Simulation robot arm mechanism

Abstract

A simulation robot arm mechanism is provided with a left arm assembly and a right arm assembly. The left arm assembly is connected to the left side of the trunk mechanism. The right arm assembly is connected to the right side of the trunk mechanism. The left arm assembly comprises a left arm rotation driving motor, a left arm pitching driving motor, a left elbow rotation driving motor and a left elbow swing driving motor; the left arm assembly comprises a left arm rotating driving motor, a left arm pitching driving motor, a left elbow rotating driving motor and a left elbow swinging driving motor, so that the left arm assembly has four degrees of freedom of motion, and the right arm assembly comprises a right arm rotating driving motor, a right arm pitching driving motor, a right elbow rotating driving motor and a right elbow swinging driving motor; and a right arm rotating driving motor, a right arm pitching driving motor, a right elbow rotating driving motor and a right elbow swinging driving motor enable the right arm assembly to have four degrees of freedom of motion. The arm mechanism is high in overall layout compactness and high in joint integration degree, a large motion range of the robot can be achieved, and flexibility and universality are improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, and particularly relates to a highly flexible simulation robot. Background Art

[0002] With the deepening of people's understanding of the intelligent nature of robot technology, robot technology has begun to continuously penetrate into various fields of human activities. Combining the application characteristics of these fields, people have developed various special robots and various intelligent robots with sensing, decision-making, action, and interaction capabilities.

[0003] A robot is a machine device that automatically performs work. It can not only accept human commands, but also run pre-programmed programs, or act according to the principles and guidelines formulated by artificial intelligence technology. It is a product of the advanced integration of cybernetics, mechatronics, computers, materials, and bionics, and has important uses in industries, medicine, agriculture, service industries, construction, and even military and other fields.

[0004] For a simulation robot, a reliable mechanical structure design is a prerequisite for ensuring the realization of the robot's software control or programmed actions. Especially for a humanoid biped robot, the weight distribution of each component is an important factor affecting the robot's performance. The overall layout compactness, joint integration degree, and versatility of its structure are also relatively crucial. How to design a simulation robot arm mechanism with a compact layout, high joint integration degree, and strong flexibility has important application value. Content of the Utility Model

[0005] Therefore, the utility model provides a simulation robot arm mechanism with a more compact structure layout, a high joint integration degree, and stronger flexibility.

[0006] To achieve the above purpose, the utility model provides the following technical solution: a simulation robot arm mechanism, including a left arm assembly and a right arm assembly; the left arm assembly is connected to the left side of the torso mechanism, and the right arm assembly is connected to the right side of the torso mechanism;

[0007] The left arm assembly includes a left arm rotation drive motor, a left arm pitching drive motor, a left elbow rotation drive motor, and a left elbow swinging drive motor; the left arm rotation drive motor, the left arm pitching drive motor, the left elbow rotation drive motor, and the left elbow swinging drive motor enable the left arm assembly to have 4 degrees of freedom of movement: the left arm assembly rotates relative to the torso mechanism, the left arm assembly pitches relative to the torso mechanism, the upper arm of the left arm assembly rotates, and the elbow of the left arm assembly swings forward;

[0008] The right arm assembly includes a right arm rotation drive motor, a right arm pitching drive motor, a right elbow rotation drive motor, and a right elbow swing drive motor. The right arm rotation drive motor, the right arm pitching drive motor, the right elbow rotation drive motor, and the right elbow swing drive motor enable the right arm assembly to have four degrees of freedom of movement: the right arm assembly rotates relative to the torso mechanism, the right arm assembly pitches relative to the torso mechanism, the upper arm of the right arm assembly rotates, and the elbow of the right arm assembly swings forward.

[0009] As a preferred embodiment of the simulation robot arm mechanism, the torso mechanism includes a torso frame, and a main controller and a battery pack are arranged inside the torso frame;

[0010] The left arm rotation drive motor, the left arm pitching drive motor, the left elbow rotation drive motor, and the left elbow swing drive motor are all electrically connected to the main controller; the right arm rotation drive motor, the right arm pitching drive motor, the right elbow rotation drive motor, and the right elbow swing drive motor are all electrically connected to the main controller; the battery pack is electrically connected to the main controller.

