Arm structure and humanoid robot

Abstract

The utility model discloses an arm structure and humanoid robot, wherein the arm structure comprises a first L-shaped mounting bracket, the first L-shaped mounting bracket comprises a first horizontal part and a first vertical part, the first horizontal part is arranged parallel to the first direction and is used for being connected to the trunk shoulder of the humanoid robot, and the first vertical part is arranged parallel to the first direction and is used for being connected to the trunk shoulder of the humanoid robot. The first vertical part is arranged in parallel to the second direction; a shoulder joint motor is arranged on the end face, facing the first horizontal part in the first direction, of the first vertical part and is parallel to the first direction. The output end of the shoulder joint motor is connected with a big arm and drives the big arm to swing in the first direction, and the big arm is parallel to the third direction; the first direction, the second direction and the third direction are perpendicular to one another in pairs. According to the arm structure, the shoulder joint motor can be conveniently disassembled and assembled at high frequency, and the maintainability of the humanoid robot provided with the arm structure is effectively improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to an arm structure and a humanoid robot. Background Art

[0002] The arm structure is an important component of the robot. Most of the existing arm structures used in traditional robots are fixed on the shoulders of the robot's torso through a U-shaped bilateral bracket, and the shoulder joint motor is installed in the U-shaped groove of the U-shaped bilateral bracket to improve the load capacity of the arm structure.

[0003] The current humanoid robots have a lower load capacity for the arm structure due to different research and development scenario requirements from traditional robots, and the shoulder joint motors on the arm structure need to be disassembled and assembled more frequently; however, the arm structure used in traditional robots is not convenient for disassembling and assembling the shoulder joint motors from the U-shaped groove, making it difficult to meet the humanoid robots' needs for high-frequency disassembly and assembly of the shoulder joint motors on the arm structure. Utility Model Content

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the defect that the arm structure applied to robots in the prior art is difficult to meet the high-frequency disassembly and assembly requirements of the shoulder joint motor on the arm structure of the humanoid robot, thereby providing an arm structure and a humanoid robot.

[0005] According to the first aspect of the present invention, an arm structure is provided, which is connected to the shoulder of a torso of a humanoid robot. The arm structure includes:

[0006] A first L-shaped mounting bracket, comprising a first horizontal portion and a first vertical portion, wherein the first horizontal portion is arranged parallel to the first direction and is used to be connected to the shoulder of the torso of the humanoid robot, and the first vertical portion is arranged parallel to the second direction;

[0007] A shoulder joint motor is arranged on an end surface of the first vertical portion along a first direction toward the first horizontal portion, and the shoulder joint motor is arranged parallel to the first direction;

[0008] A large arm is arranged parallel to the third direction, the large arm is connected to the output end of the shoulder joint motor, and is driven by the shoulder joint motor to swing around the first direction;

[0009] The first direction, the second direction and the third direction are perpendicular to each other.

[0010] According to an arm structure of the utility model, at least the following technical effects are achieved:

[0011] The arm structure is installed on the shoulder of the torso of the humanoid robot through the first L-shaped mounting bracket, and the shoulder joint motor is arranged in the space enclosed by the first horizontal part and the first vertical part; on the one hand, compared with the use of a U-shaped bilateral bracket to install it on the shoulder of the torso of the humanoid robot, the weight of the first L-shaped mounting bracket of the arm structure is lighter, which can reduce the burden of the humanoid robot equipped with the arm structure and increase the effective load of the humanoid robot equipped with the arm structure; on the other hand, compared with installing the shoulder joint motor in the U-shaped groove of the U-shaped bilateral bracket, the shoulder joint motor of the arm structure is arranged in the space enclosed by the first horizontal part and the first vertical part, and there is more space for disassembly and assembly operations, thereby facilitating the disassembly and assembly of the shoulder joint motor at a higher frequency, effectively improving the maintainability of the humanoid robot equipped with the arm structure.

[0012] Preferably, the projection of the upper arm along the third direction falls within the range of the shoulder joint motor; and a second L-shaped connecting frame is arranged between the upper arm and the output end of the shoulder joint motor.

