Wrist joint assembling structure and arm structure of humanoid robot and robot

Abstract

The utility model relates to the technical field of robots, and discloses a wrist joint assembly structure of a humanoid robot, an arm structure and a robotic.The wrist joint assembly structure of the humanoid robot mainly comprises a first connecting piece, a second connecting piece, a third connecting piece, a first joint module and a second joint module; the first joint module is assembled with the first connecting piece and the second connecting piece through the two end faces and the first output flange, the second joint module is assembled with the third connecting piece through the end face, and the third connecting piece is assembled and connected with the second connecting piece. The first joint module and the second joint module achieve assembly and transmission of the two joints only through the three connecting pieces, transmission pieces are omitted, the assembly positions of the two connecting pieces are integrated on the same joint module, the joint module serves as a connecting structure between the connecting pieces, the structure is compact, and assembly is more convenient and faster.

Description

Technical Field

[0001] The present application relates to the technical field of robots, and more particularly to a wrist joint assembly structure, an arm structure and a robot of a humanoid robot. Background Art

[0002] In robotics technology, the development of bipedal robots with humanoid features is a hot topic in the industry. The upper limbs of humanoid robots include the trunk and arms, and the arms include two upper arms, lower arms, and hands. Due to the need for flexible operation, the arms have multiple independently rotatable joints to achieve high degrees of freedom and meet the needs of humanoid movements.

[0003] The wrist of the arm structure needs a high degree of freedom to adapt to different movement requirements, and thus more rotation joints need to be integrated in the wrist. In the prior art, different rotation joints of the wrist need to be connected by connecting parts and transmission parts, resulting in a large number of related parts, complex wrist assembly, and high assembly difficulty. Utility Model Content

[0004] The present application provides a humanoid robot wrist joint assembly structure, an arm structure and a robot, aiming to solve the problem in the prior art that the humanoid robot wrist joint assembly structure needs to be provided with connecting parts and transmission parts, and the joint module assembly is complex and difficult.

[0005] In one scheme, a wrist joint assembly structure of a humanoid robot is provided, which mainly includes a first connecting member, a second connecting member, a third connecting member, a first joint module and a second joint module, wherein the first connecting member mainly includes a first connecting end and a second connecting end which are perpendicular to each other, and the second connecting end is used to connect the lower end of the elbow; the second connecting member mainly includes a third connecting end, a fourth connecting end and a fifth connecting end, and the fifth connecting end is respectively arranged perpendicular to the third connecting end and the fourth connecting end; the third connecting member mainly includes a sixth connecting end and a seventh connecting end which are perpendicular to each other, and the fifth connecting end is assembled and connected with the sixth connecting end; the first joint module mainly includes a first output flange, one end of the first output flange of the first joint module is assembled and connected with the first connecting end, the first output flange is assembled and connected with the third connecting end, and one end of the first joint module which is away from the first output flange is rotatably connected with the fourth connecting end; one end of the second output flange of the second joint module is assembled and connected with the seventh connecting end, and the second output flange is used to connect the upper end of the hand.

[0006] In one embodiment, the first connecting end includes a first flange and a first inner cavity. The first flange is integrally formed with the first connecting piece. A first assembly hole is provided on the inner side of the first flange. The first assembly hole is aligned with the first output flange. The first inner cavity is adapted to one end of the first output flange of the first joint module.

[0007] In one solution, a limiting member is provided on a side of the first flange facing away from the first inner cavity, and the limiting member is assembled and connected to the first flange.

[0008] In one solution, the third connection end includes a plurality of first through holes, the first output flange includes a plurality of first fixing holes, each of the first through holes and each of the first fixing holes extend along a direction parallel to the rotation axis of the first joint module, and each of the first through holes is aligned with each of the first fixing holes.

[0009] In one solution, the fifth connection end includes a plurality of second through holes, the sixth connection end includes a plurality of second fixing holes, each of the second through holes and each of the second fixing holes extend along a direction perpendicular to the rotation axis of the first joint module, and each of the second through holes is aligned with each of the second fixing holes.

[0010] In one solution, the seventh connection end includes a second flange and a second inner cavity, the second flange is integrally formed with the third connecting member, a second assembly hole is provided on the inner side of the second flange, the second assembly hole is aligned with the second output flange, and the second inner cavity is adapted to one end of the second output flange of the second joint module.

[0011] In one solution, the seventh connection end includes a plurality of third through holes, one end of the second output flange of the second joint module includes a plurality of third fixing holes, each of the third through holes and each of the third fixing holes extend along a direction parallel to the rotation axis of the second joint module, and each of the third through holes is aligned with each of the third fixing holes.

[0012] In one solution, it further includes a fourth connecting member, the fourth connecting member includes an eighth connection end and a ninth connection end, the eighth connection end is assembled and connected to the second connection end, and the ninth connection end is used to connect the lower end of the elbow.

