Humanoid robot arm structure facilitating wiring and humanoid robot

Abstract

The utility model discloses a humanoid robot arm structure convenient for wiring and a humanoid robot, the arm structure comprises an L-shaped shoulder connecting seat, the L-shaped shoulder connecting seat comprises a first horizontal part and a first vertical part, the first horizontal part is arranged parallel to a first direction and is used for being connected to a trunk shoulder of the humanoid robot; the first vertical part is arranged in parallel to the second direction; a shoulder joint motor is arranged on the first vertical part, and the shoulder joint motor is located under the first horizontal part in the second direction; an upper arm mounting seat driven by the shoulder joint motor to rotate is arranged on the end face, deviating from the shoulder joint motor, of the first vertical part in the first direction; the first vertical part is provided with a shoulder joint driver electrically connected with the shoulder joint motor, and the shoulder joint driver is located under the first horizontal part in the second direction. According to the utility model, the cables electrically connected with the shoulder joint motor and the shoulder joint driver can be arranged conveniently, so that later maintenance personnel can find and repair faults conveniently.

Description

Technical Field

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

[0002] The robotic arm structure is an important component of the humanoid robot. The robotic arm structure is usually equipped with a motor and a driver. The driver is electrically connected to the corresponding motor through a cable, thereby controlling the movement of the motor, enabling the motor to achieve special functions such as acceleration, deceleration, positioning control and force control, and then driving the robotic arm structure to perform corresponding movement movements.

[0003] However, most of the existing robotic arm structures have the motor and driver respectively arranged on the inside and outside of the robotic arm body, which makes it inconvenient to route the cables connecting the motor and the driver. The layout is relatively complicated, which makes it inconvenient for maintenance personnel to find and repair faults, and will interfere with the rotation of the robotic arm body, limit its movement space, and reduce the movement performance of the robotic arm. Utility Model Content

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the defect that the mechanical arm structure used for humanoid robots in the prior art is not convenient for routing the cables electrically connecting the motor and the driver, resulting in a relatively cumbersome layout, thereby providing a humanoid robot arm structure and a humanoid robot that are easy to route.

[0005] According to the first aspect of the utility model, a humanoid robot arm structure that is convenient for wiring is provided, comprising:

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

[0007] A shoulder joint motor, arranged on the first vertical portion parallel to the first direction and located directly below the first horizontal portion along the second direction;

[0008] An upper arm mounting seat, rotatably connected to an end surface of the first vertical portion away from the shoulder joint motor along a first direction, and driven to rotate by the shoulder joint motor;

[0009] The shoulder joint driver is arranged on the first vertical portion and is located relatively directly below the first horizontal portion along the second direction. The shoulder joint driver is electrically connected to the shoulder joint motor.

[0010] According to the utility model, a humanoid robot arm structure that is convenient for wiring has at least the following technical effects:

[0011] 1. By arranging the shoulder joint motor and the shoulder joint driver on the same side of the first vertical portion, it is convenient to lay out the cables electrically connecting the shoulder joint motor and the shoulder joint driver, thereby facilitating later maintenance personnel to find and repair faults; and it can also make the cables electrically connecting the shoulder joint motor and the shoulder joint driver basically reach the shortest wiring harness length, thereby minimizing resistance, improving transmission efficiency, and improving the performance of the humanoid robot arm structure.

[0012] 2. By hiding the shoulder joint motor and the shoulder joint driver in the space enclosed by the first horizontal part and the first vertical part, and the shoulder joint motor and the upper arm mounting seat are arranged on both sides of the first vertical part along the first direction, it can not only avoid the cables electrically connecting the shoulder joint motor and the shoulder joint driver from being exposed, thereby improving the aesthetics and anti-interference of the humanoid robot arm structure; it can also avoid the cables electrically connecting the shoulder joint motor and the shoulder joint driver from interfering with the swinging movement of the upper arm mounting seat, thereby avoiding limiting the movement space of the upper arm mounting seat and improving the movement performance of the humanoid robot arm structure.

[0013] Preferably, an upper arm motor is arranged on the upper arm mounting seat, and the upper arm motor is arranged parallel to the third direction, and the first direction, the second direction and the third direction are perpendicular to each other; the output end of the upper arm motor is connected to the elbow mounting seat, and a mounting bracket is connected between the elbow mounting seat and the upper arm motor, and a mounting cavity is arranged in the mounting bracket, and an upper arm driver is arranged in the mounting cavity, and the upper arm driver is electrically connected to the upper arm motor; the mounting bracket is provided with a first wire passing hole on the end surface of the mounting bracket along the third direction facing the upper arm motor, and the first wire passing hole is arranged along the third direction and connected with the mounting cavity.

