Upper limb structure of a humanoid robot

Abstract

The present application discloses an upper limb structure of a humanoid robot, and relates to the technical field of humanoid robots. The present application includes a trunk and shoulders, upper arms, elbows, forearms and hands connected in sequence, wherein a connecting plate is provided on the shoulder, a plurality of positioning holes are provided on the connecting plate, and a connecting tube with the same number of positioning holes and one-to-one corresponding plug-in cooperation is provided on the trunk, and a locking member that acts on the connecting plate and locks or unlocks it is provided on the connecting tube. The present application abandons the prior art method of connecting the shoulder and the trunk with multiple bolts. When in use, the connecting plate is in a vertical direction and overlaps with the trunk, and multiple connecting tubes are respectively passed through multiple positioning holes, and multiple locking members are driven by a driving member to operate synchronously, and the connecting plate is locked together by multiple locking members, so that the connecting plate cannot move and cannot move away from the trunk, so as to realize the connection between the shoulder and the trunk.

Description

Technical Field

[0001] The present application relates to the technical field of humanoid robots, and in particular to an upper limb structure of a humanoid robot. Background Art

[0002] A humanoid robot, also known as a humanoid robot, is a robot that imitates human appearance and behavior. It is a culmination of artificial intelligence technology and a concentrated embodiment of advanced manufacturing capabilities. A humanoid robot consists of multiple parts, wherein the body part usually includes a torso, limbs and a head. The limbs are divided into upper limbs and lower limbs. The upper limbs usually include shoulders, upper arms, elbows, forearms and hands connected in sequence. The shoulders are connected to the torso. In the prior art, the shoulders and torso are usually connected by multiple bolts, which is troublesome to install and disassemble. Therefore, an upper limb structure of a humanoid robot is proposed. Utility Model Content

[0003] The purpose of the present application is to solve the technical problem that the shoulder and torso are usually connected by multiple bolts, which is troublesome to install and disassemble. The present application provides an upper limb structure of a humanoid robot.

[0004] In order to achieve the above-mentioned purpose, this application specifically adopts the following technical solutions:

[0005] A humanoid robot upper limb structure comprises a trunk and a shoulder, an upper arm, an elbow, a forearm and a hand connected in sequence, the shoulder being provided with a connecting plate, the connecting plate being provided with a plurality of positioning holes, the trunk being provided with connecting tubes having the same number as the positioning holes and correspondingly plugged in, the connecting tubes being provided with locking members acting on the connecting plate and locking or unlocking it, and the trunk being provided with a driving member acting on a plurality of locking members and driving the plurality of locking members to operate synchronously.

[0006] Furthermore, the free end of the connecting tube is structured in an inwardly contracted cone.

[0007] Furthermore, the locking member includes a receiving groove and a plurality of strip grooves which are both opened on the connecting tube and connected to each other, a slider is slidably arranged in the receiving groove, and a locking rod which is hinged at 90 degrees and slides in a one-to-one corresponding manner with the number of the strip grooves, the locking rod is overlapped with the connecting plate, and a torsion spring is arranged at the hinge of the locking rod.

[0008] Furthermore, the locking member includes an accommodating cavity and a plurality of limiting grooves which are all opened on the connecting cylinder and connected to each other, a slide plate is slidably arranged in the accommodating cavity, a limiting rod which is slidably arranged in the limiting groove and is in contact with and overlaps the connecting plate, a wedge block which is arranged at the free end of the limiting rod and is in contact with and overlaps the slide plate, and a return spring which is sleeved on the limiting rod is arranged between the wedge block and the accommodating cavity.

[0009] Furthermore, the driving member includes a cylinder push rod arranged on the trunk, a driving frame is arranged at the movable end of the cylinder push rod, a connecting rod is slidably arranged on the connecting tube, one end of the connecting rod is connected to the driving frame, and the other end is connected to the slider or the slide plate.

