Double-arm power structure of humanoid robot

Abstract

The double-arm power structure of the humanoid robot comprises a chest frame, a shoulder assembly, a big arm assembly and a small arm assembly of the robot, the shoulder assembly is connected with the chest frame through a shoulder-chest connecting plate, and the shoulder-chest connecting plate inclines inwards by a certain angle, so that the ratio of the width of the shoulders to the length of the arms of the robot is 1: (2.7-3.2); the shoulder joint motor and the big arm shutdown motor are arranged in a mass rear-mounted mode and are arranged close to one end of the chest frame. By adjusting the position relation between the two arms and the chest of the humanoid robot and obliquely arranging the shoulder-chest connecting plate and the shoulder first joint base upwards, the shoulder distance of the humanoid robot is shortened, the proportion of the two arms to the chest is more coordinated, and the two arms of the whole humanoid robot are more compact in structure, more coordinated in appearance and more personified; and the structure of the robot is more attractive, and popularization of the humanoid robot is facilitated.

Description

Technical Field

[0001] This invention belongs to the field of humanoid robot technology and relates to a dual-arm power structure for a humanoid robot. Background Technology

[0002] Humanoid robots represent one of the ultimate forms in the field of robotics, and the dual-arm power structure, as the core component for humanoid robots to interact with their environment, directly determines the robot's practicality and application limits.

[0003] With the continuous development of the humanoid robot industry, higher requirements are being placed on the dual-arm power structure of humanoid robots. This structure should possess force perception and feedback capabilities similar to those of human arm joints, establishing force perception capabilities across all joints. When the robot's arms collide with obstacles or experience significant torque at any joint, feedback should be provided to the remote operator or the robot's onboard system to adapt to more complex application scenarios and tasks. However, for humanoid robot dual-arm power structures requiring high motion performance, high control precision, and low energy consumption, existing structures present a fundamental contradiction between high load capacity and low inertia.

[0004] Existing technical solutions exhibit two main tendencies. The first is based on the design principles of traditional industrial robotic arms, embedding high-power, large-volume servo motors and reducers at each rotating joint to ensure high load capacity and output rigidity. However, this leads to a sharp increase in the overall weight and rotational inertia of the robotic arm, resulting in poor overall motion performance, high energy consumption, low safety, and complex kinematic control compensation. The second approach prioritizes lightweight design by using low-power, high-reduction-ratio motors and lightweight materials. While this achieves a light and flexible arm, it results in slow response speed and limited load capacity, significantly restricting the application range of humanoid robots. Summary of the Invention

[0005] The problem solved by this invention is to provide a dual-arm power structure for a humanoid robot, which features large load and small inertia, and has a simple and compact structure.

[0006] To achieve the above objectives, the technical solution of the present invention is as follows: A dual-arm power structure for a humanoid robot includes a chest frame, shoulder assembly, upper arm assembly, and forearm assembly. The shoulder assembly is connected to the chest frame via a shoulder-chest connecting plate, which is tilted inward at a certain angle so that the ratio of shoulder width to robot arm length is 1:2.7~3.2. Furthermore, the chest frame includes a front chest plate, a back chest plate, and shoulder-chest connecting plates on both sides, and an upper chest platform is provided on the upper side of the chest frame, a lower chest platform is provided on the lower side of the chest frame, and heat dissipation components are provided on both sides of the lower chest platform. The shoulder and chest connecting plate is inclined inward at 15°~35° along the vertical plane.

[0007] Furthermore, the two ends of the lower chest platform are installed between the front chest plate and the back chest plate, and the lower chest platform includes a robot lower-level integrated circuit placement area and a host computer integrated processor installation area. The heat dissipation assembly includes a heat dissipation fan housed in a heat dissipation fan bracket. The two ends of the heat dissipation fan bracket are installed between the front chest plate and the back chest plate, and the upper end is connected to the shoulder-chest connecting plate.

[0008] Furthermore, the shoulder joint motor includes a first shoulder joint motor, a second shoulder joint motor, and a third shoulder joint motor of the shoulder assembly, which respectively drive the shoulder assembly to achieve rotational degrees of freedom in three orthogonal directions; The first joint motor is mounted on the shoulder-chest connecting plates on both sides of the chest frame; one end of the L-shaped shoulder second joint motor connecting seat is connected to the output shaft of the shoulder first joint motor, and the other end is connected to the shoulder second joint motor; one end of the T-shaped shoulder third joint motor connecting seat is connected to the output shaft of the shoulder second joint motor, and the other end is connected to the shoulder third joint motor.

