Humanoid robot arm

Abstract

The invention relates to the technical field of robot arms, and discloses a humanoid robot arm which comprises a big arm, a small arm and a driving unit, the near end of the small arm is movably connected to the tail end of the large arm; the wrist is movably connected to the far end of the forearm; the driving unit drives the small arm to bend relative to the large arm through the transmission assembly and drives the wrist to bend or rotate relative to the small arm. According to the humanoid robot arm, the driving unit is arranged in the large arm, the small arm and the wrist are driven to act through the transmission assembly, the weight of the tail end of the robot arm is reduced, the motion inertia of the tail end of the arm is reduced, and the motion flexibility and motion precision of the whole arm are improved.

Description

Technical Field

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

[0002] A humanoid robot, also known as a bionic man, is a robot designed to imitate human appearance and behavior, particularly a robot with a similar appearance to humans. In recent years, with the development of artificial intelligence, humanoid robots have become more intelligent and can perform tasks in a variety of scenarios, greatly improving their versatility.

[0003] The degrees of freedom (movement) of traditional humanoid robot arms are basically achieved by several joint motors installed at various joints. When the joint motors are arranged in the middle or end of the arm, the motion inertia of the entire arm end increases, affecting the movement flexibility and transmission accuracy of the entire arm.

[0004] Therefore, it is necessary to propose a humanoid robot arm to solve the problems existing in the prior art. Summary of the Invention

[0005] The Summary of the Invention introduces a series of simplified concepts that will be further described in the Detailed Description of the Invention. The Summary of the Invention is not intended to limit the key features and essential features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0006] In order to solve the above problems, the present invention provides a humanoid robot arm, comprising:

[0007] The big arm has a drive unit installed inside;

[0008] The forearm has a proximal end movably connected to the distal end of the upper arm;

[0009] a wrist, movably connected to the distal end of the forearm;

[0010] The transmission assembly drives the forearm to bend relative to the upper arm through the transmission assembly, and drives the wrist to bend or rotate relative to the forearm.

[0011] Preferably, the distal end of the upper arm is rotated to set a first connecting axis, the proximal end of the lower arm is connected to the first connecting axis, the distal end of the lower arm is rotated to set a second connecting axis, and the wrist is connected to the second connecting axis.

[0012] Preferably, the transmission assembly includes a first sprocket and a second sprocket, the first sprocket is connected to the power output end of the drive unit, the second sprocket is arranged on the first connecting shaft, the first chain is engaged with the first sprocket, and the second chain is engaged with the second sprocket, and the first chain and the second chain are connected into a ring through two first drive ropes.

[0013] Preferably, the transmission assembly also includes a third sprocket arranged on the first connecting shaft and a fourth sprocket arranged on the second connecting shaft, the third sprocket is engaged with a third chain, the fourth sprocket is engaged with a fourth chain, and the third chain and the fourth chain are connected into a ring through two second drive ropes.

[0014] Preferably, the transmission assembly further comprises a fifth sprocket arranged on the first connecting shaft and a rotating wheel rotatably arranged on the second connecting shaft;

[0015] The wrist includes a swinging part connected to the second connecting shaft and a rotating part rotatably arranged at the far end of the swinging part. A sixth sprocket is fixedly arranged on the end face of the rotating part close to the second connecting shaft. A sixth chain is meshed on the sixth sprocket. A fifth chain is meshed on the fifth sprocket. The fifth chain and the sixth chain are connected to form a ring through two third drive ropes. The third drive rope passes around the reversing wheel group and the rotating wheel.

[0016] Preferably, the reversing wheel set includes two first reversing wheels and two second reversing wheels, and the first reversing wheels and the second reversing wheels are used to guide the third driving rope connected to both ends of the sixth chain into the outer edge of the rotating wheel.

[0017] Preferably, a tensioning wheel is further included, which is arranged between the two first driving ropes and is used to adjust the tension of the first driving ropes.

[0018] Preferably, the tensioning wheel includes a sleeve, at least three ears are arranged along the circumferential direction on the outer circumference of the sleeve, a support ring is arranged on the outside of the sleeve, the sleeve is rotatably connected to the support ring, a sliding groove corresponding to the number of ears is provided on the outer circumference of the support ring, a sliding rod is slidingly arranged in the sliding groove, an arc block is fixedly arranged at one end of the sliding rod located outside the support ring, one end of the sliding rod located inside the support ring is rotatably connected to one end of the connecting rod, and the other end of the connecting rod is rotatably connected to the ear.

