Humanoid robot

Abstract

The invention discloses a humanoid robot. The humanoid robot comprises a robot main body, the mechanical arm comprises a connecting support and an arm body, the connecting support is movably installed on the robot body, and the arm body is arranged on the connecting support; the mechanical arm driving structure is arranged on the robot body, connected with the connecting support and used for driving the connecting support to move so as to drive the arm body to move. According to the humanoid robot disclosed by the embodiment of the invention, the mechanical arm comprising the connecting bracket is arranged, and the connecting bracket is movably connected with the robot main body, so that the mechanical arm can move relative to the robot main body through the connecting bracket, the movable freedom degree of the mechanical arm can be increased, and the movement flexibility of the mechanical arm can be improved; and the movable joints of the mechanical arm can be uniformly distributed, so that the shape of the mechanical arm can be more coordinated, and the anthropomorphic effect of the humanoid robot can be improved.

Description

Technical Field

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

[0002] In the related art, the existing robotic arms have fewer degrees of freedom of movement, that is, the flexibility of the robotic arms is poor and their shape proportions are unbalanced, resulting in a strong mechanical feel of the robot and a poor anthropomorphic effect, leaving room for improvement. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide a humanoid robot having a good anthropomorphic effect.

[0004] According to an embodiment of the present invention, a humanoid robot includes: a robot body; a robotic arm, the robotic arm including a connecting bracket and an arm body, the connecting bracket being movably mounted on the robot body, and the arm body being arranged on the connecting bracket; a robotic arm driving structure, the robotic arm driving structure being arranged on the robot body and connected to the connecting bracket, and being used to drive the connecting bracket to move, thereby driving the arm body to move.

[0005] According to the humanoid robot of the embodiment of the present invention, a robotic arm including a connecting bracket is provided, and the connecting bracket and the robot body are movably connected, so that the robotic arm can move relative to the robot body through the connecting bracket, which can increase the movable freedom of the robotic arm, improve the flexibility of the robotic arm's movement, and make the distribution of the movable joints of the robotic arm more uniform, so that the shape of the robotic arm can be more coordinated, and the anthropomorphic effect of the humanoid robot can be improved.

[0006] According to some embodiments of the present invention, the robotic arm driving structure includes a first robotic arm driving component and a second robotic arm driving component, the connecting bracket is suitable for rotating around a first axis under the drive of the first robotic arm driving component, and the connecting bracket is suitable for rotating around a second axis or rotating in a plane perpendicular to the second axis under the drive of the second robotic arm driving component, and the extension directions of the first axis and the second axis are different.

[0007] In some embodiments, the connecting bracket has a first connecting portion and a second connecting portion, the first connecting portion and the second connecting portion are arranged relative to each other along the extension direction of the first axis, the first connecting portion and the second connecting portion are respectively connected to the robot body through a connecting fork arm, one end of each connecting fork arm is rotatably connected to the robot body, and the first connecting portion and the second connecting portion are respectively rotatably connected to the other end of the corresponding connecting fork arm.

[0008] According to some embodiments of the present invention, the arm body includes a shoulder and an arm, the shoulder is connected between the connecting bracket and the arm, the shoulder includes a shoulder bracket, a first shoulder driving member and a second shoulder driving member, the first shoulder driving member is installed on the connecting bracket and connected to the shoulder bracket, and is used to drive the shoulder bracket to rotate around a third axis, the second shoulder driving member is installed on the shoulder bracket and connected to the arm, and is used to drive the arm to rotate around a fourth axis, and the extension directions of the third axis and the fourth axis are different.

[0009] In some embodiments, the shoulder support includes a first shoulder support and a second shoulder support, the first shoulder driving member is connected to the first shoulder support, the second shoulder driving member is connected to the second shoulder support, the first shoulder support portion and the second shoulder support portion are arranged opposite to each other and a third shoulder driving member is provided therebetween, the third shoulder driving member is used to drive the second shoulder support to rotate relative to the first shoulder support around a fifth axis, wherein the third axis, the fourth axis and the fifth axis intersect with each other.

[0010] In some embodiments, the connecting bracket includes an annular base body and multiple connecting parts, the connecting parts are arranged on the outer periphery of the annular base body and extend toward the direction close to the robot body, some of the connecting parts are used to connect the robot body, and some of the connecting parts are used to connect the robotic arm drive structure, the first shoulder drive member is arranged on one side of the annular base body close to the robot body, and the shoulder bracket is arranged on the other side of the annular base body.

[0011] In some embodiments, the arm body also includes a palm seat, which is movably connected to the end of the arm away from the shoulder. The arm body also includes two palm seat driving members, which are arranged on the arm. The output end of each palm seat driving member is connected to the palm seat, and the palm seat is suitable for rotating around the sixth axis and / or the seventh axis under the drive of the palm seat driving member, and the extension directions of the sixth axis and the seventh axis are different.

[0012] In some embodiments, the arm portion includes a first arm portion and a second arm portion, the first arm portion is connected between the second arm portion and the shoulder portion, and the arm body also includes a first arm portion driving component, which is provided on the first arm portion and connected to the second arm portion, and is used to drive the second arm portion to rotate around an eighth axis or rotate in a plane perpendicular to the eighth axis.

[0013] In some embodiments, the first arm driving component is a linear push rod motor, and the first arm driving component is connected to the second arm through a connecting rod assembly.

[0014] In some embodiments, the second arm portion includes a main body and a connecting seat, the connecting seat is rotatably connected to the main body, the main body is connected to the palm seat, and the arm body also includes a second arm driving component, which is arranged on the connecting seat and connected to the main body, and is used to drive the main body to rotate around a ninth axis relative to the connecting seat, and the extension directions of the ninth axis and the eighth axis are different.

[0015] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, in which:

[0017] Figure 1 is a schematic structural diagram of a humanoid robot according to some embodiments of the present invention;

[0018] Figure 2 is a schematic diagram of a partial structure of a humanoid robot according to some embodiments of the present invention;

[0019] Figure 3 is a schematic structural diagram of a robotic arm according to some embodiments of the present invention;

[0020] Figure 4 is a schematic diagram of a partial structure of a robotic arm according to some embodiments of the present invention at a certain viewing angle;

[0021] Figure 5 is a schematic structural diagram of a connecting bracket according to some embodiments of the present invention;

[0022] Figure 6 is a schematic structural diagram of an arm body according to some embodiments of the present invention;

[0023] Figure 7 is a schematic structural diagram of a shoulder according to some embodiments of the present invention;

[0024] Figure 8 is a schematic structural diagram of an arm according to some embodiments of the present invention;

[0025] Figure 9 is a schematic structural diagram of a first arm portion at a certain viewing angle according to some embodiments of the present invention;

[0026] Figure 10 is a schematic structural diagram of a second arm according to some embodiments of the present invention;

[0027] Figure 11 is a schematic diagram of a partial structure of a robotic arm according to some embodiments of the present invention from another perspective;

[0028] Figure 12 is a schematic diagram of the structure of a palm seat according to some embodiments of the present invention;

[0029] Figure 13 is a schematic diagram of a partial structure of a palm rest according to some embodiments of the present invention at a certain viewing angle;

[0030] Figure 14 is a schematic diagram of a partial structure of a palm seat according to some embodiments of the present invention from another perspective;

[0031] Figure 15 is a schematic diagram of a partial structure of a palm seat according to some embodiments of the present invention from another perspective;

[0032] Figure 16 is a schematic diagram of a partial structure of a palm seat according to some embodiments of the present invention from another perspective;

[0033] Figure 17 is a schematic diagram of a partial structure of an arm at a certain viewing angle according to some embodiments of the present invention;

[0034] Figure 18 is a schematic diagram of a partial structure of an arm according to some embodiments of the present invention from another perspective;

[0035] Figure 19 is a schematic structural diagram of a connecting rod assembly according to some embodiments of the present invention at a certain viewing angle;

[0036] Figure 20 is a schematic structural diagram of a connecting rod assembly according to some embodiments of the present invention from another perspective;

[0037] Figure 21 is a schematic structural diagram of the first arm according to some embodiments of the present invention from another perspective;

[0038] Figure 22 is a schematic diagram of the partial structure of the first arm according to some embodiments of the present invention.

