Arm assembly, robotic arm and humanoid robot

Abstract

The embodiment of the application discloses a forearm assembly, a mechanical arm and a humanoid robot, the forearm assembly comprises a fixed support and a wrist joint assembly, the wrist joint assembly is rotationally connected with one end of the fixed support, the driving assembly comprises a driving part, an extension piece, a connecting piece and a stop piece; the extension piece is arranged at one end of the driving part close to the wrist joint assembly, the extension piece is movably connected with the wrist joint assembly, the driving part is used for driving the extension piece to reciprocate along a direction parallel to a first direction; one end of the connecting piece is connected with one end of the driving part away from the extension piece, the other end of the connecting piece is movably connected with one end of the fixed support away from the wrist joint assembly; one stop piece is arranged at each of opposite ends of the connecting piece along a second direction, the stop pieces abut against the fixed support, the stop pieces are configured to prevent the connecting piece from rotating around an axis parallel to the first direction, and the first direction is perpendicular to the second direction. The embodiment of the application can improve the response speed, the humanization effect and the mute performance of the humanoid robot.

Description

Technical Field

[0001] This application relates to the field of humanoid robot technology, and in particular to a forearm assembly, a robotic arm, and a humanoid robot. Background Technology

[0002] With the rapid development of artificial intelligence and mechatronics technology, the demand for humanoid, highly flexible intelligent platforms is constantly increasing in fields such as service robots, industrial automation, and special operations. Humanoid robots, as a hardware platform integrating biomimetic structures, environmental perception, and autonomous decision-making capabilities, can be widely applied in fields such as medical care, disaster relief, education, and entertainment due to their humanoid form, multimodal interaction capabilities, and adaptability to complex scenarios. As humanoid robot technology continues to iterate and upgrade, the performance requirements are also continuously increasing. Summary of the Invention

[0003] In view of the problems existing in the background art, the purpose of this application is to provide a forearm assembly, a robotic arm and a humanoid robot that overcomes or at least partially solves the above problems.

[0004] According to a first aspect of this application, a forearm assembly is provided, comprising a fixed support and a wrist joint assembly. The wrist joint assembly is rotatably connected to one end of the fixed support. A drive assembly includes a drive unit, a telescopic member, a connector, and a stop member. The telescopic member is disposed at one end of the drive unit near the wrist joint assembly and is movably connected to the wrist joint assembly. The drive unit is used to drive the telescopic member to reciprocate in a direction parallel to a first direction. One end of the connector is connected to the end of the drive unit opposite to the telescopic member, and the other end of the connector is movably connected to the end of the fixed support away from the wrist joint assembly. A stop member is provided at each of the two opposite ends of the connector in a second direction. The stop member abuts against the fixed support and is configured to prevent the connector from rotating about an axis parallel to the first direction, which is perpendicular to the second direction.

[0005] In one or more of the above optional embodiments, the stop includes a rotating part that is rotatably connected to the connector. The rotating part is configured to rotate relative to the connector about an axis parallel to the second direction, and the rotating part abuts against the fixed bracket.

[0006] In one or more of the above optional embodiments, the stop member includes an inner ring and a rolling element. The inner ring is connected to the connecting member, the rotating part is sleeved on the inner ring, and the rolling element is disposed between the inner ring and the rotating part.

[0007] In one or more of the above optional embodiments, the outer peripheral wall of the stop member is provided with an annular curved surface, which abuts against the fixed bracket.

[0008] In one or more of the above optional embodiments, the connector is a spherical bearing, which includes a bearing housing and a bearing body. The bearing housing is connected to the end of the drive unit away from the telescopic member, and the bearing body is mounted on the bearing housing. The bearing body is configured to be movably connected to the end of the fixed bracket away from the wrist joint assembly.

[0009] In one or more of the above optional embodiments, the fixed bracket includes a first end and a second end disposed opposite to each other. The wrist joint assembly includes a first rotating member and a second rotating member. The first rotating member is rotatably connected to the first end and is rotatable relative to the first end about a first rotation axis. The second rotating member is rotatably connected to the first rotating member and is rotatable relative to the first rotating member about a second rotation axis. Two drive assemblies are a first drive assembly and a second drive assembly, respectively, disposed opposite to each other on both sides of the fixed bracket along a direction parallel to the first rotation axis. The telescopic members of the first drive assembly and the telescopic members of the second drive assembly are respectively movably connected to the second rotating member. The connecting members of the first drive assembly and the connecting members of the second drive assembly are respectively movably connected to the second end. The stop member of the first drive assembly abuts against the fixed bracket along the direction from the first drive assembly to the fixed bracket, and the stop member of the second drive assembly abuts against the fixed bracket along the direction from the second drive assembly to the fixed bracket. The direction from the first end to the second end and the first and second rotation axes are mutually perpendicular.

[0010] In one or more of the above optional embodiments, a first protrusion is provided on the surface of the second end facing the first drive assembly, and a stop member of the first drive assembly abuts against the end face of the first protrusion away from the fixed bracket along the direction from the first drive assembly to the fixed bracket; and / or a second protrusion is provided on the surface of the second end facing the second drive assembly, and a stop member of the second drive assembly abuts against the end face of the second protrusion away from the fixed bracket along the direction from the second drive assembly to the fixed bracket.

