Mechanical arm and humanoid robot

Abstract

The utility model provides a mechanical arm and a humanoid robot, and relates to the technical field of robots. The mechanical arm comprises a big arm assembly, the big arm assembly comprises a big arm, a shoulder joint motor and an elbow joint motor, and the big arm is provided with an elbow joint end and a shoulder joint end; the shoulder joint motor is provided with a first shell and a first rotating shaft, and the first shell is connected with the shoulder joint end; the elbow joint motor is provided with a second shell and a second rotating shaft, and the second shell is connected with the elbow joint end; and at least one of the first shell and the second shell is integrated with the big arm. According to the mechanical arm provided by the utility model, the large arm is integrally designed, so that the requirements of light weight and low cost of a humanoid robot are met, and the requirements of application in the industrial field are further met.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a mechanical arm and a humanoid robot. Background Art

[0002] The robotic arm is a representative and complex component in humanoid robot systems, fundamental to their ability to perform grasping tasks and facilitate human-robot interaction. Its complex structure and heavy weight are also associated with high costs. As humanoid robots enter industrial applications, the demand for lightweight and low-cost designs for their robotic arms is increasing. Utility Model Content

[0003] In view of this, the purpose of the present invention is to overcome the deficiencies in the prior art and provide a robotic arm and a humanoid robot, which meet the lightweight and low-cost requirements of the humanoid robot through an integrated design of the upper arm, and thus meet the requirements of industrial applications.

[0004] The utility model provides the following technical solutions:

[0005] In a first aspect, an embodiment of the present application provides a robotic arm, comprising a large arm assembly, the large arm assembly comprising a large arm, a shoulder joint motor and an elbow joint motor, the large arm having an elbow joint end and a shoulder joint end; the shoulder joint motor having a first shell and a first rotating shaft, the first shell being connected to the shoulder joint end; the elbow joint motor having a second shell and a second rotating shaft, the second shell being connected to the elbow joint end; wherein at least one of the first shell and the second shell is integrated with the large arm.

[0006] In one embodiment of the first aspect, the second shell and the upper arm are integrated, the axis of the second rotating shaft and the axis of the first rotating shaft are arranged perpendicularly, and the axis of the first rotating shaft and the axis of the upper arm coincide with or are parallel, the shoulder joint end is provided with a first groove portion, the shoulder joint motor is located in the first groove portion, the first groove portion has at least two first groove walls, and the first shell is connected to the first groove wall on the corresponding side.

[0007] In one embodiment of the first aspect, the first groove portion has a first groove bottom and two first groove walls, the two first groove walls are arranged opposite to each other, and the first groove bottom abuts against the first shell, and the first groove wall abuts against the first shell;

[0008] The first groove bottom and / or the first groove wall are provided with weight-reducing holes; the upper arm is provided with a weight-reducing groove, and the upper arm is also provided with reinforcing ribs.

[0009] In one embodiment of the first aspect, the robotic arm further comprises a shoulder assembly, the shoulder assembly having a shoulder connection end, the shoulder connection end being provided with a second groove portion, and the second groove portion having a second groove wall;

[0010] The boom assembly further comprises:

[0011] A first adapter is connected to the first rotating shaft, the first adapter is inserted into the second groove, the first adapter is connected to the second groove wall, and the first adapter and the second groove are transitionally fitted or interference fit.

[0012] In one embodiment of the first aspect, the boom assembly further comprises:

[0013] A first zeroing part, the first zeroing part is connected to the first housing of the shoulder joint motor, and the first zeroing part has a first zeroing hole; wherein, the shoulder connecting end has a first zeroing matching hole, the first zeroing matching hole is located on the moving path of the first zeroing hole, and when the first zeroing matching hole and the first zeroing hole are coaxial, the first rotating shaft is in a zero position state.

[0014] In one embodiment of the first aspect, the robotic arm further includes a small arm assembly, and the large arm assembly further includes a second adapter, the second adapter is connected to the second rotating shaft, and the second adapter has a first connecting end and a second connecting end relatively arranged, the first connecting end is connected to the second rotating shaft, the second connecting end is rotatably connected to the second shell, and the second connecting end and the first connecting end rotate coaxially.

[0015] In one embodiment of the first aspect, the arm assembly further includes a third adapter, the third adapter having an insertion end, and an end of the third adapter facing away from the insertion end is connected to the second connecting end; wherein, the second shell has a third groove portion, a bearing is provided in the third groove portion, the bearing and the third groove portion are interference fit, the bearing and the second rotating shaft are coaxially arranged, and the second connecting end has a mounting hole, the insertion end is passed through the mounting hole and the inner ring of the bearing, the insertion end and the inner ring of the bearing are interference fit, and a gap is provided between the second connecting end and the bearing.