[0039] Reference numerals:

[0040] Humanoid robot 1000,

[0041] Robotic arm 100, robot body 200, robot arm driving structure 300, first robot arm driving component 301, second robot arm driving component 302,

[0042] Arm 10, first arm 11, first arm driving member 111, first arm motor 1111, telescopic rod 1112, connecting shaft 1113, support frame 112, support leg 1121, avoidance space 1122, accommodating cavity 1123, support plate 113, fixed shaft 114, second arm 12, body 121, connecting seat 122, second arm driving member 123,

[0043] Palm seat 20, first boss 21, first matching section 211, second matching section 212, avoidance notch 213, second boss 22, plate 23, connecting shaft 24, ball joint assembly 25, connecting piece 26, first rotating shaft 27, second rotating shaft 28,

[0044] The seat drive member 30, the connecting rod assembly 40, the first connecting rod 41, the first support rod 411, the second support rod 412, the second connecting rod 42,

[0045] shoulder 50, first shoulder driving member 51, second shoulder driving member 52, third shoulder driving member 53, shoulder support 54, first shoulder support 541, second shoulder support 542,

[0046] Connecting bracket 60 , first connecting portion 61 , second connecting portion 62 , third connecting portion 63 , connecting fork arm 64 , annular seat body 65 . DETAILED DESCRIPTION

[0047] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0048] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, features defined as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0049] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0050] Reference below Figure 1-Figure 22 A humanoid robot 1000 according to an embodiment of the present invention is described.

[0051] like Figure 1-Figure 22 As shown, the humanoid robot 1000 according to an embodiment of the present invention includes: a robot body 200, a robotic arm 100 and a robotic arm driving structure 300, wherein the robotic arm 100 may include a connecting bracket 60 and an arm body (such as Figure 6 The structure shown in the figure) is shown, the connecting bracket 60 can be installed on the robot body 200, and the connecting bracket 60 can move relative to the robot body 200, the arm body can be set on the connecting bracket 60, the robot arm driving structure 300 can be set on the robot body 200, and the robot arm driving structure 300 can be connected to the connecting bracket 60, and the robot arm driving structure 300 can drive the connecting bracket 60 to move relative to the robot body 200, so as to drive the arm body to move relative to the robot body 200.

[0052] In this way, the freedom of movement of the robotic arm 100 can be increased, and the flexibility of the movement of the robotic arm 100 can be improved. On the one hand, the distribution of the movable joints of the robotic arm 100 can be more uniform, so that the shape of the robotic arm 100 can be more coordinated, and the anthropomorphic effect of the humanoid robot 1000 can be improved. On the other hand, the distribution of the movable joints of the robotic arm 100 can be more compact, so that the structure of the robotic arm 100 can be more compact, which is convenient for the installation and arrangement of the robotic arm 100, and can save space, which is conducive to the miniaturization of the humanoid robot 1000.

[0053] According to the humanoid robot 1000 of the embodiment of the present invention, a robotic arm 100 including a connecting bracket 60 is provided, and the connecting bracket 60 and the robot body 200 are movably connected, so that the robotic arm 100 can move relative to the robot body 200 through the connecting bracket 60, which can increase the movable freedom of the robotic arm 100, improve the flexibility of the movement of the robotic arm 100, and make the distribution of the movable joints of the robotic arm 100 more uniform, so that the shape of the robotic arm 100 can be more coordinated, and the anthropomorphic effect of the humanoid robot 100 can be improved.

[0054] like Figure 1As shown, in the present application, the humanoid robot 1000 may include two robotic arms 100, which are movably disposed on opposite sides of the robot body 200 (e.g., Figure 1 The left and right sides shown in the figure), that is, the two robotic arms 100 can be the left arm and the right arm of the humanoid robot 1000, and the robotic arm 100 described below can be the right arm of the humanoid robot 1000.

[0055] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 6 As shown, according to some embodiments of the present invention, the robot arm driving structure 300 may include a first robot arm driving component 301 and a second robot arm driving component 302, the connecting bracket 60 can rotate around the first axis under the drive of the first robot arm driving component 301, and the connecting bracket 60 can rotate around the second axis under the drive of the second robot arm driving component 302.

[0056] Alternatively, the connecting bracket 60 can rotate on a plane perpendicular to the second axis under the drive of the second robotic arm driving component 302, that is, when the connecting bracket 60 rotates around the second axis, the second axis can translate in a direction perpendicular to itself, which can increase the range of movement of the connecting bracket 60 and improve the flexibility of the movement of the connecting bracket 60, thereby increasing the range of movement of the arm body and improving the flexibility of the movement of the arm body.

[0057] The extending directions of the first axis and the second axis may be different. For example, the first axis may extend in a first direction (eg Figure 1 The first robot arm driving member 301 can drive the arm body to rotate forward (such as extending the shoulder forward) or rotate backward (such as retracting the shoulder) through the connecting bracket 60.

[0058] The second axis can be along the second direction (such as Figure 1 The robot arm 100 extends in the front-to-back direction as shown, so that the second robot arm driving component 302 can drive the arm body to rotate upward (such as lifting the shoulder) or downward (such as lowering the shoulder) through the connecting bracket 60, and the first robot arm driving component 301 and the second robot arm driving component 302 can simultaneously drive the arm body to move through the connecting bracket 60. For example, the arm body can rotate around the first axis and the second axis at the same time, which can enable the robot arm 100 to perform more complex movements, thereby improving the flexibility of the robot arm 100 and improving the anthropomorphic effect of the humanoid robot 1000.

[0059] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 and Figure 6 As shown, in some embodiments, the connecting bracket 60 may have a first connecting portion 61 and a second connecting portion 62, and the first connecting portion 61 and the second connecting portion 62 may be arranged along the extension direction of the first axis (eg, Figure 4 The first connecting portion 61 and the second connecting portion 62 are arranged relative to each other in the upper and lower directions as shown, and can be connected to the robot body 200 through a connecting fork arm 64 respectively.

[0060] That is, one end of each connecting fork arm 64 can be rotatably connected to the robot body 200, and the first connecting part 61 and the second connecting part 62 can be rotatably connected to the other end of the corresponding connecting fork arm 64 respectively, so that the connecting bracket 60, the robot body 200 and the two connecting fork arms 64 can cooperate to form a four-bar linkage mechanism, which can increase the range of movement of the connecting bracket 60 and improve the flexibility of the movement of the connecting bracket 60.

[0061] Among them, the first connecting part 61 and the second connecting part 62 can both have a connecting hole, and a joint bearing can be arranged in the connecting hole. The joint bearing can be penetrated by a rotating shaft, so that the rotating shaft can rotate relative to the connecting hole, and the connecting fork arm 64 and the rotating shaft can be rotatably connected, so that the connecting fork arm 64 and the connecting bracket 60 can rotate relative to each other, which can improve the flexibility of the connection bracket 60. Of course, the connecting fork arm 64 and the rotating shaft can be connected by a ball joint, which can increase the degree of freedom of the connection between the connecting fork arm 64 and the connecting bracket 60, thereby increasing the range of movement of the connecting bracket 60 and improving the flexibility of the connection bracket 60.