[0011] In one or more of the above optional embodiments, a fixed base and a pressure sensor are included. One end of the pressure sensor is connected to the second rotating component, and the other end of the pressure sensor is connected to the fixed base. The fixed base is used to install the hand of the humanoid robot.

[0012] According to a second aspect of this application, a robotic arm is provided, including the forearm assembly and elbow assembly described above. The elbow assembly includes a first rotary drive assembly and a second rotary drive assembly connected to each other. The first rotary drive assembly is connected to a second end. The first rotary drive assembly is used to drive a fixed bracket to rotate about a first axis. The second rotary drive assembly is used to drive the first rotary drive assembly to rotate about a second axis. The first axis is the central axis of the fixed bracket extending from the first end to the second end. The second axis is perpendicular to the first axis.

[0013] According to a third aspect of this application, a humanoid robot is provided, including the aforementioned robotic arm and robot body.

[0014] The beneficial effects of this application embodiment are as follows: The forearm assembly provided in this application embodiment uses two drive assemblies respectively disposed on both sides of the fixed bracket. The drive part of the drive assembly drives the telescopic member to move in a direction parallel to the first direction, thereby driving the wrist joint assembly to move. By using two drive assemblies to replace the rotary motor in related technologies, the weight distribution of the drive assemblies along the length direction of the fixed bracket that supports the forearm skeleton is more uniform, which is beneficial to improving the response speed of the wrist joint assembly. Moreover, after being covered with a shell, the overall shape of the forearm assembly is more in line with the shape of the human forearm, which is beneficial to improving the anthropomorphic effect. On the other hand, the stop member is used to abut against the fixed bracket to prevent the connecting member from swinging around an axis parallel to the first direction, thereby helping to reduce the noise generated by the swinging of the connecting member and improving the quiet performance of the product. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0016] Figure 1 A schematic diagram of a forearm assembly mounted on an elbow assembly, provided as an embodiment of this application; Figure 2 A perspective view of a driving component provided in an embodiment of this application; Figure 3 A partial cross-sectional schematic diagram of a stop member of a drive assembly provided in an embodiment of this application; Figure 4 A perspective view of a forearm assembly provided in an embodiment of this application; Figure 5 A schematic diagram of a forearm assembly as shown in an embodiment of this application when viewed along a direction parallel to the first rotation axis; Figure 6 A schematic diagram of a forearm assembly as viewed along a direction parallel to the second rotation axis, provided in an embodiment of this application; Figure 7 A partially exploded view of a forearm assembly provided in an embodiment of this application; Figure 8 A partially exploded view of a forearm assembly provided in an embodiment of this application; Figure 9 A partially exploded view of a forearm assembly provided in an embodiment of this application; Figure 10A partially exploded view of a forearm assembly provided in an embodiment of this application; Figure 11 A perspective view of an elbow assembly provided for an embodiment of this application; Figure 12 An exploded view of an elbow assembly provided in an embodiment of this application. Detailed Implementation

[0017] To facilitate understanding of this application, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as being "fixed to" another element, it can be directly on the other element, or one or more intermediate elements may exist between them. When an element is described as being "connected" to another element, it can be directly connected to the other element, or one or more intermediate elements may exist between them. The terms "vertical," "horizontal," "left," "right," "inner," "outer," and similar expressions used in this specification are for illustrative purposes only.

[0018] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0019] In the description of this specification, unless otherwise expressly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0020] Furthermore, the technical features involved in the different embodiments of this application described below can be combined with each other as long as they do not conflict with each other.

[0021] In related technologies, the robot forearm uses multiple series-connected rotary motors to realize the function of the wrist joint, enabling the robot hand connected to the forearm to swing up and down and left and right. Using multiple series-connected rotary motors to realize the wrist joint function requires the motors to be concentrated near the hand, resulting in a large weight in the forearm near the hand. Furthermore, the lever arm between this part and the elbow joint is long, requiring greater torque for wrist initiation, stopping, or changing direction. This leads to system response delays and other problems. Moreover, the concentrated placement of rotary motors near the hand results in excessive dimensional differences between different parts of the forearm, leading to poor anthropomorphic appearance.

