A space triangle truss type humanoid robot large arm assembly

Abstract

The application discloses a space triangular truss type humanoid robot large arm assembly and relates to the field of humanoid robot mechanical arms.The space triangular truss type humanoid robot large arm assembly comprises a large arm skeleton, an elbow joint flexion and extension mechanism, a connecting pin shaft assembly, a pipeline joint assembly and a driving assembly.The elbow joint flexion and extension mechanism is assembled at the lower end of the large arm skeleton, the driving assembly is hingedly installed on the large arm skeleton, the output end of the driving assembly is in transmission connection with the elbow joint flexion and extension mechanism, and the pipeline joint assembly is assembled on the outer side of the large arm skeleton.The elbow joint flexion and extension mechanism comprises an elbow rotating seat, and a small arm is assembled below the elbow rotating seat.The space triangular truss type humanoid robot large arm assembly can effectively reduce the motion inertia, improve the structural fatigue life and motion adaptation performance on the basis of guaranteeing the bearing capacity.

Description

Technical Field

[0001] This invention relates to the field of humanoid robot arm technology, and in particular to a spatial triangular truss-type humanoid robot arm assembly. Background Technology

[0002] Existing robot arms mostly adopt solid, single-unit load-bearing structures such as cantilever beams and box beams, and are equipped with external drive components that do not participate in structural load-bearing. This type of structure has inherent performance contradictions, severely limiting its overall operational performance, as analyzed below: Traditional cantilever structures rely on bending forces as their core stress form. To meet structural stiffness requirements under heavy loads, it is necessary to increase the cross-section of components and thicken the walls, which directly leads to a significant increase in the overall weight and moment of inertia of the robotic arm, resulting in a lag in the robot's dynamic response speed. If lightweighting is achieved by simplifying the structure, it will result in insufficient bending and torsional stiffness, large structural deformation under dynamic motion and heavy load conditions, prominent problems such as end-effector positioning deviation and motion trajectory drift, and difficulty in ensuring operational accuracy.

[0003] Meanwhile, traditional external drive structures have low integration and scattered layout. The reaction force generated by the drive operation is concentrated in a local area, which can easily cause stress concentration and deformation of assembly micro gaps. After long-term reciprocating operation, the accuracy of the equipment continues to decline, and it cannot simultaneously meet the dual core requirements of lightweight dynamic response and heavy-load stable operation of robots. Summary of the Invention

[0004] The purpose of this invention is to provide a spatial triangular truss-type humanoid robot arm assembly, which solves the problems of traditional robot arms, such as difficulty in balancing rigidity and lightweight, stress concentration leading to fatigue, bulky shape causing interference, and cumbersome pipeline assembly being susceptible to interference. It is suitable for high-frequency reciprocating motion of humanoid robots, confined spaces, and human-robot collaborative operations, thereby improving the overall reliability of the machine.

[0005] This invention provides a spatial triangular truss-type humanoid robot upper arm assembly, including an upper arm frame, an elbow joint flexion and extension mechanism, a connecting pin assembly, a pipe connector assembly, and a drive component. The elbow joint flexion and extension mechanism is mounted on the lower end of the upper arm frame, and the drive component is hinged to the upper arm frame. The output end of the drive component is connected to the elbow joint flexion and extension mechanism for transmission. The pipe connector assembly is mounted on the outside of the upper arm frame. The elbow joint flexion and extension mechanism includes an elbow rotating seat, and a forearm is mounted below the elbow rotating seat.

[0006] Preferably, the boom frame is a one-piece molded component. The boom frame includes a shoulder joint connecting flange, a spatial triangular hollow support rod, an elbow joint U-shaped hinge fork, an integrated pipeline interface and a boss. The shoulder joint connecting flange is located at the top of the spatial triangular hollow support rod, which is arranged in a spatial triangular truss pattern. The integrated pipeline interface is located on the outer wall of the spatial triangular hollow support rod, and the elbow joint U-shaped hinge fork is located at the lower end of the boom frame.