[0013] In one solution, a plurality of fourth fixing holes are further provided on the outer ring side wall of the eighth connection end, each of the fourth fixing holes extends along the radial direction of the eighth connection end, a plurality of fourth through holes in the radial direction are provided on the second connection end, and each of the fourth through holes is aligned with each of the fourth fixing holes.

[0014] In one solution, a plurality of clamping blocks are provided at intervals on the outer side surface of the eighth connection end, a plurality of clamping grooves are provided at intervals on the second connection end, and the clamping blocks are clamped with the clamping grooves in an aligned manner.

[0015] In one solution, an arm structure of a humanoid robot is provided, which mainly includes the wrist joint assembly structure of the humanoid robot as described above.

[0016] In one solution, one end of the first output flange of the first joint module is fixedly connected to the first connection end through a plurality of fasteners extending parallel to the axis of the first joint module; the first output flange is fixedly connected to the third connection end through a plurality of fasteners extending parallel to the axis of the first joint module; the fifth connection end is fixedly connected to the sixth connection end through a plurality of fasteners extending perpendicular to the axis of the first joint module; one end of the second output flange of the second joint module is fixedly connected to the seventh connection end through a plurality of fasteners extending parallel to the axis of the second joint module.

[0017] In one solution, a humanoid robot is provided, mainly including the wrist joint assembly structure of the humanoid robot as described above, or the arm structure of the humanoid robot as described above.

[0018] In one solution, a robot is provided, mainly including the wrist joint assembly structure of the humanoid robot as described above, or the arm structure of the humanoid robot as described above.

[0019] Advantages of the present application:

[0020] In a wrist joint assembly structure, an arm structure and a robot of a humanoid robot according to the present application, the wrist joint assembly structure of the humanoid robot mainly includes a first connecting member, a second connecting member, a third connecting member, a first joint module and a second joint module. The first joint module is assembled with the first connecting member and the second connecting member through two end faces and a first output flange. The second joint module is assembled with the third connecting member through an end face, and the third connecting member is assembled and connected to the second connecting member.

[0021] With the above design, the first joint module and the second joint module realize the assembly and transmission of two joints only through three connecting members, with a compact structure and convenient assembly. At the same time, the second connecting member can be used as a transmission member of the first joint module to directly drive the third connecting member to rotate, saving the setting of transmission members and avoiding complex structural design and assembly, with a higher integration degree.

[0022] In addition, different connection ends provided on the first connecting member, the second connecting member and the third connecting member can realize the mutual cooperation of assembling joint modules. For example, both ends of the first joint module are respectively assembled with the first connection end of the first connecting member and the fourth connection end of the second connecting member, integrating the assembly positions of the two connecting members on the same joint module. Using the joint module as the connection structure between the connecting members, the structure is compact and the assembly is more convenient. Description of the drawings

[0023] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0024] Figure 1 is a schematic perspective view of a wrist joint assembly structure in an embodiment of the present application;

[0025] Figure 2 is an exploded view of a wrist joint assembly structure in an embodiment of the present application;

[0026] Figure 3 is an exploded view of a second connecting member, a third connecting member and a second joint module in a wrist joint assembly structure in an embodiment of the present application;

[0027] Figure 4 is a schematic perspective view of a first connecting member of a wrist joint assembly structure in an embodiment of the present application;

[0028] Figure 5 is a schematic perspective view of a limiting member of a first connecting member in an embodiment of the present application;

[0029] Figure 6 is a schematic perspective view of a second connecting member of a wrist joint assembly structure in an embodiment of the present application;

[0030] Figure 7 is a schematic perspective view of a third connecting member of a wrist joint assembly structure in an embodiment of the present application;

[0031] Figure 8 is a schematic perspective view of a fourth connecting member of a wrist joint assembly structure in an embodiment of the present application;

[0032] Figure 9 is a schematic perspective view of a forearm of a humanoid robot in an embodiment of the present application;

[0033] Figure 10 is a schematic perspective view of an arm structure in an embodiment of the present application;

[0034] Figure 11 is a schematic perspective view of a humanoid robot in an embodiment of the present application.

[0035] Reference numerals in the figures:

[0036] 1, first connecting member; 11, first connection end; 111, first flange;

[0037] 1111, fifth through hole;

[0038] 1112. Mounting post; 1113. Sixth fixing hole;

[0039] 112. First inner cavity; 113. First assembly hole;

[0040] 12. Second connection end; 121. Fourth through hole; 122. Card slot;

[0041] 13. Limiting member;

[0042] 131. Insertion hole; 132. Sixth through hole;

[0043] 2. Second connecting member; 21. Third connection end; 211. First through hole;

[0044] 22. Fourth connection end; 221. Axial connecting member; 222. Assembly through hole;

[0045] 23. Fifth connection end; 231. Second through hole;

[0046] 3. Third connecting member; 31. Sixth connection end; 311. Second fixing hole;

[0047] 32. Seventh connection end;

