Simulation robot arm structure and simulation robot

Abstract

According to the simulation robot arm structure and the simulation robot provided by the invention, the first shoulder driving assembly for controlling the arm assembly to swing back and forth and the second shoulder driving assembly for controlling the arm assembly to realize lateral horizontal lifting are arranged in the trunk of the simulation robot; therefore, the arrangement positions and the arrangement modes of the transmission structure and the fastening structure in the whole arm are adjusted, the length of the arm is shortened, the size of the joint part is reduced, the whole arm is miniaturized, the appearance of the whole arm is closer to a real arm shape, meanwhile, the joint movement track and the bending degree can be more natural and vivid, and the whole arm is more attractive. And the arm appearance and the motion simulation degree are improved.

Description

Technical Field

[0001] The present application relates to the field of simulated robots, and in particular to a simulated robot arm structure and a simulated robot. Background Art

[0002] A simulated robot, also known as a humanoid robot or humanoid robot, refers to a robot with human form and functions, that is, possessing anthropomorphic limbs, movement and operational skills, as well as perception, learning, and cognitive abilities. Simulated robots possess human appearance and mobility, can walk on two legs, perform simple functions through the coordination of their arms and body, and communicate with humans through simple language. However, the applicant has discovered through research that the arm connection method of existing simulated robots is unreasonable, with various control motors located in the joints, upper arms, or forearms. This results in thick joints, prevents arm movement from meeting the normal bending angle requirements of the human body, and affects appearance. Utility Model Content

[0003] This application provides a simulated robot arm structure and a simulated robot. The specific technical solutions are as follows:

[0004] A simulated robot arm structure includes a shoulder drive assembly and an arm assembly, wherein the shoulder drive assembly includes a first shoulder drive assembly and a second shoulder drive assembly, the first shoulder drive assembly is used to control the arm assembly to swing back and forth, and the second shoulder drive assembly is used to control the arm assembly to raise it sideways, the first shoulder drive assembly is assembled as a whole inside the torso of the simulated robot, and at least the main part of the second shoulder drive assembly is assembled inside the torso of the simulated robot.

[0005] Furthermore, the first shoulder drive assembly includes a first fixed frame, a swing arm motor and a driving cylindrical gear, wherein the first fixed frame is assembled inside the torso of the simulation robot, the swing arm motor is assembled on the first fixed frame, and is used to control the arm assembly to swing back and forth, and the driving cylindrical gear is coaxially assembled on the output shaft of the swing arm motor.

[0006] Furthermore, the first shoulder drive assembly also includes a motor cover, a first bearing, a second bearing, a wiring bracket and a first angle sensor, wherein the swing arm motor is assembled in a ring formed by the first fixing frame and the motor cover, the first bearing is coaxially sleeved in the groove of the active cylindrical gear, and is assembled between the swing arm motor and the active cylindrical gear, the outer ring of the first bearing is fixedly assembled with the active cylindrical gear, the second bearing is coaxially assembled on the output shaft of the swing arm motor, and is assembled on the non-groove side of the active cylindrical gear, the wiring bracket is provided with a cylindrical sleeve and sleeved on the second bearing, the outer ring of the second bearing is fixedly assembled with the wiring bracket, the wiring bracket is also provided with a buckle, the buckle is used to fix the wire, and the first angle sensor is coaxially assembled on the output shaft of the swing arm motor.

[0007] Furthermore, the second shoulder drive assembly includes a driven cylindrical gear, an arm lifting motor and a first active bevel gear, wherein the driven cylindrical gear is meshed with the active cylindrical gear, the arm lifting motor is coaxially assembled with the driven cylindrical gear, and is used to control the arm assembly to achieve lateral lifting, and the first active bevel gear is coaxially assembled on the output shaft of the arm lifting motor.

[0008] Furthermore, the second shoulder drive assembly also includes a shoulder upper shell, a shoulder lower shell, a third bearing and a second angle sensor, wherein the arm lifting motor is assembled in a collar formed by the shoulder upper shell and the shoulder lower shell, the collar formed by the shoulder upper shell and the shoulder lower shell includes a first mounting position and a second mounting position, the driven cylindrical gear is coaxially mounted on the first mounting position, the third bearing is coaxially mounted on the second mounting position, and the second angle sensor is coaxially assembled on the output shaft of the arm lifting motor.

[0009] Furthermore, the driven cylindrical gear includes a hollow cylinder and meshing teeth arranged on the outer surface of the hollow cylinder, wherein the contact position between the hollow cylinder and the first mounting position is designed with two groups of symmetrical screw through holes. Based on the screw through holes, the driven cylindrical gear is fixedly connected to the ring formed by the shoulder upper shell and the shoulder lower shell through screws, and the meshing teeth are designed with an angle limiting structure, so that after the driven cylindrical gear is meshed with the driving cylindrical gear, the second shoulder drive assembly rotates within a preset working angle range.

[0010] Furthermore, the shoulder upper shell includes a decorative cover and a wiring groove designed below the decorative cover, and the wiring groove is connected to the hollow space of the hollow cylinder.

[0011] Furthermore, the ring formed by the upper shoulder shell and the lower shoulder shell also includes a third mounting position, and the third mounting position is used to assemble the arm assembly. When the driving cylindrical gear rotates, it drives the driven cylindrical gear to rotate, so that the second shoulder drive assembly drives the arm assembly to swing back and forth.

[0012] Furthermore, the arm assembly includes an upper arm assembly, an elbow joint assembly and a forearm assembly, wherein the elbow joint assembly is used to connect the upper arm assembly and the forearm assembly, and the upper arm assembly is connected to the second shoulder drive assembly.