[0022] In view of this, this application provides a forearm assembly, which includes a drive assembly, a fixed support, and a wrist joint assembly, with the wrist joint assembly rotatably connected to the fixed support. The drive assembly includes a drive section, a telescopic member, and a connecting member connected to each other. The telescopic member is movably connected to the wrist joint assembly, and the connecting member is movably connected to the end of the fixed support away from the wrist joint assembly. Each end of the connecting member has a stop member, which abuts against the fixed support to prevent the connecting member from swinging left and right. When applied to the forearm assembly, two drive assemblies are respectively located on both sides of the fixed support. The drive section of the drive assembly drives the telescopic member to move in a direction parallel to a first direction, thereby driving the wrist joint assembly to move. The telescopic members of the two drive assemblies can drive the wrist joint assembly to rotate in two directions by simultaneously extending and retracting the same distance in the same direction and by extending and retracting relative to each other, thus realizing the wrist joint's movement function. By replacing the rotary motor in related technologies with two drive components, the weight distribution of the drive components along the length of the fixed support that supports the forearm skeleton is more uniform, which is beneficial to improving the response speed of the wrist joint component. Moreover, after being covered by a shell, the overall shape of the forearm component is more in line with the shape of the human forearm, which helps to improve the anthropomorphic effect. On the other hand, the stop is used to abut against the fixed support to prevent the drive components from swinging left and right during operation, thereby helping to reduce the noise generated by the forearm component during operation.

[0023] Please see Figure 1 and Figure 2 In some embodiments, the drive assembly 100 includes a drive unit 1, a telescopic member 2, and a connecting member 3. The telescopic member 2 is disposed at one end of the drive unit 1, and the drive unit 1 is used to drive the telescopic member 2 to reciprocate in a direction parallel to the first direction X. The telescopic member 2 is used to be movably connected to the wrist joint assembly 300. The connecting member 3 is disposed at the end of the drive unit 1 opposite to the telescopic member 2 along the first direction X. The connecting member 3 is used to be movably connected to the end of the fixed bracket 200 away from the wrist joint assembly 300. During operation, the telescopic member 2 moves in a direction parallel to the first direction X, which can drive the wrist joint assembly 300 to perform actions.

[0024] In some embodiments, the drive assembly 100 includes a stop 4. Along the second direction Y, a stop 4 is provided at each of the opposite ends of the connector 3. The stop 4 is used to abut against the fixed bracket 200 to prevent the connector 3 from rotating about an axis parallel to the first direction X, wherein the first direction X is perpendicular to the second direction Y.

[0025] The forearm assembly 1000 provided in this embodiment employs two drive assemblies 100 respectively disposed on both sides of the fixed bracket 200. The drive part 1 of the drive assembly 100 drives the telescopic member 2 to move in a direction parallel to the first direction X, thereby driving the wrist joint assembly 300 to move. By using two drive assemblies 100 instead of the rotary motor in related technologies, the weight distribution of the drive assemblies 100 along the length of the fixed bracket 200, which supports the forearm skeleton, is more uniform, which is beneficial to improving the response speed of the wrist joint assembly 300. Moreover, after being covered with a shell, the forearm assembly 1000 conforms more closely to the shape of the human forearm, which is beneficial to improving the anthropomorphic effect. On the other hand, the stop member 4 is used to abut against the fixed bracket 200 to prevent the connecting member 3 from swinging around an axis parallel to the first direction X, thereby reducing the noise generated by the swinging of the connecting member 3 and improving the quietness performance of the product.

[0026] In some embodiments, the drive unit 1 includes a motor (not shown in the figure), a planetary roller assembly (not shown in the figure), and a nut (not shown in the figure). The telescopic member 2 is a lead screw, which meshes with the planetary roller assembly and the nut. The motor is connected to the nut, and the motor drives the nut to rotate, thereby driving the lead screw to reciprocate in a direction parallel to the first direction X through the planetary roller assembly.

[0027] In some embodiments, the motor includes a stator and a rotor. The planetary roller assembly includes multiple rollers arranged around the axis of a lead screw. A nut is fitted over the multiple rollers. The lead screw surface has external threads. The multiple rollers synchronously mesh with the external threads of the lead screw and the internal threads of the nut. During operation, the multiple rollers rotate around the lead screw and move axially relative to the lead screw in a planetary motion manner, converting rotational motion into linear motion. The motor rotor is connected to the nut. When the motor is working, the rotor rotates relative to the stator, causing the nut to rotate, which in turn drives the lead screw to reciprocate in a direction parallel to the first direction X via the multiple rollers.

[0028] The drive unit 1 and the telescopic member 2 are not limited to the above-described configuration of a motor, planetary roller assembly, nut, and lead screw. In other embodiments, ball bearings may be used instead of rollers. Alternatively, an electric actuator may be constructed using a motor and a mechanical transmission mechanism. Or, a pneumatic / hydraulic drive assembly may be used as the drive unit 1 to drive the telescopic member 2.

[0029] In some embodiments, the lead screw includes a body 21 and a rod end joint bearing 22. The rod end joint bearing 22 is located at the end of the body 21 away from the drive unit 1 and is used to be movably connected to the wrist joint assembly 300.

[0030] The telescopic member 2 is not limited to being movably connected to the wrist joint assembly 300 via a rod end spherical bearing 22. In some embodiments, the telescopic member 2 is movably connected to the wrist joint assembly 300 via a universal joint. Alternatively, the telescopic member 2 is movably connected to the wrist joint assembly 300 via a ball joint.

[0031] In some embodiments, the connector 3 is a spherical bearing, which includes a bearing housing 31 and a bearing body 32. The bearing housing 31 is connected to the end of the drive unit 1 away from the telescopic member 2. The bearing body 32 is mounted on the bearing housing 31 and is used for movable connection with the end of the fixed bracket 200 away from the wrist joint assembly 300.