[0011] As a preferred embodiment of the simulation robot arm mechanism, the left arm assembly further includes a left upper arm and a left lower arm;

[0012] The left arm rotation drive motor is inside the torso frame, and the power output end of the left arm rotation drive motor is connected to the left arm pitching drive motor; the power output end of the left arm pitching drive motor is connected to one end of the left upper arm; the left elbow rotation drive motor is inside the left upper arm, and the power output end of the left elbow rotation drive motor is connected to the left elbow swing drive motor; the power output end of the left elbow swing drive motor is connected to the other end of the left upper arm, and the left lower arm is connected to the side of the left elbow swing drive motor.

[0013] As a preferred embodiment of the simulation robot arm mechanism, the right arm assembly further includes a right upper arm and a right lower arm;

[0014] The right arm rotation drive motor is inside the torso frame, and the power output end of the right arm rotation drive motor is connected to the right arm pitching drive motor; the power output end of the right arm pitching drive motor is connected to one end of the right upper arm; the right elbow rotation drive motor is inside the right upper arm, and the power output end of the right elbow rotation drive motor is connected to the right elbow swing drive motor; the power output end of the right elbow swing drive motor is connected to the other end of the right upper arm, and the right lower arm is connected to the side of the right elbow swing drive motor.

[0015] As an optimal solution for the simulation robot arm mechanism, a head mechanism is also configured. The head mechanism includes a binocular camera, and a head pitch drive motor is connected to the lower end of the binocular camera; a head rotation drive motor is connected to the lower end of the head pitch drive motor, and the head rotation drive motor is arranged inside the torso frame of the torso mechanism.

[0016] The beneficial effects of the present utility model are as follows. It is provided with a left arm assembly and a right arm assembly; the left arm assembly is connected to the left side of the torso mechanism, and the right arm assembly is connected to the right side of the torso mechanism; the left arm assembly includes a left arm rotation drive motor, a left arm pitch drive motor, a left elbow rotation drive motor, and a left elbow swing drive motor; the left arm rotation drive motor, the left arm pitch drive motor, the left elbow rotation drive motor, and the left elbow swing drive motor enable the left arm assembly to have 4 degrees of freedom of movement: the left arm assembly rotates relative to the torso mechanism, the left arm assembly pitches relative to the torso mechanism, the upper arm of the left arm assembly rotates, and the elbow of the left arm assembly swings forward; the right arm assembly includes a right arm rotation drive motor, a right arm pitch drive motor, a right elbow rotation drive motor, and a right elbow swing drive motor, and the right arm rotation drive motor, the right arm pitch drive motor, the right elbow rotation drive motor, and the right elbow swing drive motor enable the right arm assembly to have 4 degrees of freedom of movement: the right arm assembly rotates relative to the torso mechanism, the right arm assembly pitches relative to the torso mechanism, the upper arm of the right arm assembly rotates, and the elbow of the right arm assembly swings forward. The overall layout of the arm mechanism of the present utility model has strong compactness and high joint integration, can achieve a large movement range of the robot, and increases flexibility and versatility. Description of the Drawings

[0017] In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only exemplary, and for those of ordinary skill in the art, without creative efforts, other implementation drawings can also be obtained according to the provided drawings.

[0018] The structures, ratios, sizes, etc. shown in this specification are only used to cooperate with the content disclosed in the specification for those familiar with this technology to understand and read, and are not used to limit the limited conditions that the present utility model can be implemented. Therefore, they do not have technical substance. Any modification of the structure, change of the proportional relationship, or adjustment of the size, without affecting the effects that the present utility model can produce and the purposes that can be achieved, should still fall within the scope covered by the technical content disclosed in the present utility model.