[0019] Preferably, a first spline is provided on the outer circumference of one end of the first connecting shaft, the length of the first spline is smaller than the length of the first connecting shaft, a spline sleeve is slidingly provided on the first connecting shaft, a second spline is provided on the inner circumference of the spline sleeve at the end facing away from the first spline, and the second spline is plugged into the first spline.

[0020] Preferably, the second sprocket, the third sprocket and the fifth sprocket are spaced apart on the spline sleeve, the thickness of the second sprocket is greater than the thickness of the third sprocket and the fifth sprocket, and the spline sleeve is spline-connected to the second sprocket, the third sprocket and the fifth sprocket;

[0021] Two first annular grooves are formed in the middle of the outer circumference of the spline sleeve at intervals along the circumferential direction, and second annular grooves are formed outside the two first annular grooves along the circumferential direction, wherein the distance between the second annular groove and the first annular groove is greater than the distance between the two first annular grooves;

[0022] The widths of the first annular groove and the second annular groove are the same as the thicknesses of the third sprocket and the fifth sprocket.

[0023] Compared with the prior art, the present invention has at least the following beneficial effects:

[0024] The humanoid robot arm described in the present invention sets the drive unit in the upper arm and drives the movement of the lower arm and wrist through the transmission component, which reduces the weight of the end of the robot arm, reduces the movement inertia of the end of the arm, and improves the movement flexibility and movement accuracy of the entire arm.

[0025] The humanoid robot arm of the present invention and other advantages, objectives and features of the present invention will be reflected in part through the following description, and in part will be understood by those skilled in the art through research and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0027] Figure 1 This is a schematic structural diagram of the humanoid robot arm disclosed in the present invention;

[0028] Figure 2 This is a schematic structural diagram of the forearm and wrist disclosed in the present invention;

[0029] Figure 3 This is a schematic structural diagram of the wrist disclosed in the present invention;

[0030] Figure 4 It is a structural schematic diagram of the tensioning wheel disclosed in the present invention;

[0031] Figure 5 This is a schematic structural diagram of the tensioning wheel disclosed in the present invention when tensioned;

[0032] Figure 6 This is a schematic structural diagram of the second sprocket, the third sprocket and the fifth sprocket disclosed in the present invention being installed on the first connecting shaft;

[0033] Figure 7 It is a structural schematic diagram of the spline sleeve disclosed in the present invention;

[0034] Figure 8 It is a schematic structural diagram of a cross-section of the spline sleeve disclosed in the present invention;

[0035] Figure 9 This is a schematic structural diagram of the first connecting shaft disclosed in the present invention.

[0036] Among them: 1. upper arm, 2. lower arm, 3. wrist, 4. first connecting shaft, 5. second connecting shaft, 6. first sprocket, 7. second sprocket, 8. first chain, 9. second chain, 10. first drive rope, 11. third sprocket, 12. fourth sprocket, 13. third chain, 14. fourth chain, 15. second drive rope, 16. fifth sprocket, 17. rotating wheel, 18. swing part, 19. rotating part, 20. sixth sprocket, 21. sixth chain, 22. fifth chain, 23. third drive rope, 24. first reversing wheel, 25. second reversing wheel, 26. tensioning wheel, 27. sleeve, 28. ear, 29. support ring, 30. slide rod, 31. arc block, 32. connecting rod, 33. first spline, 34 spline sleeve, 35. second spline, 36. first annular groove, 37. second annular groove. DETAILED DESCRIPTION

[0037] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments so that those skilled in the art can implement the invention with reference to the description.

[0038] It should be understood that terms such as “having”, “including” and “comprising” used herein do not preclude the existence or addition of one or more other elements or combinations thereof.

[0039] like Figures 1-9 As shown, the present invention provides a humanoid robot arm, comprising:

[0040] Big arm 1, with a drive unit inside;

[0041] The forearm 2 has its proximal end movably connected to the distal end of the upper arm 1;

[0042] a wrist 3, movably connected to the distal end of the forearm 2;

[0043] The transmission assembly and the driving unit drive the forearm 2 to bend relative to the upper arm 1 through the transmission assembly, and drive the wrist 3 to bend or rotate relative to the forearm 2.