[0048] 321. Second flange; 322. Second inner cavity; 323. Second assembly hole; 324. Third through hole;

[0049] 4. First joint module; 41. First output flange; 411. First fixing hole;

[0050] 42. Fifth fixing hole;

[0051] 5. Second joint module; 51. Second output flange; 52. Third fixing hole;

[0052] 6. Fourth connecting member; 61. Eighth connection end; 62. Ninth connection end; 621. Seventh through hole; 63. Fourth fixing hole; 64. Clamping block; 65. Limiting card slot;

[0053] 7. Elbow; 8. Hand;

[0054] 9. Trunk; 91. Waist; 92. Lower limbs. Detailed implementation manners

[0055] The following will further describe in detail the specific embodiments of the present application in conjunction with the drawings and embodiments. The following embodiments are used to illustrate the present application, but not to limit the scope of the present application. Similarly, the following embodiments are only partial embodiments of the present application rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present application.

[0056] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model 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. Therefore, it should not be construed as a limitation to the present utility model.

[0057] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present utility model, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0058] In the present utility model, unless otherwise clearly specified and limited, the terms such as "mounted", "connected", "connected to", "fixed" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection or communicable with each other; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0059] In the present utility model, unless otherwise clearly specified and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0060] In the present utility model, terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present utility model. 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 can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0061] In the present utility model, the concept of "substantially in the shape of" describes the main features of an overall structure or shape. When describing the shape of an object, this means that the object mainly presents a certain specific shape, but there may be differences in non-functional details. These detail differences do not affect the overall characteristics, so it can be classified as "substantially in the shape of" a certain shape. For example, when describing a circular object, it is described as "substantially circular", which means that the overall shape of the object is circular, but there are differences in some non-functional details. Similarly, when describing a cube, it is described as "substantially cube-shaped", which means that the overall shape of the object is a cube, but there are differences in some non-functional details.

[0062] In the prior art, the humanoid robot has two arms with humanoid upper limbs, that is, the arm structure. The arm structure includes the upper arm and the forearm, and usually can achieve rotations with a relatively large number of degrees of freedom, such as swinging left and right and rotating around the vertical direction. The upper arm, the forearm and the output end all have multiple degrees of freedom. In this way, through the coordinated movement of each part, the humanoid arm movement of the humanoid robot is realized.

[0063] In one embodiment, please refer to Figures 1 to 3, provides a wrist joint assembly structure of a humanoid robot, mainly including a first connecting member 1, a second connecting member 2, a third connecting member 3, a first joint module 4 and a second joint module 5, the first connecting member 1 mainly includes a first connecting end 11 and a second connecting end 12 which are perpendicular to each other, the second connecting end 12 is used to connect the lower end of the elbow 7; the second connecting member 2 mainly includes a third connecting end 21, a fourth connecting end 22 and a fifth connecting end 23, the fifth connecting end 23 is respectively arranged perpendicular to the third connecting end 21 and the fourth connecting end 22; the third connecting member 3 mainly includes a third connecting end 21, a fourth connecting end 22 and a fifth connecting end 23 which are respectively arranged perpendicular to each other The sixth connection end 31 and the seventh connection end 32, the fifth connection end 23 is assembled and connected with the sixth connection end 31; the first joint module 4 mainly includes a first output flange 41, one end of the first output flange 41 of the first joint module 4 is assembled and connected with the first connection end 11, the first output flange 41 is assembled and connected with the third connection end 21, and one end of the first joint module 4 facing away from the first output flange 41 is rotatably connected with the fourth connection end 22; one end of the second output flange 51 of the second joint module 5 is assembled and connected with the seventh connection end 32, and the second output flange 51 is used to connect the upper end of the hand 8.

[0064] The first joint module 4 is assembled with the first connecting member 1 and the second connecting member 2 through two end faces and the first output flange 41, and the second joint module 5 is assembled with the third connecting member 3 through the end face, and the third connecting member 3 is assembled and connected with the second connecting member 2. The first joint module 4 and the second joint module 5 realize the assembly and transmission of two joints through only three connecting members, and the structure is compact and easy to assemble. At the same time, the second connecting member 2 can be used as the transmission member of the first joint module 4, directly driving the third connecting member 3 to rotate, saving the setting of the transmission member, avoiding complex structural design and assembly, and having a higher degree of integration.

[0065] The different connection end settings on the first connecting member 1, the second connecting member 2 and the third connecting member 3 can realize the mutual cooperation assembly of the joint module. For example, the two ends of the first joint module 4 are respectively assembled with the first connection end 11 of the first connecting member 1 and the fourth connection end 22 of the second connecting member 2. The assembly positions of the two connecting members are integrated on the same joint module, and the joint module is used as the connection structure between the connecting members. The structure is compact and the assembly is more convenient.

