Multi-rigid-body robot and upper limb device thereof

Abstract

The utility model provides a multi-rigid-body robot and an upper limb device thereof. The upper limb device comprises a shoulder assembly, a big arm assembly, a wrist assembly and a hand assembly which are arranged in sequence. The wrist assembly is used for realizing the rotating motion of the hand assembly around a first rotating shaft and a second rotating shaft, and the first rotating shaft and the second rotating shaft are intersected; the shoulder assembly, the big arm assembly and the wrist assembly each comprise at least one rotating joint module, and one or more rotating joint modules form axial through holes in the axial direction of the corresponding rotating joint modules so that connecting lines can penetrate through the axial through holes. According to the multi-rigid-body robot and the upper limb device thereof, the upper limb device has the advantages of being light in weight, large in load and high in humanoid degree, connecting lines can be conveniently fixed, and abrasion of the connecting lines and joints can be reduced.

Description

Technical Field

[0001] The present application relates to the technical field of multi-rigid-body robots, and in particular to multi-rigid-body robots and upper limb devices thereof. Background Art

[0002] Humanoid robots, also known as bipedal robots or humanoid robots, are an important development direction in robotics. These robots are designed to simulate human appearance and movements, especially in terms of flexibility and efficiency in performing specific tasks. To achieve this goal, the arms of humanoid robots should have a similar distribution of degrees of freedom as humans to mimic the natural movements of human shoulders, elbows, and wrists. In addition, in order to maintain the overall mobility and balance of the robot, the weight of the arms, torso, and head must be as light as possible. Excessive upper limbs not only increase the burden on the lower limbs and reduce the robot's ability to walk or run, but may also affect the stability and energy efficiency of the overall structure. Effective load capacity is another important indicator for the design of humanoid robot arms. For example, the arms should have a high load capacity in order to perform various practical tasks, such as picking up and using tools, or passing objects to human operators.

[0003] The current humanoid robot upper limb design mostly adopts a full-serial rotary joint structure. However, this design has several disadvantages: first, if this type of structure is adopted, the arm may increase in weight due to the large number of joints, thus affecting the load-bearing capacity of the lower limbs; second, the load capacity of the full-serial structure is usually low and may not meet certain operational requirements; third, the full-serial rotary joint has a limited degree of anthropomorphism and a high wiring complexity, which is not conducive to maintenance and repair.

[0004] In some designs, the front degree of freedom of the arm (the part close to the shoulder) uses a serial revolute joint, while the wrist achieves parallel motion through a combination of two revolute joints and a linkage structure. This hybrid configuration is intended to improve the precise control and load capacity of the wrist, but it also brings additional weight and complexity.

[0005] Based on this, the present application provides a multi-rigid body robot and an upper limb device thereof to improve the relevant technology. Summary of the invention

[0006] The purpose of the present application is to provide a multi-rigid body robot and an upper limb device thereof, which are not only light in weight, large in load capacity, highly anthropomorphic, but also convenient for fixing connecting wires.

[0007] The purpose of this application is achieved by the following technical solutions:

[0008] In a first aspect, the present application provides an upper limb device of a multi-rigid body robot, the upper limb device comprising a shoulder assembly, a large arm assembly, a wrist assembly and a hand assembly arranged in sequence;

[0009] The wrist assembly is used to realize the rotational movement of the hand assembly around a first rotation axis and a second rotation axis, wherein the first rotation axis and the second rotation axis intersect;

[0010] The shoulder assembly, the upper arm assembly and the wrist assembly each include at least one rotary joint module, and one or more rotary joint modules are formed with an axial through hole along the axial direction of the corresponding rotary joint module to allow a connecting line to pass through the axial through hole.

[0011] In some embodiments, the shoulder assembly includes a first rotational joint module and a second rotational joint module arranged in series to provide at least 2 degrees of freedom of the shoulder assembly;

[0012] The boom assembly includes a third rotation joint module and a fourth rotation joint module arranged in series, and the third rotation joint module is used to be connected to the shoulder assembly to provide at least 2 degrees of freedom of the boom assembly.

[0013] In some embodiments, the wrist assembly comprises:

[0014] a fifth rotary joint module, the fifth rotary joint module being used to be connected to the upper arm assembly;

[0015] A linear joint module, the linear joint module is used to be connected to one end of the fifth rotation joint module away from the upper arm assembly, and the linear joint module is used to realize the rotational movement of the hand assembly around the first rotation axis and the second rotation axis.

[0016] In some embodiments, the linear joint module includes:

[0017] A first linear joint unit and a second linear joint unit arranged in parallel;

[0018] A first connecting shaft and a second connecting shaft are arranged opposite to each other and spaced apart, the first connecting shaft is pivotally connected to one end of the first linear joint unit and one end of the second linear joint unit respectively, and the second connecting shaft is pivotally connected to the other end of the first linear joint unit and the other end of the second linear joint unit respectively;

[0019] A rotation axis, comprising the first rotation axis and the second rotation axis;

[0020] The first linear joint unit and the second linear joint unit are used to adjust the rotation angles of the first rotation axis and the second rotation axis.

[0021] In some embodiments, the linear joint module further includes a first frame located between the first linear joint unit and the second linear joint unit;

[0022] The first frame is formed with a first main body and a first connecting part and a second connecting part arranged opposite to each other. The first main body is used to be connected to the fifth rotation joint module. The first connecting axis is passed through and fixed to the first main body. The first rotating axis is pivotally connected to the first connecting part and the second connecting part respectively.

[0023] In some embodiments, the linear joint module further includes a second frame located between the first linear joint unit and the second linear joint unit;

[0024] The second frame is formed with a second main body, a third connecting part and a fourth connecting part arranged opposite to each other, and a fifth connecting part extending from the fourth connecting part. The second rotating axis is pivotally connected to the third connecting part and the fourth connecting part respectively, the second connecting axis is fixedly connected to the fifth connecting part, and the second main body is used to be connected to the hand assembly.

[0025] In some embodiments, the first rotation axis and the second rotation axis are perpendicular to each other; and / or,

[0026] The first connecting axis and the second connecting axis are parallel to each other; and / or,

[0027] The first rotation axis and the first connection axis are parallel to each other; and / or,

[0028] The first rotation axis and the second connection axis are parallel to each other.

[0029] In some embodiments, the corresponding rotation angle range of the second rotation joint module is -120° to 120°; and / or,

[0030] The rotation angle range of the fourth rotation joint module is 0° to 135°.