[0044] Furthermore, the end of the upper arm 1 is rotated to set a first connecting axis 4, the proximal end of the lower arm 2 is connected to the first connecting axis 4, the distal end of the lower arm 2 is rotated to set a second connecting axis 5, and the wrist 3 is connected to the second connecting axis 5.

[0045] Furthermore, the transmission assembly includes a first sprocket 6 and a second sprocket 7. The first sprocket 6 is connected to the power output end of the drive unit, and the second sprocket 7 is arranged on the first connecting shaft 4. The first chain 8 is meshed with the first sprocket 6, and the second chain 9 is meshed with the second sprocket 7. The first chain 8 and the second chain 9 are connected into a ring through two first drive ropes 10.

[0046] Furthermore, the transmission assembly also includes a third sprocket 11 arranged on the first connecting shaft 4 and a fourth sprocket 12 arranged on the second connecting shaft 5. The third sprocket 11 is meshed with a third chain 13, and the fourth sprocket 12 is meshed with a fourth chain 14. The third chain 13 and the fourth chain 14 are connected to form a ring through two second drive ropes 15.

[0047] Furthermore, the transmission assembly further includes a fifth sprocket 16 provided on the first connecting shaft 4 and a rotating wheel 17 rotatably provided on the second connecting shaft 5;

[0048] The wrist 3 includes a swinging part 18 connected to the second connecting shaft 5 and a rotating part 19 rotatably arranged at the distal end of the swinging part 18. A sixth sprocket 20 is fixedly arranged on the end face of the rotating part 19 close to the second connecting shaft 5. A sixth chain 21 is meshed with the sixth sprocket 20, and a fifth chain 22 is meshed with the fifth sprocket 16. The fifth chain 22 and the sixth chain 21 are connected to form a ring through two third drive ropes 23. The third drive rope 23 passes around the reversing wheel group and the rotating wheel 17.

[0049] Furthermore, the reversing wheel group includes two first reversing wheels 24 and two second reversing wheels 25 . The first reversing wheels 24 and the second reversing wheels 25 are used to guide the third driving rope 23 connected to both ends of the sixth chain 21 into the outer edge of the rotating wheel 17 .

[0050] Furthermore, a tensioning wheel 26 is included. The tensioning wheel 26 is arranged between the two first driving ropes 10 and is used to adjust the tension of the first driving ropes 10.

[0051] Furthermore, the tensioning wheel 26 includes a sleeve 27, at least three ears 28 are arranged along the circumferential direction on the outer circumference of the sleeve 27, a support ring 29 is arranged outside the sleeve 27, the sleeve 27 is rotatably connected to the support ring 29, and a sliding groove corresponding to the number of ears 28 is provided on the outer circumference of the support ring 29, a sliding rod 30 is slidingly arranged in the sliding groove, an arc block 31 is fixedly provided at one end of the sliding rod 30 located outside the support ring 29, the end of the sliding rod 30 located inside the support ring 29 is rotatably connected to one end of the connecting rod 32, and the other end of the connecting rod 32 is rotatably connected to the ear 28.

[0052] Furthermore, a first spline 33 is provided on the outer circumference of one end of the first connecting shaft 4, the length of the first spline 33 is smaller than the length of the first connecting shaft 4, a spline sleeve 34 is slidingly provided on the first connecting shaft 4, and a second spline 35 is provided on the inner circumference of the spline sleeve 34 at one end facing away from the first spline 33, and the second spline 35 is plugged into the first spline 33.

[0053] Furthermore, the second sprocket 7, the third sprocket 11 and the fifth sprocket 16 are spaced apart and sleeved on the spline sleeve 34. The thickness of the second sprocket 7 is greater than the thickness of the third sprocket 11 and the fifth sprocket 16. The spline sleeve 34 is spline-connected to the second sprocket 7, the third sprocket 11 and the fifth sprocket 16.

[0054] Two first annular grooves 36 are formed in the middle of the outer circumference of the spline sleeve 34 at intervals along the circumferential direction. Second annular grooves 37 are formed outside the two first annular grooves 36 along the circumferential direction. The distance between the second annular grooves 37 and the first annular grooves 36 is greater than the distance between the two first annular grooves 36.