[0009] The boom motor includes a boom motor for the boom assembly. The boom motor is mounted on a boom motor base connected to the output shaft of the third joint motor. The boom motor base is provided with a positioning block. The boom motor drives the elbow assembly at the end of the boom assembly through the elbow linkage drive assembly: the boom drive linkage is connected to the output shaft of the boom motor; one end of the boom linkage is connected to the boom drive linkage, and the other end is connected to the forearm connecting plate, which is connected to the elbow assembly. The rotation of the boom motor drives the boom drive linkage to rotate, which in turn drives the forearm connecting plate to rotate around the elbow assembly.

[0010] Furthermore, the lower part of the boom motor base is connected to the boom frame; The boom frame includes an external support frame for the boom composed of an outer boom plate and an inner boom plate. The first boom support member and the second boom support member are connected to the outer boom plate and the inner boom plate, respectively, as internal support components of the boom. The elbow assembly includes an elbow pivot disposed between the outer plate and the inner plate of the upper arm. A plane bearing and a flange bearing are sleeved on the elbow pivot, and a forearm connecting plate is disposed between the plane bearing and the flange bearing.

[0011] Furthermore, the boom drive link, boom link, forearm connecting plate, and boom frame form a parallelogram link structure, in which the boom drive link serves as the active rocker, the boom link serves as the connecting rod, the forearm connecting plate serves as the driven rocker, and the boom frame serves as the frame, enabling the elbow assembly to rotate at a range of over 50°.

[0012] Furthermore, the forearm assembly is connected to the upper arm assembly via a forearm connecting plate; The forearm assembly includes a forearm connecting seat connected to a forearm connecting plate; a forearm self-rotation motor connected to the forearm connecting seat, and a forearm connecting pad between the two; the output shaft of the forearm self-rotation motor is connected to the forearm frame. The forearm frame contains a forearm drive motor, and the end of the forearm frame is connected to the wrist frame, which contains a wrist motor. The wrist frame is connected to the end-arm frame via bearings, and the end-arm frame contains an end-arm motor. The forearm rotation motor drives the forearm to rotate; the forearm drive motor drives the wrist linkage drive assembly to drive the wrist frame and wrist motor to realize the left and right rotation freedom of the wrist; the wrist motor drives the arm end frame to realize the forward and backward rotation freedom of the wrist.

[0013] Furthermore, the forearm frame includes an outer forearm frame plate and an inner forearm frame plate disposed on the left and right sides, as well as a forearm connecting limit block disposed on the upper side and an inner forearm support disposed on the lower side; wherein, the forearm drive motor is disposed between the outer forearm frame plate and the inner forearm frame plate, and the ends of the outer forearm frame plate and the inner forearm frame plate are respectively provided with wrist pivots, one end of the wrist pivot is connected to the outer forearm frame plate or the inner forearm frame plate through a deep groove ball bearing, and the other end is fixedly connected to the wrist frame; The forearm wheel, forearm drive bearing, and forearm link form the wrist link drive assembly; the forearm wheel is connected to the output shaft of the forearm drive motor; one end of the forearm link is connected to the forearm wheel via the forearm drive bearing, and the other end is connected to the wrist frame; The forearm drive motor drives the forearm wheel to rotate, which in turn drives the forearm connecting rod to rotate, causing the wrist frame to rotate left and right around the forearm frame around the wrist pivot. The wrist motor rotating frame and the wrist motor rotating bracket are fixedly connected to the wrist frame, and the wrist motor is located between the wrist motor rotating frame and the wrist motor rotating bracket. The end-frame of the arm is connected to the output shaft of the wrist motor via a wrist rotation bearing, and the wrist motor drives the end-frame of the arm to rotate back and forth.

[0014] Furthermore, the joint motor of the shoulder assembly and the upper arm motor of the upper arm assembly both adopt quasi-direct drive single-stage planetary reduction DC brushless motors. The shoulder assembly also includes an integrated control circuit, torque sensor, and absolute position encoder for monitoring the motor of the first shoulder joint; an integrated control circuit, torque sensor, and absolute position encoder for monitoring the motor of the second shoulder joint; and an integrated control circuit, torque sensor, and absolute position encoder for monitoring the motor of the third shoulder joint. The boom assembly also includes an integrated control circuit for monitoring the boom motor, a torque sensor, and an absolute position encoder; The forearm assembly also includes an integrated control circuit, torque sensor, and absolute position encoder for monitoring the forearm rotation motor; an integrated control circuit, torque sensor, and absolute position encoder for monitoring the forearm drive motor; and an integrated control circuit, torque sensor, and absolute position encoder for monitoring the wrist motor.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The dual-arm power structure of the humanoid robot provided by this invention, by adjusting the positional relationship between the dual arms and the chest of the humanoid robot, and by arranging the shoulder-chest connecting plate at an angle to install the first shoulder joint base, shortens the shoulder distance of the humanoid robot (the shoulder distance of the robot of this invention is between 500 and 550 mm), making the proportion of the dual arms to the chest more harmonious. The ratio of the distance between the outer sides of the robot's two shoulders to the length of the robot's arms is between 1:2.7 and 1:3.2, making the entire dual-arm structure of the humanoid robot more compact, the shape more harmonious, and more humanoid, and the structure of the robot more aesthetically pleasing, thus facilitating the promotion of humanoid robots.