[0066] It can be understood that the first connecting member 1, the second connecting member 2 and the third connecting member 3 are assembled in a combined manner to assemble the first joint module 4 and the second joint module 5. No separate connection is set between the connecting members, which saves the structural design between the connecting members. At the same time, there is no need to set a transmission structure, which further simplifies the structure. This can also reduce the weight of the entire wrist joint and play a lightweight role.

[0067] It can be understood that the first connection end 11 and the second connection end 12 of the first connecting member 1 are vertically arranged, which is equivalent to that the rotation axes of the first connection end 11 and the second connection end 12 are perpendicular. In this way, it can meet the requirement that the rotation output direction of the elbow 7 is perpendicular to the rotation output direction of the first joint module 4 to meet the activity requirements of different degrees of freedom.

[0068] Similarly, the sixth connection end 31 and the seventh connection end 32 of the third connecting member 3 are vertically arranged, which is equivalent to that the rotation axes of the sixth connection end 31 and the seventh connection end 32 are perpendicular. In this way, it can meet the requirement that the rotation output direction of the first joint module 4 is perpendicular to the rotation output direction of the second joint module 5.

[0069] Both the first joint module 4 and the second joint module 5 are single-sided supported modules, that is, the module support relies on the internal bearing connected by its output flange. The first joint module 4 and the second joint module 5 are at the end of the arm structure far from the torso, and the static load above them is relatively small. Single-sided support can meet the connection strength requirements. Therefore, reducing the structure can achieve lightweight, and lightweight can reduce the bearing pressure of the first joint module 4 and the second joint module 5.

[0070] In an embodiment, please refer to Figures 1 to 4 , the first connection end 11 includes a first flange 111 and a first inner cavity 112. The first flange 111 is integrally formed with the first connecting member 1. A first assembly hole 113 is provided on the inner side of the first flange 111. The first assembly hole 113 is aligned with the first output flange 41 of the first joint module 4, and the first inner cavity 112 is adapted to one end of the first output flange 41 of the first joint module 4.

[0071] The first assembly hole 113 is provided for aligning with the first output flange 41 of the first joint module 4. The two are coaxially arranged, and the first assembly hole 113 does not contact the first output flange 41, that is, the first output flange 41 can be located inside the first assembly hole 113 or pass through the first assembly hole 113 and output power outward.

[0072] The integral formation of the first flange 111 with the first connecting member 1 makes the structure of the first connecting member 1 more compact, and the structural strength can be further guaranteed.

[0073] In one embodiment, the first assembly hole 113 is coaxially arranged with the first flange 111, and the first assembly hole 113 is connected to the hollow part of the first inner cavity 112 from the outside to the inside, and the side wall of the first inner cavity 112 is generally cylindrically arranged, and the length of the side wall of the first inner cavity 112 gradually increases along the axial direction of the second connecting end 12, so that the position where the first connecting end 11 and the second connecting end 12 intersect has a higher degree of bonding, which is conducive to increasing the structural strength. It can be understood that the first assembly hole 113 is coaxial with the first flange 111, so that the concentricity between the two can be guaranteed, ensuring that the rotation axis of the first joint module 4 is the same as the first flange 111 after assembly.

[0074] The first connecting end 11 is generally cylindrical in structure and is adapted to the first joint module 4. At the same time, the structure of the annular connection is similar to that of a pipe, and its inner cavity wall is cylindrical, which can play a role of internal support and can effectively improve the structural strength.

[0075] In one embodiment, the first joint module 4 and the first inner cavity 112 are transitionally matched, so that the first inner cavity 112 and the outer shell of the first joint module 4 are offset against each other, increasing the degree of bonding between the two, and the two can support each other to improve structural strength.

[0076] The first flange 111 includes a fifth through hole 1111 , and the first joint module 4 includes a fifth fixing hole 42 . The fifth through hole 1111 is aligned with the fifth fixing hole 42 . The extension direction of the fifth through hole 1111 and the extension direction of the fifth fixing hole 42 are both parallel to the rotation axis of the first joint module 4 .

[0077] Each fifth through hole 1111 and each fifth fixing hole 42 is arranged in a direction parallel to the rotation axis of the first joint module 4, that is, extends axially, and can be fastened to the fifth fixing hole 42 through a fastener through the fifth through hole 1111, thereby enabling axial fastening and assembly of the first joint module 4, which is beneficial to the fixation of the first joint module 4 and provides a basis for power output.

[0078] In one embodiment, a limiting member 13 is provided on the side of the first flange 111 away from the first inner cavity 112, and the limiting member 13 is assembled and connected with the first flange 111. The limiting member 13 is provided to limit the third connection end 21 located on the side of the first flange 111 away from the first inner cavity 112. The third connection end 21 can rotate relative to the first flange 111 through the power output of the first joint module 4, and the limiting member 13 is provided to limit its rotation range to avoid excessive deflection.