[0062] The first robotic arm driving component 301 and the second robotic arm driving component 302 can be respectively connected to the robot body 200 for rotation, and the connecting bracket 60 can also have a third connecting part 63, and the third connecting part 63 can have a connecting hole, and a joint bearing can be provided in the connecting hole, and the joint bearing can be passed through a rotating shaft, and the rotating shaft can rotate relative to the connecting hole. The first robotic arm driving component 301 and the second robotic arm driving component 302 can both be linear push rod motors, and the driving end of the push rod of the linear push rod motor can be rotatably connected to the rotating shaft, so that the first robotic arm driving component 301 and the second robotic arm driving component 302 can respectively drive the connecting bracket 60 to rotate relative to the robot body 200, which can improve the flexibility of the connecting bracket 60.

[0063] Of course, the driving end of the push rod and the rotating shaft can be connected by a ball joint, which can increase the degree of freedom of the first robotic arm driving component 301 and the second robotic arm driving component 302 at the connection points with the connecting bracket 60, and the first robotic arm driving component 301 and the second robotic arm driving component 302 can be connected by a ball joint to the robot body 200, respectively, which can increase the degree of freedom of the first robotic arm driving component 301 and the second robotic arm driving component 302 at the connection points with the robot body 200.

[0064] As a result, the first robotic arm driving component 301 and the second robotic arm driving component 302 can respectively fine-tune their own positions when the connecting bracket 60 moves, thereby increasing the range of movement of the connecting bracket 60 and improving the flexibility of the movement of the connecting bracket 60. The first robotic arm driving component 301 and the second robotic arm driving component 302 cooperate with each other to drive the connecting bracket 60 to move around the first axis and the second axis at the same time, allowing the arm body to perform more complex movements, improving the flexibility of the arm body and improving the anthropomorphic effect of the humanoid robot 1000.

[0065] like Figure 1 、 Figure 2 、 Figure 4 and Figure 7 As shown, according to some embodiments of the present invention, the arm body may include a shoulder 50 and an arm 10, the shoulder 50 may be connected between the connecting bracket 60 and the arm 10, the shoulder 50 may include a shoulder bracket 54, a first shoulder driving member 51 and a second shoulder driving member 52, the first shoulder driving member 51 may be installed on the connecting bracket 60, and the first shoulder driving member 51 may be connected to the shoulder bracket 54, the first shoulder driving member 51 may drive the shoulder bracket 54 to rotate around a third axis to drive the arm 10 to rotate, the second shoulder driving member 52 may be installed on the shoulder bracket 54, and the second shoulder driving member 52 may be connected to the arm 10, the second shoulder driving member 52 may drive the arm 10 to rotate around a fourth axis, which can increase the range of motion of the arm 10 and improve the flexibility of the arm 10.

[0066] The extending directions of the third axis and the fourth axis may be different. For example, the third axis may extend in the third direction (eg Figure 1 The first shoulder driving member 51 can drive the arm 10 to rotate forward (such as the arm swings forward) or backward (such as the arm swings backward), and the fourth axis can be along the first direction (such as the left and right direction) Figure 1 The second shoulder driving member 52 can drive the arm 10 to rotate to the left (such as the arm turns left) or to the right (such as the arm turns right), and the first shoulder driving member 51 and the second shoulder driving member 52 cooperate with each other to drive the arm 10 to rotate around the third axis and the fourth axis at the same time, so that the arm 10 can perform more complex movements, improve the flexibility of the arm 10, and improve the anthropomorphic effect of the humanoid robot 1000.

[0067] like Figure 1 、 Figure 4 and Figure 7As shown, in some embodiments, the shoulder bracket 54 can include a first shoulder bracket 541 and a second shoulder bracket 542, the first shoulder driving member 51 can be installed on the connecting bracket 60, and the first shoulder driving member 51 can be connected to the first shoulder bracket 541 to drive the first shoulder bracket 541 to drive the arm 10 to rotate around the third axis, the second shoulder driving member 52 can be installed on the second shoulder bracket 542, and the second shoulder driving member 52 can be connected to the arm 10 to drive the arm 10 to rotate around the fourth axis.

[0068] Part of the first shoulder bracket 541 and part of the second shoulder bracket 542 can be arranged relative to each other, and a third shoulder driving member 53 can be provided between the corresponding parts of the first shoulder bracket 541 and the second shoulder bracket 542. The third shoulder driving member 53 can be installed on the first shoulder bracket 541, and the third shoulder driving member 53 can be connected to the second shoulder bracket 542. The third shoulder driving member 53 can drive the second shoulder bracket 542 to rotate around the fifth axis relative to the first shoulder bracket 541, so as to drive the arm 10 to rotate around the fifth axis, which can increase the range of motion of the arm 10 and improve the flexibility of the arm 10.

[0069] The third axis, the fourth axis and the fifth axis may intersect each other. For example, the fifth axis may be along the second direction (eg Figure 1 The third shoulder driving member 53 can drive the arm 10 to rotate to the left (such as swinging the arm to the left) or to the right (such as swinging the arm to the right), and the first shoulder driving member 51, the second shoulder driving member 52 and the third shoulder driving member 53 cooperate with each other to drive the arm 10 to rotate around the third axis, the fourth axis and the fifth axis at the same time, so that the arm 10 can perform more complex movements, improve the flexibility of the arm 10, and improve the anthropomorphic effect of the humanoid robot 1000.

[0070] Furthermore, the third axis, the fourth axis and the fifth axis can be perpendicular to each other, which can increase the rotation range of the arm 10 around the third axis, the fourth axis and the fifth axis respectively, increase the range of movement of the arm 10, and improve the flexibility of the arm 10. The shoulder 50 and the robotic arm drive structure 300 can cooperate with each other so that the arm 10 can rotate around the first axis, the second axis, the third axis, the fourth axis and the fifth axis at the same time, so that the arm 10 can perform more complex movements, improve the flexibility of the arm 10, and improve the anthropomorphic effect of the humanoid robot 1000.

[0071] like Figure 1 、 Figure 3 、 Figure 4 and Figure 5As shown, in some embodiments, the connecting bracket 60 may include an annular seat body 65 and multiple connecting parts. The multiple connecting parts may be arranged on the outer periphery of the annular seat body 65, and the multiple connecting parts may extend in a direction close to the robot body 200, so as to facilitate the connection between the connecting bracket 60 and the robot body 200 through the connecting fork arm 64, and facilitate the connection between the connecting bracket 60 and the robot arm drive structure 300. At the same time, the overall structure of the humanoid robot 1000 can be made more compact, which is conducive to the miniaturization of the humanoid robot 1000.

[0072] Among them, the connection parts include multiple, a part of the multiple connection parts can be connected to the robot body 200, and the other part of the multiple connection parts can be connected to the robotic arm driving structure 300. For example, the multiple connection parts may include a first connection part 61, a second connection part 62 and two third connection parts 63. The first connection part 61 of the connecting bracket 60 can be connected to the robot body 200 through a connecting fork arm 64, the second connection part 62 of the connecting bracket 60 can be connected to the robot body 200 through a connecting fork arm 64, and the two third connection parts 63 of the connecting bracket 60 can be connected to the first robotic arm driving component 301 and the second robotic arm driving component 302 respectively, which can ensure that the robotic arm driving structure 300 can normally drive the connecting bracket 60 to move, so as to drive the arm body to move normally.

[0073] The first shoulder drive member 51 can be arranged on the side of the annular seat body 65 close to the robot body 200, which can make full use of the space occupied by the robot body 200, so that the overall structure of the humanoid robot 1000 can be more compact. At the same time, the first shoulder drive member 51 can be hidden, which can improve the aesthetics of the humanoid robot 1000, and the first shoulder drive member 51 can be protected, which can improve the working reliability of the humanoid robot 1000. The shoulder bracket 54 can be arranged on the other side of the annular seat body 65, so that the arm 10 as a whole can be located on the other side of the annular seat body 65, which can prevent the arm 10 and the robot body 200 from interfering, thereby increasing the range of motion of the arm 10, improving the flexibility of the arm 10 movement, and improving the reliability of the arm 10 movement.