[0016] The dual-arm power structure of the humanoid robot of this invention features motors positioned at the rear of the body, employing quasi-direct drive. This design combines high load capacity with low moment of inertia. The first, second, and third shoulder joint motors, along with the upper arm motor, are compactly and centrally located at the rear of the robot's frame near the chest. The closer the mass is to the base, the smaller the moment of inertia, significantly reducing the arm's rotational inertia, improving the arm's motion performance and control precision, while also reducing energy consumption and extending standby time. In particular, the three degrees of freedom in the shoulder utilize high-torque motors (planetary geared motors) with a maximum torque of 120 Nm, enabling the robot to handle a large load.

[0017] The dual-arm power structure of the humanoid robot of this invention uses high-torque DC brushless motors with quasi-direct drive first-stage planetary reduction gears for all joint motors. It can integrate control circuits, torque sensors and absolute position encoders internally, realizing the force sensing and feedback capability of the humanoid robot's dual arms, improving the force control effect of the humanoid robot's dual arms, and expanding the robot's applicability to complex scenarios.

[0018] The present invention provides a power structure for the dual arms of a humanoid robot, in which the lower-level integrated circuit placement area and the upper-level integrated processor installation area are integrated in the robot's chest, and the chest is provided with a separate heat dissipation module, which improves the integration of the humanoid robot, makes the mechanical structure and control circuit of the entire robot more compact, and improves the reliability of operation. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the dual-arm power structure of the robot of the present invention; Figure 2 This is a schematic diagram of the chest frame and L-shaped shoulder second joint motor connection seat structure of the present invention; Figure 3 This is a schematic diagram of the shoulder component structure of the present invention; Figure 4 This is a schematic diagram of the arm structure of the present invention; Figure 5 This is a schematic diagram of the upper arm assembly structure of the present invention; Figure 6 This is a schematic diagram of the forearm assembly structure of the present invention; Among them, 1 is the forearm assembly, 2 is the upper arm assembly, 3 is the shoulder assembly, 4 is the chest assembly, 5 is the heat dissipation assembly, 6 is the elbow linkage drive assembly, 7 is the wrist linkage drive assembly, 8 is the cooling fan, 9 is the cooling fan bracket, 10 is the upper computer integrated processor installation area, 11 is the lower computer integrated circuit placement area, 12 is the chest front plate, 13 is the upper chest platform, 14 is the chest back plate, 15 is the shoulder-chest connection plate, 16 is the shoulder first joint motor, 17 is the L-shaped shoulder second joint motor connector, 18 is the support pad, 19 is the shoulder second joint motor, 20 is the T-shaped shoulder third joint motor connector, 21 is the shoulder third joint motor, 22 is the upper arm motor, 23 is the positioning block, 24 is the upper arm motor seat, 25 is the upper arm outer plate, 26 is the upper arm inner plate, and 27 is the upper arm inner plate. 28 is the first support component of the upper arm, 29 is the second support component of the upper arm, 30 is the forearm rotation motor, 31 is the forearm drive motor, 32 is the wrist motor, 33 is the upper arm drive linkage, 34 is the upper arm linkage, 35 is the elbow assembly, 36 is the forearm connecting plate, 37 is the elbow pivot, 38 is the plane bearing, 39 is the flange bearing, 40 is the forearm connecting seat, 41 is the forearm connecting pad, 42 is the forearm connecting limit block, 43 is the forearm outer frame plate, 44 is the forearm inner frame plate, 45 is the forearm wheel, 46 is the forearm drive bearing, 47 is the forearm linkage, 48 is the wrist frame, 49 is the wrist motor rotating frame, 50 is the forearm inner support, 51 is the wrist motor rotating bracket, 52 is the arm end frame, 53 is the wrist rotating bearing, and 54 is the arm end motor. Detailed Implementation

[0020] See Figures 1-2A dual-arm power structure for a humanoid robot includes a chest frame 4, a shoulder assembly 3, an upper arm assembly 2, and a forearm assembly 1. The shoulder assembly 3 is connected to the chest frame 4 via a shoulder-chest connecting plate 15, and the shoulder-chest connecting plate 15 is tilted inward at a certain angle so that the ratio of the width of the shoulders to the length of the robot arms is 1:2.7~3.2. The shoulder joint motor and the upper arm shutdown motor are positioned in a rear-mounted manner: located near one end of the chest frame 4.

