Shoulder joint linkage structure and humanoid robot

Abstract

The application relates to the technical field of robots, and discloses a shoulder joint linkage structure and a humanoid robot, and aims at the problems of large axial size, easy loosening of connection and inconvenient assembly of an existing shoulder joint structure, and comprises a robot arm composed of a first joint motor, a second joint motor, a third joint motor and a large arm, wherein the motors are vertically arranged in horizontal and vertical directions, the first joint motor is provided with a first connecting component composed of a hoop, the second joint motor is provided with a second connecting component with a butt joint seat and a butt joint shaft, and the third joint motor is provided with a third connecting component with a mounting rib plate and a butt joint shaft; the stable installation of the motors is realized through hoop clamping positioning and bolt fastening; the application has the advantages of compact structure, high transmission precision, strong bearing capacity and convenient disassembly and assembly, and is suitable for the driving scene of a shoulder joint of a humanoid robot with high dynamic response requirement.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a shoulder joint linkage structure and a humanoid robot. Background Technology

[0002] With the rapid development of robotics technology, humanoid robots are increasingly widely used in industrial manufacturing, medical rehabilitation, service and entertainment. As the core hub of humanoid robot upper limb movement, the shoulder joint's structural design directly determines the robot arm's mobility, load capacity, and workspace. In existing technologies, the shoulder joint linkage structure of robots usually adopts a combination of multiple drive motors in series or parallel to achieve multi-degree-of-freedom movement of the arm in three-dimensional space. For example, a common design is to arrange the first joint motor and the second joint motor in a vertical direction, and then arrange the second joint motor and the third joint motor in another vertical direction. Through the independent or cooperative drive of each motor, the upper arm and other end-effectors are driven to adjust their spatial position. To achieve stable connection and power transmission between the joint motors, existing structures usually use intermediate connecting parts such as flanges, couplings, and connecting brackets to rigidly fix the output shaft of each motor to the housing or mounting base of the adjacent joint, thus forming a complete series joint chain. At the same time, in order to install the entire shoulder joint assembly to the robot body, a special mounting base or adapter plate is usually required at the first-stage motor. However, the existing shoulder joint linkage structure still has some shortcomings in practical applications. First, because the motors of each joint are connected by independent components such as flanges and couplings, the axial and radial dimensions of the overall structure are large, and the total length of the joint chain increases. This is not conducive to achieving a compact and lightweight design of the robot shoulder. At the same time, it increases the rotational inertia during arm movement, affecting dynamic response performance. Second, the existing motor connection methods mostly rely on direct bolt fastening or single-plane contact positioning. It is difficult to guarantee the positioning accuracy and coaxiality between the connecting components. In long-term reciprocating motion, vibration and impact can easily cause the connection to loosen or accumulate assembly errors, thereby reducing the accuracy and stability of joint transmission. To address the aforementioned problems, this technical solution proposes a shoulder joint linkage structure and a humanoid robot. Summary of the Invention

[0003] The purpose of this invention is to solve the problems of large axial dimensions, easy loosening of connections, and inconvenient assembly of existing shoulder joint structures, and to propose a shoulder joint linkage structure and a humanoid robot.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: A shoulder joint linkage structure includes a robotic arm. The robotic arm includes a first joint motor, a second joint motor, and a third joint motor. The first and second joint motors are arranged vertically in a horizontal direction, and the second and third joint motors are arranged vertically in a vertical direction. A large arm is mounted on the third joint motor to drive the large arm to perform three-dimensional spatial position adjustment. The linkage structure also includes: The first connecting component is provided on the first joint motor for supporting and installing the first joint motor; A second connecting component is provided on the second joint motor, and the second connecting component is connected to the output shaft of the first joint motor so that the second joint motor can be driven to rotate by starting the first joint motor; A third connecting component is provided on the third joint motor, and the third connecting component is connected to the output shaft of the second joint motor so that the third joint motor can be driven to rotate by driving the second joint motor.

[0005] In one possible design, the first connecting component includes a first clamp and a second clamp wrapped around the first joint motor. The first clamp and the second clamp are fixedly connected by four bolts to achieve stable installation support for the first joint motor.

