Mechanical arm and robot

Abstract

The invention provides a mechanical arm and a robot, and relates to the technical field of robots. The mechanical arm comprises a multi-stage joint assembly, the joint assembly comprises a joint arm and a quick-release cover, the quick-release cover is connected with the joint arm, the joint arm comprises a framework and a shell, and the framework and the shell are integrally arranged; and in any adjacent joint assemblies, the quick release cover of one joint assembly is used for shielding the joint between the two joint assemblies. The problems that a traditional humanoid robot arm is large in part number, complex in assembly, high in cost, difficult in light weight, inconvenient to maintain, poor in appearance and the like are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a mechanical arm and a robot. BACKGROUND

[0002] The structural design of a conventional humanoid robot arm usually adopts a scheme of separating an internal metal skeleton from an external plastic shell, that is, connecting joint servo modules through metal structural members (such as aluminum alloy or steel connecting rods), and then covering the external plastic shell to modify the appearance. This design has the following significant problems: the internal skeleton and the shell need to be independently molded and produced, resulting in a large number of parts and complex assembly processes, which not only increases the mold cost but also reduces the production efficiency, making it difficult to meet the cost reduction demand of humanoid robots. Moreover, the multi-layer structure stacking (skeleton + shell) leads to redundant weight, and the lightweight design of the traditional metal skeleton is often limited by the strength requirement, further restricting the motion performance and energy efficiency of the arm. SUMMARY

[0003] Therefore, the purpose of the present application is to overcome the deficiencies in the prior art, and to provide a mechanical arm and a robot to solve the problems of a large number of parts, complex assembly, high cost, difficulty in lightweight design, inconvenience in maintenance, and poor appearance of a conventional humanoid robot arm.

[0004] The present application provides the following technical solutions:

[0005] In a first aspect, an embodiment of the present application provides a mechanical arm, which comprises a plurality of joint assemblies, each joint assembly comprising a joint arm and a quick-release cover, the quick-release cover and the joint arm being connected, the joint arm comprising a skeleton and a shell, the skeleton and the shell being integrally arranged; wherein in any adjacent joint assemblies, the quick-release cover of one of the joint assemblies is used to shield the connection between the two joint assemblies.

[0006] In some embodiments of the first aspect, the joint arm and the quick-release cover are detachably connected.

[0007] In some embodiments of the first aspect, one of the joint assemblies is a shoulder assembly, the shoulder assembly comprising a shoulder joint arm, at least one shoulder quick-release cover, a shoulder-side driving motor, and a shoulder driving motor, the shoulder joint arm and a main shaft of the shoulder driving motor being connected, the shoulder joint arm being further hinged to a machine housing of the shoulder driving motor, and a main shaft of the shoulder-side driving motor being connected to the machine housing of the shoulder driving motor; wherein the shoulder joint arm and the shoulder quick-release cover are detachably connected, and the shoulder quick-release cover is used to shield the connection between the shoulder joint arm and the shoulder driving motor.

[0008] In some embodiments of the first aspect, one of the joint assemblies is a shoulder assembly, the shoulder assembly comprising a shoulder joint arm, a shoulder cover, and a shoulder drive motor, a housing of the shoulder drive motor is connected to the shoulder joint arm, a main shaft of the shoulder drive motor is disposed in an axial hole of the shoulder joint arm, and the main shaft of the shoulder drive motor is connected to the shoulder joint arm; the shoulder joint arm is connected to the main shaft of the shoulder drive motor by a plurality of shoulder fasteners, the plurality of shoulder fasteners are disposed at intervals along a circumference of the shoulder joint arm;

[0009] An outer side of the shoulder joint arm has a shoulder annular groove, all of the shoulder fasteners are located in the shoulder annular groove, and the shoulder cover is sleeved in the shoulder annular groove to shield the shoulder fasteners.

[0010] In some embodiments of the first aspect, one of the joint assemblies is an elbow assembly, the elbow assembly comprising an elbow joint arm, at least one elbow quick-release cover, and an elbow drive motor, a housing of the elbow drive motor is connected to the elbow joint arm, the elbow joint arm is connected to a main shaft of the elbow drive motor, and the elbow joint arm is hingedly connected to the housing of the elbow drive motor;

[0011] The elbow joint arm and the elbow quick-release cover are detachably connected, and the elbow quick-release cover is used to shield a connection between the elbow joint arm and the elbow drive motor.

[0012] In some embodiments of the first aspect, a portion of a front side of the elbow joint arm is a contact portion, the contact portion is capable of abutting against the shoulder assembly, and the contact portion is provided in an elastic structure, such that, in a case where the contact portion is capable of abutting against the shoulder assembly, the contact portion is capable of elastically deforming to form a dynamic accommodation fit.

[0013] In some embodiments of the first aspect, the elbow joint arm comprises:

[0014] A bottom shell, the bottom shell has an accommodation opening on a front side of an elbow arm end, and the bottom shell is a hollow structure;

[0015] A front side cover, the front side cover is connected to the bottom shell, the front side cover covers the accommodation opening, such that the front side cover is capable of abutting against the shoulder assembly, and the front side cover is an elastic member;

[0016] The front side cover has an extension part, the elbow joint arm has a limiting groove, the extension part and the limiting groove are arranged along the axial direction of the elbow joint arm, the limiting groove is located on the front side of the elbow joint arm, the extension part is located in the limiting groove, and a groove wall of the limiting groove is close to the large arm assembly to limit the elastic deformation of the extension part to the large arm assembly.

[0017] In some embodiments of the first aspect, the joint assembly is a small arm assembly, the small arm assembly comprises a small arm shell and a small arm driving motor, the casing of the small arm driving motor is connected with the small arm shell, the main shaft of the small arm driving motor passes through the axial hole of the elbow joint arm, and the main shaft of the small arm driving motor is connected with the elbow joint arm.

[0018] The elbow joint arm is connected with the main shaft of the small arm driving motor through a plurality of small arm fasteners, and the plurality of small arm fasteners are arranged at intervals along the circumferential direction of the elbow joint arm.

[0019] The elbow assembly further comprises an elbow decoration ring, the outer side of the elbow joint arm has an elbow annular groove, all the small arm fasteners are located in the elbow annular groove, and the elbow decoration ring is sleeved in the elbow annular groove to shield the small arm fasteners.

[0020] In some embodiments of the first aspect, the joint assembly is a wrist assembly, the wrist assembly comprises a wrist joint arm, a hand adapter, a wrist first driving motor and a wrist second driving motor, the casing of the wrist first driving motor, the casing of the wrist second driving motor and the wrist joint arm are connected and arranged, the main shaft of the wrist first driving motor is connected with the small arm shell, and the small arm shell is further hinged with the wrist joint arm; the hand adapter is connected with the main shaft of the wrist second driving motor, and the hand adapter is further hinged with the wrist joint arm.

[0021] The small arm assembly further comprises at least one small arm quick release cover, the small arm quick release cover is detachably connected with the small arm shell, and the small arm quick release cover is used for shielding the connection between the main shaft of the wrist first driving motor and the small arm shell and the connection between the small arm shell and the wrist joint arm.

[0022] In some embodiments of the first aspect, the main shaft of the driving motor has a motor axial channel, the joint arm has a joint axial channel, the motor axial channel and the joint axial channel are communicated to form a continuous wire routing path.

[0023] In the second aspect, the embodiments of the present application further provide a robot, the robot comprising the mechanical arm according to any one of the above embodiments.