[0013] Preferably, the output end of the shoulder joint motor is arranged at one end of the shoulder joint motor away from the first vertical part along the first direction; the second L-shaped connecting frame includes a second horizontal part and a second vertical part, the second vertical part is arranged parallel to the third direction and connected to the output end of the shoulder joint motor; the second horizontal part is arranged parallel to the shoulder joint motor, and the upper arm is connected to the end surface of the second horizontal part away from the shoulder joint motor along the third direction.

[0014] Preferably, an elbow rotation motor is provided at one end of the upper arm away from the shoulder joint motor along the third direction, the elbow rotation motor is arranged parallel to the third direction, and the output end of the elbow rotation motor away from the upper arm is connected to the forearm.

[0015] Preferably, a wire through hole is formed through the upper arm along the third direction, and the wire through hole is used for the cables electrically connected to the shoulder joint motor and the elbow rotation motor to pass through.

[0016] Preferably, a mounting seat is provided on the end surface of the upper arm facing the elbow rotation motor, and the projection of the upper arm along the third direction falls within the range of the mounting seat; the elbow rotation motor is connected to the end surface of the mounting seat facing away from the upper arm.

[0017] Preferably, an end motor is provided on the end surface of the forearm away from the elbow rotation motor along the third direction, and the end motor is arranged parallel to the second direction and is used to drive the end actuator to rotate and swing around the second direction.

[0018] Preferably, the end surface of the forearm facing the end motor is provided with a first support plate and a second support plate spaced apart along the second direction, and the first support plate and the second support plate are both arranged parallel to the third direction; the end motor is located between the first support plate and the second support plate, and the two end surfaces along the second direction are respectively connected to the first support plate and the second support plate.

[0019] Preferably, a connecting portion is provided on the end face of the first horizontal portion away from the shoulder joint motor along the second direction, the connecting portion is arranged parallel to the second direction, and is used to be connected to the shoulder of the torso of the humanoid robot; the projection of the first horizontal portion along the second direction falls within the range of the connecting portion.

[0020] According to a second aspect of the present invention, a humanoid robot is provided, comprising the arm structure provided in the first aspect.

[0021] A humanoid robot according to the utility model has at least the following technical effects:

[0022] The arm structure is installed on the shoulder of the torso of the humanoid robot through the first L-shaped mounting bracket, and the shoulder joint motor is arranged in the space surrounded by the first horizontal part and the first vertical part; on the one hand, compared with the use of a U-shaped bilateral bracket to install it on the shoulder of the torso of the humanoid robot, the weight of the first L-shaped mounting bracket of the arm structure in the humanoid robot is lighter, which can reduce the burden of the humanoid robot and increase the effective load of the humanoid robot; on the other hand, compared with installing the shoulder joint motor in the U-shaped groove of the U-shaped bilateral bracket, the shoulder joint motor of the arm structure in the humanoid robot is arranged in the space surrounded by the first horizontal part and the first vertical part, and there is more space for disassembly and assembly operations, thereby facilitating the disassembly and assembly of the shoulder joint motor at a higher frequency, effectively improving the maintainability of the humanoid robot.

[0023] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 is a schematic diagram of a three-dimensional structure of an arm structure of this embodiment;

[0026] Figure 2A schematic diagram of a three-dimensional structure of an arm structure of this embodiment from another perspective;

[0027] Figure 3 This is a schematic diagram of the exploded structure of an arm structure of this embodiment.

[0028] Description of reference numerals:

[0029] 1-first L-shaped mounting bracket, 11-first horizontal portion, 12-first vertical portion;

[0030] 2-Shoulder joint motor;

[0031] 3-big arm, 31-wire through hole, 32-mounting seat;

[0032] 4-second L-shaped connecting frame, 41-second horizontal portion, 411-wire passing slot, 42-second vertical portion;

[0033] 51-elbow rotation motor, 52-forearm, 521-first support plate, 522-second support plate;

[0034] 6-end motor;

[0035] 7-Connection part. DETAILED DESCRIPTION

[0036] The technical solution of the utility model will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0037] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0038] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0040] Embodiment 1

[0041] like Figures 1 to 3 As shown in the figure, an arm structure provided by the present embodiment is applied to be connected to the torso shoulder of a humanoid robot, the arm structure comprises a first L-shaped mounting bracket 1, the first L-shaped mounting bracket 1 comprises a first horizontal portion 11 and a first vertical portion 12, the first horizontal portion 11 is arranged parallel to the first direction, and is used to be connected to the torso shoulder of the humanoid robot, the first vertical portion 12 is arranged parallel to the second direction; the first vertical portion 12 is provided with a shoulder joint motor 2 along the first direction toward the end face of the first horizontal portion 11, the shoulder joint motor 2 is arranged parallel to the first direction; the output end of the shoulder joint motor 2 is connected to a large arm 3, and drives the large arm 3 to swing around the first direction, the large arm 3 is arranged parallel to the third direction; it can be understood that the first direction, the second direction and the third direction are perpendicular to each other, and the first direction, the second direction and the third direction described in the present embodiment refer to Figure 1 The first direction, the second direction and the third direction.