[0007] Preferably, the integrated pipeline interface is provided with four, and the pipeline connector assembly includes a first pipeline connector, a second pipeline connector, a third pipeline connector and a fourth pipeline connector, with the four pipeline connectors and the four integrated pipeline interfaces being assembled one-to-one.

[0008] Preferably, the elbow joint flexion and extension mechanism includes an elbow swing arm, an elbow connecting rod, an adapter seat, and an elbow rotating seat. The connecting pin assembly includes a first connecting pin, a second connecting pin, a third connecting pin, a fourth connecting pin, a fifth connecting pin, and a sixth connecting pin. The elbow rotating seat is assembled on the adapter seat. The elbow swing arm, the spatial triangular hollow support rod, the elbow connecting rod, and the adapter seat cooperate with each other to form a four-bar linkage transmission structure.

[0009] Preferably, the second connecting pin passes through the elbow swing arm and the piston rod front lug of the drive assembly; the third connecting pin passes through the elbow swing arm, the spatial triangular hollow support rod of the upper arm frame, and the elbow joint U-shaped hinge fork lug; the fourth connecting pin passes through the elbow swing arm and one end of the elbow connecting rod; the fifth connecting pin passes through the adapter and the spatial triangular hollow support rod; and the sixth connecting pin passes through the adapter and the other end of the elbow connecting rod.

[0010] Preferably, both ends of the second, third, fourth, fifth, and sixth connecting pins are fitted with gaskets and cover plates, and both end cover plates are locked with screws.

[0011] Preferably, the drive assembly includes a piston rod front lug, piston rod, cylinder, rear cylinder head, connecting seat, digital valve electrical plug, front end cover, feedback screw, feedback nut, feedback transmission component, digital valve, pipeline, oil circuit connector and oil block. The connecting seat is fixedly connected to the rear cylinder head and is hinged to the boss of the boom frame via a first connecting pin.

[0012] Preferably, a piston rod front lug is fixedly installed at the extended end of the piston rod, and the piston rod front lug is hinged to the elbow rocker rod through a second connecting pin. A front end cover is assembled at the lower end of the cylinder, and the front end cover is sleeved on the outside of the piston rod. The feedback screw is arranged along the axial direction of the piston rod, and the feedback nut is threaded onto the feedback screw and is in transmission cooperation with the feedback transmission component.

[0013] Preferably, the oil block is arranged on one side of the cylinder, the digital valve is arranged below the other side of the feedback transmission component, and two pipelines are configured.

[0014] Preferably, the digital valve electrical plug is located on one side of the connector and is electrically connected to the digital valve.

[0015] Therefore, the present invention adopts the above-mentioned spatial triangular truss humanoid robot arm assembly to solve the problems of traditional robot arm rigidity and lightweight, stress concentration and fatigue, bulky shape and easy interference, and complicated pipeline assembly and easy interference. It is suitable for high-frequency reciprocating, narrow space and human-machine collaborative operation of humanoid robots, and improves the overall reliability of the machine.

[0016] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the large arm assembly of a space triangular truss humanoid robot according to the present invention; Figure 2 This is a schematic diagram of the upper arm skeleton structure in the upper arm assembly of a space triangular truss humanoid robot according to the present invention; Figure 3 This is a schematic diagram of the elbow joint flexion and extension mechanism and pin assembly in the upper arm assembly of a space triangular truss humanoid robot according to the present invention. Figure 4 This is a cross-sectional schematic diagram of the assembly relationship of the drive components in the upper arm assembly of a space triangular truss humanoid robot according to the present invention. Figure 5 This is a schematic diagram showing the assembly positions of the oil circuit, digital valve, and oil block in the upper arm assembly of a space triangular truss humanoid robot according to the present invention.