[0024] Embodiments of the present application have the following advantages:

[0025] The present application provides a robot arm, which integrates a traditional separate metal skeleton and a plastic shell into a single part (skeleton and shell integrated molding), reduces the number of independent parts, directly reduces mold cost and assembly complexity. The quick-release cover not only covers the joint assembly itself, but also extends to the adjacent joint connection, realizing the hiding and protection of the connection structure. The quick-release cover of the adjacent joint assembly is fixed by a detachable method such as buckling or screwing, forming a continuous appearance while simplifying maintenance (such as exposing internal cables or joints without disassembling the overall shell). The joint assemblies at each level are connected in series through integrated joint arms, with internal wiring space reserved, and the outside is formed by the quick-release cover to form a coherent closure, taking into account functionality and aesthetics.

[0026] Therefore, the integrated joint arm reduces the need for separate skeleton and shell mold opening, reducing mold cost; the number of parts is reduced, significantly simplifying the assembly process and improving production efficiency. The shielding design of the quick-release cover avoids the need for additional decorative parts, further saving materials. By removing redundant shell layers and integrating structures (such as the shell using a reinforcement rib and skeleton fusion design), weight reduction is achieved under the same strength, which is beneficial to reducing the energy consumption of the robot. In addition, the quick-release cover can be detached individually, allowing joint connectors or cables to be repaired without disassembling the entire arm, reducing maintenance time. Furthermore, the quick-release cover continuously covers the joint gap, eliminating the step difference of traditional multi-layer structures, forming a smooth curve, and improving the visual integrity.

[0027] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the following preferred embodiments are described in detail below, and the accompanying drawings are described as follows. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0029] Figure 1 A structure schematic diagram of a robot arm provided by an embodiment of the present application is shown from one perspective;

[0030] Figure 2 A structure schematic diagram of a robot arm provided by an embodiment of the present application is shown from another perspective;

[0031] Figure 3 A structure schematic diagram of a robot arm provided by an embodiment of the present application is shown from another perspective;

[0032] Figure 4 A perspective view of a structure of an elbow assembly is shown according to an embodiment of the present application;

[0033] Figure 5 Another perspective view of a structure of an elbow assembly is shown according to an embodiment of the present application;

[0034] Figure 6 A perspective view of a structure of a shoulder assembly is shown according to an embodiment of the present application;

[0035] Figure 7 Another perspective view of a structure of a shoulder assembly is shown according to an embodiment of the present application;

[0036] Figure 8 A perspective view of a structure of a forearm assembly is shown according to an embodiment of the present application;

[0037] Figure 9 A perspective view of a structure of a wrist assembly is shown according to an embodiment of the present application;

[0038] Figure 10 A partial view of a structure of a shoulder joint arm is shown according to an embodiment of the present application;

[0039] Figure 11 An exploded view of a structure of a shoulder assembly is shown according to an embodiment of the present application.

[0040] Explanation of main element symbols:

[0041] 100 - large arm assembly; 110 - large arm joint arm; 111 - J4 limit boss; 112 - J4 zero mark hole; 113 - J3 zero mark hole; 114 - J3 limit column; 120 - large arm decoration ring; 130 - large arm drive motor;

[0042] 200 - elbow assembly; 210 - elbow quick release cover; 220 - bottom shell; 221 - let go of the mouth; 222 - limit slot; 223 - J4 limit column; 224 - J4 zero mark via hole; 225 - J5 limit boss; 226 - J5 zero mark via hole; 230 - front cover; 231 - extension; 240 - elbow annular groove; 250 - small arm drive motor; 251 - small arm motor axial channel; 260 - elbow decoration ring; 270 - elbow drive motor;

[0043] 300 - small arm assembly; 310 - small arm shell; 311 - J5 limit column; 312 - J5 zero mark hole; 313 - J6 limit column; 314 - J6 zero mark via hole; 320 - small arm quick release cover;

[0044] 400-wrist assembly; 410-wrist first driving motor; 411-J6 limit boss; 412-J6 zero mark hole; 420-wrist second driving motor; 430-hand adapter; 440-wrist joint arm; 450-J7 limit column; 460-limit groove;

[0045] 500-six-dimensional force sensor;

[0046] 600-shoulder assembly; 610-shoulder joint arm; 611-J2 zero mark via; 612-J3 zero mark via; 613-J3 limit boss; 620-shoulder quick release cover; 630-shoulder driving motor; 631-J1 limit column; 632-J2 limit boss; 633-J2 zero mark hole; 634-J1 zero mark hole; 640-shoulder side driving motor; 641-J1 limit boss; 642-J1 zero mark via. DETAILED DESCRIPTION

[0047] Embodiments of the present application are described below in detail with reference to the accompanying drawings, wherein like or similar elements are denoted by the same or similar reference signs throughout the drawings. The embodiments described below are examples only, and are not intended to limit the present application.

[0048] It should be noted that when an element is referred to as being "on" another element, it can be directly on the other element or intervening elements can also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. The terms "vertical", "horizontal", "left", "right", and the like as used herein are used for explanation only, not for limitation.

[0049] 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; 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. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0050] In addition, the terms "first", "second", etc. are used only for descriptive purposes and are not to be construed as indicating or implying relative importance or an ordered ranking of the indicated technical features. Thus, features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise expressly and specifically limited.

[0051] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the template herein is for the purpose of describing specific embodiments only and is not intended to be limiting of the present application. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0052] In the related art, the structural design of a conventional humanoid robot arm usually adopts a scheme of separating an internal metal skeleton from an external plastic shell, that is, connecting joint servo modules through metal structural members (such as aluminum alloy or steel connecting rods), and then covering the external plastic shell to modify the appearance. This design has the following significant problems: the internal skeleton and the shell need to be independently molded and produced, resulting in a large number of parts and complex assembly procedures, which not only increases the mold cost but also reduces the production efficiency, making it difficult to meet the cost reduction demand of humanoid robots. Moreover, the multi-layer structure stacking (skeleton + shell) results in redundant weight, and the lightweight design of the traditional metal skeleton is often limited by the strength requirement, further restricting the motion performance and energy efficiency of the arm.

[0053] As shown in Figure 1 , Figure 2 and Figure 3 To solve the above technical problems, the embodiments of the present application provide a mechanical arm, which comprises a plurality of multi-stage joint assemblies, each joint assembly comprising a joint arm and a quick release cover, the quick release cover and the joint arm being connected, the joint arm comprising a skeleton and a shell, the skeleton and the shell being integrally arranged; wherein in any adjacent joint assembly, the quick release cover of one of the joint assemblies is used to shield the connection between the two joint assemblies.

[0054] In these embodiments, the present embodiments take a mechanical arm for a humanoid robot as an example, which comprises a plurality of multi-stage joint assemblies connected in sequence, each multi-stage joint assembly constituting a motion segment of the arm, such as an upper arm, a forearm, a wrist, etc., to realize flexible motion with multiple degrees of freedom.

[0055] For example, the multi-stage joint assemblies include a shoulder assembly 600, an upper arm assembly 100, an elbow assembly 200, a forearm assembly 300, and a wrist assembly 400, etc.

[0056] The multi-stage joint assembly comprises at least two adjacent joint assemblies, for example, a first joint assembly (such as a shoulder assembly) and a second joint assembly (such as a large arm assembly) are connected through a rotary joint or a pitch joint. Each of the joint assemblies comprises a joint arm and a quick-release cover, wherein the quick-release cover is detachably connected to one end of the joint arm, for shielding the internal structure and facilitating maintenance.

[0057] Crucially, the joint arm is composed of a skeleton and a shell, and the skeleton and the shell are integrally formed. In the embodiment, the integrated structure is realized by 3D printing or liquid die forging process. That is, the joint arm can be formed by plastic injection molding. To ensure the structural strength, reinforcing ribs can be provided on the inner wall of the joint arm.

[0058] Alternatively, the skeleton bears the main mechanical load inside, including supporting the servo module, transmitting torque, bearing bending moment and shear force; and the shell has the functions of structural support and appearance decoration, and the surface can be painted, plated or textured, and directly serves as the outer surface of the mechanical arm without the need for additional installation of an independent shell.

