Assembly structure of wrist rolling joint of humanoid robot, arm structure and robot

Abstract

The utility model relates to the technical field of robots, and discloses an assembly structure of a wrist rolling joint of a humanoid robot, an arm structure and a robotic.The assembly structure of the wrist rolling joint mainly comprises a first connecting piece, a first joint module and a second connecting piece, and a hollow part in a main body of the first connecting piece is embedded into the first joint module; the first joint module is assembled and connected with the first connecting end, an output flange of the first joint module is aligned to an assembly hole located in the upper portion, and the first connecting piece is matched with the second connecting piece to assemble and connect the two ends of the second joint module. The second joint module is assembled through the first connecting piece and the second connecting piece, the first joint module is assembled through the main body of the first connecting piece and the first connecting end, the structure is reused, assembling is compact, the assembling process is simple, use of fasteners is reduced, the integration degree is higher, and light weight is facilitated.

Description

Technical Field

[0001] The present application relates to the technical field of robots, and more particularly to an assembly structure of a wrist roll joint of a humanoid robot, an arm structure, and a 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 action requirements, and thus more rotation joints need to be integrated in the wrist. In the prior art, the lower end of the elbow joint is connected to the wrist roll joint, and the wrist roll action is achieved by sequentially setting a connector, a joint module, and a transmission member. The connector needs to connect the elbow and assemble the joint module, and it is also necessary to reserve the assembly position of the joint module and the transmission member. The setting of the connector is relatively complicated, the assembly process is complicated, and a large number of fasteners are required, which is not conducive to maintenance and lightweight requirements. Utility Model Content

[0004] The present application provides an assembly structure of a wrist roll joint of a humanoid robot, an arm structure and a robot, aiming to solve the problem in the prior art that the joint module of the wrist roll joint of a humanoid robot is inconvenient to assemble and not conducive to lightweight.

[0005] In one scheme, an assembly structure of a wrist roll joint of a humanoid robot is provided, which mainly includes a first connecting member, a first joint module and a second connecting member, wherein the first connecting member mainly includes a first connecting end, a second connecting end and a third connecting end, and the main body of the first connecting member between the first connecting end and the second connecting end is in a hollow cylindrical shape, the first connecting end includes an assembly hole, and the assembly hole is connected to the hollow part in the main body from the outside to the inside, and the second connecting end is used for assembly connection with one end of the output flange of the second joint module; the first joint module is embedded in the hollow part in the main body, and one end of the output flange of the first joint module is assembled with the first connecting end, and the assembly hole is aligned with the output flange of the first joint module; the second connecting member mainly includes a fourth connecting end and a fifth connecting end, the fourth connecting end and the third connecting end are detachably assembled and connected, and the fifth connecting end is used for assembly connection with one end of the second joint module away from the output flange.

[0006] In one embodiment, the first connection end includes a mounting flange, which is integrally formed with the first connection member. The inner side of the mounting flange is a mounting hole, and one end of the output flange of the first joint module is assembled and connected to the mounting flange.

[0007] In one embodiment, the assembly flange includes a plurality of first through holes, each of which extends approximately in a direction parallel to the rotation axis of the first joint module. The end surface of one end of the output flange of the first joint module includes a plurality of first fixing holes, each of which extends approximately in a direction parallel to the rotation axis of the first joint module. Each first through hole is aligned one by one with each first fixing hole.

[0008] In one embodiment, a third connecting member is further included, and a sixth connecting end of the third connecting member is detachably assembled and connected to the output flange of the first joint module.

[0009] In one embodiment, the sixth connection end has multiple second through holes, each of which extends roughly in a direction parallel to the rotation axis of the first joint module. The output flange includes multiple second fixing holes, each of which extends roughly in a direction parallel to the rotation axis of the first joint module. Each second through hole is aligned one by one with each second fixing hole.

[0010] In one embodiment, the first connecting end further includes a limiting card block, and a limiting card slot is provided on a side of the third connecting member facing the first connecting end. When the third connecting member rotates, the limiting card block can be slidably located in the limiting card slot.

[0011] In one solution, a plurality of third fixing holes are further provided on the outer ring side wall of the third connecting member, and the third fixing holes are used for assembling and connecting the connecting member of the lower joint.

