Shoulder mechanism, limb structure and humanoid robot

Abstract

The utility model discloses a shoulder mechanism, a limb structure and a humanoid robot, and relates to the technical field of humanoid robots. The shoulder mechanism comprises a first driving assembly, a first transfer frame, a first transfer block and a second driving assembly; the first adapter frame is connected to the first adapter block, the first adapter block is connected to an output shaft of the first driving assembly, and the first driving assembly is used for driving the first adapter frame to rotate around a first rotating axis; the second driving assembly is rotationally installed on the first adapter frame and used for driving the second driving assembly to rotate around a second rotating axis relative to the first adapter frame, and the second rotating axis is perpendicular to the first rotating axis. According to the shoulder mechanism, the large arm mechanism and the small arm mechanism in the humanoid robot can be conveniently disassembled, assembled and maintained in the later period.

Description

Technical Field

[0001] The present application relates to the technical field of humanoid robots, and in particular to a shoulder mechanism, a limb structure and a humanoid robot. Background Art

[0002] With the development of new-quality productivity, the development of humanoid robots has become extremely hot.

[0003] However, existing humanoid robots require the entire arm and shoulder structure to be disassembled for later maintenance, which increases the difficulty of disassembly and assembly, and thus increases the later maintenance costs. Utility Model Content

[0004] The present application provides a shoulder mechanism, a limb structure, and a humanoid robot to facilitate the maintenance of the upper arm mechanism and the lower arm mechanism in the humanoid robot.

[0005] In a first aspect, the present application provides a shoulder mechanism comprising a first drive assembly, a first adapter frame, a first adapter block, and a second drive assembly;

[0006] The first adapter frame is connected to the first adapter block, the first adapter block is connected to the output shaft of the first drive assembly, and the first drive assembly is used to drive the first adapter frame to rotate around the first rotation axis;

[0007] The second driving assembly is rotatably mounted on the first adapter frame. The second driving assembly is used to drive itself to rotate relative to the first adapter frame around a second rotation axis. The second rotation axis is perpendicular to the first rotation axis.

[0008] Based on the above technical solution, the shoulder mechanism provided in the present application is applied to a humanoid robot. When the upper arm mechanism and the lower arm mechanism of the humanoid robot need maintenance, it is only necessary to remove the first adapter frame from the first adapter block to achieve the disassembly of the upper arm mechanism and the lower arm mechanism. There is no need to remove the first drive assembly from the body structure of the humanoid robot, that is, there is no need to remove the entire limb structure from the body structure, which improves the convenience of disassembly and assembly of the limb structure, and thus improves the convenience of maintenance of the limb structure.

[0009] In some possible implementations, the shoulder mechanism further includes a first standard part and a second standard part;

[0010] The first marking part is connected to the peripheral side of the first driving assembly close to one end of the first adapter frame, and the first marking part is configured on the first marking zero structure;

[0011] The second zeroing part is connected to a side of the first adapter frame facing the first drive assembly and extends to a peripheral side of the first drive assembly close to one end of the first adapter frame, and a second zeroing structure is configured on the second zeroing part;

[0012] When the first driving assembly is subjected to a homing operation, one end of the second homing part provided with the second homing structure is inserted between the first homing part and the first driving assembly, and the first homing structure and the second homing structure are coaxially opposed to each other.

[0013] In some possible embodiments, the shoulder mechanism also includes a first limiting member, which is connected to the peripheral side of the first driving component near one end of the first adapter frame, and the first limiting member is configured with two first limiting protrusions spaced apart, and the two first limiting protrusions are both located on the moving path of the second standard part.

[0014] In some possible embodiments, the first adapter frame includes a first connecting arm and a second connecting arm arranged opposite to each other, the first connecting arm is connected to the output shaft of the second drive assembly, and the second connecting arm is rotatably connected to an end of the second drive assembly away from the first connecting arm.