[0059] Further, between any two adjacent joint assemblies, the quick-release cover of the upstream joint assembly (close to the trunk side) is extended to shield the connection between the two joint assemblies. For example, the quick-release cover of the large arm assembly covers the rotary joint area between the large arm assembly and the shoulder assembly, effectively hiding the internal wiring, transmission mechanism and connecting screws, and improving the neatness and aesthetics of the overall appearance.

[0060] For example, the quick-release cover can be connected to the joint arm in a buckle type, magnetic type or quick-release bolt structure, which can be detached without tools or only with simple tools, facilitating the maintenance and replacement of internal servo motors, encoders, cables and other components, and significantly improving the maintenance convenience.

[0061] In the embodiment, since the skeleton and the shell are integrally formed, the process of separately opening the mold and assembling the shell in the traditional design is cancelled, the number of parts is reduced, and the assembly time is reduced. At the same time, by optimizing the skeleton layout and the shell wall thickness, the overall weight of the mechanical arm is reduced compared with the traditional separated structure, and good lightweight effect is realized under the premise of ensuring the structural strength.

[0062] In addition, the integrated structure improves the overall stiffness of the joint arm, reduces the vibration and noise caused by the slight displacement between the skeleton and the shell, and improves the motion control accuracy.

[0063] That is, the traditional separate metal skeleton and plastic shell are integrated into a single part (skeleton and shell integrated molding), reducing the number of independent parts, directly reducing the mold cost and assembly complexity. The quick-release cover not only covers the joint assembly itself, but also extends to the adjacent joint connection, realizing the hiding and protection of the connection structure. The quick-release cover of the adjacent joint assembly is fixed by detachable methods such as buckles or screws, forming a continuous appearance while simplifying maintenance (such as exposing internal cables or joints without disassembling the overall shell). The joint assemblies at all levels are connected in series through integrated joint arms, with internal wiring space reserved, and the outside is formed by the quick-release cover to form a coherent closure, taking into account functionality and aesthetics.

[0064] Therefore, the integrated joint arm reduces the need for separate skeleton and shell mold opening, reducing mold cost; the number of parts is reduced, significantly simplifying the assembly process and improving production efficiency. The shielding design of the quick-release cover avoids the need for additional decorative parts, further saving materials. By removing redundant shell layers and integrating structures (such as the shell using a reinforcement rib and skeleton fusion design), weight reduction is achieved under the same strength, which is beneficial to reducing the energy consumption of the robot. In addition, the quick-release cover can be detached individually, allowing joint connectors or cables to be repaired without disassembling the entire arm, reducing maintenance time. Furthermore, the quick-release cover continuously covers the joint gap, eliminating the step difference of traditional multi-layer structures, forming a smooth curve, and improving the visual integrity.

[0065] In some embodiments, the joint assembly further comprises a drive motor, wherein in any adjacent joint assembly, the main shaft of the drive motor of one joint assembly and the joint arm of the other joint assembly are connected;

[0066] In any adjacent joint assembly, the housing of the drive motor of one joint assembly and the joint arm of the other joint assembly are integrally arranged;

[0067] Alternatively, in any adjacent joint assembly, the housing of the drive motor of one joint assembly and the joint arm are integrally arranged.

[0068] In these embodiments, each joint assembly includes a drive motor and a joint arm.

[0069] It should be noted that the shoulder assembly 600, the upper arm assembly 100, the elbow assembly 200, the lower arm assembly 300, and the wrist assembly 400 constitute 7 degrees of freedom, the shoulder assembly 600 and the upper arm assembly 100 realize three degrees of freedom similar to the human shoulder, the elbow assembly 200 simulates the human elbow, the lower arm assembly 300 simulates the human lower arm rotation, and the wrist assembly 400 simulates the human wrist joint.

[0070] In the adjacent two joint assemblies, the main shaft of the driving motor of the upper joint assembly is directly connected with the joint arm of the lower joint assembly (for example, through a flange or spline connection), to realize power transmission. More importantly, the casing of the driving motor of the upper joint assembly is integrally arranged with the joint arm of the lower joint assembly. That is, the casing of the motor and the joint arm are not two independent components, but constitute an integral structure. Such an integrated design can be realized through processes such as injection molding, die casting or 3D printing, for example, using high-strength engineering plastics or lightweight metals as materials.

[0071] In another embodiment, for a single joint assembly, the casing of the driving motor thereof is integrally arranged with the joint arm thereof. That is, the motor is "embedded" into the structure of the joint arm, and the casing of the motor directly constitutes part of the joint arm. When the adjacent joint assemblies are connected, the main shaft of the driving motor of one joint assembly is connected with the joint arm of the other joint assembly.

[0072] In order to facilitate motor maintenance or replacement, the joint arm is composed of two parts: a first casing segment and a second casing segment. The first casing segment is made by an integral molding process with the casing of the driving motor, forming a solid whole. The second casing segment is connected with the first casing segment through a detachable manner such as buckling, screwing or magnetic attraction. When the motor needs to be maintained, only the second casing segment needs to be removed, without the need to disassemble the entire arm structure, greatly facilitating maintenance.

[0073] Illustratively, the driving motor adopts a frameless torque motor. The frameless torque motor is composed of a stator and a rotor, and the stator is directly fixedly connected with the integrally formed casing / housing part (for example, through screw cooperation or gluing), and the stator can even be embedded into the injection or die casting process to realize tighter integration. The rotor is connected with the main shaft. Such a design further reduces the additional structure of the motor installation, improves the power density and overall rigidity.

[0074] Based on any of the above embodiments, the mechanical arm can be applied to a humanoid robot or other robot systems that require a multi-degree-of-freedom mechanical arm. Using the mechanical arm of the present application as the upper limb of the robot can effectively reduce the overall weight and manufacturing cost of the robot, improve its motion flexibility and endurance, and at the same time obtain a better appearance integration effect.

[0075] That is, the adjacent joint assemblies are directly connected through the main shaft of the driving motor and the joint arm to form a power transmission chain. That is, the main shaft of the driving motor of the previous joint assembly drives the rotation of the joint arm of the next joint assembly, realizing the linkage of the motion between the joints without additional connecting rods or adapter structures. The motor housing and the joint arm are integrated: the motor housing of the driving motor and the joint arm of the adjacent joint assembly are integrated into a single part by integrated molding (such as die casting or 3D printing), or the motor housing directly serves as part of the joint housing, eliminating the split structure of the traditional independent skeleton and the shell. The motor housing serves as both a motor protection structure and a joint external support housing, with dual functions of mechanical bearing and appearance modification.

[0076] Therefore, the integrated design eliminates the independent metal skeleton, joint arm and connecting piece, significantly reducing mold cost and material types. The joint assembly pre-integrates the motor and the housing, only requiring assembly of the main shaft and the joint arm connection point, improving production efficiency. Through material centralized distribution and mechanical optimization, unnecessary weight is reduced under the premise of ensuring strength, improving arm movement speed and energy efficiency. The motor main shaft directly drives the joint arm, reducing intermediate transmission loss and improving dynamic response accuracy. When a single joint assembly is damaged, it can be quickly replaced as a whole without the need to disassemble multiple layers of structure. The integrated housing avoids the seam problem of traditional split design, and the surface treatment consistency is better. Through cascading design, the number of joints can be flexibly expanded to adapt to different application scenarios.

