Shoulder structure and bionic robot

Abstract

The utility model discloses a shoulder structure and a bionic robot. The shoulder structure comprises a supporting assembly, a first driving assembly and a first shoulder assembly. At least one of the first shoulder assembly and the first driving assembly is connected to the supporting assembly, the first driving assembly is connected with the first shoulder assembly, and the first driving assembly is used for driving the first shoulder assembly to move in the first direction; the second driving assembly and the first driving assembly are arranged in a spaced mode in the second direction; the second shoulder assembly and the first shoulder assembly are arranged in a spaced mode in the second direction, at least one of the second shoulder assembly and the second driving assembly is connected to the supporting assembly, the second driving assembly is connected with the second shoulder assembly, and the second driving assembly is used for driving the second shoulder assembly to move in the first direction; wherein the second direction is perpendicular to the first direction. The shoulder structure can achieve independent movement of the left shoulder and the right shoulder.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a shoulder structure and a bionic robot. Background Art

[0002] Bionic robots, also known as bionic people, are robots that are designed to imitate human appearance and behavior, especially those with similar muscles to humans. With the rapid development of robots, more and more humanoid robots are able to perform more and more humanoid movements, such as bending, shaking heads, swinging arms, raising shoulders and lowering shoulders. However, when performing shoulder raising and lowering movements, traditional humanoid robots often raise or lower the left and right shoulders at the same time, and cannot achieve independent movement of the left and right shoulders. Utility Model Content

[0003] In view of this, the purpose of the present application is to overcome the deficiencies in the prior art and provide a shoulder structure that can achieve independent movement of the left and right shoulders.

[0004] The present application also provides a bionic robot.

[0005] To achieve the above objectives, the technical solutions adopted in this application are as follows:

[0006] The shoulder structure according to the embodiment of the first aspect of the present application includes: a supporting assembly; a first driving assembly; a first shoulder assembly, wherein the first shoulder assembly and at least one of the first driving assemblies are connected to the supporting assembly, the first driving assembly is connected to the first shoulder assembly, and the first driving assembly drives the first shoulder assembly to move in a first direction; a second driving assembly, wherein the second driving assembly and the first driving assembly are spaced apart along a second direction; a second shoulder assembly, wherein the second shoulder assembly and the first shoulder assembly are spaced apart along the second direction, the second shoulder assembly and at least one of the second driving assemblies are connected to the supporting assembly, the second driving assembly is connected to the second shoulder assembly, and the second driving assembly drives the second shoulder assembly to move in the first direction; wherein the second direction is perpendicular to the first direction.

[0007] The shoulder structure of the present application has the following advantages:

[0008] In the above-mentioned shoulder structure, since at least one of the first shoulder component and the first drive component is connected to the support component, and the second shoulder component and at least one of the second drive component are connected to the support component, the support component can support at least one of the shoulder component and the drive component to ensure the structural stability of the above-mentioned shoulder structure. At the same time, since the first drive component is connected to the first shoulder component, and the first drive component drives the first shoulder component to move in the first direction, and the second drive component is connected to the second shoulder component, and the second drive component drives the second shoulder component to move in the first direction, the first drive component can be used to drive the first shoulder component to move in the first direction to achieve the shoulder lifting and sinking movements of the first shoulder component. At the same time, the second drive component can be used to drive the second shoulder component to move in the first direction to achieve the shoulder lifting and sinking movements of the second shoulder component. In this way, the independent movement of the first shoulder component and the second shoulder component can be achieved, so that the humanoid movements of the bionic robot are more in line with human behavioral characteristics.

[0009] According to the shoulder structure of the embodiment of the first aspect of the present application, the first driving assembly includes a first driving member, a first driving shaft and a first connecting member, the first driving member is fixedly connected to the supporting assembly, and the first driving member is connected to the first driving shaft, the first driving member drives the first driving shaft to rotate around the second direction, one end of the first connecting member is connected to the first driving shaft, and the other end of the first connecting member is fixedly connected to the first shoulder assembly;

[0010] Wherein, the rotation axis of the first driving shaft is parallel to but not coincident with the rotation axis of the first driving member.

[0011] According to the shoulder structure of the embodiment of the first aspect of the present application, a first connecting member is provided with a first connecting hole at one end close to the first driving shaft, the first connecting hole is extended along a third direction, the first driving shaft is passed through the first connecting hole, and the first driving shaft abuts against a hole wall of the first connecting hole along the first direction, and when the first driving member drives the first driving shaft to rotate around the second direction, the first driving shaft moves in the first connecting hole along the third direction;

[0012] Wherein, the third direction is perpendicular to the first direction and the second direction respectively.

[0013] According to the shoulder structure of the embodiment of the first aspect of the present application, the first connecting member is also provided with a first sliding groove, the support assembly includes a first support member and a first guide member, the first guide member is arranged on the first support member, the first guide member and the first sliding groove are both extended along the first direction, and the first guide member slides along the first direction in the first sliding groove.