[0012] In one solution, a plurality of clamping blocks are further provided on the outer ring side wall of the third connecting member, and the clamping blocks are used for clamping engagement with the connecting member of the lower joint.

[0013] In one embodiment, an arm structure of a humanoid robot is provided, which mainly includes the assembly structure of the wrist roll joint of the humanoid robot as described above.

[0014] In one scheme, the first connecting end is fastened and connected to one end of the first joint module where the output flange is set by multiple fasteners extending in a direction parallel to the rotation axis of the first joint module; the fourth connecting end is fastened and connected to the third connecting end by multiple fasteners extending in a direction parallel to the rotation axis of the first joint module; the fifth connecting end is fastened and connected to one end of the second joint module away from the output flange by multiple fasteners extending in a direction parallel to the rotation axis of the second joint module; the second connecting end is fastened and connected to one end of the second joint module where the output flange is set by multiple fasteners extending in a direction parallel to the rotation axis of the second joint module.

[0015] In one embodiment, a humanoid robot is provided, mainly comprising the assembly structure of the wrist roll joint of the humanoid robot as described above, or the arm structure of the humanoid robot as described above.

[0016] In one solution, a robot is provided, mainly including the assembly structure of the wrist roll joint of the humanoid robot as described above, or the arm structure of the humanoid robot as described above.

[0017] Advantages of the present application:

[0018] In the assembly structure of the wrist roll joint of a humanoid robot, the arm structure and the robot of the present application, the assembly structure of the wrist roll joint mainly includes a first connecting piece, a first joint module and a second connecting piece. The hollow part in the main body of the first connecting piece is embedded with the first joint module. The first joint module is assembled and connected to the first connecting end, and its output flange is aligned with the assembly hole above. The first connecting piece cooperates with the second connecting piece to assemble and connect both ends of the second joint module.

[0019] With the above design, when the first connecting piece and the second connecting piece are used to assemble the second joint module, the assembly of the first joint module is directly realized through the main body and the first connecting end of the first connecting piece. The assembly process is simple and convenient to operate. The hollow part in the main body provides an assembly position and forms mutual abutment with the first joint module, enhancing the structural strength between the two.

[0020] In addition, the above setting reduces the number of connecting pieces cooperating with the first joint module, avoids further connection between the connecting pieces and the connecting pieces of the second joint module, reduces the assembly steps, and also reduces the use of fasteners. The integration degree is higher and it is also beneficial to lightweight. Description of the drawings

[0021] In order 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 following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0022] Figure 1 It is a schematic three-dimensional structure diagram of the assembly structure of the wrist roll joint in an embodiment of the present application;

[0023] Figure 2 It is an exploded view of the first connecting piece and the first joint module in an embodiment of the present application;

[0024] Figure 3 It is a partial cross-sectional view of the assembly structure of the wrist roll joint in a three-dimensional state in an embodiment of the present application;

[0025] Figure 4 It is a cross-sectional view of the assembly structure of the wrist roll joint in an embodiment of the present application;

[0026] Figure 5 It is an exploded schematic view of the assembly structure of the wrist roll joint in an embodiment of the present application;

[0027] Figure 6 It is a three-dimensional structure schematic view of the third connecting member of the wrist roll joint in an embodiment of the present application;

[0028] Figure 7 It is a front view schematic view of the second connecting member of the wrist roll joint in an embodiment of the present application;

[0029] Figure 8 It is a right view schematic view of the first connecting member of the wrist roll joint in an embodiment of the present application;

[0030] Figure 9 It is an exploded schematic view of the first connecting member and the second connecting member of the wrist roll joint in an embodiment of the present application;

[0031] Figure 10 It is a three-dimensional structure schematic view of the arm structure in an embodiment of the present application;

[0032] Figure 11 It is a three-dimensional structure schematic view of the humanoid robot in an embodiment of the present application.