[0013] Furthermore, the upper arm assembly includes a first driven bevel gear and a fourth bearing, wherein the first driven bevel gear includes a first fixed rod and a first bevel tooth, the first fixed rod and the first bevel tooth are designed as an integral whole, and each end of the first fixed rod is fitted with a fourth bearing. When the fourth bearing is assembled in the third mounting position, the first bevel tooth engages with the first active bevel gear. When the first active bevel gear rotates, it drives the first driven bevel gear to rotate, so that the second shoulder drive assembly drives the arm assembly to achieve lateral raise.

[0014] Furthermore, the upper arm assembly also includes a second fixing frame and a rotary arm motor. The rotary arm motor is at least partially mounted in the second fixing frame and is used to control the rotation of the elbow joint assembly, thereby driving the forearm assembly to rotate.

[0015] Furthermore, the upper arm assembly also includes a first upper arm housing, a second upper arm housing, a third angle sensor and a fifth bearing, wherein the first upper arm housing is connected to one end of the first fixing rod of the first driven bevel gear by a screw, and the second upper arm housing is connected to the other end of the first fixing rod of the first driven bevel gear by a screw, the swing arm motor and the second fixing frame are assembled in a collar formed by the first upper arm housing and the second upper arm housing, the third angle sensor is coaxially assembled on the output shaft of the swing arm motor, and the fifth bearing is coaxially sleeved on the second fixing frame.

[0016] Furthermore, the second fixing frame includes a first annular structure, and the inner ring of the fifth bearing is sleeved on the first annular structure, wherein the first annular structure is arranged outside the ring formed by the first upper arm housing and the second upper arm housing.

[0017] Furthermore, the output shaft of the rotary arm motor extends outside the first annular structure, so that the elbow joint assembly is coaxially assembled on the output shaft of the rotary arm motor.

[0018] Furthermore, the elbow joint assembly includes an elbow outer shell and an elbow inner shell, wherein the elbow outer shell is fixedly connected to the forearm assembly, the elbow inner shell is coaxially sleeved inside the elbow outer shell, and the elbow inner shell is also coaxially assembled on the output shaft of the swing arm motor. When the swing arm motor controls the rotation of the elbow joint assembly, it drives the forearm assembly to rotate.

[0019] Furthermore, the elbow inner shell includes a wire passing hole, a limiting column and a connecting hole, wherein the elbow inner shell is coaxially assembled on the output shaft of the swing arm motor through the connecting hole, the limiting column cooperates with the limiting groove provided on the first annular structure to achieve limiting, and the wire passing hole is used for routing.

[0020] Furthermore, the elbow outer shell includes a second annular structure and a retaining rib, wherein the elbow inner shell is coaxially sleeved in the second annular structure, and the second annular structure is coaxially sleeved on the outer ring of the fifth bearing, so that the elbow inner shell is coaxially assembled on the output shaft of the swing arm motor through the connecting hole and the limiting column of the elbow inner shell is assembled in the limiting groove on the first annular structure, and the retaining rib is used to connect the forearm assembly.

[0021] Furthermore, the forearm assembly includes a crank arm motor, a second driving bevel gear and a second driven bevel gear, wherein the second driving bevel gear is coaxially assembled on the output shaft of the crank arm motor and meshes with the second driven bevel gear, and the second driven bevel gear is fixedly connected to the clamping rib. When the crank arm motor controls the second driving bevel gear to rotate, the forearm assembly performs a circular motion around the second driven bevel gear, thereby realizing forearm bending.

[0022] Furthermore, the second driven bevel gear includes a second fixing rod and a second bevel tooth, wherein the second fixing rod and the second bevel tooth are designed as an integral whole, and a slot structure is provided on the second fixing rod, and the slot structure is used to assemble the clamping rib to realize the connection between the forearm assembly and the elbow joint assembly.

[0023] Furthermore, the slot structure includes a first slot structure and a second slot structure, and the clamp includes a first clamp and a second clamp, wherein the first slot structure is used to assemble the first clamp, and the second slot structure is used to assemble the second clamp, and the second conical tooth is located in the space formed by the first clamp and the second clamp.

[0024] Furthermore, the forearm assembly also includes a first forearm housing, a second forearm housing, a sixth bearing and a fourth angle sensor, wherein the crank arm motor is assembled in a collar formed by the first forearm housing and the second forearm housing, the fourth angle sensor is coaxially assembled on the output shaft of the crank arm motor, and each end of the second fixed rod is fitted with a sixth bearing, and the sixth bearing is assembled on the first forearm housing and the second forearm housing, so that the second bevel tooth engages with the second active bevel gear. When the crank arm motor controls the rotation of the second active bevel gear, the forearm assembly performs a circular motion around the second driven bevel gear, thereby realizing forearm bending.

[0025] Furthermore, the output shafts of the arm lifting motor and the crank arm motor are designed as D-type and I-type two-end structures, wherein the D-type section of the output shaft of the arm lifting motor cooperates with the D-type hole of the second angle sensor, and the I-type section cooperates with the I-type hole of the first active bevel gear; the D-type section of the output shaft of the crank arm motor cooperates with the D-type hole of the fourth angle sensor, and the I-type section cooperates with the I-type hole of the second active bevel gear.

[0026] Furthermore, the output shafts of the swing arm motor and the rotary arm motor are designed as D-shaped structures, wherein the output shaft of the swing arm motor cooperates with the D-shaped hole of the first angle sensor, and the output shaft of the rotary arm motor cooperates with the D-shaped hole of the third angle sensor.