[0079] In one embodiment, see Figures 1 to 5, a plurality of mounting posts 1112 are provided on the first flange 111. The plurality of mounting posts 1112 are arranged around the assembly hole. The limiting member 13 is correspondingly provided with insertion holes 131. The mounting posts 1112 are inserted into the insertion holes 131 to form limiting and fixing. The cooperation between the insertion holes 131 and the mounting posts 1112 realizes the fixing of the limiting member 13, and increases the connection position between the limiting member 13 and the first flange 111, thereby increasing the connection strength.

[0080] It can be understood that in addition to the cooperation between the mounting posts 1112 and the insertion holes 131, the limiting member 13 is also provided with a sixth through hole 132. Corresponding to the first flange 111, a plurality of sixth fixing holes 1113 are provided. The sixth through hole 132 and the sixth fixing holes 1113 are aligned one by one, and can be tightly connected by a fastener, which increases the installation strength of the limiting member 13. At the same time, the mounting posts 1112 and the insertion holes 131 can increase the connection points of the limiting member 13 in the axial direction, increasing the resistance to the shear force of the fastener.

[0081] In one embodiment, the mounting posts 1112 and the insertion holes 131 are in interference fit, so that they can be fixedly connected to each other after combination, with better connection effect and not easy to disassemble. The limiting member 13 does not participate in power transmission and rotation and is stationary relative to the first flange 111. Therefore, a connection with higher joint degree can be realized through interference fit, increasing the structural stability and reducing maintenance.

[0082] In one embodiment, please refer to Figures 1 to 3 and Figure 6 , the third connection end 21 includes a plurality of first through holes 211, and the first output flange 41 includes a plurality of first fixing holes 411. Each of the first through holes 211 and each of the first fixing holes 411 extend along a direction parallel to the rotation axis of the first joint module 4, and each of the first through holes 211 and each of the first fixing holes 411 are aligned one by one.

[0083] Each of the first through holes 211 and each of the first fixing holes 411 are arranged in a direction parallel to the rotation axis of the first joint module 4, that is, extending along the axial direction. A fastener can pass through the first through hole 211 and be fastened to the first fixing hole 411, thereby fixing the first connecting member 1 and the first joint module 4, which is beneficial to the stable output of the first joint module 4. The third connection end 21 is generally rectangularly arranged and can be adapted to the limiting member 13 for output limiting of the first joint module 4.

[0084] In one embodiment, please refer to Figures 1 to 3 , Figure 6 and Figure 7, the fifth connection end 23 includes a plurality of second vias 231, and the sixth connection end 31 includes a plurality of second fixing holes 311. Each second via 231 and each second fixing hole 311 extend along a direction perpendicular to the rotation axis of the first joint module 4, and each second via 231 and each second fixing hole 311 are aligned one by one. The above setting can realize the fastening and fixing of the fifth connection end 23 and the sixth connection end 31 through a fastener. It can be understood that each second via 231 and each second fixing hole 311 extend along a direction perpendicular to the rotation axis of the first joint module 4, and the extension directions of each second via 231 and each second fixing hole 311 are perpendicular to the rotation axis direction of the second joint module 5, and the rotation axis direction of the first joint module 4 is perpendicular to the rotation axis direction of the second joint module 5. Such a setting is equivalent to directly connecting the side position of the second joint module 5 from the side position of the first joint module 4. Such a connection method is direct, the connection distance is short, and the structure is more compact.

[0085] In an embodiment, the third connection end 21 and the fourth connection end 22 are two parallel connecting plate bodies, and the fifth connection end 23 is a plate for connecting the two connecting plate bodies. The area surrounded by the three plate bodies is the setting area of the first joint module 4. At a position equidistant from the third connection end 21 and the fourth connection end 22 of the fifth connection end 23, a cavity extends along a direction away from the first joint module 4, and the cavity is used to place the end of the fastener.

[0086] In an embodiment, the opening of the cavity away from the first joint module 4 has a circular convex ring, and the circular convex ring can be adapted to the opening of the sixth connection end 31, and the two form a limit of the circumferential translation degree of freedom, and then the fastener forms a limit of the axial degree of freedom and the rotational degree of freedom, so that the fastener can be hidden and the aesthetic effect can be increased. During disassembly and assembly, the second connecting member 2 and the first joint module 4 can be disassembled in sequence, and then the second connecting member 2 and the third connecting member 3 can be disassembled, and the disassembly is convenient and the maintenance is facilitated.

[0087] In some embodiments, the fourth connection end 22 is provided with a shaft connection member 221 and an assembly via 222. The assembly via 222 is aligned with the first joint module 4. The shaft connection member 221 and the assembly via 222 are rotatably connected, and the assembly via 222 forms a limit of the shaft connection member 221 close to the first joint module 4. One end of the shaft connection member 221 close to the first joint module 4 is connected to the first joint module 4 through a bearing. Such a setting is used to realize the rotational connection between the first joint module 4 and the fourth connection end 22. During disassembly and assembly, the shaft connection member 221 and the first joint module 4 are separated first, and then the removal of the fourth connection end 22 and the first joint module 4 can be completed.