[0033] Each reference numeral in the figure:

[0034] 1. First connecting member; 11. First connection end; 111. Assembly hole; 112. Assembly flange; 1121. First through hole; 113. Limit block;

[0035] 12. Second connection end; 13. Third connection end;

[0036] 14. Main body;

[0037] 15. Third through hole; 16. Fitting groove;

[0038] 2. First joint module; 21. Output flange; 211. Second fixing hole; 22. First fixing hole;

[0039] 3. Second connecting member; 31. Fourth connection end; 311. Fourth fixing hole;

[0040] 32. Fifth connection end; 33. Positioning convex block;

[0041] 4. Third connecting member; 41. Sixth connection end; 411. Second through hole; 42. Limit card slot; 43. Third fixing hole; 44. Block;

[0042] 5. Second joint module;

[0043] 8. Arm structure; 81. Upper arm; 82. Forearm; 9. Trunk; 91. Waist; 92. Lower limbs. Detailed implementation manners

[0044] The following will further describe in detail the specific embodiments of the present application in conjunction with the accompanying drawings and embodiments. The following embodiments are used to illustrate the present application, but are not used 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 shall fall within the scope of protection of the present application.

[0045] 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 accompanying drawings, and 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, and thus should not be construed as limiting the present utility model.

[0046] 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 indicating 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" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0047] In the present utility model, unless otherwise clearly defined and limited, the terms "mounted", "connected", "connected", "fixed", etc. 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 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.

[0048] In the present utility model, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may mean 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 mean that the first feature is directly above or obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "beneath" and "underneath" the second feature may mean that the first feature is directly below or obliquely below the second feature, or merely indicates that the horizontal height of the first feature is less than that of the second feature.

[0049] In the present utility model, the terms "an embodiment", "some embodiments", "example", "specific example", 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 may be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0050] 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 features and can therefore be classified as "substantially in the shape of" a certain shape. For example, when describing a circular object, it is described as "substantially circular", meaning 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 cubic", meaning that the overall shape of the object is cubic, but there are differences in some non-functional details.

[0051] In the prior art, the humanoid robot has two arms with humanoid upper limbs, that is, an arm structure. The arm structure includes a large arm and a small arm, 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 large arm, the small arm, 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.

[0052] In one embodiment, please refer to Figures 1 to 4The invention provides an assembly structure of a wrist roll joint of a humanoid robot, which mainly includes a first connecting member 1, a first joint module 2 and a second connecting member 3. The first connecting member 1 mainly includes a first connecting end 11, a second connecting end 12 and a third connecting end 13. The main body 14 of the first connecting member 1 between the first connecting end 11 and the second connecting end 12 is in a hollow cylindrical shape. The first connecting end 11 includes an assembly hole 111, which is connected to the hollow part in the main body 14 from the outside to the inside. The second connecting end 12 is used to connect with the second joint module 13. 5 is assembled and connected at one end of the output flange of the main body 14; the first joint module 2 is embedded in the hollow portion inside the main body 14, and one end of the first joint module 2 having an output flange 21 is assembled and connected with the first connection end 11, and the assembly hole 111 is aligned with the output flange 21 of the first joint module 2; the second connecting member 3 mainly includes a fourth connection end 31 and a fifth connection end 32, the fourth connection end 31 and the third connection end 13 are detachably assembled and connected, and the fifth connection end 32 is used to be assembled and connected with one end of the second joint module 5 away from the output flange.

[0053] By adopting the above-mentioned design, when the first connecting member 1 and the second connecting member 3 are used to assemble the second joint module 5, the first joint module 2 can be assembled directly through the main body 14 of the first connecting member 1 and the first connecting end 11. The assembly process is simple and easy to operate. The hollow portion in the main body 14 provides an assembly position, and at the same time cooperates with the first joint module 2 to form mutual abutment, thereby enhancing the structural strength between the two.

[0054] In addition, the above-mentioned arrangement reduces the setting of the connecting parts cooperating with the first joint module 2, avoids further connection between the connecting parts and the connecting parts of the second joint module 5, reduces the assembly steps, and also reduces the use of fasteners, which has a higher degree of integration and is also conducive to lightweight.

[0055] The assembly hole 111 is used to align the output flange 21 of the first joint module 2. The two are coaxially arranged, and the assembly hole 111 and the output flange 21 do not contact each other, that is, the output flange 21 can be located in the assembly hole 111 or pass through the assembly hole 111 and output power to the outside.