[0027] A simulated robot, comprising a simulated robot arm structure and a torso, wherein a first shoulder drive assembly of the simulated robot arm structure is entirely assembled inside the torso, and at least a main portion of a second shoulder drive assembly of the simulated robot arm structure is assembled inside the torso, wherein the first shoulder drive assembly is used to control the simulated robot arm structure to swing forward and backward, and the second shoulder drive assembly is used to control the simulated robot arm structure to perform lateral raises.

[0028] Furthermore, the torso includes a first torso shell and a second torso shell. After the first torso shell and the second torso shell are combined, an assembly groove connected to the outside is formed at the shoulder position of the torso, and the assembly groove is used to assemble the third bearing of the second shoulder drive assembly.

[0029] Furthermore, after the first torso shell and the second torso shell are combined, a limiting groove is formed inside the torso, and the limiting groove is used to assemble the first angle sensor of the first shoulder drive assembly.

[0030] The simulated robot arm structure described in the present application adjusts the setting position and setting method of the transmission structure and the fastening structure in the entire arm by arranging the first shoulder drive component that controls the arm component to swing back and forth and the second shoulder drive component that controls the arm component to raise sideways inside the torso of the simulated robot, thereby shortening the arm length, reducing the volume of the joint part, and realizing the overall miniaturization of the arm, making the appearance of the entire arm closer to the real arm shape, and at the same time the joint movement trajectory and bending degree can be more natural and realistic, thereby improving the arm appearance and movement simulation degree. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is an exploded view of the simulated robot arm structure and simulated robot torso described in one embodiment of the present application.

[0032] Figure 2 This is an exploded view of the first shoulder drive assembly according to an embodiment of the present application.

[0033] Figure 3 This is an exploded view of the second shoulder drive assembly according to an embodiment of the present application.

[0034] Figure 4 This is a cross-sectional view of the simulated robot arm structure and simulated robot torso described in one embodiment of the present application.

[0035] Figure 5 This is an exploded view of the upper arm assembly described in one embodiment of the present application.

[0036] Figure 6 This is an exploded view of the elbow joint assembly described in one embodiment of the present application.

[0037] Figure 7 This is an exploded view of the forearm assembly described in one embodiment of the present application. DETAILED DESCRIPTION

[0038] The following will be combined with the accompanying drawings in the embodiments of the present application to describe the technical solutions in detail. It should be understood that the specific embodiments described below are only used to explain the present application and are not used to limit the present application.

[0039] In the following description, specific details are given to provide a thorough understanding of the embodiments. However, those skilled in the art will appreciate that the embodiments can be practiced without these specific details. For example, circuits may be shown in block diagrams so as not to obscure the embodiments with unnecessary detail. In other cases, well-known circuits, structures, and techniques may not be shown in detail so as not to obscure the embodiments.

[0040] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0041] A simulated robot, also known as a humanoid robot or humanoid robot, refers to a robot with human form and functions, that is, possessing anthropomorphic limbs, movement and operational skills, as well as perception, learning, and cognitive abilities. Simulated robots possess human appearance and mobility, can walk on two legs, perform simple functions through the coordination of their arms and body, and communicate with humans through simple language. However, the applicant has discovered through research that the arm connection method of existing simulated robots is unreasonable, with various control motors located in the joints, upper arms, or forearms. This results in thick joints, prevents arm movement from meeting the normal bending angle requirements of the human body, and affects appearance.

[0042] In order to solve the above-mentioned technical problems, an embodiment of the present application provides a simulated robot arm structure, by arranging a first shoulder drive component that controls the arm component to swing back and forth and a second shoulder drive component that controls the arm component to raise sideways inside the torso of the simulated robot, thereby adjusting the setting position and setting method of the transmission structure and the fastening structure in the entire arm, shortening the arm length, reducing the volume of the joint part, and realizing the overall miniaturization of the arm, making the appearance of the entire arm closer to the real arm shape, and at the same time, the joint movement trajectory and bending degree can be more natural and realistic, thereby improving the appearance of the arm and the degree of movement simulation.

[0043] like Figure 1As shown, the simulated robot arm structure includes a shoulder drive assembly and an arm assembly, wherein the shoulder drive assembly includes a first shoulder drive assembly 2 and a second shoulder drive assembly 3, wherein the first shoulder drive assembly 2 is used to control the arm assembly to swing back and forth, and the second shoulder drive assembly 3 is used to control the arm assembly to lift sideways, the first shoulder drive assembly 2 is assembled as a whole inside the trunk of the simulated robot, and the second shoulder drive assembly 3 is assembled at least in part inside the trunk of the simulated robot. The main part of the second shoulder drive assembly 3 mainly refers to core components such as motors and gears, while the part extending to the outside of the trunk is mainly a structure for connecting the arm assembly. The arrangement of the first shoulder drive assembly 2 and the second shoulder drive assembly 3, while making full use of the internal space of the trunk of the simulated robot, frees up a large amount of space for the arm assembly, facilitates the optimization of the structure of the arm assembly, and ultimately achieves the effect of miniaturization of the arm as a whole and more natural arm movement.

[0044] As one of the implementation methods, Figure 2 As shown, the first shoulder drive assembly 2 includes a first fixed frame 21, a swing arm motor 23 and a driving cylindrical gear 24, wherein the first fixed frame 21 is assembled inside the torso of the simulation robot, the swing arm motor 23 is assembled on the first fixed frame 21, and is used to control the arm assembly to swing back and forth, and the driving cylindrical gear 24 is coaxially assembled on the output shaft of the swing arm motor 23.