[0015] In some possible implementations, a third marking part is provided at one end of the second driving assembly facing the second connecting arm, and the third marking part is configured with a third marking zero structure facing the second connecting arm;

[0016] The second connecting arm is provided with a fourth zeroing structure opposite to the second driving assembly;

[0017] When the second driving assembly is subjected to a homing operation, the third homing structure and the fourth homing structure are coaxially opposed to each other.

[0018] In some possible implementations, a limiting portion is provided on one side of the second connecting arm protruding toward the second driving assembly;

[0019] Two spaced-apart second position-limiting protrusions are provided on the peripheral side of the second driving assembly facing one end of the second connecting arm, and the position-limiting portion is located on the moving paths of the two second position-limiting protrusions.

[0020] In a second aspect, the present application further provides a limb structure, comprising an upper arm mechanism, a lower arm mechanism, and the shoulder mechanism provided in the above embodiments, wherein the upper arm mechanism is connected between the shoulder mechanism and the lower arm mechanism.

[0021] In some possible implementations, the limb structure further includes a second adapter block, the second drive assembly includes a first housing, the large arm mechanism includes a third drive assembly, the second adapter block is connected to an output shaft of the third drive assembly, and the first housing is connected to the second adapter block;

[0022] The third driving assembly is used to drive itself to rotate relative to the first housing around a third rotation axis, and the third rotation axis is perpendicular to both the first rotation axis and the second rotation axis.

[0023] In some possible embodiments, the arm mechanism further includes a fourth drive assembly, the fourth drive assembly including a second housing, the second housing extending to a peripheral side of the third drive assembly, and the third drive assembly connected to an end of the second housing close to the shoulder mechanism;

[0024] The limb structure also includes a second adapter frame, and the arm mechanism is rotatably connected to the fourth drive assembly via the second adapter frame. The fourth drive assembly is used to drive the arm mechanism to rotate around a fourth rotation axis, and the fourth rotation axis is parallel to the second rotation axis.

[0025] In a third aspect, the present application also provides a humanoid robot comprising the shoulder mechanism provided in the above embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application 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 creative work.

[0027] Figure 1 shows a schematic diagram of the three-dimensional structure of the shoulder mechanism in some embodiments;

[0028] Figure 2 shows an exploded structural diagram of the shoulder mechanism in some embodiments;

[0029] Figure 3 shows a schematic structural diagram of the first drive assembly in some embodiments;

[0030] Figure 4 A partial exploded structural diagram of the shoulder mechanism in some embodiments is shown;

[0031] Figure 5 A schematic diagram of the connection structure between the second drive assembly and the first adapter frame in some embodiments is shown;

[0032] Figure 6 Shows a schematic diagram of the three-dimensional structure of the limb structure in some embodiments;

[0033] Figure 7 Shows a schematic diagram of the exploded structure of a portion of a limb structure in some embodiments;

[0034] Figure 8 Shown are schematic structural diagrams of some limb structures in some embodiments.

[0035] Description of main component symbols:

[0036] 1000-shoulder mechanism;

[0037] 100-first drive assembly; 110-servo; 120-reducer;

[0038] 210 - first adapter frame; 211 - first connecting arm; 212 - second connecting arm; 220 - first adapter block; 230 - second adapter block; 240 - second adapter frame; 250 - third adapter frame; 260 - first frame; 270 - second frame;

[0039] 310 - second drive assembly; 311 - assembly edge; 312 - second position-limiting protrusion; 313 - first housing; 3131 - connecting pipe; 3132 - third position-limiting protrusion; 320 - third drive assembly; 330 - fourth drive assembly; 331 - second housing; 340 - fifth drive assembly; 350 - sixth drive assembly; 360 - seventh drive assembly;

[0040] 401-first standard component; 4011-first connecting portion; 4012-first bearing portion; 40121-first standard zero structure; 402-second standard component; 4021-second connecting portion; 4022-second bearing portion; 40221-second standard zero structure; 403-third standard component; 4031-third standard zero structure; 404-fourth standard zero structure; 405-fifth standard zero structure; 406-sixth standard zero structure;

[0041] 511 - first limiting member; 5111 - first limiting protrusion; 512 - second limiting member; 5121 - third connecting portion; 5122 - limiting portion; 513 - second limiting plate; 520 - line clamp; 531 - bearing; 532 - limiting cover; 5321 - limiting sleeve; 5322 - first limiting plate;

[0042] 2000-big arm mechanism;

[0043] 3000- small arm mechanism;

[0044] L1 - first rotation axis; L2 - second rotation axis; L3 - third rotation axis. DETAILED DESCRIPTION

[0045] The following describes in detail embodiments of the present application. 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 only used to explain the present application and are not to be construed as limiting the present application.