[0018] Figure Labels 1. Upper arm frame; 11. Shoulder joint connecting flange; 12. Spatial triangular hollow support rod; 13. Elbow joint U-shaped hinge fork lug; 14. Integrated pipeline interface; 15. Boss; 2. Elbow joint flexion and extension mechanism; 21. Elbow swing arm; 22. Elbow connecting rod; 23. Adapter seat; 24. Elbow rotating seat; 3. Connecting pin assembly; 31. First connecting pin; 32. Second connecting pin; 33. Third connecting pin; 34. Fourth connecting pin; 35. Fifth connecting pin; 36. Sixth connecting pin 4. Pipeline connector assembly; 41. First pipeline connector; 42. Second pipeline connector; 43. Third pipeline connector; 44. Fourth pipeline connector; 5. Drive assembly; 51. Piston rod front lug; 52. Piston rod; 53. Cylinder; 54. Rear cylinder head; 55. Connecting seat; 56. Digital valve electrical plug; 57. Front end cover; 58. Feedback lead screw; 59. Feedback nut; 60. Feedback transmission component; 61. Digital valve; 62. Pipeline; 63. Oil circuit connector; 64. Oil block. Detailed Implementation

[0019] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0020] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains.

[0021] The terms "first," "second," and similar words used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0022] Example 1 like Figures 1-5 As shown, this invention discloses a spatial triangular truss-type humanoid robot arm assembly, comprising an arm frame 1, an elbow joint flexion-extension mechanism 2, a connecting pin assembly 3, a pipe connector assembly 4, and a drive component 5. The upper end of the arm frame 1 has a shoulder joint. The elbow joint flexion-extension mechanism 2 is mounted on the lower end of the arm frame 1. The drive component 5 is hinged to the arm frame 1, and its output end is connected to the elbow joint flexion-extension mechanism 2. The pipe connector assembly 4 is mounted on the outer side of the arm frame 1. The elbow joint flexion-extension mechanism 2 includes an elbow rotating seat 24, with a forearm mounted below the elbow rotating seat 24. Through the synergistic cooperation of the truss-type integrated molding structure, the four-bar precision transmission mechanism, and the integrated feedback hydraulic drive structure, the overall lightweight performance, structural load-bearing rigidity, and motion control accuracy are effectively improved, meeting the requirements of high-frequency, high-precision, and long-term continuous operation of the humanoid robot.

[0023] The upper arm frame 1 is a one-piece molded component. The upper arm frame 1 includes a shoulder joint connecting flange 11, a spatial triangular hollow support rod 12, an elbow joint U-shaped hinge fork lug 13, an integrated pipeline interface 14, and a boss 15. The shoulder joint connecting flange 11 is located at the top of multiple spatial triangular hollow support rods 12. The shoulder joint connecting flange 11 adopts a top-centered arrangement structure, which can realize the coaxial and precise docking and assembly of the upper arm assembly and the robot shoulder joint. The force is even and symmetrical, which effectively reduces the off-center load moment during the swinging and lifting operations of the upper arm, avoids structural tilting and assembly loosening caused by excessive force on one side, and ensures the overall motion reference accuracy and assembly stability of the upper arm.

[0024] Multiple hollow triangular support rods 12 are arranged in a spatial triangular truss. The multi-rod spatial triangular truss structure utilizes the principle of geometric invariance of triangles to significantly improve the overall bending, torsion, and deformation resistance under the premise of hollow weight reduction design. This effectively solves the problems of weak stiffness, easy vibration, and large deformation under heavy load in traditional single beam structures.

[0025] The integrated pipeline interface 14 is located on the outer wall of the hollow triangular support rod 12. It adopts an integrated opening layout within the frame body, replacing the traditional external pipeline bracket. This results in higher structural strength, better pipeline fit, and effectively avoids problems such as external pipeline protrusion, interference, wear, and detachment, leading to higher overall integration. The elbow joint U-shaped hinge fork lug 13 is located at the lower end of the upper arm frame 1. The elbow joint U-shaped hinge fork lug 13 features a large hinge space and symmetrical force distribution, providing a stable hinge installation reference for the elbow joint flexion and extension mechanism 2, ensuring precise and reliable elbow joint swing center and high assembly alignment accuracy. The upper arm frame 1 is a single, integrally molded design with no welding or splicing gaps. This results in strong structural integrity, low residual stress, and resistance to fatigue deformation during long-term repeated movement, significantly improving the overall structural reliability and service life.