[0032] In some embodiments, the bearing housing 31 includes a connecting portion 311 and a housing 312. One end of the connecting portion 311 is connected to one end of the drive portion 1 facing away from the telescopic member 2, and the other end of the connecting portion 311 is connected to the housing 312. The housing 312 is provided with a mounting hole, and the bearing body 32 is installed in the mounting hole. Along the second direction Y, a stop member 4 is provided on one side of the housing 312, and another stop member 4 is provided on the other side of the housing 312.

[0033] In some embodiments, the bearing body 32 includes an inner bearing ring 321 and an outer bearing ring 322. The inner bearing ring 321 has an outer spherical surface, and the outer bearing ring 322 has an inner spherical surface. The inner spherical surface of the outer bearing ring 322 is fitted onto the outer spherical surface of the inner bearing ring 321. The outer bearing ring 322 can rotate relative to the inner bearing ring 321. The outer bearing ring 322 is mounted on the bearing housing 31. The inner bearing ring 321 is used to be movably connected to one end of the fixed bracket 200 away from the wrist joint assembly 300.

[0034] Connector 3 is not limited to a spherical bearing. In some embodiments, connector 3 is a universal joint. Or connector 3 is a ball joint.

[0035] In some embodiments, the stop 4 is screwed to the connector 3.

[0036] Please see Figure 2 and Figure 3 In some embodiments, the stop member 4 is provided with a threaded post 41, and threaded holes are provided at opposite ends of the seat body 312 along the second direction Y. One stop member 4 is screwed to the threaded hole at one end of the seat body 312 by the threaded post 41, and the other stop member 4 is screwed to the threaded hole at the other end of the seat body 312 by the threaded post 41.

[0037] In some embodiments, the stop 4 can also be fixedly connected to the connector 3 by welding, snap-fitting, integral molding, or other methods.

[0038] In some embodiments, the stop 4 includes a rotating portion 44, which is rotatably connected to the connecting member 3. The rotating portion 44 is capable of rotating relative to the connecting member 3 about an axis parallel to the second direction Y. The rotating portion 44 is used to abut against the fixed bracket 200. The ability of the rotating portion 44 to rotate relative to the connecting member 3 about an axis parallel to the second direction Y, compared to a rigid connection between the stop 4 and the connecting member 3, where the connecting member 3 can only rotate relative to the fixed bracket 200 if the surface of the stop 4 abuts against the fixed bracket 200 slides relative to the fixed bracket 200, helps reduce wear on the contact surface between the stop 4 and the fixed bracket 200 and improves the service life of the stop 4.

[0039] In some embodiments, the stop member 4 includes an inner ring 42, a rolling element 43, and a rotating part 44. The inner ring 42 is connected to the connecting member 3, the rotating part 44 is sleeved on the inner ring 42, and the rolling element 43 is disposed between the inner ring 42 and the rotating part 44. The rolling element 43 is used to roll around the inner ring 42 to drive the rotating part 44 to rotate relative to the inner ring 42 about an axis parallel to the second direction Y. By providing the rolling element 43 between the rotating part 44 and the inner ring 42, sliding friction is converted into rolling friction, which greatly reduces the frictional force that the connecting member 3 needs to overcome to drive the inner ring 42 to rotate relative to the rotating part 44 about an axis parallel to the second direction Y when the connecting member 3 swings relative to the fixed bracket 200 about an axis parallel to the second direction Y. This is beneficial to improving the mechanical efficiency of the drive assembly 100 when it operates.

[0040] In some embodiments, the rolling element 43 is a cylindrical roller or a ball.

[0041] In some embodiments, the threaded post 41 is fixedly connected to the inner ring 42, and the inner ring 42 is screwed to the connector 3 by the threaded post 41.

[0042] In some embodiments, the outer peripheral wall of the stop member 4 is provided with an annular curved surface 441, which abuts against the fixed bracket 200. When viewed along a direction parallel to the second direction Y, the outline of the annular curved surface 441 is circular. The annular curved surface 441 helps to reduce the friction between the stop member 4 and the fixed bracket 200, thereby improving the mechanical efficiency of the drive assembly 100 during operation.

[0043] In some embodiments, the rotating part 44 includes a top surface 442 and a bottom surface 443 disposed opposite to each other along the second direction Y, and an annular curved surface 441 connecting the top surface 442 and the bottom surface 443.

[0044] In some embodiments, when viewed along a direction parallel to the second direction Y, the center point of the profile of the annular surface 441 coincides with the axis of the threaded column 41.

[0045] In some embodiments, please refer to Figure 4 The forearm assembly 1000 includes a fixed bracket 200, a wrist joint assembly 300, and two drive assemblies 100. The fixed bracket 200 is used to support and mount other components. The wrist joint assembly 300 is rotatably connected to one end of the fixed bracket 200 and is used to connect with the hand of the humanoid robot. The wrist joint assembly 300 moves to drive the hand. The two drive assemblies 100 are respectively connected to the wrist joint assembly 300 and the fixed bracket 200, and the two drive assemblies 100 cooperate with each other to drive the wrist joint assembly 300 to move.