[0016] In one embodiment of the first aspect, the shoulder assembly further has a limiting portion, and the shoulder assembly is arranged on the torso assembly. The limiting portion is located on the moving path of the first standard part, and the limiting portion is used to limit the rotation range of the shoulder joint motor so that the torso assembly is located outside the moving range of the forearm assembly.

[0017] In one embodiment of the first aspect, the boom assembly further comprises:

[0018] A second zeroing part, the second zeroing part is connected to the second adapter, and the second zeroing part has a second zeroing hole; wherein the second shell has a second zeroing matching hole, the second zeroing matching hole is located on the moving path of the second zeroing hole, and when the second zeroing matching hole and the second zeroing hole are coaxial, the second rotating shaft is in a zero position state.

[0019] In a second aspect, the present application also provides a humanoid robot, comprising a robotic arm as described in any one of the above embodiments.

[0020] The embodiments of the present utility model have the following advantages:

[0021] With the robotic arm provided by this utility model, at least one of the first and second housings forms an integrated structure with the main arm. This design not only reduces the number of components in the robotic arm, simplifies the assembly process, and lowers costs, but also effectively reduces the overall weight of the robotic arm, thereby achieving lightweighting. Furthermore, the integrated design helps improve the strength and stability of the robotic arm, ensuring that it maintains excellent performance even in high-intensity working environments.

[0022] The present utility model also relates to a humanoid robot. Since the above-mentioned mechanical arm has the above-mentioned technical effects, the humanoid robot including the mechanical arm should have the same technical effects, which will not be described in detail here.

[0023] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0025] Figure 1 A schematic structural diagram of a robotic arm provided by an embodiment of the present utility model is shown;

[0026] Figure 2 An exploded schematic diagram of a robotic arm provided by an embodiment of the present utility model is shown;

[0027] Figure 3A schematic diagram of the assembly of a second adapter and a small arm assembly in a robotic arm provided by an embodiment of the present utility model is shown;

[0028] Figure 4 A schematic structural diagram of a large arm assembly in a robotic arm provided by an embodiment of the present utility model is shown;

[0029] Figure 5 A schematic diagram of the assembly of a large arm assembly and a shoulder assembly in a robotic arm provided by an embodiment of the present utility model is shown;

[0030] Figure 6 An exploded view of a large arm assembly and a small arm assembly in a robotic arm provided by an embodiment of the present utility model is shown;

[0031] Figure 7 A schematic diagram of a third adapter in a robotic arm provided by an embodiment of the present utility model is shown.

[0032] Description of main component symbols:

[0033] 100 - shoulder assembly; 110 - shoulder connection end; 111 - first zero hole; 112 - limiter; 200 - upper arm assembly; 210 - first zero hole; 211 - first zero hole; 220 - shoulder joint motor; 221 - first rotating shaft; 222 - first housing; 230 - first slot; 231 - first slot wall; 232 - first slot bottom; 240 - upper arm; 241 - shoulder joint end; 242 - elbow joint end; 250 - elbow joint motor; 251-second rotating shaft; 252-second housing; 2521-second zeroing hole; 2522-third groove; 253-bearing; 2531-inner ring; 260-second adapter; 261-first connecting end; 262-second connecting end; 2621-mounting hole; 2622-second zeroing hole; 270-first adapter; 280-clamp; 290-third adapter; 291-large diameter section; 292-middle diameter section; 293-small diameter section. DETAILED DESCRIPTION

[0034] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0035] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. Conversely, when an element is referred to as being "directly on" another element, there is no intermediate element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only.

[0036] In this utility model, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, indirect connection through an intermediate medium, internal communication between two components, or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0037] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of this utility model, "plurality" means two or more, unless otherwise specifically defined.

[0038] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs. The terms used in the template description herein are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0039] Among related technologies, with the advancement of science and technology, the research and application fields of robots are constantly expanding. Among them, the research and application of humanoid robots have received particular attention and has become one of the most active research hotspots in the field of robotics.

[0040] The robotic arm is a representative and complex component in humanoid robot systems, fundamental to their ability to perform grasping tasks and facilitate human-robot interaction. Its complex structure and heavy weight are also associated with high costs. As humanoid robots enter industrial applications, the demand for lightweight and low-cost designs for their robotic arms is increasing.