[0046] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0047] 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 defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0048] In this application, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components or interactions between two components. Those skilled in the art will understand the specific meanings of these terms in this application based on specific circumstances.

[0049] In this application, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0050] like Figure 1 and Figure 2 As shown, an embodiment provides a shoulder mechanism 1000 that can be applied to a humanoid robot.

[0051] In the embodiment, the shoulder mechanism 1000 includes a first drive assembly 100 , a second drive assembly 310 , a first adapter frame 210 and a first adapter block 220 .

[0052] The first adapter frame 210 is fixedly connected to the first adapter block 220, which can be fixedly connected to the output shaft of the first drive assembly 100. The first drive assembly 100 can be used to drive the first adapter frame 210 to rotate about the first rotation axis L1. The first drive assembly 100 can be used to achieve a motion similar to the back-and-forth swinging of a human shoulder joint.

[0053] The second drive assembly 310 is rotatably mounted on the first adapter frame 210. The second drive assembly 310 can be configured to rotate relative to the first adapter frame 210 about a second rotation axis L2. The second rotation axis L2 can be perpendicular to the first rotation axis L1. The second drive assembly 310 can be configured to achieve a lateral swing motion similar to the human shoulder joint.

[0054] In this embodiment, the first adapter frame 210 is connected to the output shaft of the first drive assembly 100 via the first adapter block 220. When the shoulder mechanism 1000 is applied to a humanoid robot, when the upper arm mechanism 2000 and the lower arm mechanism 3000 of the humanoid robot require maintenance, the upper arm mechanism 2000 and the lower arm mechanism 3000 can be disassembled by simply removing the first adapter frame 210 from the first adapter block 220. This eliminates the need to remove the first drive assembly 100 from the torso of the humanoid robot, i.e., the need to remove the entire limb structure from the torso. This improves the convenience of disassembly and assembly of the limb structure, and thus the convenience of limb maintenance.

[0055] like Figures 1 to 3 As shown, in some embodiments, the first drive assembly 100 may include a steering gear 110 and a reducer 120 in transmission connection with the steering gear 110. The output shaft of the reducer 120 may serve as the output shaft of the first drive assembly 100. The first adapter block 220 may be fixedly connected to the end of the output shaft of the first drive assembly 100 by means of screws or other means. In some embodiments, the first adapter block 220 may be a generally circular block structure.

[0056] In other embodiments, the steering gear 110 may also be replaced by an electric motor.

[0057] The first adapter frame 210 can be sleeved around the first adapter block 220, and the first adapter frame 210 and the first adapter block 220 can be fixedly connected by screws or other means. Therefore, when the first driving assembly 100 drives the first adapter block 220 to rotate, the first adapter frame 210 can be driven to rotate synchronously.

[0058] The shoulder mechanism 1000 also includes a first standard part 401 and a second standard part 402. The first standard part 401 can be fixedly connected to the side of the first drive assembly 100 facing the first adapter frame 210. In some embodiments, the first standard part 401 includes an integral first connecting portion 4011 and a first supporting portion 4012. The first connecting portion 4011 can be fixedly connected to the first drive assembly 100 via screws or other means. The first supporting portion 4012 can be disposed on the side of the first connecting portion 4011 facing the first adapter frame 210. The first supporting portion 4012 is located on the side of the first connecting portion 4011 away from the first drive assembly 100, with a gap between the first connecting portion 4011 and the first drive assembly 100.

[0059] A first zeroing structure 40121 may be disposed on the first carrier portion 4012. In some embodiments, the first zeroing structure 40121 may be a through-hole structure penetrating the first carrier portion 4012.

