[0021] As an alternative solution for the robotic arm, the connecting rod assembly includes two movable connecting rods arranged in parallel at intervals. First deep groove ball bearings are provided at both ends of the two movable connecting rods. The structural member further includes a support arm. One end of the support arm is connected to the tail end of the third horizontal driving member, and the other end is rotatably connected to the mounting seat of the fourth horizontal driving member through a rotating shaft.

[0022] As an alternative solution for the robotic arm, second crossed roller bearings are provided between the output shaft of the first horizontal driving member and the first single cantilever, and between the support arm and the rotating shaft.

[0023] And / or, a second deep groove ball bearing is provided inside the output shaft of the second horizontal driving member and between the output shaft of the second horizontal driving member and the second single cantilever respectively.

[0024] As an alternative solution for the robotic arm, fourth wire harness fixing structures are provided on both the mounting seat of the third horizontal driving member and the mounting seat of the fourth horizontal driving member.

[0025] As an alternative solution for the robotic arm, the shoulder shell, the upper arm shell, and the forearm shell are all provided as a spliced structure of two half shells, and the two half shells are magnetically connected and / or snap-connected.

[0026] As an alternative solution for the robotic arm, a magnet is provided on the docking surface of the half shell close to the wire harness, and a first screw is connected to the docking surface of the other half shell. The magnet is magnetically fixed to the first screw.

[0027] As an alternative solution for the robotic arm, a first avoidance space is provided on the internal connecting body, and the first avoidance space is located inside the elbow joint of the robotic arm. The upper arm shell includes a flexible shell, and the flexible shell is provided corresponding to the first avoidance space and is connected to the second horizontal driving member.

[0028] As an alternative solution for the robotic arm, the flexible shell includes a sleeve and a semi-closed connecting body communicated with the sleeve. The sleeve is sleeved on the outer periphery of the second horizontal driving member, and the semi-closed connecting body wraps the first avoidance space.

[0029] As an alternative to the robotic arm, the opening of the semi-closed connecting body is bent inward to form a flange. Metal plates are bonded to both the inner and outer sides of the flange, and the two metal plates are locked by second screws. The flexible housing is connected to the inner connecting body through the metal plates.

[0030] A humanoid robot, which includes two robotic arms as described in any of the above solutions, and the two robotic arms are symmetrically arranged.

[0031] Advantages of the present invention:

[0032] For the robotic arm provided by the present invention, the horizontal driving member drives the adjacent structural member to rotate through a single cantilever. A first wire harness fixing structure is provided at the tail end of the horizontal driving member. The output shaft of the vertical driving member is connected to the first crossed roller bearing through a connecting inner sleeve, and the first crossed roller bearing is installed on the outer ring of the connecting inner sleeve. After the wire harness in the robotic arm is led out from the first wire harness fixing structure, it extends along the side wall of the vertical driving member and passes through the inner ring of the connecting inner sleeve, and then extends to the first wire harness fixing structure of the next horizontal driving member. The first crossed roller bearing is used to bear other acting forces except the torsional force of the vertical driving member, thereby ensuring the flexibility of multiple degrees of freedom of the robotic arm. At the same time, both the first wire harness fixing structure and the inner ring of the connecting inner sleeve can protect the wire harness, so that during the multi-degree-of-freedom rotation of the robotic arm, the wire harness is only subjected to torsional force and not frictional force, reducing the probability of wire harness wear, and thus improving the stability of the robotic arm.

[0033] The humanoid robot provided by the present invention includes two symmetrically arranged above-mentioned robotic arms, which can not only ensure the flexibility of multiple degrees of freedom of the robotic arm, but also ensure that the wire harness is not subjected to frictional force, reducing the probability of wire harness wear, and thus improving the stability of the robotic arm. Description of the drawings

[0034] Figure 1 is the first structural schematic diagram of the robotic arm provided by the embodiment of the present invention;

[0035] Figure 2 is the second structural schematic diagram of the robotic arm provided by the embodiment of the present invention;

[0036] Figure 3 is the first structural schematic diagram of the hidden housing of the robotic arm provided by the embodiment of the present invention;

[0037] Figure 4 is the exploded schematic diagram of the robotic arm after hiding the housing provided by the embodiment of the present invention;

[0038] Figure 5 is the second structural schematic diagram of the hidden housing of the robotic arm provided by the embodiment of the present invention;

[0039] Figure 6 It is a schematic structural diagram of the hidden part housing of the large arm of the robotic arm provided by an embodiment of the present invention;

[0040] Figure 7 It is a schematic structural diagram of the connection between the output shaft of the first vertical driving member and the first crossed roller bearing provided by an embodiment of the present invention;

[0041] Figure 8 It is a schematic structural diagram of the connection disc provided on the output shaft of the first vertical driving member provided by an embodiment of the present invention;

[0042] Figure 9 It is a schematic structural diagram of the connecting inner shaft sleeve that cooperates with the connection disc provided on the output shaft of the first vertical driving member provided by an embodiment of the present invention;

[0043] Figure 10 It is a schematic structural diagram of the connection between the output shaft of the second vertical driving member and the first crossed roller bearing provided by an embodiment of the present invention;

[0044] Figure 11 It is a schematic structural diagram of the connection disc provided on the output shaft of the second vertical driving member provided by an embodiment of the present invention;

[0045] Figure 12 It is a schematic structural diagram of the connecting inner shaft sleeve that cooperates with the connection disc provided on the output shaft of the second vertical driving member provided by an embodiment of the present invention;

[0046] Figure 13 It is a schematic structural diagram of the flexible housing of the robotic arm provided by an embodiment of the present invention;

[0047] Figure 14 It is a schematic structural diagram of the small arm of the robotic arm provided by an embodiment of the present invention.

