Humanoid robot arm assembly zero positioning structure

Abstract

The utility model relates to a humanoid robot arm assembly zero positioning structure which is characterized in that a first joint mechanism comprises a plurality of joint motor modules, a joint motor module A and a joint motor module B are connected through a first connecting support, and the joint motor module B and a joint motor module C are connected through a second connecting support; the second joint mechanism comprises a joint motor module D and a joint motor module E; the push-pull rod joint mechanism comprises a joint motor module F, a joint motor module G, a pull rod and a suspension support assembly. The joint motor module A, the joint motor module B and the joint motor module G are subjected to zero positioning through a positioning plate A, a positioning plate B, a positioning plate E and positioning pins correspondingly. The joint motor module C, the motor-saving module D, the motor-saving module E and the motor-saving module F are subjected to zero positioning through the positioning plate C, the positioning plate D and the positioning pins. The zero-position loss detection device is simple in overall structure, convenient to operate, capable of finding out zero-position loss more quickly and accurately, and low in cost.

Description

Technical Field

[0001] The utility model relates to the field of robot arms, and more specifically, to a zero-position positioning structure for a humanoid robot arm assembly. Background Art

[0002] When a robotic arm performs tasks, high-precision absolute positioning accuracy is required. There are many indicators affecting the absolute positioning accuracy of a robotic arm, and an important one is the determination of the zero position of the robotic arm. If the zero position of the robotic arm is not determined accurately, it will directly lead to the inconsistency between the actual DH parameters of the robotic arm and the DH parameters of the control theory model, resulting in control errors.

[0003] In the search for the zero position of traditional robotic arms, there are many methods. For example, after the zero position of the robotic arm is lost, a high-precision ultrasonic sensor is used to find the zero degree, or a laser tracker is used for zero position calibration, etc. The above calibration methods are relatively complex, generally time-consuming, and expensive. Summary of the Utility Model

[0004] In order to solve the above technical problems, the purpose of the utility model is to provide a zero-position positioning structure for a humanoid robot arm assembly, which has a simple structure and is convenient to operate.

[0005] In order to achieve the above utility model purpose, the utility model adopts the following technical solutions:

[0006] A zero-position positioning structure for a humanoid robot arm assembly, comprising a first joint mechanism, a second joint mechanism and a push-rod joint mechanism. The first joint mechanism and the second joint mechanism, as well as the second joint mechanism and the push-rod joint mechanism, are connected by a third connecting bracket; the first joint mechanism includes a first connecting bracket, a second connecting bracket and a plurality of joint motor modules. The first connecting bracket is L-shaped and includes two fixed plates perpendicular to each other. The output ends of joint motor module A and joint motor module B are respectively fixed to the two fixed plates. A fixed plate is also fixed on joint motor module A. The second connecting bracket includes a connecting plate and a fixed ring B vertically fixed on the connecting plate. The fixed ring B is sleeved and fixed on joint motor module B, and the connecting plate is fixed to the output end of joint motor module C; the second joint mechanism includes joint motor module D and joint motor module E connected by a first connecting bracket; the push-rod joint mechanism includes joint motor module F, joint motor module G, a pull rod and a suspension bracket assembly. The joint motor module F and the joint motor module G are connected by a suspension bracket assembly, and the suspension assembly makes the two joint motor modules perpendicular to each other. One end of the pull rod is connected to the output end on joint motor module F, and the other end is connected to the side wall of joint motor module G; joint motor module A, joint motor module B and joint motor module G are respectively subjected to zero-position positioning through a positioning plate A, a positioning plate B, a positioning plate E provided on one side and corresponding positioning pins; joint motor module C, joint motor module D, joint motor module E and joint motor module F are subjected to zero-position positioning through a positioning plate C, a positioning plate D and corresponding positioning pins.