[0014] According to the shoulder structure of the embodiment of the first aspect of the present application, the support assembly also includes a second guide member, which is arranged on the first support member, and the second guide member and the first guide member are spaced apart along the second direction, the first driving assembly is provided with a second sliding groove, the second guide member and the second sliding groove are both extended along the first direction, and the second guide member slides along the first direction in the second sliding groove.

[0015] According to the shoulder structure of the embodiment of the first aspect of the present application, the second driving assembly includes a second connecting member, a second driving member, and a second driving shaft connected to the second driving member, the second driving member is fixedly connected to the supporting assembly, and the second driving member and the first driving member are spaced apart along the second direction, the second driving member drives the second driving shaft to rotate around the second direction, one end of the second connecting member is connected to the driving shaft, the other end of the second connecting member is fixedly connected to the second shoulder assembly, and the second sliding groove is provided on the second connecting member;

[0016] Wherein, the rotation axis of the second driving shaft is parallel to but not coincident with the rotation axis of the second driving member.

[0017] According to the shoulder structure of the embodiment of the first aspect of the present application, a second connecting member is provided with a second connecting hole at one end close to the second driving shaft, the second connecting hole is extended along a third direction, the second driving shaft is passed through the second connecting hole, and the second driving shaft abuts against the hole wall of the second connecting hole along the first direction, when the second driving member drives the second driving shaft to rotate around the second direction, the second driving shaft moves in the second connecting hole along the third direction;

[0018] Wherein, the third direction is perpendicular to the first direction and the second direction respectively.

[0019] According to the shoulder structure of the embodiment of the first aspect of the present application, the first shoulder assembly includes a third driving member and a first shoulder joint, the third driving member is fixedly connected to an end of the first connecting member away from the first driving shaft, and the third driving member is connected to the first shoulder joint, and the third driving member is used to drive the first shoulder joint to rotate around the first direction.

[0020] According to the shoulder structure of the first embodiment of the present application, the first shoulder joint has a first rotating part and a first shoulder, the first rotating part is fixedly connected to the first shoulder, and the third driving member is connected to the first rotating part, and the third driving member drives the first rotating part to rotate around the first direction;

[0021] Wherein, the rotation axis of the first rotating part coincides with the rotation axis of the third driving member.

[0022] The bionic robot according to the second aspect of the present application has the shoulder structure as described above.

[0023] The bionic robot of the present application has the following advantages:

[0024] In the above-mentioned bionic robot, since the above-mentioned shoulder structure can realize independent movement of the left and right shoulders, the humanoid movements of the above-mentioned bionic robot can be more in line with human behavioral characteristics, thereby enabling the above-mentioned bionic robot to realize more humanoid movements. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 A schematic structural diagram of the shoulder structure of the present application is shown;

[0027] Figure 2 A schematic structural diagram of the support assembly, the first drive assembly and the first shoulder assembly of the present application is shown;

[0028] Figure 3 Shows Figure 2 A schematic diagram of the enlarged structure at A in the middle;

[0029] Figure 4 A schematic structural diagram of a first drive assembly and a first shoulder assembly of the present application is shown;

[0030] Figure 5 A schematic structural diagram of the support assembly, the second drive assembly and the second shoulder assembly of the present application is shown;

[0031] Figure 6 Shows Figure 5 A schematic diagram of the enlarged structure at B in the middle;

[0032] Figure 7 A schematic structural diagram of the second drive assembly and the second shoulder assembly of the present application is shown.

[0033] Description of main component symbols:

[0034] 100-support assembly; 110-first support member; 120-first guide member; 130-second guide member; 140-second support member; 150-third support member; 160-installation space; 170-fourth support member; 180-fifth support member;

[0035] 200-first driving assembly; 210-first driving member; 220-first driving shaft; 230-first connecting member; 231-first connecting hole; 2311-first end; 2312-second end; 232-first sliding groove;

[0036] 300 - first shoulder assembly; 310 - third driving member; 320 - first shoulder joint; 321 - first rotating part; 322 - first shoulder;

[0037] 400-second driving assembly; 410-second sliding slot; 420-second connecting member; 421-second connecting hole; 4211-third end; 4212-fourth end; 430-second driving member; 440-second driving shaft;

[0038] 500 - second shoulder assembly; 510 - fourth driving member; 520 - second shoulder joint; 521 - second rotating part; 522 - second shoulder. DETAILED DESCRIPTION

[0039] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0040] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0041] In addition, 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 the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0042] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like 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 an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0043] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0044] Reference Figure 1 As shown, the shoulder structure involved in the embodiment of the present application includes: a support assembly 100, a first drive assembly 200 and a first shoulder assembly 300.