[0010] Furthermore, the driving member includes screw rods that are rotatably arranged on the trunk and have the same number as the sliders or slides, the screw rod threads penetrate the sliders or slides, and the trunk is provided with a driving part that acts on multiple screw rods and drives them to rotate synchronously.

[0011] Furthermore, the driving part comprises an outer gear ring rotatably arranged on a trunk, a driving motor is arranged on the trunk, and a driving gear meshing with the outer gear ring is arranged on the lead screw and the output shaft of the driving motor.

[0012] Furthermore, the driving part includes an electric push rod arranged on the torso, the movable end of the electric push rod is provided with a driving plate, the free end of the screw rod is provided with a fixing cylinder, the fixing cylinder is provided with a spiral groove, and the driving plate is provided with protrusions with the same number as the spiral grooves and one-to-one corresponding sliding fit.

[0013] The beneficial effects of the present application are as follows: the present application abandons the method of connecting the shoulder and the torso with multiple bolts in the prior art. When in use, the connecting plate is in a vertical direction and overlaps with the torso, and multiple connecting tubes are respectively passed through multiple positioning holes. The driving member drives multiple locking members to operate synchronously, and the connecting plate is locked together by the multiple locking members, so that the connecting plate cannot move and cannot be separated from the torso, so as to achieve the connection between the shoulder and the torso. Conversely, during disassembly, the driving member drives multiple locking members to operate synchronously, and the connecting plate is unlocked together by the multiple locking members, so that the connecting plate can move away from the torso, and the multiple connecting tubes are respectively withdrawn from the multiple positioning holes to achieve the disassembly of the shoulder and the torso. The installation and disassembly are convenient, and therefore more practical. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural stereogram of Embodiment 1 of the present application;

[0015] Figure 2 It is a structural stereogram of the connection plate of the present application;

[0016] Figure 3 It is a partial structural stereogram of the first embodiment of the present application;

[0017] Figure 4 This application Figure 3 A three-dimensional cross-sectional view of

[0018] Figure 5 is a structural stereogram of the second embodiment of the present application;

[0019] Figure 6This application Figure 5 A three-dimensional cross-sectional view of

[0020] Figure 7 This is a structural stereogram of Embodiment 3 of the present application;

[0021] Figure 8 This is a structural stereogram of Embodiment 3 of the present application;

[0022] Fig. 9 This is a structural stereogram of the fourth embodiment of the present application;

[0023] Fig.10 This is a structural stereogram of the fourth embodiment of the present application;

[0024] Fig.11 This is a structural stereogram of Embodiment 5 of the present application;

[0025] Fig.12 This is a structural stereogram of Embodiment 6 of the present application;

[0026] Fig.13 This application Fig.12 Enlarged view of point A in the middle.

[0027] Figure numerals: 1, trunk; 2, shoulder; 3, connecting plate; 4, positioning hole; 5, connecting cylinder; 6, accommodating groove; 7, strip groove; 8, slider; 9, locking rod; 10, torsion spring; 11, accommodating chamber; 12, limiting groove; 13, slide plate; 14, limiting rod; 15, wedge block; 16, return spring; 17, cylinder push rod; 18, drive frame; 19, connecting rod; 20, screw rod; 21, external gear ring; 22, drive motor; 23, drive gear; 24, electric push rod; 25, drive plate; 26, fixed cylinder; 27, spiral groove; 28, bump. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0029] Embodiment 1

[0030] like Figure 1-Figure 4As shown, an upper limb structure of a humanoid robot proposed in one embodiment of the present application comprises a trunk 1 and a shoulder 2, an upper arm, an elbow, a forearm and a hand connected in sequence, a connecting plate 3 is arranged on the shoulder 2, the connecting plate 3 is in a vertical direction and fixed on the shoulder 2, the connecting plate 3 is in an annular structure, a plurality of positioning holes 4 are opened on the connecting plate 3, and the plurality of positioning holes 4 are distributed in an annular array, a connecting tube 5 having the same number as the positioning holes 4 and correspondingly plugged in is arranged on the trunk 1, the connecting tube 5 is in a horizontal direction and fixed on the trunk 1, and the plurality of connecting tubes 5 are distributed in an annular array, a locking member acting on the connecting plate 3 and locking or unlocking it is arranged on the connecting tube 5, and a driving member acting on the plurality of locking members and driving the plurality of locking members to operate synchronously is arranged on the trunk 1;