[0019] Figure 1 It is a three-dimensional schematic diagram of a simulation robot adopting the arm mechanism of the embodiment of the present utility model;

[0020] Figure 2 Schematic three-dimensional view of the left arm assembly of the simulation robot arm mechanism provided by the embodiment of the present utility model;

[0021] Figure 3 Schematic three-dimensional view of the right arm assembly of the simulation robot arm mechanism provided by the embodiment of the present utility model;

[0022] Figure 4 Schematic three-dimensional view of the combination of the simulation robot arm mechanism, head mechanism, and torso mechanism provided by the embodiment of the present utility model;

[0023] Figure 5 Schematic internal structure view of the combination of the simulation robot arm mechanism, head mechanism, and torso mechanism provided by the embodiment of the present utility model.

[0024] In the figure, 1. Left arm assembly; 2. Right arm assembly; 3. Torso mechanism; 4. Left arm rotation drive motor; 5. Left arm pitching drive motor; 6. Left elbow rotation drive motor; 7. Left elbow swing drive motor; 8. Right arm rotation drive motor; 9. Right arm pitching drive motor; 10. Right elbow rotation drive motor; 11. Right elbow swing drive motor; 12. Torso frame; 13. Main controller; 14. Battery pack; 15. Left upper arm; 16. Left lower arm; 17. Right upper arm; 18. Right lower arm; 19. Head mechanism; 20. Binocular camera; 21. Head pitching drive motor; 22. Head rotation drive motor. Detailed implementation manners

[0025] The following specific embodiments illustrate the implementation manners of the present utility model. Those skilled in the art can easily understand other advantages and effects of the present utility model from the content disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present utility model, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0026] In order to fully disclose the simulation robot arm mechanism of the embodiment of the present utility model, the following content describes a simulation robot using the leg mechanism of the embodiment of the present invention:

[0027] See Figure 1 , a simulation robot using the leg mechanism of the embodiment of the present invention is provided with a head mechanism, a torso mechanism, a left arm mechanism, a right arm mechanism, a hip mechanism, a left leg assembly, and a right leg assembly;

[0028] Among them, the head mechanism is connected to the upper end of the torso mechanism, and the head mechanism has 2 degrees of freedom of movement: the head mechanism rotates and pitches relative to the torso mechanism;

[0029] Among them, the left arm mechanism is connected to the left side of the torso mechanism, and the left arm mechanism has 4 degrees of freedom of movement: the left arm mechanism rotates relative to the torso mechanism, the left arm mechanism pitches relative to the torso mechanism, the upper arm of the left arm mechanism rotates, and the elbow of the left arm mechanism swings forward.

[0030] Among them, the right arm mechanism is connected to the right side of the torso mechanism, and the right arm mechanism has 4 degrees of freedom of movement: the right arm mechanism rotates relative to the torso mechanism, the right arm mechanism pitches relative to the torso mechanism, the upper arm of the right arm mechanism rotates, and the elbow of the right arm mechanism swings forward.

[0031] Among them, the hip mechanism is connected to the lower end of the torso mechanism, and the hip mechanism has 1 degree of freedom of movement: the hip mechanism rotates relative to the torso mechanism.

[0032] Among them, the left leg assembly is connected to the left side of the hip mechanism, and the left leg assembly has 6 degrees of freedom of movement: the left leg assembly swings forward, swings laterally, rotates, the knee swings forward, the ankle swings forward, and the ankle swings laterally.

[0033] Among them, the right leg assembly is connected to the right side of the hip mechanism, and the right leg assembly has 6 degrees of freedom of movement: the right leg assembly swings forward, swings laterally, rotates, the knee swings forward, the ankle swings forward, and the ankle swings laterally.