[0048] In the figure:

[0049] 1. Structural member; 11. Shoulder housing; 12. Large arm housing; 121. Flexible housing; 1211. Sleeve; 1212. Semi-closed connecting body; 1213. Flange; 1214. Metal plate; 13. Small arm housing; 131. First small arm housing; 132. Second small arm housing; 14. Internal connecting body; 141. First avoidance space; 15. Support arm; 151. Rotating shaft;

[0050] 2. Driving member; 21. Horizontal driving member; 211. First horizontal driving member; 212. Second horizontal driving member; 213. Third horizontal driving member; 214. Fourth horizontal driving member; 22. Vertical driving member; 221. First vertical driving member; 222. Second vertical driving member; 23. Shoulder driving member; 231. Wire outlet;

[0051] 31. First single cantilever; 32. Second single cantilever; 33. Third single cantilever;

[0052] 41. First wire harness fixing structure; 411. Joint wire harness binding point; 42. Second wire harness fixing structure; 43. Third wire harness fixing structure; 44. Fourth wire harness fixing structure;

[0053] 51. First crossed roller bearing; 52. Second crossed roller bearing; 53. Second deep groove ball bearing;

[0054] 6. Decorative shell;

[0055] 71. Connecting disc; 711. First connecting block; 72. Connecting inner shaft sleeve; 721. Second connecting block; 73. Connecting outer shaft sleeve;

[0056] 8. Link assembly; 81. Movable link; 82. First deep groove ball bearing. Detailed implementation manners

[0057] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, in which the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present invention, and should not be construed as a limitation of the present invention.

[0058] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions.

[0059] Unless otherwise clearly defined and limited, the terms "installed", "connected", "connected", "fixed" should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0060] Unless otherwise clearly stipulated and defined, the first feature being “on” or “under” the second feature may include the direct contact between the first feature and the second feature, or may also include the situation where the first feature and the second feature are not in direct contact but in contact through other features therebetween. Moreover, the first feature being “above”, “over” and “on top of” the second feature includes that the first feature is directly above and obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being “under”, “beneath” and “underneath” the second feature includes that the first feature is directly under and obliquely under the second feature, or merely indicates that the horizontal height of the first feature is lower than that of the second feature.

[0061] The technical solution of the present invention will be further described below in conjunction with the accompanying drawings and through specific embodiments.

[0062] As Figures 1 - 5 shown, this embodiment provides a robotic arm, including a plurality of structural members 1 connected in sequence. The adjacent structural members 1 rotate relative to each other through a driving member 2, and the rotation axes of the adjacent driving members 2 are perpendicular to each other. The driving member 2 is usually arranged as a motor, and when the motor rotates, it drives the structural member 1 connected thereto to rotate relatively.

[0063] Specifically, the plurality of structural members 1 include a shoulder housing 11, a large arm housing 12, an internal connecting body 14 and a small arm housing 13 connected in sequence. The shoulder housing 11, the large arm housing 12, the internal connecting body 14 and the small arm housing 13 are connected in sequence to form a continuous mechanical chain. A motor is provided as the driving member 2 at each joint (the connection point between two adjacent structural members 1) to drive the relative rotation between the adjacent structural members 1.