[0060] like Figures 1 to 4 As shown, the second homing member 402 can be fixedly connected to the end of the first adapter frame 210 facing the first drive assembly 100. In some embodiments, the second homing member 402 can include an integral second connecting portion 4021 and a second supporting portion 4022. The first connecting portion 4011 can be fixedly connected to the side of the first adapter frame 210 facing away from the first drive assembly 100 by means of screws or other means. The second supporting portion 4022 is perpendicular to the second connecting portion 4021. The second supporting portion 4022 can be disposed through the first adapter frame 210 and extend to the side of the second adapter frame 240 facing the first drive assembly 100. The end of the second supporting portion 4022 away from the second connecting portion 4021 can extend to the side of the first drive assembly 100 near the end of the first adapter frame 210. In some embodiments, a second homing structure 40221 is disposed on the second supporting portion 4022. In some embodiments, the second homing structure 40221 can be a through-hole structure extending through the second supporting portion 4022.

[0061] When homing the first drive assembly 100 is required, the second bearing portion 4022 can be rotated and inserted into the gap between the first bearing portion 4012 and the first drive assembly 100. The second homing structure 40221 can be coaxially opposed to the first homing structure 40121 and can be sequentially penetrated by a pin. The diameter of the pin can be the same as that of the first homing structure 40121 and the second homing structure 40221. In this way, homing of the first drive assembly 100 can be achieved.

[0062] In other embodiments, the second zeroing structure 40221 may also be a groove structure.

[0063] In some embodiments, the shoulder mechanism 1000 further includes a first limiting member 511. The first limiting member 511 can be fixedly mounted on the peripheral side of the first drive assembly 100 near one end of the first adapter frame 210, and staggered with the first reference part 401. In an embodiment, the first limiting member 511 is provided with two spaced-apart first limiting protrusions 5111 on the side facing away from the first drive assembly 100, and the first limiting protrusions 5111 can be a protruding block structure. Both first limiting protrusions 5111 are located on the moving path of the second bearing part 4022. Thus, under the cooperation of the first limiting member 511 and the second reference part 402, the rotation stroke of the first adapter frame 210 can be limited, that is, the movement stroke of the first drive assembly 100 can be limited.

[0064] In some embodiments, a cable clip 520 is provided on the periphery of the first drive assembly 100 to fix the cable. The cable clip 520 can be fixedly connected to the first drive assembly 100 by screw connection or other methods.

[0065] like Figure 1 、 Figure 2 、 Figure 4 and Figure 5 As shown, in some embodiments, the first adapter frame 210 may include a first connecting arm 211 and a second connecting arm 212 that are oppositely disposed. The first connecting arm 211 and the second connecting arm 212 may extend in a direction parallel to the first rotation axis L1 and away from the first driving assembly 100.

[0066] The first connecting arm 211 can be fixedly connected to the output shaft of the second drive assembly 310 by means of screws or the like. The second connecting arm 212 can be rotatably connected to an end of the second drive assembly 310 away from the first connecting arm 211. In some embodiments, the structure of the second drive assembly 310 can be similar to that of the first drive assembly 100. When the second drive assembly 310 is in operation, it can be driven to rotate relative to the first adapter frame 210 about the second rotation axis L2.

[0067] In some embodiments, the shoulder mechanism 1000 further includes a bearing 531 and a limiting cover 532. The second drive assembly 310 is provided with an annular mounting flange 311 protruding from one end thereof toward the second connecting arm 212. The bearing 531 can be mounted within the mounting flange 311, and the outer ring of the bearing 531 can be fixedly connected to the mounting flange 311 by means of an interference fit or the like. The limiting cover 532 can include an integral limiting sleeve 5321 and a first limiting plate 5322. The first limiting plate 5322 is located at one end of the limiting sleeve 5321 and can extend radially along the limiting sleeve 5321 to protrude from the circumference of the limiting sleeve 5321. In some embodiments, the limiting sleeve 5321 can be inserted into the bearing 531 and fixedly connected to the inner ring of the bearing 531 by means of an interference fit or the like. The second connecting arm 212 can be sleeved on the circumference of the limiting sleeve 5321. The first limiting plate 5322 abuts against a side of the second connecting arm 212 away from the bearing 531 , and the first limiting plate 5322 can be fixedly connected to the second connecting arm 212 by screw connection or other means.