[0014] Preferably, the upper arm mounting seat includes a second horizontal portion and a second vertical portion, the second horizontal portion is arranged parallel to the third direction and is rotatably connected to the first vertical portion; the second vertical portion is arranged parallel to the first direction, and the second vertical portion is connected to the end surface of the second horizontal portion facing the first vertical portion to form an L-shaped structure; the upper arm motor is connected to the end surface of the second vertical portion along the third direction away from the shoulder joint motor, and the mounting bracket is located at one end of the upper arm motor along the third direction away from the second vertical portion.

[0015] Preferably, an elbow joint motor is provided on the end surface of the elbow mounting seat facing away from the mounting bracket, the elbow joint motor is arranged parallel to the second direction, and the output end of the elbow joint motor is connected to the forearm mounting seat; a partition plate is provided in the mounting cavity, the partition plate divides the mounting cavity into a first cavity and a second cavity along the second direction, the upper arm driver is provided in the first cavity, and the first wire passing hole is connected to the first cavity; an elbow joint driver is provided in the second cavity, the elbow joint driver is electrically connected to the elbow joint motor, and a second wire passing hole is provided on the end surface of the mounting bracket along the third direction facing the elbow joint motor, the second wire passing hole is arranged along the third direction and connected to the second cavity; the elbow mounting seat is penetrated along the third direction corresponding to the position of the second wire passing hole to form a first wire passing groove.

[0016] Preferably, the elbow mounting seat includes a third horizontal portion and a third vertical portion, the third horizontal portion is arranged parallel to the third direction, the third vertical portion is arranged parallel to the second direction, and the third vertical portion is connected to the mounting bracket; the third horizontal portion is connected to the end surface of the third vertical portion facing away from the mounting bracket to form an L-shaped structure, the elbow joint motor is connected to the third horizontal portion, and the projection along the third direction at least partially overlaps with the third vertical portion.

[0017] Preferably, the forearm mounting seat includes a fourth horizontal portion and a fourth vertical portion, the fourth horizontal portion is arranged parallel to the third direction and connected to the output end of the elbow joint motor; the fourth vertical portion is arranged parallel to the second direction and connected to the end surface of the fourth horizontal portion facing the elbow joint motor, and the fourth vertical portion is located on the side of the elbow joint motor away from the mounting bracket along the third direction; the end surface of the fourth vertical portion facing away from the elbow joint motor along the third direction is provided with a forearm motor, the forearm motor is arranged parallel to the third direction, and the output end of the forearm motor away from the fourth vertical portion is connected to the wrist mounting seat; the end surface of the fourth vertical portion facing the elbow joint motor is provided with a forearm driver, the forearm driver is electrically connected to the forearm motor, and a third wire passing hole is formed on the fourth vertical portion along the third direction.

[0018] Preferably, the wrist mounting seat includes a fifth horizontal portion and a fifth vertical portion, the fifth horizontal portion is arranged parallel to the first direction and connected to the output end of the forearm motor, the fifth vertical portion is arranged parallel to the third direction and connected to the end surface of the fifth horizontal portion facing away from the forearm motor; the fifth vertical portion is provided with an end motor along the first direction toward the end surface of the fifth horizontal portion, and the end motor is arranged parallel to the first direction; the fifth vertical portion is provided with a palm module at one end facing away from the end motor, and the palm module is connected to the output end of the end motor, the fourth vertical portion is provided with an end driver toward the end surface of the elbow joint motor, and the end driver is electrically connected to the end motor, a fourth wire passing hole is formed through the fourth vertical portion along the third direction; a second wire passing groove is formed through the fifth horizontal portion at a position corresponding to the fourth wire passing hole along the third direction.

[0019] Preferably, the palm module is arranged parallel to the third direction, and an L-shaped mounting seat is provided between the palm module and the output end of the terminal motor.

[0020] Preferably, the L-shaped mounting base includes a sixth horizontal portion and a sixth vertical portion, the sixth horizontal portion is arranged parallel to the third direction and connected to the output end of the end motor; the sixth vertical portion is arranged parallel to the first direction, the sixth vertical portion is connected to the end surface of the sixth horizontal portion facing the end motor, and is located on the side of the end motor away from the forearm mounting base along the third direction; the palm module is connected to the end surface of the sixth vertical portion away from the end motor along the third direction.

[0021] According to a second aspect of the present invention, a humanoid robot is provided, comprising the arm structure provided in the first aspect.