[0026] The integrated pipeline interface 14 has four components. The pipeline connector assembly 4 includes a first pipeline connector 41, a second pipeline connector 42, a third pipeline connector 43, and a fourth pipeline connector 44. Each of the four pipeline connectors corresponds to one of the four integrated pipeline interfaces 14. This four-way independent pipeline connector assembly structure allows for independent partitioning of the hydraulic oil circuit and control circuit. The pipeline layout is neat and orderly, without interference, meeting the oil and power supply requirements for the multi-degree-of-freedom movement of the boom. It also facilitates disassembly and maintenance, making future repairs and replacements easier and effectively improving the equipment's operational convenience and stability.

[0027] The elbow flexion and extension mechanism 2 includes an elbow swing arm 21, an elbow connecting rod 22, an adapter 23, and an elbow rotating seat 24. The connecting pin assembly 3 includes a first connecting pin 31, a second connecting pin 32, a third connecting pin 33, a fourth connecting pin 34, a fifth connecting pin 35, and a sixth connecting pin 36. The elbow rotating seat 24 is mounted on the adapter 23, providing good overall rigidity, stable transmission of load, and preventing relative swaying or displacement during operation, thus ensuring stable posture.

[0028] The elbow rotation seat 24 is mounted on the adapter seat 23, providing a basis for the rotation and deflection adjustment of the lower forearm. This greatly improves the robot's forearm's operational flexibility and posture adaptability. The elbow swing arm 21, the spatial triangular hollow support rod 12, the elbow connecting rod 22, and the adapter seat 23 work together to form a four-bar linkage transmission structure. This four-bar constraint transmission structure replaces the traditional single-cylinder direct-push swing structure, resulting in strong motion trajectory constraint, small gaps, and high repeatability. It enables smooth, uniform, and abrupt elbow flexion and extension movements, significantly improving the robot's upper limb motion quality and operational accuracy.

[0029] The second connecting pin 32 passes between the elbow swing arm 21 and the piston rod front lug 51 of the drive assembly 5, realizing direct hinged transmission between the power end of the drive assembly 5 and the elbow swing arm 21. This results in a short power transmission path, low loss, and direct and efficient response. The third connecting pin 33 passes between the elbow swing arm 21, the spatial triangular hollow support rod 12 of the upper arm frame 1, and the elbow joint U-shaped hinge fork lug 13, realizing the rotational hinge of the elbow swing arm 21 relative to the upper arm base, establishing the elbow joint swing reference, and ensuring the stability of the motion center without deviation.

[0030] The fourth connecting pin 34 passes between one end of the elbow swing arm 21 and the elbow connecting rod 22; the fifth connecting pin 35 passes between the adapter 23 and the hollow support rod 12; and the sixth connecting pin 36 passes between the adapter 23 and the other end of the elbow connecting rod 22. Multiple sets of pins are hinged at multiple points to precisely form a closed-loop four-bar linkage, ensuring high synchronization of all components, smooth and unhindered movement, effectively constraining the motion posture, and preventing motion drift.

[0031] The second connecting pin 32, the third connecting pin 33, the fourth connecting pin 34, the fifth connecting pin 35, and the sixth connecting pin 36 are all equipped with washers and cover plates at both ends. The cover plates at both ends are locked with screws, achieving double-sided axial limiting of each pin. This fully limiting structure, employing double-sided washers and screw-locked cover plates, completely eliminates axial movement and radial clearance of the pins, thoroughly resolving the defects of looseness, abnormal noise, and positioning deviation that occur in traditional hinge structures after long-term reciprocating motion. This ensures long-term high-precision fit of the hinge pair, significantly improving the durability and motion consistency of the mechanism.

