A humanoid robot arm

Abstract

The present application relates to the technical field of robot arm, and discloses a humanoid robot arm, which comprises a large arm, a driving unit arranged in the large arm, a small arm, a wrist, and a transmission assembly.The proximal end of the small arm is movably connected to the distal end of the large arm, and the distal end of the wrist is movably connected to the small arm.The driving unit drives the small arm to bend relative to the large arm and drives the wrist to bend or rotate relative to the small arm through the transmission assembly.The humanoid robot arm has the advantages that the driving unit is arranged in the large arm, the movement of the small arm and the wrist is driven through the transmission assembly, the weight of the distal end of the robot arm is reduced, the motion inertia of the distal end of the arm is lowered, and the motion flexibility and action accuracy of the whole arm are improved.

Description

TECHNICAL FIELD

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

[0002] A humanoid robot, also known as a bionic man, is a robot designed to imitate the appearance and behavior of a human being, especially a robot with a human-like shape. In recent years, with the development of artificial intelligence, humanoid robots are more intelligent and can perform tasks in various scenarios, greatly improving the versatility.

[0003] The degrees of freedom (movements) of a conventional humanoid robot arm are basically realized by a plurality of joint motors installed at each joint part. When the joint motors are arranged at the middle end or the end of the arm, the moment of inertia of the entire arm end is increased, which affects 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 in the prior art. SUMMARY

[0005] A series of simplified concepts are introduced in the summary section, which will be further described in detail in the specific embodiment section. The summary section of the present application does not mean to attempt to limit the key features and necessary technical features of the claimed technical solution, nor to attempt to determine the protection scope of the claimed technical solution.

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

[0007] A large arm, an internal drive unit is arranged;

[0008] A small arm, the proximal end of which is movably connected to the distal end of the large arm;

[0009] A wrist, movably connected to the distal end of the small arm;

[0010] A transmission assembly, the drive unit drives the small arm to bend relative to the large arm and drives the wrist to bend or rotate relative to the small arm through the transmission assembly.

[0011] Preferably, the distal end of the large arm is rotatably provided with a first connecting shaft, the proximal end of the small arm is connected to the first connecting shaft, the distal end of the small arm is rotatably provided with a second connecting shaft, and the wrist is connected to the second connecting shaft.

[0012] Preferably, the transmission assembly comprises 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, a first chain is meshingly arranged on the first sprocket, a second chain is meshingly arranged on the second sprocket, and the first chain and the second chain are connected into a ring shape by two first drive ropes.

[0013] Preferably, the transmission assembly further comprises 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 loop by two second driving ropes.

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

[0015] The wrist comprises a swing part connected with the second connecting shaft and a rotating part rotatably arranged at the distal end of the swing part, a sixth sprocket is fixedly arranged on the end face of the second connecting shaft close to the rotating part, the sixth sprocket is engaged with a sixth chain, the fifth sprocket is engaged with a fifth chain, and the fifth chain and the sixth chain are connected into a loop by two third driving ropes, and the third driving ropes pass through the reversing wheel set and the runner.

[0016] Preferably, the reversing wheel set comprises 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 ropes connected with the two ends of the sixth chain into the outer edge of the runner.

[0017] Preferably, the tensioner is arranged between the two first driving ropes, and the tensioner is used to adjust the tension of the first driving ropes.

[0018] Preferably, the tensioner comprises a sleeve, at least three ears are arranged on the outer circumference of the sleeve in the circumferential direction, a support ring is arranged outside the sleeve, the sleeve is rotatably connected with the support ring, a sliding slot corresponding in number to the ears is formed on the outer circumference of the support ring, a sliding rod is slidably arranged in the sliding slot, an arc-shaped block is fixedly arranged at one end of the sliding rod outside the support ring, one end of the sliding rod inside the support ring is rotatably connected with one end of a connecting rod, and the other end of the connecting rod is rotatably connected with the ear.

[0019] Preferably, a first spline is arranged 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 slidably arranged on the first connecting shaft, a second spline is arranged on the inner circumferential surface of the spline sleeve away from the first spline, and the second spline is inserted into the first spline.