[0045] Specifically, a first shoulder component 300, the first shoulder component 300 and at least one of the first drive component 200 are connected to the support component 100, the first drive component 200 is connected to the first shoulder component 300, and the first drive component 200 is used to drive the first shoulder component 300 to move along the first direction (x); a second drive component 400, the second drive component 400 and the first drive component 200 are spaced apart along the second direction (y); a second shoulder component 500, the second shoulder component 500 and the first shoulder component 300 are spaced apart along the second direction (y), the second shoulder component 500 and at least one of the second drive component 400 are connected to the support component 100, the second drive component 400 is connected to the second shoulder component 500, and the second drive component 400 is used to drive the second shoulder component 500 to move along the first direction (x); wherein the second direction (y) is perpendicular to the first direction (x).

[0046] It should be noted that the first direction is Figure 1 The direction indicated by x is the height direction of the bionic robot, and the second direction is Figure 1 The direction indicated by y is the left and right direction of the bionic robot.

[0047] In the above-mentioned shoulder structure, since at least one of the first shoulder component 300 and the first drive component 200 is connected to the support component 100, and at least one of the second shoulder component 500 and the second drive component 400 is connected to the support component 100, the support component 100 can support at least one of the shoulder component and the drive component to ensure the structural stability of the above-mentioned shoulder structure. At the same time, since the first drive component 200 is connected to the first shoulder component 300, and the first drive component 200 drives the first shoulder component 300 to move along the first direction (x), the second drive component 400 and the second shoulder component 500 is connected, and the second driving component 400 is used to drive the second shoulder component 500 to move along the first direction (x). Therefore, the first driving component 200 can drive the first shoulder component 300 to move along the first direction (x), so as to realize the shoulder raising and sinking movements of the first shoulder component 300. At the same time, the second driving component 400 can drive the second shoulder component 500 to move along the first direction (x), so as to realize the shoulder raising and sinking movements of the second shoulder component 500. In this way, the independent movement of the first shoulder component 300 and the second shoulder component 500 can be realized, so that the humanoid movements of the bionic robot are more in line with human behavioral characteristics.

[0048] Reference Figure 2 as well as Figure 4 As shown, the first drive assembly 200 includes a first drive member 210, a first drive shaft 220 and a first connecting member 230. The first drive member 210 is fixedly connected to the support assembly 100, and the first drive member 210 is connected to the first drive shaft 220. The first drive member 210 is used to drive the first drive shaft 220 to rotate around the second direction (y). One end of the first connecting member 230 is connected to the drive shaft, and the other end of the first connecting member 230 is fixedly connected to the first shoulder assembly 300; wherein the rotation axis of the first drive shaft 220 is parallel to but does not overlap with the rotation axis of the first drive member 210.

[0049] Specifically, in the above-mentioned embodiment, the first driving member 210 is a first steering gear, which is also called a servo motor. It was first used on ships to realize their steering function. Since its turning angle can be continuously controlled by a program, it is widely used in smart cars to realize steering and various joint movements of bionic robots.

[0050] It can be understood that, since the first driving member 210 is used to drive the first driving shaft 220 to rotate around the second direction (y), and the rotation axis of the first driving shaft 220 is parallel to but not coincident with the rotation axis of the first driving member 210, an eccentric transmission relationship can be formed between the first driving shaft 220 and the first driving member 210. In this way, when the first driving member 210 drives the first driving shaft 220 to move around the second direction (y), the first driving shaft 220 can make a circular motion around the second direction (y), that is, the first driving shaft 220 There is a displacement change in the first direction (x), and since one end of the first connecting member 230 is connected to the first driving shaft 220, and the other end of the first connecting member 230 is fixedly connected to the first shoulder assembly 300, when the first driving shaft 220 moves in the first direction (x), the first driving shaft 220 can drive the first connecting member 230 to move in the first direction (x), and at the same time, the first connecting member 230 can drive the first shoulder assembly 300 to move in the first direction (x), thereby realizing the shoulder raising and lowering movement of the first shoulder assembly 300.

[0051] Furthermore, the eccentric transmission relationship formed between the first drive shaft 220 and the first drive member 210 can achieve a more compact installation structure compared to a linear displacement drive mechanism (for example, a hydraulic cylinder drive mechanism, a screw drive mechanism, and a linear motor drive mechanism, etc.), so that the above-mentioned shoulder structure can be more compact, saving installation space 160, thereby reducing the occupied volume of the above-mentioned shoulder structure.

[0052] Continue to refer to Figure 2 as well as Figure 4 As shown, a first connecting member 230 is provided with a first connecting hole 231 at one end close to the first driving shaft 220, and the first connecting hole 231 is extended along a third direction (z). The first driving shaft 220 is inserted into the first connecting hole 231, and the first driving shaft 220 abuts against the hole wall of the first connecting hole 231 along the first direction (x). When the first driving member 210 drives the first driving shaft 220 to rotate around the second direction (y), the first driving shaft 220 moves along the third direction (z) in the first connecting hole 231; wherein, the third direction (z) is perpendicular to the first direction (x) and the second direction (y).