[0045] As one embodiment, the first shoulder drive assembly 2 also includes a motor cover 22, a first bearing 25, a second bearing 26, a wiring bracket 27 and a first angle sensor 28, wherein the swing arm motor 23 is assembled in a ring formed by the first fixing frame 21 and the motor cover 22, the first bearing 25 is coaxially sleeved in the groove of the active cylindrical gear 24, and is assembled between the swing arm motor 23 and the active cylindrical gear 24, the outer ring of the first bearing 25 is fixedly assembled with the active cylindrical gear 24, the second bearing 26 is coaxially assembled on the output shaft of the swing arm motor 23, and is assembled on the non-groove side of the active cylindrical gear 24, the wiring bracket 27 is provided with a cylindrical sleeve 272 and is sleeved on the second bearing 26, the outer ring of the second bearing 26 is fixedly assembled with the wiring bracket 27, the wiring bracket 27 is further provided with a buckle 271, the buckle 271 is used to fix the wire, and the first angle sensor 28 is coaxially assembled on the output shaft of the swing arm motor 23. The first bearing 25 plays a direct role in supporting the gear meshing position of the driving cylindrical gear 24, thereby preventing deformation from causing discontinuous arm movements. The inner ring of the first bearing 25 is sleeved on the motor cover 22. Figure 2As shown, the motor cover 22 consists of two parts, one upper and one lower, which together secure the swing arm motor 23. The right side of the combined two covers also forms an annular mounting area, onto which the inner ring of the first bearing 25 is fixedly mounted. It should be noted that the wiring bracket 27 has an arc-shaped structure, with screw holes provided at the other end of the cylindrical sleeve 272. The wiring bracket 27 is secured to the first fixing frame 21 via screws.

[0046] As one of the implementation methods, Figure 3 As shown, the second shoulder drive assembly 3 includes a driven cylindrical gear 35, an arm-lifting motor 33 and a first driving bevel gear 34, wherein the driven cylindrical gear 35 is engaged with the driving cylindrical gear 24, the arm-lifting motor 33 is coaxially assembled with the driven cylindrical gear 35, and is used to control the arm assembly to achieve lateral lifting, and the first driving bevel gear 34 is coaxially assembled on the output shaft of the arm-lifting motor 33.

[0047] As one embodiment, the second shoulder drive assembly 3 further includes an upper shoulder shell 32, a lower shoulder shell 31, a third bearing 36, and a second angle sensor 37, wherein the arm-lifting motor 33 is mounted in a collar formed by the upper shoulder shell 32 and the lower shoulder shell 31, the collar formed by the upper shoulder shell 32 and the lower shoulder shell 31 including a first mounting position 321 and a second mounting position 311, the driven cylindrical gear 35 is coaxially sleeved on the first mounting position 321, the third bearing 36 is coaxially sleeved on the second mounting position 311, and the second angle sensor 37 is coaxially mounted on the output shaft of the arm-lifting motor 33. It should be noted that the first mounting position 321 and the second mounting position 311 are located on the outer surface of the collar formed by the upper shoulder shell 32 and the lower shoulder shell 31, the inner side of the driven cylindrical gear 35 is sleeved on the first mounting position 321, and the inner ring of the third bearing 36 is coaxially sleeved on the second mounting position 311.

[0048] As one embodiment, the driven cylindrical gear 35 includes a hollow cylinder and meshing teeth arranged on the outer surface of the hollow cylinder, wherein the contact position between the hollow cylinder and the first mounting position 321 is designed with two sets of symmetrical screw holes 352. Based on the screw holes 352, the driven cylindrical gear 35 is fixedly connected to the collar formed by the shoulder upper shell 32 and the shoulder lower shell 31 by screws. The meshing teeth are designed with an angle limiting structure 351, so that after the driven cylindrical gear 35 is engaged with the driving cylindrical gear 24, the second shoulder drive assembly 3 rotates within a preset working angle range. The design of two sets of symmetrical screw holes 352 can make the material universal for both arms, thereby reducing production costs. The angle limiting structure 351 is designed on the meshing teeth to block the meshing teeth in the non-working angle range, so that the second shoulder drive assembly 3 rotates within a reasonable range to protect the relevant structures and wires from damage.

[0049] As one of the implementation methods, Figure 4 As shown, the shoulder upper shell 32 includes a decorative cover 38 and a wiring groove 39 designed below the decorative cover 38, and the wiring groove 39 is connected to the hollow space of the hollow cylinder. The decorative cover 38 refers to the shoulder position of the simulated robot, which is directly observable by the user (i.e., the outer surface of the simulated robot). The decorative cover 38 not only protects the wires, but also beautifies the appearance. It should be noted that a circular wire hole 353 is provided at the center position of the end face of the driven cylindrical gear 35. The wire passes through the hollow space of the hollow cylinder through the circular wire hole 353 to reach the wiring groove 39, and then extends to the arm assembly. The wire runs in the internal space of the second shoulder drive assembly 3 to avoid damage caused by pulling or friction due to large-scale passive traction during the movement of the wire, and also to avoid damage caused by gear meshing. The outlet end of the wiring groove 39 is designed to be cylindrical and coaxial with the first driven bevel gear 54, which is conducive to bending the wires and avoiding the problem of wire damage due to different lengths of different wires when in the extreme position.

[0050] In one embodiment, the collar formed by the upper shoulder shell 32 and the lower shoulder shell 31 further includes a third mounting position 312 for mounting the arm assembly. When the driving cylindrical gear 24 rotates, it drives the driven cylindrical gear 35 to rotate, thereby causing the second shoulder drive assembly 3 to drive the arm assembly to swing back and forth. It will be understood that because the first shoulder drive assembly 2 is disposed within the torso of the simulated robot, the arm assembly is not directly driven by the first shoulder drive assembly 2 to swing back and forth, but rather indirectly driven by the control of the second shoulder drive assembly 3.