[0042] The arm structure of the present embodiment is installed at the shoulder of the torso of the humanoid robot through the first L-shaped mounting bracket 1, and the shoulder joint motor 2 is arranged in the space enclosed by the first horizontal part 11 and the first vertical part 12; on the one hand, compared with the use of a U-shaped bilateral bracket to be installed at the shoulder of the torso of the humanoid robot, the first L-shaped mounting bracket 1 of the arm structure of the present embodiment is lighter, which can reduce the burden of the humanoid robot equipped with the arm structure of the present embodiment and increase the effective load of the humanoid robot equipped with the arm structure of the present embodiment; on the other hand, compared with installing the shoulder joint motor 2 in the U-shaped groove of the U-shaped bilateral bracket, the shoulder joint motor 2 of the arm structure of the present embodiment is arranged in the space enclosed by the first horizontal part 11 and the first vertical part 12, and there is more space for disassembly and assembly operations, thereby facilitating the disassembly and assembly of the shoulder joint motor 2 at a higher frequency, effectively improving the maintainability of the humanoid robot equipped with the arm structure of the present embodiment.

[0043] like Figure 1 and Figure 2 As shown, in some embodiments of the utility model, the projection of the upper arm 3 along the third direction falls within the range of the shoulder joint motor 2; a second L-shaped connecting frame 4 is provided between the upper arm 3 and the output end of the shoulder joint motor 2. Through the transition connection of the second L-shaped connecting frame 4, when the arm structure of this embodiment is in the initial state, the upper arm 3 is located relatively directly below the shoulder joint motor 2 along the third direction, so that the upper arm 3 and the shoulder joint motor 2 are basically located in the same straight line space in the third direction, thereby effectively reducing the volume of the arm structure of this embodiment along the first direction, making the arm structure of this embodiment more compact, and achieving effective reduction of its overall volume on the basis of ensuring that the movement requirements of the arm structure of this embodiment are met.

[0044] Specifically, the output end of the shoulder joint motor 2 is arranged at one end of the shoulder joint motor 2 away from the first vertical portion 12 along the first direction; the second L-shaped connecting frame 4 includes a second horizontal portion 41 and a second vertical portion 42, the second vertical portion 42 is arranged parallel to the third direction and connected to the output end of the shoulder joint motor 2; the second horizontal portion 41 is arranged parallel to the shoulder joint motor 2, and the upper arm 3 is connected to the end surface of the second horizontal portion 41 away from the shoulder joint motor 2 along the third direction. By connecting the second vertical portion 42 to the end of the shoulder joint motor 2 away from the first vertical portion 12 along the first direction, the first vertical portion 12 can effectively avoid interfering with the action of the second L-shaped connecting frame 4 rotating and swinging around the first direction, thereby improving the motion performance of the arm structure of this embodiment.

[0045] like Figures 1 to 3 As shown, in some embodiments of the present invention, an elbow rotation motor 51 is provided at one end of the upper arm 3 away from the shoulder joint motor 2 along the third direction, and the elbow rotation motor 51 is arranged parallel to the third direction, and the output end of the elbow rotation motor 51 away from the upper arm 3 is connected to a small arm 52. By providing the elbow rotation motor 51 between the small arm 52 and the upper arm 3, the elbow rotation motor 51 can drive the small arm 52 to rotate and swing around the third direction, further improving the flexibility of the arm structure movement of the present embodiment and increasing the movement space of the arm structure of the present embodiment.