[0031] In the initial state, the shoulder 2 is not connected to the trunk 1. When in use, the connecting plate 3 is in a vertical direction and overlaps with the trunk 1, so that the multiple connecting tubes 5 pass through the multiple positioning holes 4 respectively, and the multiple locking members are driven by the driving member to operate synchronously, and the connecting plate 3 is locked together by the multiple locking members, so that the connecting plate 3 cannot move and cannot be separated from the trunk 1, so as to achieve the connection between the shoulder 2 and the trunk 1. On the contrary, when disassembling, the multiple locking members are driven by the driving member to operate synchronously, and the connecting plate 3 is unlocked together by the multiple locking members, so that the connecting plate 3 can move away from the trunk 1, and the multiple connecting tubes 5 are respectively withdrawn from the multiple positioning holes 4, so as to achieve the disassembly of the shoulder 2 and the trunk 1;

[0032] To summarize, the present application abandons the prior art method of connecting the shoulder 2 and the trunk 1 with multiple bolts. When in use, the connecting plate 3 is in a vertical direction and overlaps with the trunk 1, and multiple connecting tubes 5 are respectively passed through multiple positioning holes 4. The driving member drives the multiple locking members to operate synchronously, and the connecting plate 3 is locked together by the multiple locking members, so that the connecting plate 3 cannot move and cannot be separated from the trunk 1, so as to achieve the connection between the shoulder 2 and the trunk 1. Conversely, when disassembling, the driving member drives the multiple locking members to operate synchronously, and the multiple locking members are unlocked together by the multiple locking members, so that the connecting plate 3 can move away from the trunk 1, and the multiple connecting tubes 5 are respectively withdrawn from the multiple positioning holes 4 to achieve the disassembly of the shoulder 2 and the trunk 1. The installation and disassembly are convenient, and therefore more practical.

[0033] like Figure 3 As shown, in some embodiments, the free end of the connecting tube 5 is configured to be a cone that contracts inwards;

[0034] As mentioned above, the inwardly contracted conical design facilitates the connection tube 5 to pass through the positioning hole 4 smoothly, making it more convenient to use.

[0035] like Figure 5As shown, in some embodiments, the locking member includes a receiving groove 6 and a plurality of strip grooves 7, which are all opened on the connecting tube 5 and connected, and the plurality of strip grooves 7 are distributed in a circular array with the receiving groove 6 as the center, and a slider 8 is slidably arranged in the receiving groove 6, and the slider 8 slides in the horizontal direction, and the slider 8 is hinged at 90 degrees with locking rods 9 with the same number as the strip grooves 7 and one-to-one corresponding sliding cooperation, and the locking rod 9 is overlapped with the connecting plate 3, and a torsion spring 10 is arranged at the hinge of the locking rod 9, and the two ends of the torsion spring 10 are respectively fixedly connected to the locking rod 9 and the slider 8;

[0036] Referring to the above, in the initial state, the slider 8 is in the initial position, the multiple locking rods 9 are parallel to the axis of the slider 8 and are all received in the accommodating groove 6, and the multiple torsion springs 10 are all squeezed. When the connecting tube 5 passes through the positioning hole 4 and the connecting plate 3 overlaps with the trunk 1, the multiple sliders 8 are driven to slide synchronously to the extreme position through the driving member. During this process, the multiple torsion springs 10 are all reset to the natural state, and the multiple locking rods 9 are respectively rotated around their respective corresponding hinge points until they are perpendicular to the axis of the slider 8. The multiple locking rods 9 are respectively slidably matched with the multiple strip grooves 7 and are all overlapped with the connecting plate 3. Blocked by multiple locking rods 9, the connecting plate 3 cannot move and cannot move away from the trunk 1, so as to lock the connecting plate 3. On the contrary, the multiple sliders 8 are driven by the driving member to slide synchronously to the initial position. During this process, the multiple torsion springs 10 are squeezed, and the multiple locking rods 9 are rotated together around their corresponding hinge points until they are all parallel to the axis of the slider 8. The multiple locking rods 9 withdraw from the multiple strip grooves 7 and are all received in the accommodating grooves 6. Due to the loss of the obstruction of the multiple locking rods 9, the connecting plate 3 is able to move away from the trunk 1, and the connecting tube 5 is able to withdraw from the positioning hole 4, so as to unlock the connecting plate 3.