[0051] As one of the implementation methods, Figure 1 As shown, the arm assembly includes an upper arm assembly 5, an elbow joint assembly 6 and a forearm assembly 7, wherein the elbow joint assembly 6 is used to connect the upper arm assembly 5 and the forearm assembly 7, and the upper arm assembly 5 is connected to the second shoulder drive assembly 3.

[0052] As one of the implementation methods, Figure 5 As shown, the upper arm assembly 5 includes a first driven bevel gear 54 and a fourth bearing 55, wherein the first driven bevel gear 54 includes a first fixed rod and a first bevel tooth. The first fixed rod and the first bevel tooth are designed as an integral whole. A fourth bearing 55 is mounted on each end of the first fixed rod. When the fourth bearing 55 is assembled in the third mounting position 312, the first bevel tooth engages with the first driving bevel gear 34. When the first driving bevel gear 34 rotates, it drives the first driven bevel gear 54 to rotate, thereby allowing the second shoulder drive assembly 3 to drive the arm assembly to achieve lateral lift. The inner ring of the fourth bearing 55 is fixedly assembled on the first fixed rod, and the outer ring of the fourth bearing 55 is fixedly assembled on the third mounting position 312. It should be noted that the second shoulder drive assembly 3 is arranged at the shoulder position of the simulation robot and connected to the arm assembly. Therefore, the second shoulder drive assembly 3 directly drives the arm assembly to achieve lateral lift.

[0053] In one embodiment, the upper arm assembly 5 further includes a second fixing frame 57 and a rotary arm motor 53. The rotary arm motor 53 is at least partially mounted within the second fixing frame 57 and is used to control the rotation of the elbow joint assembly 6, thereby driving the rotation of the forearm assembly 7. Compared to the prior art, the first shoulder drive assembly 2 and the second shoulder drive assembly 3 are no longer assembled within the upper arm assembly 5, freeing up a significant amount of space within the upper arm assembly 5. The installation of the rotary arm motor 53 only requires a portion of the vacated space, ultimately effectively reducing the volume of the upper arm assembly 5.

[0054] As one embodiment, the upper arm assembly 5 also includes a first upper arm housing 51, a second upper arm housing 52, a third angle sensor 56 and a fifth bearing 58, wherein the first upper arm housing 51 is connected to one end of the first fixed rod of the first driven bevel gear 54 by a screw, and the second upper arm housing 52 is connected to the other end of the first fixed rod of the first driven bevel gear 54 by a screw, the swing arm motor 53 and the second fixed frame 57 are assembled in the ring formed by the first upper arm housing 51 and the second upper arm housing 52, the third angle sensor 56 is coaxially assembled on the output shaft of the swing arm motor 53, and the fifth bearing 58 is coaxially sleeved on the second fixed frame 57.

[0055] As one embodiment, the second fixing frame 57 includes a first annular structure 571, and the inner ring of the fifth bearing 58 is sleeved on the first annular structure 571, wherein the first annular structure 571 is arranged outside the ring formed by the first upper arm housing 51 and the second upper arm housing 52.

[0056] As one embodiment, the output shaft of the rotary arm motor 53 extends outside the first annular structure 571 , so that the elbow joint assembly 6 is coaxially assembled on the output shaft of the rotary arm motor 53 .

[0057] As one of the implementation methods, Figure 6 As shown, the elbow joint assembly 6 includes an elbow outer shell 61 and an elbow inner shell 62, wherein the elbow outer shell 61 is fixedly connected to the forearm assembly 7, and the elbow inner shell 62 is coaxially sleeved in the elbow outer shell 61. The elbow inner shell 62 is also coaxially assembled on the output shaft of the swing arm motor 53. When the swing arm motor 53 controls the elbow joint assembly 6 to rotate, it drives the forearm assembly 7 to rotate.

[0058] In one embodiment, the elbow inner housing 62 includes a wire hole 621, a limiting post 622, and a connecting hole 623. The elbow inner housing 62 is coaxially assembled on the output shaft of the swing arm motor 53 via the connecting hole 623. The limiting post 622 cooperates with a limiting groove provided on the first annular structure 571 to achieve position limiting. The wire hole 621 is used for wiring. The wire hole 621 is spatially connected to the wiring groove 39.

[0059] As one embodiment, the elbow outer shell 61 includes a second annular structure 611 and a retaining bar, wherein the elbow inner shell 62 is coaxially sleeved in the second annular structure 611, and the second annular structure 611 is coaxially sleeved on the outer ring of the fifth bearing 58, so that the elbow inner shell 62 is coaxially assembled on the output shaft of the swing arm motor 53 through the connecting hole 623 and the limiting column 622 of the elbow inner shell 62 is assembled in the limiting groove on the first annular structure 571, and the retaining bar is used to connect the forearm assembly 7.

[0060] As one of the implementation methods, Figure 7 As shown, the forearm assembly 7 includes a crank arm motor 73, a second driving bevel gear 74, and a second driven bevel gear 75. The second driving bevel gear 74 is coaxially mounted on the output shaft of the crank arm motor 73 and meshes with the second driven bevel gear 75. The second driven bevel gear 75 is fixedly connected to the clamp. When the crank arm motor 73 controls the second driving bevel gear 74 to rotate, the forearm assembly 7 is caused to perform a circular motion around the second driven bevel gear 75, thereby achieving forearm bending. As mentioned above, the rotary arm motor 53 that controls the rotation of the forearm assembly 7 is assembled in the upper arm assembly 5. This reduces the size of the forearm assembly 7 and achieves overall miniaturization of the arm assembly.

[0061] As one embodiment, the second driven bevel gear 75 includes a second fixed rod and a second bevel tooth, wherein the second fixed rod and the second bevel tooth are designed as an integral whole, and a slot structure is provided on the second fixed rod, and the slot structure is used to assemble the clamping rib to realize the connection between the forearm assembly 7 and the elbow joint assembly 6.

