A humanoid robot arm

Abstract

The application discloses a humanoid robot arm, which comprises an assembly flange, a wrist joint movable seat, a main body support and a driving unit; the assembly flange is detachably connected with an elbow joint part of the humanoid robot; the wrist joint movable seat is located below the assembly flange; the main body support is a three-prism space structure, the main body support comprises three supporting rods, the top ends of the three supporting rods are uniformly arranged along the circumferential direction of the assembly flange and are fixedly connected with the bottom of the assembly flange, and the bottom ends of the three supporting rods are intersected and fixed on the wrist joint movable seat; the driving unit is two, the telescopic rods of the two driving units are intersected and hinged on the wrist joint movable seat, and the connecting ends of the two driving units are all hinged on the bottom of the assembly flange; the two driving units and the main body support form a three-prism space structure. The humanoid robot arm disclosed by the application has the advantages of high load capacity, light weight, fast response and sensitive movement.

Description

Technical Field

[0001] This invention relates to the field of robotic forearm technology, and more particularly to a humanoid robotic forearm. Background Technology

[0002] With the continuous advancement of robotics technology, robots are widely used in various industries such as handling, cutting, installation, welding, and spraying. As a key force-transmitting component of the robotic arm, the forearm directly affects the dynamic response, load-bearing capacity, and operational accuracy of the entire machine.

[0003] Traditional robot forearms mostly use cantilever beams or box beams for load-bearing structures, and the drive units are mostly external. These types of forearms have the following technical drawbacks in practical use: First, under complex working conditions such as heavy-duty grasping and changing posture operations, to ensure the structural strength of the forearm, it is usually necessary to thicken and increase its weight. However, increasing the weight of the forearm significantly increases its moment of inertia, causing increased joint load and resulting in lag and delayed response in the robot arm's movements. If the forearm is designed to be lightweight, its bending and torsional stiffness will decrease, making it prone to deformation or even structural damage under dynamic impacts and large loads, making it difficult to simultaneously meet the design requirements of lightweight and high stiffness. Second, external drive units are scattered and have low integration. The reaction force generated by the drive units during operation is concentrated at the local mounting location of the forearm, causing stress concentration. Under long-term alternating loads, the forearm is prone to plastic deformation or even damage, reducing the robot arm's positioning accuracy and service life.

[0004] Therefore, how to provide a humanoid robotic forearm that can overcome the above problems is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] To achieve the above objectives, the present invention provides a humanoid robot forearm, comprising an assembly flange, a wrist joint movable seat, a main support, and a drive unit; the assembly flange is detachably connected to the elbow joint of the humanoid robot; the wrist joint movable seat is located below the assembly flange; the main support is a triangular pyramidal spatial structure, comprising three support rods, the top ends of the three support rods being evenly arranged along the circumference of the assembly flange and fixedly connected to its bottom, and the bottom ends of the three support rods converging and being fixed to the wrist joint movable seat; there are two drive units, the telescopic rods of the two drive units converging and hinged to the wrist joint movable seat, and the connecting ends of the two drive units are both hinged to the bottom of the assembly flange, the two drive units and the main support forming a triangular pyramidal spatial structure.

[0006] Preferably, the wrist joint movable seat includes a U-shaped frame, a curved arm, and a movable base; the opening of the U-shaped frame is arranged downwards, and the bottom ends of the three support rods converge and are fixed to the top of the U-shaped frame; one end of the curved arm is hinged to the U-shaped frame, and the other end is hinged to the movable base, and the rotation axis of the curved arm is arranged perpendicular to the rotation axis of the movable base; the telescopic rods of the two drive units converge and are hinged to the movable base.

[0007] Preferably, a connecting frame is fixed on the movable base, and a connecting rod is threaded through the connecting frame. The telescopic rods of the two drive units are respectively hinged to both ends of the connecting rod.

[0008] Preferably, the connection between each support rod and the assembly flange and the U-shaped frame has a smooth arc transition.

[0009] Preferably, each of the support rods is fixed with a conduit, and each of the support rods is provided with an axially arranged conduit channel, which is connected to the cavity of the conduit.

[0010] Preferably, the radius of each support rod gradually increases from the middle to both ends.

[0011] Preferably, the bottom of the assembly flange is fixed with two spaced-apart hinged supports, and the connection ends of the two drive units are respectively hinged to the two hinged supports.

[0012] Preferably, the drive unit is a servo electric cylinder.