[0041] like Figure 1 、 Figure 2 and Figure 4 As shown, in order to solve the above technical problems, an embodiment of the present application provides a robotic arm, which includes a large arm assembly 200, and the large arm assembly 200 includes a large arm 240, a shoulder joint motor 220 and an elbow joint motor 250, and the large arm 240 has an elbow joint end 242 and a shoulder joint end 241; the shoulder joint motor has a first shell 222 and a first rotating shaft 221, and the first shell 222 and the shoulder joint end 241 are connected; the elbow joint motor 250 has a second shell 252 and a second rotating shaft 251, and the second shell 252 and the elbow joint end 242 are connected, and the axis of the second rotating shaft 251 and the axis of the first rotating shaft 221 are cross-arranged; wherein, at least one of the first shell 222 and the second shell 252 is integrated with the large arm 240.

[0042] In these embodiments, the upper arm 240 is the main structural part of the entire robotic arm and has two key endpoints, namely the elbow joint end 242 and the shoulder joint end 241. These two ends are respectively used to connect to the elbow joint motor 250 and the shoulder joint motor 220, so that the robotic arm can achieve multi-degree-of-freedom motion.

[0043] The shoulder joint motor 220 is responsible for driving the robotic arm to rotate at the shoulder. The shoulder joint motor 220 comprises a first housing 222 and a first shaft 221. The first housing 222 is connected to the shoulder joint end 241, while the first shaft 221 is used to transmit power to rotate the upper arm 240 around the shoulder. For example, the shoulder joint motor 220 is a servo motor. Of course, the shoulder joint motor 220 can also be a servo motor, stepper motor, or the like.

[0044] The elbow joint motor 250 is responsible for driving the bending and extension movements of the robotic arm at the elbow. The elbow joint motor 250 also has a second housing 252 and a second rotating shaft 251. The second housing 252 is connected to the elbow joint end 242, and the axis of the second rotating shaft 251 is arranged to intersect with the axis of the first rotating shaft 221. This design helps improve the flexibility and range of motion of the robotic arm in space. For example, in this embodiment, the axis of the second rotating shaft 251 is arranged perpendicular to the axis of the first rotating shaft 221. Of course, in other embodiments, the angle between the axis of the second rotating shaft 251 and the axis of the first rotating shaft 221 can be set to 30°, 40°, 50°, 60°, or 70°, etc., which is not specifically limited here and is set according to the specific usage scenario. For example, the elbow joint motor 250 is a servo. Of course, the elbow joint motor 250 can also be a servo motor, stepper motor, etc.

[0045] It's worth noting that, in this application, at least one of the first housing 222 and the second housing 252 forms an integrated structure with the main arm 240. This design not only reduces the number of components in the robotic arm, simplifies the assembly process, and lowers costs, but also effectively reduces the overall weight of the robotic arm, thereby achieving lightweighting. Furthermore, the integrated design helps improve the strength and stability of the robotic arm, ensuring it maintains excellent performance even in high-intensity operating environments.

[0046] For example, in this embodiment, the second housing 252 and the arm 240 are integrally provided. Of course, in other embodiments, the second housing 252 and the arm 240 are integrally provided. Alternatively, the second housing 252, the first housing 222, and the arm 240 are integrally provided.

[0047] like Figure 4 As shown, in some embodiments, when the second shell 252 and the upper arm 240 are integrated, the axis of the second rotating shaft 251 and the axis of the first rotating shaft 221 are arranged perpendicularly, and the axis of the first rotating shaft 221 and the axis of the upper arm 240 coincide with or are parallel, the shoulder joint end 241 is provided with a first groove portion 230, the shoulder joint motor 220 is located in the first groove portion 230, the first groove portion 230 has at least two first groove walls 231, and the first shell 222 is connected to the first groove wall 231 on the corresponding side.

[0048] In these embodiments, this design not only helps to improve the structural compactness of the robotic arm, but also ensures a stable connection between the shoulder joint motor 220 and the upper arm 240, thereby improving the overall stability and reliability of the robotic arm.

[0049] For example, the first groove portion 230 of the shoulder joint end 241 can be designed in a "U" or "C" shape. This shape can provide sufficient space to accommodate the shoulder joint motor 220. The connection between the first groove walls 231 on both sides and the first housing 222 ensures that the motor is firmly fixed to the upper arm 240. This structural design not only simplifies the assembly process, but also reduces the number of external connectors, thereby reducing the weight and cost of the robot arm.

[0050] At the same time, due to the direct connection between the shoulder joint motor 220 and the upper arm 240, the energy loss during the power transmission process is reduced and the working efficiency of the robotic arm is improved.