[0074] like Figure 1 、 Figure 2 、 Figure 3 and Figure 6 As shown, in some embodiments, the arm body may further include a palm seat 20, which may be connected to an end of the arm 10 away from the shoulder 50 (such as Figure 3The lower end of the palm seat 20 is connected, and the palm seat 20 can move relative to the arm 10. The arm body can also include two palm seat driving members 30. The palm seat driving members 30 can be set on the arm 10. The output end of each palm seat driving member 30 can be connected to the palm seat 20. The palm seat 20 can rotate around the sixth axis under the drive of the palm seat driving member 30, or the palm seat 20 can rotate around the seventh axis under the drive of the palm seat driving member 30, thereby increasing the range of movement of the palm seat 20 and improving the flexibility of the movement of the palm seat 20.

[0075] The sixth axis and the seventh axis extend in different directions. For example, the sixth axis may extend in the second direction (eg Figure 1 The palm seat driving member 30 can drive the palm seat 20 to rotate left (such as the palm swings left) or right (such as the palm swings right), and the seventh axis can be along the third direction (such as Figure 1 The palm rest driving member 30 extends in the left and right directions as shown, so that the palm rest 20 can be driven to rotate forward (such as swinging the palm forward) or rotate backward (such as swinging the palm backward).

[0076] The palm seat drive member 30 can be rotatably connected to the arm 10. The palm seat drive member 30 can be a linear push rod motor. The driving end of the push rod of the linear push rod motor can be rotatably connected to the palm seat 20, so that the palm seat drive member 30 can drive the palm seat 20 to rotate relative to the arm 10, which can improve the flexibility of the palm seat 20. Of course, the driving end of the push rod and the palm seat 20 can be connected by a ball joint, which can increase the degree of freedom of the connection between the palm seat drive member 30 and the palm seat 20, and the palm seat drive member 30 and the arm 10 can be connected by a ball joint, which can increase the degree of freedom of the connection between the palm seat drive member 30 and the arm 10, so that the palm seat drive member 30 can fine-tune its own position when the palm seat 20 moves, which can increase the range of movement of the palm seat 20 and improve the flexibility of the palm seat 20.

[0077] Specifically, the output ends of the two palm seat driving members 30 can be connected to the opposite sides of the palm seat 20 (such as Figure 6 The output ends of the two palm seat driving members 30 can be located on the same side of the palm seat 20 (as shown in the front and rear sides). Figure 6 The output ends of the two palm seat driving members 30 can move synchronously and in the same direction to rotate the palm seat 20 around the sixth axis, and the output ends of the two palm seat driving members 30 can move in the opposite direction to rotate the palm seat 20 around the seventh axis. The two palm seat driving members 30 cooperate with each other to drive the palm seat 20 to rotate around the sixth axis and the seventh axis at the same time, so that the palm seat 20 can perform more complex movements, improve the flexibility of the palm seat 20, and improve the anthropomorphic effect of the humanoid robot 1000.

[0078] like Figure 2 、 Figure 3 、 Figure 8 、 Figure 11 、 Figure 12 、 Figure 13 、 Figure 14 、 Figure 15 and Figure 16 As shown, in some embodiments, the palm seat 20 can be connected to one end of the arm 10 (such as Figure 2 The lower end shown in FIG), and the palm seat 20 can move relative to the arm 10. The palm seat 20 can include a plate 23 and a first boss 21. The first boss 21 can be provided on one side of the plate 23 close to the arm 10 (as shown in FIG). Figure 12 The palm seat driving member 30 can be installed on the arm 10, and the output end of the palm seat driving member 30 can be movably connected to the first boss 21 through the connecting shaft 24 to drive the palm seat 20 to move, that is, the palm seat driving member 30 can drive the palm seat 20 to rotate relative to the arm 10.

[0079] The extension line of the connecting shaft 24 and the plate 23 can intersect, and compared with the solution of adopting the connecting shaft 24 and the plate 23 being parallel, the palm seat 20 in the initial position can be rotated at different angles in two opposite directions, that is, by reducing the palm seat 20 in one direction (such as Figure 11 The angle of rotation of the palm seat 20 in the other direction (as shown in the back to front direction) is increased. Figure 11 The angle of rotation (from front to back direction as shown) is conducive to ensuring that the range of motion of the palm seat 20 is roughly the same as the range of motion of the human wrist, thereby improving the flexibility of the palm seat 20 and improving the anthropomorphic effect of the robotic arm 100.

[0080] like Figure 2 、 Figure 3 、 Figure 8 、 Figure 11 、 Figure 12 and Figure 13 As shown, according to some embodiments of the present invention, the two ends of the connecting shaft 24 (such as Figure 13 The front and rear ends shown in FIG. 2 may be located on both sides of the first boss 21 (as shown in FIG. Figure 4 The palm seat driving members 30 may include two, and the output ends of the two palm seat driving members 30 may be connected to the two ends of the connecting shaft 24 respectively, so that the two palm seat driving members 30 cooperate to drive the palm seat 20 to rotate relative to the arm 10 in multiple directions.

[0081] For example, the output ends of the two palm seat driving members 30 can move synchronously and in the same direction to drive the palm seat 20 to rotate relative to the arm 10, and the output ends of the two palm seat driving members 30 can move synchronously and in opposite directions to drive the palm seat 20 to rotate relative to the arm 10, thereby increasing the degree of freedom of the connection between the palm seat 20 and the arm 10, increasing the movable range of the palm seat 20, and improving the flexibility of the movement of the palm seat 20, which can improve the anthropomorphic effect of the robotic arm 100. It can be understood that the palm seat driving member 30 and the arm 10 can be rotatably connected, and the palm seat driving member 30 can be a linear push rod motor, and the output end of the push rod of the linear push rod motor can be rotatably connected to the connecting shaft 24, so that the palm seat driving member 30 can drive the palm seat 20 to rotate relative to the arm 10, which can improve the flexibility of the movement of the palm seat 20.

[0082] like Figure 2 、 Figure 3 、 Figure 8 、 Figure 11 、 Figure 12 、 Figure 13 and Figure 16 As shown, in some embodiments, the output end of the palm seat driving member 30 can be connected to the connecting shaft 24 through a ball joint assembly 25, that is, the output end of the palm seat driving member 30 can be connected to the connecting shaft 24 by a ball joint, which can increase the degree of freedom of the connection between the palm seat driving member 30 and the palm seat 20, and the palm seat driving member 30 and the arm 10 can be connected by a ball joint, which can increase the degree of freedom of the connection between the palm seat driving member 30 and the arm 10.

[0083] As a result, the palm seat driving member 30 can fine-tune its own position when the palm seat 20 moves, which can increase the range of motion of the palm seat 20 and improve the flexibility of the movement of the palm seat 20. The first boss 21 can have an avoidance notch 213. The avoidance notch 213 can avoid the ball joint assembly 25 when the palm seat driving member 30 drives the connecting shaft 24 to rotate to drive the palm seat 20 to rotate, which can prevent the ball joint assembly 25 from interfering with the palm seat 20 when the palm seat 20 rotates relative to the arm 10, thereby increasing the movable range of the palm seat 20 and improving the reliability of the movement of the palm seat 20.

[0084] It can be understood that the ball joint assembly 25 may include a ball head and a ball head seat. The ball head seat can be set at the output end of the palm seat driver 30. The ball head can be fixedly connected to the two ends of the connecting shaft 24, and the connecting shaft 24 can be matched with the ball head and the ball head seat. When the palm seat 20 moves, the palm seat driver 30 can provide power without interfering with the palm seat 20, and can also absorb the alignment error caused by manufacturing error or wear to a certain extent.