[0055] The width of the first annular groove 36 and the second annular groove 37 is the same as the thickness of the third sprocket 11 and the fifth sprocket 16 .

[0056] The working principle of the above technical solution is:

[0057] The degrees of freedom (movement) of traditional humanoid robot arms are primarily achieved by several joint motors installed at various joints. Due to their significant weight, placing these motors at the middle or end of the arm increases the moment of inertia of the entire arm's end. This not only affects the arm's overall flexibility and transmission accuracy, but also severely restricts its load-bearing capacity, generally limiting the end-of-arm load to less than 10kg, and in some cases even to 3kg. Furthermore, due to the limitations of the joint motor mechanism, the required space for their placement is often large, making the overall size of a humanoid robot hand far larger than that of a normal human.

[0058] Therefore, the present invention proposes a new transmission structure to replace the traditional joint motor direct drive method. The weight of the transmission system is all concentrated in the large arm structure with smaller end motion inertia. While reducing the number of power sources, real-time coordinated control of various parts of the arm can still be achieved. In addition, a tensioning device is designed to adjust and compensate the system transmission accuracy, which makes up for the shortcomings of the existing humanoid robot arm drive scheme.

[0059] A humanoid robot arm, comprising:

[0060] Big arm 1, with a drive unit inside;

[0061] The forearm 2 has its proximal end movably connected to the distal end of the upper arm 1;

[0062] a wrist 3, movably connected to the distal end of the forearm 2;

[0063] The transmission assembly and the driving unit drive the forearm 2 to bend relative to the upper arm 1 through the transmission assembly, and drive the wrist 3 to bend or rotate relative to the forearm 2.

[0064] The bending of the small arm 2 relative to the large arm 1 refers to the bending of the small arm and the large arm 1 around the first connecting shaft 4, and the bending of the wrist 3 refers to the bending of the wrist 3 relative to the small arm 2 around the second connecting shaft 5.

[0065] The distal end of the large arm 1 is rotatably provided with the first connecting shaft 4, the proximal end of the small arm 2 is connected with the first connecting shaft 4, the distal end of the small arm 2 is rotatably provided with the second connecting shaft 5, and the wrist 3 is connected with the second connecting shaft 5.

[0066] The driving assembly drives the first connecting shaft 4 to rotate through the transmission assembly, thereby driving the small arm 2 to rotate relative to the large arm 1, and completing the bending action between the small arm 2 and the large arm 1.

[0067] The robot arm only needs to arrange one power source, and can real-time distribute power to each part of the arm according to the preset, simplifying the structure of the arm and improving the motion coordination control ability.

[0068] The transmission assembly includes a first sprocket 6 and a second sprocket 7, the first sprocket 6 is connected with the power output end of the driving unit, the second sprocket 7 is arranged on the first connecting shaft 4, the first sprocket 6 is meshingly provided with a first chain 8, the second sprocket 7 is meshingly provided with a second chain 9, and the first chain 8 and the second chain 9 are connected into a ring shape through two first driving ropes 10.

[0069] The driving assembly drives the first sprocket 6 to rotate, and drives the second sprocket 7 to rotate through the first chain 8, the first driving rope 10 and the second chain 9, thereby driving the first connecting shaft 4 to rotate, and the structure of connecting the first chain 8, the second chain 9 and the two first driving ropes 10 into a ring shape can overcome the slippage of rope transmission, improve the transmission accuracy, and also alleviate the problem of heavy weight when using chains for transmission.

[0070] The transmission scheme combining chains and ropes requires small space, especially at the small arm 2 and the wrist 3, greatly reducing the size of the humanoid robot arm, making it closer to the size of the human body.

[0071] The driving assembly can select a bidirectional speed reduction motor.

[0072] The transmission assembly further includes a third sprocket 11 arranged on the first connecting shaft 4 and a fourth sprocket 12 arranged on the second connecting shaft 5, the third sprocket 11 is meshingly provided with a third chain 13, the fourth sprocket 12 is meshingly provided with a fourth chain 14, and the third chain 13 and the fourth chain 14 are connected into a ring shape through two second driving ropes 15.

[0073] The transmission assembly further includes a fifth sprocket 16 arranged on the first connecting shaft 4 and a rotating wheel 17 rotatably arranged on the second connecting shaft 5.