[0022] A humanoid robot according to the utility model has at least the following technical effects:

[0023] 1. By arranging the shoulder joint motor and the shoulder joint driver in the arm structure on the same side of the first vertical part, it is convenient to lay out the cables electrically connecting the shoulder joint motor and the shoulder joint driver, thereby facilitating the later maintenance personnel to find and repair faults; and it can also make the cables electrically connecting the shoulder joint motor and the shoulder joint driver basically reach the shortest wiring harness length, thereby minimizing resistance, improving transmission efficiency, and improving the performance of the humanoid robot.

[0024] 2. By hiding the shoulder joint motor and shoulder joint driver in the arm structure in the space enclosed by the first horizontal part and the first vertical part, and the shoulder joint motor and the upper arm mounting seat are arranged on both sides of the first vertical part along the first direction, it can not only avoid the cables electrically connecting the shoulder joint motor and the shoulder joint driver from being exposed, thereby improving the aesthetics and anti-interference of the humanoid robot; but also avoid the cables electrically connecting the shoulder joint motor and the shoulder joint driver from interfering with the swinging movement of the upper arm mounting seat, thereby avoiding limiting the movement space of the upper arm mounting seat and improving the movement performance of the humanoid robot.

[0025] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 This is a schematic diagram of a three-dimensional structure of a humanoid robot arm structure that is convenient for wiring in this embodiment;

[0028] Figure 2 This is a schematic diagram of the exploded structure of a humanoid robot arm structure that is convenient for wiring in this embodiment;

[0029] Figure 3 This is a schematic structural diagram of a mounting bracket in a humanoid robot arm structure that facilitates wiring in this embodiment;

[0030] Figure 4 This is a partial structural diagram of a humanoid robot arm structure that is easy to route according to this embodiment.

[0031] Description of reference numerals:

[0032] 1-L-shaped shoulder connecting seat, 11-first horizontal portion, 12-first vertical portion;

[0033] 21-shoulder joint motor, 22-shoulder joint driver;

[0034] 3-upper arm mounting seat, 31-upper arm motor, 32-upper arm driver, 33-second horizontal portion, 34-second vertical portion;

[0035] 4-elbow mounting seat, 41-elbow joint motor, 42-elbow joint driver, 43-third horizontal portion, 44-third vertical portion;

[0036] 5-mounting bracket, 51-first wire hole, 52-partition plate, 53-first cavity, 54-second wire hole;

[0037] 6-forearm mounting seat, 61-fourth horizontal portion, 62-fourth vertical portion, 63-forearm motor, 64-forearm driver;

[0038] 7- wrist mounting seat, 71- fifth horizontal portion, 72- fifth vertical portion, 73- end motor, 74- end drive;

[0039] 8-Palm module;

[0040] 9-L-shaped mounting seat, 91-sixth horizontal portion, 92-sixth vertical portion. DETAILED DESCRIPTION

[0041] The technical solution of the utility model will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0042] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0043] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0044] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0045] Embodiment 1

[0046] like Figure 1 and Figure 2 The present embodiment shows a humanoid robot arm structure that is convenient for wiring, including an L-shaped shoulder connection seat 1, wherein the L-shaped shoulder connection seat 1 includes a first horizontal portion 11 and a first vertical portion 12, wherein the first horizontal portion 11 is arranged parallel to the first direction and is used to be connected to the shoulder of the torso of the humanoid robot; the first vertical portion 12 is arranged parallel to the second direction; a shoulder joint motor 21 is provided on the first vertical portion 12, wherein the shoulder joint motor 21 is arranged parallel to the first direction and is located relatively directly below the first horizontal portion 11 along the second direction; an upper arm mounting seat 3 is rotatably connected to the end face of the first vertical portion 12 that is away from the shoulder joint motor 21 along the first direction, and the upper arm mounting seat 3 is driven to rotate by the shoulder joint motor 21; a shoulder joint driver 22 is provided on the first vertical portion 12, wherein the shoulder joint driver 22 is located relatively directly below the first horizontal portion 11 along the second direction and is electrically connected to the shoulder joint motor 21. It can be understood that the first direction and the second direction described in the present embodiment refer to Figure 1 The first direction and the second direction in.