[0085] like Figure 2 、 Figure 3 、 Figure 8 、 Figure 11 、 Figure 12 、 Figure 13 and Figure 16 As shown, according to some embodiments of the present invention, the palm seat 20 may further include a connecting member 26, which may be rotatably connected to the first boss 21 via a first rotating shaft 27, and the arm 10 and the connecting member 26 may be rotatably connected via a second rotating shaft 28, thereby realizing a rotatable connection between the palm seat 20 and the wall portion, so that the two palm seat driving members 30 cooperate with each other, thereby driving the palm seat 20 to rotate relative to the arm 10 around the first rotating shaft 27, and thereby driving the palm seat 20 to rotate relative to the arm 10 around the second rotating shaft 28, thereby increasing the degree of freedom of the connection between the palm seat 20 and the arm 10, thereby increasing the movable range of the palm seat 20, and thereby improving the flexibility of the palm seat 20 movement, thereby improving the anthropomorphic effect of the robotic arm 100.

[0086] like Figure 2 、 Figure 3 、 Figure 8 、 Figure 11 、 Figure 12 and Figure 13 As shown, the extension directions of the axis of the first rotating shaft 27, the axis of the second rotating shaft 28 and the axis of the connecting shaft 24 can be different, so that the two palm seat driving components 30 can cooperate with each other to drive the palm seat 20 to rotate around the first rotating shaft 27 and the second rotating shaft 28 relative to the arm 10 at the same time, which can enable the palm seat 20 to perform more complex movements, improve the flexibility of the palm seat 20, and improve the anthropomorphic effect of the robotic arm 100.

[0087] The axis of the first rotating shaft 27 can be along the third direction (such as Figure 2 The two palm seat driving members 30 can drive the palm seat 20 to rotate forward (such as the palm swings forward) or backward (such as the palm swings backward), and the axis of the second rotating shaft 28 can be along the second direction (such as the left and right direction). Figure 2 The palm rest 20 extends in the front-to-back direction as shown in the figure, so that the two palm rest driving members 30 can drive the palm rest 20 to rotate leftward (such as swinging the palm to the left) or rightward (such as swinging the palm to the right).

[0088] like Figure 13 、 Figure 14 、 Figure 15 and Figure 16 As shown, in some embodiments, the axis of the first rotating shaft 27 and the axis of the second rotating shaft 28 can be respectively parallel to the plate body 23, so that the palm seat 20 can rotate around the first rotating shaft 27 when the plate body 23 is parallel to the first rotating shaft 27, and the palm seat 20 can rotate around the second rotating shaft 28 when the plate body 23 is parallel to the second rotating shaft 28, so that the palm seat 20 can move in a more anthropomorphic posture, which is beneficial to improving the anthropomorphic effect of the robotic arm 100.

[0089] Among them, the axis of the second rotating shaft 28 can be perpendicular to the axis of the first rotating shaft 27, which is conducive to further adjusting the active posture of the palm seat 20, and can improve the anthropomorphic effect of the robotic arm 100. The axis of the second rotating shaft 28 and the axis of the first rotating shaft 27 do not intersect, which can improve the independence of the first rotating shaft 27 and the second rotating shaft 28, that is, the two palm seat driving components 30 can drive the palm seat 20 to rotate around the first rotating shaft 27 or the second rotating shaft 28, or, the two palm seat driving components 30 can drive the palm seat 20 to rotate around the first rotating shaft 27 and the second rotating shaft 28 at the same time, which can enable the palm seat 20 to perform more complex movements, improve the flexibility of the palm seat 20 movement, and improve the anthropomorphic effect of the robotic arm 100.

[0090] like Figure 2 、 Figure 3 、 Figure 8 、 Figure 11 、 Figure 12 、 Figure 13 and Figure 16 As shown, in some embodiments, the palm seat 20 may further include a second boss 22, the second boss 22 and the first boss 21 may be partially arranged opposite each other, and the connecting member 26 may be connected between the second boss 22 and the first boss 21 through a first rotating shaft 27, that is, the two ends of the first rotating shaft 27 (such as Figure 16 The left and right ends shown in the figure can be rotatably connected to the first boss 21 and the second boss 22 respectively, which can improve the support effect of the first rotating shaft 27, improve the reliability of the connection member 26 rotating relative to the plate body 23 through the first rotating shaft 27, and improve the reliability of the palm seat 20 rotating relative to the arm 10.

[0091] like Figure 2 、 Figure 3 、 Figure 8 、 Figure 11 、 Figure 12 、 Figure 13 and Figure 16 As shown, in some embodiments, the first boss 21, the second boss 22 and the plate body 23 can be integrally formed, which can improve the structural strength of the connection between the plate body 23 and the connecting member 26, and can improve the structural strength of the connection between the plate body 23 and the palm seat driving member 30, which is beneficial to improving the service life of the palm seat 20, facilitating maintenance, and facilitating processing, which is beneficial to reducing processing costs.

[0092] like Figure 1 、 Figure 2 、 Figure 3 and Figure 16As shown, in some embodiments, the first boss 21 can have a first mating segment 211 and a second mating segment 212, the first mating segment 211 can be connected to the plate body 23, and the connecting member 26 can be rotatably connected to the first mating segment 211, that is, the first mating segment 211 and the second boss 22 of the first boss 21 can be arranged relative to each other, and the first rotating shaft 27 can be rotatably connected to the first mating segment 211, and the second mating segment 212 can be arranged on the side of the first mating segment 211 away from the plate body 23 (such as Figure 16 upper side shown).

[0093] The second mating section 212 can extend along the extension direction of the connecting shaft 24, and the connecting shaft 24 and the second mating section 212 can be plugged in and matched, and the two ends of the connecting shaft 24 extend out of the second mating section 212 respectively, so that the output end of the palm seat driving member 30 is rotatably connected through the connecting shaft 24 and the second mating section 212 of the first boss 21, and at the same time, the distance between the second mating section 212 and the plate body 23 can be increased, and the connecting shaft 24 can be prevented from interfering with the plate body 23 when the palm seat 20 rotates relative to the arm 10, thereby increasing the range of movement of the palm seat 20, and improving the flexibility of the palm seat 20, and improving the anthropomorphic effect of the robotic arm 100.

[0094] like Figure 2 、 Figure 3 、 Figure 8 、 Figure 11 、 Figure 12 、 Figure 13 、 Figure 14 and Figure 16 As shown, in some embodiments, the palm seat driving member 30 can drive the palm seat 20 to rotate around the axis of the first rotating shaft 27 to rotate the palm seat 20 forward (such as swinging the palm forward) or backward (such as swinging the palm backward). In the initial state, the palm of the robotic arm 100 naturally hangs down and the palm faces the robot body 200. At this time, the relative angle between the palm seat 20 and the arm 10 is 0°.

[0095] The relative angle between the palm seat 20 and the arm 10 is a negative number when the palm seat 20 rotates forward, and the relative angle between the palm seat 20 and the arm 10 is a positive number when the palm seat 20 rotates backward. If the angle at which the palm seat 20 rotates forward is too large or the angle at which the palm seat 20 rotates backward is too small, the range of motion of the palm seat 20 and the range of motion of the human wrist deviate greatly, affecting the anthropomorphic effect of the robotic arm 100. Therefore, the angle at which the palm seat 20 rotates around the first rotation axis 27 can be limited to within the range of -15° to 45°, which can ensure that the range of motion of the palm seat 20 and the range of motion of the human wrist are roughly the same, thereby improving the anthropomorphic effect of the robotic arm 100.

[0096] like Figure 2 、 Figure 3 、 Figure 8 、 Figure 11 、 Figure 12 、 Figure 13 、 Figure 14 and Figure 16 As shown, in some embodiments, the palm seat driving member 30 can drive the palm seat 20 to rotate around the axis of the second rotating shaft 28 so that the palm seat 20 rotates to the left (such as the palm swings to the left) or to the right (such as the palm swings to the right). In the initial state, the palm of the robotic arm 100 naturally hangs down and the palm faces the robot body 200. At this time, the relative angle between the palm seat 20 and the arm 10 is 0°.