[0046] In some embodiments, the fixed bracket 200 includes a first end 200a and a second end 200b disposed opposite to each other, and the wrist joint assembly 300 includes a first rotating member 310 and a second rotating member 320. The first rotating member 310 is rotatably connected to the first end 200a and is rotatable about a first rotation axis Z1 relative to the first end 200a. The second rotating member 320 is rotatably connected to the first rotating member 310 and is rotatable about a second rotation axis Z2 relative to the first rotating member 310. In this embodiment, the direction Z from the first end 200a to the second end 200b, the first rotation axis Z1, and the second rotation axis Z2 are perpendicular to each other.

[0047] Please see Figures 4 to 6 In some embodiments, the two drive components 100 are a first drive component 110 and a second drive component 120, respectively. The first drive component 110 and the second drive component 120 are disposed opposite each other on both sides of the fixed bracket 200 in a direction parallel to the first rotation axis Z1. The telescopic members 2 of the first drive component 110 and the second drive component 120 are respectively movably connected to the second rotating member 320. The connecting members 3 of the first drive component 110 and the second drive component 120 are respectively movably connected to the second end 200b. The first drive component 110 and the second drive component 120 are used to synchronously extend and retract the same distance in the same direction to drive the first rotating member 310 to rotate around the first rotation axis Z1. The first drive component 110 and the second drive component 120 are also used to extend and retract relative to each other to drive the second rotating member 320 to rotate around the second rotation axis Z2. When applied to a humanoid robot, the second rotating member 320 is used to connect with the hand of the humanoid robot. Under the drive of the first drive component 110 and the second drive component 120, the first rotating member 310 and the second rotating member 320 realize the joint movement function of the wrist.

[0048] Specifically, in some embodiments, when the telescopic member 2 of the first drive assembly 110 and the telescopic member 2 of the second drive assembly 120 extend the same distance relative to the drive part 1, the telescopic members 2 of the first drive assembly 110 and the telescopic members 2 of the second drive assembly 120 jointly push the wrist joint assembly 300 around the first rotation axis Z1 along... Figure 5 As indicated by the first arrow a, rotating clockwise, when the telescopic members 2 of the first drive assembly 110 and the second drive assembly 120 retract the same distance relative to the drive part 1, the telescopic members 2 of the first drive assembly 110 and the second drive assembly 120 together pull the wrist joint assembly 300 around the first rotation axis Z1 along the direction of the first rotation axis Z1. Figure 5 Rotate in the opposite direction (counterclockwise) to the first arrow a. Figure 6 This is a schematic diagram of the forearm assembly 1000 in its initial state, viewed along a direction parallel to the second rotation axis Z2. When the telescopic member 2 of the first drive assembly 110 extends a longer distance from the telescopic member 2 of the second drive assembly 120 in the direction from the second end 200b to the first end 200a, the telescopic member 2 of the first drive assembly 110 pushes the wrist joint assembly 300 along... Figure 6 The second arrow b rotates clockwise. When the telescopic member 2 of the second drive assembly 120 extends a longer length relative to the telescopic member 2 of the first drive assembly 110 in the direction from the second end 200b toward the first end 200a, the telescopic member 2 of the second drive assembly 120 pushes the wrist joint assembly 300 along the direction of the first end 200a. Figure 6 The second arrow b rotates in the opposite direction (counterclockwise).

[0049] In some embodiments, the stop member 4 of the first drive assembly 110 abuts against the fixed bracket 200 along the direction of the first drive assembly 110 toward the fixed bracket 200, and the stop member 4 of the second drive assembly 120 abuts against the fixed bracket 200 along the direction of the second drive assembly 120 toward the fixed bracket 200.

[0050] Please see Figure 4 , Figure 6 and Figure 7 In some embodiments, the second end 200b has a first protrusion 210 protruding from the surface of the first drive assembly 110. Along the direction from the first drive assembly 110 to the fixed bracket 200, the stop 4 of the first drive assembly 110 abuts against the end face of the first protrusion 210 away from the fixed bracket 200.

[0051] In some embodiments, the surface of the first protrusion 210 facing the first drive assembly 110 includes a first region 2101 and a second region 2102, the first region 2101 and / or the second region 2102 being planar, the first region 2101 being disposed perpendicular to the first rotation axis Z1, and the second region 2102 being disposed perpendicular to the first rotation axis Z1.

[0052] In some embodiments, the first region 2101 and / or the second region 2102 are arcuate surfaces that protrude toward the first drive assembly 110.

[0053] In some embodiments, the first region 2101 and / or the second region 2102 are arcuate surfaces recessed in a direction away from the first drive component 110.

[0054] In some embodiments, a second protrusion 220 is provided on the surface of the second end 200b facing the second drive assembly 120, and the stop member 4 of the second drive assembly 120 abuts against the end face of the second protrusion 220 away from the fixed bracket 200 along the direction from the second drive assembly 120 to the fixed bracket 200.

