Bionic arm skeleton structure of humanoid robot

Abstract

The utility model relates to the field of bionic skeleton structures, in particular to a bionic arm skeleton structure of a humanoid robot, which comprises a humerus, an ulna, a radius and a palm, the humerus is hinged with the ulna, two ends of the radius are respectively connected with two ends of the ulna through a first universal bearing and a second universal bearing, and the first universal bearing and the second universal bearing are hinged with each other. The radius and the palm are connected through a third universal bearing. The utility model provides a skeleton structure of a bionic arm of a humanoid robot, which is used on the bionic arm of the humanoid robot and is driven by combining artificial muscles to realize high humanoid motion functions of the arm and fingers.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of bionic skeleton structure, more specifically, the utility model relates to a humanoid robot bionic arm skeleton structure. BACKGROUND

[0002] At present, most humanoid robots in the field of robots adopt multiple joint modules (torque motors, speed reducers, encoders, etc.) to realize the overall motion function. In the field of bionic robots, the arm is an important component of the humanoid robot, and bears more tasks. The degree of bionic design determines the motion performance. One of the main reasons why the motion performance of the humanoid robot on the market cannot be strongly personified is that the human body skeleton structure form cannot be well converted into mechanical structure freedom, and the driving form cannot simulate the human active muscle. At present, the existing humanoid robots basically adopt joint module form. However, due to the huge difference between the layout position of the joint module in the humanoid robot and the driving form and the combined driving form of the human skeleton and muscle, the motion performance cannot be highly personified at present, and the overall effect cannot meet the requirements of the bionic arm. SUMMARY

[0003] The utility model aims at providing a humanoid robot bionic arm skeleton structure, which is used on a bionic robot arm and is driven by artificial muscle to realize highly personified arm and finger motion function.

[0004] In order to realize these purposes and other advantages according to the utility model, a humanoid robot bionic arm skeleton structure is provided, which comprises a humerus, an ulna, a radius and a palm. The humerus and the ulna are hingedly connected. The two ends of the radius are connected with the two ends of the ulna through a first universal bearing and a second universal bearing respectively. The radius and the palm are connected through a third universal bearing.

[0005] Further, in the humanoid robot bionic arm skeleton structure, the humerus and the ulna are hingedly connected through a hinge mechanism. The hinge mechanism comprises a pin shaft and a bearing. One end of the humerus close to the ulna is provided with a groove. The pin shaft is arranged in the groove. The bearing is coaxially sleeved on the pin shaft. One end of the ulna extends into the groove and is connected with the bearing.

[0006] Further, in the humanoid robot bionic arm skeleton structure, the ulna is provided with a mounting hole corresponding to the bearing. The bearing is mounted in the mounting hole.

[0007] Further, in the humanoid robot bionic arm skeleton structure, one end of the ulna is in the form of a circular arc corresponding to the groove. One end of the ulna is in sliding fit with the inner wall of the groove.

[0008] Furthermore, in the bionic arm skeletal structure of a humanoid robot, the first universal bearing includes a bearing body, a first connecting member and a second connecting member, the bearing body is provided with an extension portion, the extension portion is connected to the ulna through the first connecting member, and the inner bearing body of the bearing body is connected to the radius through the second connecting member.

[0009] Furthermore, in the humanoid robot bionic arm skeletal structure, the extension portion and the bearing body are an integrally processed and formed structure.

[0010] Furthermore, in the described humanoid robot bionic arm skeletal structure, a first mounting hole is provided on the ulna, the first connecting member is arranged in the first mounting hole, a first threaded hole is provided on the extension portion, an external thread is provided on the first connecting member, and the first connecting member is threadedly installed in the first threaded hole.

[0011] Furthermore, in the humanoid robot bionic arm skeletal structure, a second threaded hole is provided on the radius, and the second connecting member is a bolt, the screw of which passes through the inner bearing body of the bearing body and is threadedly installed in the second threaded hole.

[0012] Furthermore, in the humanoid robot bionic arm skeletal structure, the palm is a bionic mechanical palm.

[0013] The utility model also provides a humanoid robot bionic arm, comprising the humanoid robot bionic arm skeletal structure as described in any one of the above items, and artificial muscles arranged on the skeletal structure.

[0014] The beneficial effects of the utility model are:

[0015] 1. The arm bone structure of this utility model realizes the basic functions of the arm bones such as the humerus, ulna, radius, and fingers through the design of hinges and joint bearings, and finally perfectly transforms the arm bones into a mechanical structure. The space volume is small, and the appearance and movement form of the arm bones are highly anthropomorphic, and the bionic effect is further enhanced;

[0016] 2. The arm bone structure of the utility model is highly anthropomorphic, and is designed biomimetically with reference to the human arm bone structure. The structure is simple, and the appearance of the bionic arm bone is highly anthropomorphic;

[0017] 3. The arm movement form of the arm skeleton structure of the utility model is highly anthropomorphic. It inherits the structural characteristics of the human arm skeleton and combines the advantages of mechanical hinges and joint bearings. Compared with the traditional joint module-driven bionic arm, it realizes the transformation of all degrees of freedom of the arm, making the overall movement form of the bionic arm highly anthropomorphic.