[0031] In some embodiments, the first rotary joint module and the third rotary joint module are radially fixed; and / or,

[0032] The second rotary joint module and the fourth rotary joint module are axially fixed.

[0033] In some embodiments, the shoulder assembly, the upper arm assembly and the wrist assembly each include at least one rod, and a wire groove and / or a wire hole are provided on the outer surface of one or more rods to allow the connecting wire to pass through the wire groove and / or the wire hole.

[0034] In a second aspect, the present application provides a multi-rigid body robot comprising any of the above-mentioned upper limb devices.

[0035] In some embodiments, the multi-rigid-body robot is a humanoid robot.

[0036] The present application provides a multi-rigid body robot and an upper limb device thereof, which is not only lightweight, has a large load, and is highly anthropomorphic, but also convenient for fixing connecting wires, and can reduce the wear of connecting wires and joints. The shoulder assembly, upper arm assembly, and wrist assembly arranged in sequence all include one or more rotary joint modules, and each joint module is driven by a motor to realize the rotational movement of the shoulder, upper arm, and wrist in one or more directions, thereby allowing the upper limb to move and position freely in space. The wrist assembly is used to realize the rotational movement of the hand assembly around the first rotation axis and the second rotation axis, and the first rotation axis and the second rotation axis intersect, simulating the movement ability of the human wrist, which is more anthropomorphic and natural. The axial through-hole design of the rotary joint module allows the connecting wire to be passed through, reduces the wear of the connecting wire, and improves the convenience of maintenance. By optimizing the structure and materials, the weight of the entire upper limb device is greatly reduced, and the load capacity is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The present application is further described below in conjunction with the accompanying drawings and specific implementation methods.

[0038] Figure 1 It is a structural schematic diagram of an upper limb device of a multi-rigid body robot provided in an embodiment of the present application.

[0039] Figure 2a This is a schematic diagram of the joints of an upper limb device in a bent state provided in an embodiment of the present application.

[0040] Figure 2b This is a schematic diagram of the J1-J7 joints of an upper limb device in an extended state provided in an embodiment of the present application.

[0041] Figure 2c This is a schematic diagram of the J6 joint of an upper limb device in an extended state provided in an embodiment of the present application.

[0042] Figure 3 It is a stereoscopic diagram of a wrist assembly provided in an embodiment of the present application.

[0043] Figure 4a It is a front view of a wrist assembly (with two linear joint units hidden) provided in an embodiment of the present application.

[0044] Figure 4b It is a front view of a wrist assembly provided in an embodiment of the present application.

[0045] Figure 5 yes Figure 4b AA section view in.

[0046] Figure 6a It is a schematic diagram of a fixing method of an upper limb device provided in an embodiment of the present application.

[0047] Figure 6b It is a schematic diagram of another fixing method of an upper limb device provided in an embodiment of the present application.

[0048] Figure 7a This is a wiring diagram provided in an embodiment of the present application.

[0049] Figure 7b This is another wiring diagram provided in an embodiment of the present application.

[0050] Figure 8 It is a stereoscopic diagram of a first connecting axis, a first rotating axis, a second rotating axis and a first frame provided in an embodiment of the present application.

[0051] Fig. 9 It is a stereoscopic diagram of a second connecting axis, a first rotating axis, a second rotating axis and a second frame provided in an embodiment of the present application.

[0052] Fig.10a It is a corresponding quadrilateral schematic diagram of a linear joint unit provided in an embodiment of the present application.

[0053] Fig.10b It is a corresponding quadrilateral schematic diagram of another linear joint unit provided in an embodiment of the present application.

[0054] Fig.10c This is a quadrilateral schematic diagram corresponding to another linear joint unit provided in an embodiment of the present application.

[0055] In the figure: 100, shoulder assembly; 200, upper arm assembly; 300, wrist assembly; 400, hand assembly; J1, first rotary joint; J2, second rotary joint; J3, third rotary joint; J4, fourth rotary joint; J5, fifth rotary joint; J6, sixth rotary joint; J7, seventh rotary joint; 101, first rotary joint module; 102, second rotary joint module; 103, third rotary joint module; 104, fourth rotary joint module; 105, fifth rotary joint module; 106, linear joint module; 107, first linear joint unit; 108, second linear joint unit; 109, The first connecting shaft; 110, the second connecting shaft; 111, the rotating shaft; 112, the first rotating shaft; 113, the second rotating shaft; 114, the first frame; 115, the second frame; 116, the spherical bearing; 117, the outer spherical bearing; 118, the inner spherical bearing; 201, the first main body; 202, the first connecting part; 203, the second connecting part; 204, the second main body; 205, the third connecting part; 206, the fourth connecting part; 207, the fifth connecting part; 208, the first screw; 209, the second screw; 301, the axial through hole; 302, the rod; 303, the wire groove; 304, the wire hole. DETAILED DESCRIPTION

[0056] The following will be combined with the drawings in this application to clearly and completely describe the technical solutions in the implementation mode of this application. Obviously, the described implementation mode is only a part of the implementation mode of this application, not all the implementation modes. Based on the implementation mode in this application, all other implementation modes obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0057] In the description of the embodiments of the present application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0058] Humanoid robots (i.e. bipedal robots, humanoid robots) are an important branch of robotics. In the design of humanoid robots, the wrist design and drive method of the arm are one of the key factors. For humanoid robots to perform specific tasks, the arm structure needs to achieve the following points. First, the distribution of degrees of freedom should be as similar as possible to that of humans, otherwise it will not be human-like enough. Secondly, the weight should be light. The arms, torso, and head are all loads for the lower limbs. If they are too heavy, the pressure on the lower limbs will be too great, and they may not be able to walk or run. Then, there must be a certain load capacity. The load size of the arm should be able to reach about 3kg, so that it can have a certain practical value, such as picking up tools to assemble or taking objects to humans.