[0034] Among them, the driving motors of the head mechanism, torso mechanism, left arm mechanism, right arm mechanism, hip mechanism, left leg assembly, and right leg assembly are all powered by the battery pack, and at the same time, the main controller controls the actions of the head mechanism, torso mechanism, left arm mechanism, right arm mechanism, hip mechanism, left leg assembly, and right leg assembly to achieve the rotation and pitching movements of the head mechanism relative to the torso mechanism, to achieve the rotation movement of the left arm mechanism relative to the torso mechanism, the pitching movement of the left arm mechanism relative to the torso mechanism, the rotation of the upper arm of the left arm mechanism, and the forward swing of the elbow of the left arm mechanism; to achieve the rotation movement of the right arm mechanism relative to the torso mechanism, the pitching movement of the right arm mechanism relative to the torso mechanism, the rotation of the upper arm of the right arm mechanism, and the forward swing of the elbow of the right arm mechanism; to achieve the rotation movement of the hip mechanism relative to the torso mechanism; the rotation of the hip mechanism relative to the left leg assembly; the rotation of the hip mechanism relative to the right leg assembly; to achieve the forward swing, lateral swing, rotation, knee forward swing, ankle forward swing, and ankle lateral swing movements of the left leg assembly; to achieve the forward swing, lateral swing, rotation, knee forward swing, ankle forward swing, and ankle lateral swing movements of the right leg assembly.

[0035] Among them, a binocular camera is installed at the top of the head mechanism. Through the head rotation drive motor and the head pitch drive motor, the rotation and pitch movements of the head binocular camera can be realized. The head rotation drive motor that controls the rotation of the binocular camera is fixed inside the torso frame of the torso mechanism. The output flange of the head rotation drive motor is connected to the fixed end of the head pitch drive motor that controls the pitch of the binocular camera. The output flange of the head pitch drive motor that controls the pitch of the binocular camera is connected to the camera mounting assembly to realize the movement of the binocular camera.

[0036] Among them, the left arm rotation drive motor inside the torso frame can drive the left arm pitch drive motor, the left upper arm, the left elbow rotation drive motor, the left elbow swing drive motor, and the left lower arm to rotate. The left arm pitch drive motor can drive the left upper arm, the left elbow rotation drive motor, the left elbow swing drive motor, and the left lower arm to pitch. The left elbow rotation drive motor can drive the left elbow swing drive motor and the left lower arm to rotate. The left elbow swing drive motor can drive the left lower arm to swing. The right arm rotation drive motor inside the torso frame can drive the right arm pitch drive motor, the right upper arm, the right elbow rotation drive motor, the right elbow swing drive motor, and the right lower arm to rotate. The right arm pitch drive motor can drive the right upper arm, the right elbow rotation drive motor, the right elbow swing drive motor, and the right lower arm to pitch. The right elbow rotation drive motor can drive the right elbow swing drive motor and the right lower arm to rotate. The right elbow swing drive motor can drive the right lower arm to swing. The waist rotation drive motor can drive the hip structure to rotate through the hip flange. The left leg swing drive motor inside the hip structure can drive the entire left leg assembly to swing. The right leg swing drive motor inside the hip structure can drive the entire right leg assembly to swing.

[0037] Among them, for the left leg swing drive motor and the right leg swing drive motor, clamping structure parts can be connected to the hip structure. The clamping structure parts fix the left leg swing drive motor and the right leg swing drive motor inside the hip structure through bolts. The hip mechanism drives the cross-leg drive assembly to swing through the leg swing drive motor, and the cross-leg drive motor of the cross-leg drive assembly can drive the thigh assembly and the calf assembly to move laterally. The cross-leg drive motor is connected through the cross-swing output structure part and the cross-swing passive end structure part, and power is output through the cross-swing output structure part. The leg rotation drive motor can drive the leg rotation power output structure part between the cross-swing output structure part and the cross-swing passive end structure part to rotate, thereby driving the leg extension part, the knee joint drive motor, and the lower calf assembly as a whole to rotate.

[0038] Among them, the knee joint drive motor can drive the calf component to swing back and forth. The knee joint drive motor is connected through the knee joint passive end structure member and the knee joint power output structure member, and the knee joint drive motor drives the calf structure member to swing back and forth through the knee joint power output structure member. The first ankle joint drive motor drives the ankle component to swing through the first rocker swing member, and the second ankle joint drive motor drives the ankle component to swing through the second rocker swing member. Among them, the lower parts of the first rocker swing member and the second rocker swing member swing relative to the ankle connecting rod, and the calf structure member swings relative to the ankle cross shaft member. When the first ankle joint drive motor drives the first rocker swing member and the second ankle joint drive motor drives the second rocker swing member in the same direction, the ankle cross shaft member makes a forward swing movement relative to the calf structure member. When the first ankle joint drive motor drives the first rocker swing member and the second ankle joint drive motor drives the second rocker swing member in the opposite direction, the ankle cross shaft member makes a side swing movement relative to the calf structure member. Among them, the ankle component can drive the foot plate component to perform corresponding forward swing and side movement.