[0064] The robotic arm provided in this embodiment has seven degrees of freedom and has seven joints, that is, it has seven driving members 2. Specifically, the driving member 2 includes a shoulder driving member 23, a horizontal driving member 21, and a vertical driving member 22. The rotation axis of the shoulder driving member 23 is J1, which is perpendicular to the extension direction of the robotic arm. The rotation axis of the horizontal driving member 21 is perpendicular to the extension direction of the robotic arm, and the rotation axis of the vertical driving member 22 is parallel to the extension direction of the robotic arm. The horizontal driving member 21 includes a first horizontal driving member 211, a second horizontal driving member 212, a third horizontal driving member 213, and a fourth horizontal driving member 214. The vertical driving member 22 includes a first vertical driving member 221 and a second vertical driving member 222. The first horizontal driving member 211 is arranged at the shoulder joint. The output shaft of the shoulder driving member 23 is connected to the mounting seat of the first horizontal driving member 211. The shoulder housing 11 surrounds the mounting seat of the first horizontal driving member 211 and is connected to the mounting seat of the first vertical driving member 221. The shoulder driving member 23 can drive the first horizontal driving member 211 to drive the entire robotic arm to rotate. The rotation axis of the first horizontal driving member 211 is J2. The output shaft of the first horizontal driving member 211 is connected to the mounting seat of the first vertical driving member 221. The first vertical driving member 221 is arranged below the first horizontal driving member 211, and the rotation axis of the first vertical driving member 221 is J3. The output shaft of the first vertical driving member 221 is connected to the large arm housing 12 and the second horizontal driving member 212 through an internal connecting body 14. The second horizontal driving member 212 is arranged at the elbow joint. The internal connecting body 14 is connected to the second horizontal driving member 212, and the rotation axis of the second horizontal driving member 212 is J4. The output shaft of the second horizontal driving member 212 is connected to the mounting seat of the second vertical driving member 222. The second vertical driving member 222 is arranged below the second horizontal driving member 212. The forearm housing 13 surrounds the second vertical driving member 222 and is connected to the mounting seat of the second vertical driving member 222. The rotation axis of the second vertical driving member 222 is J5. The third horizontal driving member 213 and the fourth horizontal driving member 214 are sequentially arranged below the second vertical driving member 222. The rotation axis of the third horizontal driving member 213 is J6, and the rotation axis of the fourth horizontal driving member 214 is J7. The output shaft of the second vertical driving member 222 is connected to the mounting seat of the third horizontal driving member 213. The output shaft of the third horizontal driving member 213 is connected to the mounting seat of the fourth horizontal driving member 214. The output shaft of the fourth horizontal driving member 214 is connected to the end effector.

[0065] To prevent the power supply wire harness and / or signal wire harness connected to each motor from being damaged by friction during the multi-degree-of-freedom rotation of the robotic arm. For the robotic arm provided in this embodiment, the horizontal driving member 21 drives the adjacent structural member 1 to rotate through a single cantilever, and a first wire harness fixing structure 41 is provided at the tail end of the horizontal driving member 21. The vertical driving member 22 is connected to the adjacent structural member 1 through a first crossed roller bearing 51, and the output shaft of the vertical driving member 22 is connected to the first crossed roller bearing 51 through a connecting inner bushing 72. The first crossed roller bearing 51 is installed on the outer ring of the connecting inner bushing 72. After the wire harness is led out from the first wire harness fixing structure 41, it extends along the side wall of the vertical driving member 22 and passes through the inner ring of the connecting inner bushing 72, and then extends to the first wire harness fixing structure 41 of the next horizontal driving member 21.

[0066] The horizontal driving member 21 drives the adjacent structural member 1 to rotate through a single cantilever, and a first wire harness fixing structure 41 is provided at the tail end of the horizontal driving member 21. The vertical driving member 22 is connected to the adjacent structural member 1 through a first crossed roller bearing 51, and the output shaft of the vertical driving member 22 is connected to the first crossed roller bearing 51 through a connecting inner bushing 72. The first crossed roller bearing 51 is installed on the outer ring of the connecting inner bushing 72. After the wire harness inside the robotic arm is led out from the first wire harness fixing structure 41, it extends along the side wall of the vertical driving member 22 and passes through the inner ring of the connecting inner bushing 72, and then extends to the first wire harness fixing structure 41 of the next horizontal driving member 21. The first crossed roller bearing 51 is used to bear other acting forces except the torsional force of the vertical driving member 22, thereby ensuring the flexibility of the multi-degree-of-freedom of the robotic arm. At the same time, both the first wire harness fixing structure 41 and the inner ring of the connecting inner bushing 72 can protect the wire harness, so that during the multi-degree-of-freedom rotation of the robotic arm, the wire harness is only subjected to torsional force and not frictional force, reducing the probability of wire harness wear, and thus improving the stability of the robotic arm.

[0067] In this embodiment, the single cantilever includes a first single cantilever 31, a second single cantilever 32, and a third single cantilever 33. The output shaft of the first horizontal drive 211 is connected to the mounting seat of the first vertical drive 221 through the first single cantilever 31, and is used to drive the shoulder housing 11 to rotate around J2; the first vertical drive 221 is used to drive the upper arm housing 12 to rotate around J3, so that the robotic arm can rotate on a horizontal plane or a plane similar to a horizontal plane, thereby covering a wider working area. The second horizontal drive 212 is connected to the mounting seat of the second vertical drive 222 through the second single cantilever 32. The second horizontal drive 212 drives the forearm housing 13 to rotate around J4, so that the forearm can approach or move away from the upper arm to achieve a certain folding angle, making the robotic arm more flexible and having a wider application range. The second vertical drive 222 drives the forearm housing 13 to rotate around J5, so that the robotic arm can, while maintaining a certain posture, achieve fine adjustment of the angle of the end effector by adjusting the angle of the forearm housing 13. The output shaft of the third horizontal drive 213 is rotationally connected to the mounting seat of the fourth horizontal drive 214 through the link assembly 8, and drives the mounting seat of the fourth horizontal drive 214 to rotate around J6, where J6 is perpendicular to J5. This layout is similar to the wrist joint of a human, enabling the mounting seat of the fourth horizontal drive 214 to perform further rotation and tilting on the basis of the forearm housing 13. This design greatly increases the flexibility and operation accuracy of the robotic arm. The output shaft of the fourth horizontal drive 214 is connected to the end effector through the third single cantilever 33, driving the end effector to rotate around J7, providing an additional degree of freedom for the end effector and enabling it to perform more complex movements and operations in three-dimensional space.