[0037] Embodiment 2

[0038] Embodiment 2 is based on Embodiment 1 and proposes another structure for locking or unlocking the connecting plate 3, that is, another implementation method of the locking member;

[0039] like Figure 5-Figure 6As shown, in some embodiments, the locking member includes an accommodating cavity 11 and a plurality of limiting grooves 12, which are all opened on the connecting cylinder 5 and connected. The plurality of limiting grooves 12 are distributed in a circular array with the accommodating cavity 11 as the center. A slide plate 13 is slidably arranged in the accommodating cavity 11, and the slide plate 13 slides in the horizontal direction. A limiting rod 14 is slidably arranged in the limiting groove 12 to contact and overlap with the connecting plate 3. The sliding direction of the limiting rod 14 is perpendicular to the sliding direction of the slide plate 13. A wedge block 15 is arranged at the free end of the limiting rod 14 to contact and overlap with the slide plate 13. The wedge block 15 is fixed at the free end of the limiting rod 14 and is located in the accommodating cavity 11. A reset spring 16 is arranged between the wedge block 15 and the accommodating cavity 11 and is sleeved on the limiting rod 14. The two ends of the reset spring 16 are respectively fixedly connected to the wedge block 15 and the accommodating cavity 11.

[0040] Referring to the above, in the initial state, the slide plate 13 is in the initial position, the plurality of limit rods 14 are close to the axis of the slide plate 13, the plurality of wedge blocks 15 are close to the axis of the slide plate 13, and the plurality of return springs 16 are in the natural state. When the connecting tube 5 passes through the positioning hole 4 and the connecting plate 3 is in contact with and overlaps the trunk 1, the plurality of slide plates 13 are driven to slide synchronously to the limit position through the driving member. During this process, the slide plate 13 is in contact with and overlaps the plurality of wedge blocks 15. Through the transition effect of the inclined surface, the plurality of wedge blocks 15 are forced to move synchronously to the axis away from the slide plate 13, and the plurality of limit rods 14 are synchronously slid to the axis away from the slide plate 13 and to the connecting plate 3. When the connecting plate 3 is in contact with the trunk 1, the multiple return springs 16 are squeezed. Due to the obstruction of the multiple limit rods 14, the connecting plate 3 cannot move and cannot move away from the trunk 1, so as to achieve the locking of the connecting plate 3. On the contrary, the multiple slide plates 13 are driven to slide synchronously to the initial position by the driving member. During this process, the multiple return springs 16 are reset to the natural state, the multiple limit rods 14 slide together to the axis of the slide plate 13, and the multiple wedge blocks 15 move together to the axis of the slide plate 13. Due to the loss of the obstruction of the multiple limit rods 14, the connecting plate 3 can move away from the trunk 1, and the connecting tube 5 can withdraw from the positioning hole 4, so as to achieve the unlocking of the connecting plate 3.