[0007] As a preferred solution: Both ends of the positioning plate A are respectively provided with positioning holes A. Both ends of the positioning plate A respectively extend to the fixed plate and the fixed plate, and the positioning holes A are aligned with the through holes on the fixed plate and the fixed plate, and are positioned by positioning pins.

[0008] As a preferred solution: Both ends of the positioning plate B are respectively provided with positioning holes B. Both ends of the positioning plate B respectively extend to the fixed plate and the housing of joint motor module B, and the positioning holes B are aligned with the through holes on the fixed plate and the housing of joint motor module B, and are positioned by positioning pins; one end of the positioning plate B is also provided with an avoidance notch B.

[0009] As a preferred solution: Both ends of the positioning plate C are respectively provided with positioning holes C. Both ends of the positioning plate C respectively extend to the second connecting bracket and the first connecting bracket of the second joint mechanism, and the positioning holes are aligned with the through holes on the second connecting bracket and the first connecting bracket, and are positioned by positioning pins; a side extension plate C is also provided in the middle of the positioning plate C; a positioning hole C is provided on the side extension plate C, and the positioning hole C on the side extension plate C is aligned with the through hole on the third connecting bracket at the joint motor module C, and is positioned by positioning pins.

[0010] As a preferred solution: positioning holes D are respectively provided at both ends of the positioning plate D. Both ends of the positioning plate D respectively extend to the first connection bracket of the second joint mechanism and the output end of the joint motor module F, and the positioning holes D on the positioning plate D are aligned with the through holes on the first connection bracket and the joint motor module F, and are positioned by positioning pins; a side extension plate D is further provided in the middle of the positioning plate D; positioning holes D are provided on the positioning plate D, and the positioning holes D are aligned with the through holes on the third connection bracket at the joint motor module E, and are positioned by positioning pins.

[0011] As a preferred solution: a positioning plate E is provided on one side of the joint motor module G; positioning holes E are respectively provided at both ends of the positioning plate E. Both ends of the positioning plate E respectively extend to the housing of the joint motor module G and the output end of the joint motor module G, and the positioning holes E are aligned with the through holes at the housing of the joint motor module G and the output end of the joint motor module G, and are positioned by positioning pins; avoiding notches E are provided at both ends of the positioning plate E.

[0012] As a preferred solution: the third connection bracket includes a limiting sleeve and a fixing ring C fixed at one end of the limiting sleeve, and a triangular reinforcing plate B is further provided at the connection between the limiting sleeve and the fixing ring C.

[0013] As a preferred solution: a triangular reinforcing plate A is further provided at the connection between the connection disk of the second connection bracket and the fixing ring B.

[0014] As a preferred solution: the suspension bracket assembly includes two symmetrically arranged semi-circular hanging rings, and each semi-circular hanging ring is composed of a fixing ring A and an arc-shaped connecting plate formed integrally.

[0015] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0016] The present utility model directly or indirectly provides positioning holes or through holes on the joint motor module and the positioning plate, and assembles the joint motor module and the corresponding positioning plate through positioning pins to realize the zero-position positioning of the whole robot arm; the overall structure is simple, the operation is convenient, and the zero-position loss point can be found more quickly and accurately; the cooperation mode of the positioning hole and the positioning pin is convenient for processing, has high precision, higher positioning accuracy, is more reliable, and has low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The specification drawings constituting a part of this application are used to provide a further understanding of this application. The schematic embodiments of this application and their descriptions are used to explain this application and do not constitute a limitation to this application.

[0018] Figure 1 is the overall structure schematic diagram of the present utility model;

[0019] Figure 2 and Figure 3are schematic diagrams of the connection structure and zero-position positioning structure of joint motor module A and joint motor module B at two different angles;

[0020] Figure 4 and Figure 5 are schematic diagrams of the connection structure and zero-position positioning structure of joint motor module C, joint motor module D, joint motor module E and joint motor module F at two different angles;

[0021] Figure 6 and Figure 7 are schematic diagrams of the positioning structure of joint motor module G at two different angles

[0022] Figure 8 is a schematic diagram of the structure of the second connecting bracket of the present utility model;

[0023] Figure 9 is a schematic diagram of the structure of the third connecting bracket of the present utility model;

[0024] Figure 10 is a schematic diagram of the structure of the semi-circular hanging ring of the present utility model.