[0059] The difference in the arm involves the elbow joint design and the wrist joint design. The relevant robot arm adopts a full serial rotary joint, or the first few degrees of freedom use serial rotary joints, and the wrist uses two rotary joints plus a connecting rod structure to achieve parallel connection. Specifically, there are two schemes for the design of the robot wrist joint. The first scheme is to directly use three rotary joints to cross each other to form three degrees of freedom of the wrist. The advantages are that the development difficulty is small and the structure is simple. The disadvantages are that it is not human-like and natural. The upper and lower rotation axes and the left and right rotation axes of the wrist do not cross and are separated far away, resulting in a wrist structure that is not very human-like, because the human wrist is a ball joint, and the upper and lower rotation axes and the left and right rotation axes are crossed. The second scheme is to also use three rotary joints, two of which are combined with connecting rods, and the rotary joints are used to drive the connecting rods to realize the movement of the wrist, which improves the problem that the wrist of the first scheme is not human-like. The disadvantages are large size, heavy weight, poor rigidity, etc. For example, using the same rotary joint, the wrist structure of the second scheme is about 30% heavier than that of the first scheme.

[0060] In order to improve the relevant technology, the present application directly uses a rotating joint plus two linear joints to realize the structure of a human wrist. The two linear joints can realize the up-down rotation and left-right rotation of the wrist through design, and the two rotating axes can intersect or be very close to each other, which is very similar to the human wrist. It is not only small in size, light in weight, and has good rigidity, but also has high maintainability. The implementation methods of the present application will be illustrated below.

[0061] See also Figure 1 To Figure 7, Figure 1 is a schematic structural diagram of an upper limb device of a multi-rigid body robot provided in an embodiment of the present application, Figure 2a is a schematic diagram of a joint of an upper limb device in a bent state provided by an embodiment of the present application, Figure 2b is a schematic diagram of the joints J1 to J7 of an upper limb device in a straightened state provided by an embodiment of the present application, Figure 2c is a schematic diagram of a J6 joint of an upper limb device in a straightened state provided in an embodiment of the present application, Figure 3 is a stereoscopic diagram of a wrist assembly provided in an embodiment of the present application, Figure 4a is a front view of a wrist assembly (hiding two linear joint units) provided in an embodiment of the present application, Figure 4b is a front view of a wrist assembly provided in an embodiment of the present application, Figure 5 yes Figure 4b AA profile in Figure 6a is a schematic diagram of a fixing method of an upper limb device provided in an embodiment of the present application, Figure 6b is a schematic diagram of another fixing method of an upper limb device provided in an embodiment of the present application, Figure 7a is a wiring diagram provided in an embodiment of the present application. Figure 7b This is another wiring diagram provided in an embodiment of the present application.

[0062] Please combine Figure 1 7 , an embodiment of the present application provides an upper limb device of a multi-rigid body robot, the upper limb device comprising a shoulder assembly 100, a large arm assembly 200, a wrist assembly 300 and a hand assembly 400 arranged in sequence. In some embodiments, the upper limb device can provide a plurality of degrees of freedom of joints, and the plurality of joints may include, for example, a first rotation joint J1, a second rotation joint J2, a third rotation joint J3, a fourth rotation joint J4, a fifth rotation joint J5, a sixth rotation joint J6 and a seventh rotation joint J7.

[0063] The wrist assembly 300 is used to realize the rotational movement of the hand assembly 400 around the first rotation axis 112 and the second rotation axis 113, and the first rotation axis 112 and the second rotation axis 113 intersect, as shown in Figure 6. The shoulder assembly 100, the upper arm assembly 200 and the wrist assembly 300 each include at least one rotation joint module, and one or more rotation joint modules are formed with an axial through hole 301 along the axial direction of the corresponding rotation joint module to allow the connection line to pass through the axial through hole 301.

[0064] A multi-rigid robot refers to a robot composed of multiple rigid bodies, which are connected by joints to allow relative motion. Multi-rigid robots include, for example, humanoid robots, industrial robotic arms, etc. The upper limb device, for example, refers to the robot's shoulder, upper arm (upper arm), wrist and hand, which simulates the function and structure of the human upper limbs and is used to perform complex arm and hand movements. The shoulder assembly 100 is a mechanical structure that imitates the human shoulder, for example, including a rotary joint for realizing multiple degrees of freedom, simulating the movement of the human shoulder. The upper arm assembly 200 is a part connecting the shoulder and the elbow, for example, including at least one rotary joint for realizing the swing of the upper arm. The wrist assembly 300 is a structure connecting the elbow and the hand, which is used to realize the complex movement of the wrist, for example, it is designed to be able to move around two intersecting rotation axes. The hand assembly 400 simulates the part of the human hand, can grasp and manipulate objects, and can realize multiple degrees of freedom. The rotary joint module is a mechanical component for realizing rotational motion, for example, it can be an electric rotary joint, including a motor and a transmission mechanism, and a sensor for controlling and feedback of the rotation angle. The axial through hole 301 is the central cavity in the rotary joint module, allowing connection lines (eg, electrical connection lines, data lines, etc.) to pass through, facilitating wiring and reducing wear.

[0065] In the above embodiment, the upper limb device includes a shoulder assembly 100, a big arm assembly 200, a wrist assembly 300 and a hand assembly 400 arranged in sequence, which simulate the structure and function of the human upper limb and provide highly flexible and natural movement. The shoulder assembly 100, the big arm assembly 200 and the wrist assembly 300, for example, include one or more rotary joint modules, which are driven by motors to achieve rotational movement in one or more directions of the shoulder, big arm and wrist, thereby allowing the upper limb to move and position freely in space. In addition to the rotary joint module, the wrist assembly 300 may also include a linear joint module 106, such as connecting two linear joint units arranged in parallel to the end of the rotary joint module to achieve the rotational movement of the hand assembly 400 around the first rotation axis 112 and the second rotation axis 113. The first rotation axis 112 and the second rotation axis 113 intersect, simulating the movement ability of the human wrist, which is more anthropomorphic and natural. The axial through hole 301 design of the rotary joint module allows the connection line to be threaded, reducing the wear of the cable (i.e., the connection line) and improving the convenience of maintenance. Thus, the wrist assembly 300 allows the hand assembly 400 to rotate around two intersecting rotation axes, realizing the natural movement of the wrist, wherein the cross configuration of the first rotation axis 112 and the second rotation axis 113 simulates the ball-joint motion of the human wrist, improving the naturalness and flexibility of the wrist. By optimizing the structure and materials, the weight of the entire upper limb device is greatly reduced (for example, 6.5 kg), while the load capacity can reach, for example, 5 kg and above. This high load-to-weight ratio greatly enhances the practicality and operational flexibility of the multi-rigid body robot. The axial through hole 301 design of the rotary joint module makes the internal wiring more concise and safe, reduces the wear of cables and joints, and improves the maintainability and reliability of the entire upper limb device. The design of the upper limb device not only simulates the human arm in morphology, but also provides a similar range of motion and flexibility in function, so that the robot can better adapt to complex operating tasks. The above design provides an upper limb device of a multi-rigid body robot that is efficient, natural and highly simulates human movements, and has broad application prospects.