[0088] In some embodiments, please refer to Figures 1 to 3 and Figure 7, the seventh connection end 32 includes a second flange 321 and a second inner cavity 322. The second flange 321 is integrally formed with the third connecting member 3. A second assembly hole 323 is provided inside the second flange 321. The second assembly hole 323 is aligned with the second output flange 51, and the second inner cavity 322 is adapted to one end of the second output flange 51 of the second joint module 5.

[0089] The integral formation of the second flange 321 and the first connecting member 1 makes the structure of the third connecting member 3 more compact, and the structural strength can be further guaranteed.

[0090] In one embodiment, the second assembly hole 323 is coaxially arranged with the second flange 321, and the second assembly hole 323 is connected from the outside to the hollow part of the second inner cavity 322. The side wall of the second inner cavity 322 is generally cylindrical. Along the axial direction close to the sixth connection end 31, the length of the side wall of the second inner cavity 322 gradually increases. This makes the position where the seventh connection end 32 intersects with the sixth connection end 31 have a higher degree of combination, which is beneficial to the increase of structural strength. It can be understood that the second assembly hole 323 is coaxially arranged with the second flange 321, which can ensure the concentricity between the two and ensure that the rotation axis of the second joint module 5 is the same as that of the second flange 321 after assembly.

[0091] The seventh connection end 32 is generally cylindrical in structure and is adapted to the second joint module 5. At the same time, the structure of the annular connection is similar to that of a pipe, and its inner cavity wall is cylindrical, which can play an internal support role and effectively improve the structural strength.

[0092] In one embodiment, the second joint module 5 and the second inner cavity 322 are in transitional fit, so that the second inner cavity 322 abuts against the outer shell of the second joint module 5, increasing the degree of combination between the two, and the two can support each other to improve the structural strength.

[0093] In one embodiment, please refer to Figures 1 to 3 、 Figure 6 and Figure 7 , the seventh connection end 32 includes a plurality of third through holes 324, and one end of the second output flange 51 of the second joint module 5 includes a plurality of third fixing holes 52. Each of the third through holes 324 and each of the third fixing holes 52 extend along a direction parallel to the rotation axis of the second joint module 5, and each of the third through holes 324 is aligned with each of the third fixing holes 52 one by one.

[0094] Each of the third through holes 324 and each of the third fixing holes 52 are arranged in a direction parallel to the rotation axis of the second joint module 5, that is, extending along the axial direction. A fastener can pass through each of the third through holes 324 and be fastened to the corresponding third fixing holes 52, so as to axially fasten and assemble the second joint module 5, which is beneficial to the fixation of the second joint module 5 and provides a basis for power output.

[0095] In one embodiment, please refer to Figure 2 、 Figure 8 and Figure 9 , the wrist joint assembly structure of the humanoid robot further includes a fourth connecting member 6. The fourth connecting member 6 includes an eighth connecting end 61 and a ninth connecting end 62. The eighth connecting end 61 is assembled and connected to the second connecting end 12, and the ninth connecting end 62 is used to connect the lower end of the elbow 7. The function of the fourth connecting member 6 is to connect the output end of the elbow 7 and the wrist joint, playing a role of connecting the upper and lower parts, and capable of driving the first connecting member 1 to rotate.

[0096] It can be understood that the elbow 7 includes a third joint module, and the ninth connecting end 62 includes a plurality of seventh through holes 621. The plurality of seventh through holes are assembled and connected to the output flange of the third joint module through fasteners to transmit the power output of the third joint module to the first connecting member 1.

[0097] In one embodiment, please refer to Figure 2 、 Figure 8 and Figure 9 , a plurality of fourth fixing holes 63 are further provided on the outer ring side wall of the eighth connecting end 61. Each of the fourth fixing holes 63 extends along the radial direction of the eighth connecting end 61. The second connecting end 12 is provided with a plurality of fourth through holes 121 in the radial direction. Each of the fourth through holes 121 is aligned with each of the fourth fixing holes 63. The setting of the fourth fixing holes 63 is used to connect the second connecting end 12 of the first connecting member 1 radially. In this way, through the radial connection, the connection positions can be prevented from being concentrated axially. The extending direction of the fourth fixing holes 63 is perpendicular to the assembly direction of the fasteners for fastening the ninth connecting end 62 and the output flange of the third joint module. In this way, it can be avoided that the corresponding hole positions are concentrated in the circumferential direction, resulting in a decrease in the structural strength of the fourth connecting member 6.