[0053] It should be noted that the third party Figure 1 The direction indicated by z is the front and back direction of the bionic robot.

[0054] It can be understood that when the first driving member 210 drives the first driving shaft 220 to rotate around the second direction (y), the first driving shaft 220 can make a circular motion around the second direction (y), that is, the first driving shaft 220 is displaced in the first direction (x) and the third direction (z). Since the first connecting hole 231 is extended along the third direction (z), the first driving shaft 220 is penetrated in the first connecting hole 231. Therefore, when the first driving shaft 220 is displaced in the first direction (x) and the third direction (z), the first driving shaft 220 can move in the first connecting hole 231 along the third direction (z), so that The first drive shaft 220 can make circular motion, and can prevent the first connecting member 230 from being displaced in the third direction (z) along with the first drive shaft 220. Since the first drive shaft 220 and the hole wall of the first connecting hole 231 along the first direction (x) are abutted against each other, when the first drive shaft 220 makes circular motion around the second direction (y), the first drive shaft 220 can drive the first connecting member 230 to be displaced in the first direction (x), so that the first connecting member 230 can drive the first shoulder assembly 300 to be displaced along the first direction (x), thereby realizing the shoulder raising and lowering movement of the first shoulder assembly 300.

[0055] Specifically, in the above-mentioned embodiments, referring to Figure 3As shown, the length of the first connecting hole 231 along the third direction (z) determines the movement angle of the first driving shaft 220 in the circular motion around the second direction (y), that is, determines the displacement of the first connecting member 230 moving along the first direction (x), and further determines the displacement of the first shoulder component 300 along the first direction (x) when the shoulder is raised or lowered. The first connecting hole 231 has a first end 2311 and a second end 2312, and the first end 2311 and the second end 2312 are respectively the first connecting hole 231 along the third direction (z), the distance between the first end 2311 and the second end 2312 is L1, and the movement diameter of the first driving shaft 220 in the circular motion around the second direction (y) is D1. When L1 and D1 satisfy: L1<D1, when the first shoulder assembly 300 performs shoulder lifting or shoulder sinking movement, the first driving shaft 220 moves from the first end 2311 to the second end 2312, or from the second end 2312 to the first end 2311 in the first connecting hole 231. At this time, the first drive shaft 220 cannot make a complete circular motion. Therefore, the first drive shaft 220 can be driven by the first drive member 210 to rotate forward and reverse around the second direction (y) to realize the movement of the first drive shaft 220 between the first end 2311 and the second end 2312. When L1 and D1 satisfy: L1≥D1, when the first shoulder assembly 300 performs shoulder lifting or shoulder sinking movement, the first drive shaft 220 moves between the first end 2311 and the second end 2312 in the first connecting hole 231. At this time, the first drive shaft 220 can make a complete circular motion. Therefore, the first drive shaft 220 can be driven by the first drive member 210 to rotate forward and reverse around the second direction (y) to realize the movement of the first drive shaft 220 between the first end 2311 and the second end 2312, or the first drive member 210 drives the first drive shaft 220 to rotate in the same direction around the second direction (y) to realize the movement of the first drive shaft 220 between the first end 2311 and the second end 2312.

[0056] Reference Figure 2 as well as Figure 4 As shown, the first connecting member 230 is provided with a first sliding groove 232, and the supporting assembly 100 includes a first supporting member 110 and a first guiding member 120, the first guiding member 120 is arranged on the first supporting member 110, the first guiding member 120 and the first sliding groove 232 are both extended along the first direction (x), and the first guiding member 120 slides along the first direction (x) in the first sliding groove 232.

[0057] It can be understood that since the first guide member 120 and the first sliding groove 232 are both extended along the first direction (x), and the first guide member 120 slides along the first direction (x) in the first sliding groove 232, the first guide member 120 on the first support member 110 can play a guiding and limiting role on the first connecting member 230. When the first driving shaft 220 drives the first connecting member 230 to move, the first connecting member 230 can move along the first direction (x), thereby realizing the shoulder raising and lowering movement of the first shoulder assembly 300.

[0058] Reference Figure 5 as well as Figure 7 As shown, the support assembly 100 also includes a second guide member 130, which is arranged on the first support member 110, and the second guide member 130 and the first guide member 120 are spaced apart along the second direction (y). The first driving assembly 200 is provided with a second sliding groove 410, and the second guide member 130 and the second sliding groove 410 are both extended along the first direction (x), and the second guide member 130 slides in the second sliding groove 410 along the first direction (x).

[0059] It can be understood that since the second guide member 130 and the second sliding groove 410 are both extended along the first direction (x), and the second guide member 130 slides along the first direction (x) in the second sliding groove 410, the second guide member 130 can guide the first drive component 200 so that the first drive component 200 can slide along the first direction (x), thereby ensuring that the first drive component 200 can drive the second shoulder component 500 to move along the second direction (y), thereby realizing the shoulder raising and lowering movement of the second shoulder component 500.