[0077] As shown in Figure 2 , Figure 6 and Figure 7 , in some embodiments, the multi-stage joint assembly includes a shoulder assembly 600, the shoulder assembly 600 including a shoulder joint arm 610, at least one shoulder quick-release cover 620, a shoulder-side driving motor 640, and a shoulder driving motor 630, the shoulder joint arm 610 and the main shaft of the shoulder driving motor 630 being connected, the shoulder joint arm 610 further being hinged to the motor housing of the shoulder driving motor 630, and the main shaft of the shoulder-side driving motor 640 and the motor housing of the shoulder driving motor 630 being connected; wherein the shoulder joint arm 610 and the shoulder quick-release cover 620 are detachably connected, and the shoulder quick-release cover 620 is used to shield the connection between the shoulder joint arm 610 and the shoulder driving motor 630.

[0078] In these embodiments, the present embodiment provides a shoulder assembly 600 suitable for a humanoid robot mechanical arm, which is designed to meet the functional requirements while considering maintenance convenience and appearance integration requirements.

[0079] Among them, the shoulder joint arm 610 serves as the main body of the shoulder structure, and is used to connect the upper arm segment and the shoulder driving motor 630.

[0080] The shoulder quick-release cover 620 is mounted on the shoulder joint arm 610 and is used to cover the connection part between the shoulder joint arm 610 and the driving motor. It should be noted that the shoulder quick-release cover 620 can be one or two, etc., and when the shoulder quick-release cover 620 is multiple, all the shoulder quick-release covers 620 can be arranged as a whole for easy disassembly and assembly.

[0081] The shoulder driving motor 630 is used to drive the rotation of the shoulder assembly 600 about the axis of the shoulder driving motor 630, and is usually used to realize the rotating motion of the shoulder assembly 600.

[0082] The shoulder driving motor 630 is used to drive the rotation of the shoulder assembly 600 about the axis of the shoulder driving motor 630, and is usually used to realize the rotating motion of the shoulder assembly 600.

[0083] That is, the shoulder joint arm 610 is fixedly connected with the main shaft of the shoulder driving motor 630, and the rotating motion of the shoulder assembly 600 is realized through the main shaft; the shoulder joint arm 610 is hingedly connected with the shell of the shoulder driving motor 630 through a hinge structure, so that the shoulder assembly 600 can swing relative to the motor body; the main shaft of the shoulder driving motor 630 is connected with the shell of the shoulder driving motor 630, and is used to drive the shell to drive the shoulder joint arm 610 to move laterally; the shoulder quick-release cover 620 is detachably connected with the shoulder joint arm 610 through a buckle structure, and when it is necessary to overhaul or replace the driving motor, only the quick-release cover needs to be removed to access the internal motor connection part, without the need to disassemble the entire shoulder structure.

[0084] As shown in Figure 7 and Figure 11 In some embodiments, a J1 limiting boss 641 is arranged on the front end surface of the shell of the shoulder driving motor 630, and a J1 limiting column 631 is correspondingly arranged on the shell of the shoulder driving motor. The J1 limiting boss 641 and the J1 limiting column 631 are used to limit the range of the J1 joint and play a safety role, avoiding debugging accidents.

[0085] In addition, a J1 zero marking hole 634 is arranged on the J1 limiting column 631. A J1 zero marking via hole 642 is arranged on the J1 limiting boss 641, which is a waist-shaped groove structure. When it is necessary to mark zero for the J1 joint, a pin is only needed to be inserted into the J1 zero marking hole 634 through the J1 zero marking via hole 642. The purpose of the waist-shaped groove structure of the J1 zero marking via hole 642 is to reduce the number of critical dimensions, reduce the processing difficulty and inspection workload.

[0086] As shown in Figure 7As shown, in some embodiments, a J2 zero mark hole 633 and a J2 limit boss 632 are arranged on the tail end surface of the shell of the shoulder driving motor 630, and a corresponding J2 zero mark via hole 611 and a J2 limit column are arranged on the shoulder joint arm. When it is necessary to zero mark the J2 joint, a pin is inserted into the J2 zero mark hole 633 through the J2 zero mark via hole 611 to achieve the zero mark. The J2 limit boss 632 and the J2 limit column are used to limit the range of the J2 joint to play a safety role and avoid unexpected debugging.

[0087] As shown in Figure 1 and Figure 2 As shown, in some embodiments, the multi-stage joint assembly includes a large arm assembly 100, the large arm assembly 100 includes a large arm joint arm 110, a large arm decorative ring, and a large arm driving motor 130. The shell of the large arm driving motor 130 is integrally arranged with the large arm joint arm 110. The main shaft of the large arm driving motor 130 is arranged in the axial hole of the shoulder joint arm 610, and the main shaft of the large arm driving motor 130 is connected with the shoulder joint arm 610. The shoulder joint arm 610 connects the main shaft of the large arm driving motor 130 through a plurality of large arm fasteners, and the plurality of large arm fasteners are arranged along the circumference of the shoulder joint arm 610.

[0088] The outer side of the shoulder joint arm 610 has a shoulder annular groove, and all the large arm fasteners are located in the shoulder annular groove. The large arm decorative ring 120 is sleeved in the shoulder annular groove to shield the large arm fasteners.

[0089] In these embodiments, the present embodiment provides a large arm assembly 100 structure suitable for humanoid robot mechanical arms. The structure meets the high-strength connection requirements, and also considers the appearance integration and assembly and maintenance convenience.

[0090] The large arm joint arm 110 constitutes the external structure of the large arm segment. The large arm decorative ring is used to shield the connection fasteners between the shoulder and the large arm. The large arm driving motor 130 is used to drive the large arm segment to rotate around the shoulder axis.

[0091] The shell of the large arm driving motor 130 is integrally arranged with the large arm joint arm 110, that is, the motor shell and the large arm shell are an integral structure, which are manufactured by an integrated forming process (such as injection molding, die casting or 3D printing).

[0092] The main shaft of the large arm driving motor 130 is arranged in the axial hole of the shoulder joint arm 610 and is fixedly connected with the shoulder joint arm 610 to realize power transmission. The shoulder joint arm 610 is connected with the main shaft of the large arm driving motor 130 through a plurality of large arm fasteners (such as screws), and these fasteners are uniformly distributed along the circumference of the shoulder joint arm 610 to ensure the stability and force balance of the connection.

[0093] A shoulder annular groove is arranged on the outer surface of the shoulder joint arm 610, and all the large arm fasteners are arranged in the annular groove to avoid exposure. The large arm decorative ring is arranged in the shoulder annular groove to shield the large arm fasteners and improve the overall integrity and aesthetics.

[0094] Exemplarily, the large arm joint arm 110 and the shell of the large arm driving motor 130 are made of a high-strength lightweight material such as magnesium-aluminum alloy or carbon fiber reinforced engineering plastic; an integrated forming process can realize seamless connection of the shell and the motor shell, improve the structural strength, and reduce the number of parts.

[0095] Exemplarily, the large arm decorative ring can be made of lightweight plastic or metal material and can be quickly disassembled through buckling, magnetic attraction and the like. Of course, in other embodiments, the large arm decorative ring can also be an elastic ring.

[0096] As shown in Figure 10 , in some embodiments, a J3 zero mark through hole 612 is arranged at a corresponding position on the shoulder joint arm, which is in a waist groove structure. A J3 zero mark hole 113 is arranged on the J3 limiting column 114 of the large arm joint arm, and when it is necessary to mark zero for the J3 joint, a pin is only needed to be inserted into the J3 zero mark hole 113 through the J3 zero mark through hole 612 to achieve it. The purpose of the waist groove structure of the J3 zero mark through hole 612 is to reduce the number of key dimensions, reduce the processing difficulty and inspection workload.

[0097] A J3 limiting boss 613 is arranged at a position opposite to the J3 zero mark through hole 612 of the shoulder joint arm, and the movement is limited by cooperating with the J3 limiting column 114 with the J3 zero mark hole 113 arranged on the large arm joint arm to ensure the safety of debugging. It should be noted that the connection wire harness between the shoulder assembly and the large arm assembly is realized by the hollow space of the shoulder joint arm and the large arm driving motor to realize electrical connection.