[0039] Based on the above simulation robot developed by the applicant:

[0040] See Figure 2 and Figure 3 , an embodiment of the present invention provides a simulation robot arm mechanism, including a left arm assembly 1 and a right arm assembly 2; the left arm assembly 1 is connected to the left side of the torso mechanism 3, and the right arm assembly 2 is connected to the right side of the torso mechanism 3;

[0041] Among them, the left arm assembly 1 includes a left arm rotation drive motor 4, a left arm pitch drive motor 5, a left elbow rotation drive motor 6 and a left elbow swing drive motor 7; the left arm rotation drive motor 4, the left arm pitch drive motor 5, the left elbow rotation drive motor 6, and the left elbow swing drive motor 7 enable the left arm assembly 1 to have 4 degrees of freedom of movement: the left arm assembly 1 rotates relative to the torso mechanism 3, the left arm assembly 1 pitches relative to the torso mechanism 3, the upper arm of the left arm assembly 1 rotates, and the elbow of the left arm assembly 1 swings forward;

[0042] Among them, the right arm assembly 2 includes a right arm rotation drive motor 8, a right arm pitch drive motor 9, a right elbow rotation drive motor 10 and a right elbow swing drive motor 11. The right arm rotation drive motor 8, the right arm pitch drive motor 9, the right elbow rotation drive motor 10, and the right elbow swing drive motor 11 enable the right arm assembly 2 to have 4 degrees of freedom of movement: the right arm assembly 2 rotates relative to the torso mechanism 3, the right arm assembly 2 pitches relative to the torso mechanism 3, the upper arm of the right arm assembly 2 rotates, and the elbow of the right arm assembly 2 swings forward.

[0043] See Figure 4 and Figure 5, in this embodiment, the torso mechanism 3 includes a torso frame 12, and a main controller 13 and a battery pack 14 are arranged inside the torso frame 12;

[0044] Among them, the left arm rotation drive motor 4, the left arm pitching drive motor 5, the left elbow rotation drive motor 6, and the left elbow swing drive motor 7 are all electrically connected to the main controller 13; the right arm rotation drive motor 8, the right arm pitching drive motor 9, the right elbow rotation drive motor 10, and the right elbow swing drive motor 11 are all electrically connected to the main controller 13; the battery pack 14 is electrically connected to the main controller 13.

[0045] Specifically, the battery pack 14 supplies power to the left arm rotation drive motor 4, the left arm pitching drive motor 5, the left elbow rotation drive motor 6, the left elbow swing drive motor 7, the right arm rotation drive motor 8, the right arm pitching drive motor 9, the right elbow rotation drive motor 10, and the right elbow swing drive motor 11 of the left arm assembly 1 and the right arm assembly 2. At the same time, the main controller 13 controls the actions of the head mechanism 19, the torso mechanism 3, the left arm assembly 1, and the right arm assembly 2, so as to realize the rotation and pitching movements of the head mechanism 19 relative to the torso mechanism 3, the rotation movement of the left arm assembly 1 relative to the torso mechanism 3, the pitching movement of the left arm assembly 1 relative to the torso mechanism 3, the rotation of the upper arm of the left arm assembly 1, and the forward swing of the elbow of the left arm assembly 1; realize the rotation movement of the right arm assembly 2 relative to the torso mechanism 3, the pitching movement of the right arm assembly 2 relative to the torso mechanism 3, the rotation of the upper arm of the right arm assembly 2, and the forward swing of the elbow of the right arm assembly 2.