[0097] The relative angle between the palm seat 20 and the arm 10 is a negative number when the palm seat 20 rotates in a direction close to the robot body 200, and the relative angle between the palm seat 20 and the arm 10 is a positive number when the palm seat 20 rotates in a direction away from the robot body 200. Taking the right arm as an example, if the angle of rotation of the palm seat 20 to the right is too small or the angle of rotation to the left is too large, the deviation between the range of motion of the palm seat 20 and the range of motion of the human wrist is large, affecting the anthropomorphic effect of the robot arm 100. Therefore, the rotation angle of the palm seat 20 around the second rotation axis 28 can be limited to within the range of -50° to 85°, which can ensure that the range of motion of the palm seat 20 and the range of motion of the human wrist are roughly the same, and the anthropomorphic effect of the robot arm 100 can be improved.

[0098] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 6 、 Figure 8 、 Figure 9 and Figure 10 As shown, in some embodiments, the arm 10 may include a first arm 11 and a second arm 12, the first arm 11 may be connected between the second arm 12 and the shoulder 50, the arm body may further include a first arm driving member 111, the first arm driving member 111 may be arranged on the first arm 11, and the first arm driving member 111 may be connected to the second arm 12, the first arm driving member 111 may drive the second arm 12 to rotate around the eighth axis, or the first arm driving member 111 may drive the second arm 12 to rotate on a plane perpendicular to the eighth axis.

[0099] That is, when the second arm 12 rotates around the eighth axis, the eighth axis can translate in a direction perpendicular to itself, which can increase the range of motion of the second arm 12 and improve the flexibility of the second arm 12. Figure 1 The first arm driving member 111 extends in the left and right directions as shown, so that the first arm driving member 111 can drive the second arm 12 to rotate forward (such as the forearm is raised) or rotate backward (such as the forearm is dropped).

[0100] like Figure 1 、 Figure 8 、 Figure 9 and Figure 10 As shown, in some embodiments, the first arm driving member 111 can be rotatably connected to the first arm 11, and the first arm driving member 111 can be connected to the second arm 12 through the connecting rod assembly 40. The first arm driving member 111 can be a linear push rod motor, and the driving end of the push rod of the linear push rod motor can be rotatably connected to the connecting rod of the connecting rod assembly 40, so that the first arm driving member 111 can drive the second arm 12 to rotate relative to the first arm 11, which can increase the range of movement of the second arm 12 and improve the flexibility of the movement of the second arm 12.

[0101] Of course, the driving end of the push rod and the connecting rod assembly 40 can be connected by a ball joint, which can increase the degree of freedom of the connection between the first arm driving component 111 and the second arm 12, and the first arm driving component 111 and the first arm 11 can be connected by a ball joint, which can increase the degree of freedom of the connection between the first arm driving component 111 and the first arm 11, so that the first arm driving component 111 can fine-tune its own position when the second arm 12 moves, which can increase the range of movement of the second arm 12 and improve the flexibility of the movement of the second arm 12.

[0102] like Figure 1 、 Figure 8 、 Figure 9 and Figure 10 As shown, in some embodiments, the second arm 12 may include a main body 121 and a connecting seat 122, the connecting seat 122 may be rotatably connected to the main body 121, the first arm driving member 111 may be installed on the first arm 11, and the first arm driving member 111 may be connected to the connecting seat 122 of the second arm 12 through the connecting rod assembly 40, so that the first arm driving member 111 can drive the second arm 12 to rotate relative to the first arm 11, the main body 121 can be connected to the palm seat 20, the palm seat driving member 30 can be installed on the main body 121, and the palm seat driving member 30 can be connected to the palm seat 20, so that the palm seat driving member 30 can drive the palm seat 20 to rotate relative to the second arm 12.

[0103] The arm body may further include a second arm driving member 123 , which may be disposed on the connecting seat 122 and connected to the body 121 , and may drive the body 121 to rotate relative to the connecting seat 122 around the ninth axis.

[0104] The ninth axis and the eighth axis have different extending directions. For example, the ninth axis may extend in the first direction (eg Figure 1The first arm driving member 111 and the second arm driving member 123 can cooperate with each other, so that the second arm 12 can rotate around the eighth axis and the ninth axis at the same time, which can make the second arm 12 perform more complex movements, improve the flexibility of the second arm 12 and enhance the anthropomorphic effect of the humanoid robot 1000.

[0105] The robotic arm drive structure 300 and the arm 10 can cooperate with each other so that the second arm 12 can rotate around the first axis, the second axis, the eighth axis and the ninth axis at the same time. The shoulder 50 and the arm 10 can cooperate with each other so that the second arm 12 can rotate around the third axis, the fourth axis, the fifth axis, the eighth axis and the ninth axis at the same time. The shoulder 50, the robotic arm drive structure 300 and the arm 10 can cooperate with each other so that the second arm 12 can rotate around the first axis, the second axis, the third axis, the fourth axis, the fifth axis, the eighth axis and the ninth axis at the same time. This allows the second arm 12 to perform more complex movements, improves the flexibility of the second arm 12, and improves the anthropomorphic effect of the humanoid robot 1000.

[0106] Furthermore, the robotic arm drive structure 300 and the palm seat drive component 30 can cooperate with each other so that the palm seat 20 can rotate around the first axis, the second axis, the sixth axis and the seventh axis at the same time, the shoulder 50 and the palm seat drive component 30 can cooperate with each other so that the palm seat 20 can rotate around the third axis, the fourth axis, the fifth axis, the sixth axis and the seventh axis at the same time, the arm 10 and the palm seat drive component 30 can cooperate with each other so that the palm seat 20 can rotate around the sixth axis, the seventh axis, the eighth axis and the ninth axis at the same time, the robotic arm drive structure 300, the shoulder 50 and the palm seat drive component 30 can cooperate with each other so that the palm seat 20 can rotate around the first axis, the second axis, the third axis, the fourth axis, the fifth axis, the sixth axis and the seventh axis at the same time.

[0107] The robotic arm driving structure 300, the arm 10 and the palm seat driving component 30 can cooperate with each other so that the palm seat 20 can rotate around the first axis, the second axis, the sixth axis, the seventh axis, the eighth axis and the ninth axis at the same time. The shoulder 50, the arm 10 and the palm seat driving component 30 can cooperate with each other so that the palm seat 20 can rotate around the third axis, the fourth axis, the fifth axis, the sixth axis, the seventh axis, the eighth axis and the ninth axis at the same time. The robotic arm driving structure 300, the shoulder 50, the arm 10 and the palm seat driving component 30 can cooperate with each other so that the palm seat 20 can rotate around the first axis, the second axis, the third axis, the fourth axis, the fifth axis, the sixth axis, the seventh axis, the eighth axis and the ninth axis at the same time. This allows the palm seat 20 to perform more complex movements, improves the flexibility of the palm seat 20, and improves the anthropomorphic effect of the humanoid robot 1000.

[0108] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 8 、 Figure 17 、 Figure 18 、 Figure 19 、 Figure 20 、 Figure 21 、 Figure 22 As shown, in some embodiments, the first arm 11 and the second arm 12 can be rotatably connected, the first arm driving member 111 can be set on the first arm 11, the connecting rod assembly 40 can connect the first arm 11 and the second arm 12, and the first arm driving member 111 can be connected to the connecting rod assembly 40 so that the first arm driving member 111 can drive the second arm 12 to move between the initial position and the extreme position.

[0109] That is, the connecting rod assembly 40 can be arranged at the connection between the first arm 11 and the second arm 12 (such as the elbow joint), and the first arm driving component 111 can be installed on the first arm 11 and drive the second arm 12 to rotate relative to the first arm 11 through the connecting rod assembly 40, which can reduce the space occupied by the first arm driving component 111 at the connection between the first arm 11 and the second arm 12, so that the space at the connection between the first arm 11 and the second arm 12 can be more compact, and the overall robotic arm 100 can be more compact, and the first arm driving component 111 can be prevented from protruding from the human body envelope, thereby improving the aesthetics of the robotic arm 100 and improving the anthropomorphic effect of the robotic arm 100.