[0055] In some embodiments, the surface of the second protrusion 220 facing the first drive assembly 110 includes a third region (not shown) and a fourth region (not shown), the third region and / or the fourth region being planar, the third region being perpendicular to the first rotation axis Z1, and the fourth region being perpendicular to the first rotation axis Z1.

[0056] In some embodiments, the third region and / or the fourth region is an arcuate surface that protrudes toward the second drive component 120.

[0057] In some embodiments, the third region and / or the fourth region is an arcuate surface recessed in a direction away from the second drive component 120.

[0058] In some embodiments, a first groove 2103 is provided between the first region 2101 and the second region 2102. The bottom of the first groove 2103 protrudes towards the first drive assembly 110 and a first limiting part 2104 is provided. The first limiting part 2104 is provided with a first threaded hole. The forearm assembly 1000 includes a first mounting bolt 2105. The screw of the first mounting bolt 2105 passes through the bearing inner ring 321 of the first drive assembly 110 and is screwed and fixed to the first threaded hole. Along the direction parallel to the first rotation axis Z1, the first limiting part 2104 and the nut of the first mounting bolt 2105 together clamp the bearing inner ring 321 to limit the bearing inner ring 321 in the direction parallel to the first rotation axis Z1.

[0059] In this application, both the first mounting bolt 2105 and the second mounting bolt 2205 include a threaded section and a smooth section. The threaded section is used for threaded connection with the threaded hole, and the smooth section is used for passing through the bearing.

[0060] In some embodiments, a second groove (not shown) is provided between the third region and the fourth region. The bottom of the second groove protrudes towards the second drive assembly 120 and a second limiting part (not shown) is provided. The second limiting part is provided with a second threaded hole. The forearm assembly 1000 includes a second mounting bolt 2205. The screw of the second mounting bolt 2205 passes through the bearing inner ring 321 of the second drive assembly 120 and is screwed and fixed to the second threaded hole. Along the direction parallel to the first rotation axis Z1, the second limiting part and the nut of the second mounting bolt 2205 together clamp the bearing inner ring 321 to limit the bearing inner ring 321 of the second drive assembly 120 in the direction parallel to the first rotation axis Z1.

[0061] Please see Figure 4 , Figure 6 and Figure 8 In some embodiments, the forearm assembly 1000 includes a first rotating shaft 400, which is rotatably disposed at a first end 200a. A first rotating member 310 is mounted on the first rotating shaft 400 and is capable of rotating about a first rotation axis Z1 via the first rotating shaft 400.

[0062] In some embodiments, the fixing bracket 200 includes a support plate 230, a first mounting arm 240, and a second mounting arm 250. The first mounting arm 240 and the second mounting arm 250 are disposed opposite to one end of the support plate 230. One end of the first mounting arm 240 is connected to the support plate 230, and one end of the second mounting arm 250 is connected to the support plate 230. A first rotating shaft 400 passes through the end of the first mounting arm 240 away from the support plate 230 and the end of the second mounting arm 250 away from the support plate 230.

[0063] In some embodiments, the first protrusion 210 and the second protrusion 220 are disposed on opposite sides of the end of the support plate 230 away from the first mounting arm 240 in a direction parallel to the first rotation axis Z1.

[0064] In some embodiments, the forearm assembly 1000 includes a first rolling bearing 2401 and a second rolling bearing 2501. The first rolling bearing 2401 is disposed at one end of the first mounting arm 240 away from the support plate 230, and the second rolling bearing 2501 is disposed at one end of the second mounting arm 250 away from the support plate 230. A first rotating shaft 400 passes through the first rolling bearing 2401 and the second rolling bearing 2501.

[0065] Please see Figure 4 and Figure 9In some embodiments, the forearm assembly 1000 includes a second rotating shaft 500, and the second rotating member 320 includes a first mounting plate 3201 and a second mounting plate 3202 that are spaced apart from each other along a direction parallel to the second rotating axis Z2. The second rotating shaft 500 is rotatably mounted on the second rotating member 320, and the first rotating member 310 is mounted on the second rotating shaft 500. The first rotating member 310 is capable of rotating around the second rotating axis Z2 via the second rotating shaft 500.

[0066] In some embodiments, the forearm assembly 1000 includes a third rolling bearing 32011 and a fourth rolling bearing 32021. The third rolling bearing 32011 is disposed on a first mounting plate 3201, and the fourth rolling bearing 32021 is disposed on a second mounting plate 3202. The second rotating shaft 500 passes through the third rolling bearing 32011 and the fourth rolling bearing 32021.

[0067] Please see Figure 8 and Figure 9 In some embodiments, the first rotating member 310 includes a first mounting sleeve 3101 and a second mounting sleeve 3102. The first mounting sleeve 3101 is arranged perpendicular to the second mounting sleeve 3102. The first mounting sleeve 3101 is sleeved on the first rotating shaft 400 to fix the first rotating member 310 to the first rotating shaft 400. The second mounting sleeve 3102 is sleeved on the second rotating shaft 500 to fix the first rotating member 310 to the second rotating shaft 500.