[0006] In one possible design, a first transmission disk is fixedly mounted on the output shaft of the first joint motor, and multiple first docking covers are integrally fixedly arranged at equal intervals on one side of the first transmission disk, and the second connecting component is respectively engaged with the multiple first docking covers.

[0007] In one possible design, the second connecting component includes a third clamp and a fourth clamp wrapped around the second joint motor. The third clamp and the fourth clamp are respectively fixedly connected by four bolts to achieve clamping support for the second joint motor. A docking seat is integrally fixedly provided on one side of the third clamp, and multiple first docking clips are fixedly provided at equal intervals on one side of the docking seat. The first docking clips are inserted and snapped into the corresponding first docking clip covers. The docking seat is fixedly connected to the first transmission disc by bolts.

[0008] In one possible design, a second transmission disk is fixedly mounted on the output shaft of the second joint motor, and multiple second docking covers are integrally fixedly arranged at equal intervals on one side of the second transmission disk, and the third connecting component is respectively engaged with the multiple second docking covers.

[0009] In one possible design, the third connecting component includes a fifth clamp and a sixth clamp wrapped around the third joint motor. The fifth clamp and the sixth clamp are fixedly connected by four bolts to enable stable installation of the third joint motor. An integral mounting rib is fixedly provided on one side of the sixth clamp. The mounting rib is engaged with the second transmission disc. Multiple second docking pins are fixedly installed at equal intervals on one side of the mounting rib. The second docking pins are inserted and engaged with the corresponding second docking pin covers.

[0010] In one possible design, a third transmission disc is fixedly mounted on the output shaft of the third joint motor. Multiple third docking covers are integrally fixedly arranged at equal intervals at the bottom of the third transmission disc. The upper arm is fixedly connected to the third transmission disc. Multiple third docking shafts are integrally fixedly arranged at equal intervals at the top of the upper arm. The third docking shafts are engaged with the corresponding third docking covers.

[0011] A humanoid robot includes the aforementioned shoulder joint linkage structure and a robot body, wherein the shoulder joint linkage structure is mounted on the robot body via a first clamp and a second clamp.

[0012] In this application, by activating the first joint motor, the output shaft of the first joint motor drives the first transmission disc to rotate, and then transmits power to the second joint motor via the second connecting component, causing the second joint motor to rotate around the output shaft axis of the first joint motor, thereby achieving adjustment of the boom's swing angle in the vertical direction. By activating the second joint motor, the output shaft of the second joint motor drives the second transmission disc to rotate, and then transmits power to the third joint motor via the third connecting component, causing the third joint motor to rotate around the output shaft axis of the second joint motor, thereby achieving adjustment of the boom's pitch angle in the vertical direction perpendicular to the rotation direction of the first joint motor. By activating the third joint motor, the output shaft of the third joint motor drives the third... The rotation of the transmission disc causes the upper arm, which is fixedly connected to the third transmission disc, to rotate around the output shaft of the third joint motor. Through the coordinated drive of the first, second, and third joint motors, the upper arm can achieve compound movements with multiple degrees of freedom in three-dimensional space. The joint motors are connected by clamps, transmission discs, docking shafts, and docking covers, as well as by bolts. This ensures transmission stability and connection reliability while enabling rapid positioning and anti-loosening fixation of each joint motor and its connecting components. This ensures the accuracy and consistency of the power transmission path, effectively reduces vibration and deviation during transmission, and improves the motion control accuracy and load-bearing capacity of the entire shoulder joint linkage structure. Beneficial effects:

[0013] 1. By setting a first connecting component consisting of a first clamp and a second clamp on the first joint motor, setting a second connecting component consisting of a third clamp, a fourth clamp and a docking seat on the second joint motor, and setting a third connecting component consisting of a fifth clamp, a sixth clamp and a mounting rib on the third joint motor, the joint motors are stably installed by a combination of clamp clamping positioning and bolt fastening. Each connecting component is respectively connected to the corresponding transmission plate and docking cover / docking shaft to form a plug-in clamping fit. This eliminates the need for traditional independent flanges, couplings and other intermediate transition parts, effectively shortens the axial assembly distance between the joint motors, makes the overall structure more compact, reduces the total length and radial dimension of the shoulder joint chain, reduces the rotational inertia during arm movement, and helps to improve the dynamic response performance of the robot. 2. By inserting and engaging the first docking shaft with the first docking cover, the second docking shaft with the second docking cover, and the third docking shaft with the third docking cover, and with the auxiliary fastening connection of bolts, multi-point and multi-directional positioning and engagement between each transmission disc and the corresponding connecting parts is achieved. This not only transmits a large driving torque, but also limits and constrains the connecting parts in multiple directions, effectively preventing relative displacement or loosening of the joint motors due to vibration and impact during reciprocating motion. This significantly improves the coaxiality retention capability and anti-vibration and anti-loosening performance of the joint transmission, ensuring the accuracy and consistency of the power transmission path during long-term use, thereby improving the motion control accuracy, load-bearing capacity and service life of the entire shoulder joint linkage structure. 3. In this technical solution, each joint motor is wrapped and clamped by paired clamps and quickly locked with bolts. The assembly method of each connecting component is a combination of plug-in clamping and bolt connection. During installation, simply insert each docking clip into the corresponding docking clip cover and then lock it with bolts to complete the assembly. There is no need for complicated alignment adjustment and additional tooling assistance. The disassembly and assembly process is simple and quick, which effectively improves the production assembly efficiency and the convenience of later maintenance and repair. At the same time, each clamp fits tightly against the outer wall of the corresponding joint motor, with a large contact area and uniform force, which can form a stable full circumferential support for the motor. This avoids the problem of stress concentration that is easy to occur in traditional point contact or line contact support methods, and further ensures the operating stability and safety of the motor under complex load conditions. This invention achieves compact assembly, high-precision power transmission, and convenient disassembly and maintenance of the shoulder joint linkage structure through the integrated design of clamping, transmission disc, and plug-in mounting, significantly improving the overall stability, load-bearing capacity, and dynamic response performance of the structure. Attached Figure Description

[0014] Figure 1 This is a three-dimensional schematic diagram of the overall structure of a shoulder joint linkage structure and a humanoid robot proposed in this invention. Figure 2 This is a three-dimensional schematic diagram of the overall structure of a robot arm with a shoulder joint linkage structure proposed in this invention. Figure 3 This is a three-dimensional schematic diagram of the first joint motor, the second joint motor, the third joint motor, and the upper arm connection structure of a shoulder joint linkage structure proposed in this invention. Figure 4 This is a first-view three-dimensional schematic diagram of the first joint motor, the second joint motor, the third joint motor, and the upper arm separation structure of the shoulder joint linkage structure proposed in this invention. Figure 5 This is a two-dimensional schematic diagram from a second perspective of the first joint motor, the second joint motor, the third joint motor, and the upper arm separation structure of the shoulder joint linkage structure proposed in this invention. Figure 6 This is a three-dimensional schematic diagram of the separation structure of the first joint motor and the docking seat in a shoulder joint linkage structure proposed in this invention. Figure 7 This is a three-dimensional schematic diagram of the connection structure between the first joint motor and the first transmission disc in a shoulder joint linkage structure proposed in this invention. Figure 8 This is a three-dimensional schematic diagram of the second joint motor and rib plate separation structure of a shoulder joint linkage structure proposed in this invention. Figure 9 This is a three-dimensional schematic diagram of the separation structure of the third joint motor, the fifth clamp, and the sixth clamp in a shoulder joint linkage structure proposed in this invention.