[0110] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 8 、 Figure 17 and Figure 18As shown, according to some embodiments of the present invention, the connecting rod assembly 40 can be hinged to the lower part of the first arm 11, the connecting rod assembly 40 can be hinged to the upper part of the second arm 12, the connecting rod assembly 40 can be hinged to the driving end of the first arm driving member 111, and the first arm 11 can be hinged to the second arm 12, and the above-mentioned four hinge points can form a polygon, which can be a quadrilateral.

[0111] That is, the first arm 11, the second arm 12 and the connecting rod assembly 40 can cooperate with each other to form a four-bar linkage between the first arm 11 and the second arm 12, which is beneficial to increase the rotation angle range of the second arm 12 relative to the first arm 11 (such as the maximum rotation angle can reach 145°), and is beneficial to improve the relative rotation efficiency of the second arm 12 and the first arm 11, thereby increasing the range of movement of the second arm 12, and improving the flexibility of the second arm 12, and improving the anthropomorphic effect of the robotic arm 100.

[0112] It can be understood that the first arm driving member 111 can be rotatably connected to the first arm 11, and the first arm driving member 111 can be connected to the second arm 12 through the connecting rod assembly 40. The first arm driving member 111 can be a linear push rod motor, and the driving end of the linear push rod motor can be rotatably connected to the connecting rod of the connecting rod assembly 40, so that the first arm driving member 111 can drive the second arm 12 to rotate relative to the first arm 11, which can increase the range of movement of the second arm 12 and improve the flexibility of the movement of the second arm 12.

[0113] Of course, the driving end of the first arm driving component 111 and the connecting rod assembly 40 can be connected by a ball joint, which can increase the degree of freedom of the connection between the first arm driving component 111 and the connecting rod assembly 40, and the first arm driving component 111 and the first arm 11 can be connected by a ball joint, which can increase the degree of freedom of the connection between the first arm driving component 111 and the first arm 11, so that the first arm driving component 111 can fine-tune its own position when the second arm 12 moves, which can increase the range of movement of the second arm 12 and improve the flexibility of the movement of the second arm 12.

[0114] like Figure 19 、 Figure 20 、 Figure 21 and Figure 22As shown, in some embodiments, the connecting rod assembly 40 may include a first connecting rod 41 and a second connecting rod 42, and the two ends of the first connecting rod 41 can be rotatably connected to the driving end of the first arm 11 and the first arm driving member 111, respectively, so that the hinge point located at the driving end of the first arm driving member 111 can rotate around the hinge point located between the first connecting rod 41 and the first arm 11, and the two ends of the second connecting rod 42 can be rotatably connected to the driving end of the first arm driving member 111 and the second arm 12, respectively, so that the first arm driving member 111 can drive the second connecting rod 42 to move, thereby driving the second arm 12 to rotate relative to the first arm 11.

[0115] Among them, the angle between the first link 41 and the second link 42 can be less than 90°, which is conducive to the first arm driving component 111 driving the second arm 12 to rotate in the direction close to the first arm 11 (such as lifting the forearm) through the connecting rod assembly 40, which is conducive to optimizing the above-mentioned four-bar linkage, increasing the rotation angle range of the second arm 12 relative to the first arm 11, and improving the minimum equivalent torque of the second arm 12 when rotating relative to the first arm 11, and improving the relative rotation efficiency of the second arm 12 and the first arm 11, thereby increasing the range of movement of the second arm 12, and improving the flexibility of the second arm 12 movement, and improving the anthropomorphic effect of the robotic arm 100.

[0116] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 8 、 Figure 17 and Figure 18 As shown, in some embodiments, when the second arm 12 is in the initial position, the internal angle of the above-mentioned polygon at the hinge point of the first arm 11 and the second arm 12 can be greater than 90°, and the internal angle of the above-mentioned polygon at the hinge point of the first arm 11 and the first connecting rod 41 can be less than 90°, which is conducive to the first arm driving member 111 driving the second arm 12 to rotate in the direction close to the first arm 11 through the connecting rod assembly 40 (such as lifting the forearm), which is conducive to optimizing the above-mentioned four-bar linkage, increasing the rotation angle range of the second arm 12 relative to the first arm 11, and improving the minimum equivalent torque of the second arm 12 when rotating relative to the first arm 11, and improving the relative rotation efficiency of the second arm 12 and the first arm 11, thereby increasing the range of movement of the second arm 12, and improving the flexibility of the second arm 12 movement, and improving the anthropomorphic effect of the robotic arm 100.

[0117] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 8 、 Figure 21 and Figure 22As shown, in some embodiments, the first arm 11 may include a support frame 112, and one end of the support frame 112 close to the second arm 12 (such as Figure 21 The lower end shown in the figure may include two supporting legs 1121, and the second arm 12 may be rotatably connected to the two supporting legs 1121 respectively, so that the second arm 12 can rotate relative to the first arm 11, and the first connecting rod 41 may be rotatably connected to one supporting leg 1121, which can ensure that the first arm driving member 111 can normally drive the second arm 12 to rotate relative to the first arm 11 through the connecting rod assembly 40. Alternatively, the first connecting rod 41 can be rotatably connected to the two supporting legs 1121, which can improve the reliability and stability of the rotation of the second arm 12 relative to the first arm 11.

[0118] Among them, an avoidance space 1122 can be formed between the two legs 1121. When the second arm 12 is in the extreme position, part of the second arm 12 can be located in the avoidance space 1122, which can achieve avoidance of the second arm 12 and prevent the second arm 12 from interfering with the first arm 11 during the rotation process, thereby increasing the range of movement of the second arm 12, and improving the flexibility of the second arm 12, which can improve the anthropomorphic effect of the robotic arm 100.

[0119] like Figure 19 、 Figure 20 、 Figure 21 and Figure 22 As shown, in some embodiments, the first connecting rod 41 may include a first support rod 411 and two second support rods 412. The first support rod 411 and the two second support rods 412 may be connected to each other. The first support rod 411 may be connected to the driving end of the first arm driving member 111, that is, one end of the first support rod 411 may be hinged to the driving end, and the two second support rods 412 may be located between the two support legs 1121, and the two second support rods 412 may be respectively connected to the two support legs 1121 one by one.

[0120] That is, one end of the two second support rods 412 can be connected to the other end of the first support rod 411 respectively, and the two second support rods 412 can be located on opposite sides of the first support rod 411 (such as Figure 17 The other ends of the two second support rods 412 can be hinged to the two support legs 1121 respectively, so that the first connecting rod 41 and the two support legs 1121 can be rotatably connected, thereby improving the reliability and stability of the rotation of the second arm 12 relative to the first arm 11.

[0121] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 8 and Figure 21As shown, in some embodiments, the two support legs 1121 can be connected by a fixed shaft 114, which can improve the structural strength of the support frame 112 at the support legs 1121, and the above-mentioned four hinge points can be surrounded by a polygon, and the polygon can be located on the radial outer periphery of the fixed shaft 114. On the one hand, the support legs 1121 can be evenly stressed when the second arm 12 rotates relative to the first arm 11, which can improve the service life of the support frame 112. On the other hand, it can prevent the above-mentioned four-bar linkage from interfering with the fixed shaft 114 when the second arm 12 rotates relative to the first arm 11, which can improve the reliability and stability of the rotation of the second arm 12 relative to the first arm 11.