[0021] See Figure 2 The chest frame 4 includes a front chest plate 12 on the front side, a back chest plate 14 on the rear side, and shoulder-chest connecting plates 15 on both sides. An upper chest platform 13 is provided on the upper side of the chest frame, a lower chest platform is provided on the lower side of the chest frame, and heat dissipation components are provided on both sides of the lower chest platform. The shoulder and chest connecting plate 15 is inclined inward along the vertical plane at 15°~35°, preferably 25°.

[0022] The two ends of the lower chest platform are installed between the front chest plate 12 and the back chest plate 14, chest The lower platform includes a robot lower-level integrated circuit placement area 11 and a host computer integrated processor installation area 10; The heat dissipation assembly includes a heat dissipation fan 8 disposed in a heat dissipation fan bracket 9. The two ends of the heat dissipation fan bracket 9 are installed between the front chest plate 12 and the back chest plate 14, and the upper end is connected to the shoulder and chest connecting plate 15.

[0023] The lower-level integrated circuit placement area and the upper-level integrated processor installation area are integrated on the robot's chest, and the chest is equipped with a separate heat dissipation module, which improves the integration of the humanoid robot and makes the overall mechanical structure and control circuit of the robot more compact. See Figures 2-3 The shoulder joint motor includes a first shoulder joint motor 16, a second shoulder joint motor 19, and a third shoulder joint motor 21, which drive the shoulder assembly to achieve rotational freedom in three orthogonal directions, respectively. The first joint motor 16 is mounted on the shoulder-chest connecting plates 15 on both sides of the chest frame; one end of the L-shaped shoulder second joint motor connecting seat 17 is connected to the output shaft of the shoulder first joint motor 16, and the other end is connected to the shoulder second joint motor 19; one end of the T-shaped shoulder third joint motor connecting seat 18 is connected to the output shaft of the shoulder second joint motor 19, and the other end is connected to the shoulder third joint motor 21.

[0024] Through calculation and actual testing, this invention significantly reduces the rotational inertia of the arms during movement by concentrating the three drive motors on the shoulders and the upper arm motor of the humanoid robot at the end of the arms, while obtaining the ability to sense and feedback forces at all joints of the arms.

[0025] By adjusting the inward tilt angle of the shoulder-chest connecting plates 15 on both sides of the humanoid robot's chest frame, that is, adjusting the angle between the shoulder first joint motor mounting base and the positive vertical symmetry plane, the shoulder distance and shape of the humanoid robot's arms can be adjusted to obtain a more coordinated, more human-like proportion, and more distinctive humanoid robot arm power structure shape.

[0026] The boom motor includes a boom motor 22 of the boom assembly. The boom motor 22 is mounted on a boom motor base 24 connected to the output shaft of the third joint motor 21. A positioning block 23 is provided on the boom motor base 24. The arrangement of the upper arm motors close to the left and right symmetrical planes of the motor connector of the third joint of the T-shaped shoulder can reduce the space volume required for the upper arm to rotate, making the power structure of the humanoid robot's two arms look more compact and aesthetically pleasing.

[0027] The boom motor 22 drives the elbow assembly 34 at the end of the boom assembly through the elbow linkage drive assembly: the boom drive linkage 32 is connected to the output shaft of the boom motor 22; one end of the boom linkage 33 is connected to the boom drive linkage 32, and the other end is connected to the forearm connecting plate 35, which is connected to the elbow assembly 34. The rotation of the boom motor 22 drives the boom drive link 32 to rotate, which in turn drives the forearm connecting plate 35 to rotate around the elbow assembly 34 via the boom link 33.

[0028] Further, see Figure 4 , Figure 5 The lower part of the boom motor base 24 is connected to the boom frame; The boom frame includes an external support frame for the boom composed of an outer boom plate 25 and an inner boom plate 26. The first boom support member 27 and the second boom support member 28 serve as internal support components for the boom and are respectively connected to the outer boom plate 25 and the inner boom plate 26. The elbow assembly 34 includes an elbow pivot 36 disposed between the outer plate 25 and the inner plate 26 of the upper arm. A plane bearing 37 and a flange bearing 38 are sleeved on the elbow pivot 36, and a forearm connecting plate 35 is disposed between the plane bearing 37 and the flange bearing 38.

[0029] Furthermore, the boom drive link 32, boom link 33, forearm connecting plate 35, and boom frame form a parallelogram link structure, wherein the boom drive link 32 serves as the active rocker arm, the boom link 33 serves as the connecting rod, the forearm connecting plate serves as the driven rocker arm 35, and the boom frame serves as the frame, so that the elbow assembly 34 has a rotation range of more than 50°, and avoids the dead point of the link when the arm is fully extended.

[0030] Specifically, the length of the boom drive link (i.e., the active rocker arm) is 35mm, the length of the forearm connecting plate (i.e., the driven rocker arm) is 35mm, the length of the boom link (i.e., the connecting rod) is 284.5mm, and the length of the frame is 284.5mm.