[0015] In the diagram: 1. Robot body; 2. Robot arm; 21. First joint motor; 211. First clamp; 212. Second clamp; 213. First transmission plate; 214. First docking cover; 22. Second joint motor; 221. Third clamp; 222. Docking seat; 223. First docking shaft; 224. Fourth clamp; 225. Second transmission plate; 226. Second docking cover; 23. Third joint motor; 231. Fifth clamp; 232. Sixth clamp; 233. Mounting rib; 234. Second docking shaft; 235. Third transmission plate; 236. Third docking cover; 24. Upper arm; 241. Third docking shaft. Detailed Implementation

[0016] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0017] In one embodiment: Refer to Figure 1-9A linkage structure includes a robot body 1. During assembly, a first clamp 211 and a second clamp 212 are first wrapped around the outer shell of a first joint motor 21. The clamp wall thickness can be selected from 1mm, 1.5mm, or 2mm of 6061 aluminum alloy sheet, stamped and formed. Screws are inserted and locked at the four corners. Then, the outer end face of the first clamp 211 is attached to the shoulder mounting surface of the robot body 1 and fixed with bolts. The output shaft of the first joint motor 21 is locked to the first transmission plate 213 by a flat key. The first transmission plate 213 has six first docking covers 214 integrally formed on the side facing the second joint motor 22, which are evenly spaced along the circumference. The third clamp 221 and the fourth clamp 224 are wrapped around the outer side of the housing of the second joint motor 22, and are locked with screws at the four corners. The third clamp 221 has an integrated docking seat 222 on the side facing the first transmission disk 213. Six first docking shafts 223 are welded to the end face of the docking seat 222 at the position corresponding to the first docking cover 214. The diameter of the first docking shafts 223 can be 3mm, 4mm or 5mm 40Cr round rods with a surface roughness of Ra1.6μm. Each first docking shaft 223 is inserted into the inner hole of the corresponding first docking cover 214 with a fit tolerance of H7 / p6. The docking seat 222 and the first transmission disk 213 are then locked together by three M3 bolts arranged circumferentially. The output shaft of the second joint motor 22 is locked to the second transmission disk 225 by a flat key. Six second docking covers 226 are integrally formed on the side of the second transmission disk 225 facing the third joint motor 23 and are arranged at equal intervals along the circumferential direction. The fifth clamp 231 and the sixth clamp 232 are wrapped around the outer side of the housing of the third joint motor 23, and screws are used to lock them at the four corners. The sixth clamp 232 has an integrated mounting rib 233 on the side facing the second transmission disk 225. Six second docking clips 234 are welded on the end face of the mounting rib 233 at the position corresponding to the second docking clip 226. Each second docking clip 234 is inserted into the inner hole of the corresponding second docking clip 226. The mounting rib 233 and the second transmission disk 225 are then locked together by three bolts arranged circumferentially. The output shaft of the third joint motor 23 is locked to the third transmission plate 235 via a flat key. The third transmission plate 235 has six integrated third docking covers 236 on the side facing the upper arm 24. The top of the upper arm 24 has six integrated third docking shafts 241. Each third docking shaft 241 is inserted into the inner hole of the corresponding third docking cover 236. The upper arm 24 and the third transmission plate 235 are then locked together by three M3 bolts arranged circumferentially.

[0018] In this embodiment, the output shaft axis of the first joint motor 21 is arranged horizontally, the output shaft axis of the second joint motor 22 is arranged vertically and is perpendicular to the output shaft axis of the first joint motor 21, and the output shaft axis of the third joint motor 23 is arranged vertically and is perpendicular to the output shaft axis of the second joint motor 22. When the first joint motor 21 is working, its output shaft drives the first transmission disk 213 to rotate. The torque is transmitted to the docking seat 222 through the first docking cover 214 and the first docking shaft 223, which are connected by a plug-in joint. This causes the second joint motor 22, the third joint motor 23, and the upper arm 24 to swing around the output shaft axis of the first joint motor 21. When the second joint motor 22 is working, its output shaft drives the second transmission disk 225 to rotate. The torque is transmitted to the mounting rib 233 through the second docking cover 226 and the second docking shaft 234, which are connected by a plug-in joint. This causes the third joint motor 23 and the upper arm 24 to swing around the output shaft axis of the second joint motor 22. When the third joint motor 23 is working, its output shaft drives the third transmission disk 235 to rotate. The torque is transmitted to the upper arm 24 through the third docking cover 236 and the third docking shaft 241, which are connected by a plug-in joint. This causes the upper arm 24 to rotate around the output shaft axis of the third joint motor 23.