[0020] Preferably, the second sprocket, the third sprocket and the fifth sprocket are spaced apart and arranged 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 with the second sprocket, the third sprocket and the fifth sprocket.

[0021] The middle part of the outer circumference of the spline sleeve is spaced apart and provided with two first annular grooves in the circumferential direction, a second annular groove is formed on the outer side of each of the two first annular grooves in the circumferential direction, and the distance between the second annular grooves and the first annular grooves is greater than the distance between the two first annular grooves.

[0022] The width of the first and second annular grooves is the same as the thickness of the third and fifth sprockets.

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

[0024] The humanoid robot arm has the driving unit arranged in the large arm, and the movement of the small arm and the wrist is driven through the transmission assembly, so that the weight of the robot arm end is reduced, the movement inertia of the arm end is reduced, and the movement flexibility and action accuracy of the whole arm are improved.

[0025] The humanoid robot arm of the present application, other advantages, objects and features of the present application will be partially embodied through the following description, and some will be understood by those skilled in the art through the study and practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0026] The accompanying drawings are intended to provide a further understanding of the present application, and constitute a part of the specification, together with the embodiments of the present application, to explain the present application, and do not constitute a limitation on the present application. In the drawings:

[0027] Figure 1 Structure schematic view of the humanoid robot arm disclosed by the present application;

[0028] Figure 2 Structure schematic view of the small arm and the wrist disclosed by the present application;

[0029] Figure 3 Structure schematic view of the wrist disclosed by the present application;

[0030] Figure 4 Structure schematic view of the tensioner disclosed by the present application;

[0031] Figure 5 Structure schematic view of the tensioner when tensioning disclosed by the present application;

[0032] Figure 6 Structure schematic view of the second sprocket, the third sprocket and the fifth sprocket installed on the first connecting shaft disclosed by the present application;

[0033] Figure 7 Structure schematic view of the spline sleeve disclosed by the present application;

[0034] Figure 8 Structure schematic view of the spline sleeve disclosed by the present application;

[0035] Figure 9 Structure schematic view of the first connecting shaft disclosed by the present application.

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

[0037] The application will be further described below in conjunction with the drawings and examples, so that those skilled in the art can implement the application according to the description.

[0038] It should be understood that the terms such as "have", "contain" and "include" used herein do not exclude the presence or addition of one or more other elements or combinations thereof.

[0039] As shown in the drawings, the application provides a humanoid robot arm, comprising: Figures 1-9

[0040] The large arm 1 is internally provided with a driving unit;

[0041] The small arm 2 is movably connected to the distal end of the large arm 1;

[0042] The wrist 3 is movably connected to the distal end of the small arm 2;

[0043] The transmission assembly is driven by the driving unit to bend the small arm 2 relative to the large arm 1, and to bend or rotate the wrist 3 relative to the small arm 2.

[0044] Further, 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 to the first connecting shaft 4, and the distal end of the small arm 2 is rotatably provided with the second connecting shaft 5, and the wrist 3 is connected to the second connecting shaft 5.

[0045] Further, the transmission assembly comprises a first sprocket 6 and a second sprocket 7, the first sprocket 6 is connected to 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 arranged in mesh with the first chain 8, the second sprocket 7 is arranged in mesh with the second chain 9, and the first chain 8 and the second chain 9 are connected into a ring by two first driving ropes 10.

[0046] ​Further, 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, the third sprocket 11 is engaged with a third chain 13, the fourth sprocket 12 is engaged with a fourth chain 14, the third chain 13 and the fourth chain 14 are connected into a ring through two second driving ropes 15.

[0047] Further, the transmission assembly further comprises a fifth sprocket 16 arranged on the first connecting shaft 4 and a runner 17 rotatably arranged on the second connecting shaft 5.