[0060] Continue to refer to Figure 5 as well as Figure 7 As shown, the second drive assembly 400 includes a second connecting member 420, a second driving member 430, and a second driving shaft 440 connected to the second driving member 430. The second driving member 430 is fixedly connected to the support assembly 100, and the second driving member 430 and the first driving member 210 are spaced apart along the second direction (y). The second driving member 430 is used to drive the second driving shaft 440 to rotate around the second direction (y). One end of the second connecting member 420 is connected to the driving shaft, and the other end of the second connecting member 420 is fixedly connected to the second shoulder assembly 500. The second sliding groove 410 is opened on the second connecting member 420; wherein, the rotation axis of the second driving shaft 440 is parallel to but does not overlap with the rotation axis of the second driving member 430.

[0061] Specifically, in the above embodiment, the second driving member 430 is a second steering gear.

[0062] It can be understood that, since the second driving member 430 is used to drive the second driving shaft 440 to rotate around the second direction (y), and the rotation axis of the second driving shaft 440 is parallel to but not coincident with the rotation axis of the second driving member 430, an eccentric transmission relationship can be formed between the second driving shaft 440 and the second driving member 430. In this way, when the second driving member 430 drives the second driving shaft 440 to move around the second direction (y), the second driving shaft 440 can make a circular motion around the second direction (y), that is, the second driving shaft 440 There is a displacement change in the first direction (x), and since one end of the second connecting member 420 is connected to the second driving shaft 440, and the other end of the second connecting member 420 is fixedly connected to the second shoulder assembly 500, when the second driving shaft 440 moves in the second direction (y), the second connecting member 420 can be driven to move in the second direction (y) through the second driving shaft 440, and at the same time, the second shoulder assembly 500 can be driven to move in the second direction (y) through the second connecting member 420, thereby realizing the shoulder lifting and sinking movement of the second shoulder assembly 500.

[0063] Furthermore, the eccentric transmission relationship formed between the second drive shaft 440 and the second drive member 430 can provide a more compact installation structure compared to the linear displacement drive mechanism, so that the above-mentioned shoulder structure can be more compact, saving installation space 160, thereby reducing the occupied volume of the above-mentioned shoulder structure.

[0064] Continue to refer to Figure 5 as well as Figure 7 As shown, a second connecting hole 421 is provided at one end of the second connecting member 420 close to the second driving shaft 440, and the second connecting hole 421 is extended along the third direction (z). The second driving shaft 440 is passed through the second connecting hole 421, and the second driving shaft 440 is abutted against the hole wall of the second connecting hole 421 along the first direction (x). When the second driving member 430 drives the second driving shaft 440 to rotate around the second direction (y), the second driving shaft 440 moves along the third direction (z) in the second connecting hole 421.

[0065] It can be understood that when the second driving member 430 drives the second driving shaft 440 to rotate around the second direction (y), the second driving shaft 440 can make a circular motion around the second direction (y), that is, the second driving shaft 440 is displaced in the first direction (x) and the third direction (z). Since the second connecting hole 421 is extended along the third direction (z), the second driving shaft 440 is penetrated in the second connecting hole 421. Therefore, when the second driving shaft 440 is displaced in the first direction (x) and the third direction (z), the second driving shaft 440 can move in the second connecting hole 421 along the third direction (z), so that The second drive shaft 440 can make circular motion, and can prevent the second connecting member 420 from being displaced in the third direction (z) along with the second drive shaft 440. Since the second drive shaft 440 and the hole wall of the second connecting hole 421 along the first direction (x) are abutted against each other, when the second drive shaft 440 makes circular motion around the second direction (y), the second drive shaft 440 can drive the second connecting member 420 to be displaced in the first direction (x), so that the second connecting member 420 can drive the second shoulder component 500 to be displaced along the first direction (x), thereby realizing the shoulder raising and lowering movement of the second shoulder component 500.

[0066] Specifically, in the above-mentioned embodiments, referring to Figure 6As shown, the length of the second connecting hole 421 along the third direction (z) determines the movement angle of the second driving shaft 440 in the circular motion around the second direction (y), that is, determines the displacement of the second connecting member 420 moving along the first direction (x), and further determines the displacement of the second shoulder assembly 500 along the first direction (x) when the shoulder is raised or lowered. The second connecting hole 421 has a third end 4211 and a fourth end 4212, and the third end 4211 and the fourth end 4212 are respectively 421 along the third direction (z), the distance between the third end 4211 and the fourth end 4212 is L2, the movement diameter of the second drive shaft 440 in the circular motion around the second direction (y) is D2, when L2 and D2 satisfy: L2<D2, when the second shoulder assembly 500 performs shoulder lifting or shoulder sinking movement, the second drive shaft 440 moves from the third end 4211 to the fourth end 4212, or from the fourth end 4212 to the third end 4211 in the second connecting hole 421, At this time, the second drive shaft 440 cannot make a complete circular motion. Therefore, the second drive shaft 440 can be driven by the second drive member 430 to rotate forward and reverse around the second direction (y) to realize the movement of the second drive shaft 440 between the third end 4211 and the fourth end 4212. When L2 and D2 satisfy: L2≥D2, when the second shoulder assembly 500 performs shoulder raising or shoulder lowering movement, the second drive shaft 440 moves between the third end 4211 and the fourth end 4212 in the second connecting hole 421. At this time, the second drive shaft 440 can make a complete circular motion. Therefore, the second drive shaft 440 can be driven by the second drive member 430 to rotate forward and reverse around the second direction (y) to realize the movement of the second drive shaft 440 between the third end 4211 and the fourth end 4212, or the second drive member 430 drives the second drive shaft 440 to rotate in the same direction around the second direction (y) to realize the movement of the second drive shaft 440 between the third end 4211 and the fourth end 4212.