[0098] In one embodiment, please refer to Figure 2 、 Figure 8 and Figure 9 , a plurality of clamping blocks 64 are spacedly provided on the outer side surface of the eighth connecting end 61, and a plurality of clamping grooves 122 are spacedly provided on the second connecting end 12. The clamping blocks 64 are in butt joint and clamping connection with the clamping grooves 122. The setting of the clamping blocks 64 and the clamping grooves 122 plays a positioning role. After clamping, circumferential clamping can be realized, restricting the freedom degree of circumferential rotation. The setting of the clamping blocks 64 is used to cooperate with the first connecting member 1 to realize circumferential clamping. In this way, clamping can form circumferential clamping and fixation. In this way, the fasteners between the fourth connecting member 6 and the third joint module, and between the fourth connecting member 6 and the first connecting member 1 can be effectively protected. This is because the most harmful force to the fasteners is the shear force perpendicular to their axial directions. The circumferentially clamped clamping blocks 64 can form a clamping surface, and the clamping surface directly bears the shear force perpendicular to the axial directions of each fastener, so as to avoid damage to the fasteners and ensure that the fasteners can still be normally disassembled thereafter.

[0099] In one embodiment, a limiting block is provided on the flange at the output end of the third joint module. A limiting groove 65 is provided on the surface of the fourth connecting member 6 facing the limiting block. When the fourth connecting member 6 rotates, the limiting block is slidably located in the limiting groove 65. The limiting block and the limiting groove 65 are provided to limit the rotation range of the fourth connecting member 6, and at the same time play a role in assisting rotation, improving the coaxial fit between the fourth connecting member 6 and the third joint module.

[0100] It can be understood that the limiting groove 65 is Figure 8 as shown, a circular groove segment, the corresponding central arc of which is greater than 180 degrees, and can be set according to the actual rotation range requirements. The central position corresponding to the limiting groove 65 is coaxially arranged with the third joint module, and the limiting block is an arc-shaped clamping block 64, and the corresponding central position thereof is coaxially arranged with the third joint module, increasing the coaxial fit degree.

[0101] In an alternative embodiment, multiple limiting blocks can be provided to adjust the rotation range of the fourth connecting member 6. The thickness of the limiting block in the axial direction of the third joint module is less than the depth of the limiting groove 65. Under the condition of ensuring the structural strength, the limiting groove 65 can be machined as much as possible in the depth direction to reduce the weight of the fourth connecting member 6 and comprehensively reduce the weight of the robot.

[0102] It can be understood that multiple fasteners are described in this specification. The above-mentioned fasteners can specifically be threaded fasteners, and the corresponding hole positions are set as threaded holes, and are fastened through thread fitting and can form self-locking, playing a good fixing role and not easily loosening.

[0103] In one embodiment, please refer to Figures 9 to 11 , an arm structure of a humanoid robot is provided, mainly the wrist joint assembly structure of the humanoid robot in any of the above embodiments. In one embodiment, please refer to Figures 9 to 11 , one end of the first output flange 41 of the first joint module 4 is fixedly connected to the first connection end 11 through a plurality of fasteners extending along the axis parallel to the first joint module 4; the first output flange 41 is fixedly connected to the third connection end 21 through a plurality of fasteners extending along the axis parallel to the first joint module 4; the fifth connection end 23 is fixedly connected to the sixth connection end 31 through a plurality of fasteners extending perpendicular to the axis of the first joint module 4; one end of the second output flange 51 of the second joint module 5 is fixedly connected to the seventh connection end 32 through a plurality of fasteners extending along the axis parallel to the second joint module 5.

[0104] The setting of the fastener can achieve a fixed connection, fixedly connecting one end of the first output flange 41 of the first joint module 4 to the first connection end 11, the first output flange 41 to the third connection end 21, the fifth connection end 23 to the sixth connection end 31, and the second joint module 5 to the seventh connection end 32.

[0105] The fastener can specifically be a threaded fastener, and the corresponding hole positions are set as threaded holes. Fastening is achieved through thread fitting, and self-locking can be formed, playing a good fixing role and not easily loosening.

[0106] In one embodiment, please refer to Figures 9 to 11 , the arm structure includes a large arm and a small arm. The small arm is connected to the large arm through the elbow 7, and a hand 8 is provided at one end of the small arm away from the large arm. The hand 8 is assembled and connected to the wrist. The hand 8 can be a picking structure with a grasping function.

[0107] In one embodiment, please refer to Figure 11 , a humanoid robot is provided, which mainly includes: the wrist joint assembly structure of the humanoid robot in any of the above embodiments, or the arm structure of the humanoid robot in any of the above embodiments.

[0108] In one embodiment, please refer to Figure 11 , the humanoid robot can include a torso 9. Two arm structures are fixed on both sides of the torso 9 through shoulder connectors. The lower end of the torso 9 is connected to the waist 91, and a lower limb 92 is connected below the waist 91. The lower limb 92 can include two leg structures for walking.

[0109] In one embodiment, a robot is provided, which mainly includes: the wrist joint assembly structure of the humanoid robot in any of the above embodiments, or the arm structure of the humanoid robot in any of the above embodiments.

[0110] The above are only optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, replacements, and variations to the above embodiments within the scope of the present invention.