[0041] Embodiment 3

[0042] Embodiment 3 proposes a method for realizing a driving member based on Embodiment 1 or Embodiment 2;

[0043] like Figure 7-Figure 8 As shown, in some embodiments, the driving member includes a cylinder push rod 17 arranged on the trunk 1, the cylinder push rod 17 is horizontally oriented and fixed on the trunk 1, a driving frame 18 is arranged at the movable end of the cylinder push rod 17, the driving frame 18 is vertically oriented and fixed at the movable end of the cylinder push rod 17, a connecting rod 19 is slidably arranged on the connecting tube 5, the connecting rod 19 slides in the horizontal direction, one end of the connecting rod 19 is connected to the driving frame 18, and the other end is connected to the slider 8 or the slide plate 13;

[0044] Referring to the above, when in use, the cylinder push rod 17 works, and the movable end extends or retracts, driving the drive frame 18 to slide from the initial position to the extreme position, or from the extreme position to the initial position. The drive frame 18 drives multiple connecting rods 19 to slide together, and the connecting rods 19 drive the slider 8 or the skateboard 13 to slide together, so as to drive multiple sliders 8 or multiple skateboards 13 to slide synchronously.

[0045] Embodiment 4

[0046] Embodiment 4 is based on Embodiment 1 or Embodiment 2, and proposes another structure for driving multiple sliders 8 or multiple slide plates 13 to slide synchronously, that is, another implementation method of the driving member;

[0047] like Figure 9-10 As shown, in some embodiments, the driving member includes screw rods 20 that are rotatably arranged on the trunk 1 and are the same in number as the slider 8 or the slide 13, the screw rods 20 are horizontally oriented, and a plurality of screw rods 20 are distributed in a circular array, the screw rods 20 threadably penetrate the slider 8 or the slide 13, and the trunk 1 is provided with a driving part that acts on the plurality of screw rods 20 and drives the plurality of screw rods 20 to rotate synchronously;

[0048] Referring to the above, when in use, the driving part drives the multiple screw rods 20 to rotate synchronously, and the multiple sliders 8 or the multiple slide plates 13 slide synchronously due to the action of the threads, so as to drive the multiple sliders 8 or the multiple slide plates 13 to slide synchronously.

[0049] Embodiment 5

[0050] Embodiment 5 proposes a method for realizing the driving unit based on embodiment 4;

[0051] like Fig.11 As shown, in some embodiments, the driving part includes an outer gear ring 21 rotatably arranged on the trunk 1, the outer gear ring 21 is in a vertical direction, a driving motor 22 is arranged on the trunk 1, the driving motor 22 is fixed on the trunk 1 and the output shaft is in a horizontal direction, and a driving gear 23 meshing with the outer gear ring 21 is arranged on the screw rod 20 and the output shaft of the driving motor 22, and the driving gear 23 is in a vertical direction;

[0052] Referring to the above, when in use, the driving motor 22 works, the output shaft rotates, driving the corresponding driving gear 23 to rotate, the outer gear ring 21 rotates due to the meshing action, and multiple driving gears 23 rotate together due to the meshing action. The driving gear 23 drives the screw rod 20 to rotate together, so as to drive the multiple screw rods 20 to rotate synchronously.

[0053] Embodiment 6

[0054] Embodiment 6 is based on Embodiment 4 and proposes another structure for driving multiple screw rods 20 to rotate synchronously, that is, another implementation method of the driving part;

[0055] like Figure 12-13 As shown, in some embodiments, the driving part includes an electric push rod 24 arranged on the trunk 1, the electric push rod 24 is horizontal and fixed on the trunk 1, the movable end of the electric push rod 24 is provided with a driving plate 25, the driving plate 25 is vertical, the free end of the screw rod 20 is provided with a fixing cylinder 26, the fixing cylinder 26 is horizontal and fixed on the free end of the screw rod 20, the fixing cylinder 26 is provided with a spiral groove 27, the spiral groove 27 is opened in the horizontal direction, the driving plate 25 is provided with a number of protrusions 28 that are the same as the number of the spiral grooves 27 and correspond to each other in a one-to-one sliding fit, and the protrusions 28 are fixed on the driving plate 25;

[0056] Referring to the above, when in use, the electric push rod 24 works, and the movable end extends or retracts, driving the drive plate 25 to slide from the initial position to the extreme position, or from the extreme position to the initial position, and the drive plate 25 drives multiple protrusions 28 to move together, and the protrusion 28 slides in the spiral groove 27. Through the cooperation of the protrusion 28 and the spiral groove 27, the fixed cylinder 26 is driven to rotate, and the screw rod 20 is driven to rotate together through the fixed cylinder 26, so as to realize driving multiple screw rods 20 to rotate synchronously.