[0047] The humanoid robot arm structure of this embodiment arranges the shoulder joint motor 21 and the shoulder joint driver 22 on the same side of the first vertical portion 12, which not only facilitates the routing of the cables electrically connecting the shoulder joint motor 21 and the shoulder joint driver 22, thereby facilitating the subsequent maintenance personnel to find and repair faults; it can also make the cables electrically connecting the shoulder joint motor 21 and the shoulder joint driver 22 basically achieve the shortest wiring harness length, thereby minimizing resistance, improving transmission efficiency, and improving the performance of the humanoid robot arm structure of this embodiment. By hiding the shoulder joint motor 21 and the shoulder joint driver 22 in the space enclosed by the first horizontal part 11 and the first vertical part 12, and the shoulder joint motor 21 and the upper arm mounting seat 3 are arranged on both sides of the first vertical part 12 along the first direction, it is possible to avoid exposure of the cables electrically connecting the shoulder joint motor 21 and the shoulder joint driver 22, thereby improving the aesthetics and anti-interference of the humanoid robot arm structure of this embodiment; and it is possible to avoid interference of the cables electrically connecting the shoulder joint motor 21 and the shoulder joint driver 22 with the swinging movement of the upper arm mounting seat 3, thereby avoiding limiting the movement space of the upper arm mounting seat 3 and improving the movement performance of the humanoid robot arm structure of this embodiment.

[0048] like Figures 1 to 3As shown, in some embodiments of the utility model, an upper arm motor 31 is provided on the upper arm mounting seat 3, and the upper arm motor 31 is arranged parallel to the third direction, and the first direction, the second direction and the third direction are mutually perpendicular; the output end of the upper arm motor 31 is connected to the elbow mounting seat 4, and a mounting bracket 5 is connected between the elbow mounting seat 4 and the upper arm motor 31, and a mounting cavity is provided in the mounting bracket 5, and an upper arm driver 32 is provided in the mounting cavity, and the upper arm driver 32 is electrically connected to the upper arm motor 31; the mounting bracket 5 is provided with a first wire hole 51 on the end surface facing the upper arm motor 31 along the third direction, and the first wire hole 51 is arranged along the third direction and communicated with the mounting cavity. By providing the upper arm motor 31 between the elbow mounting seat 4 and the upper arm mounting seat 3, the upper arm motor 31 can drive the elbow mounting seat 4 to rotate and swing around the third direction, further increasing the flexibility of the movement of the humanoid robot arm structure of this embodiment. At the same time, the upper arm driver 32 is hidden in the installation cavity, and a first wire hole 51 is provided on the installation bracket 5 to connect the installation cavity and the space where the upper arm motor 31 is located. The first wire hole 51 provides a wiring layout channel along the third direction for the cable electrically connecting the upper arm motor 31 and the upper arm driver 32, so that the cable electrically connecting the upper arm motor 31 and the upper arm driver 32 basically achieves the shortest wire harness length, thereby minimizing resistance, improving transmission efficiency, and improving the performance of the humanoid robot arm structure of this embodiment. It can be understood that the third direction described in this embodiment refers to Figure 1 The third direction in.

[0049] Specifically, the upper arm mounting seat 3 includes a second horizontal portion 33 and a second vertical portion 34, wherein the second horizontal portion 33 is arranged parallel to the third direction and is rotatably connected to the first vertical portion 12; the second vertical portion 34 is arranged parallel to the first direction, and the second vertical portion 34 is connected to the end surface of the second horizontal portion 33 facing the first vertical portion 12 to form an L-shaped structure; the upper arm motor 31 is connected to the end surface of the second vertical portion 34 away from the shoulder joint motor 21 along the third direction, and the mounting bracket 5 is located at one end of the upper arm motor 31 away from the second vertical portion 34 along the third direction. By setting the upper arm mounting seat 3 into an L-shaped structure and locating the upper arm motor 31 at the end surface of the second vertical portion 34 away from the shoulder joint motor 21, the upper arm motor 31 and the shoulder joint motor 21 are basically located in the same linear space in the third direction, thereby effectively reducing the volume of the humanoid robot arm structure of this embodiment along the first direction, and achieving the reduction of its overall volume on the basis of ensuring the movement flexibility of the humanoid robot arm mechanism of this embodiment.