[0032] The drive assembly 5 includes a piston rod front lug 51, piston rod 52, cylinder 53, rear cylinder head 54, connecting seat 55, digital valve electrical plug 56, front end cover 57, feedback lead screw 58, feedback nut 59, feedback transmission component 60, digital valve 61, pipeline 62, oil circuit connector 63 and oil block 64. The connecting seat 55 is fixedly connected to the rear cylinder head 54. The connection between the connecting seat 55 and the rear cylinder head 54 is rigidly connected, resulting in high overall assembly strength and no relative displacement, thus ensuring the overall structural stability of the drive assembly.

[0033] The connecting seat 55 is hinged to the boss 15 of the upper arm frame 1 via the first connecting pin 31. The drive assembly 5 has an overall hinged suspension layout, which can adaptively swing with the elbow joint movement, completely avoiding motion interference. At the same time, it is easy to assemble and disassemble, has a compact structure, and high space utilization.

[0034] A piston rod front lug 51 is fixedly installed at the extended end of the piston rod 52. The piston rod 52 and the piston rod front lug 51 are fixed as a single unit, providing strong power output rigidity, good load-bearing capacity, and the ability to withstand high-frequency reciprocating push-pull loads. The piston rod front lug 51 is hinged to the elbow rocker 21 via a second connecting pin 32. A front end cover 57 is fitted at the lower end of the cylinder 53, and the front end cover 57 is sleeved on the outside of the piston rod 52. The front end cover 57 serves to guide, prevent dust, and prevent uneven load on the piston rod 52, ensuring the straightness of the piston rod 52's extension and retraction, and avoiding uneven wear and cylinder jamming.

[0035] The feedback screw 58 is arranged axially along the piston rod 52, and the feedback nut 59 is threaded onto the feedback screw 58 and engages with the feedback transmission component 60. A follower-type screw-nut feedback mechanism is adopted, which directly feeds back the movement of the cylinder piston to the valve port, constructing a closed-loop control system and addressing the shortcomings of traditional hydraulic open-loop control, such as low accuracy, lack of position feedback, and lag response.

[0036] Oil block 64 is arranged on one side of cylinder 53. The side-mounted layout of oil block 64 makes reasonable use of the side space of the cylinder, has a high degree of integration, and can realize centralized oil circuit diversion, pressure stabilization, and uniform and stable oil supply. Digital valve 61 is arranged below the other side of feedback transmission component 60. The recessed arrangement of digital valve effectively avoids damage from external bumps and collisions, and has excellent protective performance.

[0037] Two pipelines 62 are configured. One pipeline 62 connects the oil block 64 to the digital valve 61, and the other pipeline 62 connects the digital valve 61 to the oil circuit connector 63. The dual pipelines have independent oil circuits, with clear inlet and outlet oil paths and well-defined functions. This ensures smooth hydraulic oil delivery, stable pressure, and sensitive control response, effectively avoiding the problems of large pressure fluctuations and lag in control caused by single pipelines, and improving the stability of hydraulic drive.

[0038] The digital valve electrical plug 56 is located on one side of the connector 55 and is electrically connected to the digital valve 61. The digital valve electrical plug 56 is fixedly mounted on the side by the connector 55, with neat wiring and a secure fixation. This effectively avoids the risks of wire pulling, bending, wear, and detachment during movement, ensuring continuous, stable, and accurate transmission of control electrical signals and guaranteeing that the digital valve responds to control commands in real time.

[0039] Therefore, the present invention adopts the above-mentioned spatial triangular truss humanoid robot arm assembly, which converts the load into axial tensile and compressive forces through the spatial triangular truss, and achieves lightweight and high rigidity with the hollow gradient cross section; the arc transition improves stress distribution, the hollow truss reduces the probability of collision, and the integrated pipeline interface simplifies assembly. While ensuring load-bearing capacity, it effectively reduces motion inertia and improves structural fatigue life and motion adaptability.