[0046] In this embodiment, the left arm mechanism assembly further includes a left upper arm 15 and a left lower arm 16; the left arm rotation drive motor 4 is inside the torso frame 12, and the power output end of the left arm rotation drive motor 4 is connected to the left arm pitching drive motor 5; the power output end of the left arm pitching drive motor 5 is connected to one end of the left upper arm 15; the left elbow rotation drive motor 6 is inside the left upper arm 15, and the power output end of the left elbow rotation drive motor 6 is connected to the left elbow swing drive motor 7; the power output end of the left elbow swing drive motor 7 is connected to the other end of the left upper arm 15, and the left lower arm 16 is connected to the side of the left elbow swing drive motor 7.

[0047] Specifically, the left arm rotation drive motor 4 inside the torso frame 12 can drive the left arm pitching drive motor 5, the left upper arm 15, the left elbow rotation drive motor 6, the left elbow swing drive motor 7, and the left lower arm 16 to rotate. The left arm pitching drive motor 5 can drive the left upper arm 15, the left elbow rotation drive motor 6, the left elbow swing drive motor 7, and the left lower arm 16 to pitch. The left elbow rotation drive motor 6 can drive the left elbow swing drive motor 7 and the left lower arm 16 to rotate. The left elbow swing drive motor 7 can drive the left lower arm 16 to swing.

[0048] In this embodiment, the right arm assembly 2 further includes a right upper arm 17 and a right lower arm 18; the right arm rotation drive motor 8 is inside the torso frame 12, and the power output end of the right arm rotation drive motor 8 is connected to the right arm pitching drive motor 9; the power output end of the right arm pitching drive motor 9 is connected to one end of the right upper arm 17; the right elbow rotation drive motor 10 is inside the right upper arm 17, and the power output end of the right elbow rotation drive motor 10 is connected to the right elbow swing drive motor 11; the power output end of the right elbow swing drive motor 11 is connected to the other end of the right upper arm 17, and the right lower arm 18 is connected to the side of the right elbow swing drive motor 11.

[0049] Specifically, the right arm rotation drive motor 8 inside the torso frame 12 can drive the right arm pitching drive motor 9, the right upper arm 17, the right elbow rotation drive motor 10, the right elbow swing drive motor 11 and the right lower arm 18 to rotate. The right arm pitching drive motor 9 can drive the right upper arm 17, the right elbow rotation drive motor 10, the right elbow swing drive motor 11 and the right lower arm 18 to pitch. The right elbow rotation drive motor 10 can drive the right elbow swing drive motor 11 and the right lower arm 18 to rotate. The right elbow swing drive motor 11 can drive the right lower arm 18 to swing.

[0050] In this embodiment, a head mechanism 19 is further configured. The head mechanism 19 includes a binocular camera 20, and the lower end of the binocular camera 20 is connected to a head pitching drive motor 21; the lower end of the head pitching drive motor 21 is connected to a head rotation drive motor 22, and the head rotation drive motor 22 is arranged inside the torso frame 12 of the torso mechanism 3.

[0051] Specifically, a binocular camera 20 is installed at the top of the head mechanism 19. The rotation and pitching movements of the head binocular camera 20 can be realized through the head rotation drive motor 22 and the head pitching drive motor 21. Among them, the head rotation drive motor 22 that controls the rotation of the binocular camera 20 is fixed inside the torso frame 12 of the torso mechanism 3. The output flange of the head rotation drive motor 22 is connected to the fixed end of the head pitching drive motor 21 that controls the pitching of the binocular camera 20. The output flange of the head pitching drive motor 21 that controls the pitching of the binocular camera 20 is connected to the camera mounting assembly to realize the movement of the binocular camera 20. Among them, the main controller 13 and the machine vision algorithm integrated in the binocular camera 20 are themselves prior arts and will not be elaborated here.