[0068] Further, the link assembly 8 includes two movable links 81 arranged in parallel at intervals. At both ends of the two movable links 81, there are first deep groove ball bearings 82. One end of the two movable links 81 is connected to the output shaft of the third horizontal drive 213 through the first deep groove ball bearing 82, and the other end is connected to the mounting seat of the fourth horizontal drive 214 through the first deep groove ball bearing 82. The two movable links 81 form a four-bar linkage mechanism, enabling the third horizontal drive 213 to be installed in the forearm instead of the wrist, reducing the weight at the end of the robotic arm while ensuring the coordinated and beautiful appearance of the robotic arm. The first deep groove ball bearing 82 can simultaneously bear radial and axial loads, effectively balancing the combined loads generated during the movement of the link assembly 8, enhancing the structural stability while reducing the transmission clearance and wear risk.

[0069] In this embodiment, the output shaft of the third horizontal driving member 213 is connected to two movable linkages 81 through a connecting block. Two first connecting shafts are provided on the connecting block. A first threaded hole is provided at the center of the first connecting shaft. Through holes are provided at both ends of the movable linkage 81. One first deep groove ball bearing 82 is provided at each end of each through hole. The first connecting shaft passes through the two first deep groove ball bearings 82, and a first semi-circular head screw is screwed into the first threaded hole to fix the two movable linkages 81 to the connecting block. Two second connecting shafts are provided at intervals on the mounting seat of the fourth horizontal driving member 214. A second threaded hole is provided at the center of the second connecting shaft. The second connecting shaft passes through the two first deep groove ball bearings 82, and a second semi-circular head screw is screwed into the second threaded hole.

[0070] Further, the structural member 1 further includes a support arm 15. One end of the support arm 15 is connected to the tail end of the third horizontal driving member 213, and the other end is rotatably connected to the mounting seat of the fourth horizontal driving member 214 through a rotating shaft 151. The support arm 15 further improves the mechanical properties and dynamic stability of the robotic arm. The two movable linkages 81 and the support arm 15 together form a rigid support frame for the third horizontal driving member 213 and the fourth horizontal driving member 214, effectively suppressing local deformations of the third horizontal driving member 213 and the fourth horizontal driving member 214 caused by inertial impact or sudden load changes, and reducing the cumulative error of the linkage assembly 8. At the same time, the support arm 15 can adaptively adjust its angle during the multi-degree-of-freedom movement of the robotic arm to ensure the efficient coordination of the four-bar linkage mechanism. In addition, through mechanical path optimization, this design transfers part of the combined load originally concentrated on the first deep groove ball bearing 82 to the support arm 15, reducing the long-term stress burden on the first deep groove ball bearing 82, extending the service life of the key kinematic pairs, and ultimately realizing the integration of a robotic arm drive system with high dynamics, high precision, and high robustness.

[0071] Further, second crossed roller bearings 52 are provided between the output shaft of the first horizontal driving member 211 and the first single cantilever 31, and between the support arm 15 and the rotating shaft 151. The second crossed roller bearings 52 can withstand forces in all directions, ensuring that the first horizontal driving member 211 and the support arm 15 have sufficient bearing capacity and providing stable support force.

[0072] As Figure 6As shown in the figure, a second deep groove ball bearing 53 is provided inside the output shaft of the second horizontal driving member 212 and between the output shaft of the second horizontal driving member 212 and the second single cantilever 32. Since the second horizontal driving member 212 is located at the elbow joint position of the robotic arm, and the space at the elbow joint position is limited and it is impossible to arrange the second crossed roller bearing 52; at the same time, in order to ensure the bearing capacity between the second horizontal driving member 212 and the second single cantilever 32, a second deep groove ball bearing 53 is provided inside and outside the output shaft of the second horizontal driving member 212, and the two second deep groove ball bearings 53 jointly share the load of the output shaft of the second horizontal driving member 212 to improve the bearing capacity and joint stiffness at the elbow joint position.

[0073] Since the fourth horizontal driving member 214 is located at the end of the robotic arm and has a short lever arm, the bearing capacity of its own bearing of the fourth horizontal driving member 214 is sufficient, so there is no need to arrange a second crossed roller bearing 52 between the output shaft of the fourth horizontal driving member 214 and the third single cantilever 33.

[0074] In this embodiment, the second crossed roller bearing 52 includes a second crossed roller bearing body, an outer bearing cover and an inner bearing cover. The outer bearing cover is arranged outside the second crossed ball bearing body and is connected to the output shaft or the rotating shaft 151 by a first fastening screw. The inner bearing cover is arranged inside the second crossed roller bearing body and is connected to the output shaft or the rotating shaft 151 by a second fastening screw.