[0098] As shown in Figure 1 , Figure 2 and Figure 3 , in some embodiments, the multi-stage joint assembly includes an elbow assembly 200, the elbow assembly 200 includes an elbow joint arm, at least one elbow quick release cover 210 and an elbow driving motor 270, the shell of the elbow driving motor 270 and the large arm joint arm 110 are integrally arranged, the elbow joint arm and the main shaft of the elbow driving motor 270 are connected, and the elbow joint arm is also hinged to the shell of the elbow driving motor 270; wherein the elbow joint arm and the elbow quick release cover 210 are detachably connected, and the elbow quick release cover 210 is used to shield the connection between the elbow joint arm and the elbow driving motor 270.

[0099] In some embodiments, the portion of the front side of the elbow joint arm that is capable of abutting the large arm assembly 100 is a contact portion, and the contact portion is configured as a resilient structure, such that when the contact portion is capable of abutting the large arm assembly 100, the contact portion is capable of resiliently deforming to form a dynamic yielding fit.

[0100] In these embodiments, the elbow assembly 200 includes an elbow joint arm having one end as an elbow large arm end and the other end as an elbow small arm end in the axial direction. The elbow large arm end is rotatably connected to the large arm assembly 100 through a hinged structure such as a joint bearing or a rotating shaft.

[0101] In this embodiment, the portion of the elbow joint arm located on the front side of the elbow large arm end is configured as a contact portion, which is used to contact the large arm assembly 100 when the elbow assembly 200 is rotated to the limit position to achieve the angle limiting function.

[0102] Unlike the traditional rigid limiting structure, the contact portion in this embodiment is configured as a resilient structure. Specifically, the contact portion is made of a resilient material such as polyurethane, silicone, rubber, etc., or adopts a metal spring structure, an elastic protrusion structure, etc. The resilient structure is capable of resiliently deforming when it contacts the large arm assembly 100, thereby achieving a dynamic yielding fit and avoiding hard collision and mechanical interference.

[0103] For example, the contact portion can be arranged at the outer edge of the elbow joint arm, and the longitudinal cross-sectional shape thereof is preferably arc-shaped or bevel-shaped to facilitate smooth contact and buffering during rotation.

[0104] In this application, the portion of the front side of the elbow joint arm close to the large arm assembly 100 is the contact portion. Of course, in other embodiments, the entire front side of the elbow joint arm can also be configured as the contact portion. As long as the structural strength of the elbow joint arm is ensured.

[0105] In one embodiment of this application, the contact portion is an embedded elastic block structure. The elbow joint arm is provided with a mounting groove at the position of the contact portion, and the elastic block is embedded in the mounting groove and fixed by buckling, adhesion or screws, etc. When the elbow assembly 200 is rotated to the limit position, the elastic block first contacts the large arm assembly 100, generates compression deformation, absorbs impact energy, and elastically yields, so that the large arm assembly 100 can be rotated to a larger angle.

[0106] Since the contact portion adopts a resilient structure, the elbow joint arm does not need to be provided with a large range of avoidance grooves or notches as in the traditional structure, while achieving the same angle limiting function. Thus, the overall structural strength of the elbow assembly 200 can be significantly improved, and its carrying capacity and motion stability can be improved.

[0107] In this embodiment, the rotation angle of the elbow assembly 200 can reach about 150°, and during the contact process at the limit position, the elastic structure effectively alleviates the impact and noise caused by hard contact, prolonging the service life of the joint.

[0108] When the elbow assembly 200 of the mechanical arm rotates to the limit angle, the contact portion gradually approaches and contacts the large arm assembly 100. Since the contact portion has the ability to elastically deform, it starts to compress or bend at the initial contact, thereby forming a dynamic accommodation fit. This process avoids the instantaneous impact caused by rigid collision in traditional structures, improving the stability and precision of the movement.

[0109] The mechanical arm provided in the present application realizes the optimization of the joint movement range and impact alleviation through the innovative design of the elastic contact portion, and the core working principle is as follows:

[0110] The contact portion of the elbow assembly 200 adopts an elastic structure (such as an elastic material or a flexible buffer layer), and when the joint rotates to the limit position, the contact portion comes into abutment with the large arm assembly 100. Unlike traditional rigid limiting, the elastic structure can absorb impact energy through deformation and dynamically accommodate, avoiding hard interference. During this process, the elastic deformation of the contact portion allows the joint to have a short "overload" movement, breaking through the geometric limitations of the traditional avoidance groove, thereby expanding the effective rotation angle (such as more than 150°). The deformation characteristics of the elastic contact portion reduce the actual contact area between the large arm assembly 100 and the elbow assembly 200, eliminating the need for a large-range avoidance groove design. Through local elastic compression, movement accommodation is achieved, maintaining the integrity of the shell structure and avoiding the problem of strength weakening caused by the avoidance groove. At the limit position, the elastic contact portion stores part of the kinetic energy through deformation and releases it when the joint returns, reducing the instantaneous impact. The elastic restoring force also assists in joint resetting, reducing the load fluctuation of the driving components.

[0111] Therefore, the dynamic accommodation characteristics of the elastic contact portion allow the elbow assembly 200 to continue to deform slightly at the limit position, effectively expanding the mechanical limiting angle, realizing a large-range movement of more than 150°, and meeting the high flexibility operation requirements. By canceling the traditional large-size avoidance groove design, the continuity and structural strength of the elbow joint arm are maintained, which is especially suitable for high-load scenarios and avoids the risk of fatigue fracture caused by stress concentration. The elastic structure absorbs the impact energy at the end of the movement, significantly reducing the noise and component wear caused by rigid collision, prolonging the service life of the joint, and maintaining the movement precision. By replacing the complex avoidance machining with elastic elements, the structural design complexity and manufacturing cost are reduced, and the assembly fault tolerance is improved. The elastic contact portion has self-adaptive buffering capability for impacts under different rotation speeds or load conditions, improving the stability of the dynamic performance of the robot.

[0112] For example, Figure 1 , Figure 3 , Figure 4 andFigure 5 As shown, in some embodiments, the elbow joint arm includes a bottom shell 220 and a front side cover 230. The bottom shell 220 has a clearance opening 221 on the front side close to the large arm assembly 100, and the bottom shell 220 is a hollow structure. The front side cover 230 is connected to the bottom shell 220, and the front side cover 230 covers the clearance opening 221, so that the front side cover 230 can abut the large arm assembly 100, and the front side cover 230 is a resilient member. The front side cover 230 has an extension 231, and the elbow joint arm has a limiting groove. The extension 231 and the limiting groove are arranged along the axial direction of the elbow joint arm. The limiting groove is located on the front side of the elbow joint arm, and the extension 231 is located in the limiting groove. One groove wall of the limiting groove is close to the large arm assembly 100 to limit the elastic deformation of the extension 231 towards the large arm assembly 100.

[0113] In these embodiments, the elbow joint arm includes a bottom shell 220 and a front side cover 230. The bottom shell 220 is provided with a clearance opening 221 on the front side of the elbow large arm end. The clearance opening 221 is an opening structure, which can be rectangular, circular or polygonal, and can be designed according to the motion trajectory and limiting requirements of the elbow assembly 200. The bottom shell 220 is a hollow structure as a whole, which is used to accommodate the driving assembly or transmission components inside the joint.

[0114] The front side cover 230 is fixedly connected to the bottom shell 220, and is used to cover the clearance opening 221. The outer surface of the front side cover 230 is consistent with or smoothly transitions with the outer contour of the bottom shell 220, so as to ensure the overall appearance and smoothness of the motion of the elbow assembly 200.