[0048] The wrist 3 comprises a swing part 18 connected with the second connecting shaft 5 and a rotating part 19 rotatably arranged at the distal end of the swing part 18, the sixth sprocket 20 is fixedly arranged on the end face of the rotating part 19 close to the second connecting shaft 5, the sixth sprocket 20 is engaged with the sixth chain 21, the fifth sprocket 16 is engaged with the fifth chain 22, the fifth chain 22 and the sixth chain 21 are connected into a ring through two third driving ropes 23, the third driving ropes 23 pass through the reversing wheel set and the runner 17.

[0049] Further, the reversing wheel set 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 ropes 23 connected with the two ends of the sixth chain 21 into the outer edge of the runner 17.

[0050] Further, a tensioner 26 is arranged between the two first driving ropes 10, the tensioner 26 is used to adjust the tension of the first driving ropes 10.

[0051] Further, the tensioner 26 comprises a sleeve 27, at least three ear parts 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 with the support ring 29, a sliding groove corresponding in number to the ear parts 28 is formed on the outer circumference of the support ring 29, a sliding rod 30 is slidably arranged in the sliding groove, an arc-shaped block 31 is fixedly arranged at one end of the sliding rod 30 located outside the support ring 29, the other end of the sliding rod 30 located inside the support ring 29 is rotatably connected with one end of a connecting rod 32, the other end of the connecting rod 32 is rotatably connected with the ear part 28.

[0052] Further, a first spline 33 is arranged 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 slidably arranged on the first connecting shaft 4, a second spline 35 is arranged on the inner circumferential surface of the spline sleeve 34 away from one end of the first spline 33, the second spline 35 is inserted into the first spline 33.

[0053] Further, the second sprocket 7, the third sprocket 11 and the fifth sprocket 16 are spaced 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, and the spline sleeve 34 is spline-connected with the second sprocket 7, the third sprocket 11 and the fifth sprocket 16;

[0054] The middle part of the outer circumference of the spline sleeve 34 is spaced and provided with two first annular grooves 36 in the circumferential direction, and the outer sides of the two first annular grooves 36 are respectively provided with a second annular groove 37 in the circumferential direction, and 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.

[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 as follows:

[0057] The freedom (action) of the traditional humanoid robot arm is basically realized by a plurality of joint motors installed at each joint part. Since the joint motor has a large self-weight, when arranged at the middle end or the end of the arm, the motion inertia of the whole arm end is increased, which not only affects the motion flexibility and transmission precision of the whole arm, but also seriously restricts the carrying capacity, so that the end carrying of the arm is generally limited to less than 10 kg, and some even cannot exceed 3 kg. At the same time, due to the limitation of the joint motor mechanism, the required arrangement space is often large, so that the overall size of the hand of the humanoid robot is much larger than the normal human body size.

[0058] Therefore, the present application proposes a new transmission structure to replace the traditional joint motor direct drive mode, the weight of the transmission system is concentrated in the large arm structure with small end motion inertia, and the number of power sources is reduced while the real-time coordinated control of each part of the arm can still be realized. In addition, a tensioning device is designed to adjust and compensate the system transmission precision, which makes up for the shortcomings of the existing humanoid robot arm driving scheme.

[0059] A humanoid robot arm, comprising:

[0060] A large arm 1, an internal driving unit is arranged in the large arm 1;

[0061] A small arm 2, a proximal end of the small arm 2 is movably connected to the end of the large arm 1;

[0062] A wrist 3, a distal end of the wrist 3 is movably connected to the small arm 2;

[0063] A transmission assembly, the driving unit drives the small arm 2 to bend relative to the large arm 1 through the transmission assembly, and drives the wrist 3 to bend or rotate relative to the small arm 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 comprises a swing part 18 connected with the second connecting shaft 5 and a rotating part 19 rotatably arranged at the distal end of the swing part 18, the sixth sprocket 20 is fixedly arranged on the end face of the rotating part 19 close to the second connecting shaft 5, the sixth chain 21 is arranged in mesh with the sixth sprocket 20, the fifth chain 22 is arranged in mesh with the fifth sprocket 16, the fifth chain 22 and the sixth chain 21 are connected into a loop through two third driving ropes 23, and the third driving ropes 23 pass through the reversing wheel set and the runner 17.