[0066] In order to improve the naturalness of movement and load capacity of the arm, while reducing the overall weight and improving the convenience of maintenance, the shoulder assembly 100 and the upper arm assembly 200 can adopt highly flexible rotary joint modules arranged in series.

[0067] like Figure 1As shown, in some embodiments, the shoulder assembly 100 may include a first rotary joint module 101 and a second rotary joint module 102 arranged in series to provide at least 2 degrees of freedom of the shoulder assembly 100. In some embodiments, the upper arm assembly 200 may include a third rotary joint module 103 and a fourth rotary joint module 104 arranged in series to provide at least 2 degrees of freedom of the upper arm assembly 200, and the third rotary joint module 103 is used to connect to the shoulder assembly 100. In some embodiments, the first rotary joint module 101 to the fourth rotary joint module 104 can be arranged in series in sequence, the first rotary joint module 101 is connected to the trunk assembly of the multi-rigid body robot, and the fourth rotary joint module 104 is connected to the wrist assembly 300.

[0068] The first rotary joint module 101 and the second rotary joint module 102 are arranged in series in the shoulder assembly 100, and together provide a complex movement of two degrees of freedom of the shoulder, such as realizing left-right rotation and up-and-down rotation of the shoulder. The third rotary joint module 103 and the fourth rotary joint module 104 are arranged in series in the upper arm assembly 200, and the third rotary joint module 103 is directly connected to the shoulder assembly 100, for example, realizing the front-and-back rotation of the upper arm (which can also be regarded as the third degree of freedom of the shoulder assembly 100), and the fourth rotary joint module 104 realizes the bending and extension of the elbow, for example.

[0069] In the above embodiment, the shoulder assembly 100 includes a first rotary joint module 101 and a second rotary joint module 102 arranged in series. The two rotary joint modules work together to provide the robot with movement capabilities close to those of human shoulders, thereby allowing the upper limbs to be oriented and positioned in a wider space. The upper arm assembly 200 includes a third rotary joint module 103 and a fourth rotary joint module 104 arranged in series, wherein the third rotary joint module 103 is directly connected to the shoulder assembly 100. This arrangement provides rotational movement of the upper arm while maintaining the continuity and fluidity of the structure. The fourth rotary joint module 104 is connected to the third rotary joint module 103, providing bending and extension of the elbow. The above embodiment achieves the natural movement of the wrist and arm by adopting a plurality of rotary joint modules arranged in series, making the movements of the multi-rigid body robot closer to humans and better adapting to complex operating tasks such as precision assembly and object handling.

[0070] Please combine Figure 1 and Figure 3In order to improve the anthropomorphic degree and flexibility of wrist movement, in some embodiments, the wrist assembly 300 may include a fifth rotation joint module 105 and a linear joint module 106. The fifth rotation joint module 105 is used to connect to the upper arm assembly 200. The linear joint module 106 is used to connect to the end of the fifth rotation joint module 105 away from the upper arm assembly 200, and the linear joint module 106 is used to realize the rotation movement of the hand assembly 400 around the first rotation axis 112 and the second rotation axis 113.

[0071] Among them, the wrist assembly 300 connects the upper arm assembly 200 and the hand assembly 400, and is used to realize the precise movement of the hand assembly 400 in multiple directions. For example, the wrist assembly 300 realizes complex movement through the combination of the fifth rotary joint module 105 and the linear joint module 106. The fifth rotary joint module 105 is used to connect the upper arm assembly 200. For example, the fifth rotary joint module 105 can be connected to the fourth rotary joint module 104, allowing the wrist to rotate relative to the elbow, providing a rotational degree of freedom, which is the basis for realizing more natural wrist movements. The linear joint module 106 is connected to the end of the fifth rotary joint module 105 away from the upper arm assembly 200, and is used to realize the rotational movement of the hand assembly 400 around the first rotation axis 112 and the second rotation axis 113. The hand assembly 400 is the end part of the upper limb device, which is used to perform operations such as grasping. Through the precise control of the wrist assembly 300, the hand assembly 400 can be flexibly moved in multiple directions. The first rotation axis 112 and the second rotation axis 113 allow the hand assembly 400 to rotate in two intersecting directions, and the two rotation axes intersect to simulate the spherical motion of a human wrist.

[0072] In the above embodiment, the wrist assembly 300 includes a fifth rotary joint module 105 and a linear joint module 106. The fifth rotary joint module 105 is connected to the upper arm assembly 200, providing a circumferential rotational movement of the wrist relative to the elbow. The linear joint module 106 is connected to the end of the fifth rotary joint module 105 away from the upper arm assembly 200. This configuration enables the hand assembly 400 to rotate around two intersecting rotation axes (the first rotation axis 112 and the second rotation axis 113). The linear joint module 106 realizes multi-directional movement of the wrist through its design, including up and down rotation (corresponding to the sixth rotary joint J6) and left and right rotation (corresponding to the seventh rotary joint J7). The first rotation axis 112 and the second rotation axis 113 intersect in space, simulating the ball joint movement of the human wrist. Through the combination of the fifth rotary joint module 105 and the linear joint module 106, the wrist assembly 300 can realize the rotational movement of the hand assembly 400 around two intersecting rotation axes, enhance the naturalness and flexibility of the wrist, and make the movement of the multi-rigid body robot closer to humans. Compared with the related multi-rotational joint wrist, the configuration of the fifth rotational joint module 105 and the linear joint module 106 in the above embodiment simplifies the overall structure of the wrist assembly 300, which not only reduces the weight and maintains a high load capacity, but also improves the convenience of maintenance, making the wrist movement more natural and flexible.

[0073] The related linear joint modules have low thrust, are not impact-resistant and are very easy to damage. Figures 3 to 5 In some embodiments, the linear joint module 106 may include a first linear joint unit 107 and a second linear joint unit 108 arranged in parallel, a first connecting shaft 109 and a second connecting shaft 110 arranged oppositely and spaced apart, and a rotating shaft 111. The first connecting shaft 109 is pivotally connected to one end of the first linear joint unit 107 and one end of the second linear joint unit 108, respectively, and the second connecting shaft 110 is pivotally connected to the other end of the first linear joint unit 107 and the other end of the second linear joint unit 108, respectively. The rotating shaft 111 includes a first rotating shaft 112 and a second rotating shaft 113. The first linear joint unit 107 and the second linear joint unit 108 are used to adjust the rotation angles of the first rotating shaft 112 and the second rotating shaft 113.