[0115] In this embodiment, the front side cover 230 is provided as a resilient member, i.e., it has the ability to elastically deform by itself. For example, the resilient member can be realized in the following ways:

[0116] It is made of elastic material, such as silicone, polyurethane, thermoplastic elastomer, etc.

[0117] When the elbow assembly 200 rotates to the limit position, the front side cover 230 first contacts the large arm assembly 100. Since it is a resilient member, it will compress, bend or locally deform during the contact process, thereby forming a dynamic clearance fit. This flexible limiting method effectively avoids the hard contact impact and noise problem in the traditional rigid limiting structure, and forms a clearance. On the basis of maximizing the integrity of the appearance of the elbow joint arm, the elbow assembly 200 can rotate a larger angle.

[0118] In order to ensure that the front side cover 230 can stably cover the clearance opening 221 of the bottom shell 220, while not affecting its elastic performance, various connection methods are provided in this embodiment:

[0119] Snap connection: A snap structure, such as a protrusion and groove matching structure, is arranged between the front cover 230 and the bottom shell 220, so that the front cover 230 can be quickly assembled and has a certain elastic movement space.

[0120] Adhesive fixing: The front cover 230 is adhered to the accommodation opening 221 by using structural adhesive, which is suitable for the case of overall molding with elastic material.

[0121] Screw connection: Screw holes are arranged between the front cover 230 and the bottom shell 220, and are fixed by screws, which is suitable for the scene of needing to replace or adjust the elastic performance;

[0122] Integrated structure: The front cover 230 and the bottom shell 220 can be integrally formed, for example, by using a two-color injection molding process, so that the front cover 230 is partially made of elastic material and the remaining part is made of rigid material.

[0123] The above connection methods ensure the stable installation of the front cover 230 while still allowing it to elastically deform when stressed.

[0124] When the mechanical arm rotates at a large angle, the elbow assembly 200 gradually approaches the limiting area of the large arm assembly 100. At this time, the front cover 230 as a component part of the contact portion first contacts the large arm assembly 100.

[0125] Since the front cover 230 is an elastic member, it starts to elastically deform at the moment of contact. This deformation process can absorb part of the kinetic energy of the movement, reduce the impact force of the contact, and achieve the effect of buffering and limiting.

[0126] As the elbow assembly 200 continues to rotate, the deformation amount of the front cover 230 gradually increases until it reaches the set limiting angle (such as 150°). At this time, the control system can detect the limiting state and stop the driving motor to complete the limiting action.

[0127] The limiting process is smooth and impact-free, significantly improving the operation accuracy and service life of the mechanical arm.

[0128] In some application scenarios, it is necessary to adjust the elasticity and rigidity of the limiting according to different loads, movement speeds or use environments. Therefore, the front cover 230 in this embodiment is a detachable structure, which is convenient for replacing front covers 230 with different elastic coefficients.

[0129] In these embodiments, in order to improve the controllability and directivity of the deformation of the elastic contact structure during the limiting process, the front cover 230 is provided with an extension 231, and the large arm connecting portion is provided with a limiting groove.

[0130] The extension part 231 is extended by the front side cover 230 towards the inside of the elbow joint arm, and can be in the shape of a strip, an arc, or a T shape, etc., and is specifically designed according to the structural strength and the need for limiting and guiding. For example, the front side cover 230 is in a U-shaped structure. The limiting groove is provided on the large arm connecting part, and is arranged along the axial extension direction of the elbow joint arm, and is matched with the extension part 231, so that the extension part 231 is accommodated in the limiting groove.

[0131] In this embodiment, the limiting groove is located in the front side area of the elbow joint arm, that is, the area where the elbow assembly 200 contacts the large arm assembly 100 when it is rotated to the limit position, so as to realize the limiting and guiding and deformation control functions by the cooperation of the extension part 231 and the limiting groove during the contact.

[0132] In one embodiment of the present application, one groove wall of the limiting groove is close to one side of the large arm assembly 100, that is, when the elbow assembly 200 is rotated to the limit position, the groove wall is in the direction of elastic deformation of the extension part 231.

[0133] When the elbow assembly 200 is rotated to the limit position and the extension part 231 of the front side cover 230 contacts the large arm assembly 100, the front side cover 230 begins to elastically deform. At this time, the groove wall of the limiting groove limits the deformation direction of the extension part 231, preventing it from deforming excessively in the direction of the large arm assembly 100, thereby avoiding interference with the large arm assembly 100 or the elbow assembly 200.

[0134] In some embodiments, the bearing support cover of the elbow driving motor is fixed on the elbow joint arm by screws and cooperates with the inner ring of the bearing at the tail of the elbow driving motor to serve as auxiliary support of the elbow joint arm, thereby improving the rigidity of the structure of the elbow assembly and facilitating the reduction of the wall thickness of the elbow joint arm to achieve the purpose of weight reduction.

[0135] As shown in Figure 1 In some embodiments, the J4 limiting column 223 is locked on the elbow joint arm by screws, the cylindrical segment of the J4 limiting column 223 is precisely matched with the cylindrical hole on the elbow joint arm to realize positioning and force transmission in the structure, so as to ensure that the structure is stressed by the matching segment when it is impacted, thereby avoiding stress on the screws, which ensures the reliability of the overall structure. The cylindrical segment of the J4 limiting column 223 coincides with the J4 limiting boss 111 of the large arm joint arm in the large arm assembly for a certain distance, and the J4 limiting column 223 realizes hard limiting by impacting the J4 limiting boss 111.

[0136] The J4 zero mark hole 112 and the J4 zero mark via hole 224 are respectively provided at corresponding positions on the large arm joint arm and the elbow joint arm, and the zero mark is realized by penetrating the J4 zero mark hole 112 and the J4 zero mark via hole 224 with a zero mark pin.

[0137] As shown in Figure 1 andFigure 8 As shown, in some embodiments, the multi-stage joint assembly includes a forearm assembly 300, which includes a forearm housing 310 and a forearm drive motor 250. The housing of the forearm drive motor 250 is integrally arranged with the forearm housing 310. The main shaft of the forearm drive motor 250 penetrates the axial hole of the elbow joint arm, and the main shaft of the forearm drive motor 250 is connected with the elbow joint arm.

[0138] The elbow joint arm is connected with the main shaft of the forearm drive motor 250 through a plurality of forearm fasteners. The plurality of forearm fasteners are arranged at intervals along the circumference of the elbow joint arm.

[0139] The outer side of the elbow joint arm has an elbow annular groove 240. All the forearm fasteners are located in the elbow annular groove 240. An elbow decorative ring 260 is sleeved in the elbow annular groove 240 to shield the forearm fasteners.

[0140] In these embodiments, the present embodiment provides a forearm assembly 300 structure suitable for humanoid robot mechanical arms. The structure continues the integrated design idea of the upper arm assembly 100, integrates the housing of the forearm drive motor 250 with the forearm housing 310, realizes reliable connection with the elbow joint arm through circumferentially distributed fasteners, and realizes appearance shielding through the decorative ring to improve the overall aesthetic appearance and assembly maintenance.

[0141] The forearm housing 310 constitutes the external structure of the forearm segment. The forearm drive motor 250 is used to drive the forearm to rotate around the elbow axis. The elbow joint arm is a front-stage joint structure and is provided with an axial hole. The forearm fasteners connect the main shaft of the forearm drive motor 250 with the elbow joint arm. The elbow annular groove 240 is arranged on the outer side of the elbow joint arm. The elbow decorative ring 260 is used to shield the connecting fasteners.