[0075] The swing part 18 can be arranged as two opposite semicircular tubular shapes, and the two semicircular tubular shapes are fixedly connected into a cylindrical shape during installation, and the distal end of the swing part 18 forms a groove for rotation of the rotating part 19.

[0076] The reversing wheel set comprises two first reversing wheels 24 and two second reversing wheels 25, and the first reversing wheels 24 and the second reversing wheels 25 are used to guide the third driving ropes 23 connected with the two ends of the sixth chain 21 into the outer edges of the runner 17.

[0077] The outer circumferential surface of the runner 17 is provided with a guide groove in the circumferential direction, and the guide groove is used for guiding the third driving ropes 23.

[0078] The driving assembly drives the first connecting part 4 to rotate, and the third sprocket 11 and the fifth sprocket 16 arranged on the first connecting shaft 4 are used to respectively transmit power to the second connecting shaft 5 and the sixth sprocket 20, the second connecting shaft 5 drives the swing part 18 of the wrist 3 to rotate, the sixth sprocket 20 drives the rotating part 19 of the wrist 3 to rotate, and the movement reversing is accurately realized through the reversing wheel set, two first reversing wheels 24 and two second reversing wheels 25 are used to guide the two third driving ropes into the upper and lower outer edges of the runner 17 respectively, so that the runner 17 is located within the range of the end face of the rotating part 19, and the outer dimension is reduced.

[0079] The tensioner 26 is arranged between the two first driving ropes 10, and the tensioner 26 is used to adjust the tensioning degree of the first driving ropes 10. The tensioner 26 comprises a sleeve 27, at least three ear parts 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 with the support ring 29, a sliding groove corresponding in number to the ear parts 28 is formed on the outer circumference of the support ring 29, a sliding rod 30 is slidably arranged in the sliding groove, an arc-shaped block 31 is fixedly arranged at one end of the sliding rod 30 located outside the support ring 29, the other end of the sliding rod 30 located inside the support ring 29 is rotatably connected with one end of a connecting rod 32, and the other end of the connecting rod 32 is rotatably connected with the ear part 28.

[0080] The sleeve 27 is rotationally connected with the large arm 1, and the supporting ring 29 is fixedly connected with the large arm 1. When the sleeve 27 rotates, the slide rod 30 is pushed out along the radial direction through the connecting rod 32, so that the arc blocks 31 are pushed out, the diameter of the circle formed by the expanded arc blocks 31 is increased, and the first driving rope 10 is tensioned, thereby improving the transmission accuracy of the first driving rope 10. Similarly, the tensioning wheel 26 can also be arranged between the second driving rope 15 or the third driving rope 23.

[0081] The outer circumferential surface of the arc block 31 is provided with a groove arranged in the circumferential direction, which is used for limiting the first driving rope 10 and preventing the first driving rope 10 from slipping off.

[0082] The tensioning mode can make the tensioning amounts of the two different tendons of the same transmission system completely consistent, and can effectively ensure the transmission accuracy on both sides.

[0083] The sliding groove is arranged in the radial direction of the supporting ring 29, the position of the sliding groove is staggered with the position of the lug 28, and the position of the connecting rod 32 is left. When the arc block 31 is retracted, the distance between the end of the connecting rod 32 connected with 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 with the lug 28 and the axis of the sleeve 27, so that the connecting rod 32 cannot be locked and pushed out of the arc block 31.

[0084] One driving assembly is used to drive the small arm 2 and the wrist 3 at the same time, and the small arm 2 and the wrist 3 cannot coordinate actions, which will affect the flexibility of the robot arm.

[0085] The outer circumference of one end of the first connecting shaft 4 is provided with a first spline 33, the length of the first spline 33 is less than the length of the first connecting shaft 4, the first connecting shaft 4 is slidably provided with a spline sleeve 34, the inner circumferential surface of the spline sleeve 34 is provided with a second spline 35 away from the first spline 33, and the second spline 35 is inserted with the first spline 33.