[0025] The reference numerals are: 100, positioning plate A; 200, positioning plate B; 300, positioning plate C; 400, positioning plate D; 500, positioning plate E; 600, fixing plate; 101, positioning hole A; 202, positioning hole B; 201, avoidance notch B; 301, positioning hole C; 302, side extension plate C; 401, positioning hole D; 402, side extension plate D; 501, avoidance notch E; 502, positioning hole E; 4, joint motor module; 5, first connecting bracket; 6, second connecting bracket; 61, fixing ring B; 62, connecting disc; 63, triangular reinforcing plate A; 71, limiting sleeve; 72, fixing ring C; 73, triangular reinforcing plate B; 8, six-axis force sensor; 9, wiring harness fixing part installation hole; 10, fixing ring A; 11, arc-shaped connecting plate; 12, pull rod; 13, fixing collar; 14, connecting ring. Detailed implementation manners

[0026] It should be noted that the following detailed description is exemplary and is intended to provide further illustration of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present application belongs.

[0027] It should be noted that the terms used herein are for the purpose of describing specific embodiments only and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular forms are also intended to include the plural forms. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they specify the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0028] In addition, in the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention.

[0029] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed 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 one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "plural" is two or more, unless otherwise clearly defined.

[0030] In the present invention, unless otherwise clearly specified and defined, the terms "mounted", "connected", "connected to", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0031] In the present invention, unless otherwise clearly specified and defined, the first feature being "above" or "below" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features therebetween. Moreover, the first feature being "above", "over" and "on" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely means that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "beneath" and "under" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely means that the horizontal height of the first feature is lower than that of the second feature.

[0032] The present utility model will be further described below in conjunction with the accompanying drawings and embodiments:

[0033] As Figures 1 to 10 shown, a zero-position positioning structure of a humanoid robot arm assembly includes a first joint mechanism, a second joint mechanism, and a push-pull rod joint mechanism. The first joint mechanism and the second joint mechanism, and the second joint mechanism and the push-pull rod joint mechanism are both connected by a third connecting bracket 7;

[0034] The first joint mechanism includes a first connecting bracket 5, a second connecting bracket 6, and a plurality of joint motor modules 4. The first connecting bracket 5 is L-shaped and includes two perpendicular fixing plates. The output ends of joint motor module A and joint motor module B are respectively fixed to the two fixing plates. A fixing plate 600 is also fixed on joint motor module A. The second connecting bracket 6 is generally T-shaped and includes a connecting plate 62 and a fixing ring B 61 vertically fixed on the connecting plate 62. The fixing ring B61 is sleeved and fixed on joint motor module B, and the connecting plate 62 is fixed to the output end of joint motor module C;

[0035] The second joint mechanism includes joint motor module D and joint motor module E connected by the first connecting bracket 5; the push-pull rod joint mechanism includes joint motor module F, joint motor module G, a pull rod 12, and a suspension bracket assembly. The joint motor module F and the joint motor module G are connected by the suspension bracket assembly, and the suspension assembly makes the two joint motor modules perpendicular to each other. One end of the pull rod 12 is connected to the output end on joint motor module F, and the other end is connected to the side wall of joint motor module G;

[0036] Joint motor module A, joint motor module B, and joint motor module G are respectively subjected to zero-position positioning through a positioning plate A100, a positioning plate B200, and a positioning plate E500 provided on one side and corresponding positioning pins; joint motor module C, joint motor module D, joint motor module E, and joint motor module F are subjected to zero-position positioning through a positioning plate C300, a positioning plate D400, and corresponding positioning pins; the positioning pins are T-shaped cylindrical pins, and the T-shaped cylindrical pins are easier to insert and pull out.