[0013] The advantages and positive effects of the humanoid robot forearm described in this invention are as follows: First, the main support frame, as the primary load-bearing structure of the device, has a triangular pyramidal spatial structure with strong stability, uniform force distribution, strong resistance to compression, and high rigidity. After the load borne by the wrist joint movable seat is transferred to the main support frame, when the load is tensile or compressive, it is decomposed into tensile and compressive forces along the axial direction of the three support rods. When the load is a bending moment, two support rods are under tension and one support rod is under compression. When the load is a torque, the torque generated is evenly distributed among the three support rods. Second, the two drive units form a triangular pyramidal spatial structure with the main support frame. As auxiliary load-bearing structures of the device, the two drive units can share part of the load of the wrist joint movable seat. Attached Figure Description

[0014] Figure 1 The present invention provides an integral isometric view of the forearm of a humanoid robot. Figure 1 ; Figure 2 The present invention provides an integral isometric view of the forearm of a humanoid robot. Figure 2 ; Figure 3This is a schematic diagram of the connection between the main support and the assembly flange in this invention; Figure 4 This is a schematic diagram of the drive unit in this invention; Figure 5 This is a schematic diagram of the connection between the movable base and the curved arm in this invention; Figure 6 This is a schematic diagram of the main support frame under pressure in this invention; Figure 7 This is a schematic diagram of the main support structure under bending moment in this invention; Figure 8 This is a schematic diagram of the main support bearing torque in this invention.

[0015] Figure Labels 1. Assembly flange; 2. Wrist joint movable seat; 3. Main support; 4. Drive unit; 5. Conduit; 6. Hinge support; 21. U-shaped frame; 22. Crank arm; 23. Movable base; 31. Support rod; 231. Connecting frame; 232. Connecting rod. Detailed Implementation

[0016] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. They are used only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," and "connect" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal communication 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.

[0017] In this invention, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. In case of any inconsistency, the meaning set forth in this specification or derived from the content described herein shall prevail. Furthermore, the terminology used herein is for the purpose of describing embodiments of the invention only and is not intended to limit the invention.

[0018] See appendix Figure 1-5This invention discloses a humanoid robot forearm, comprising an assembly flange 1, a wrist joint movable seat 2, a main support 3, and a drive unit 4; the assembly flange 1 is detachably connected to the elbow joint of the humanoid robot; the wrist joint movable seat 2 is located below the assembly flange 1; the main support 3 is a triangular pyramidal spatial structure, comprising three support rods 31, the top ends of the three support rods 31 being evenly arranged along the circumference of the assembly flange 1 and fixedly connected to its bottom, and the bottom ends of the three support rods 31 converging and being fixed to the wrist joint movable seat 2; there are two drive units 4, the telescopic rods of the two drive units 4 converging and hinged to the wrist joint movable seat 2, and the connecting ends of the two drive units 4 are both hinged to the bottom of the assembly flange 1, the two drive units 4 and the main support 3 forming a triangular pyramidal spatial structure.

[0019] Specifically, the three support rods 31 and the mounting flange 1 are made of materials including but not limited to carbon fiber reinforced composite materials, aerospace aluminum alloys, or magnesium alloys.

[0020] The main support 3 is designed as a triangular pyramidal spatial structure, which has strong stability, high rigidity, and strong resistance to compression. This improves the load capacity of the humanoid robot's forearm and can significantly reduce the weight and motion inertia of the forearm, thereby improving the dynamic response speed and motion sensitivity of the forearm. This solves the problem that traditional forearms cannot balance rigidity and lightweight. Furthermore, the two drive units 4 and the main support 3 form a triangular pyramidal spatial structure, so that the two drive units 4 can serve as power sources while also sharing part of the load applied to the overall structure.

[0021] In some embodiments, the wrist joint movable seat 2 includes a U-shaped frame 21, a curved arm 22, and a movable base 23. The opening of the U-shaped frame 21 faces downward, and the bottom ends of three support rods 31 converge and are fixed to the top of the U-shaped frame 21. One end of the curved arm 22 is hinged inside the U-shaped frame 21, and the other end is hinged to the movable base 23. The rotation axis of the curved arm 22 is arranged perpendicular to the rotation axis of the movable base 23. The telescopic rods of the two drive units 4 converge and are hinged to the movable base 23. The wrist joint movable seat 2 has a high degree of freedom and can rotate flexibly, enabling the humanoid robot forearm to be applied to a variety of different practical working conditions.