[0062] In one embodiment, the slot structure includes a first slot structure 751 and a second slot structure 752, and the retaining rib includes a first retaining rib 612 and a second retaining rib 613. The first slot structure 751 is used to mount the first retaining rib 612, and the second slot structure 752 is used to mount the second retaining rib 613. The second conical tooth is located in the space formed by the first retaining rib 612 and the second retaining rib 613. The method described in this embodiment of the application can limit and fix the second driven bevel gear 75 in both the axial and radial directions.

[0063] As one embodiment, the forearm assembly 7 further includes a first forearm housing 71, a second forearm housing 72, a sixth bearing 76 and a fourth angle sensor 77, wherein the crank arm motor 73 is assembled in a collar formed by the first forearm housing 71 and the second forearm housing 72, the fourth angle sensor 77 is coaxially assembled on the output shaft of the crank arm motor 73, and each end of the second fixing rod is fitted with a sixth bearing 76, and the sixth bearing 76 is assembled on the first forearm housing 71 and the second forearm housing 72, so that the second bevel teeth are engaged with the second active bevel gear 74. When the crank arm motor 73 controls the second active bevel gear 74 to rotate, the forearm assembly 7 performs a circular motion around the second driven bevel gear 75, thereby realizing forearm bending. It should be noted that the second driven bevel gear 75 is fixed. In this case, when the crank motor 73 rotates, the second driving bevel gear 74 makes a circular motion around the second driven bevel gear 75, thereby driving the forearm assembly 7 to bend, that is, the forearm assembly 7 rotates around the second driven bevel gear 75 as the axis, thereby lifting the forearm.

[0064] As one embodiment, the output shafts of the arm-lifting motor 33 and the crank arm motor 73 are designed as D-type and I-type structures at both ends, wherein the D-type section of the output shaft of the arm-lifting motor 33 cooperates with the D-type hole of the second angle sensor 37, and the I-type section cooperates with the I-type hole of the first active bevel gear 34; the D-type section of the output shaft of the crank arm motor 73 cooperates with the D-type hole of the fourth angle sensor 77, and the I-type section cooperates with the I-type hole of the second active bevel gear 74. The I-type section is at the end of the output shaft. Designing both D-type and I-type structures on one output shaft improves adaptability and makes the entire structure more compact.

[0065] As one embodiment, the output shafts of the swing arm motor 23 and the rotary arm motor 53 are designed as a D-type structure, wherein the output shaft of the swing arm motor 23 cooperates with the D-type hole of the first angle sensor 28, and the output shaft of the rotary arm motor 53 cooperates with the D-type hole of the third angle sensor 56.

[0066] The embodiment of the present application provides a simulation robot, such as Figure 1 As shown, the simulated robot includes the simulated robot arm structure, and the simulated robot also includes a torso. The first shoulder drive component 2 of the simulated robot arm structure is assembled as a whole inside the torso, and the second shoulder drive component 3 of the simulated robot arm structure is at least partially assembled inside the torso, wherein the first shoulder drive component 2 is used to control the simulated robot arm structure to swing back and forth, and the second shoulder drive component 3 is used to control the simulated robot arm structure to achieve lateral raise.

[0067] The simulation robot described in the embodiment of the present application can be an industrial-grade humanoid robot, or a service robot or entertainment robot for home use. The simulation robot arm structure described in the present application is particularly suitable for small robots, such as storytelling machines for children.

[0068] In one embodiment, the trunk includes a first trunk shell 1 and a second trunk shell 4. When the first and second trunk shells 1 and 4 are assembled, a mounting groove 41 is formed at the shoulder of the trunk, communicating with the exterior. The mounting groove 41 is used to mount the third bearing 36 of the second shoulder drive assembly 3. The outer ring of the third bearing 36 is fixedly mounted in the mounting groove 41, which can limit and tighten the third bearing 36 in both the axial and radial directions.

[0069] As one embodiment, after the first torso shell 1 and the second torso shell 4 are assembled, a limiting groove 42 is formed inside the torso, and the limiting groove 42 is used to assemble the first angle sensor 28 of the first shoulder drive assembly 2. The limiting groove 42 can limit and fasten the first angle sensor 28.

[0070] The simulation robot described in the embodiment of the present application arranges a first shoulder drive assembly that controls the arm assembly to swing back and forth and a second shoulder drive assembly that controls the arm assembly to raise sideways inside the torso of the simulation robot, thereby adjusting the setting position and setting method of the transmission structure and the fastening structure in the entire arm, shortening the arm length, reducing the volume of the joint part, and realizing the overall miniaturization of the arm, making the appearance of the entire arm closer to the real arm shape, and at the same time the joint movement trajectory and bending degree can be more natural and realistic, thereby improving the appearance of the arm and the degree of movement simulation.

[0071] Obviously, the above-mentioned embodiments are only some of the embodiments of the present application, rather than all of the embodiments, and the technical solutions between the various embodiments can be combined with each other. In addition, if the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like appear in the embodiments, the orientation or position relationship indicated is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. If the terms "first", "second", "third" and the like appear in the embodiments, it is to facilitate the distinction between related features and cannot be understood as indicating or implying their relative importance, order or number of technical features.