[0068] In some embodiments, a third zeroing part 403 is provided protruding from one end of the second drive assembly 310 toward the second connecting arm 212. The third zeroing part 403 may be configured with a third zeroing structure 4031. The third zeroing part 403 may be cylindrical or cubic. The third zeroing structure 4031 may be a groove formed on the third zeroing part 403, with the opening of the third zeroing structure 4031 facing the second connecting arm 212. In some embodiments, a fourth zeroing structure 404 may be configured on the second connecting arm 212. The fourth zeroing structure 404 may be a through-hole extending through the second connecting arm 212.

[0069] When homing is required for the second drive assembly 310, the second drive assembly 310 can be rotated so that the third homing structure 4031 is coaxially opposed to the fourth homing structure 404. A pin can be sequentially inserted through the fourth homing structure 404 and the third homing structure 4031. The diameter of the pin can be the same as that of the fourth homing structure 404 and the third homing structure 4031. In this way, homing of the second drive assembly 310 can be achieved.

[0070] In some embodiments, the shoulder mechanism 1000 further includes a second limiting member 512. The second limiting member 512 may include an integral third connecting portion 5121 and a limiting portion 5122, wherein the third connecting portion 5121 and the limiting portion 5122 are arranged perpendicularly. The third connecting portion 5121 may be fixedly connected to the side of the second connecting arm 212 facing away from the second drive assembly 310 by means of screw connection or the like. The limiting portion 5122 is provided through the second connecting arm 212 and extends from the side of the second connecting arm 212 toward the second drive assembly 310, and the limiting portion 5122 extends from one end of the third connecting portion 5121 to the circumferential side of the assembly edge 311. In the embodiment, two spaced-apart second limiting protrusions 312 are protruded from the circumferential side of the assembly edge 311, and the two second limiting protrusions 312 are located on the moving path of the limiting portion 5122. Under the cooperation of the limiting portion 5122 and the two second limiting protrusions 312 , the rotation stroke of the second driving assembly 310 can be limited, that is, the action stroke of the second driving assembly 310 can be limited.

[0071] In some embodiments, a side of the second connecting arm 212 facing away from the second driving assembly 310 and a peripheral side of the second driving assembly 310 may be fixedly connected with corresponding line cards 520 as needed to fix the cables.

[0072] like Figure 6 As shown, the embodiment further provides a limb structure, including an upper arm mechanism 2000, a lower arm mechanism 3000 and a shoulder mechanism 1000 provided in the embodiment. The upper arm mechanism 2000 is connected between the lower arm mechanism 3000 and the shoulder mechanism 1000.

[0073] In some embodiments, the arm mechanism 2000 may include a third drive assembly 320 and a fourth drive assembly 330 . The structures of the third drive assembly 320 and the fourth drive assembly 330 may be similar to those of the first drive assembly 100 .

[0074] like Figure 1 、 Figures 6 to 8As shown, in one embodiment, the limb structure further includes a second adapter block 230. The second adapter block 230 may be a circular block-shaped structure. The second adapter block 230 may be fixedly connected to the output shaft of the third drive assembly 320 by screw connection or other means. The second drive assembly 310 may include a first housing 313, which may be the housing of the servo 110 in the second drive assembly 310. A connecting pipe portion 3131 is provided protruding from one side of the first housing 313. The connecting pipe portion 3131 may be mounted around the circumference of the second adapter block 230, and the connecting pipe portion 3131 and the second adapter block 230 may be fixedly connected by screw connection or other means. In one embodiment, the third drive assembly 320 may be driven to rotate relative to the first housing 313 about a third rotation axis L3. The third rotation axis L3 may be perpendicular to both the first rotation axis L1 and the second rotation axis L2.