[0086] The second sprocket 7, the third sprocket 11 and the fifth sprocket 16 are spaced and arranged on the spline sleeve 34, the thickness of the second sprocket 7 is greater than the thicknesses of the third sprocket 11 and the fifth sprocket 16, and the spline sleeve 34 is spline-connected with the second sprocket 7, the third sprocket 11 and the fifth sprocket 16;

[0087] The middle part of the outer circumference of the spline sleeve 34 is spaced and provided with two first annular grooves 36 in the circumferential direction, the outer sides of the two first annular grooves 36 are respectively provided with second annular grooves 37 in the circumferential direction, 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.

[0088] The widths of the first annular grooves 36 and the second annular grooves 37 are the same as the thicknesses of the third sprocket 11 and the fifth sprocket 16.

[0089] In order to realize the bending of the forearm 2, the bending or rotation of the wrist 3, the action can be coordinated, that is, it can act simultaneously or separately. A first spline 33 is arranged 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 arranged on the inner circumferential surface 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. A second sprocket 7 is sleeved on the outer circumference of the spline sleeve 34 and is connected with the spline sleeve 34. In 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 combined 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 act. When the first spline 33 is not combined with the second spline 35, the spline sleeve 34 will not drive the first connecting shaft 4 to rotate when the second sprocket 7 rotates. At this time, the forearm does not act, and the spline sleeve 34 can drive the wrist 3 to act, thereby ensuring that the actions of the forearm 2 and the 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. A shaft sleeve is arranged 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 large arm, and between the fifth sprocket 16 and the inner side of the large arm, thereby ensuring the axial position of the second sprocket 7, the third sprocket 11 and the fifth sprocket 16 on the spline sleeve 34, and preventing 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 connected with the spline sleeve 34 by spline. When the splines are combined, the spline sleeve 34 drives the sprocket to rotate. When the splines are not combined, the spline sleeve 34 cannot drive the sprocket 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 close to the second annular groove 37 and 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. 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 located in the two first annular grooves 36 respectively, 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 act.

[0095] When the wrist 3 needs to move, the spline sleeve 34 is moved to the left, and when the distance reaches the thickness of the third sprocket 11, the spline of the third sprocket 11 and the fifth sprocket 16 is combined with the spline of the spline sleeve 34, so that the forearm 2 is bent, the wrist 3 is bent and rotated.

[0096] When the spline sleeve 34 is continuously moved to the left, 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, but the third sprocket 11 has not reached the position of the second annular groove 37, and the spline sleeve 34 can drive the third sprocket 11, so that the forearm 2 and the wrist 3 can be bent at the same time.

[0097] When the spline sleeve 34 is continuously moved to the left, 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, so that the forearm 2 can be bent while the wrist 3 can be rotated.

[0098] By moving the position of the spline sleeve 34, the forearm 2 can be moved alone, the forearm 2 and the wrist 3 can be bent and rotated at the same time, the forearm 2 and the wrist 3 can be bent at the same time, the forearm 2 and the wrist 3 can be rotated at the same time, thereby improving the flexibility of the robot arm movement.

[0099] In the initial position, the spline sleeve 34 is moved to the right, the first spline 33 is separated from the second spline 35, and the driving assembly can drive the wrist 3 through the spline sleeve 34 at this time, and the forearm is not moved at this time. The same principle as the position of the spline sleeve 34 moving 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 wrist 3 to bend and rotate respectively.

[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, the spline sleeve 34 cannot drive 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 thickness of the second sprocket 7 is set to be greater than the thickness of the third sprocket 11 and the fifth sprocket 16, and 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. The position of the spline sleeve 34 is moved to any position, and the second sprocket 7 can drive the spline sleeve 34 to rotate.