[0142] The housing of the forearm drive motor 250 and the forearm housing 310 are manufactured by an integrated forming process (such as injection molding, die casting or 3D printing) to form an overall structure, which eliminates the traditional independent motor shell and support structure. The main shaft of the forearm drive motor 250 penetrates the axial hole of the elbow joint arm and is fixed with the elbow joint arm through a flange or a connecting disc. The elbow joint arm is connected with the main shaft of the forearm drive motor 250 through a plurality of forearm fasteners (such as internal hexagonal screws). These fasteners are uniformly distributed along the circumference of the elbow joint arm to ensure the connection strength and uniform stress. An elbow annular groove 240 is arranged on the outer side surface of the elbow joint arm. All the forearm fasteners are located in the groove to avoid exposure. The elbow decorative ring 260 is sleeved in the elbow annular groove 240 to completely shield the forearm fasteners, so that the appearance of the forearm and the elbow connection area is neat and the degree of integration is high.

[0143] For example, the forearm housing 310 and the motor housing can be made of high-strength lightweight materials such as aluminum alloy, magnesium alloy or carbon fiber reinforced nylon.

[0144] Exemplarily, the elbow decorative ring 260 can be made of light plastic, metal or composite material, and can be quickly disassembled and assembled through buckles, magnetic attraction or a small number of screws, so as to facilitate maintenance of the motor or replacement of parts. Of course, in other embodiments, the large arm decorative ring can also be an elastic ring.

[0145] As shown in Figure 1 and Figure 8 , in some embodiments, the small arm joint arm is provided with a J5 limiting column 311, and the J5 limiting column 311 is provided with a J5 zero marking hole 312, which is opposite to the J5 zero marking through hole 226 opened on the elbow joint arm, and is used to complete the zero marking operation of the joint. The J5 limiting column 311 is further provided with a J5 limiting column 311 on the elbow joint arm, which cooperates with the J5 limiting column 311 of the small arm joint arm to realize the range limitation of the joint movement.

[0146] In some embodiments, the cylindrical surface of the J6 limiting column 313 cooperates with the cylindrical hole of the small arm joint arm and is fixedly connected with the small arm joint arm through a screw, and the J6 limiting column 313 cooperates with the J6 limiting column 411 on the wrist joint arm to realize the range limitation of the movement and ensure the safety of the movement.

[0147] When zero marking is needed, the J6 zero marking hole 412 on the wrist joint arm can be realized by inserting a pin through the J6 zero marking through hole 314 on the small arm joint arm. The J6 zero marking through hole 314 adopts a waist-shaped slot structure, which aims to reduce the number of key dimensions, reduce the processing difficulty and inspection workload.

[0148] As shown in Figure 1 and Figure 9 , in some embodiments, the multi-stage joint assembly includes a wrist assembly 400, the wrist assembly 400 includes a wrist joint arm 440, a hand adapter 430, a wrist first driving motor 410 and a wrist second driving motor 420, the casing of the wrist first driving motor 410, the casing of the wrist second driving motor 420 and the wrist joint arm 440 are integrally arranged, the main shaft of the wrist first driving motor 410 is connected with the small arm shell 310, and the small arm shell 310 is further hingedly connected with the wrist joint arm 440; the hand adapter 430 is connected with the main shaft of the wrist second driving motor 420, and the hand adapter 430 is further hingedly connected with the wrist joint arm 440; wherein, the small arm assembly 300 further includes at least one small arm quick disassembly cover 320, the small arm quick disassembly cover 320 and the small arm shell 310 are detachably connected, and the small arm quick disassembly cover 320 is used to shield the connection between the main shaft of the wrist first driving motor 410 and the small arm shell 310 and the connection between the small arm shell 310 and the wrist joint arm 440.

[0149] In these embodiments, the present embodiments provide a wrist assembly 400 structure suitable for human-shaped robot end effector connection. The structure realizes the compact integration of two rotational degrees of freedom, and through the integrated shell design and detachable quick-release cover, it balances high rigidity, lightweight and maintenance convenience.

[0150] The wrist joint arm 440 constitutes the main body of the wrist structure. The hand adapter 430 is used to connect the manipulator or end effector. For example, in the present application, the hand adapter 430 is connected with a six-dimensional force sensor 500 and a six-dimensional force output flange.

[0151] The wrist first driving motor 410 drives the wrist to rotate around the axis of the wrist first driving motor 410.

[0152] The wrist second driving motor 420 drives the hand adapter 430 to rotate around the axis of the wrist second driving motor 420. The axis of the wrist first driving motor 410 and the axis of the wrist second driving motor 420 are arranged vertically.

[0153] The forearm shell 310 is connected with the wrist assembly 400. The forearm quick-release cover 320 is detachably mounted on the forearm shell 310 for shielding the internal connection structure.

[0154] The casings of the wrist first driving motor 410 and the wrist second driving motor 420 are manufactured by an integrated forming process with the wrist joint arm 440, forming a solid overall structure, eliminating the traditional independent motor shell and support frame; the main shaft of the wrist first driving motor 410 is fixedly connected with the forearm shell 310, realizing the pitch movement of the wrist as a whole relative to the forearm; the hinge structure is used between the forearm shell 310 and the wrist joint arm 440 to realize the articulation, allowing the wrist joint arm 440 to rotate with the main shaft; the hand adapter 430 is connected with the main shaft of the wrist second driving motor 420, realizing the swing movement of the hand; the hand adapter 430 is also articulated with the wrist joint arm 440, ensuring the stability of the rotation axis.

[0155] In addition, the forearm assembly 300 is provided with the forearm quick-release cover 320, which is detachably connected with the forearm shell 310 through buckle or magnetic attraction structure. The area covered by the quick-release cover includes: the connection part (such as flange connection screw) of the main shaft of the wrist first driving motor 410 with the forearm shell 310 and the articulation area between the forearm shell 310 and the wrist joint arm 440.

[0156] Obviously, after removing the quick-release cover, the above-mentioned connection structure can be directly contacted, which is convenient for motor maintenance, replacement or joint calibration.

[0157] In some embodiments, the J7 limit column on the hand rotating part is slidingly matched with the limit groove on the wrist joint arm, and the circular arc angle of the limit groove is configured to limit the rotation range.

[0158] As shown in Figure 2 and Figure 3 In some embodiments, the main shaft of the driving motor has a motor axial channel, the shell has a joint axial channel, the motor axial channel and the joint axial channel are in communication, forming a continuous wire routing path.

[0159] In these embodiments, the core of the continuous wire routing structure inside the mechanical arm is to connect the internal channel of the driving motor main shaft with the joint axial channel of the mechanical arm shell, forming a continuous wire channel that runs through the entire arm, guiding the motor lead and other signal cables, and realizing hollow wire routing in the arm, ensuring the overall appearance of the arm.

[0160] The main shaft of the driving motor (including the main shaft of the shoulder-side driving motor 640, the shoulder driving motor 630, the large arm driving motor 130, the small arm driving motor 250, or the first wrist driving motor 410 and the second wrist driving motor 420) is provided with a motor axial channel along its axial direction, which runs through both ends of the main shaft.

[0161] For example, the shoulder-side driving motor 640 has a shoulder-side motor axial channel, the shoulder driving motor 630 has a shoulder motor axial channel, the large arm driving motor 130 has a large arm motor axial channel, the small arm driving motor 250 has a small arm motor axial channel 251, the first wrist driving motor 410 has a first wrist motor axial channel, and the second wrist driving motor 420 has a second wrist motor axial channel.

[0162] The shell (such as the shoulder joint arm 610, the large arm joint arm 110, the elbow joint arm, the small arm shell 310, or the wrist joint arm 440) is provided with a joint axial channel in its axial direction, and the through hole also runs through both ends of the shell.

[0163] For example, the shoulder joint arm 610 has a shoulder joint axial channel, the large arm joint arm 110 has a large arm joint axial channel, the elbow joint arm has an elbow joint axial channel, the small arm shell 310 has a small arm joint axial channel, and the wrist joint arm 440 has a wrist motor axial channel.