[0046] like Figure 3As shown, specifically, a wire through hole 31 is formed along the third direction on the upper arm 3, and the wire through hole 31 is used for the cables electrically connected to the shoulder joint motor 2 and the elbow rotation motor 51 to pass through. The wire through hole 31 provides a wiring layout channel for the cables electrically connected to the shoulder joint motor 2 and the elbow rotation motor 51 to shuttle and fix, optimizes the wiring harness layout of the arm structure of this embodiment, and effectively avoids the exposure of the wiring harness of the arm structure of this embodiment affecting the movement trajectory of the arm structure of this embodiment, thereby increasing the movement space of the arm structure of this embodiment. Figure 1 and Figure 3 As shown, more specifically, a wire passing groove 411 is formed on the second horizontal portion 41 along the third direction at a position corresponding to the wire passing hole 31 .

[0047] In some embodiments of the utility model, a mounting seat 32 is provided on the end face of the upper arm 3 facing the elbow rotation motor 51, and the projection of the upper arm 3 along the third direction falls within the range of the mounting seat 32; the elbow rotation motor 51 is connected to the end face of the mounting seat 32 away from the upper arm 3. Because the cross-sectional area of ​​the mounting seat 32 perpendicular to the third direction is larger than the cross-sectional area of ​​the upper arm 3 perpendicular to the third direction, the mounting seat 32 can increase the contact connection area with the elbow rotation motor 51, improve the stability of the connection with the elbow rotation motor 51, and thus improve the motion stability of the arm structure of this embodiment.

[0048] like Figures 1 to 3 As shown, in some embodiments of the utility model, the end surface of the forearm 52 away from the elbow rotation motor 51 along the third direction is provided with a terminal motor 6, the terminal motor 6 is arranged parallel to the second direction, and is used to drive the terminal effector to rotate and swing around the second direction. By adding the terminal motor 6 to the end surface of the forearm 52 away from the elbow rotation motor 51, the terminal motor 6 can drive the terminal effector to rotate and swing around the second direction, further improving the flexibility of the arm structure movement of this embodiment and increasing the movement space of the arm structure of this embodiment.

[0049] Specifically, the end surface of the forearm 52 facing the end motor 6 is arranged with a first support plate 521 and a second support plate 522 at intervals along the second direction, and the first support plate 521 and the second support plate 522 are arranged parallel to the third direction; the end motor 6 is located between the first support plate 521 and the second support plate 522, and the two end surfaces along the second direction are respectively connected to the first support plate 521 and the second support plate 522. The first support plate 521 and the second support plate 522 increase the contact connection area with the end motor 6, improve the stability of the connection with the end motor 6, and thus improve the motion stability of the arm structure of this embodiment.

[0050] In some embodiments of the utility model, the end surface of the first horizontal portion 11 facing away from the shoulder joint motor 2 along the second direction is provided with a connecting portion 7, the connecting portion 7 is arranged parallel to the second direction, and is used to connect to the trunk shoulder of the humanoid robot; the projection of the first horizontal portion 11 along the second direction falls within the range of the connecting portion 7. On the one hand, the upper arm 3 is better separated from the trunk shoulder of the humanoid robot along the second direction by the connecting portion 7, so that the upper arm 3 is not easy to interfere with the trunk shoulder of the humanoid robot during the process of rotating and swinging around the first direction driven by the shoulder joint motor 2; on the other hand, because the cross-sectional area of ​​the connecting portion 7 perpendicular to the second direction is larger than the cross-sectional area of ​​the first horizontal portion 11 perpendicular to the second direction, the connecting portion 7 can increase the contact connection area with the trunk shoulder of the humanoid robot, improve the stability of the arm structure connection of this embodiment, and thus improve the movement stability of the arm structure of this embodiment.

[0051] Embodiment 2

[0052] like Figures 1 to 3 The figure shows a humanoid robot provided in the present embodiment, including the arm structure described in the first embodiment. In the humanoid robot of the present embodiment, the arm structure is installed at the shoulder of the trunk of the humanoid robot through the first L-shaped mounting bracket 1, and the shoulder joint motor 2 is arranged in the space surrounded by the first horizontal part 11 and the first vertical part 12; on the one hand, compared with the use of a U-shaped double-sided bracket installed at the shoulder of the trunk of the humanoid robot, the weight of the first L-shaped mounting bracket 1 of the arm structure in the humanoid robot of the present embodiment is lighter, which can reduce the burden of the humanoid robot of the present embodiment and increase the effective load of the humanoid robot of the present embodiment; on the other hand, compared with installing the shoulder joint motor 2 in the U-shaped groove of the U-shaped double-sided bracket, the shoulder joint motor 2 of the arm structure in the humanoid robot of the present embodiment is arranged in the space surrounded by the first horizontal part 11 and the first vertical part 12, and there is more space for disassembly and assembly operations, so that it is convenient to disassemble and assemble the shoulder joint motor 2 at a higher frequency, effectively improving the maintainability of the humanoid robot of the present embodiment.