[0068] Please see Figure 10 In some embodiments, the second rotating member 320 includes a third mounting plate 3203 and a third mounting arm 3204. One end of the first mounting plate 3201 and one end of the second mounting plate 3202 are connected to the third mounting plate 3203. The third mounting arm 3204 is disposed opposite to the third mounting plate 3203 in a direction Z from the first end 200a to the second end 200b. One end of the third mounting arm 3204 is connected to the first mounting plate 3201. The end of the telescopic member 2 of the first drive assembly 110 away from the drive part 1 is movably connected to the end of the third mounting arm 3204 away from the first mounting plate 3201. The end of the telescopic member 2 of the second drive assembly 120 away from the drive part 1 is movably connected to the end of the third mounting arm 3204 away from the first mounting plate 3201.

[0069] In some embodiments, the third mounting arm 3204 is formed by bending one end of the first mounting plate 3201 away from the third mounting plate 3203 in a direction toward the second mounting plate 3202.

[0070] In some embodiments, the second mounting sleeve 3102 is located between the third mounting plate 3203 and the third mounting arm 3204, and the first mounting sleeve 3101 is located on the side of the third mounting arm 3204 facing away from the first mounting plate 3201.

[0071] In some embodiments, along a direction parallel to the first rotation axis Z1, the third mounting arm 3204 has a third threaded hole and a fourth threaded hole respectively on opposite sides of one end away from the first mounting plate 3201. The forearm assembly 1000 includes a third mounting bolt 3205 and a fourth mounting bolt 3206. The third mounting bolt 3205 passes through the rod end joint bearing 22 of the telescopic member 2 of the first drive assembly 110 and is screwed and fixed to the third threaded hole. The fourth mounting bolt 3206 passes through the rod end joint bearing 22 of the telescopic member 2 of the second drive assembly 120 and is screwed and fixed to the fourth threaded hole.

[0072] In this application, both the third mounting bolt 3205 and the fourth mounting bolt 3206 include a threaded section and a smooth section. The threaded section is used for threaded connection with the threaded hole, and the smooth section is used for passing through the bearing.

[0073] In some embodiments, the inner ring of the rod end joint bearing 22 of the telescopic member 2 is configured to rotate about an axis parallel to the first rotation axis Z1.

[0074] Please see Figure 4 and Figure 9 In some embodiments, the forearm assembly 1000 includes a mounting base 600 and a pressure sensor 700. One end of the pressure sensor 700 is connected to the second rotating member 320, and the other end of the pressure sensor 700 is connected to the mounting base 600, which is used to mount the hand of the humanoid robot.

[0075] In some embodiments, one end of the pressure sensor 700 is mounted on the surface of the third mounting plate 3203 facing away from the third mounting arm 3204.

[0076] In some embodiments, this application also provides a robotic arm, including the forearm assembly 1000 and the elbow assembly 2000 in any of the above embodiments. Please refer to [link to relevant documentation]. Figure 4 , Figure 11 and Figure 12 The elbow assembly 2000 includes a first rotary drive assembly 10 and a second rotary drive assembly 20 connected to each other. The first rotary drive assembly 10 is connected to the second end 200b. The first rotary drive assembly 10 is used to drive the fixed bracket 200 to rotate around a first axis Z3. The second rotary drive assembly 20 is used to drive the first rotary drive assembly 10 to rotate around a second axis Z4. The first axis Z3 is the central axis of the fixed bracket 200 extending in the direction Z from the first end 200a to the second end 200b. The second axis Z4 is perpendicular to the first axis Z3.

[0077] In some embodiments, the first rotary drive assembly 10 includes a first part 101 and a second part 102, which are rotatably connected. The second part 102 can drive the first part 101 to rotate relative to the second part 102 about a first axis Z3. The first part 101 is connected to the second end 200b of the forearm assembly 1000. The second part 102 drives the forearm assembly 1000 to rotate about the first axis Z3 by driving the first part 101 to rotate relative to the second part 102. The second part 102 is connected to the second rotary drive assembly 20.

[0078] In some embodiments, the second end 200b of the forearm assembly 1000 is provided with a first mounting housing 260, which is sleeved on the first portion 101.

[0079] In some embodiments, the first mounting housing 260 is disposed at one end of the support plate 230 facing away from the first mounting arm 240.

[0080] In some embodiments, the second rotary drive assembly 20 includes a third part 201 and a fourth part 202, which are rotatably connected. The fourth part 202 can drive the third part 201 to rotate relative to the fourth part 202 about a second axis Z4. The third part 201 is connected to the second part 102. By driving the third part 201 to rotate relative to the fourth part 202 about the second axis Z4, the fourth part 202 drives the second part 102 and the first part 101 to rotate together about the second axis Z4.

[0081] In some embodiments, the elbow assembly 2000 includes a second mounting housing 30, a first end of which is fitted onto a second portion 102, and a second end of which is fitted onto a third portion 201.