[0037] The specific positioning structures of the above positioning plates and each joint motor module are as follows:

[0038] Both ends of the positioning plate A100 are respectively provided with positioning holes A101. Both ends of the positioning plate A100 respectively extend to the fixing plate and the fixing plate 600, and the positioning holes A101 are aligned with the through holes on the fixing plate and the fixing plate 600, and are positioned by positioning pins.

[0039] Both ends of the positioning plate B200 are respectively provided with positioning holes B202. Both ends of the positioning plate B200 respectively extend to the fixed disk and the housing of the joint motor module B, and the positioning holes B202 are aligned with the through holes on the fixed disk and the housing of the joint motor module B, and are positioned by positioning pins; One end of the positioning plate B200 is also provided with an avoidance notch B201.

[0040] Both ends of the positioning plate C300 are respectively provided with positioning holes C301. Both ends of the positioning plate C300 respectively extend to the second connecting bracket 6 and the first connecting bracket 5 of the second joint mechanism, and the positioning holes 301 are aligned with the through holes on the second connecting bracket 6 and the first connecting bracket 5, and are positioned by positioning pins; The middle part of the positioning plate C300 is also provided with a side extension plate C302; The side extension plate C302 is provided with a positioning hole C301, and the positioning hole C301 on the side extension plate C302 is aligned with the through hole on the third connecting bracket 7 at the joint motor module C, and is positioned by positioning pins.

[0041] Both ends of the positioning plate D400 are respectively provided with positioning holes D401. Both ends of the positioning plate D400 respectively extend to the first connecting bracket 5 of the second joint mechanism and the output end of the joint motor module F, and the positioning holes D401 on the positioning plate D400 are aligned with the through holes on the first connecting bracket 5 and the joint motor module F, and are positioned by positioning pins; The middle part of the positioning plate D400 is also provided with a side extension plate D402; The positioning plate D400 is provided with a positioning hole D401, and the positioning hole D401 is aligned with the through hole on the third connecting bracket 7 at the joint motor module E, and is positioned by positioning pins.

[0042] One side of the joint motor module G is provided with a positioning plate E500; Both ends of the positioning plate E500 are respectively provided with positioning holes E502. Both ends of the positioning plate E500 respectively extend to the housing of the joint motor module G and the output end of the joint motor module G, and the positioning holes E502 are aligned with the through holes at the housing of the joint motor module G and the output end of the joint motor module G, and are positioned by positioning pins; Both ends of the positioning plate E500 are provided with avoidance notches E501.

[0043] One end of the suspension bracket assembly is in a ring shape and is sleeved and fixed on the joint motor module F. The other end of the suspension bracket assembly is in a semi-circular plate shape, and both ends of the semi-circular plate are rotatably connected to both sides of the joint motor module G. One end of the pull rod 12 is connected to the output end of the joint motor module F, and the other end is connected to the side wall of the joint motor module G.

[0044] The above suspension bracket assembly can be an integrally formed structure, or for the convenience of installation, it can be designed into the following structure: The suspension bracket assembly includes two symmetrically arranged semi-circular hanging rings, and each semi-circular hanging ring is composed of an integrally formed fixing ring 10 and an arc-shaped connecting plate 11; at the same time, for the convenience of arranging the wire harness in the joint motor module, a plurality of wire harness fixing part mounting holes 9 are arranged at intervals on the arc-shaped connecting plate 11.

[0045] The third connecting bracket 7 includes a limiting sleeve 71 and a fixing ring C72 fixed at one end of the limiting sleeve 71, and a triangular reinforcing plate B73 is also provided at the connection between the limiting sleeve 71 and the fixing ring C72. A triangular reinforcing plate A63 is also provided at the connection between the connecting disk 62 of the second connecting bracket 6 and the fixing ring B61. Mounting holes 9 for installing wire harness fixing parts are provided on the triangular reinforcing plate A63, the triangular reinforcing plate B73, and the fixing disk.