[0050] like Figures 1 to 3As shown, in some embodiments of the utility model, an elbow joint motor 41 is provided on the end face of the elbow mounting seat 4 facing away from the mounting bracket 5, and the elbow joint motor 41 is arranged parallel to the second direction, and the output end of the elbow joint motor 41 is connected to the forearm mounting seat 6; a partition plate 52 is provided in the mounting cavity, and the partition plate 52 divides the mounting cavity into a first cavity 53 and a second cavity along the second direction, and the upper arm driver 32 is arranged in the first cavity 53, and the first wire passing hole 51 is connected to the first cavity 53; an elbow joint driver 42 is provided in the second cavity, and the elbow joint driver 42 is electrically connected to the elbow joint motor 41, and a second wire passing hole 54 is provided on the end face of the mounting bracket 5 along the third direction facing the elbow joint motor 41, and the second wire passing hole 54 is arranged along the third direction and connected to the second cavity; the elbow mounting seat 4 corresponds to the position of the second wire passing hole 54 to form a first wire passing groove along the third direction. By arranging an elbow joint motor 41 between the forearm mounting seat 6 and the elbow mounting seat 4, the elbow joint motor 41 can drive the forearm mounting seat 6 to rotate and swing around the second direction, thereby further increasing the flexibility of the movement of the humanoid robot arm structure of this embodiment. In addition, by hiding the elbow joint driver 42 in the second cavity, and aligning the second wire hole 54 and the second wire groove connecting the second cavity and the space where the elbow joint motor 41 is located on the mounting bracket 5 and the elbow mounting seat 4, respectively, the second wire hole 54 and the second wire groove provide a routing layout channel along the third direction for the cable electrically connecting the elbow joint motor 41 and the elbow joint driver 42, so that the cable electrically connecting the elbow joint motor 41 and the elbow joint driver 42 basically reaches the shortest harness length, thereby minimizing the resistance, improving the transmission efficiency, and improving the performance of the humanoid robot arm structure of this embodiment. At the same time, by hiding the upper arm driver 32 and the elbow joint driver 42 in the first cavity 53 and the second cavity of the mounting bracket 5, respectively, it is possible to further reduce the overall volume of the humanoid robot arm mechanism of this embodiment while ensuring the flexibility of movement.

[0051] Specifically, the elbow mounting seat 4 includes a third horizontal portion 43 and a third vertical portion 44, the third horizontal portion 43 is arranged parallel to the third direction, the third vertical portion 44 is arranged parallel to the second direction, and the third vertical portion 44 is connected to the mounting bracket 5; the third horizontal portion 43 is connected to the end surface of the third vertical portion 44 facing away from the mounting bracket 5 to form an L-shaped structure, the elbow joint motor 41 is connected to the third horizontal portion 43, and the projection along the third direction at least partially overlaps with the third vertical portion 44. By setting the elbow mounting base 4 into an L-shaped structure, the elbow joint motor 41 is hidden in the space enclosed by the third horizontal portion 43 and the third vertical portion 44, and the elbow joint motor 41 is located on the side of the third vertical portion 44 away from the upper arm motor 31 along the third direction, so that the elbow joint motor 41 and the upper arm motor 31 are basically located in the same straight line space in the third direction, thereby effectively reducing the volume of the humanoid robot arm structure of this embodiment along the first direction, and achieving the reduction of its overall volume on the basis of ensuring the movement flexibility of the humanoid robot arm mechanism of this embodiment.

[0052] like Figure 1 , Figure 2 and Figure 4As shown, in some embodiments of the utility model, the forearm mounting seat 6 includes a fourth horizontal portion 61 and a fourth vertical portion 62, the fourth horizontal portion 61 is arranged parallel to the third direction and connected to the output end of the elbow joint motor 41; the fourth vertical portion 62 is arranged parallel to the second direction and connected to the end surface of the fourth horizontal portion 61 facing the elbow joint motor 41, and the fourth vertical portion 62 is located on the side of the elbow joint motor 41 away from the mounting bracket 5 along the third direction; the end surface of the fourth vertical portion 62 away from the elbow joint motor 41 along the third direction is provided with a forearm motor 63, the forearm motor 63 is arranged parallel to the third direction, and the output end of the forearm motor 63 away from the fourth vertical portion 62 is connected to the wrist mounting seat 7; the end surface of the fourth vertical portion 62 facing the elbow joint motor 41 is provided with a forearm driver 64, the forearm driver 64 is electrically connected to the forearm motor 63, and a third wire hole is formed on the fourth vertical portion 62 along the third direction. By arranging a forearm motor 63 between the wrist mounting seat 7 and the forearm mounting seat 6, the forearm motor 63 can drive the wrist mounting seat 7 to rotate and swing around the third direction, thereby further increasing the flexibility of the movement of the humanoid robot arm structure of this embodiment. At the same time, by hiding the forearm driver 64 in the space surrounded by the fourth horizontal portion 61 and the fourth vertical portion 62, and providing a third wire hole on the fourth vertical portion 62 to connect the forearm driver 64 and the space where the forearm motor 63 is located, the third wire hole provides a routing layout channel along the third direction for the cable electrically connecting the forearm driver 64 and the forearm motor 63, so that the cable electrically connecting the forearm driver 64 and the forearm motor 63 basically reaches the shortest harness length, thereby minimizing resistance, improving transmission efficiency, and improving the performance of the humanoid robot arm structure of this embodiment. At the same time, by arranging the forearm motor 63 on the end face of the fourth vertical portion 62 away from the elbow joint motor 41 along the third direction, the forearm motor 63 and the elbow joint motor 41 are basically located in the same straight line space in the third direction, thereby effectively reducing the volume of the humanoid robot arm structure of this embodiment along the first direction, thereby achieving the reduction of its overall volume on the basis of ensuring the movement flexibility of the humanoid robot arm mechanism of this embodiment.