[0075] In one embodiment, as Figures 7 - 12 shown, the output shaft of the vertical driving member 22 is provided with a connecting disc 71. One end of the connecting disc 71 close to the connecting inner shaft sleeve 72 is eccentrically provided with a first connecting block 711. The connecting inner shaft sleeve 72 is provided with a second connecting block 721 corresponding to the first connecting block 711. The first connecting block 711 and the second connecting block 721 are cooperatively connected so as to form a second avoidance space between the connecting disc 71 and the connecting inner shaft sleeve 72 that can allow the wire harness to pass through the connecting inner shaft sleeve 72. Such a setting can not only realize the driving of the vertical driving member 22, but also enable the wire harness to enter the inner ring of the connecting inner shaft sleeve 72 through the second avoidance space and pass through the inner ring of the connecting inner shaft sleeve 72.

[0076] Furthermore, in order to realize the connection between the first crossed roller bearing 51 and the adjacent structural member 1, a connecting outer shaft sleeve 73 is also provided. The first crossed roller bearing 51 is arranged between the connecting inner shaft sleeve 72 and the connecting outer shaft sleeve 73, and the connecting outer shaft sleeve 73 is connected to the adjacent structural member 1.

[0077] It should be noted that due to the different installation positions of the first vertical driving member 221 and the second vertical driving member 222, and the different structural members 1 connected to them respectively, the structures of the connecting disc 71, the connecting inner shaft sleeve 72 and the connecting outer shaft sleeve 73 are adjusted adaptively according to the actual connection situation, but the working principles and functions are the same.Figures 7 - 9 Shown is a schematic structural diagram of a connection disk 71, a connection inner shaft sleeve 72, and a connection outer shaft sleeve 73 connected to the output shaft of the first vertical driving member 221. After the first connection block 711 and the second connection block 721 are butted, they are fixedly connected by screws. As Figures 10 - 12 Shown is a schematic structural diagram of a connection disk 71, a connection inner shaft sleeve 72, and a connection outer shaft sleeve 73 connected to the output shaft of the second vertical driving member 222. The first connection block 711 and the second connection block 721 are connected by providing a concave-convex fitting structure.

[0078] Specifically, the first crossed roller bearing 51 includes a first crossed roller bearing body and a bearing cover. The bearing cover is provided on the outer ring of the first crossed roller bearing body and is connected to the mounting seat of the vertical driving member 22 by a third fastening screw. The connection inner shaft sleeve 72 and the connection outer shaft sleeve 73 are connected by a fourth fastening screw. The first connection block 711 and the second connection block 721 are butted through the cooperation of the concave-convex structure and then connected by a fifth fastening screw.

[0079] In an embodiment, a wire outlet 231 is provided on the mounting seat of the shoulder driving member 23. After the wire harness passes through the wire outlet 231, it penetrates into the mounting seat of the horizontal driving member 21 and extends to the first wire harness fixing structure 41. A second wire harness fixing structure 42 is provided on the side wall of the vertical driving member 22. The internal connecting body 14 is provided as a hollow structure, and a third wire harness fixing structure 43 is provided inside the internal connecting body 14. Fourth wire harness fixing structures 44 are provided on the mounting seats of both the third horizontal driving member 213 and the fourth horizontal driving member 214. The wire harness extends from the shoulder driving member 23 to the fourth horizontal driving member 214, and can be orderly guided along the way. During the multi-degree-of-freedom rotation of the robotic arm, it is ensured that the wire harness is only subjected to torsional force and not frictional force.

[0080] Specifically, the first wire harness fixing structure 41, the second wire harness fixing structure 42, the third wire harness fixing structure 43, and the fourth wire harness fixing structure 44 can be wire harness splitter plates, wire harness clips, wire passing holes, or wire harness tying points. A wire harness separation space is provided on the wire harness splitter plate. The wire harness passes through the wire harness separation space. The wire harness clip restricts the wire harness through a retaining ring. The wire harness is fixed to the wire harness tying point by a tie strap, and a fixing loop is formed between the tie strap and the wire harness tying point. When the wire harness twists in the wire harness separation space, the retaining ring, the wire passing hole, and the fixing loop, it will not be subjected to frictional force.

[0081] Further, continuing to refer to Figure 5 , the first wire harness fixing structure 41 located at the tail end of the second horizontal driving member 212 is set as a joint wire harness tying point 411, and the joint wire harness tying point 411 is located on the extension line of the rotation axis of the second horizontal driving member 212. Such a setting can ensure that when the second horizontal driving member 212 rotates completely, the length of the wire harness is not affected by the change of the bending angle of the elbow joint, and further reduces the wear of the wire harness.