[0019] In actual operation, when it is necessary to adjust the vertical swing angle of the boom 24, a corresponding pulse signal is input to the first joint motor 21. The output shaft of the first joint motor 21 rotates by the corresponding angle, driving the second joint motor 22 to rotate to the preset angle and then locking. When it is necessary to adjust the pitch angle of the boom 24, a corresponding pulse signal is input to the second joint motor 22. The output shaft of the second joint motor 22 rotates by the corresponding angle, driving the third joint motor 23 to rotate to the preset angle and then locking. When it is necessary to adjust the rotation angle of the boom 24, a corresponding pulse signal is input to the third joint motor 23. The output shaft of the third joint motor 23 rotates by the corresponding angle, driving the boom 24 to rotate to the preset angle and then locking. The three motors can input signals individually or in combination to realize the spatial position adjustment of the boom 24.

[0020] The use of a plug-in connection structure between the docking shaft and the docking cover in this embodiment is based on engineering considerations in actual use. Without this plug-in structure, if the docking seat and transmission disc are directly locked together with bolts, actual measurements show that after the boom is swung back and forth at a frequency of 1Hz with a 2kg load for a certain number of cycles, the coaxiality deviation of the connection point will exceed 0.15mm, resulting in a positioning deviation of over 5mm at the boom end, affecting operational accuracy. The use of a clamp-wrapped motor housing installation structure in this embodiment is also based on engineering considerations in actual use. Without the clamp, directly drilling holes in the motor housing to install the connecting seat, calculations show that under conditions where the ambient temperature rises from -10℃ to 40℃, the deformation of the motor housing will cause the air gap deviation between the internal stator and rotor to exceed 0.02mm, affecting the stability of the motor's output torque.

[0021] In this embodiment, 6 docking shafts are used. In lightweight scenarios where the load requirement is less than 1kg, 4 docking shafts can also be used, which reduces the number of docking cover. This replacement method can reduce the processing cost, but the torsional strength of the connection part will decrease when the load exceeds 1kg.

[0022] This application can be used in the field of robotics, or in other fields applicable to this application.

[0023] In another embodiment: an improvement on the above embodiment: a shoulder joint linkage structure applied to the field of robotics. The structure of this embodiment is basically the same as the previous embodiment, except that: the first docking shaft 223, the second docking shaft 234, and the third docking shaft 241 are all made of 304 stainless steel round rods with a diameter of 4mm, and the surface is passivated. The fit tolerance with the corresponding docking cover is H7 / r6; the wall thickness of the clamp is made of 2mm 304 stainless steel sheet by stamping; the mating surfaces of the first transmission disk 213, the second transmission disk 225, and the third transmission disk 235 with the corresponding motor output shaft are coated with high-temperature anaerobic adhesive. During assembly, before inserting the docking shaft, a small amount of silicone grease is applied to the inner hole of the docking cover to reduce wear on the contact surface.

[0024] The structure of this embodiment is suitable for outdoor operation scenarios with an ambient temperature range of -20℃ to 60℃. Compared with the structure of the previous embodiment, it has better corrosion resistance and better ability to maintain connection preload. However, the overall weight is 12% higher than that of the previous embodiment, making it less suitable for scenarios with strict weight restrictions.

[0025] The present invention also proposes a humanoid robot, including the shoulder joint linkage structure as described above, and a robot body 1, wherein the shoulder joint linkage structure is installed on the robot body 1 by a first clamp 211 and a second clamp 212.

[0026] However, as is well known to those skilled in the art, the working principles and wiring methods of the first joint motor 21, the second joint motor 22 and the third joint motor 23 are conventional means or common knowledge, and will not be described in detail here. Those skilled in the art can make any selections according to their needs or convenience.

[0027] The accompanying drawings in this application are for illustrative purposes only. The dimensions and shapes of the components shown are not actual limitations but are merely schematic representations. In actual implementation, the components can be reasonably configured and adjusted according to specific needs and actual conditions.