[0074] The wrist 3 includes a swinging part 18 connected to the second connecting shaft 5 and a rotating part 19 rotatably arranged at the distal end of the swinging part 18. A sixth sprocket 20 is fixedly arranged on the end face of the rotating part 19 close to the second connecting shaft 5. A sixth chain 21 is meshed with the sixth sprocket 20, and a fifth chain 22 is meshed with the fifth sprocket 16. The fifth chain 22 and the sixth chain 21 are connected to form a ring through two third drive ropes 23. The third drive rope 23 passes around the reversing wheel group and the rotating wheel 17.

[0075] The swinging portion 18 can be configured as two opposite semicircular tubes. During installation, the two semicircular tubes are fixedly connected to form a cylindrical shape, and a groove is formed at the distal end of the swinging portion 18 for the rotating portion 19 to rotate.

[0076] The reversing wheel group includes two first reversing wheels 24 and two second reversing wheels 25 . The first reversing wheels 24 and the second reversing wheels 25 are used to guide the third driving rope 23 connected to both ends of the sixth chain 21 into the outer edge of the rotating wheel 17 .

[0077] A guide groove is provided on the outer circumferential surface of the rotating wheel 17 along the circumferential direction, and the guide groove is used to guide the third driving rope 23 .

[0078] The driving assembly drives the first connection 4 to rotate, and transmits power to the second connection shaft 5 and the sixth sprocket 20 respectively through the third sprocket 11 and the fifth sprocket 16 arranged on the first connection shaft 4. The second connection shaft 5 drives the swinging part 18 of the wrist 3 to rotate, and the sixth sprocket 20 drives the rotating part 19 of the wrist 3 to rotate. The motion reversal is accurately achieved through the reversing wheel group. Two first reversing wheels 24 and two second reversing wheels 25 are used to guide the two third drive ropes into the upper and lower outer edges of the rotating wheel 17 respectively, so that the rotating wheel 17 is located within the range of the end face of the rotating part 19, reducing the overall size.

[0079] The tensioning wheel 26 is arranged between the two first drive ropes 10. The tensioning wheel 26 is used to adjust the tension of the first drive rope 10. The tensioning wheel 26 includes a sleeve 27. At least three ears 28 are arranged on the outer circumference of the sleeve 27 in the circumferential direction. A support ring 29 is arranged outside the sleeve 27. The sleeve 27 is rotatably connected to the support ring 29. A sliding groove corresponding to the number of ears 28 is provided on the outer circumference of the support ring 29. A sliding rod 30 is slidingly arranged in the sliding groove. An arc block 31 is fixed at one end of the sliding rod 30 located outside the support ring 29. The end of the sliding rod 30 located inside the support ring 29 is rotatably connected to one end of the connecting rod 32, and the other end of the connecting rod 32 is rotatably connected to the ear 28.

[0080] The sleeve 27 is rotatably connected to the arm 1, and the support ring 29 can be fixedly connected to the arm 1. When the sleeve 27 rotates, the slide rod 30 is pushed radially outward through the connecting rod 32, thereby pushing the arc block 31 outward, and expanding the diameter of the circle formed by the multiple arc blocks 31, thereby tightening the first drive rope 10 and improving the transmission accuracy of the first drive rope 10. Similarly, the tensioning wheel 26 can also be set between the second drive rope 15 or the third drive rope 23.

[0081] A groove arranged along the circumferential direction is provided on the outer circumferential surface of the arc-shaped block 31 for limiting the first driving rope 10 and preventing the first driving rope 10 from slipping off.

[0082] Moreover, this tensioning method can make the tensioning amounts of two different tendon ropes in the same transmission system completely consistent, which can effectively ensure the transmission accuracy on both sides.

[0083] The slide groove is opened along the radial direction of the support 29, and the position of the slide groove is staggered with the position of the ear 28, leaving a position for the installation of the connecting rod 32. When the arc block 31 is retracted, the distance between the end of the connecting rod 32 connected to the arc block 31 and the axis of the sleeve 27 is greater than the distance between the end of the connecting rod 32 connected to the ear 28 and the axis of the sleeve 27, preventing the connecting rod 32 from being locked and unable to push the arc block 31 upward.