[0053] like Figure 1 , Figure 2 and Figure 4As shown, in some embodiments of the utility model, the wrist mounting seat 7 includes a fifth horizontal portion 71 and a fifth vertical portion 72, the fifth horizontal portion 71 is arranged parallel to the first direction and connected to the output end of the forearm motor 63, the fifth vertical portion 72 is arranged parallel to the third direction and connected to the end face of the fifth horizontal portion 71 away from the forearm motor 63; the fifth vertical portion 72 is provided with a terminal motor 73 along the first direction toward the end face of the fifth horizontal portion 71, and the terminal motor 73 is arranged parallel to the first direction; the end of the fifth vertical portion 72 away from the terminal motor 73 is provided with a palm module 8, and the palm module 8 is connected to the output end of the terminal motor 73, the end face of the fourth vertical portion 62 facing the elbow joint motor 41 is provided with a terminal driver 74, and the terminal driver 74 is electrically connected to the terminal motor 73, and a fourth wire hole is formed through the fourth vertical portion 62 along the third direction; a second wire groove is formed through the position of the fifth horizontal portion 71 corresponding to the fourth wire hole along the third direction. By arranging the terminal motor 73 between the palm module 8 and the wrist mounting seat 7, the terminal motor 73 can drive the palm module 8 to rotate and swing around the first direction, thereby further increasing the flexibility of the movement of the humanoid robot arm structure of this embodiment. The terminal driver 74 is also hidden in the space surrounded by the fourth horizontal portion 61 and the fourth vertical portion 62, and the fourth wire hole and the second wire groove that connect the space where the terminal motor 73 and the terminal driver 74 are located are aligned on the fourth vertical portion 62 and the fifth horizontal portion 71. The fourth wire hole and the second wire groove provide a routing layout channel along the third direction for the cable that electrically connects the terminal motor 73 and the terminal driver 74, so that the cable that electrically connects the terminal motor 73 and the terminal driver 74 basically reaches the shortest harness length, thereby minimizing resistance, improving transmission efficiency, and improving the performance of the humanoid robot arm structure of this embodiment. At the same time, by arranging the end motor 73 on the side of the fifth horizontal portion 71 away from the forearm motor 63 along the third direction, the end motor 73 and the forearm motor 63 are basically located in the same straight line space in the third direction, thereby effectively reducing the volume of the humanoid robot arm structure of this embodiment along the first direction, thereby achieving the reduction of its overall volume on the basis of ensuring the movement flexibility of the humanoid robot arm mechanism of this embodiment.

[0054] In order to facilitate the processing of the third and fourth wire holes, Figure 2 As shown, specifically, the third wire passing hole and the fourth wire passing hole are combined into a through groove with a large diameter.

[0055] like Figure 1 and Figure 2As shown, in some embodiments of the present invention, the palm module 8 is arranged parallel to the third direction, and an L-shaped mounting seat 9 is provided between the palm module 8 and the output end of the terminal motor 73, so that the range of rotation and swing of the palm module 8 around the first direction driven by the terminal motor 73 is expanded by the L-shaped mounting seat 9.

[0056] Specifically, the L-shaped mounting seat 9 includes a sixth horizontal portion 91 and a sixth vertical portion 92, wherein the sixth horizontal portion 91 is arranged parallel to the third direction and connected to the output end of the terminal motor 73; the sixth vertical portion 92 is arranged parallel to the first direction, connected to the end surface of the sixth horizontal portion 91 facing the terminal motor 73, and located on the side of the terminal motor 73 away from the forearm mounting seat 6 along the third direction; and the palm module 8 is connected to the end surface of the sixth vertical portion 92 away from the terminal motor 73 along the third direction. By arranging the palm module 8 on the end surface of the sixth vertical portion 92 away from the terminal motor 73 along the third direction, the palm module 8 and the terminal motor 73 are basically located in the same linear space in the third direction, thereby effectively reducing the volume of the humanoid robot arm structure of the present embodiment along the first direction, and achieving the reduction of its overall volume on the basis of ensuring the movement flexibility of the humanoid robot arm mechanism of the present embodiment.