[0031] The present invention aims to reduce the moment of inertia by placing the boom motor at the rear by setting a connecting rod on the boom.

[0032] See Figure 4 , Figure 6 The forearm assembly is connected to the upper arm assembly via the forearm connecting plate 35; The forearm assembly includes a forearm connecting seat 39 connected to the forearm connecting plate 35; a forearm self-rotating motor 29 is connected to the forearm connecting seat 39, and a forearm connecting pad 40 is provided between the two; the output shaft of the forearm self-rotating motor 29 is connected to the forearm frame; specifically, the forearm connecting seat 39 and the forearm connecting pad 40 are combined to form the base of the forearm, and one end is connected to the forearm self-rotating motor 29 by bolts, and the other end is connected to the forearm connecting plate 35.

[0033] The forearm frame is equipped with a forearm drive motor 30. The end of the forearm frame is connected to the wrist frame 47. The wrist frame 47 is equipped with a wrist motor 31. The wrist frame 47 is connected to the arm end frame 52 through a bearing. The arm end frame 52 is equipped with an arm end motor 54. The forearm rotation motor 29 drives the forearm to rotate; the forearm drive motor 30 drives the wrist linkage drive assembly 7 to drive the wrist frame 47 and the wrist motor 31 to realize the left and right rotation freedom of the wrist; the wrist motor 31 drives the arm end frame 52 to realize the forward and backward rotation freedom of the wrist.

[0034] See Figure 6 The forearm frame includes an outer forearm frame plate 42 and an inner forearm frame plate 43 on the left and right sides, as well as a forearm connecting limit block 41 on the upper side and an inner forearm support 50 on the lower side. The forearm connecting limit block 41 serves as a limit for forearm rotation to prevent forearm rotation from exceeding 270 degrees. The forearm drive motor 30 is located between the outer forearm frame plate 42 and the inner forearm frame plate 43. The ends of the outer forearm frame plate 42 and the inner forearm frame plate 43 are respectively provided with wrist shafts 48. One end of the wrist shaft 48 is connected to the outer forearm frame plate 42 or the inner forearm frame plate 43 through a deep groove ball bearing, and the other end is fixedly connected to the wrist frame 47. Specifically, a deep groove ball bearing is installed on the inner frame plate 43 of the forearm, and the wrist pivot 48 serves as the rotation axis, passing through the bearing inner hole installed on the inner frame plate 43 of the forearm and being fixed on the wrist frame 47.

[0035] The forearm wheel 44, the forearm drive bearing 45, and the forearm connecting rod 46 together form the wrist connecting rod drive assembly 7; Among them, the forearm wheel 44 is connected to the output shaft of the forearm drive motor 30; one end of the forearm connecting rod 46 is connected to the forearm wheel 44 through the forearm drive bearing 45, and the other end is connected to the wrist frame 47; The forearm drive motor 30 drives the forearm wheel 44 to rotate, which in turn drives the forearm connecting rod 46 to rotate, causing the wrist frame 47 to rotate left and right around the forearm frame with the wrist pivot 48; the wrist motor rotating frame 49 and the wrist motor rotating bracket 51 are fixedly connected to the wrist frame 47 respectively, and the wrist motor 31 is located between the wrist motor rotating frame 49 and the wrist motor rotating bracket 51. The arm end frame 52 is connected to the output shaft of the wrist motor 31 via the wrist rotation bearing 53, and the wrist motor 31 drives the arm end frame 52 to rotate back and forth.

[0036] Furthermore, in order to achieve the ability to sense and respond to force at all joints of both arms, the joint motor of the shoulder component 3 and the upper arm motor of the upper arm component 2 both adopt quasi-direct drive first-stage planetary reduction DC brushless motors. Specifically, the shoulder joint motors (first, second, and third joints) and the upper arm motor are all high-torque DC brushless motors with quasi-direct drive single-stage planetary reduction gears, which are relatively large in weight and size. The selection of the shoulder joint motors (first, second, and third joints) includes, but is not limited to, selecting motors of the same specifications and types, based on the required torque output.

[0037] The forearm rotator joint motor, forearm drive motor, and wrist motor all use small-sized quasi-direct drive single-stage planetary geared high-torque brushless DC motors. The motor models are selected according to the torque output requirements.

[0038] Furthermore, the first shoulder joint motor integrates a control circuit, a torque sensor, and a first motor absolute position encoder; the second shoulder joint motor integrates a control circuit, a torque sensor, and a second motor absolute position encoder. The shoulder third joint motor integrates a control circuit, a torque sensor, and a third motor absolute position encoder; the upper arm motor integrates a control circuit, a torque sensor, and a fourth motor absolute position encoder. Position encoder; The forearm self-rotating joint motor integrates a control circuit, a torque sensor, and a fifth motor absolute position encoder; the forearm drive motor integrates a control circuit, a torque sensor, and a sixth motor absolute position encoder; and the wrist motor integrates a control circuit, a torque sensor, and a seventh motor absolute position encoder.