[0056] It can be understood that the second joint module 5 can drive the first connecting part 1 and the second connecting part 3 to rotate, thereby realizing the rotation requirement of the elbow joint, and at the same time integrating the first joint module 2 therein, with a higher degree of integration, and the same connecting part can provide the same assembly reference, so that the robot's arm structure movement accuracy is higher.

[0057] The main body 14 of the first connecting member 1 is generally cylindrical and hollow, and its structure is similar to that of a pipe, and can be adapted to the first joint module 2 which is generally cylindrical. The cylindrical structure setting can form a strong support and improve the structural strength.

[0058] The main body 14 of the first connecting member 1 and the first joint module 2 may be in an interference fit, that is, the first joint module 2 can be abutted against the inner cavity part of the main body 14 through the circumferential dimension, so as to achieve circumferential support and fixation, compact installation, and at the same time improve the connection strength.

[0059] In one embodiment, please refer to Figure 1 、 Figures 3 to 5 , the first connection end 11 includes an assembly flange 112, the assembly flange 112 is integrally formed on the first connecting member 1, the inner side of the assembly flange 112 is an assembly hole 111, and one end of the first joint module 2 provided with an output flange 21 is assembled and connected to the assembly flange 112. The above setting makes the structure of the first connecting member 1 more compact, and the structural strength can be further guaranteed. It can be understood that the assembly hole 111 is located at the center of the assembly flange 112 and is coaxially arranged with the assembly flange 112, so as to ensure the concentricity between the two and ensure that the rotation axis of the first joint module 2 after assembly is the same as that of the assembly flange 112.

[0060] One end of the first connecting member 1 is integrally formed as an assembly flange 112, adding an annular structure in the radial direction, enabling it to bear circumferential loads and increasing the structural strength. The setting of the assembly hole 111 can also form a cylindrical inner cavity wall surface, similar to the structure of a pipe, playing an internal support role and effectively improving the structural strength.

[0061] In one embodiment, please refer to Figure 1 、 Figures 3 to 5 , the assembly flange 112 includes a plurality of first through holes 1121, each first through hole 1121 extends substantially along a direction parallel to the rotation axis of the first joint module 2, and the end face of one end of the first joint module 2 provided with an output flange 21 includes a plurality of first fixing holes 22, each first fixing hole 22 extends substantially along a direction parallel to the rotation axis of the first joint module 2, and each first through hole 1121 is aligned with each first fixing hole 22 one by one.

[0062] Each first through hole 1121 and each first fixing hole 22 are both arranged in a direction parallel to the rotation axis of the first joint module 2, that is, extending along the axial direction. A fastener can pass through the first through hole 1121 and be fastened to the first fixing hole 22, so as to axially fasten and assemble the first joint module 2.

[0063] In one embodiment, please refer to Figure 5 and Figure 6 , the assembly structure of the wrist roll joint further includes a third connecting member 4, and the sixth connection end 41 of the third connecting member 4 is detachably assembled and connected to the output flange 21 of the first joint module 2. The third connecting member 4 is a transmission connecting member, which can output the power of the first joint module 2 outward.

[0064] Among the multiple assembly connections mentioned in this specification, including the detachable assembly connection between the sixth connection end 41 and the output flange 21 of the first joint module 2 in the above content, it is obvious to those skilled in the art that generally, fasteners such as screws, bolts or screws are used to pass through two butt - facing components for detachable assembly connection.

[0065] In one embodiment, please refer to Figure 5 and Figure 6 , the assembly structure of the wrist roll joint further includes a third connecting piece 4, a plurality of second through - holes 411 in the sixth connection end 41, each second through - hole 411 extends substantially along a direction parallel to the rotation axis of the first joint module 2, the output flange 21 includes a plurality of second fixing holes 211, each second fixing hole 211 extends substantially along a direction parallel to the rotation axis of the first joint module 2, and each second through - hole 411 is aligned with each second fixing hole 211 one by one.

[0066] Each second through - hole 411 and each second fixing hole 211 are both arranged in a direction parallel to the rotation axis of the first joint module 2, that is, extending along the axial direction. A fastener can pass through the second through - hole 411 and be fastened to the second fixing hole 211, so as to realize the axial fastening connection between the third connecting piece 4 and the output flange 21. Such a setting can increase the balance of the rotation of the output flange 21 of the first joint module 2 and provide precise movement of the lower end of the wrist.