[0051] Obviously, through the above technical solutions, this application provides a robotic arm design with compact structure, light weight, low cost and reliable performance, which greatly improves the applicability and economy of humanoid robots in industrial applications.

[0052] Of course, in other embodiments, the number of the first groove walls 231 is 3, 4, etc., which is not specifically limited here.

[0053] like Figure 4 As shown, in some embodiments, the first groove portion 230 has a first groove bottom 232 and two first groove walls 231 . The two first groove walls 231 are arranged opposite to each other, and the first groove bottom 232 abuts against the first shell 222 , and the first groove wall 231 abuts against the first shell 222 .

[0054] In these embodiments, the shoulder joint end 241 is provided with a first groove portion 230, within which the shoulder joint motor 220 is located. Specifically, the first groove portion 230 has a first groove bottom 232 and two first groove walls 231, with the two first groove walls 231 disposed opposite each other. The first groove bottom 232 abuts against the first housing 222, while the two first groove walls 231 also abut against the first housing 222. This structural design not only ensures a secure connection between the shoulder joint motor 220 and the upper arm 240, but also achieves lightweighting by reducing the number of external connectors.

[0055] The first groove 230 of the shoulder joint end 241 can be designed as a "U"-shaped groove, with a first groove bottom 232 at its center and first groove walls 231 on either side. This groove structure effectively accommodates the shoulder joint motor 220. The contact between the first groove bottom 232 and the first groove wall 231 and the first housing 222 ensures the motor's position in the upper arm 240 is stable, and the use of additional connectors is reduced, thereby reducing the overall weight and manufacturing cost of the robotic arm.

[0056] This design also helps improve the reliability and durability of the robotic arm. Because the motor is directly embedded within the arm 240, the impact of external factors on the motor is reduced, allowing the robotic arm to maintain high efficiency and accuracy during long periods of continuous operation. Furthermore, the reduction in external connectors reduces the likelihood of the robotic arm malfunctioning during use.

[0057] Illustratively, the first groove wall 231 is connected to the first housing 222 of the shoulder joint motor 220 by bolts or screws. Since the bottom of the first housing 222 is in contact with the first groove bottom 232 , there is no need to fix the bottom of the first housing 222 .

[0058] For ease of understanding, the following installation method is provided: the first housing 222 of the shoulder joint motor 220 is placed in the first groove portion 230 of the shoulder joint end 241, ensuring that the first groove bottom 232 abuts against the first housing 222, and the two first groove walls 231 abut against the first housing 222 to form a stable connection. The first housing 222 of the shoulder joint motor 220 is placed in the first groove portion 230 of the shoulder joint end 241. The shape of the first groove portion 230 is designed to fit closely to the outer shape of the first housing 222 to ensure that the motor is securely installed. The first groove bottom 232 contacts the bottom of the first housing 222 to form a stable support surface. The two opposite first groove walls 231 contact the two sides of the first housing 222 to form a stable lateral support.

[0059] like Figure 4 As shown, in some embodiments, the first groove bottom 232 and / or the first groove wall 231 are provided with weight-reducing holes; the upper arm 240 is provided with a weight-reducing groove, and the upper arm 240 is also provided with reinforcing ribs.

[0060] In these embodiments, in order to further reduce the weight of the robotic arm, the first groove bottom 232 and / or the first groove wall 231 are provided with weight-reducing holes; illustratively, in the present embodiment, both the first groove bottom 232 and the first groove wall 231 are provided with weight-reducing holes. Of course, in other embodiments, the first groove bottom 232 is provided with weight-reducing holes. Alternatively, the first groove wall 231 is provided with weight-reducing holes. It should be noted that the weight-reducing holes can increase the contact area between the shoulder joint motor 220 and the outside air, which is beneficial to the heat dissipation performance of the shoulder joint motor 220. Obviously, weight-reducing holes are designed on the first groove bottom 232 and / or the first groove wall 231 to ensure that these holes do not affect the structural strength of the robotic arm.

[0061] For example, the number of the weight-reducing holes is multiple, that is, the weight-reducing holes are dispersed to ensure the strength of the first groove bottom 232 and the first groove wall 231. Of course, the hole shape of the weight-reducing holes can be circular, square, oval, triangular, special-shaped, etc.

[0062] In addition, the arm 240 is provided with a weight-reducing groove, and to ensure the structural strength of the robot arm, reinforcing ribs are also provided on the arm 240. It should be noted that by providing the weight-reducing groove, the bottom of the weight-reducing groove and the reinforcing ribs can ensure the strength of the arm 240 while reducing the weight.