[0039] Using torque sensors and absolute position encoders can more accurately detect the output angle and output torque of joints, improving the control performance of each joint and enhancing the torque effect and loop resistance during movement. Environment and collision perception capabilities.

[0040] The integrated control circuit inside the motor is used to control the motor's rotation, enabling precise control of the motor's rotation angle or output torque. The torque sensor and absolute encoder collect the output torque and rotation angle of the motor's output shaft. The integrated control circuit inside the motor mainly receives control signals from the robot controller to control the motor. At the same time, the integrated control circuit inside the motor sends the actual output angle and output torque information of the motor to the robot controller.

[0041] The motor's integrated control circuit, torque sensor, and absolute encoder are all integrated inside the motor (the internal space at the bottom of the motor), which is intended to illustrate the use of an integrated, one-piece joint motor module.

[0042] Therefore, the shoulder assembly 3 also includes an integrated control circuit, a torque sensor, and an absolute position encoder for monitoring the motor of the first shoulder joint; an integrated control circuit, a torque sensor, and an absolute position encoder for monitoring the motor of the second shoulder joint; and an integrated control circuit, a torque sensor, and an absolute position encoder for monitoring the motor of the third shoulder joint. The boom assembly 2 also includes an integrated control circuit for monitoring the boom motor, a torque sensor, and an absolute position encoder; The forearm assembly 1 also includes an integrated control circuit, torque sensor, and absolute position encoder for monitoring the forearm self-rotation motor 29; an integrated control circuit, torque sensor, and absolute position encoder for monitoring the forearm drive motor; and an integrated control circuit, torque sensor, and absolute position encoder for monitoring the wrist motor.

[0043] Specific implementation examples are given below. Example

[0044] See Figures 1-6 A dual-arm power structure for a humanoid robot includes a chest frame of the humanoid robot, a shoulder assembly consisting of three rotating components, an upper arm assembly, and a forearm assembly. The chest frame includes a rear chest back plate, shoulder and chest connecting plates on both sides, a lower-level integrated circuit placement area, an upper-level integrated processor installation area, and heat dissipation components on both sides of the chest.

[0045] The shoulder assembly includes a first shoulder joint motor, an L-shaped second shoulder joint motor connector, a second shoulder joint motor, a T-shaped third shoulder joint motor connector, and a third shoulder joint motor. The first joint motor is mounted on the shoulder first joint motor base on both sides of the chest frame; one end of the L-shaped shoulder second joint motor connector is connected to the shoulder first joint motor, and the other end is connected to the shoulder second joint motor; one end of the T-shaped shoulder third joint motor connector is connected to the shoulder second joint motor, and the other end is connected to the shoulder third joint motor. The three motors of the shoulder assembly drive the shoulder assembly to achieve rotational freedom in three orthogonal directions.

[0046] The elbow linkage drive assembly includes a boom drive linkage, a boom link, an elbow pivot, and a forearm connecting plate. The boom motor is mounted on a boom motor mount, and the boom drive linkage is mounted on the boom motor. One end of the boom link is connected to the boom drive linkage via a pin, and the other end is connected to the forearm connecting plate via a pin. The rotation of the boom motor drives the boom drive linkage to rotate, ultimately driving the forearm connecting plate to rotate around the elbow pivot.

[0047] The forearm assembly includes a forearm connector, a forearm rotation motor, a forearm frame, a forearm drive motor, a wrist motor, a forearm connecting rod, a wrist motor rotating frame, and a wrist end connector. The forearm rotation is driven by the forearm rotation motor, and the forearm drive motor drives the connecting rod to drive the wrist motor rotating frame and the wrist motor to achieve the left and right rotational degrees of freedom of the wrist. The wrist motor directly drives the wrist end connector to achieve the forward and backward rotational degrees of freedom of the wrist.

[0048] Specifically, the outer plate 25 and the inner plate 26 of the boom constitute the external support frame of the boom. The first support member 27 and the second support member 28 of the boom serve as internal support components of the boom, connecting the outer plate 25 and the inner plate 26 of the boom to form the lower part of the boom. The outer frame plate 42 and the inner frame plate 43 of the forearm are supported and connected together by the forearm connecting limit block 41 and the inner support 50 of the forearm, forming the overall frame of the forearm; at the same time, the forearm connecting limit block 41 also serves as a limit for the rotation of the forearm, preventing the forearm from rotating more than 270 degrees. The forearm drive linkage consists of forearm wheel 44, miniature bearing 45, forearm link 46, and forearm drive motor rotating frame 47. The forearm wheel 44 is connected to the rotor of the forearm drive motor 30, driving it to rotate left and right, which in turn drives the forearm link 46 to rotate, which in turn drives the forearm drive motor rotating frame 47 to rotate around the forearm frame with the wrist motor rotating shaft 48.