[0067] In one embodiment, please refer to Figure 5 and Figure 6 , the first connection end 11 further includes a limit block 113, a limit groove 42 is arranged on the surface of the third connecting piece 4 facing the first connection end 11. When the third connecting piece 4 rotates, the limit block 113 can slide in the limit groove 42. The setting of the limit block 113 and the limit groove 42 is used to limit the rotation range of the third connecting piece 4 and play a role in assisting rotation at the same time, improving the coaxial fit between the third connecting piece 4 and the first joint module 2.

[0068] It can be understood that as shown in Figure 6 , the limit groove 42 is an annular groove segment, and the corresponding central arc is greater than 180 degrees. It can be set according to the actual rotation range requirements. The central position corresponding to the limit groove 42 is coaxially arranged with the first joint module 2, and the limit block 113 is an arc - shaped block 44, and the corresponding central position is coaxially arranged with the first joint module 2, increasing the coaxial fit degree.

[0069] The limit block 113 is assembled and connected with a first fixing hole 22. Specifically, it can be fastened and connected through a fastener. An installation counterbore is arranged on the limit block 113, so that the fastener is located in the inner cavity of the hole after assembly, with a higher degree of combination and no interference with other components.

[0070] In an alternative embodiment, a plurality of limiting blocks 113 may be provided to adjust the rotation range of the third connecting member 4. The thickness of the limiting block 113 in the axial direction of the first joint module 2 is less than the depth of the limiting groove 42. When ensuring the structural strength, the limiting groove 42 can be machined as much as possible in the depth direction to reduce the weight of the third connecting member 4 and comprehensively reduce the weight of the robot.

[0071] In one embodiment, please refer to Figure 5 and Figure 6 , the size of the main body 14 of the third connecting member 4 is larger than the size of the assembly hole 111. Such a setting enables the third connecting member 4 to form mutual limitation with the first connecting end 11, avoiding load concentration on the output flange 21 of the first joint module 2 and reducing the possibility of damage.

[0072] In one embodiment, please refer to Figure 6 , a plurality of third fixing holes 43 are further provided on the outer ring side wall of the third connecting member 4. The third fixing holes 43 are used for the assembly connection of the connecting members of the lower joint. The third fixing holes 43 are provided to connect the connecting members of the lower joint radially, so that the connection position can be avoided from being concentrated axially. The extending direction of the third fixing holes 43 is perpendicular to the extending direction of the second through hole 411, so as to avoid the concentration of hole positions in the circumferential direction and the reduction of the structural strength of the third connecting member 4.

[0073] In one embodiment, please refer to Figure 6 , a plurality of blocks 44 are further provided on the outer ring side wall of the third connecting member 4. The blocks 44 are used for the clamping fit of the connecting members of the lower joint. The blocks 44 are provided to cooperate with the connecting members of the lower joint to achieve circumferential clamping. Such clamping can form circumferential clamping fixation, which can effectively protect the fasteners on the second through hole 411 and the third fixing holes 43. This is because the most harmful force to the fasteners is the shear force perpendicular to their axial direction. The circumferential clamping blocks 44 can form a clamping surface, and the clamping surface directly bears the shear force perpendicular to the axial direction of each fastener, so as to avoid damage to the fasteners and ensure that the fasteners can still be normally disassembled thereafter.

[0074] In one embodiment, please refer to Figures 7 to 9 , a fourth fixing hole 311 is provided at the bottom of the fourth connecting end 31 of the second connecting member 3. Corresponding to the extending direction of the fourth fixing hole 311, a third through hole 15 is provided at the third connecting end 13 of the first connecting member 1. The third through hole 15 is aligned with the fourth fixing hole 311, and a fastener passes through the third through hole 15 and is fastened to the corresponding fourth fixing hole 311 to realize the fixation of the first connecting member 1 and the second connecting member 3.

[0075] In one embodiment, please refer to Figures 7 to 9, the third vias 15 are provided in plurality, and correspondingly, the fourth fixing holes 311 are provided in plurality. The fourth fixing holes 311 and the extending direction of the third vias 15 are arranged perpendicular to the axis direction of the second joint module 5.