[0082] In some embodiments, the elbow assembly 2000 includes a third mounting housing 40, which includes a base 401, a support portion 402, and a sleeve portion 403. The support portion 402 and the sleeve portion 403 are disposed at a distance from each other on the base 401. A second rotary drive assembly 20 is disposed between the support portion 402 and the sleeve portion 403. The support portion 402 is rotatably connected to the second end of the second mounting housing 30. The sleeve portion 403 is sleeved on the fourth portion 202. One end of the base 401 facing away from the second rotary drive assembly 20 is used to connect to the upper arm.

[0083] In some embodiments, the humanoid robot includes the robotic arm and robot body as described in the above embodiments, and the robot body includes a torso, hands, upper arms, and leg components, etc.

[0084] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A forearm assembly, characterized in that, The forearm assembly includes a drive assembly, a fixed bracket, and a wrist joint assembly. The wrist joint assembly is rotatably connected to one end of the fixed bracket. The drive assembly includes a drive part, a telescopic component, a connecting component, and a stop component. The telescopic member is located at one end of the driving part near the wrist joint assembly. The telescopic member is movably connected to the wrist joint assembly. The driving part is used to drive the telescopic member to reciprocate in a direction parallel to the first direction. One end of the connector is connected to the end of the drive unit facing away from the telescopic member, and the other end of the connector is movably connected to the end of the fixed bracket away from the wrist joint assembly. Each of the two opposite ends of the connector along the second direction is provided with a stop member, the stop member abutting against the fixed bracket, the stop member being configured to prevent the connector from rotating about an axis parallel to the first direction, wherein the first direction is perpendicular to the second direction.

2. The forearm assembly according to claim 1, characterized in that, The stop member includes a rotating part, which is rotatably connected to the connecting member; The rotating part is configured to rotate relative to the connecting member about an axis parallel to the second direction, and the rotating part abuts against the fixed bracket.

3. The forearm assembly according to claim 2, characterized in that, The stop member further includes an inner ring and a rolling element. The inner ring is connected to the connecting member, the rotating part is sleeved on the inner ring, and the rolling element is disposed between the inner ring and the rotating part.

4. The forearm assembly according to claim 1, characterized in that, The outer peripheral wall of the stop member is provided with an annular curved surface, which abuts against the fixed bracket.

5. The forearm assembly according to claim 1, characterized in that, The connector is a spherical bearing, which includes a bearing housing and a bearing body. The bearing housing is connected to the end of the drive unit away from the telescopic member. The bearing body is mounted on the bearing housing and is configured to be movably connected to the end of the fixed bracket away from the wrist joint assembly.

6. The forearm assembly according to claim 1, characterized in that, The fixed bracket includes a first end and a second end that are disposed opposite to each other; The wrist joint assembly includes a first rotating member and a second rotating member. The first rotating member is rotatably connected to the first end and is capable of rotating relative to the first end about a first rotation axis. The second rotating member is rotatably connected to the first rotating member and is capable of rotating relative to the first rotating member about a second rotation axis. The two drive components are a first drive component and a second drive component. The first drive component and the second drive component are disposed opposite each other on both sides of the fixed bracket in a direction parallel to the first rotation axis. The telescopic member of the first drive component and the telescopic member of the second drive component are respectively movably connected to the second rotating member. The connecting member of the first drive component and the connecting member of the second drive component are respectively movably connected to the second end. The stop member of the first drive assembly abuts against the fixed bracket along the direction of the first drive assembly toward the fixed bracket, and the stop member of the second drive assembly abuts against the fixed bracket along the direction of the second drive assembly toward the fixed bracket; Wherein, the direction from the first end to the second end, and the first rotation axis and the second rotation axis are perpendicular to each other.

7. The forearm assembly according to claim 6, characterized in that, The second end has a first protrusion protruding from its surface facing the first drive assembly. Along the direction from the first drive assembly toward the fixed bracket, the stop member of the first drive assembly abuts against the end face of the first protrusion away from the fixed bracket; and / or The second end has a second protrusion protruding from the surface of the second drive assembly. Along the direction from the second drive assembly to the fixed bracket, the stop member of the second drive assembly abuts against the end face of the second protrusion away from the fixed bracket.

8. The forearm assembly according to claim 6, characterized in that, It includes a fixed base and a pressure sensor. One end of the pressure sensor is connected to the second rotating component, and the other end of the pressure sensor is connected to the fixed base. The fixed base is used to mount the hand of the humanoid robot.

9. A robotic arm, characterized in that, Includes the forearm assembly and elbow assembly as described in any one of claims 1-8; The elbow assembly includes a first rotary drive assembly and a second rotary drive assembly connected to each other. The first rotary drive assembly is connected to the second end. The first rotary drive assembly is used to drive the fixed bracket to rotate about a first axis. The second rotary drive assembly is used to drive the first rotary drive assembly to rotate about a second axis. The first axis is the central axis of the fixed bracket extending from the first end to the second end. The second axis is perpendicular to the first axis.

10. A humanoid robot, characterized in that, Includes the robotic arm and robot body as described in claim 9.

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