[0074] Parallel arrangement refers to two or more objects being arranged in parallel in structure and acting together on the same task. In the above embodiment, the first linear joint unit 107 and the second linear joint unit 108 are arranged in parallel, and the rotation angles of the first rotation axis 112 and the second rotation axis 113 can be adjusted simultaneously. The first linear joint unit 107 and the second linear joint unit 108 are used to achieve precise linear displacement, thereby adjusting the position and posture of the hand assembly 400. The linear joint unit can, for example, integrate components such as a linear electric cylinder (for example, including a stepper motor and a lead screw), a driver, an encoder, and a spherical bearing. This configuration has high integration, small size, light weight (for example, 240g), and high power (for example, the thrust can reach 100N). In other words, the linear joint unit can use a motor to generate rotational motion, and convert the corresponding rotational motion into linear motion through a lead screw. The first connecting shaft 109 and the second connecting shaft 110 are respectively pivotally connected to the first linear joint unit 107 and the second linear joint unit 108 (for example, through the joint bearing 116, the joint bearing 116 includes an outer spherical bearing 117 located on the inner ring and an inner spherical bearing 118 located on the outer ring), allowing the two linear joint units to rotate around the corresponding connecting shaft while performing linear motion, thereby changing the rotation angle of the first rotation axis 112 and the second rotation axis 113. The rotation axis 111 includes the first rotation axis 112 and the second rotation axis 113, which are used to adjust the up and down rotation angle (corresponding to the sixth rotation joint J6) and the left and right rotation angle (corresponding to the seventh rotation joint J7) of the hand assembly 400. As an example, the rotation axis 111 can be a cross-shaped rotation axis, and the first rotation axis 112 and the second rotation axis 113 can be perpendicular to each other and intersect.

[0075] In the above embodiment, the linear joint module 106 includes a first linear joint unit 107 and a second linear joint unit 108 arranged in parallel. The two linear joint units are respectively pivoted to the first connecting shaft 109 and the second connecting shaft 110, allowing the linear joint units to perform necessary rotations while performing linear motion. This configuration increases the freedom of motion of the linear joint module 106, allowing the wrist to perform precise rotational motion around the first rotation axis 112 and the second rotation axis 113. The rotation angles of the first rotation axis 112 and the second rotation axis 113 are adjusted by the first linear joint unit 107 and the second linear joint unit 108. This design allows the linear joint module 106 to accurately control the angle of the rotation axis by adjusting the two linear joint units, thereby achieving precise posture control of the connecting component (such as the wrist). Thus, through the linear joint units arranged in parallel and the pivotal design with the connecting shaft, the movement of the wrist is made more anthropomorphic, natural and smooth, and more flexible and precise motion control is achieved. In addition, the arrangement and movement mode of the linear joint units are optimized to simplify the overall structure, which not only reduces the difficulty of maintenance but also improves the reliability and durability of the multi-rigid body robot. Due to the optimization of the structure and the improvement of the movement mode, the load capacity of the linear joint module 106 is also improved.

[0076] See also Figure 8 to Figure 1 0, Figure 8 1 is a three-dimensional diagram of a first connecting shaft 109, a first rotating shaft 112, a second rotating shaft 113 and a first frame 114 provided in an embodiment of the present application. Fig. 9 1 is a three-dimensional diagram of a second connecting shaft 110, a first rotating shaft 112, a second rotating shaft 113 and a second frame 115 provided in an embodiment of the present application. Fig.10a is a quadrilateral schematic diagram corresponding to a linear joint unit provided in an embodiment of the present application, Fig.10b is a quadrilateral schematic diagram corresponding to another linear joint unit provided in an embodiment of the present application, Fig.10c This is a quadrilateral schematic diagram corresponding to another linear joint unit provided in an embodiment of the present application.

[0077] In order to improve the motion control capability of the linear joint module 106 so that the multi-rigid body robot can more accurately simulate the wrist and hand movements of humans, in some embodiments, the linear joint module 106 may also include a first frame 114 located between the first linear joint unit 107 and the second linear joint unit 108. The first frame 114 is formed with a first main body 201 and a first connecting portion 202 and a second connecting portion 203 that are arranged opposite to each other. The first main body 201 is used to connect to the fifth rotary joint module 105. The first connecting shaft 109 is fixed to the first main body 201, and the first rotary shaft 112 is pivotally connected to the first connecting portion 202 and the second connecting portion 203, respectively.

[0078] In some embodiments, the linear joint module 106 may further include a second frame 115 located between the first linear joint unit 107 and the second linear joint unit 108. The second frame 115 is formed with a second main body 204, a third connecting portion 205 and a fourth connecting portion 206 arranged opposite to each other, and a fifth connecting portion 207 extending from the fourth connecting portion 206, the second rotating shaft 113 is pivotally connected to the third connecting portion 205 and the fourth connecting portion 206 respectively, the second connecting shaft 110 is fixedly connected to the fifth connecting portion 207, and the second main body 204 is used to be connected to the hand assembly 400.

[0079] The embodiment of the present application does not limit the angle formed between the first rotation axis 112 and the second rotation axis 113, which can be, for example, greater than 0° and not greater than 90°. As an example, the angle formed between the first rotation axis 112 and the second rotation axis 113 can be 30°, 45°, 60°, 75°, 90°, etc. In some embodiments, the first rotation axis 112 and the second rotation axis 113 can be perpendicular to each other.

[0080] In some embodiments, the first connection axis 109 and the second connection axis 110 may be parallel to each other.

[0081] In some embodiments, the first rotation axis 112 and the first connection axis 109 may be parallel to each other.

[0082] In some embodiments, the first rotation axis 112 and the second connection axis 110 may be parallel to each other.