[0084] Using one driving component to drive the forearm 2 and the wrist 3 simultaneously will cause the forearm 2 and the wrist 3 to not be able to coordinate their movements, which will affect the flexibility of the robot arm.

[0085] A first spline 33 is provided on the outer circumference of one end of the first connecting shaft 4. The length of the first spline 33 is smaller than the length of the first connecting shaft 4. A spline sleeve 34 is slidingly provided on the first connecting shaft 4. A second spline 35 is provided on the inner circumference of the spline sleeve 34 at an end facing away from the first spline 33. The second spline 35 is plugged into the first spline 33.

[0086] The second sprocket 7, the third sprocket 11 and the fifth sprocket 16 are spaced apart and sleeved on the spline sleeve 34. The thickness of the second sprocket 7 is greater than that of the third sprocket 11 and the fifth sprocket 16. The spline sleeve 34 is spline-connected to the second sprocket 7, the third sprocket 11 and the fifth sprocket 16.

[0087] Two first annular grooves 36 are formed in the middle of the outer circumference of the spline sleeve 34 at intervals along the circumferential direction. Second annular grooves 37 are formed outside the two first annular grooves 36 along the circumferential direction. The distance between the second annular grooves 37 and the first annular grooves 36 is greater than the distance between the two first annular grooves 36.

[0088] The width of the first annular groove 36 and the second annular groove 37 is the same as the thickness of the third sprocket 11 and the fifth sprocket 16 .

[0089] In order to achieve the bending of the forearm 2 and the bending or rotation of the wrist 3, the movements can be coordinated, that is, they can be moved simultaneously or separately, a first spline 33 is provided on the outer circumference of one end of the first connecting shaft 4, and the length of the first spline 33 is less than the length of the first connecting shaft 4. A second spline 35 is provided on the end of the inner circumference of the spline sleeve 34 away from the first spline 33, and the length of the second spline 35 is less than the length of the spline sleeve 34. The second sprocket 7 is sleeved on the outer circumference of the spline sleeve 34 and is spline-connected to the spline sleeve 34. During the transmission process When the second sprocket 7 drives the spline sleeve 34, the spline sleeve 34 can move along the axial direction of the first connecting shaft 4. When the first spline 33 is engaged with the second spline 35, the second sprocket 7 drives the first connecting shaft 4 to rotate through the spline sleeve 34, thereby driving the forearm 2 to move. When the first spline 33 is not engaged with the second spline 35, when the second sprocket 7 rotates, the spline sleeve 34 will not drive the first connecting shaft 4 to rotate. At this time, the forearm has no movement, and the spline sleeve 34 can drive the wrist 3 to move, thereby ensuring that the movements of the forearm 2 and wrist 3 do not interfere with each other.

[0090] The second sprocket 7, the third sprocket 11 and the fifth sprocket 16 are spaced apart and sleeved on the spline sleeve 34, and shaft sleeves are provided between the second sprocket 7, the third sprocket 11 and the fifth sprocket 16, between the second sprocket 7 and the inner side of the boom, and between the fifth sprocket 16 and the inner side of the boom, so as to ensure the axial position of the second sprocket 7, the third sprocket 11 and the fifth sprocket 16 on the spline sleeve 34 and prevent the second sprocket 7, the third sprocket 11 and the fifth sprocket 16 from moving along the axis.

[0091] The second sprocket 7, the third sprocket 11 and the fifth sprocket 16 are spline-connected with the spline sleeve 34. When the splines are engaged, the spline sleeve 34 drives the sprockets to rotate. When the splines are not engaged, the spline sleeve 34 cannot drive the sprockets to rotate.

[0092] The distance between the second annular groove 37 and the first annular groove 36 refers to the distance between the first annular groove 36 and the second annular groove 37 close to the second annular groove 37. The difference between the distance between the second annular groove 37 and the first annular groove 36 and the distance between the two first annular grooves 36 is greater than the width of the first annular groove 36.

[0093] The distance between the first annular grooves 36 refers to the distance between the centers of the two first annular grooves 36 , and the distance between the second annular groove 37 and the first annular groove 36 refers to the distance between the center of the second annular groove 37 and the center of the first annular groove 36 .

[0094] In the initial position, the right end of the first spline 33 is combined with the left end of the second spline 35, the third sprocket 11 and the fifth sprocket 16 are respectively located in the two first annular grooves 36, the splines of the third sprocket 11 and the fifth sprocket 16 cannot be combined with the splines of the spline sleeve 34, and the driving assembly only drives the forearm to move.