[0049] The wrist motor rotating frame 49 and the wrist motor rotating bracket 51 are fixedly connected to the wrist frame 47 respectively. The wrist motor 31 is located between the wrist motor rotating frame 49 and the wrist motor rotating bracket 51. The arm end frame 52 is connected to the output shaft of the wrist motor 31 through the wrist rotating bearing 53, and the arm end frame 52 is driven by the wrist motor 31 to rotate back and forth.

[0050] This invention adjusts the positional relationship between the arms and the chest of the humanoid robot, and tilts the first joint base of the shoulder upwards, shortening the shoulder distance of the humanoid robot. This makes the proportion of the arms to the chest more harmonious, resulting in a more compact arm structure, a more harmonious and human-like appearance, and a more aesthetically pleasing robot structure. It can meet the requirements of humanoid robots to achieve various postures and movements. The structure is simple and compact, facilitating the promotion of humanoid robots.

[0051] The embodiments given above are preferred examples for implementing the present invention, and the present invention is not limited to the above embodiments. Any non-essential additions or substitutions made by those skilled in the art based on the technical features of the present invention are within the protection scope of the present invention.

Claims

1. A dual-arm power structure for a humanoid robot, comprising a chest frame (4), a shoulder assembly (3), an upper arm assembly (2), and a forearm assembly (1), characterized in that, The shoulder assembly (3) is connected to the chest frame (4) via a shoulder-chest connecting plate (15). The shoulder-chest connecting plate (15) is tilted inward at a certain angle so that the ratio of the shoulder width to the length of the robot arm is 1:2.7~3.

2. The shoulder joint motor and the upper arm shutdown motor are set in a mass-rear position: set at one end near the chest frame (4).

2. The dual-arm power structure of the humanoid robot as described in claim 1, characterized in that, The chest frame (4) includes a front chest plate (12) on the front side, a back chest plate (14) on the rear side, and shoulder-chest connecting plates (15) on both sides. An upper chest platform (13) is provided on the upper side of the chest frame, a lower chest platform is provided on the lower side of the chest frame, and heat dissipation components are provided on both sides of the lower chest platform. The shoulder-chest connecting plate (15) is inclined inward at 15°~35° along the vertical plane.

3. The dual-arm power structure of the humanoid robot as described in claim 2, characterized in that, The two ends of the lower chest platform are installed between the front chest plate (12) and the back chest plate (14). The lower chest platform includes a robot lower computer integrated circuit placement area (11) and a host computer integrated processor installation area (10). The heat dissipation assembly includes a heat dissipation fan (8) disposed in a heat dissipation fan bracket (9). The two ends of the heat dissipation fan bracket (9) are installed between the front chest plate (12) and the back chest plate (14), and the upper end is connected to the shoulder-chest connecting plate (15).

4. The dual-arm power structure of the humanoid robot as described in claim 1, characterized in that, The shoulder joint motors include a first shoulder joint motor (16), a second shoulder joint motor (19), and a third shoulder joint motor (21) of the shoulder assembly, which respectively drive the shoulder assembly to achieve rotational degrees of freedom in three orthogonal directions; Among them, the first joint motor (16) is installed on the shoulder-chest connecting plate (15) on both sides of the chest frame; one end of the L-shaped shoulder second joint motor connecting seat (17) is connected to the output shaft of the shoulder first joint motor (16), and the other end is connected to the shoulder second joint motor (19); one end of the T-shaped shoulder third joint motor connecting seat (18) is connected to the output shaft of the shoulder second joint motor (19), and the other end is connected to the shoulder third joint motor (21).

5. The dual-arm power structure of the humanoid robot as described in claim 1, characterized in that, The boom motor includes a boom motor (22) of the boom assembly. The boom motor (22) is mounted on a boom motor base (24) connected to the output shaft of the third joint motor (21). The boom motor base (24) is provided with a positioning block (23). The boom motor (22) drives the elbow assembly (34) at the end of the boom assembly through the elbow linkage drive assembly (6): the boom drive linkage (32) is connected to the output shaft of the boom motor (22); one end of the boom linkage (33) is connected to the boom drive linkage (32), and the other end is connected to the forearm connecting plate (35), and the forearm connecting plate (35) is connected to the elbow assembly (34); The boom motor (22) rotates, driving the boom drive link (32) to rotate, which in turn drives the forearm connecting plate (35) to rotate around the elbow assembly (34) via the boom link (33).