[0122] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 8 、 Figure 21 and Figure 22 As shown, in some embodiments, the support frame 112 may define a receiving cavity 1123, and the receiving cavity 1123 may have one side (such as Figure 22 The front side shown in FIG1 is open, and the first arm driving member 111 can be located on the open side of the support frame 112 (as shown in FIG1 ). Figure 22 The front side is shown in FIG, and when the first arm driving member 111 drives the second arm 12, a portion of the first arm driving member 111 can extend into the accommodating cavity 1123.

[0123] In this way, the first arm driving component 111 can be hidden, the aesthetics of the robot arm 100 can be improved, the first arm driving component 111 can be protected, the reliability of the rotation of the second arm 12 relative to the first arm 11 can be improved, and at the same time, the space occupied by the first arm driving component 111 at the connection between the first arm 11 and the second arm 12 can be reduced, so that the robot arm 100 as a whole can be more compact, the first arm driving component 111 can be prevented from protruding from the human body envelope, and the anthropomorphic effect of the robot arm 100 can be improved.

[0124] The first arm 11 may further include a support plate 113, an end of the support frame 112 away from the second arm 12 (such as Figure 21 The upper end shown in the figure can be connected to the support plate 113, and the first arm driving member 111 can be connected to the first arm 11 through a ball joint or a universal joint, which can increase the degree of freedom of the connection between the first arm driving member 111 and the first arm 11, so that the first arm driving member 111 can fine-tune its own position when the second arm 12 moves, thereby increasing the range of movement of the second arm 12 and improving the flexibility of the movement of the second arm 12.

[0125] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 8and Figure 21 As shown, in some embodiments, the first arm driving member 111 may include a first arm motor 1111, a telescopic rod 1112 and a connecting shaft 1113. The first arm motor 1111 can drive the telescopic rod 1112 to extend or shorten. The axis of the connecting shaft 1113 can be perpendicular to the telescopic direction of the telescopic rod 1112, and the middle part of the connecting shaft 1113 can be rotatably connected to the telescopic rod 1112.

[0126] The first connecting rod 41 and the second connecting rod 42 can be connected to the two ends of the connecting shaft 1113 (such as Figure 21 The left and right ends (as shown) are rotatably connected, so that the telescopic rod 1112 of the first arm motor 1111 can be telescoped to drive the connecting rod assembly 40 to move and drive the second arm 12 to rotate relative to the first arm 11, thereby ensuring that the first arm driving member 111 can normally drive the second arm 12 to rotate relative to the first arm 11 through the connecting rod assembly 40, and can improve the reliability and stability of the rotation of the second arm 12 relative to the first arm 11.

[0127] like Figure 17 and Figure 18 As shown, according to some embodiments of the present invention, the angle at which the second arm 12 rotates relative to the first arm 11 is the swing angle of the second arm 12. If the swing angle of the second arm 12 is too large, the anthropomorphism of the robotic arm 100 is affected. Therefore, the swing angle of the second arm 12 can be limited to a range of 0-145°, the range of motion of the second arm 12 can be increased, and the flexibility of the second arm 12 can be improved, thereby improving the anthropomorphic effect of the robotic arm 100. When the second arm 12 is in the initial position, the angle between the second arm 12 and the first arm 11 is the largest (the forearm hangs down naturally), and when the second arm 12 is in the extreme position, the angle between the second arm 12 and the first arm 11 is the smallest (the forearm is raised).

[0128] The other components and operations of the humanoid robot 1000 according to the embodiments of the present invention are well known to those skilled in the art and will not be described in detail here. In the description of the present invention, "first feature" and "second feature" may include one or more of these features. The vertical direction, left-right direction, and front-back direction are based on the vertical direction, left-right direction, and front-back direction shown in the figure.

[0129] In the description of the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or the first and second features being in contact not directly but through another feature therebetween. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is at a higher level than the second feature.

[0130] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative uses of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0131] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. A humanoid robot, characterized in that: include: Robot body; A robotic arm, the robotic arm comprising a connecting bracket and an arm body, the connecting bracket being movably mounted on the robot body, and the arm body being disposed on the connecting bracket; A robotic arm driving structure is provided on the robot body and connected to the connecting bracket, and is used to drive the connecting bracket to move, thereby driving the arm body to move.

2. The humanoid robot according to claim 1, characterized in that The robotic arm driving structure includes a first robotic arm driving component and a second robotic arm driving component. The connecting bracket is suitable for rotating around a first axis under the drive of the first robotic arm driving component. The connecting bracket is suitable for rotating around a second axis or rotating in a plane perpendicular to the second axis under the drive of the second robotic arm driving component. The extension directions of the first axis and the second axis are different.

3. The humanoid robot according to claim 2, characterized in that: The connecting bracket has a first connecting portion and a second connecting portion, wherein the first connecting portion and the second connecting portion are arranged opposite to each other along the extending direction of the first axis. The first connecting part and the second connecting part are respectively connected to the robot body through a connecting fork arm, one end of each connecting fork arm is rotatably connected to the robot body, and the first connecting part and the second connecting part are respectively rotatably connected to the other end of the corresponding connecting fork arm.

4. The humanoid robot according to claim 1, wherein: The arm body includes a shoulder and an arm, the shoulder is connected between the connecting bracket and the arm, the shoulder includes a shoulder bracket, a first shoulder driving member and a second shoulder driving member, the first shoulder driving member is installed on the connecting bracket and connected to the shoulder bracket, and is used to drive the shoulder bracket to rotate around a third axis, the second shoulder driving member is installed on the shoulder bracket and connected to the arm, and is used to drive the arm to rotate around a fourth axis, and the extension directions of the third axis and the fourth axis are different.

5. The humanoid robot according to claim 4, characterized in that: The shoulder bracket includes a first shoulder bracket and a second shoulder bracket, the first shoulder driving member is connected to the first shoulder bracket, the second shoulder driving member is connected to the second shoulder bracket, part of the first shoulder bracket and part of the second shoulder bracket are arranged opposite to each other and a third shoulder driving member is provided therebetween, the third shoulder driving member is used to drive the second shoulder bracket to rotate relative to the first shoulder bracket around a fifth axis, wherein the third axis, the fourth axis and the fifth axis intersect with each other.

6. The humanoid robot according to claim 4, characterized in that: The connecting bracket includes an annular base body and multiple connecting parts, the connecting parts are arranged on the outer periphery of the annular base body and extend toward the direction close to the robot body, some of the connecting parts are used to connect the robot body, and some of the connecting parts are used to connect the robotic arm drive structure, the first shoulder drive member is arranged on one side of the annular base body close to the robot body, and the shoulder bracket is arranged on the other side of the annular base body.

7. The humanoid robot according to claim 4, characterized in that: The arm body also includes a palm seat, which is movably connected to the end of the arm away from the shoulder. The arm body also includes two palm seat driving members, which are arranged on the arm. The output end of each palm seat driving member is connected to the palm seat. The palm seat is suitable for rotating around the sixth axis and / or the seventh axis under the drive of the palm seat driving member, and the extension directions of the sixth axis and the seventh axis are different.

8. The humanoid robot according to claim 4, characterized in that: The arm portion includes a first arm portion and a second arm portion, the first arm portion is connected between the second arm portion and the shoulder portion, and the arm body also includes a first arm portion driving component, which is provided on the first arm portion and connected to the second arm portion, and is used to drive the second arm portion to rotate around an eighth axis or rotate in a plane perpendicular to the eighth axis.

9. The humanoid robot according to claim 8, characterized in that: The first arm driving component is a linear push rod motor, and the first arm driving component is connected to the second arm through a connecting rod assembly.

10. The humanoid robot according to claim 8, characterized in that: The second arm portion includes a main body and a connecting seat, the connecting seat is rotatably connected to the main body, and the main body is connected to the palm seat. The arm body also includes a second arm driving component, which is arranged on the connecting seat and connected to the main body, and is used to drive the main body to rotate around a ninth axis relative to the connecting seat. The extension directions of the ninth axis and the eighth axis are different.

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