[0075] In this embodiment of the present application, the skeleton (i.e., the connecting tube portion 3131) for connecting the second drive assembly 310 and the third drive assembly 320 is integrated with the first housing 313 of the servo 110 in the second drive assembly 310. This reduces the number of parts in the limb structure, thereby reducing the overall weight of the limb structure, better meeting the lightweight design requirements of humanoid robots, and also reducing the cost of the limb structure.

[0076] In some embodiments, the arm mechanism 2000 further includes a second limiting plate 513. One end of the second limiting plate 513 can be fixedly connected to the peripheral side of the third drive assembly 320 near one end of the second drive assembly 310 by means of screw connection or the like. The other end of the second limiting plate 513 can extend to the peripheral side of the connecting pipe portion 3131, and a gap is provided between the second limiting plate 513 and the connecting pipe portion 3131. In an embodiment, a third limiting protrusion 3132 is provided on the outer wall of the connecting pipe portion 3131 facing away from the second adapter block 230. The third limiting protrusion 3132 can have a certain extension length along the peripheral side of the connecting pipe portion 3131. Thus, the third limiting protrusion 3132 can cooperate with the second limiting plate 513 to limit the movement stroke of the third drive assembly 320.

[0077] In addition, a fifth zeroing structure 405 may be configured at one end of the second limiting plate 513 near the connecting tube portion 3131. The fifth zeroing structure 405 may be a through-hole structure provided on the second limiting plate 513. A sixth zeroing structure 406 may be configured on the connecting tube portion 3131. The sixth zeroing structure 406 may be a through-hole structure provided on the connecting tube portion 3131.

[0078] When homing the third drive assembly 320 is required, the connecting tube 3131 and the third drive assembly 320 can be rotated relative to each other so that the fifth homing structure 405 and the sixth homing structure 406 are coaxially opposed. A pin can be inserted through the fifth homing structure 405 and the sixth homing structure 406. The diameter of the pin can be the same as that of the fifth homing structure 405 and the sixth homing structure 406. In this way, homing of the third drive assembly 320 can be achieved.

[0079] In some other embodiments, the sixth zeroing structure 406 may also be a groove structure.

[0080] In an embodiment, the third driving assembly 320 can be used to achieve arm rotation similar to a human joint.

[0081] like Figures 6 to 8 As shown, the fourth drive assembly 330 can be disposed on a side of the third drive assembly 320 away from the shoulder mechanism 1000. The fourth drive assembly 330 also includes a second housing 331, which can be the housing of the servo 110 in the fourth drive assembly 330. In some embodiments, the second housing 331 can extend toward the second drive assembly 310 and extend to the periphery of the third drive assembly 320. In some embodiments, the third drive assembly 320 can be connected to an end of the second housing 331 that is adjacent to the second drive assembly 310.

[0082] Accordingly, the second housing 331 can also be used as the skeleton of the arm mechanism 2000. This can further reduce the number of parts in the limb structure, reduce the overall weight of the limb structure, better meet the lightweight design requirements of humanoid robots, and at the same time, reduce the cost of the limb structure.

[0083] In an embodiment, the fourth driving assembly 330 can be used to achieve movement similar to that of a human elbow.

[0084] like Figure 1 、 Figure 6 and Figure 8 As shown, in some embodiments, the limb structure further includes a second adapter frame 240, and the arm mechanism 3000 can be connected to the fourth drive assembly 330 via the second adapter frame 240. The fourth drive assembly 330 can be used to drive the arm mechanism 3000 to rotate about a fourth rotation axis. The fourth rotation axis can be parallel to the second rotation axis L2.

[0085] In this embodiment, the connection method between the second adapter frame 240 and the fourth drive assembly 330 can be similar to the connection method between the first adapter frame 210 and the second drive assembly 310. In addition, the connection location between the second adapter frame 240 and the fourth drive assembly 330 can also be provided with corresponding limiting structures and homing structures to provide travel limit and homing operations for the fourth drive assembly 330. Specifically, the limiting structures and homing structures at the connection location between the second adapter frame 240 and the fourth drive assembly 330 can be similar to the limiting structures and homing structures at the connection location between the first adapter frame 210 and the second drive assembly 310.