[0057] Embodiment 2

[0058] like Figures 1 to 4 The figure shows a humanoid robot provided in this embodiment, including the arm structure described in Embodiment 1. The humanoid robot in this embodiment arranges the shoulder joint motor 21 and the shoulder joint driver 22 in the arm structure on the same side of the first vertical portion 12, which not only facilitates the routing layout of the cables electrically connecting the shoulder joint motor 21 and the shoulder joint driver 22, thereby facilitating the later maintenance personnel to find and repair faults; and can make the cables electrically connecting the shoulder joint motor 21 and the shoulder joint driver 22 basically reach the shortest harness length, thereby minimizing resistance, improving transmission efficiency, and improving the performance of the humanoid robot in this embodiment. By hiding the shoulder joint motor 21 and the shoulder joint driver 22 in the arm structure in the space enclosed by the first horizontal part 11 and the first vertical part 12, and the shoulder joint motor 21 and the upper arm mounting seat 3 are arranged on both sides of the first vertical part 12 along the first direction, it is possible to avoid exposure of the cables electrically connecting the shoulder joint motor 21 and the shoulder joint driver 22, thereby improving the aesthetics and anti-interference of the humanoid robot of this embodiment; and it is possible to avoid interference of the cables electrically connecting the shoulder joint motor 21 and the shoulder joint driver 22 with the swinging movement of the upper arm mounting seat 3, thereby avoiding limiting the movement space of the upper arm mounting seat 3 and improving the movement performance of the humanoid robot of this embodiment.

[0059] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention of the utility model.

Claims

1. A humanoid robot arm structure that is convenient for wiring, characterized in that: include: An L-shaped shoulder connection seat (1) comprises a first horizontal portion (11) and a first vertical portion (12), wherein the first horizontal portion (11) is arranged parallel to a first direction and is used to be connected to the shoulder of a trunk of a humanoid robot; and the first vertical portion (12) is arranged parallel to a second direction; A shoulder joint motor (21) is arranged on the first vertical portion (12) parallel to the first direction and is located directly below the first horizontal portion (11) along the second direction; An upper arm mounting seat (3) is rotatably connected to an end surface of the first vertical portion (12) that is away from the shoulder joint motor (21) along a first direction, and is driven to rotate by the shoulder joint motor (21); The shoulder joint driver (22) is arranged on the first vertical portion (12) and is located relatively directly below the first horizontal portion (11) along the second direction. The shoulder joint driver (22) is electrically connected to the shoulder joint motor (21).

2. The humanoid robot arm structure that is convenient for wiring according to claim 1, characterized in that: An upper arm motor (31) is arranged on the upper arm mounting seat (3), and the upper arm motor (31) is arranged parallel to the third direction, and the first direction, the second direction and the third direction are perpendicular to each other; the output end of the upper arm motor (31) is connected to the elbow mounting seat (4), and a mounting bracket (5) is connected between the elbow mounting seat (4) and the upper arm motor (31), and a mounting cavity is arranged in the mounting bracket (5), and an upper arm driver (32) is arranged in the mounting cavity, and the upper arm driver (32) is electrically connected to the upper arm motor (31); a first wire passing hole (51) is arranged on the end surface of the mounting bracket (5) along the third direction facing the upper arm motor (31), and the first wire passing hole (51) is arranged along the third direction and is connected to the mounting cavity.

3. The humanoid robot arm structure that is convenient for wiring according to claim 2, characterized in that: The upper arm mounting seat (3) comprises a second horizontal portion (33) and a second vertical portion (34), wherein the second horizontal portion (33) is arranged parallel to a third direction and is rotatably connected to the first vertical portion (12); the second vertical portion (34) is arranged parallel to the first direction, and the second vertical portion (34) is connected to the end surface of the second horizontal portion (33) facing the first vertical portion (12) to form an L-shaped structure; the upper arm motor (31) is connected to the end surface of the second vertical portion (34) along the third direction away from the shoulder joint motor (21), and the mounting bracket (5) is located at one end of the upper arm motor (31) away from the second vertical portion (34) along the third direction.