[0063] In other words, while the weight-reducing slots on the upper arm 240 reduce material usage, the arm's stress response must be considered to ensure that weight reduction does not compromise strength. Furthermore, reinforcing ribs are provided to compensate for the reduced structural strength caused by the weight-reducing slots, ensuring that the arm maintains good performance even in high-intensity working environments.

[0064] For example, the arm 240 is configured as a plate-like structure, and weight-reducing grooves are provided on both sides of the arm 240. Alternatively, in other embodiments, a weight-reducing groove is provided on one side of the arm 240.

[0065] like Figure 1 、 Figure 2 、 Figure 4 and Figure 5 As shown, in some embodiments, the robotic arm further includes a shoulder assembly 100, the shoulder assembly 100 having a shoulder connection end 110, the shoulder connection end 110 is provided with a second groove portion, and the second groove portion has a second groove wall;

[0066] The arm assembly 200 also includes a first adapter 270, which is connected to the first rotating shaft 221, is inserted into the second groove, is connected to the second groove wall, and has a transition fit or interference fit with the second groove.

[0067] In these embodiments, a secure connection is ensured between the shoulder assembly 100 and the boom assembly 200. The shoulder connection end 110 of the shoulder assembly 100 is connected to the first adapter 270 of the boom assembly 200 to ensure a secure connection therebetween. The first adapter 270 is passed through the second groove of the shoulder connection end 110, and a transition fit or interference fit is ensured between the first adapter 270 and the second groove wall to achieve secure positioning between the shoulder assembly 100 and the boom assembly 200.

[0068] Furthermore, the second groove wall of the second groove portion and the first adapter 270 are connected by screws or bolts. For example, the first adapter 270 is cylindrical, with the lower end of the first adapter 270 connected to the first rotating shaft 221, and the upper end of the first adapter 270 extending through the second groove portion. The second groove portion is configured as a circular hole. The second groove portion and the first adapter 270 have a transition fit or interference fit, thereby causing the second groove wall of the second groove portion and the first adapter 270 to abut against each other, thereby improving the stability of the connection between the two. The second groove wall is provided with a through hole, and the first adapter 270 is provided with a threaded hole, through which the screw passes and connects.

[0069] In addition, this design not only improves the rigidity of the robotic arm, but also simplifies the assembly process, further reducing manufacturing costs.

[0070] like Figure 5As shown, in some embodiments, the upper arm assembly 200 also includes a first zeroing part 210, which is connected to the first shell 222 of the shoulder joint motor 220, and the first zeroing part 210 has a first zeroing hole 211; wherein, the shoulder connection end 110 has a first zeroing hole 111, and the first zeroing hole 111 is located on the moving path of the first zeroing hole 211, and when the first zeroing hole 111 and the first zeroing hole 211 are coaxial, the first rotating shaft 221 is in a zero position state.

[0071] In these embodiments, to facilitate calibration and maintenance of the robotic arm, the position of the first home hole 211 is adjusted. When the first home hole 211 is coaxially aligned with the first home hole 111, the first rotating shaft 221 is in a zero position, thereby facilitating initialization and position correction of the robotic arm. This ensures that the robotic arm can be accurately reset during use, thereby improving the reliability and accuracy of the system. Obviously, it is necessary to consider connecting the first home part 210 to the first housing 222 of the shoulder joint motor 220 and ensuring that the first home hole 211 on the first home part 210 is coaxially aligned with the first home hole 111 on the shoulder connection end 110.

[0072] That is to say, when the shoulder joint motor 220 needs to be zeroed, it is only necessary to align the first zeroing hole 211 on the first zeroing part 210 with the first zeroing matching hole 111 on the side of the shoulder connecting end 110 of the shoulder assembly 100, and use a pin of equal diameter to penetrate the first zeroing hole 211 and the first zeroing matching hole 111 to achieve zeroing of the shoulder joint motor 220.

[0073] For example, the first component 210 is equipped with a wire clamp 280 to fix the cable. The wire clamp 280 can be a C-shaped wire clamp 280.

[0074] like Figure 2 、 Figure 3 and Figure 6 As shown, in some embodiments, the robotic arm also includes a small arm assembly, and the large arm assembly 200 also includes a second adapter 260, the second adapter 260 is connected to the second rotating shaft 251, and the second adapter 260 has a first connecting end 261 and a second connecting end 262 arranged opposite to each other, the first connecting end 261 is connected to the second rotating shaft 251, the second connecting end 262 is rotatably connected to the second shell 252, and the second connecting end 262 and the first connecting end 261 rotate coaxially.