[0095] When the wrist 3 needs to move, the spline sleeve 34 is moved to the left. When the moving distance reaches the thickness of the third sprocket 11, the splines of the third sprocket 11 and the fifth sprocket 16 are combined with the splines of the spline sleeve 34, which can realize the bending of the forearm 2 and the bending and rotation of the wrist 3.

[0096] Continue to move the spline sleeve 34 to the left. When the first annular groove 36 on the right is aligned with the fifth sprocket 16, the spline sleeve 34 cannot drive the fifth sprocket 16 to rotate. However, since the distance between the second annular groove 37 and the first annular groove 36 is greater than the distance between the two first annular grooves 36, the third sprocket 11 has not reached the position of the second annular groove 37. The spline sleeve 34 can drive the third sprocket 11. At this time, the forearm 2 and the wrist 3 can bend at the same time.

[0097] Continue to move the spline sleeve 34 to the left. When the second annular groove 37 is aligned with the third sprocket 11, the spline sleeve 34 cannot drive the third sprocket 11, but can drive the fifth sprocket 16. At this time, the forearm 2 can bend and the wrist 3 can rotate.

[0098] By moving the position of the spline sleeve 34, the forearm 2 can move alone, the forearm 2 and the wrist 3 can bend and rotate simultaneously, the forearm 2 and the wrist 3 can bend and move simultaneously, and the forearm 2 and the wrist 3 can rotate simultaneously, thereby improving the flexibility of the robot arm movement.

[0099] In the initial position, the spline sleeve 34 is moved to the right, and the first spline 33 is disengaged from the second spline 35. At this time, the driving component can drive the wrist 3 to move through the spline sleeve 34. At this time, the forearm does not move. The same principle as the position where the spline sleeve 34 moves to the left, the spline sleeve 34 can drive the wrist 3 to bend and rotate at the same time, and the spline sleeve 34 can also drive the bending and rotation of the wrist 3 separately.

[0100] The width of the first annular groove 36 and the second annular groove 37 is set to be the same as the thickness of the third sprocket 11 and the fifth sprocket 16. When the third sprocket 11 and the fifth sprocket 16 are aligned with the first annular groove 36 or the second annular groove 37, the spline sleeve 34 cannot drive the third sprocket 11 and the fifth sprocket 16. The thickness of the second sprocket 7 is set to be greater than the thickness of the third sprocket 11 and the fifth sprocket 16. The length of the spline on the second sprocket 7 is greater than the width of the first annular groove 36 or the second annular groove 37. No matter where the spline sleeve 34 is moved to, the second sprocket 7 can drive the spline sleeve 34 to rotate.

[0101] Beneficial effects of the above technical solution:

[0102] The humanoid robot arm has the driving unit arranged in the large arm, drives the action of the small arm and the wrist through the transmission assembly, reduces the weight of the robot arm end, reduces the motion inertia of the arm end, and improves the motion flexibility and action accuracy of the whole arm.

[0103] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like are based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0104] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected or in communication with each other; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0105] Although the embodiments of the present application have been disclosed as above, it is not limited to the application listed in the specification and the embodiments, and it can be fully applied to various fields suitable for the present application, and other modifications can be easily realized by those skilled in the art, therefore the present application is not limited to the specific details and the figures shown and described herein, without departing from the general concept defined by the claims and the equivalent scope.

Claims

1. A humanoid robot arm, characterized in that: include: A large arm (1) having a drive unit disposed therein; A small arm (2), the proximal end of which is movably connected to the distal end of the large arm (1); a wrist (3) movably connected to the distal end of the forearm (2); The transmission assembly and the driving unit drive the forearm (2) to bend relative to the upper arm (1) through the transmission assembly, and drive the wrist (3) to bend or rotate relative to the forearm (2).

2. The humanoid robot arm according to claim 1, characterized in that The distal end of the upper arm (1) is rotated to set a first connecting shaft (4), the proximal end of the lower arm (2) is connected to the first connecting shaft (4), the distal end of the lower arm (2) is rotated to set a second connecting shaft (5), and the wrist (3) is connected to the second connecting shaft (5).