4. A humanoid robot arm structure that facilitates wiring according to claim 2 or 3, characterized in that: An elbow joint motor (41) is arranged on the end face of the elbow mounting seat (4) facing away from the mounting bracket (5), the elbow joint motor (41) is arranged parallel to the second direction, and the output end of the elbow joint motor (41) is connected to the forearm mounting seat (6); a partition plate (52) is arranged in the mounting cavity, the partition plate (52) divides the mounting cavity into a first cavity (53) and a second cavity along the second direction, the upper arm driver (32) is arranged in the first cavity (53), and the first wire passing hole (51) is communicated with the first cavity (53); an elbow joint driver (42) is arranged in the second cavity, the elbow joint driver (42) is electrically connected to the elbow joint motor (41), and a second wire passing hole (54) is arranged on the end face of the mounting bracket (5) along the third direction facing the elbow joint motor (41), the second wire passing hole (54) is arranged along the third direction and communicated with the second cavity; the elbow mounting seat (4) is penetrated to form a first wire passing groove along the third direction corresponding to the position of the second wire passing hole (54).

5. The humanoid robot arm structure that is convenient for wiring according to claim 4, characterized in that: The elbow mounting seat (4) comprises a third horizontal portion (43) and a third vertical portion (44), wherein the third horizontal portion (43) is arranged parallel to the third direction, and the third vertical portion (44) is arranged parallel to the second direction, and the third vertical portion (44) is connected to the mounting bracket (5); the third horizontal portion (43) is connected to the end surface of the third vertical portion (44) facing away from the mounting bracket (5) to form an L-shaped structure, and the elbow joint motor (41) is connected to the third horizontal portion (43), and the projection along the third direction at least partially overlaps with the third vertical portion (44).

6. The humanoid robot arm structure that facilitates wiring according to claim 4, characterized in that: The forearm mounting seat (6) comprises a fourth horizontal portion (61) and a fourth vertical portion (62), wherein the fourth horizontal portion (61) is arranged parallel to the third direction and is connected to the output end of the elbow joint motor (41); the fourth vertical portion (62) is arranged parallel to the second direction and is connected to the end surface of the fourth horizontal portion (61) facing the elbow joint motor (41), and the fourth vertical portion (62) is located on a side of the elbow joint motor (41) away from the mounting bracket (5) along the third direction; and the fourth vertical portion (62) is arranged parallel to the second direction and is connected to the end surface of the fourth horizontal portion (61) facing the elbow joint motor (41). A forearm motor (63) is arranged on the end surface of the elbow joint motor (41) in three directions, and the forearm motor (63) is arranged parallel to the third direction. The output end of the forearm motor (63) away from the fourth vertical part (62) is connected to a wrist mounting seat (7); a forearm driver (64) is arranged on the end surface of the fourth vertical part (62) facing the elbow joint motor (41), and the forearm driver (64) is electrically connected to the forearm motor (63). A third wire passing hole is formed on the fourth vertical part (62) along the third direction.

7. The humanoid robot arm structure that facilitates wiring according to claim 6, characterized in that: The wrist mounting seat (7) comprises a fifth horizontal portion (71) and a fifth vertical portion (72), wherein the fifth horizontal portion (71) is arranged parallel to the first direction and connected to the output end of the forearm motor (63), and the fifth vertical portion (72) is arranged parallel to the third direction and connected to the end surface of the fifth horizontal portion (71) facing away from the forearm motor (63); the fifth vertical portion (72) is provided with an end motor (73) along the first direction toward the end surface of the fifth horizontal portion (71), and the end motor (73) is arranged parallel to the first direction; A palm module (8) is arranged at one end of the vertical portion (72) away from the terminal motor (73), and the palm module (8) is connected to the output end of the terminal motor (73); an end driver (74) is arranged on the end surface of the fourth vertical portion (62) facing the elbow joint motor (41), and the end driver (74) is electrically connected to the terminal motor (73); a fourth wire hole is formed through the fourth vertical portion (62) along the third direction; and a second wire groove is formed through the fifth horizontal portion (71) at a position corresponding to the fourth wire hole along the third direction.

8. The humanoid robot arm structure that facilitates wiring according to claim 7, characterized in that: The palm module (8) is arranged parallel to the third direction, and an L-shaped mounting seat (9) is provided between the palm module (8) and the output end of the terminal motor (73).

9. The humanoid robot arm structure that facilitates wiring according to claim 8, characterized in that: The L-shaped mounting seat (9) comprises a sixth horizontal portion (91) and a sixth vertical portion (92), wherein the sixth horizontal portion (91) is arranged parallel to the third direction and connected to the output end of the terminal motor (73); the sixth vertical portion (92) is arranged parallel to the first direction, the sixth vertical portion (92) is connected to the end surface of the sixth horizontal portion (91) facing the terminal motor (73), and is located on the side of the terminal motor (73) away from the forearm mounting seat (6) along the third direction; and the palm module (8) is connected to the end surface of the sixth vertical portion (92) away from the terminal motor (73) along the third direction.

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

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