[0076] In one embodiment, please refer to Figures 7 to 9 , on the first connecting member 1, a mating groove 16 is provided at the middle position where the plurality of third vias 15 are distributed. Correspondingly, on the second connecting member 3, a positioning protrusion 33 is provided at the middle position where the plurality of fourth fixing holes 311 are distributed. The positioning protrusion 33 and the mating groove 16 are arranged along the axis direction of the second joint module 5. During assembly, it can play a role in precise positioning. At the same time, the fit formed after the two are assembled will form two abutting surfaces parallel to the extending direction of the fourth fixing holes 311 and the third vias 15, which can play a role in assisting the fasteners in the fourth fixing holes 311 and the third vias 15 to resist shear.

[0077] And along the axis direction of the second joint module 5, through the assembly of the positioning protrusion 33 and the mating groove 16, an abutting surface is formed to resist the shearing action. That is, the above settings comprehensively consider the possibility that the fasteners are easily damaged by shear force and perform a comprehensive anti-shear design, effectively improving the service life of the relevant structure.

[0078] It can be understood that the setting of multiple fasteners, on the one hand, can form multiple connection positions, improve the effect of the fastening connection, and reduce the possibility of loosening and wear. On the other hand, multiple fasteners can form a three-dimensional system, and can jointly resist loads in different directions, and will not be concentrated on one fastener, avoiding damage or damage due to concentrated acting forces, resulting in the situation that these fasteners cannot be normally disassembled.

[0079] The above-mentioned fasteners can specifically be threaded fasteners, and the corresponding hole positions are set as threaded holes, which are fastened through thread fitting and can form self-locking, playing a good fixing role and not easily loosening.

[0080] In one embodiment, please refer to Figure 10 and Figure 11 , an arm structure of a humanoid robot is provided, which mainly includes the assembly structure of the wrist roll joint of the humanoid robot in any of the above embodiments.

[0081] In one embodiment, the first connection end 11 is fixedly connected to one end of the first joint module 2 provided with the output flange 21 through a plurality of fasteners extending along the direction parallel to the rotation axis of the first joint module 2; the fourth connection end 31 is fixedly connected to the third connection end 13 through a plurality of fasteners extending along the direction parallel to the rotation axis of the first joint module 2; the fifth connection end 32 is fixedly connected to one end of the second joint module 5 away from the output flange through a plurality of fasteners extending along the direction parallel to the rotation axis of the second joint module 5; the second connection end 12 is fixedly connected to one end of the second joint module 5 provided with the output flange through a plurality of fasteners extending along the direction parallel to the rotation axis of the second joint module 5.

[0082] The arrangement of the fasteners can achieve fixed connection, and fixedly connect the first connection end 11 with one end of the first joint module 2 provided with the output flange 21, the fourth connection end 31 with the third connection end 13, the fifth connection end 32 with one end of the second joint module 5 away from the output flange, and the second connection end 12 with one end of the second joint module 5 provided with the output flange, so as to realize the fixed connection of the first connecting member 1, the second connecting member 3, the third connecting member 4, the first joint module 2 and the second joint module 5.

[0083] The fasteners can specifically be threaded fasteners, and the corresponding hole positions are set as threaded holes, and the fastening is realized through thread fitting, and self-locking can be formed, playing a good fixing role and not being prone to loosening.

[0084] In one embodiment, please refer to Figure 10 and Figure 11 , the arm structure 8 includes a large arm 81 and a small arm 82, and a grasping structure with hand functions is provided at one end of the small arm 82 away from the large arm 81.

[0085] In one embodiment, please refer to Figure 11 , a humanoid robot is provided, which mainly includes: the assembly structure of the wrist roll joint of the humanoid robot in any of the above embodiments, or the arm structure 8 of the humanoid robot in any of the above embodiments.

[0086] In one embodiment, please refer to Figure 11 , the humanoid robot may include a torso 9, two arm structures 8 are fixed to 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, and the lower limb 92 may include two leg structures for walking.

[0087] In one embodiment, a robot is provided, which mainly includes: the assembly structure of the wrist roll joint of the humanoid robot in any of the above embodiments, or the arm structure 8 of the humanoid robot in any of the above embodiments.