[0083] Among them, the first frame 114 plays a supporting role. The first frame 114 is formed with a first main body 201, a first connecting part 202 and a second connecting part 203. The second frame 115 is formed with a second main body 204, a third connecting part 205, a fourth connecting part 206 and a fifth connecting part 207. The two frames are used to realize the connection between the linear joint module 106 and the fifth rotary joint module 105, and the hand assembly 400. The first connecting part 202 and the second connecting part 203 are respectively pivoted to the first rotating shaft 112, allowing the hand assembly 400 to rotate left and right around the first rotating shaft 112 (for example, swing in the horizontal plane). The second main body 204 is the part of the second frame 115 connected to the hand assembly 400, and the third connecting part 205 and the fourth connecting part 206 are respectively pivoted to the second rotating shaft 113, for example, allowing the hand assembly 400 to rotate up and down around the second rotating shaft 113 (for example, swing in the vertical plane). The first rotation axis 112 and the second rotation axis 113 control the rotation of the wrist joint, and are used to adjust the left-right rotation angle and the up-down rotation angle of the hand assembly 400. The first frame 114 and the first connecting axis 109 are designed as a split body, and the second frame 115 and the second connecting axis 110 are designed as a split body.

[0084] The first rotating shaft 112 and the second rotating shaft 113 cross each other, adopting a cross structure, and the support is achieved by two rotating shafts and four bearings. Figures 10a to 10c As shown, in Fig.10a In the Fig.10b In the Fig.10c , the wrist rotates downward 45 degrees. The center points of the joint bearings at both ends of the linear joint unit, the midpoint of the cross, and the horizontal plane can form a quadrilateral. By designing the lengths of the three sides of the quadrilateral, the wrist can be adjusted in terms of the up and down, left and right rotation angle range, and load capacity. The three sides refer to the three sides of the quadrilateral except the side where the linear joint unit is located. For example, under the condition that the stroke and thrust of the linear joint module 106 are certain, reducing the rotation angle range can increase the load capacity, and reducing the load capacity can increase the rotation angle range. It should be noted that at the beginning of the design, the load capacity and the rotation angle range can be adjusted by adjusting the lengths of the three sides in the quadrilateral. After the lengths of the three sides are determined, the load capacity and the rotation angle range are also determined. During use, the lengths of the three sides are also fixed, and only the length of the side where the linear joint unit is located can be changed.

[0085] In the above embodiment, the first frame 114 is connected to the fifth rotation joint module 105 through the first main body 201, the first rotation axis 112 is pivoted to the first frame 114 through the first connection portion 202 and the second connection portion 203, and the first connection axis 109 is fixedly mounted on the first frame 114. Similarly, the second main body 204 of the second frame 115 is connected to the hand assembly 400, the second rotation axis 113 is pivoted to the second frame 115 through the third connection portion 205 and the fourth connection portion 206, and the second connection axis 110 is fixedly mounted on the second frame 115. This design ensures that the hand assembly 400 can perform highly precise rotational motion around the first rotation axis 112 and the second rotation axis 113. The first connection axis 109 and the first frame 114 are designed to be split, which is convenient for processing and maintenance. Similarly, the second connection axis 110 and the second frame 115 are designed to be split, which is convenient for processing and maintenance. In addition, the relative positions of the rotation axis and the connecting axis can be flexibly configured according to the needs of practical applications, so that the wrist movement of the multi-rigid body robot is more suitable for the corresponding operation of a specific task. Thus, by accurately controlling the rotation angle of the hand assembly 400 around the first rotation axis 112 and the second rotation axis 113, and optimizing the stability of the connecting axis by using the frame structure, complex hand movements can be simulated more flexibly. The design of the first frame 114 and the second frame 115 not only provides the necessary mechanical support, but also enhances the stability of the entire linear joint module 106, and reduces the motion error caused by the low structural strength. The positional relationship between each rotation axis and the connecting axis can be not limited to a specific positional relationship, but can be combined with the corresponding motion control algorithm to achieve fine motion control and reduce the manufacturing difficulty and manufacturing cost. By using standardized frames and connecting components, the modularity of the multi-rigid body robot is improved and the convenience of maintenance is improved.

[0086] The upper limb design of the relevant multi-rigid body robot has limitations on the rotation range of certain joints, affecting the robot's ability to simulate complex or diverse movements. In some embodiments, the corresponding rotation angle range of the second rotation joint module 102 can be -120° to 120°. In other embodiments, the corresponding rotation angle range of the second rotation joint module 102 can be -90° to 90°. In some further embodiments, the corresponding rotation angle range of the second rotation joint module 102 can be -60° to 60°. In some embodiments, the rotation angle range of the fourth rotation joint module 104 can be 0° to 135°. In other embodiments, the rotation angle range of the fourth rotation joint module 104 can be -30° to 90°. In some further embodiments, the rotation angle range of the fourth rotation joint module 104 can be 0° to 120°.

[0087] In some embodiments, the second rotary joint module 102 is designed to be able to rotate within an angle range of -120° to 120°, and the fourth rotary joint module 104 is designed to be able to rotate within an angle range of 0° to 135°. The second rotary joint module 102 allows the robot's shoulder to swing more significantly, enhancing the ability to perform grabbing or throwing movements. The fourth rotary joint module 104 allows the robot's elbow to bend within a larger range, which is conducive to simulating the grabbing and carrying movements of the human arm. By expanding the rotation angle range of the second rotary joint module 102 and the fourth rotary joint module 104, the robot can perform more complex and more natural movements, such as complete arm swings and a wide range of object manipulation. The extended rotation range allows the position of the robot components to be adjusted more precisely, especially in scenarios that require fine manipulation, such as working in a small space or performing precision assembly, enhancing the robot's adaptability in different environments and tasks.

[0088] like Figure 6a and Figure 6b As shown, in order to improve the structural stability of the upper limb device, in some embodiments, the first rotary joint module 101, the third rotary joint module 103 and the fifth rotary joint module 105 can adopt a radial fixing method. Specifically, a plurality of first screws 208 evenly distributed in the circumferential direction can be used to achieve radial fixation. In some embodiments, the second rotary joint module 102 and the fourth rotary joint module 104 can adopt an axial fixing method. Specifically, a plurality of second screws 209 evenly distributed in the circumferential direction can be used to achieve axial fixation. The rotary joint module adopts a combination of axial fixing and radial fixing. The axial fixing has high reliability, and the radial fixing facilitates the installation and disassembly of the rotary joint module. The combination of axial and radial methods can make the design of the rod 302 as simple as possible, make the weight of the entire arm as light as possible, and facilitate production and maintenance.