[0040] 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 spatial triangular truss-type humanoid robot arm assembly, characterized in that, The device includes a main arm frame, an elbow flexion and extension mechanism, a connecting pin assembly, a pipe connector assembly, and a drive assembly. The elbow flexion and extension mechanism is mounted on the lower end of the main arm frame. The drive assembly is hinged to the main arm frame and its output end is connected to the elbow flexion and extension mechanism. The pipe connector assembly is mounted on the outside of the main arm frame. The elbow flexion and extension mechanism includes an elbow rotating seat, and the forearm is mounted below the elbow rotating seat.

2. The spatial triangular truss-type humanoid robot arm assembly according to claim 1, characterized in that, The boom frame is a one-piece molded component, which includes a shoulder joint connecting flange, a spatial triangular hollow support rod, an elbow joint U-shaped hinge fork, an integrated pipeline interface and a boss. The shoulder joint connecting flange is located at the top of the spatial triangular hollow support rod, which is arranged in a spatial triangular truss pattern. The integrated pipeline interface is located on the outer wall of the spatial triangular hollow support rod, and the elbow joint U-shaped hinge fork is located at the lower end of the boom frame.

3. The spatial triangular truss-type humanoid robot arm assembly according to claim 2, characterized in that, The integrated pipeline interface has four parts. The pipeline connector assembly includes a first pipeline connector, a second pipeline connector, a third pipeline connector, and a fourth pipeline connector. The four pipeline connectors are assembled one-to-one with the four integrated pipeline interfaces.

4. The spatial triangular truss-type humanoid robot arm assembly according to claim 3, characterized in that, The elbow joint flexion and extension mechanism includes an elbow swing arm, an elbow connecting rod, an adapter seat, and an elbow rotating seat. The connecting pin assembly includes a first connecting pin, a second connecting pin, a third connecting pin, a fourth connecting pin, a fifth connecting pin, and a sixth connecting pin. The elbow rotating seat is assembled on the adapter seat. The elbow swing arm, the spatial triangular hollow support rod, the elbow connecting rod, and the adapter seat cooperate with each other to form a four-bar linkage structure.

5. The spatial triangular truss-type humanoid robot arm assembly according to claim 4, characterized in that, The second connecting pin passes between the elbow swing arm and the piston rod front lug of the drive assembly; the third connecting pin passes between the elbow swing arm, the hollow triangular support rod of the upper arm frame, and the U-shaped hinge fork of the elbow joint; the fourth connecting pin passes between one end of the elbow swing arm and the elbow connecting rod; the fifth connecting pin passes between the adapter and the hollow triangular support rod; and the sixth connecting pin passes between the adapter and the other end of the elbow connecting rod.

6. The spatial triangular truss-type humanoid robot arm assembly according to claim 5, characterized in that, The second, third, fourth, fifth, and sixth connecting pins are all fitted with gaskets and cover plates at both ends, and the cover plates at both ends are locked with screws.

7. The spatial triangular truss-type humanoid robot arm assembly according to claim 6, characterized in that, The drive assembly includes a piston rod front lug, piston rod, cylinder, rear cylinder head, connecting seat, digital valve electrical plug, front end cover, feedback screw, feedback nut, feedback transmission component, digital valve, pipeline, oil circuit connector and oil block. The connecting seat is fixed to the rear cylinder head and is hinged to the boss of the boom frame via a first connecting pin.

8. The spatial triangular truss-type humanoid robot arm assembly according to claim 7, characterized in that, A piston rod front lug is fixedly installed at the extended end of the piston rod. The piston rod front lug is hinged to the elbow rocker via a second connecting pin. A front end cover is assembled at the lower end of the cylinder. The front end cover is sleeved on the outside of the piston rod. The feedback screw is arranged along the axial direction of the piston rod. The feedback nut is threaded onto the feedback screw and is engaged with the feedback transmission component.

9. The spatial triangular truss-type humanoid robot arm assembly according to claim 8, characterized in that, The oil block is located on one side of the cylinder, and the digital valve is located below the other side of the feedback transmission component. There are two pipelines.

10. The spatial triangular truss-type humanoid robot arm assembly according to claim 9, characterized in that, The digital valve electrical plug is located on one side of the connector and is electrically connected to the digital valve.

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