6. The dual-arm power structure of the humanoid robot as described in claim 5, characterized in that, The lower part of the boom motor base (24) is connected to the boom frame; The boom frame includes an outer boom plate (25) and an inner boom plate (26) forming an external boom support frame. The first boom support member (27) and the second boom support member (28) serve as internal boom support components and are respectively connected to the outer boom plate (25) and the inner boom plate (26). The elbow assembly (34) includes an elbow pivot (36) disposed between the outer plate (25) of the upper arm and the inner plate (26) of the upper arm. A plane bearing (37) and a flange bearing (38) are sleeved on the elbow pivot (36), and a forearm connecting plate (35) is disposed between the plane bearing (37) and the flange bearing (38).

7. The dual-arm power structure of the humanoid robot as described in claim 5 or 6, characterized in that, The boom drive link (32), boom link (33), forearm connecting plate (35) and boom frame form a parallelogram link structure, wherein the boom drive link (32) serves as the active rocker arm, the boom link (33) serves as the connecting rod, the forearm connecting plate serves as the driven rocker arm (35), and the boom frame serves as the frame, so that the rotation range of the elbow assembly (34) reaches more than 50°.

8. The dual-arm power structure of the humanoid robot as described in claim 1, characterized in that, The forearm assembly is connected to the upper arm assembly via a forearm connecting plate (35); The forearm assembly includes a forearm connecting seat (39) connected to the forearm connecting plate (35); a forearm self-rotating motor (29) connected to the forearm connecting seat (39), and a forearm connecting pad (40) provided between the two; the output shaft of the forearm self-rotating motor (29) is connected to the forearm frame. The forearm frame is equipped with a forearm drive motor (30), the end of the forearm frame is connected to the wrist frame (47), the wrist frame (47) is equipped with a wrist motor (31); the wrist frame (47) is connected to the arm end frame (52) through a bearing, and the arm end frame (52) is equipped with an arm end motor (54). The forearm rotation motor (29) drives the forearm to rotate; the forearm drive motor (30) drives the wrist linkage drive assembly (7) to drive the wrist frame (47) and the wrist motor (31) to realize the left and right rotation freedom of the wrist; the wrist motor (31) drives the arm end frame (52) to realize the forward and backward rotation freedom of the wrist.

9. The dual-arm power structure of the humanoid robot as described in claim 8, characterized in that, The forearm frame includes an outer forearm frame plate (42) and an inner forearm frame plate (43) on the left and right sides, as well as a forearm connecting limit block (41) on the upper side and an inner forearm support (50) on the lower side; wherein, the forearm drive motor (30) is located between the outer forearm frame plate (42) and the inner forearm frame plate (43), and the ends of the outer forearm frame plate (42) and the inner forearm frame plate (43) are respectively provided with wrist pivots (48), one end of the wrist pivot (48) is connected to the outer forearm frame plate (42) or the inner forearm frame plate (43) through a deep groove ball bearing, and the other end is fixedly connected to the wrist frame (47); The forearm wheel (44), forearm drive bearing (45), and forearm link (46) form a wrist link drive assembly (7); wherein, the forearm wheel (44) is connected to the output shaft of the forearm drive motor (30); one end of the forearm link (46) is connected to the forearm wheel (44) through the forearm drive bearing (45), and the other end is connected to the wrist frame (47); The forearm drive motor (30) drives the forearm wheel (44) to rotate, which in turn drives the forearm connecting rod (46) to rotate, causing the wrist frame (47) to rotate left and right around the forearm frame with the wrist pivot (48); the wrist motor rotating frame (49) and the wrist motor rotating bracket (51) are fixedly connected to the wrist frame (47) respectively, and the wrist motor (31) is located between the wrist motor rotating frame (49) and the wrist motor rotating bracket (51); The arm end frame (52) is connected to the output shaft of the wrist motor (31) via the wrist rotation bearing (53), and the arm end frame (52) is driven to rotate back and forth by the wrist motor (31).

10. The dual-arm power structure of the humanoid robot as described in claim 1, 4, 5, or 8, characterized in that, Both the shoulder joint motor and the upper arm joint motor are quasi-direct drive single-stage planetary reduction DC brushless motors. The shoulder assembly (3) also includes an integrated control circuit for monitoring the motor of the first shoulder joint, a torque sensor, and an absolute position encoder; Integrated control circuit for monitoring the motor of the second shoulder joint, torque sensor, and absolute position encoder; And an integrated control circuit for monitoring the motor of the third shoulder joint, a torque sensor, and an absolute position encoder; The boom assembly (2) also includes an integrated control circuit for monitoring the boom motor, a torque sensor, and an absolute position encoder; The forearm assembly (1) also includes an integrated control circuit for monitoring the forearm self-rotation motor (29), a torque sensor, and an absolute position encoder; and an integrated control circuit for monitoring the forearm drive motor, a torque sensor, and an absolute position encoder. It also includes an integrated control circuit for monitoring wrist motors, a torque sensor, and an absolute position encoder.

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