[0089] The above embodiment greatly improves the stability of the rotary joint module by combining the axial fixing method and the radial fixing method, reduces the error caused by joint looseness, and thus improves the accuracy of robot operation. The fixing method combining the axial fixing method and the radial fixing method not only enhances the structural stability, but also makes the installation and disassembly of the rotary joint module more convenient, and reduces the complexity of maintenance and adjustment.

[0090] Please combine Figure 6a , Figure 7a and Figure 7bIn order to improve the management of cable routing, in some embodiments, the shoulder assembly 100, the upper arm assembly 200 and the wrist assembly 300 may each include at least one rod 302, and one or more rods 302 may have a wire groove 303 and / or a wire hole 304 on their outer surfaces to allow the connection wire to pass through the wire groove 303 and / or the wire hole 304. For example, the rotary joint module may be provided with an axial through hole 301, and the rod 302 may be provided with a wire groove 303 and a wire hole 304, so that the wiring inside the rotary joint module can be realized, the connection wire can be fixed conveniently, and the wear of the cable and the rotary joint module can be reduced.

[0091] The wire groove 303 and the wire hole 304 are grooves and holes opened on the outer surface of the rod 302 for installing and protecting the connection wires, allowing the wires and other control cables to pass through the mechanical structure safely without being damaged. This design reduces the friction between the cables and the mechanical parts, prolongs the service life of the cables, and simplifies the management of the cables. The wire groove 303 and the wire hole 304 on the rod 302 provide a safe and hidden path, making the cables more neat and easy to maintain.

[0092] In the above embodiment, by designing the wire groove 303 and the wire hole 304 on the rod 302, the cable management is more efficient and safe, the risk of cable damage is reduced, and the reliability of the entire multi-rigid body robot is improved. By streamlining the design of the rod 302, the weight of the entire upper limb device is reduced, which helps to reduce energy consumption and improve the dynamic response speed of the robot.

[0093] Please combine Figures 1 to 10c The embodiment of the present application also provides an upper limb device of a multi-rigid body robot, the upper limb device includes a shoulder assembly 100, an upper arm assembly 200, a wrist assembly 300 and a hand assembly 400 arranged in sequence.

[0094] The shoulder assembly 100 includes a first rotary joint module 101 and a second rotary joint module 102 arranged in series. The upper arm assembly 200 includes a third rotary joint module 103 and a fourth rotary joint module 104 arranged in series, and the third rotary joint module 103 is used to connect to the shoulder assembly 100. The wrist assembly 300 includes a fifth rotary joint module 105 and a linear joint module 106. The fifth rotary joint module 105 is used to connect to the upper arm assembly 200. The linear joint module 106 is used to connect to the end of the fifth rotary joint module 105 away from the upper arm assembly 200, and the linear joint module 106 is used to realize the rotational movement of the hand assembly 400 around the first rotation axis 112 and the second rotation axis 113. The first rotation axis 112 and the second rotation axis 113 are perpendicular to each other and intersect.

[0095] The corresponding rotation angle range of the first rotary joint module 101 (i.e., the corresponding rotation angle range of the first rotary joint J1) is -180° to 180°. The corresponding rotation angle range of the second rotary joint module 102 (i.e., the corresponding rotation angle range of the second rotary joint J2) is -120° to 120°. The corresponding rotation angle range of the third rotary joint module 103 (i.e., the corresponding rotation angle range of the third rotary joint J3) is -180° to 180°. The rotation angle range of the fourth rotary joint module 104 (i.e., the corresponding rotation angle range of the fourth rotary joint J4) is 0° to 135°. The rotation angle range of the fifth rotary joint module 105 (i.e., the corresponding rotation angle range of the fifth rotary joint J5) is -180° to 180°. The rotation angle range of the sixth rotary joint module 106 (i.e., the corresponding rotation angle range of the sixth rotary joint J6) is -45° to 45°. The rotation angle range of the seventh rotation joint module 107 (ie, the corresponding rotation angle range of the seventh rotation joint J7 ) is -45° to 45°.

[0096] The linear joint module 106 includes a first linear joint unit 107 and a second linear joint unit 108 arranged in parallel, a first connecting shaft 109 and a second connecting shaft 110 arranged oppositely and spaced apart, a rotating shaft 111, a first frame 114 and a second frame 115. The first connecting shaft 109 is pivotally connected to the first linear joint unit 107 and the second linear joint unit 108, respectively, and the second connecting shaft 110 is pivotally connected to the first linear joint unit 107 and the second linear joint unit 108, respectively. The rotating shaft 111 includes a first rotating shaft 112 and a second rotating shaft 113. The first linear joint unit 107 and the second linear joint unit 108 are used to adjust the rotation angle of the first rotating shaft 112 and the second rotating shaft 113. The second connecting shaft 110 and the first rotating shaft 112 are both parallel to the first connecting shaft 109.

[0097] The first frame 114 is located between the first linear joint unit 107 and the second linear joint unit 108. The first frame 114 is formed with a first main body 201 and a first connecting portion 202 and a second connecting portion 203 arranged opposite to each other. The first main body 201 is used to connect to the fifth rotary joint module 105. The first connecting shaft 109 is passed through and fixed to the first main body 201. The first rotary shaft 112 is pivotally connected to the first connecting portion 202 and the second connecting portion 203 respectively.

[0098] The second frame 115 is located between the first linear joint unit 107 and the second linear joint unit 108. The second frame 115 is formed with a second main body 204, a third connecting portion 205 and a fourth connecting portion 206 arranged opposite to each other, and a fifth connecting portion 207 extending from the fourth connecting portion 206, the second rotating shaft 113 is pivotally connected to the third connecting portion 205 and the fourth connecting portion 206 respectively, the second connecting shaft 110 is fixedly connected to the fifth connecting portion 207, and the second main body 204 is used to be connected to the hand assembly 400.

[0099] The first rotary joint module 101 and the third rotary joint module 103 are fixed in a radial manner. The second rotary joint module 102 and the fourth rotary joint module 104 are fixed in an axial manner. The first rotary joint module 101 to the fifth rotary joint module 105 are formed with an axial through hole 301 along the axial direction of the corresponding rotary joint module to allow the connecting line to pass through the axial through hole 301. The shoulder assembly 100, the upper arm assembly 200 and the wrist assembly 300 each include at least one rod 302, and the outer surface of one or more rods 302 is provided with a wire groove 303 and / or a wire hole 304 to allow the connecting line to pass through the wire groove 303 and / or the wire hole 304.