[0067] Reference Figure 2 As shown, the first shoulder assembly 300 includes a third driving member 310 and a first shoulder joint 320. The third driving member 310 is fixedly connected to one end of the first connecting member 230 away from the first driving shaft 220, and the third driving member 310 is connected to the first shoulder joint 320. The third driving member 310 is used to drive the first shoulder joint 320 to rotate around the first direction (x).

[0068] Specifically, in the above embodiment, one end of the first shoulder joint 320 along the second direction (y) is connected to the third driving member 310, and the other end of the first shoulder joint 320 along the second direction (y) is connected to one of the arms of the bionic robot.

[0069] It can be understood that since the third driving member 310 is fixedly connected to one end of the first connecting member 230 away from the first driving shaft 220, when the first connecting member 230 moves along the first direction (x), the first connecting member 230 can drive the first shoulder assembly 300 to move along the first direction (x), so that the first shoulder assembly 300 can achieve shoulder raising and lowering movements along the first direction (x). Furthermore, since the third driving member 310 is connected to the first shoulder joint 320, the third driving member 310 is used to drive the first shoulder joint 320 to rotate around the first direction (x). Therefore, the first driving member 210 can be used to drive the first shoulder joint 320 to achieve a swinging movement around the first direction (x) to achieve a swinging movement of one of the arms of the bionic robot.

[0070] Reference Figure 4 As shown, the first shoulder joint 320 has a first rotating part 321 and a first shoulder 322, the first rotating part 321 is fixedly connected to the first shoulder 322, and the third driving member 310 is connected to the first rotating part 321, and the third driving member 310 is used to drive the first rotating part 321 to rotate around the first direction (x); wherein the rotation axis of the first rotating part 321 coincides with the rotation axis of the third driving member 310.

[0071] Specifically, in the above embodiment, one end of the first shoulder 322 along the second direction (y) is fixedly connected to the first rotating portion 321, and the other end of the first shoulder 322 along the second direction (y) is connected to one of the arms of the bionic robot.

[0072] It can be understood that since the first rotating part 321 is fixedly connected to the first shoulder 322, and the third driving member 310 is connected to the first rotating part 321, the third driving member 310 is used to drive the first rotating part 321 to rotate around the first direction (x). Therefore, the first rotating part 321 can be driven to rotate around the first direction (x) by the third driving member 310, so as to drive the first shoulder 322 to rotate around the first direction (x) through the first rotating part 321, thereby realizing the swinging action of one of the arms of the bionic robot. In this process, since the rotation axis of the first rotating part 321 coincides with the rotation axis of the third driving member 310, the first rotating part 321 can rotate around the first direction (x) without displacement in the second direction (y) and the third direction (z), thereby ensuring that the first shoulder 322 can perform a pure swinging action.

[0073] Reference Figure 5As shown, the second shoulder assembly 500 includes a fourth driving member 510 and a second shoulder joint 520. The fourth driving member 510 is fixedly connected to one end of the second connecting member 420 away from the second driving shaft 440, and the fourth driving member 510 is connected to the second shoulder joint 520. The fourth driving member 510 is used to drive the second shoulder joint 520 to rotate around the first direction (x).

[0074] Specifically, in the above embodiment, one end of the second shoulder joint 520 along the second direction (y) is connected to the fourth driving member 510, and the other end of the second shoulder joint 520 along the second direction (y) is connected to the other arm of the bionic robot.

[0075] It can be understood that since the fourth driving member 510 is fixedly connected to one end of the second connecting member 420 away from the second driving shaft 440, when the second connecting member 420 moves along the first direction (x), the second shoulder assembly 500 can be driven to move along the first direction (x) through the second connecting member 420, so that the second shoulder assembly 500 can achieve shoulder raising and lowering movements along the first direction (x). Furthermore, since the fourth driving member 510 is connected to the second shoulder joint 520, the fourth driving member 510 is used to drive the second shoulder joint 520 to rotate around the first direction (x). Therefore, the second shoulder joint 520 can be driven to achieve a swinging movement around the first direction (x) through the first driving member 210, so as to realize the swinging action of the other arm of the bionic robot.