[0075] In these embodiments, in the design of the small arm assembly, the first connection end 261 of the second adapter 260 is connected to the second rotating shaft 251, the second connection end 262 is rotatably connected to the second shell 252, and the second connection end 262 and the first connection end 261 rotate coaxially. This design enables the small arm assembly to achieve a stable connection with the large arm assembly 200, and to be able to move flexibly in multiple dimensions. That is, the first connection end 261 and the second rotating shaft 251 are connected to rotate through the second rotating shaft 251 of the elbow joint motor 250, thereby driving the small arm assembly to straighten or bend, and assisted by the second connection end 262 rotating to connect to the second shell 252, thereby achieving auxiliary support for the tail of the small arm assembly and the elbow joint motor 250, which is beneficial to enhance the connection stability and connection strength between the small arm assembly and the large arm assembly 200.

[0076] Obviously, the first connecting end 261 and the second connecting end 262 are arranged in a U-shape, which can reduce the overall weight while ensuring the connection between the small arm assembly and the large arm assembly 200.

[0077] It should be noted that the rotational connection position between the second connection end 262 and the second shell 252 is planned and set so that the first connection end 261 and the second connection end 262 can both rotate around the axis of the second main shaft.

[0078] like Figure 6 and Figure 7 As shown, in some embodiments, the arm assembly 200 also includes a third adapter 290, the third adapter 290 has an insertion end, and the end of the third adapter 290 facing away from the insertion end is connected to the second connection end 262; wherein, the second shell 252 has a third groove 2522, and a bearing 253 is arranged in the third groove 2522, the bearing 253 and the third groove 2522 are interference fit, the bearing 253 and the second rotating shaft 251 are coaxially arranged, and the second connection end 262 has a mounting hole 2621, the insertion end is passed through the mounting hole 2621 and the inner ring 2531 of the bearing 253, the insertion end and the inner ring 2531 of the bearing 253 are interference fit, and a gap is set between the second connection end 262 and the bearing 253.

[0079] In these embodiments, the boom assembly 200 is not limited to its basic structure, but also integrates a third adapter 290, which plays a key role in the flexibility and stability of the robot arm. Specifically, the third adapter 290 has an insertion end for assembly, and the other end is connected to the second connection end 262 in the boom assembly 200. In order to ensure that this connection mechanism can operate efficiently, a third groove 2522 is specially provided in the second shell 252 of the boom assembly 200. A bearing 253 is housed inside the third groove 2522, and the fit between the bearing 253 and the groove adopts an interference fit, which means that the bearing 253 is tightly fixed in the groove, thereby reducing loosening or displacement during movement, ensuring the stability of the robot arm during operation, and eliminating the fixation by fasteners such as bolts, thereby achieving the purpose of reducing weight and cost.

[0080] Furthermore, the second connection end 262 located on the arm assembly 200 includes a mounting hole 2621. When assembled, the insertion end of the third adapter 290 will pass through this mounting hole 2621 and extend into the inner ring 2531 of the bearing 253, also fitting tightly with an interference fit. This design ensures a firm connection between the first adapter 270 and the bearing 253, maintaining good performance even when subjected to high loads or performing rapid movements. It is worth noting that a certain gap is reserved between the second connection end 262 and the bearing 253. This design allows a certain degree of freedom, which helps to absorb minor deviations or vibrations generated during the movement of the robotic arm, thereby enhancing the overall stability and durability of the system. In addition, it can prevent the second connection end 262 from contacting the second housing 252 and the bearing 253 and causing jamming.

[0081] For example, in this embodiment, the end of the third adapter 290 facing away from the insertion end is connected to the second connecting end 262 via bolts. Specifically, the third adapter 290 includes a large diameter section 291, a medium diameter section 292, and a small diameter section 293. The mounting hole 2621 and the medium diameter section 292 have an interference fit. The outer diameter of the medium diameter section 292 is larger than the inner diameter of the inner ring 2531 but smaller than the outer diameter of the inner ring 2531. The shoulder between the medium diameter section 292 and the small diameter section 293 abuts against the end of the inner ring 2531. The outer diameter of the large diameter section 291 is larger than the diameter of the mounting hole 2621. The second connecting end 262 is connected to the large diameter section 291 via bolts, and the axial length of the medium diameter section 292 is greater than the thickness of the second connecting end 262.