3. The humanoid robot arm according to claim 2, characterized in that: The transmission assembly comprises a first sprocket (6) and a second sprocket (7), wherein the first sprocket (6) is connected to the power output end of the drive unit, the second sprocket (7) is arranged on the first connecting shaft (4), a first chain (8) is meshed with the first sprocket (6), and a second chain (9) is meshed with the second sprocket (7), and the first chain (8) and the second chain (9) are connected to form a ring through two first driving ropes (10).

4. The humanoid robot arm according to claim 3, characterized in that: The transmission assembly further comprises a third sprocket (11) arranged on the first connecting shaft (4) and a fourth sprocket (12) arranged on the second connecting shaft (5); a third chain (13) is meshed with the third sprocket (11); a fourth chain (14) is meshed with the fourth sprocket (12); the third chain (13) and the fourth chain (14) are connected to form a ring through two second driving ropes (15).

5. The humanoid robot arm according to claim 4, characterized in that: The transmission assembly further includes a fifth sprocket (16) arranged on the first connecting shaft (4) and a rotating wheel (17) rotatably arranged on the second connecting shaft (5); The wrist (3) comprises a swinging portion (18) connected to the second connecting shaft (5) and a rotating portion (19) rotatably arranged at the distal end of the swinging portion (18); a sixth sprocket (20) is fixedly arranged on the end surface of the rotating portion (19) close to the second connecting shaft (5); a sixth chain (21) is meshed with the sixth sprocket (20); a fifth chain (22) is meshed with the fifth sprocket (16); the fifth chain (22) and the sixth chain (21) are connected to form a ring through two third driving ropes (23); and the third driving rope (23) passes around the reversing wheel group and the rotating wheel (17).

6. The humanoid robot arm according to claim 5, characterized in that: The reversing wheel group comprises two first reversing wheels (24) and two second reversing wheels (25). The first reversing wheels (24) and the second reversing wheels (25) are used to guide the third driving rope (23) connected to the two ends of the sixth chain (21) into the outer edge of the rotating wheel (17).

7. The humanoid robot arm according to claim 6, characterized in that: The invention also comprises a tensioning wheel (26), which is arranged between the two first driving ropes (10) and is used to adjust the tension of the first driving ropes (10).

8. The humanoid robot arm according to claim 7, characterized in that: The tensioning wheel (26) includes a sleeve (27), at least three ears (28) are arranged on the outer circumference of the sleeve (27) along the circumferential direction, a support ring (29) is arranged outside the sleeve (27), the sleeve (27) and the support ring (29) are rotatably connected, a sliding groove corresponding to the number of the ears (28) is provided on the outer circumference of the support ring (29), a sliding rod (30) is slidably arranged in the sliding groove, an arc block (31) is fixedly arranged at one end of the sliding rod (30) located outside the support ring (29), one end of the sliding rod (30) located inside the support ring (29) is rotatably connected to one end of the connecting rod (32), and the other end of the connecting rod (32) is rotatably connected to the ear (28).

9. The humanoid robot arm according to claim 8, characterized in that: A first spline (33) is provided on the outer circumference of one end of the first connecting shaft (4), the length of the first spline (33) being smaller than the length of the first connecting shaft (4), a spline sleeve (34) being slidably provided on the first connecting shaft (4), a second spline (35) being provided on the inner circumference of the spline sleeve (34) at one end facing away from the first spline (33), and the second spline (35) being plugged into the first spline (33).

10. The humanoid robot arm according to claim 9, characterized in that: The second sprocket (7), the third sprocket (11) and the fifth sprocket (16) are spaced apart and sleeved on the spline sleeve (34); the thickness of the second sprocket (7) is greater than the thickness of the third sprocket (11) and the fifth sprocket (16); the spline sleeve (34) is spline-connected to the second sprocket (7), the third sprocket (11) and the fifth sprocket (16); Two first annular grooves (36) are formed at intervals along the circumferential direction in the middle of the outer circumference of the spline sleeve (34); second annular grooves (37) are formed outside the two first annular grooves (36) along the circumferential direction, respectively; and the distance between the second annular grooves (37) and the first annular grooves (36) is greater than the distance between the two first annular grooves (36); The width of the first annular groove (36) and the second annular groove (37) is the same as the thickness of the third sprocket (11) and the fifth sprocket (16).

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