[0052] In summary, the utility model is provided with a left arm assembly 1 and a right arm assembly 2; the left arm assembly 1 is connected to the left side of the torso mechanism 3, and the right arm assembly 2 is connected to the right side of the torso mechanism 3; the left arm assembly 1 includes a left arm rotation drive motor 4, a left arm pitching drive motor 5, a left elbow rotation drive motor 6, and a left elbow swing drive motor 7; the left arm rotation drive motor 4, the left arm pitching drive motor 5, the left elbow rotation drive motor 6, and the left elbow swing drive motor 7 enable the left arm assembly 1 to have 4 degrees of freedom of movement: the left arm assembly 1 rotates relative to the torso mechanism 3, the left arm assembly 1 pitches relative to the torso mechanism 3, the upper arm of the left arm assembly 1 rotates, and the elbow of the left arm assembly 1 swings forward; the right arm assembly 2 includes a right arm rotation drive motor 8, a right arm pitching drive motor 9, a right elbow rotation drive motor 10, and a right elbow swing drive motor 11, and the right arm rotation drive motor 8, the right arm pitching drive motor 9, the right elbow rotation drive motor 10, and the right elbow swing drive motor 11 enable the right arm assembly 2 to have 4 degrees of freedom of movement: the right arm assembly 2 rotates relative to the torso mechanism 3, the right arm assembly 2 pitches relative to the torso mechanism 3, the upper arm of the right arm assembly 2 rotates, and the elbow of the right arm assembly 2 swings forward. The battery pack 14 supplies power to the left arm rotation drive motor 4, the left arm pitching drive motor 5, the left elbow rotation drive motor 6, the left elbow swing drive motor 7, the right arm rotation drive motor 8, the right arm pitching drive motor 9, the right elbow rotation drive motor 10, and the right elbow swing drive motor 11 of the left arm assembly 1 and the right arm assembly 2. At the same time, the main controller 13 controls the actions of the head mechanism 19, the torso mechanism 3, the left arm assembly 1, and the right arm assembly 2 to realize the rotation and pitching movements of the head mechanism 19 relative to the torso mechanism 3, the rotation movement of the left arm assembly 1 relative to the torso mechanism 3, the pitching movement of the left arm assembly 1 relative to the torso mechanism 3, the rotation of the upper arm of the left arm assembly 1, and the forward swing of the elbow of the left arm assembly 1; to realize the rotation movement of the right arm assembly 2 relative to the torso mechanism 3, the pitching movement of the right arm assembly 2 relative to the torso mechanism 3, the rotation of the upper arm of the right arm assembly 2, and the forward swing of the elbow of the right arm assembly 2. The left arm rotation drive motor 4 within the torso frame 12 can drive the left arm pitching drive motor 5, the left upper arm 15, the left elbow rotation drive motor 6, the left elbow swing drive motor 7, and the left lower arm 16 to rotate. The left arm pitching drive motor 5 can drive the left upper arm 15, the left elbow rotation drive motor 6, the left elbow swing drive motor 7, and the left lower arm 16 to pitch. The left elbow rotation drive motor 6 can drive the left elbow swing drive motor 7 and the left lower arm 16 to rotate. The left elbow swing drive motor 7 can drive the left lower arm 16 to swing.The right arm rotation drive motor 8 within the torso frame 12 can drive the right arm pitching drive motor 9, the right upper arm 17, the right elbow rotation drive motor 10, the right elbow swing drive motor 11, and the right lower arm 18 to rotate. The right arm pitching drive motor 9 can drive the right upper arm 17, the right elbow rotation drive motor 10, the right elbow swing drive motor 11, and the right lower arm 18 to pitch. The right elbow rotation drive motor 10 can drive the right elbow swing drive motor 11 and the right lower arm 18 to rotate. The right elbow swing drive motor 11 can drive the right lower arm 18 to swing. The overall layout of the arm mechanism of the present utility model has strong compactness and high joint integration, can achieve a large movement range of the robot, and increases flexibility and versatility.

[0053] Although the present utility model has been described in detail with general descriptions and specific embodiments in the foregoing, on the basis of the present utility model, some modifications or improvements can be made thereto, which are obvious to those skilled in the art. Therefore, these modifications or improvements made without departing from the spirit of the present utility model all fall within the scope of protection required by the present utility model.