[0076] Reference Figure 7 As shown, the second shoulder joint 520 has a second rotating part 521 and a second shoulder 522, the second rotating part 521 is fixedly connected to the second shoulder 522, and the fourth driving member 510 is connected to the second rotating part 521, and the fourth driving member 510 is used to drive the second rotating part 521 to rotate around the first direction (x); wherein the rotation axis of the second rotating part 521 coincides with the rotation axis of the fourth driving member 510.

[0077] Specifically, in the above embodiment, one end of the second shoulder 522 along the second direction (y) is fixedly connected to the second rotating part 521, and the other end of the second shoulder 522 along the second direction (y) is connected to the other arm of the bionic robot.

[0078] It can be understood that since the second rotating portion 521 is fixedly connected to the second shoulder 522, and the fourth driving member 510 is connected to the second rotating portion 521, the fourth driving member 510 is used to drive the second rotating portion 521 to rotate around the first direction (x). Therefore, the second rotating portion 521 can be driven to rotate around the first direction (x) by the fourth driving member 510, so as to drive the second shoulder 522 to rotate around the first direction (x) through the second rotating portion 521, thereby realizing the swinging action of the other arm of the bionic robot. In this process, since the rotation axis of the second rotating portion 521 coincides with the rotation axis of the fourth driving member 510, the second rotating portion 521 can rotate around the first direction (x) without being displaced in the second direction (y) and the third direction (z), thereby ensuring that the second shoulder 522 can perform a pure swinging action.

[0079] Reference Figure 2 as well as Figure 5 As shown, the support assembly 100 also includes a second support member 140 and a third support member 150. The second support member 140 and the first support member 110 are spaced apart along the third direction (z) to define an installation space 160. One end of the first support member 110 along the first direction (x) and one end of the second support member 140 along the first direction (x) are both connected to the third support member 150 to connect the first support member 110 and the second support member 140 through the third support member 150.

[0080] Specifically, the first connecting member 230, the third driving member 310 and the first rotating portion 321 are all arranged in the installation space 160, and the first guide member 120 is arranged on a side of the first supporting member 110 close to the installation space 160 along the third direction (z), that is, arranged on the space wall of the installation space 160, so that the first connecting member 230 drives the third driving member 310 and the first rotating portion 321 to move along the first direction (x) in the installation space 160, and further, the first shoulder 322 is exposed outside the installation space 160, so that the first shoulder 322 can rotate around the first direction (x), thereby avoiding interference of the support assembly 100 with the rotation of the first shoulder 322 around the first direction (x); Similarly, the second connecting member 420, the fourth driving member 510 and the second rotating part 521 are all arranged in the installation space 160, and the second guide member 130 is arranged on the side of the first support member 110 close to the installation space 160 along the third direction (z), that is, it is arranged on the space wall of the installation space 160, so that the second connecting member 420 drives the fourth driving member 510 and the second rotating part 521 to move along the first direction (x) in the installation space 160. Furthermore, the second shoulder 522 is exposed outside the installation space 160, so that the second shoulder 522 can rotate around the first direction (x), thereby avoiding interference of the support assembly 100 with the rotation of the second shoulder 522 around the first direction (x).

[0081] Continue to refer to Figure 2 as well as Figure 5 As shown, the support assembly 100 also includes a fourth support member 170 and a fifth support member 180. The fourth support member 170 and the fifth support member 180 are spaced apart along the second direction (y), and one end of the fourth support member 170 is connected to one end of the first support member 110 away from the third support member 150 along the first direction (x), and the other end of the fourth support member 170 is connected to one end of the second support member 140 away from the third support member 150 along the first direction (x), and one end of the fifth support member 180 is connected to one end of the first support member 110 away from the third support member 150 along the first direction (x), and the other end of the fifth support member 180 is connected to one end of the second support member 140 away from the third support member 150 along the first direction (x), so as to pass through the first support The support member 110, the second support member 140, the third support member 150, the fourth support member 170 and the fifth support member 180 define an installation space 160. The first driving member 210 is fixedly connected to a side of the fourth support member 170 away from the installation space 160 along the first direction (x) to prevent the first driving member 210 from interfering with the movement of the first connecting member 230 and the first shoulder assembly 300 in the installation space 160 along the first direction (x). Similarly, the second driving member 430 is fixedly connected to a side of the fifth support member 180 away from the installation space 160 along the first direction (x) to prevent the second driving member 430 from interfering with the movement of the second connecting member and the second shoulder assembly 500 in the installation space 160 along the first direction (x).

[0082] Reference Figure 1 As shown, in the second direction (y), the first drive assembly 200 and the second drive assembly 400 are symmetrically arranged relative to the axis of symmetry of the installation space 160, and the first shoulder assembly 300 and the second shoulder assembly 500 are symmetrically arranged relative to the axis of symmetry of the installation space 160, so as to improve the symmetry of the above-mentioned shoulder structure and make the above-mentioned shoulder structure more in line with the characteristics of the human body.