[0028] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A shoulder joint linkage structure, comprising a robotic arm (2), characterized in that, The robotic arm (2) includes a first joint motor (21), a second joint motor (22), and a third joint motor (23). The first joint motor (21) and the second joint motor (22) are arranged vertically in the horizontal direction, and the second joint motor (22) and the third joint motor (23) are arranged vertically in the vertical direction. A large arm (24) is mounted on the third joint motor (23) to drive the large arm (24) to perform three-dimensional spatial position adjustment. The linkage structure also includes: The first connecting component is provided on the first joint motor (21) for supporting and mounting the first joint motor (21); The second connecting component is provided on the second joint motor (22), and the second connecting component is connected to the output shaft of the first joint motor (21) so that the second joint motor (22) can be driven to rotate by starting the first joint motor (21); A third connecting component is provided on the third joint motor (23), and the third connecting component is connected to the output shaft of the second joint motor (22) so that the third joint motor (23) can be driven to rotate by driving the second joint motor (22).

2. The shoulder joint linkage structure according to claim 1, characterized in that, The first connecting component includes a first clamp (211) and a second clamp (212) wrapped around the first joint motor (21). The first clamp (211) and the second clamp (212) are fixedly connected by four bolts to achieve stable installation support for the first joint motor (21).

3. The shoulder joint linkage structure according to claim 2, characterized in that, A first transmission disk (213) is fixedly installed on the output shaft of the first joint motor (21). A plurality of first docking covers (214) are integrally fixedly arranged at equal intervals on one side of the first transmission disk (213). The second connecting component is respectively engaged with the plurality of first docking covers (214).

4. The shoulder joint linkage structure according to claim 1, characterized in that, The second connecting component includes a third clamp (221) and a fourth clamp (224) wrapped around the second joint motor (22). The third clamp (221) and the fourth clamp (224) are respectively fixedly connected by four bolts to achieve clamping support for the second joint motor (22). A docking seat (222) is integrally fixedly provided on one side of the third clamp (221). A plurality of first docking pins (223) are fixedly provided at equal intervals on one side of the docking seat (222). The first docking pins (223) are inserted and snapped into the corresponding first docking cover (214). The docking seat (222) is fixedly connected to the first transmission disc (213) by bolts.

5. A shoulder joint linkage structure according to claim 4, characterized in that, A second transmission disk (225) is fixedly installed on the output shaft of the second joint motor (22). Multiple second docking covers (226) are integrally fixedly arranged at equal intervals on one side of the second transmission disk (225). The third connecting component is respectively engaged with the multiple second docking covers (226).

6. The shoulder joint linkage structure according to claim 1, characterized in that, The third connecting component includes a fifth clamp (231) and a sixth clamp (232) wrapped around the third joint motor (23). The fifth clamp (231) and the sixth clamp (232) are fixedly connected by four bolts to enable stable installation of the third joint motor (23). An installation rib (233) is integrally fixed on one side of the sixth clamp (232). The installation rib (233) is engaged with the second transmission disc (225). Multiple second docking pins (234) are fixedly installed at equal intervals on one side of the installation rib (233). The second docking pins (234) are inserted and engaged with the corresponding second docking pin covers (226).

7. A shoulder joint linkage structure according to claim 6, characterized in that, A third transmission disc (235) is fixedly installed on the output shaft of the third joint motor (23). Multiple third docking covers (236) are integrally fixedly arranged at equal intervals at the bottom of the third transmission disc (235). The upper arm (24) is fixedly connected to the third transmission disc (235). Multiple third docking shafts (241) are integrally fixedly arranged at equal intervals at the top of the upper arm (24). The third docking shafts (241) are engaged with the corresponding third docking covers (236).

8. A humanoid robot, comprising the shoulder joint linkage structure according to any one of claims 1-7, characterized in that, It also includes the robot body (1), and the above-mentioned shoulder joint linkage structure is installed on the robot body (1) through the first clamp (211) and the second clamp (212).

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