[0082] In this embodiment, after each driving member 2 is installed, the wiring harness is connected, and finally the housing is installed. The wiring harness connected to the shoulder driving member 23 is hidden in the mounting seat of the shoulder driving member 23, and passes through the wire outlet 231 of the mounting seat of the shoulder driving member 23 and then enters the mounting seat of the first horizontal driving member 211. Openings are provided on opposite sides of the mounting seat of the first horizontal driving member 211 to expose the output shaft and the tail end of the first horizontal driving member 211. A first wire harness fixing structure 41 (wire harness splitter board and wire harness hook) is provided at the tail end of the first horizontal driving member 211. The wire harness passes through the first wire harness fixing structure 41 and enters the inner ring of the connecting inner shaft sleeve 72 connected to the output shaft of the first vertical driving member 221 along the side wall of the first vertical driving member 221. After passing through the inner ring of the connecting inner shaft sleeve 72, it enters the internal connecting body 14, and after being guided and fixed by the third wire harness fixing structure 43 (wire harness splitter board), it passes through the internal connecting body 14 and extends to the joint wire harness binding point 411 at the tail end of the second horizontal driving member 212 for fixing. When the shoulder housing 11 and the upper arm housing 12 are installed, the wire harnesses are all hidden in the shoulder housing 11 and the upper arm housing 12, without affecting the appearance. Openings are provided on opposite sides of the mounting seat of the third horizontal driving member 213, and fourth wire harness fixing structures 44 (wire harness binding points) are provided at both the upper and lower ends of the openings. A fourth wire harness fixing structure 44 (wire harness binding point) is provided at the top of the mounting seat of the fourth horizontal driving member 214. The wire harness continues to extend to the forearm, passes through the second wire harness fixing structure 42 (wire passing opening) on the mounting seat of the second vertical driving member 222, the fourth wire harness fixing structures 44 at both the upper and lower ends on the mounting seat of the third horizontal driving member 213 in sequence, and then passes through the fourth wire harness fixing structure 44 at the top of the mounting seat of the fourth horizontal driving member 214, and is connected to the fourth horizontal driving member 214 through the openings on both sides of the mounting seat of the fourth horizontal driving member 214. After the forearm housing 13 is installed, the wire harness is blocked by the forearm housing 13, without affecting the appearance.

[0083] In one embodiment, a first avoidance space 141 is provided on the internal connecting body 14. The first avoidance space 141 is located inside the elbow joint of the robotic arm. The upper arm housing 12 includes a flexible housing 121. The flexible housing 121 is provided corresponding to the first avoidance space 141 and is connected to the second horizontal driving member 212. In order to enable the elbow joint to obtain the largest possible adduction angle, the first avoidance space 141 is provided on the internal connecting body 14 to facilitate the folding of the forearm relative to the upper arm. At the same time, in order to ensure that the robotic arm is more beautiful and has a fuller appearance when it is straightened, the flexible housing 121 is provided corresponding to the first avoidance space 141.

[0084] In this embodiment, the adduction angle of the elbow joint > 110°, and the maximum is 150°. The flexible housing 121 is a rubber housing. Of course, in other embodiments, it can also be a silicone housing.

[0085] Specifically, as Figure 6 and Figure 13 shown, the flexible housing 121 includes a sleeve 1211 and a semi-closed connecting body 1212 communicating with the sleeve 1211. The sleeve 1211 is sleeved on the outer periphery of the second horizontal driving member 212, and the semi-closed connecting body 1212 wraps the first avoidance space 141. A dividing line extending along the axial direction is provided on the circumferential direction of the sleeve 1211. The sleeve 1211 is separated into an opening facilitating the entry of the second horizontal driving member 212 through the dividing line, and naturally closes after the second horizontal driving member 212 enters the sleeve 1211.

[0086] In one embodiment, the shoulder housing 11, the upper arm housing 12, and the forearm housing 13 are all provided as a splicing structure of two semi-housings, and the two semi-housings are magnetically connected and / or snap-connected. By setting the shoulder housing 11, the upper arm housing 12, and the forearm housing 13 to be magnetically connected and / or snap-connected, it is convenient for disassembly and assembly and maintenance when the wire harness and / or the driving member 2 need to be repaired.

[0087] Optionally, magnets are provided on the butting surfaces of the semi-housings close to the wire harness, and first screws are connected to the butting surfaces of the other semi-housings; the magnets and the first screws are magnetically fixed. With such a setting, when repairing the wire harness, only one semi-housing needs to be disassembled, that is, the semi-housing close to the wire harness is disassembled, and the wire harness is repaired, improving the maintenance efficiency.

[0088] Specifically, the semi-housing of the shoulder housing 11 close to the output shaft of the first horizontal driving member 211 is fixedly connected to the mounting seat of the first vertical driving member 221 through a first screw. Magnets and buckles are provided on the semi-housing of the shoulder housing 11 close to the tail end of the first horizontal driving member 211. The magnets are magnetically connected to the first screws, facilitating quick positioning and connection; the buckles are snap-connected to the semi-housing close to the output shaft of the first horizontal driving member 211, ensuring that the shoulder housing 11 does not fall off during the long-term use of the robotic arm.

[0089] The upper arm housing 12 further includes two plastic semi-housings. After the two plastic semi-housings are butted, they are butted with the flexible housing 121, thereby completely wrapping the upper arm. One of the two plastic semi-housings is fixed to the internal connecting body 14 through a first screw, and the other is provided with a magnet and a buckle. The magnet is magnetically connected to the first screw, and the buckle is snap-connected and fixed to the plastic semi-housing provided with the first screw.