[0018] Other advantages, objectives and features of the present invention will be reflected in part through the following description, and in part will be understood by those skilled in the art through research and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the arm bone structure;

[0020] Figure 2 This is a schematic diagram of the structure of the bionic arm skeleton of the humanoid robot described in the present invention;

[0021] Figure 3 This is a schematic diagram of the connection between the humerus, ulna and radius according to the present invention;

[0022] Figure 4 This is a structural diagram of the hinge mechanism described in the present invention;

[0023] Figure 5 This is a schematic diagram of the connection between the ulna and radius according to the present invention;

[0024] Figure 6 This is a schematic structural diagram of the first universal bearing described in the present utility model;

[0025] Figure 7 This is a structural diagram of the humanoid robot bionic arm of the present invention in a straightened state;

[0026] Figure 8 This is a structural schematic diagram of the humanoid robot bionic arm in a bent state according to the present invention.

[0027] Wherein, the reference numerals represent:

[0028] Humerus 1; ulna 2; radius 3; palm 4; hinge mechanism 5; pin 51; bearing 52; first universal joint 6; bearing body 61; first connecting member 62; second connecting member 63; extension 64; second universal joint 7; third universal joint 8; artificial muscle 9. DETAILED DESCRIPTION

[0029] The present invention will be further described in detail below with reference to the embodiments so that those skilled in the art can implement the invention with reference to the description.

[0030] It should be noted that, in the description of the present invention, the terms "horizontal", "longitudinal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description. They 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 cannot be understood as a limitation on the present invention.

[0031] like Figure 2 As shown, an embodiment of the present invention provides a humanoid robot bionic arm skeletal structure, including a humerus 1, an ulna 2, a radius 3 and a palm 4. The humerus 1 and the ulna 2 are hinged by a hinge mechanism 5, and the two ends of the radius 3 are respectively connected to the two ends of the ulna 2 by a first universal bearing 6 and a second universal bearing 7, and the radius 3 is connected to the palm 4 by a third universal bearing 8.

[0032] In this embodiment, Figure 1 As shown, the human arm is primarily composed of the humerus 1, ulna 2, radius 3, carpal bones, metacarpal bones, and phalanges, as well as the active muscles that drive these bones. The carpal bones, metacarpal bones, and phalanges form the palm 4. Arm movement primarily involves four components: elbow joint movement enables flexion and extension of the forearm, radius 3 movement enables internal and external rotation of the forearm, wrist joint movement enables wide-range rotation of the palm 4, and finger joint movement enables clenching and extension of the fingers. In this embodiment of the bionic arm skeletal structure, the structure of the humerus 1, ulna 2, radius 3, and palm 4 mimics the structure of the human arm. Based on the human skeletal structure, mechanical hinges and joint bearings are used to transform the human skeletal structure into a mechanically structured degree of freedom. The humerus 1 and ulna 2 are articulated via a hinge mechanism 5. The two ends of the radius 3 are movably connected to the two ends of the ulna 2 via a first universal bearing 6 and a second universal bearing 7, respectively. The radius 3 is movably connected to the palm 4 via a third universal bearing 8.

[0033] Specifically, since the elbow joint is a compound joint, it includes the capitellum joint formed by the radius 3 and the humerus 1, and the trochlea joint formed by the ulna 2 and the humerus 1, as shown in FIG. Figure 3 As shown, the bionic design of the elbow joint is decomposed into a hinge mechanism 5 and a first joint bearing, which is connected to the arm at a certain angle to achieve flexion and extension of the forearm. Internal and external rotation of the forearm is the most flexible function of the arm. The ulna 2 and radius 3 are connected to each other at the proximal end (elbow joint) and distal end (wrist joint). The pronator, supinator, and pronator quadratus muscles work together to drive the radius 3 around the ulna 2 to achieve internal and external rotation of the forearm. The bionic design of the forearm rotation is as follows Figure 5As shown, the ulna 2 and radius 3 are structurally fixed to each other at both the proximal (elbow) and distal (wrist) ends using joint bearings. The joint bearings' spherical kinematic pairs allow the radius 3 to rotate about the ulna 2. The wrist joint is also a complex joint, comprising the radiocarpal joint, the intercarpal joint, and the carpometacarpal joint, all of which are interconnected. The radiocarpal joint is the primary joint for wrist movement, so its biomimetic design utilizes a joint bearing, using the bearing's spherical kinematic pair to replace the wrist's omnidirectional motion. The joint shares the same structural form as the capitellum joint.