[0053] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention of the utility model.

Claims

1. An arm structure, used to connect to the shoulder of a humanoid robot, characterized in that: The arm structure comprises: A first L-shaped mounting bracket (1), comprising a first horizontal portion (11) and a first vertical portion (12), wherein the first horizontal portion (11) is arranged parallel to a first direction and is used to be connected to a shoulder of a torso of a humanoid robot, and the first vertical portion (12) is arranged parallel to a second direction; A shoulder joint motor (2) is arranged on an end surface of the first vertical portion (12) along a first direction toward the first horizontal portion (11), and the shoulder joint motor (2) is arranged parallel to the first direction; A large arm (3) is arranged parallel to the third direction, the large arm (3) is connected to the output end of the shoulder joint motor (2), and is driven by the shoulder joint motor (2) to swing around the first direction; The first direction, the second direction and the third direction are perpendicular to each other.

2. An arm structure according to claim 1, characterized in that: The projection of the upper arm (3) along the third direction falls within the range of the shoulder joint motor (2); and a second L-shaped connecting frame (4) is provided between the upper arm (3) and the output end of the shoulder joint motor (2).

3. An arm structure according to claim 2, characterized in that: The output end of the shoulder joint motor (2) is arranged at an end of the shoulder joint motor (2) away from the first vertical portion (12) along the first direction; the second L-shaped connecting frame (4) comprises a second horizontal portion (41) and a second vertical portion (42), the second vertical portion (42) is arranged parallel to a third direction and connected to the output end of the shoulder joint motor (2); the second horizontal portion (41) is arranged parallel to the shoulder joint motor (2), and the upper arm (3) is connected to the end surface of the second horizontal portion (41) away from the shoulder joint motor (2) along the third direction.

4. An arm structure according to any one of claims 1 to 3, characterized in that: An elbow rotating motor (51) is provided at one end of the upper arm (3) away from the shoulder joint motor (2) along the third direction. The elbow rotating motor (51) is arranged parallel to the third direction. The output end of the elbow rotating motor (51) away from the upper arm (3) is connected to a forearm (52).

5. An arm structure according to claim 4, characterized in that: A wire through hole (31) is formed on the upper arm (3) along the third direction, and the wire through hole (31) is used for passing a cable connected to the shoulder joint motor (2) and the elbow rotation motor (51) through the cable.

6. An arm structure according to claim 4, characterized in that: A mounting seat (32) is provided on the end surface of the upper arm (3) facing the elbow rotating motor (51), and the projection of the upper arm (3) along the third direction falls within the range of the mounting seat (32); the elbow rotating motor (51) is connected to the end surface of the mounting seat (32) facing away from the upper arm (3).

7. An arm structure according to claim 4, characterized in that: The end surface of the forearm (52) away from the elbow rotation motor (51) along the third direction is provided with an end motor (6), and the end motor (6) is arranged parallel to the second direction and is used to drive the end actuator to rotate and swing around the second direction.

8. An arm structure according to claim 7, characterized in that: The end surface of the small arm (52) facing the end motor (6) is provided with a first support plate (521) and a second support plate (522) arranged at intervals along the second direction, and the first support plate (521) and the second support plate (522) are both arranged parallel to the third direction; the end motor (6) is located between the first support plate (521) and the second support plate (522), and the two end surfaces along the second direction are respectively connected to the first support plate (521) and the second support plate (522).

9. The arm structure according to claim 1, characterized in that: A connecting portion (7) is provided on the end surface of the first horizontal portion (11) facing away from the shoulder joint motor (2) along the second direction. The connecting portion (7) is arranged parallel to the second direction and is used to be connected to the shoulder of the trunk of the humanoid robot; the projection of the first horizontal portion (11) along the second direction falls within the range of the connecting portion (7).

10. A humanoid robot, characterized in that: The arm structure comprises the arm structure described in any one of claims 1 to 9.

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