[0086] In some embodiments, the arm mechanism 3000 may include a fifth drive assembly 340, a sixth drive assembly 350, and a seventh drive assembly 360. The structures of the fifth drive assembly 340, the sixth drive assembly 350, and the seventh drive assembly 360 may be similar to those of the first drive assembly 100.

[0087] The fifth drive assembly 340 can be connected to the side of the second adapter frame 240 facing away from the fourth drive assembly 330. The fifth drive assembly 340 can be used to drive itself to rotate around a fifth rotation axis relative to the second adapter frame 240. The fifth rotation axis can be parallel to the third rotation axis L3. In the embodiment, the connection method of the fifth drive assembly 340 and the second adapter frame 240 can be similar to the connection method of the first drive assembly 100 and the first adapter frame 210. The auxiliary configuration of the connection position of the fifth drive assembly 340 and the second adapter frame 240 can be similar to the auxiliary configuration of the connection position of the first drive assembly 100 and the first adapter frame 210, that is, both can be provided with corresponding zeroing structures and limiting structures.

[0088] The sixth drive assembly 350 can be positioned on the side of the fifth drive assembly 340 away from the fourth drive assembly 330. In an embodiment, the fifth drive assembly 340 and the sixth drive assembly 350 can be connected via the first frame 260. One end of the first frame 260 is fixedly connected to both sides of the housing in the fifth drive assembly 340. The connection between the first frame 260 and the sixth drive assembly 350 can be similar to the connection between the first adapter frame 210 and the second drive assembly 310. Furthermore, the auxiliary configuration at the connection between the sixth drive assembly 350 and the first frame 260 can be similar to the auxiliary configuration at the connection between the second drive assembly 310 and the first adapter frame 210, namely, both can be provided with corresponding homing structures and position limiting structures. Auxiliary configurations can include structures for implementing travel limit functions and structures for implementing homing operations. In an embodiment, the sixth drive assembly 350 can be configured to rotate relative to the first frame 260 about a sixth rotation axis. The sixth rotation axis can be parallel to the second rotation axis L2.

[0089] The seventh drive assembly 360 is connected to the sixth drive assembly 350 via the second frame 270 and is located at the end of the sixth drive assembly 350 away from the fifth drive assembly 340. One end of the second frame 270 can be fixedly connected to a side of the housing of the sixth drive assembly 350, while the other end of the second frame 270 can be fixedly connected to a side of the housing of the seventh drive assembly 360. Furthermore, the seventh drive assembly 360 is rotatably connected to the third adapter frame 250. The connection between the third adapter frame 250 and the seventh drive assembly 360 can be similar to the connection between the second drive assembly 310 and the first adapter frame 210. Furthermore, the auxiliary configuration at the connection point between the seventh drive assembly 360 and the third adapter frame 250 can be similar to the auxiliary configuration at the connection point between the second drive assembly 310 and the first adapter frame 210, namely, both can be provided with corresponding homing structures and limit structures. The seventh drive assembly 360 can be used to drive the third adapter frame 250 to rotate about a seventh rotation axis. The seventh rotation axis can be parallel to the first rotation axis L1. One end of the third adapter frame 250 away from the seventh driving assembly 360 can be used to connect to the palm structure of the humanoid robot.

[0090] In an embodiment, the fifth drive assembly 340 can be similar to the rotation joint of the human forearm. The sixth drive assembly 350 and the seventh drive assembly 360 can be used to achieve rotation in two directions similar to the human wrist joint.

[0091] In addition, corresponding line cards 520 can be configured on the sides of the third drive component 320 to the seventh drive component 360 as needed, and corresponding line cards 520 can also be configured at corresponding positions of the first skeleton 260 and the second skeleton 270 to fix the cables and reduce the occurrence of problems such as cable tangles.