[0046] The wire harnesses of multiple joint motor modules are close to the corresponding components through the wire harness fixing parts installed in the mounting holes 9. The wire harness fixing parts are buckles, cable ties or loops.

[0047] The joint motor module G is connected to the arc-shaped connecting plate 11 through a rotating bracket assembly. The rotating bracket assembly includes a fixing collar. The fixing collar is sleeved and fixed on the joint motor module F. Two rotating shaft columns spaced 180° are provided on the outer wall of the fixing collar, and the two rotating shaft columns are rotatably connected to both ends of the arc-shaped connecting plate 11.

[0048] A connecting plate is also provided on the fixing collar. The extending direction of the connecting plate is consistent with the axial direction of the joint motor module G. One of the rotating shaft columns is arranged on the connecting plate, and a hinged column rotatably connected to the pull rod 12 is also provided on one side of the rotating shaft column on the connecting plate.

[0049] The output end of the joint motor module F is rotatably connected to the pull rod 12 through a connecting ring. There are two pull rods 12 spaced 180°, and there are also two hinged columns located on both sides of the rotating shaft column. The output end of the joint motor module G is connected with a six-axis force sensor 8 through a first connecting bracket 5.

[0050] The utility model directly or indirectly sets positioning holes or through holes on the joint motor module and the positioning plate, and assembles the joint motor module and the corresponding positioning plate through positioning pins to realize the zero-position positioning of the entire robot arm; the overall structure is simple, the operation is convenient, and the zero-position loss point can be found more quickly and accurately; the cooperation mode of the positioning hole and the positioning pin is convenient for processing, has high precision, higher positioning accuracy, is more reliable, and has low cost.

[0051] In the description of this specification, the descriptions referring to 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.

[0052] Although the embodiments of the present utility model 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 utility model. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present utility model without departing from the principles and spirit of the present utility model. Any simple modification, equivalent change, and modification made to the above embodiments based on the technical essence of the present utility model still fall within the scope of the technical solution of the present utility model.

Claims

1. A zero-position positioning structure for a humanoid robot arm assembly, characterized in that: It comprises a first joint mechanism, a second joint mechanism and a push-pull rod joint mechanism, wherein the first joint mechanism and the second joint mechanism, and the second joint mechanism and the push-pull rod joint mechanism are connected via a third connecting bracket (7); The first joint mechanism comprises a first connecting bracket (5), a second connecting bracket (6) and a plurality of joint motor modules (4); the first connecting bracket (5) is L-shaped and comprises two mutually perpendicular fixing plates; the output ends of the joint motor module A and the joint motor module B are respectively fixed to the two fixing plates; a fixing plate (600) is also fixed to the joint motor module A; the second connecting bracket comprises a connecting plate (62) and a fixing ring B (61) fixed vertically to the connecting plate (62); the fixing ring B (61) is sleeved and fixed to the joint motor module B; the connecting plate (62) is fixed to the output end of the joint motor module C; The second joint mechanism comprises a joint motor module D and a joint motor module E connected via a first connecting bracket (5); the push-pull rod joint mechanism comprises a joint motor module F, a joint motor module G, a pull rod (12) and a suspension bracket assembly, the joint motor module F and the joint motor module G are connected via the suspension bracket assembly, and the suspension assembly enables the two joint motor modules to be perpendicular to each other, one end of the pull rod (12) is connected to the output end on the joint motor module F, and the other end is connected to the side wall of the joint motor module G; Joint motor module A, joint motor module B, and joint motor module G are respectively zero-positioned by positioning plate A (100), positioning plate B (200), positioning plate E (500) and corresponding positioning pins arranged on one side; joint motor module C, energy-saving motor module D, energy-saving motor module E, and energy-saving motor module F are zero-positioned by positioning plate C (300), positioning plate D (400) and corresponding positioning pins.