[0090] Specifically, the opening of the semi-closed connecting body 1212 is bent inward to form a flanging 1213. Metal plates 1214 are bonded to both the inner and outer sides of the flanging 1213, and the two metal plates 1214 are locked tightly by second screws to compress the flanging 1213; the flexible housing 121 is connected to the internal connecting body 14 through the metal plates 1214. Vertical plates are provided on the metal plates 1214, and the vertical plates are fixedly connected to the internal connecting body 14 through third screws. Such a setting is not only convenient for installation but also can prevent the flexible housing 121 from being unstable due to the glue separation between the metal plates 1214 and the semi-closed connecting body 1212.

[0091] Continue to refer to Figure 2 and Figure 14 As shown in FIGS. 7 and 8, the forearm housing 13 includes a first forearm housing 131 and a second forearm housing 132. The first forearm housing 131 and the second forearm housing 132 both adopt the same butt joint and fixing structure as the shoulder housing 11 and the upper arm housing 12, which will not be elaborated here. The first forearm housing 131 encloses the output shaft, the tail end of the second horizontal driving member 212, and the second vertical driving member 222. The second forearm housing 132 encloses the output shaft of the second vertical driving member 222 and one of the opposite sides of the third horizontal driving member 213. The other opposite sides of the third horizontal driving member 213 are respectively connected to the link assembly 8 and the support arm 15. Protective decorative shells 6 are arranged at the end parts of the output shafts of the third horizontal driving member 213 and the fourth horizontal driving member 214.

[0092] For the robotic arm provided in this embodiment, during assembly, the driving members 2 are first connected in sequence, then the wire harness is connected, and finally the housing is installed. Such a setting, on the one hand, is convenient for the division of labor on the production line, division of workstations, and improvement of production efficiency; on the other hand, after the wire harness is connected, it is convenient for various tests and debugging of the robotic arm, avoiding damage to the housing during production and testing, and the housing can be installed in the last step after test delivery. In addition, during the use of the robotic arm, the housing can be removed separately for a complete wire harness inspection without disassembling the driving members 2, improving the maintenance efficiency.

[0093] This embodiment also provides a humanoid robot, including a torso assembly and two of the above-mentioned robotic arms. The two robotic arms are arranged symmetrically on both sides of the torso assembly to form a left arm and a right arm respectively. The left arm and the right arm share a set of parts, and this set of parts has bidirectional installation compatibility, and only the position of the parts needs to be changed according to the installation position.

[0094] The humanoid robot provided in this embodiment includes two symmetrically arranged above-mentioned robotic arms, which can not only ensure the flexibility of the multi-degrees of freedom of the robotic arm but also ensure that the wire harness is not subject to friction, reducing the probability of wire harness wear and thus improving the stability of the robotic arm.

[0095] The above content is only a preferred embodiment of the present invention. For those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. The content of this specification should not be construed as a limitation to the present invention.

Claims

1. A robotic arm, comprising a plurality of structural members (1) connected in sequence, wherein adjacent structural members (1) rotate relative to each other through a driving member (2), and the rotation axes of adjacent driving members (2) are perpendicular to each other; characterized in that, the driving member (2) includes a horizontal driving member (21) and a vertical driving member (22), the rotation axis of the horizontal driving member (21) is perpendicular to the extending direction of the robotic arm, and the rotation axis of the vertical driving member (22) is parallel to the extending direction of the robotic arm; the output shaft of the horizontal driving member (21) drives the adjacent structural member (1) to rotate through a single cantilever, and a first wire harness fixing structure (41) is provided at the tail end of the horizontal driving member (21); the output shaft of the vertical driving member (22) is connected to a first crossed roller bearing (51) through a connecting inner sleeve (72), and the first crossed roller bearing (51) is installed on the outer ring of the connecting inner sleeve (72); after the wire harness is led out from the first wire harness fixing structure (41), it extends along the side wall of the vertical driving member (22) and passes through the inner ring of the connecting inner sleeve (72), and then extends to the first wire harness fixing structure (41) of the next horizontal driving member (21).

2. The robotic arm according to claim 1, wherein a connecting disc (71) is provided on the output shaft of the vertical driving member (22), a first connecting block (711) is eccentrically arranged at one end of the connecting disc (71) close to the connecting inner sleeve (72), a second connecting block (721) is provided on the connecting inner sleeve (72) corresponding to the first connecting block (711), and the first connecting block (711) is connected with the second connecting block (721) in a matching manner.

3. The robotic arm according to claim 1, characterized in that, a second wire harness fixing structure (42) is provided on the side wall of the vertical driving member (22).

4. The robotic arm according to claim 1, wherein, the driving member (2) further includes a shoulder driving member (23), and the rotation axis of the shoulder driving member (23) is perpendicular to the extending direction of the robotic arm; an outlet (231) is provided on the mounting seat of the shoulder driving member (23), and the wire harness passes through the outlet (231) and then penetrates into the mounting seat of the horizontal driving member (21) and extends to the first wire harness fixing structure (41).