[0092] The embodiment further provides a humanoid robot, which may include the shoulder mechanism 1000 provided in the embodiment. The shoulder mechanism 1000 may be connected between the body structure and the upper arm mechanism 2000 in the humanoid robot.

[0093] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0094] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A shoulder mechanism, characterized in that: It includes a first driving assembly, a first adapter frame, a first adapter block and a second driving assembly; The first adapter frame is connected to the first adapter block, the first adapter block is connected to the output shaft of the first drive assembly, and the first drive assembly is used to drive the first adapter frame to rotate around the first rotation axis; The second driving assembly is rotatably mounted on the first adapter frame. The second driving assembly is used to drive itself to rotate relative to the first adapter frame around a second rotation axis. The second rotation axis is perpendicular to the first rotation axis.

2. The shoulder mechanism according to claim 1, wherein: The shoulder mechanism further comprises a first standard part and a second standard part; The first marking part is connected to the peripheral side of the first driving assembly close to one end of the first adapter frame, and the first marking part is configured on the first marking zero structure; The second zeroing part is connected to a side of the first adapter frame facing the first drive assembly and extends to a peripheral side of the first drive assembly close to one end of the first adapter frame, and a second zeroing structure is configured on the second zeroing part; When the first driving assembly is subjected to a homing operation, one end of the second homing part provided with the second homing structure is inserted between the first homing part and the first driving assembly, and the first homing structure and the second homing structure are coaxially opposed to each other.

3. The shoulder mechanism according to claim 2, wherein: The shoulder mechanism also includes a first limiting member, which is connected to the peripheral side of the first driving component close to one end of the first adapter frame. The first limiting member is configured with two first limiting protrusions arranged at intervals, and the two first limiting protrusions are both located on the moving path of the second standard part.

4. The shoulder mechanism according to claim 1, wherein: The first adapter frame includes a first connecting arm and a second connecting arm arranged opposite to each other, the first connecting arm is connected to the output shaft of the second driving component, and the second connecting arm is rotatably connected to an end of the second driving component away from the first connecting arm.

5. The shoulder mechanism according to claim 4, characterized in that: The second driving assembly is provided with a third marking part at one end facing the second connecting arm, and the third marking part is configured with a third marking zero structure facing the second connecting arm; The second connecting arm is provided with a fourth zeroing structure opposite to the second driving assembly; When the second driving assembly is subjected to a homing operation, the third homing structure and the fourth homing structure are coaxially opposed to each other.

6. The shoulder mechanism according to claim 4 or 5, characterized in that: A limiting portion is provided on one side of the second connecting arm protruding toward the second driving assembly; Two spaced-apart second position-limiting protrusions are provided on the peripheral side of the second driving assembly facing one end of the second connecting arm, and the position-limiting portion is located on the moving paths of the two second position-limiting protrusions.

7. A limb structure, characterized in that: It comprises an upper arm mechanism, a lower arm mechanism and the shoulder mechanism according to any one of claims 1 to 6, wherein the upper arm mechanism is connected between the shoulder mechanism and the lower arm mechanism.

8. The limb structure according to claim 7, characterized in that: The limb structure further includes a second adapter block, the second drive assembly includes a first housing, the large arm mechanism includes a third drive assembly, the second adapter block is connected to the output shaft of the third drive assembly, and the first housing is connected to the second adapter block; The third driving assembly is used to drive itself to rotate relative to the first housing around a third rotation axis, and the third rotation axis is perpendicular to both the first rotation axis and the second rotation axis.

9. The limb structure according to claim 8, characterized in that The arm mechanism further includes a fourth drive assembly, the fourth drive assembly including a second housing, the second housing extending to the peripheral side of the third drive assembly, and the third drive assembly connected to an end of the second housing close to the shoulder mechanism; The limb structure also includes a second adapter frame, and the arm mechanism is rotatably connected to the fourth drive assembly via the second adapter frame. The fourth drive assembly is used to drive the arm mechanism to rotate around a fourth rotation axis, and the fourth rotation axis is parallel to the second rotation axis.

10. A humanoid robot, characterized in that: Comprising the shoulder mechanism according to any one of claims 1 to 6.

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