Claims

1. A wrist joint assembly structure of a humanoid robot, characterized in that: include: A first connecting member, comprising a first connecting end and a second connecting end which are perpendicular to each other, wherein the second connecting end is used to connect to the lower end of the elbow; The second connecting member comprises a third connecting end, a fourth connecting end and a fifth connecting end, wherein the fifth connecting end is respectively arranged perpendicular to the third connecting end and the fourth connecting end; A third connecting member, comprising a sixth connecting end and a seventh connecting end which are perpendicular to each other, wherein the fifth connecting end is assembled and connected to the sixth connecting end; A first joint module, comprising a first output flange, one end of the first output flange of the first joint module is assembled and connected to the first connection end, the first output flange is assembled and connected to the third connection end, and one end of the first joint module away from the first output flange is rotatably connected to the fourth connection end; The second joint module, one end of the second output flange of the second joint module is assembled and connected to the seventh connecting end, and the second output flange is used to connect the upper end of the hand.

2. The wrist joint assembly structure of a humanoid robot according to claim 1, characterized in that: The first connecting end includes a first flange and a first inner cavity. The first flange is integrally formed with the first connecting piece. A first assembly hole is provided on the inner side of the first flange. The first assembly hole is aligned with the first output flange. The first inner cavity is adapted to one end of the first output flange of the first joint module.

3. The wrist joint assembly structure of a humanoid robot according to claim 2, characterized in that: A limiting member is provided on a side of the first flange facing away from the first inner cavity, and the limiting member is assembled and connected to the first flange.

4. The wrist joint assembly structure of a humanoid robot according to claim 1, characterized in that: The third connection end includes a plurality of first through holes, the first output flange includes a plurality of first fixing holes, each of the first through holes and each of the first fixing holes extend in a direction parallel to the rotation axis of the first joint module, and each of the first through holes and each of the first fixing holes are aligned one by one.

5. The wrist joint assembly structure of a humanoid robot according to claim 1, characterized in that: The fifth connection end includes a plurality of second through holes, and the sixth connection end includes a plurality of second fixing holes. Each of the second through holes and each of the second fixing holes extend in a direction perpendicular to the rotation axis of the first joint module, and each of the second through holes and each of the second fixing holes are aligned one by one.

6. The wrist joint assembly structure of a humanoid robot according to claim 1, characterized in that: The seventh connecting end includes a second flange and a second inner cavity. The second flange is integrally formed with the third connecting piece. A second assembly hole is provided on the inner side of the second flange. The second assembly hole is aligned with the second output flange. The second inner cavity is adapted to one end of the second output flange of the second joint module.

7. The wrist joint assembly structure of a humanoid robot according to claim 6, characterized in that: The seventh connection end includes a plurality of third through holes, and one end of the second output flange of the second joint module includes a plurality of third fixing holes, each of the third through holes and each of the third fixing holes extend in a direction parallel to the rotation axis of the second joint module, and each of the third through holes and each of the third fixing holes are aligned one by one.

8. The wrist joint assembly structure of a humanoid robot according to any one of claims 1 to 7, characterized in that: It also includes a fourth connecting member, which includes an eighth connecting end and a ninth connecting end. The eighth connecting end is assembled and connected to the second connecting end, and the ninth connecting end is used to connect to the lower end of the elbow.

9. The wrist joint assembly structure of a humanoid robot according to claim 8, characterized in that: A plurality of fourth fixing holes are also provided on the outer ring side wall of the eighth connection end, each of the fourth fixing holes extends radially along the eighth connection end, and a plurality of fourth through holes in the radial direction are provided at the second connection end, each of the fourth through holes is aligned one by one with each of the fourth fixing holes.

10. The wrist joint assembly structure of a humanoid robot according to claim 8, characterized in that: A plurality of clamping blocks are disposed at intervals on the outer side surface of the eighth connection end, a plurality of clamping slots are disposed at intervals on the second connection end, and the clamping blocks are aligned and clamped with the clamping slots.

11. The arm structure of a humanoid robot, characterized in that: include: The wrist joint assembly structure of a humanoid robot as claimed in any one of claims 1 to 10.

12. The humanoid robot arm structure according to claim 11, characterized in that: One end of the first output flange of the first joint module is fastened to the first connection end through a plurality of fasteners extending in parallel to the axial direction of the first joint module; The first output flange is fastened to the third connection end through a plurality of fasteners extending in parallel to the axial direction of the first joint module; The fifth connection end is fastened to the sixth connection end through a plurality of fasteners extending in an axial direction perpendicular to the first joint module; One end of the second output flange of the second joint module is fastened to the seventh connection end through a plurality of fasteners extending in parallel to the axial direction of the second joint module.

13. A humanoid robot, characterized in that include: The wrist joint assembly structure of a humanoid robot as claimed in any one of claims 1 to 10, or the arm structure of a humanoid robot as claimed in claim 11 or 12.

14. A robot, characterized in that include: The wrist joint assembly structure of a humanoid robot as claimed in any one of claims 1 to 10, or the arm structure of a humanoid robot as claimed in claim 11 or 12.

Images