5. The robotic arm according to any one of claims 1-4, characterized in that the plurality of structural members (1) include a shoulder housing (11), a large arm housing (12), an internal connecting body (14) and a small arm housing (13) connected in sequence, the horizontal driving member (21) includes a first horizontal driving member (211) and a second horizontal driving member (212), the vertical driving member (22) includes a first vertical driving member (221) and a second vertical driving member (222), and the single cantilever includes a first single cantilever (31) and a second single cantilever (32); the first vertical driving member (221) is arranged below the first horizontal driving member (211), and the shoulder housing (11) surrounds the first horizontal driving member (211) and is connected to the mounting seat of the first vertical driving member (221); The output shaft of the first horizontal driving member (211) is connected to the mounting seat of the first vertical driving member (221) through the first single cantilever (31); the output shaft of the first vertical driving member (221) is connected to the second horizontal driving member (212) through the internal connecting body (14), the large arm housing (12) surrounds the outside of the internal connecting body (14) and the second horizontal driving member (212), the output shaft of the second horizontal driving member (212) is connected to the mounting seat of the second vertical driving member (222) through the second single cantilever (32), and the small arm housing (13) surrounds the outside of the second vertical driving member (222) and is connected to the mounting seat of the second vertical driving member (222).

6. The robotic arm according to claim 5, characterized in that, The internal connecting body (14) is arranged as a hollow structure, and a third wire harness fixing structure (43) is arranged inside the internal connecting body (14).

7. The robotic arm according to claim 5, wherein The first wire harness fixing structure (41) located at the tail end of the second horizontal driving member (212) is arranged as a joint wire harness binding point (411), and the joint wire harness binding point (411) is located on the extension line of the rotation axis of the second horizontal driving member (212).

8. The robotic arm according to claim 5, wherein, The horizontal driving member (21) further includes a third horizontal driving member (213) and a fourth horizontal driving member (214), the output shaft of the second vertical driving member (222) is connected to the mounting seat of the third horizontal driving member (213), the output shaft of the third horizontal driving member (213) is rotatably connected to the mounting seat of the fourth horizontal driving member (214) through a connecting rod assembly (8), the single cantilever further includes a third single cantilever (33), and the output shaft of the fourth horizontal driving member (214) is connected to the end effector through the third single cantilever (33).

9. The robotic arm according to claim 8, wherein The connecting rod assembly (8) includes two movable connecting rods (81) arranged in parallel at intervals, and first deep groove ball bearings (82) are arranged at both ends of the two movable connecting rods (81); the structural member (1) further includes a support arm (15), one end of the support arm (15) is connected to the tail end of the third horizontal driving member (213), and the other end is rotatably connected to the mounting seat of the fourth horizontal driving member (214) through a rotating shaft (151).

10. The robotic arm according to claim 9, characterized in that, Second crossed roller bearings (52) are arranged between the output shaft of the first horizontal driving member (211) and the first single cantilever (31), and between the support arm (15) and the rotating shaft (151). And / or, a second deep groove ball bearing (53) is arranged inside the output shaft of the second horizontal driving member (212) and between the output shaft of the second horizontal driving member (212) and the second single cantilever (32).

11. The robotic arm according to claim 8, wherein, Fourth wire harness fixing structures (44) are arranged on the mounting seats of the third horizontal driving member (213) and the fourth horizontal driving member (214).

12. The robotic arm according to claim 5, characterized in that, The shoulder housing (11), the large arm housing (12) and the small arm housing (13) are all arranged as a splicing structure of two half shells, and the two half shells are magnetically connected and / or clamped and connected.

13. The robotic arm according to claim 12, wherein Magnets are provided on the docking surface of the half shell close to the wire harness, and a first screw is connected to the docking surface of the other half shell. The magnet and the first screw are magnetically fixed.

14. The robotic arm according to claim 5, characterized in that, A first avoidance space (141) is provided on the internal connecting body (14). The first avoidance space (141) is located inside the elbow joint of the robotic arm. The large arm housing (12) includes a flexible housing (121). The flexible housing (121) is provided corresponding to the first avoidance space (141) and is connected to the second horizontal driving member (212).

15. The robotic arm according to claim 14, wherein, The flexible housing (121) includes a sleeve (1211) and a semi-closed connecting body (1212) communicating with the sleeve (1211). The sleeve (1211) is sleeved on the outer periphery of the second horizontal driving member (212), and the semi-closed connecting body (1212) wraps the first avoidance space (141).

16. The robotic arm according to claim 15, characterized in that, The opening of the semi-closed connecting body (1212) is bent inwards to form a flanging (1213). Metal plates (1214) are bonded to both the inner and outer sides of the flanging (1213), and the two metal plates (1214) are locked by second screws. The flexible housing (121) is connected to the internal connecting body (14) through the metal plates (1214).

17. Humanoid robot, characterized in that, It includes two robotic arms as described in any one of claims 1-16, and the two robotic arms are symmetrically arranged.

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