[0072] In addition, in the description of this application, unless otherwise specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0073] Although the embodiments of the present application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents. The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, various changes and variations may be made to the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A simulated robot arm structure, characterized in that: The simulation robot arm structure includes a shoulder drive component and an arm component, wherein: The shoulder drive assembly includes a first shoulder drive assembly and a second shoulder drive assembly, wherein the first shoulder drive assembly is used to control the arm assembly to swing forward and backward, and the second shoulder drive assembly is used to control the arm assembly to perform lateral raises. The first shoulder drive assembly is entirely assembled inside the torso of the simulation robot, and at least the main body of the second shoulder drive assembly is assembled inside the torso of the simulation robot; Among them, the main part of the second shoulder drive assembly includes at least core components: a motor and a gear; the second shoulder drive assembly extending outside the torso mainly includes a structure for connecting the arm assembly.

2. A simulation robot arm structure according to claim 1, characterized in that: The first shoulder drive assembly includes a first fixed frame, a swing arm motor and a driving cylindrical gear, wherein: The first fixing frame is assembled inside the torso of the simulation robot. The swing arm motor is mounted on the first fixing frame and is used to control the arm assembly to swing back and forth. The driving cylindrical gear is coaxially assembled on the output shaft of the swing arm motor.

3. The simulation robot arm structure according to claim 2, characterized in that: The first shoulder drive assembly further includes a motor cover, a first bearing, a second bearing, a wiring bracket and a first angle sensor, wherein: The swing arm motor is assembled in the collar formed by the first fixing frame and the motor cover. The first bearing is coaxially sleeved in the groove of the driving cylindrical gear and is assembled between the swing arm motor and the driving cylindrical gear. The outer ring of the first bearing is fixedly assembled with the driving cylindrical gear. The second bearing is coaxially mounted on the output shaft of the swing arm motor and is mounted on the non-groove side of the driving cylindrical gear. The wiring bracket is provided with a cylindrical sleeve and is sleeved on the second bearing. The outer ring of the second bearing is fixedly assembled with the wiring bracket. The wiring bracket is also provided with a buckle, which is used to fix the wire. The first angle sensor is coaxially mounted on the output shaft of the swing arm motor.

4. The simulation robot arm structure according to claim 3, characterized in that: The second shoulder drive assembly includes a driven cylindrical gear, an arm lifting motor and a first driving bevel gear, wherein: The driven cylindrical gear is meshed with the driving cylindrical gear, The arm-lifting motor is coaxially assembled with the driven cylindrical gear and is used to control the arm assembly to achieve lateral lifting. The first driving bevel gear is coaxially assembled on the output shaft of the arm lifting motor.

5. The simulation robot arm structure according to claim 4, characterized in that: The second shoulder drive assembly further includes a shoulder upper shell, a shoulder lower shell, a third bearing and a second angle sensor, wherein: The arm lifting motor is assembled in the collar formed by the upper shoulder shell and the lower shoulder shell, and the collar formed by the upper shoulder shell and the lower shoulder shell includes a first mounting position and a second mounting position. The driven cylindrical gear is coaxially mounted on the first mounting position. The third bearing is coaxially mounted on the second mounting position. The second angle sensor is coaxially mounted on the output shaft of the arm lifting motor.

6. The simulation robot arm structure according to claim 5, characterized in that: The driven cylindrical gear includes a hollow cylinder and meshing teeth arranged on the outer surface of the hollow cylinder, wherein: The contact position between the hollow cylinder and the first mounting position is designed with two sets of symmetrical screw through holes. Based on the screw through holes, the driven cylindrical gear is fixedly connected to the collar formed by the shoulder upper shell and the shoulder lower shell through screws. The meshing teeth are designed with an angle limiting structure, so that after the driven cylindrical gear is meshed with the driving cylindrical gear, the second shoulder driving assembly rotates within a preset working angle range.

7. The simulation robot arm structure according to claim 6, characterized in that: The shoulder upper shell includes a decorative cover and a wiring groove designed below the decorative cover, and the wiring groove is connected to the hollow space of the hollow cylinder.

8. The simulation robot arm structure according to claim 5, characterized in that: The collar formed by the upper shoulder shell and the lower shoulder shell also includes a third mounting position, which is used to assemble the arm assembly. When the driving cylindrical gear rotates, it drives the driven cylindrical gear to rotate, so that the second shoulder drive assembly drives the arm assembly to swing back and forth.

9. The simulation robot arm structure according to claim 8, characterized in that: The arm assembly includes an upper arm assembly, an elbow joint assembly and a forearm assembly, wherein the elbow joint assembly is used to connect the upper arm assembly and the forearm assembly, and the upper arm assembly is connected to the second shoulder drive assembly.

10. The simulation robot arm structure according to claim 9, characterized in that: The upper arm assembly includes a first driven bevel gear and a fourth bearing, wherein, The first driven bevel gear includes a first fixing rod and a first bevel tooth, and the first fixing rod and the first bevel tooth are designed as one body. The first fixing rod is respectively provided with a fourth bearing. When the fourth bearing is assembled in the third mounting position, the first conical tooth is engaged with the first active bevel gear. When the first active bevel gear rotates, the first driven bevel gear is driven to rotate, so that the second shoulder drive assembly drives the arm assembly to achieve lateral raise.

11. The simulation robot arm structure according to claim 10, characterized in that: The upper arm assembly further includes a second fixing frame and a rotary arm motor. The rotary arm motor is at least partially mounted inside the second fixing frame and is used to control the rotation of the elbow joint assembly, thereby driving the forearm assembly to rotate.

12. The simulation robot arm structure according to claim 11, characterized in that: The upper arm assembly further includes a first upper arm housing, a second upper arm housing, a third angle sensor and a fifth bearing, wherein: The first upper arm housing is connected to one end of the first fixing rod of the first driven bevel gear by a screw, and the second upper arm housing is connected to the other end of the first fixing rod of the first driven bevel gear by a screw. The rotary arm motor and the second fixing bracket are assembled in a collar formed by the first upper arm housing and the second upper arm housing. The third angle sensor is coaxially mounted on the output shaft of the rotary arm motor. The fifth bearing is coaxially sleeved on the second fixing frame.