[0082] like Figure 5As shown, in some embodiments, the shoulder assembly 100 further has a limiting portion 112. The shoulder assembly 100 is arranged on the torso assembly. The limiting portion 112 is located on the moving path of the first mark part 210. The limiting portion 112 is used to limit the rotation range of the shoulder joint motor so that the torso assembly is located outside the moving range of the forearm assembly.

[0083] In these embodiments, to limit the rotation range of the shoulder joint motor 220 and prevent damage to the robotic arm due to excessive rotation, the shoulder assembly 100 further includes a stopper 112. The stopper 112 is located along the movement path of the first reference component 210. The stopper 112 limits the rotation range of the shoulder joint motor 220, ensuring that the robotic arm operates within a safe range, even if the torso assembly is outside the range of motion of the forearm assembly.

[0084] Illustratively, the limiting portion 112 is provided on a side of the shoulder connection end 110 close to the torso assembly of the humanoid robot to prevent the forearm assembly from rotating and colliding with the torso assembly of the humanoid robot.

[0085] As for the limiting portion 112, no specific limitation is made here. In this embodiment, the limiting portion 112 is a protrusion on the side of the shoulder connecting end 110. Of course, in other embodiments, the limiting portion 112 is a stopper fixed to the side of the shoulder connecting end 110, etc.

[0086] More specifically, a protrusion can be provided extending along the circumference of the shoulder connection end 110 or the movement path of the first reference part 210, so that its extension length can be configured to limit the rotation range of the shoulder joint motor 220. Of course, two protrusions can also be provided along the movement path of the first reference part 210, and the distance between the two protrusions can be configured to achieve the same effect.

[0087] like Figure 3 and Figure 6 As shown, in some embodiments, the arm assembly 200 also includes a second zeroing part, which is connected to the second adapter 260, and the second zeroing part has a second zero hole 2622; wherein, the second shell 252 has a second zeroing hole 2521, and the second zeroing hole 2521 is located on the moving path of the second zero hole 2622, and when the second zeroing hole 2521 and the second zero hole 2622 are coaxial, the second rotating shaft 251 is in a zero position state.

[0088] In these embodiments, in addition to the basic components, the upper arm assembly 200 is also equipped with a second zeroing part. The main function of this second zeroing part is to establish a connection with the second adapter 260, thereby providing a more accurate position reference for the entire robotic arm system. A second zeroing hole 2622 is provided on the second zeroing part, and this second zeroing hole 2622 plays a vital role in the positioning process of the robotic arm. In order to achieve precise positioning, a second zeroing hole 2521 is specially designed on the second shell 252, and the position of this second zeroing hole 2521 is arranged on the expected moving path of the second zeroing hole 2622. The purpose of this design is to allow the second zeroing hole 2622 and the second zeroing hole 2521 to be aligned under specific conditions.

[0089] Specifically, when the second zeroing hole 2521 and the second zeroing hole 2622 are coaxial—that is, fully aligned and overlapping—the second rotating shaft 251 reaches its zero position, driven by a pin inserted through the second zeroing hole 2521 and the second zeroing hole 2622. This position is crucial for the calibration of the robotic arm, defining a reference position for the robotic arm. All subsequent movements are calculated and adjusted based on this initial position.

[0090] For example, the second mark part is arranged on the outside of the second connecting end 262, and the second mark part is provided with a second mark hole 2622, the second mark hole 2622 passes through the second mark part and the second connecting end 262, and the second mark matching hole 2521 is arranged at the end of the elbow joint motor 250 away from the second rotating shaft 251.

[0091] For example, consider an industrial automation environment where a robotic arm must perform a complex series of tasks, such as assembling electronic components. Before any operation can begin, the robotic arm must be accurately calibrated to its zero position. The operator can manually or automatically move the second zeroing hole 2622 and align it with the second zeroing hole 2521. Once the two holes are aligned, the second rotating shaft 251 has returned to its zero position. The system can then record this position as a starting point and use it as a basis for executing subsequent motion instructions.

[0092] Obviously, this design not only improves the accuracy of the robot arm’s work, but also simplifies the operation process. During routine maintenance and use, the operator can quickly reset the robot arm to zero position, which is very important for ensuring consistency and quality control on the production line.

[0093] The present application also provides a humanoid robot, which includes a robotic arm as described in any one of the above embodiments.

[0094] Obviously, this application is not limited to a single robotic arm component, but also proposes a new integrated solution, namely a humanoid robot. This humanoid robot integrates the robotic arm technology described in the various embodiments above, aiming to provide users with a more intelligent, flexible and efficient automation solution. One of the design goals of humanoid robots is to imitate the human body structure and movement ability to achieve more natural human-computer interaction and a wide range of application scenarios. As an important component of the humanoid robot, the robotic arm bears the key responsibility of performing various tasks, such as grasping objects, performing fine operations, etc.