2. The zero-position positioning structure of a humanoid robot arm assembly according to claim 1, characterized in that: Both ends of the positioning plate A (100) are provided with positioning holes A (101), and both ends of the positioning plate A (100) extend to the fixing plate and the fixing plate (600) respectively, and the positioning holes A (101) are aligned with the through holes on the fixing plate and the fixing plate (600), and are positioned by positioning pins.

3. The zero-position positioning structure of a humanoid robot arm assembly according to claim 1, characterized in that: The two ends of the positioning plate B (200) are respectively provided with positioning holes B (202), and the two ends of the positioning plate B (200) extend to the fixed plate and the housing of the joint motor module B respectively, and the positioning holes B (202) are aligned with the through holes on the fixed plate and the housing of the joint motor module B, and are positioned by positioning pins; one end of the positioning plate B (200) is also provided with an avoidance notch B (201).

4. The zero-position positioning structure of a humanoid robot arm assembly according to claim 1, characterized in that: The two ends of the positioning plate C (300) are respectively provided with positioning holes C (301), and the two ends of the positioning plate C (300) extend to the second connecting bracket (6) and the first connecting bracket (5) of the second joint mechanism respectively, and the positioning hole C (301) is aligned with the through holes on the second connecting bracket (6) and the first connecting bracket (5), and is positioned by a positioning pin; a side extension plate C (302) is also provided in the middle of the positioning plate C (300); the side extension plate C (302) is provided with a positioning hole C (301), and the positioning hole C (301) on the side extension plate C (302) is aligned with the through hole on the third connecting bracket (7) at the joint motor module C, and is positioned by a positioning pin.

5. The zero-position positioning structure of a humanoid robot arm assembly according to claim 1, characterized in that: The two ends of the positioning plate D (400) are respectively provided with positioning holes D (401), and the two ends of the positioning plate D (400) extend to the first connecting bracket (5) of the second joint mechanism and the output end of the joint motor module F respectively, and the positioning hole D (401) on the positioning plate D (400) is aligned with the through hole on the first connecting bracket (5) and the joint motor module F, and is positioned by a positioning pin; a side extension plate D (402) is also provided in the middle of the positioning plate D (400); the positioning plate D (400) is provided with a positioning hole D (401), and the positioning hole D (401) is aligned with the through hole on the third connecting bracket (7) at the joint motor module E, and is positioned by a positioning pin.

6. The zero-position positioning structure of a humanoid robot arm assembly according to claim 1, characterized in that: A positioning plate E (500) is provided on one side of the joint motor module G; positioning holes E (502) are respectively provided at both ends of the positioning plate E (500), and the two ends of the positioning plate E (500) extend to the housing of the joint motor module G and the output end of the joint motor module G respectively, and the positioning hole E (502) is aligned with the through hole of the housing of the joint motor module G and the output end of the joint motor module G, and is positioned by a positioning pin; avoidance notches E (501) are provided at both ends of the positioning plate E (500).

7. The zero-position positioning structure of a humanoid robot arm assembly according to claim 1, characterized in that: The third connecting bracket (7) comprises a limiting sleeve (71) and a fixing ring C (72) fixed to one end of the limiting sleeve (71), and a triangular reinforcing plate B (73) is further provided at the connection between the limiting sleeve (71) and the fixing ring C (72).

8. The zero-position positioning structure of a humanoid robot arm assembly according to claim 1, characterized in that: A triangular reinforcing plate A (63) is also provided at the connection point between the connecting plate (62) of the second connecting bracket (6) and the fixing ring B (61).

9. The zero-position positioning structure of a humanoid robot arm assembly according to claim 1, characterized in that: The suspension bracket assembly comprises two semi-arc hanging rings which are symmetrically arranged with respect to each other, and each semi-arc hanging ring is composed of an integrally formed fixing ring A (10) and an arc-shaped connecting plate (11).

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