13. The simulation robot arm structure according to claim 12, characterized in that: The second fixing frame includes a first annular structure, and the inner ring of the fifth bearing is sleeved on the first annular structure, wherein the first annular structure is arranged outside the collar formed by the first upper arm housing and the second upper arm housing.

14. The simulation robot arm structure according to claim 13, characterized in that: The output shaft of the rotary arm motor extends outside the first annular structure, so that the elbow joint assembly is coaxially assembled on the output shaft of the rotary arm motor.

15. The simulation robot arm structure according to claim 14, characterized in that: The elbow joint assembly includes an elbow outer shell and an elbow inner shell, wherein: The elbow housing is fixedly connected to the forearm assembly, The elbow inner shell is coaxially sleeved in the elbow outer shell, and the elbow inner shell is also coaxially assembled on the output shaft of the swing arm motor. When the swing arm motor controls the elbow joint assembly to rotate, the forearm assembly is driven to rotate.

16. The simulated robot arm structure according to claim 15, characterized in that: The elbow inner shell includes a wire hole, a limit column and a connection hole, wherein: The elbow inner shell is coaxially assembled on the output shaft of the swing arm motor through the connecting hole. The limiting column cooperates with the limiting groove provided on the first annular structure to achieve limiting. The wire holes are used for wiring.

17. The simulation robot arm structure according to claim 16, characterized in that: The elbow housing includes a second annular structure and a clamping rib, wherein: The elbow inner shell is coaxially sleeved in the second annular structure, and the second annular structure is coaxially sleeved on the outer ring of the fifth bearing, so that the elbow inner shell is coaxially assembled on the output shaft of the swing arm motor through the connecting hole and the limiting column of the elbow inner shell is assembled in the limiting groove on the first annular structure. The clamping rib is used to connect the forearm assembly.

18. The simulated robot arm structure according to claim 17, characterized in that: The forearm assembly includes a crank arm motor, a second driving bevel gear and a second driven bevel gear, wherein: The second driving bevel gear is coaxially assembled on the output shaft of the crank arm motor and meshes with the second driven bevel gear. The second driven bevel gear is fixedly connected to the clamping rib. When the crank arm motor controls the second driving bevel gear to rotate, the forearm assembly moves in a circular motion around the second driven bevel gear, thereby achieving forearm bending.

19. The simulation robot arm structure according to claim 18, characterized in that: The second driven bevel gear includes a second fixing rod and a second bevel tooth, wherein, The second fixing rod and the second conical tooth are designed as one piece. The second fixing rod is provided with a slot structure, and the slot structure is used to assemble the clamping rib to achieve the connection between the forearm assembly and the elbow joint assembly.

20. The simulated robot arm structure according to claim 19, characterized in that: The slot structure includes a first slot structure and a second slot structure, and the clamp includes a first clamp and a second clamp, wherein the first slot structure is used to assemble the first clamp, and the second slot structure is used to assemble the second clamp, and the second conical tooth is located in the space formed by the first clamp and the second clamp.

21. The simulated robot arm structure according to claim 19, characterized in that: The forearm assembly further includes a first forearm housing, a second forearm housing, a sixth bearing and a fourth angle sensor, wherein: The crank arm motor is assembled in a collar formed by the first forearm housing and the second forearm housing. The fourth angle sensor is coaxially mounted on the output shaft of the crank motor. The second fixing rod is respectively provided with a sixth bearing, and the sixth bearing is assembled on the first forearm housing and the second forearm housing, so that the second bevel tooth is engaged with the second active bevel gear. When the crank arm motor controls the second active bevel gear to rotate, the forearm assembly performs a circular motion around the second driven bevel gear, thereby achieving forearm bending.

22. The simulated robot arm structure according to claim 21, characterized in that: The output shafts of the arm lifting motor and the crank arm motor are designed as D-type and I-type two-end structures, wherein the D-type section of the output shaft of the arm lifting motor cooperates with the D-type hole of the second angle sensor, and the I-type section cooperates with the I-type hole of the first active bevel gear; the D-type section of the output shaft of the crank arm motor cooperates with the D-type hole of the fourth angle sensor, and the I-type section cooperates with the I-type hole of the second active bevel gear.

23. The simulated robot arm structure according to claim 21, characterized in that: The output shafts of the swing arm motor and the rotary arm motor are designed as D-shaped structures, wherein the output shaft of the swing arm motor cooperates with the D-shaped hole of the first angle sensor, and the output shaft of the rotary arm motor cooperates with the D-shaped hole of the third angle sensor.

24. A simulation robot, characterized in that: The simulated robot includes the simulated robot arm structure described in any one of claims 1 to 23, and the simulated robot also includes a torso. The first shoulder drive component of the simulated robot arm structure is assembled as a whole inside the torso, and the second shoulder drive component of the simulated robot arm structure is at least partially assembled inside the torso, wherein the first shoulder drive component is used to control the simulated robot arm structure to swing back and forth, and the second shoulder drive component is used to control the simulated robot arm structure to raise sideways.

25. The simulation robot according to claim 24, characterized in that: The torso includes a first torso shell and a second torso shell. When the first torso shell and the second torso shell are combined, an assembly groove connected to the outside is formed at the shoulder position of the torso. The assembly groove is used to assemble the third bearing of the second shoulder drive assembly.

26. The simulation robot according to claim 25, characterized in that: After the first torso shell and the second torso shell are combined, a limiting groove is formed inside the torso, and the limiting groove is used to assemble the first angle sensor of the first shoulder drive assembly.

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