[0088] 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. The assembly structure of the wrist roll joint of a humanoid robot is characterized in that: include: A first connecting member, comprising a first connecting end, a second connecting end and a third connecting end, wherein the main body of the first connecting member between the first connecting end and the second connecting end is in a hollow cylindrical shape, the first connecting end comprises an assembly hole, the assembly hole is connected from the outside to the inside to the hollow part in the main body, and the second connecting end is used for assembly and connection with one end of the output flange of the second joint module; A first joint module is embedded in the hollow portion of the main body, and one end of the first joint module having an output flange is assembled and connected to the first connection end, and the assembly hole is aligned with the output flange of the first joint module; The second connecting member includes a fourth connecting end and a fifth connecting end, wherein the fourth connecting end and the third connecting end are detachably assembled and connected, and the fifth connecting end is used for being assembled and connected with an end of the second joint module away from the output flange.

2. The assembly structure of the wrist roll joint of the humanoid robot according to claim 1, characterized in that: The first connection end includes a mounting flange, which is integrally formed with the first connection piece. The inner side of the mounting flange is the mounting hole, and one end of the output flange of the first joint module is assembled and connected to the mounting flange.

3. The assembly structure of the wrist roll joint of the humanoid robot according to claim 2, characterized in that: The assembly flange includes a plurality of first through holes, each of which extends approximately in a direction parallel to the rotation axis of the first joint module. The end surface of one end of the first joint module on which the output flange is set includes a plurality of first fixing holes, each of which extends approximately in a direction parallel to the rotation axis of the first joint module. Each of the first through holes is aligned one by one with each of the first fixing holes.

4. The assembly structure of the wrist roll joint of the humanoid robot according to claim 1, characterized in that: It also includes a third connecting member, and a sixth connecting end of the third connecting member is detachably assembled and connected to the output flange of the first joint module.

5. The assembly structure of the wrist roll joint of the humanoid robot according to claim 4, characterized in that: The sixth connection end has a plurality of second through holes, each of which extends approximately in a direction parallel to the rotation axis of the first joint module; the output flange includes a plurality of second fixing holes, each of which extends approximately in a direction parallel to the rotation axis of the first joint module, and each of the second through holes is aligned one by one with each of the second fixing holes.

6. The assembly structure of the wrist roll joint of the humanoid robot according to claim 4, characterized in that: The first connecting end further comprises a limiting card block, and a limiting card slot is provided on a side of the third connecting member facing the first connecting end. When the third connecting member rotates, the limiting card block can be slidably located in the limiting card slot.

7. The assembly structure of the wrist roll joint of the humanoid robot according to claim 4, characterized in that: A plurality of third fixing holes are also provided on the outer ring side wall of the third connecting member, and the third fixing holes are used for assembling and connecting the connecting member of the lower joint.

8. The assembly structure of the wrist roll joint of the humanoid robot according to claim 7, characterized in that: A plurality of clamping blocks are also arranged on the outer ring side wall of the third connecting member, and the clamping blocks are used for clamping and fitting with the connecting member of the lower joint.

9. The arm structure of a humanoid robot, characterized in that: include: An assembly structure for a wrist roll joint of a humanoid robot as claimed in any one of claims 1 to 8.

10. The humanoid robot arm structure according to claim 9, characterized in that: The first connection end is fastened to one end of the first joint module where the output flange is provided through a plurality of fasteners extending in a direction parallel to the rotation axis of the first joint module; The fourth connection end is fastened to the third connection end through a plurality of fasteners extending in a direction parallel to the rotation axis of the first joint module; The fifth connection end is fastened to an end of the second joint module away from the output flange through a plurality of fasteners extending in a direction parallel to the rotation axis of the second joint module; The second connection end is fastened to one end of the second joint module where the output flange is provided through a plurality of fasteners extending in a direction parallel to the rotation axis of the second joint module.

11. A humanoid robot, characterized in that include: An assembly structure for a wrist roll joint of a humanoid robot as claimed in any one of claims 1 to 8, or an arm structure of a humanoid robot as claimed in claim 9 or 10.

12. A robot, characterized in that include: An assembly structure for a wrist roll joint of a humanoid robot as claimed in any one of claims 1 to 8, or an arm structure of a humanoid robot as claimed in claim 9 or 10.

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