[0100] The upper limb device of the multi-rigid body robot has a high load-to-weight ratio and a light overall weight. In practical applications, the weight can be controlled within 6.5kg, and the maximum load can reach 5kg. The design mode combined with series-parallel connection is adopted, so that the joint arrangement and the human upper limb have a high degree of similarity, and the range of motion of each joint (including the rotation angle range in all directions) is also very similar to the human upper limb, such as elbow and wrist. The linear joint module 106 adopted is light in weight, small in size, and highly integrated. Both ends can also carry mounting interfaces for easy disassembly and assembly. Since the first rotation axis 112 and the second rotation axis 113 intersect, the wrist movement provided by the upper limb device is highly anthropomorphic, and the overall rigidity of the wrist assembly 300 is good and the weight is also lighter.

[0101] An embodiment of the present application also provides a multi-rigid body robot, comprising any of the above-mentioned upper limb devices.

[0102] In some embodiments, the multi-rigid body robot may be a humanoid robot.

[0103] It should be noted that although some embodiments of the present application take a multi-rigid body robot as an example, the present application can be applied to other self-moving devices or non-self-moving devices, and the present application is not limited to this.

[0104] It should be understood that the specific examples in this specification are only intended to help those skilled in the art to better understand the implementation methods of the present application, rather than to limit the scope of protection of the present application.

[0105] It can be understood that the various implementation modes described in this specification can be implemented individually or in combination, and this application is not limited to this.

[0106] Unless otherwise specified, all technical and scientific terms used in this specification have the same meaning as those generally understood by those skilled in the art of the technical field of this specification. The terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the scope of this specification. The term "and / or" used in this specification includes any and all combinations of one or more related listed items. The singular forms of "a", "above", and "the" used in this specification and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0107] In the several embodiments provided in this specification, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0108] The above are only specific implementations of this specification, but the protection scope of this application is not limited to this. Any technician familiar with this technical field can easily think of changes or substitutions within the technical scope disclosed in this specification, which should be included in the protection scope of this specification. Therefore, the protection scope of this application should be based on the protection scope of the claims.

Claims

1. An upper limb device of a multi-rigid-body robot, characterized in that: The upper limb device comprises a shoulder assembly, an upper arm assembly, a wrist assembly and a hand assembly which are arranged in sequence; The wrist assembly is used to realize the rotational movement of the hand assembly around a first rotation axis and a second rotation axis, wherein the first rotation axis and the second rotation axis intersect; The shoulder assembly, the upper arm assembly and the wrist assembly each include at least one rotary joint module, and one or more rotary joint modules are formed with an axial through hole along the axial direction of the corresponding rotary joint module to allow a connecting line to pass through the axial through hole.

2. The upper limb device of the multi-rigid body robot according to claim 1, characterized in that: The shoulder assembly includes a first rotation joint module and a second rotation joint module arranged in series to provide at least 2 degrees of freedom of the shoulder assembly; The boom assembly includes a third rotation joint module and a fourth rotation joint module arranged in series to provide at least two degrees of freedom of the boom assembly, and the third rotation joint module is used to be connected to the shoulder assembly.

3. The upper limb device of the multi-rigid body robot according to claim 1, characterized in that: The wrist assembly comprises: a fifth rotary joint module, the fifth rotary joint module being used to be connected to the upper arm assembly; A linear joint module, the linear joint module is used to be connected to one end of the fifth rotation joint module away from the upper arm assembly, and the linear joint module is used to realize the rotational movement of the hand assembly around the first rotation axis and the second rotation axis.

4. The upper limb device of the multi-rigid body robot according to claim 3, characterized in that: The linear joint module comprises: A first linear joint unit and a second linear joint unit arranged in parallel; A first connecting shaft and a second connecting shaft are arranged opposite to each other and spaced apart, the first connecting shaft is pivotally connected to one end of the first linear joint unit and one end of the second linear joint unit respectively, and the second connecting shaft is pivotally connected to the other end of the first linear joint unit and the other end of the second linear joint unit respectively; A rotation axis, comprising the first rotation axis and the second rotation axis; The first linear joint unit and the second linear joint unit are used to adjust the rotation angles of the first rotation axis and the second rotation axis.

5. The upper limb device of the multi-rigid body robot according to claim 4, characterized in that: The linear joint module also includes a first frame located between the first linear joint unit and the second linear joint unit; The first frame is formed with a first main body and a first connecting part and a second connecting part arranged opposite to each other. The first main body is used to be connected to the fifth rotation joint module. The first connecting axis is passed through and fixed to the first main body. The first rotating axis is pivotally connected to the first connecting part and the second connecting part respectively.

6. The upper limb device of the multi-rigid body robot according to claim 4, characterized in that: The linear joint module also includes a second frame located between the first linear joint unit and the second linear joint unit; The second frame is formed with a second main body, a third connecting part and a fourth connecting part arranged opposite to each other, and a fifth connecting part extending from the fourth connecting part. The second rotating axis is pivotally connected to the third connecting part and the fourth connecting part respectively, the second connecting axis is fixedly connected to the fifth connecting part, and the second main body is used to be connected to the hand assembly.

7. The upper limb device of the multi-rigid body robot according to claim 4, characterized in that: The first rotation axis and the second rotation axis are perpendicular to each other; and / or, The first connecting axis and the second connecting axis are parallel to each other; and / or, The first rotation axis and the first connection axis are parallel to each other; and / or, The first rotation axis and the second connection axis are parallel to each other.

8. The upper limb device of the multi-rigid body robot according to claim 2, characterized in that: The corresponding rotation angle range of the second rotation joint module is -120° to 120°; and / or, The rotation angle range of the fourth rotation joint module is 0° to 135°.

9. The upper limb device of the multi-rigid body robot according to claim 2, characterized in that: The first rotary joint module and the third rotary joint module are radially fixed; and / or, The second rotary joint module and the fourth rotary joint module are axially fixed.

10. The upper limb device of the multi-rigid body robot according to claim 1, characterized in that: The shoulder assembly, the upper arm assembly and the wrist assembly each include at least one rod, and a wire groove and / or a wire hole are provided on the outer surface of one or more rods to allow the connecting wire to pass through the wire groove and / or the wire hole.

11. A multi-rigid body robot, characterized in that: An upper limb device comprising any one of claims 1 to 10.

12. The multi-rigid-body robot according to claim 11, characterized in that: The multi-rigid-body robot is a humanoid robot.

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