[0095] In all examples shown and described herein, any specific values ​​should be interpreted as merely exemplary and not limiting, and thus other examples of the exemplary embodiments may have different values.

[0096] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0097] The above-described embodiments merely represent several implementation methods of the present invention. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the scope of the present invention, all of which fall within the scope of protection of the present invention.

Claims

1. A robotic arm comprising a large arm assembly, characterized in that: The upper arm assembly includes an upper arm, a shoulder joint motor and an elbow joint motor, the upper arm has an elbow joint end and a shoulder joint end; the shoulder joint motor has a first shell and a first rotating shaft, the first shell is connected to the shoulder joint end; the elbow joint motor has a second shell and a second rotating shaft, the second shell is connected to the elbow joint end; wherein, at least one of the first shell and the second shell is integrated with the upper arm.

2. The robotic arm according to claim 1, wherein: The second shell and the upper arm are integrated, the axis of the second rotating shaft and the axis of the first rotating shaft are arranged perpendicularly, and the axis of the first rotating shaft and the axis of the upper arm coincide with or are parallel, the shoulder joint end is provided with a first groove portion, the shoulder joint motor is located in the first groove portion, the first groove portion has at least two first groove walls, and the first shell is connected to the first groove wall on the corresponding side.

3. The robotic arm according to claim 2, wherein: The first groove portion has a first groove bottom and two first groove walls, the two first groove walls are arranged opposite to each other, and the first groove bottom abuts against the first shell, and the first groove wall abuts against the first shell; The first groove bottom and / or the first groove wall are provided with weight-reducing holes; the upper arm is provided with a weight-reducing groove, and the upper arm is also provided with reinforcing ribs.

4. The robotic arm according to claim 3, wherein: The robotic arm further includes a shoulder assembly having a shoulder connection end, the shoulder connection end being provided with a second groove portion, and the second groove portion having a second groove wall; The boom assembly further comprises: A first adapter is connected to the first rotating shaft, the first adapter is inserted into the second groove, the first adapter is connected to the second groove wall, and the first adapter and the second groove are transitionally fitted or interference fit.

5. The robotic arm according to claim 4, characterized in that: The boom assembly further comprises: A first zeroing part, the first zeroing part is connected to the first housing of the shoulder joint motor, and the first zeroing part has a first zeroing hole; wherein, the shoulder connecting end has a first zeroing matching hole, the first zeroing matching hole is located on the moving path of the first zeroing hole, and when the first zeroing matching hole and the first zeroing hole are coaxial, the first rotating shaft is in a zero position state.

6. The robotic arm according to claim 5, characterized in that: The robotic arm also includes a small arm assembly, and the large arm assembly also includes a second adapter, the second adapter is connected to the second rotating shaft, and the second adapter has a first connecting end and a second connecting end arranged opposite to each other, the first connecting end is connected to the second rotating shaft, the second connecting end is rotatably connected to the second shell, and the second connecting end and the first connecting end rotate coaxially.

7. The robotic arm according to claim 6, wherein: The arm assembly also includes a third adapter, which has an insertion end, and an end of the third adapter facing away from the insertion end is connected to the second connecting end; wherein, the second shell has a third groove portion, a bearing is provided in the third groove portion, the bearing and the third groove portion are interference fit, the bearing and the second rotating shaft are coaxially arranged, and the second connecting end has a mounting hole, the insertion end is passed through the mounting hole and the inner ring of the bearing, the insertion end and the inner ring of the bearing are interference fit, and a gap is provided between the second connecting end and the bearing.

8. The robotic arm according to claim 6, wherein: The shoulder assembly also has a limiting portion, which is arranged on the torso assembly. The limiting portion is located on the moving path of the first standard part. The limiting portion is used to limit the rotation range of the shoulder joint motor so that the torso assembly is located outside the moving range of the forearm assembly.

9. The robotic arm according to claim 6, wherein: The boom assembly further comprises: A second zeroing part, the second zeroing part is connected to the second adapter, and the second zeroing part has a second zeroing hole; wherein the second shell has a second zeroing matching hole, the second zeroing matching hole is located on the moving path of the second zeroing hole, and when the second zeroing matching hole and the second zeroing hole are coaxial, the second rotating shaft is in a zero position state.

10. A humanoid robot, characterized in that: The humanoid robot comprises the robotic arm according to any one of claims 1 to 9.

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