[0164] When the driving motor main shaft is connected with the shell, the motor axial channel of the main shaft and the joint axial channel of the shell are in communication at the connection, thereby forming a continuous wire routing path that runs from one end of the shell through the main shaft to the other end;

[0165] This continuous path can be used to lay: the power supply line of the driving motor, the feedback signal line of the motor encoder, the communication line of other sensors (such as temperature, torque sensors).

[0166] Exemplarily, the axial passage of the main shaft motor can be achieved by drilling, deep hole machining or inner cavity forming process. Optionally, an insulation layer (such as spraying epoxy resin, sleeving a polytetrafluoroethylene PTFE tube) or a flexible wire protection sleeve can be arranged on the inner wall of the axial passage of the motor to prevent the cable from rubbing or short-circuiting with the metal main shaft.

[0167] Exemplarily, the axial passage of the joint of the shell can be integrally formed when the shell is formed (such as injection molding, die casting), or achieved by drilling in subsequent processing.

[0168] Obviously, all the cables are routed along the axial central path, avoiding external winding and improving the utilization of the internal space. The cables are confined in the closed passage, avoiding being pulled, twisted or worn during the joint movement. The central routing path is away from external interference sources, and a shielding layer can be additionally installed to improve the signal transmission stability. All the cables are hidden inside the structure, without exposed wire harness outside, improving the product aesthetics.

[0169] In some embodiments, the application also provides a robot, which comprises the robotic arm according to any one of the above embodiments.

[0170] Since the above-mentioned robotic arm has the above-mentioned technical effects, the robot comprising the robotic arm should have the same technical effects, which will not be described here again.

[0171] Exemplarily, the robot of the application takes a humanoid robot as an example. Of course, other robots with the elbow assembly 200 are also within the protection scope of the application.

[0172] In all the examples shown and described herein, any specific values should be interpreted as merely exemplary and not as a limitation, and thus, other examples of the exemplary embodiments can have different values.

[0173] It should be noted that similar reference numbers and letters represent similar items in the following drawings, and thus, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0174] The above-described embodiments only express several implementation manners of the application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the scope of the application. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the application, and these are within the protection scope of the application.

Claims

1. A robot arm, characterized in that, The mechanical arm comprises a plurality of joint assemblies, each joint assembly comprising a joint arm and a quick-release cover, the quick-release cover and the joint arm being connected, the joint arm comprising a skeleton and a shell, the skeleton and the shell being integrally arranged; wherein in any adjacent joint assemblies, the quick-release cover of one of the joint assemblies is used to shield the connection between the two joint assemblies.

2. The robot of claim 1, wherein, The joint arm and the quick-release cover are detachably connected.

3. The robot according to claim 1 or 2, characterized in that, One of the joint assemblies is a shoulder assembly, the shoulder assembly comprising a shoulder joint arm, at least one shoulder quick-release cover, a shoulder-side driving motor and a shoulder driving motor, the shoulder joint arm and a main shaft of the shoulder driving motor being connected, the shoulder joint arm being further hinged to a machine housing of the shoulder driving motor, a main shaft of the shoulder-side driving motor and the machine housing of the shoulder driving motor being connected; wherein the shoulder joint arm and the shoulder quick-release cover are detachably connected, and the shoulder quick-release cover is used to shield the connection between the shoulder joint arm and the shoulder driving motor.

4. The robot of claim 3, wherein, One of the joint assemblies is a large-arm assembly, the large-arm assembly comprising a large-arm joint arm, a large-arm decorative ring and a large-arm driving motor, a machine housing of the large-arm driving motor and the large-arm joint arm being connected, a main shaft of the large-arm driving motor being arranged in an axial hole of the shoulder joint arm, the main shaft of the large-arm driving motor and the shoulder joint arm being connected. The shoulder joint arm is connected to the main shaft of the large-arm driving motor through a plurality of large-arm fasteners, the plurality of large-arm fasteners being arranged at intervals along a circumference of the shoulder joint arm. An outer side of the shoulder joint arm has a shoulder annular groove, all the large-arm fasteners being arranged in the shoulder annular groove, and the large-arm decorative ring being sleeved in the shoulder annular groove to shield the large-arm fasteners.

5. The robot of claim 4, wherein, One of the joint assemblies is an elbow assembly, the elbow assembly comprising an elbow joint arm, at least one elbow quick-release cover and an elbow driving motor, a machine housing of the elbow driving motor and the large-arm joint arm being connected, the elbow joint arm and a main shaft of the elbow driving motor being connected, the elbow joint arm being further hinged to the machine housing of the elbow driving motor. The elbow joint arm and the elbow quick-release cover are detachably connected, and the elbow quick-release cover is used to shield the connection between the elbow joint arm and the elbow driving motor.

6. The robot of claim 5, wherein, A part of a front side of the elbow joint arm is a contact part, the contact part being capable of abutting against the large-arm assembly, and the contact part being arranged in an elastic structure, so that in the case that the contact part is capable of abutting against the large-arm assembly, the contact part is capable of elastically deforming to form a dynamic accommodation fit.

7. The robot of claim 6, wherein, The elbow joint arm comprises: a bottom shell, the bottom shell being arranged at a front side of an end of the elbow large arm and having an accommodation opening, and the bottom shell being a hollow structure; a front side cover, the front side cover and the bottom shell being connected, the front side cover being covered on the accommodation opening, so that the front side cover is capable of abutting against the large-arm assembly, and the front side cover being an elastic member; The front side cover has an extension part, the elbow joint arm has a limiting groove, the extension part and the limiting groove are arranged along the axial direction of the elbow joint arm, the limiting groove is located on the front side of the elbow joint arm, the extension part is located in the limiting groove, and a groove wall of the limiting groove is close to the large arm assembly to limit the elastic deformation of the extension part to the large arm assembly.

8. The robot of claim 5, wherein, One of the joint assemblies is a small arm assembly, the small arm assembly includes a small arm shell and a small arm driving motor, the casing of the small arm driving motor is connected with the small arm shell, and the main shaft of the small arm driving motor passes through the axial hole of the elbow joint arm and is connected with the elbow joint arm. The elbow joint arm is connected with the main shaft of the small arm driving motor through a plurality of small arm fasteners, and the plurality of small arm fasteners are arranged at intervals along the circumferential direction of the elbow joint arm. The elbow assembly further includes an elbow decoration ring, the outer side of the elbow joint arm has an elbow annular groove, all the small arm fasteners are located in the elbow annular groove, and the elbow decoration ring is sleeved in the elbow annular groove to shield the small arm fasteners.

9. The robot of claim 8, wherein, One of the joint assemblies is a wrist assembly, the wrist assembly includes a wrist joint arm, a hand adapter, a wrist first driving motor and a wrist second driving motor, the casing of the wrist first driving motor, the casing of the wrist second driving motor and the wrist joint arm are connected and arranged, the main shaft of the wrist first driving motor is connected with the small arm shell, and the small arm shell is further hinged with the wrist joint arm; the hand adapter is connected with the main shaft of the wrist second driving motor, and the hand adapter is further hinged with the wrist joint arm. The small arm assembly further includes at least one small arm quick release cover, the small arm quick release cover is detachably connected with the small arm shell, and the small arm quick release cover is used for shielding the connection between the main shaft of the wrist first driving motor and the small arm shell and the connection between the small arm shell and the wrist joint arm.

10. The robot of claim 2, wherein, The main shaft of the driving motor has a motor axial channel, the joint arm has a joint axial channel, the motor axial channel and the joint axial channel are communicated to form a continuous wire routing path.

11. A robot, characterized in that The robot includes the mechanical arm as claimed in any one of claims 1 to 10.

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