[0101] The beneficial effects of the above technical solutions are:

[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 convenience of describing 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 by, The utility model relates to a robot arm, comprising: a large arm (1) internally provided with a driving unit; a small arm (2) movably connected to the end of the large arm (1); a wrist (3) movably connected to the distal end of the small arm (2); a transmission assembly through which the driving unit drives the small arm (2) to bend relative to the large arm (1) and drives the wrist (3) to bend or rotate relative to the small arm (2); the end of the large arm (1) is rotatably provided with a first connecting shaft (4), the proximal end of the small arm (2) is connected to the first connecting shaft (4), and the distal end of the small arm (2) is rotatably provided with a second connecting shaft (5), and the wrist (3) is connected to the second connecting shaft (5); the transmission assembly comprises a fifth sprocket (16) provided on the first connecting shaft (4) and a rotating wheel (17) rotatably provided on the second connecting shaft (5); the wrist (3) comprises a swing part (18) connected to the second connecting shaft (5) and a rotating part (19) rotatably provided at the distal end of the swing part (18), the sixth sprocket (20) is fixedly provided on the end face of the rotating part (19) close to the second connecting shaft (5), the sixth chain (21) is meshingly provided on the sixth sprocket (20), the fifth chain (22) is meshingly provided on the fifth sprocket (16), the fifth chain (22) and the sixth chain (21) are connected into a loop through two third driving ropes (23), and the third driving ropes (23) pass through a reversing wheel set and the rotating wheel (17).

2. The humanoid robot arm according to claim 1, characterized in that, The transmission assembly further comprises a first sprocket (6) and a second sprocket (7), the first sprocket (6) is connected to the power output end of the driving unit, the second sprocket (7) is provided on the first connecting shaft (4), the first chain (8) is meshingly provided on the first sprocket (6), the second chain (9) is meshingly provided on the second sprocket (7), and the first chain (8) and the second chain (9) are connected into a loop through two first driving ropes (10).

3. The humanoid robot arm according to claim 2, characterized in that The transmission assembly further comprises a third sprocket (11) provided on the first connecting shaft (4) and a fourth sprocket (12) provided on the second connecting shaft (5), the third chain (13) is meshingly provided on the third sprocket (11), the fourth chain (14) is meshingly provided on the fourth sprocket (12), and the third chain (13) and the fourth chain (14) are connected into a loop through two second driving ropes (15).

4. The humanoid robot arm according to claim 3, characterized in that The reversing wheel set 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 for guiding the third driving ropes (23) connected to the two ends of the sixth chain (21) into the outer edge of the rotating wheel (17).

5. The humanoid robot arm according to claim 4, characterized in that The utility model further comprises a tensioning wheel (26) provided between the two first driving ropes (10), and the tensioning wheel (26) is used for adjusting the tensioning degree of the first driving ropes (10).

6. The humanoid robot arm according to claim 5, characterized in that The tensioning wheel (26) comprises 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 rotationally connected with the support ring (29), a sliding groove corresponding in number to the ears (28) is formed on the outer circumference of the support ring (29), a sliding rod (30) is arranged in the sliding groove, an arc-shaped block (31) is fixedly arranged at one end of the sliding rod (30) outside the support ring (29), the other end of the sliding rod (30) inside the support ring (29) is rotationally connected with one end of a connecting rod (32), the other end of the connecting rod (32) is rotationally connected with the ear (28).

7. The humanoid robot arm according to claim 6, characterized in that A first spline (33) is arranged 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 arranged on the first connecting shaft (4) in a sliding manner, a second spline (35) is arranged on the inner circumferential surface of the spline sleeve (34) away from the first spline (33), and the second spline (35) is inserted into the first spline (33).

8. The humanoid robot arm according to claim 7, characterized in that The second sprocket (7), the third sprocket (11) and the fifth sprocket (16) are arranged on the spline sleeve (34) in a spaced manner, the thickness of the second sprocket (7) is greater than the thickness of the third sprocket (11) and the fifth sprocket (16), and the spline sleeve (34) is spline-connected with the second sprocket (7), the third sprocket (11) and the fifth sprocket (16); Two first annular grooves (36) are arranged on the outer circumference of the spline sleeve (34) in the middle part in a spaced manner in the circumferential direction, second annular grooves (37) are respectively arranged on the outer sides of the two first annular grooves (36) in the circumferential direction, 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 widths of the first annular grooves (36) and the second annular grooves (37) are the same as the thicknesses of the third sprocket (11) and the fifth sprocket (16).

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