[0083] The bionic robot involved in the embodiment of the present application includes: the above-mentioned shoulder structure.

[0084] In the above-mentioned bionic robot, since the above-mentioned shoulder structure can realize independent movement of the left and right shoulders, the humanoid movements of the above-mentioned bionic robot can be more in line with human behavioral characteristics, thereby enabling the above-mentioned bionic robot to realize more humanoid movements.

[0085] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0086] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A shoulder structure, characterized in that: include: Support components; a first drive assembly; a first shoulder assembly, wherein at least one of the first shoulder assembly and the first drive assembly is connected to the support assembly, the first drive assembly is connected to the first shoulder assembly, and the first drive assembly is used to drive the first shoulder assembly to move in a first direction; a second driving assembly, the second driving assembly being spaced apart from the first driving assembly along a second direction; a second shoulder assembly, the second shoulder assembly and the first shoulder assembly are spaced apart along the second direction, at least one of the second shoulder assembly and the second drive assembly is connected to the support assembly, the second drive assembly is connected to the second shoulder assembly, and the second drive assembly is used to drive the second shoulder assembly to move along the first direction; The second direction is perpendicular to the first direction.

2. The shoulder structure according to claim 1, characterized in that: The first driving assembly includes a first driving member, a first driving shaft and a first connecting member, wherein the first driving member is fixedly connected to the supporting assembly, and the first driving member is connected to the first driving shaft, the first driving member is used to drive the first driving shaft to rotate around the second direction, one end of the first connecting member is connected to the first driving shaft, and the other end of the first connecting member is fixedly connected to the first shoulder assembly; Wherein, the rotation axis of the first driving shaft is parallel to but not coincident with the rotation axis of the first driving member.

3. The shoulder structure according to claim 2, characterized in that: A first connecting hole is provided at one end of the first connecting member close to the first driving shaft, and the first connecting hole is extended along the third direction. The first driving shaft is inserted into the first connecting hole, and the first driving shaft abuts against the hole wall of the first connecting hole along the first direction. When the first driving member drives the first driving shaft to rotate around the second direction, the first driving shaft moves in the first connecting hole along the third direction. Wherein, the third direction is perpendicular to the first direction and the second direction respectively.

4. The shoulder structure according to claim 2, characterized in that: The first connecting member is also provided with a first sliding groove, and the supporting assembly includes a first supporting member and a first guiding member, the first guiding member is arranged on the first supporting member, the first guiding member and the first sliding groove are both extended along the first direction, and the first guiding member slides along the first direction in the first sliding groove.

5. The shoulder structure according to claim 4, characterized in that: The support assembly also includes a second guide member, which is arranged on the first support member, and the second guide member and the first guide member are spaced apart along the second direction. The first driving assembly is provided with a second sliding groove, and the second guide member and the second sliding groove are both extended along the first direction, and the second guide member slides along the first direction in the second sliding groove.

6. The shoulder structure according to claim 5, characterized in that: The second driving assembly includes a second connecting member, a second driving member, and a second driving shaft connected to the second driving member, the second driving member is fixedly connected to the supporting assembly, and the second driving member and the first driving member are spaced apart along the second direction, the second driving member is used to drive the second driving shaft to rotate around the second direction, one end of the second connecting member is connected to the driving shaft, the other end of the second connecting member is fixedly connected to the second shoulder assembly, and the second sliding groove is provided on the second connecting member; Wherein, the rotation axis of the second driving shaft is parallel to but not coincident with the rotation axis of the second driving member.

7. The shoulder structure according to claim 6, characterized in that: A second connecting hole is provided at one end of the second connecting member close to the second driving shaft, and the second connecting hole is extended along the third direction. The second driving shaft is inserted into the second connecting hole, and the second driving shaft abuts against the hole wall of the second connecting hole along the first direction. When the second driving member drives the second driving shaft to rotate around the second direction, the second driving shaft moves in the second connecting hole along the third direction. Wherein, the third direction is perpendicular to the first direction and the second direction respectively.

8. The shoulder structure according to any one of claims 2 to 7, characterized in that: The first shoulder assembly includes a third driving member and a first shoulder joint. The third driving member is fixedly connected to an end of the first connecting member away from the first driving shaft, and the third driving member is connected to the first shoulder joint. The third driving member is used to drive the first shoulder joint to rotate around the first direction.

9. The shoulder structure according to claim 8, characterized in that: The first shoulder joint has a first rotating part and a first shoulder, the first rotating part is fixedly connected to the first shoulder, and the third driving member is connected to the first rotating part, and the third driving member is used to drive the first rotating part to rotate around the first direction; Wherein, the rotation axis of the first rotating part coincides with the rotation axis of the third driving member.

10. A bionic robot, characterized in that: include: A shoulder structure as claimed in any one of claims 1 to 9.

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