[0057] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An upper limb structure of a humanoid robot, comprising a trunk (1) and a shoulder (2), an upper arm, an elbow, a lower arm and a hand connected in sequence, characterized in that: The shoulder (2) is provided with a connecting plate (3), the connecting plate (3) is provided with a plurality of positioning holes (4), the trunk (1) is provided with connecting tubes (5) the same number as the positioning holes (4) and correspondingly plugged in, the connecting tubes (5) are provided with locking members that act on the connecting plate (3) and lock or unlock it, and the trunk (1) is provided with a driving member that acts on the plurality of locking members and drives the plurality of locking members to operate synchronously.

2. The upper limb structure of a humanoid robot according to claim 1, characterized in that: The free end of the connecting tube (5) is in the shape of a cone that contracts inwards.

3. The upper limb structure of a humanoid robot according to claim 1, characterized in that: The locking member comprises a receiving groove (6) and a plurality of strip grooves (7) which are both opened on the connecting tube (5) and connected to each other. A slider (8) is slidably arranged in the receiving groove (6). The slider (8) is hinged at 90 degrees with locking rods (9) which are the same in number as the strip grooves (7) and are slidably matched in a one-to-one correspondence. The locking rods (9) are in contact with and overlap the connecting plate (3). A torsion spring (10) is arranged at the hinge of the locking rods (9).

4. The upper limb structure of a humanoid robot according to claim 1, characterized in that: The locking member comprises an accommodating cavity (11) and a plurality of limiting grooves (12) which are both opened on the connecting cylinder (5) and communicated with each other; a slide plate (13) is slidably arranged in the accommodating cavity (11); a limiting rod (14) which is in contact with and overlaps the connecting plate (3) is slidably arranged in the limiting groove (12); a wedge block (15) which is in contact with and overlaps the slide plate (13) is arranged at the free end of the limiting rod (14); and a return spring (16) which is sleeved on the limiting rod (14) is arranged between the wedge block (15) and the accommodating cavity (11).

5. The upper limb structure of a humanoid robot according to claim 3 or 4, characterized in that: The driving member comprises a cylinder push rod (17) arranged on the trunk (1), a driving frame (18) being arranged at a movable end of the cylinder push rod (17), a connecting rod (19) being slidably arranged on the connecting tube (5), one end of the connecting rod (19) being connected to the driving frame (18), and the other end of the connecting rod (19) being connected to the sliding block (8) or the sliding plate (13).

6. The upper limb structure of a humanoid robot according to claim 3 or 4, characterized in that: The driving member comprises screw rods (20) which are rotatably arranged on the trunk (1) and have the same number as the sliders (8) or the slide plates (13), wherein the screw rods (20) are threadedly passed through the sliders (8) or the slide plates (13), and a driving part which acts on the plurality of screw rods (20) and drives the plurality of screw rods (20) to rotate synchronously is arranged on the trunk (1).

7. The upper limb structure of a humanoid robot according to claim 6, characterized in that: The driving part comprises an outer toothed ring (21) rotatably arranged on a trunk (1), a driving motor (22) is arranged on the trunk (1), and a driving gear (23) meshing with the outer toothed ring (21) is arranged on the output shaft of the screw rod (20) and the driving motor (22).

8. The upper limb structure of a humanoid robot according to claim 6, characterized in that: The driving part comprises an electric push rod (24) arranged on the trunk (1), the movable end of the electric push rod (24) being provided with a driving plate (25), the free end of the screw rod (20) being provided with a fixing cylinder (26), the fixing cylinder (26) being provided with a spiral groove (27), and the driving plate (25) being provided with protrusions (28) which are the same in number as the spiral grooves (27) and which are in one-to-one sliding engagement.

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