Claims

1. A simulated robot arm mechanism, characterized in that: The invention comprises a left arm assembly (1) and a right arm assembly (2); the left arm assembly (1) is connected to the left side of a trunk mechanism (3), and the right arm assembly (2) is connected to the right side of the trunk mechanism (3); The left arm assembly (1) comprises a left arm rotation drive motor (4), a left arm pitch drive motor (5), a left elbow rotation drive motor (6) and a left elbow swing drive motor (7); the left arm rotation drive motor (4), the left arm pitch drive motor (5), the left elbow rotation drive motor (6) and the left elbow swing drive motor (7) enable the left arm assembly (1) to have four degrees of freedom of movement: the left arm assembly (1) performs rotational movement relative to the trunk mechanism (3), the left arm assembly (1) performs pitching movement relative to the trunk mechanism (3), the upper arm of the left arm assembly (1) rotates and the elbow of the left arm assembly (1) swings forward; The right arm assembly (2) comprises a right arm rotation drive motor (8), a right arm pitch drive motor (9), a right elbow rotation drive motor (10) and a right elbow swing drive motor (11). The right arm rotation drive motor (8), the right arm pitch drive motor (9), the right elbow rotation drive motor (10) and the right elbow swing drive motor (11) enable the right arm assembly (2) to have four degrees of freedom of movement: the right arm assembly (2) performs rotational movement relative to the trunk mechanism (3), the right arm assembly (2) performs pitching movement relative to the trunk mechanism (3), the upper arm rotation of the right arm assembly (2) and the forward swing of the elbow of the right arm assembly (2).

2. A simulation robot arm mechanism according to claim 1, characterized in that: The trunk mechanism (3) comprises a trunk frame (12), wherein a main controller (13) and a battery pack (14) are arranged inside the trunk frame (12); The left arm rotation drive motor (4), the left arm pitch drive motor (5), the left elbow rotation drive motor (6), and the left elbow swing drive motor (7) are all electrically connected to the main controller (13); the right arm rotation drive motor (8), the right arm pitch drive motor (9), the right elbow rotation drive motor (10), and the right elbow swing drive motor (11) are all electrically connected to the main controller (13); and the battery pack (14) is electrically connected to the main controller (13).

3. The simulation robot arm mechanism according to claim 2, characterized in that: The left arm assembly also includes a left upper arm (15) and a left lower arm (16); The left arm rotation drive motor (4) is located inside the trunk frame (12), and the power output end of the left arm rotation drive motor (4) is connected to the left arm pitch drive motor (5); the power output end of the left arm pitch drive motor (5) is connected to one end of the left upper arm (15); the left elbow rotation drive motor (6) is located inside the left upper arm (15), and the power output end of the left elbow rotation drive motor (6) is connected to the left elbow swing drive motor (7); the power output end of the left elbow swing drive motor (7) is connected to the other end of the left upper arm (15), and the left forearm (16) is connected to the side of the left elbow swing drive motor (7).

4. The simulation robot arm mechanism according to claim 2, characterized in that: The right arm assembly (2) further comprises a right upper arm (17) and a right lower arm (18); The right arm rotation drive motor (8) is located inside the trunk frame (12), and the power output end of the right arm rotation drive motor (8) is connected to the right arm pitch drive motor (9); the power output end of the right arm pitch drive motor (9) is connected to one end of the right upper arm (17); the right elbow rotation drive motor (10) is located inside the right upper arm (17), and the power output end of the right elbow rotation drive motor (10) is connected to the right elbow swing drive motor (11); the power output end of the right elbow swing drive motor (11) is connected to the other end of the right upper arm (17), and the right forearm (18) is connected to the side of the right elbow swing drive motor (11).

5. The simulation robot arm mechanism according to claim 2, characterized in that: A head mechanism (19) is also provided, wherein the head mechanism (19) includes a binocular camera (20), wherein the lower end of the binocular camera (20) is connected to a head pitch drive motor (21); the lower end of the head pitch drive motor (21) is connected to a head rotation drive motor (22), and the head rotation drive motor (22) is arranged inside the trunk frame (12) of the trunk mechanism (3).

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