[0022] The movable base 23 is fixed with a connecting frame 231, and a connecting rod 232 is threaded through the connecting frame 231. The telescopic rods of the two drive units 4 are respectively hinged to the two ends of the connecting rod 232.

[0023] In some specific examples, the connection between each support rod 31 and the assembly flange 1 and U-shaped frame 21 is a smooth arc transition. The connection position between the support rod 31 and the assembly flange 1 and U-shaped frame 21 is a point of sudden stress change. Right-angle corners are prone to stress concentration. The smooth arc transition can distribute the load, reduce local peak stress, avoid cracks at the connection, and improve the service life of the overall structure.

[0024] In some embodiments, each support rod 31 is fixed with a conduit 5, and each support rod 31 has an axially arranged wire passage that communicates with the cavity of the conduit 5. The wire passage inside the support rod 31 reduces its weight, and hiding the cable inside not only makes the overall design aesthetically pleasing and simple, but also protects the cable from external impacts, friction, dust, moisture, and sunlight, reducing cable sheath damage and aging.

[0025] In some specific examples, the radius of each support rod 31 gradually increases from the middle to both ends. The large radius at both ends of the support rod 31 ensures the stiffness and strength of the cross-section at both ends, while the appropriately reduced radius in the middle reduces the overall weight and saves materials while ensuring structural strength.

[0026] In some specific examples, the bottom of the assembly flange 1 is fixed with two spaced-apart hinged supports 6, and the connection ends of the two drive units 4 are respectively hinged to the two hinged supports 6.

[0027] Specifically, drive unit 4 is a servo electric cylinder.

[0028] See appendix Figure 6-8 The loads borne by this invention include, but are not limited to, tension, compression, bending moment, and torque. The main support 3, as the primary load-bearing structure, bears most of the load, while the two drive units 4, as auxiliary load-bearing structures, bear a smaller portion of the load. When the pressure, bending moment, and torque borne by the wrist joint movable seat 2 as the load-bearing end are transmitted to the main support 3, the force distribution on the three support rods 31 is as follows: In scenario one, when the main support 3 is subjected to pressure, the pressure is decomposed into the partial pressure of the three support rods 31 along their own axial direction; in scenario two, when the main support 3 is subjected to bending moment, two support rods 31 are under tension and one support rod 31 is under compression; in scenario three, when the main support 3 is subjected to torque, the three support rods 31 evenly share the generated torque.

[0029] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A humanoid robot forearm, characterized in that, include: An assembly flange is detachably connected to the elbow joint of the humanoid robot. A wrist joint movable seat, the wrist joint movable seat being located below the assembly flange; The main support is a triangular pyramidal spatial structure. The main support includes three support rods. The top ends of the three support rods are evenly arranged along the circumference of the mounting flange and fixedly connected to its bottom. The bottom ends of the three support rods converge and are fixed on the wrist joint movable seat. The drive unit comprises two units, whose telescopic rods intersect and are hinged to the wrist joint movable seat. The connecting ends of the two drive units are both hinged to the bottom of the assembly flange. The two drive units and the main support form a triangular pyramidal spatial structure.

2. The humanoid robot forearm according to claim 1, characterized in that, The wrist joint movable seat includes: The U-shaped frame has its opening facing downwards, and the bottom ends of the three support rods converge and are fixed to the top of the U-shaped frame. The curved arm has one end hinged to the U-shaped frame and the other end hinged to a movable base. The rotation axis of the curved arm is arranged perpendicular to the rotation axis of the movable base. The telescopic rods of the two drive units meet and are hinged to the movable base.

3. The humanoid robot forearm according to claim 2, characterized in that, A connecting frame is fixed on the movable base, and a connecting rod is threaded through the connecting frame. The telescopic rods of the two drive units are respectively hinged to the two ends of the connecting rod.

4. The humanoid robot forearm according to claim 2, characterized in that, The connection between each support rod and the assembly flange and the U-shaped frame has a smooth arc transition.

5. The humanoid robot forearm according to claim 1, characterized in that, Each of the support rods is fixed with a conduit, and each of the support rods has an axially arranged conduit channel, which is connected to the cavity of the conduit.

6. A humanoid robot forearm according to claim 5, characterized in that, The radius of each support rod gradually increases from the middle to both ends.

7. The humanoid robot forearm according to claim 1, characterized in that, The bottom of the assembly flange is fixed with two spaced-apart hinged supports, and the connection ends of the two drive units are respectively hinged to the two hinged supports.

8. A humanoid robot forearm according to claim 7, characterized in that, The drive unit is a servo electric cylinder.

Images