[0034] Preferably, as another embodiment of the present invention, Figure 4 As shown, the humerus and the ulna are hingedly connected via a hinge mechanism. The hinge mechanism 5 includes a pin 51 and a bearing 52. A groove is provided at one end of the humerus 1 near the ulna 2. The pin 51 is disposed within the groove. The bearing 52 is coaxially sleeved on the pin 51. One end of the ulna 2 extends into the groove and is connected to the bearing 52. A mounting hole corresponding to the bearing 52 is provided on the ulna 2, and the bearing 52 is mounted within the mounting hole. One end of the ulna 2 is arc-shaped, corresponding to the groove. When the ulna 2 rotates relative to the humerus 1, the end of the ulna 2 slides and fits against the inner wall of the groove.

[0035] In this embodiment, the pulley-related joints are hinged to perform bionic motion as follows Figure 4 As shown in the figure, this bionic design can avoid the problem of synovial joint dislocation in the human body and improve the carrying capacity of the arm while ensuring the consistency of the bone shape.

[0036] Preferably, as another embodiment of the present invention, Figure 6 As shown, the first universal bearing 6 includes a bearing body 61, a first connecting member 62, and a second connecting member 63. The bearing body 61 is provided with an extension portion 64, which is connected to the ulna 2 via the first connecting member 62. The inner bearing body of the bearing body 61 is connected to the radius 3 via the second connecting member 63. The extension portion 64 is integrally formed with the bearing body 61.

[0037] In this embodiment, forearm rotation is achieved by utilizing the rotation and swing angle of the joint bearing, increasing motion reliability and load-bearing capacity. Specifically, to achieve the connection between the first connecting member 62 and the ulna 2, a first mounting hole is provided on the ulna 2, within which the first connecting member 62 is disposed. The extension 64 is provided with a first threaded hole, and the first connecting member 62 is provided with an external thread, with the first connecting member 62 being threadedly mounted within the first threaded hole. To achieve the connection between the second connecting member 63 and the radius 3, a second threaded hole is provided on the radius 3. The second connecting member 63 is a bolt, the screw of which penetrates the inner bearing body of the bearing body 61 and is threadedly mounted within the second threaded hole.

[0038] Furthermore, the second and third universal joint bearings 7 and 8 in this application both utilize the same structure as the first universal joint. For the second universal joint bearing 7, the extension 64 is connected to the radius 3 via a first connector 62, and the inner bearing body of the bearing body 61 is connected to the ulna 2 via a second connector 63. For the third universal joint bearing 8, the extension 64 is connected to the radius 3 via a first connector 62, and the inner bearing body of the bearing body 61 is connected to the palm 4 via a second connector 63.

[0039] Preferably, as another embodiment of the present invention, it is characterized in that the palm 4 is a bionic mechanical palm 4.

[0040] In this embodiment, the palm 4 can be an existing bionic mechanical palm 4, which will not be elaborated in detail here.

[0041] The embodiment of the present invention also provides a humanoid robot bionic arm, such as Figure 7-Figure 8 As shown, it includes the above-mentioned humanoid robot bionic arm skeletal structure and artificial muscles 9 arranged on the skeletal structure.

[0042] In this embodiment, the movement of the human arm is primarily driven by active muscles distributed across the joints. All active muscles in the bionic arm are driven by artificial muscles 9, maximally recreating the appearance and function of the combined arm bones and muscles, making the bionic arm highly anthropomorphic. Artificial muscles 9 can be existing artificial muscles 9. Through artificial mechanisms, they drive the relative movement of the humerus 1, ulna 2, radius 3, and palm 4, simulating human muscles.

[0043] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the description and implementation methods. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and embodiments shown and described herein.

Claims

1. A humanoid robot bionic arm skeletal structure, comprising a humerus, an ulna, a radius, and a palm, characterized in that: The humerus and the ulna are hinged, two ends of the radius are connected to two ends of the ulna through a first universal bearing and a second universal bearing respectively, and the radius is connected to the palm through a third universal bearing.

2. The humanoid robot bionic arm skeletal structure according to claim 1, characterized in that: The humerus and the ulna are hingedly connected by a hinge mechanism, which includes a pin and a bearing. A groove is provided at one end of the humerus close to the ulna, the pin is arranged in the groove, and the bearing is coaxially sleeved on the pin. One end of the ulna extends into the groove and is connected to the bearing.

3. The humanoid robot bionic arm skeletal structure according to claim 2, characterized in that: The ulna is provided with a mounting hole corresponding to the bearing, and the bearing is mounted in the mounting hole.

4. The humanoid robot bionic arm skeletal structure according to claim 3, characterized in that: One end of the ulna is in an arc shape corresponding to the groove, and the one end of the ulna is slidably fitted with the inner wall of the groove.

5. The humanoid robot bionic arm skeletal structure according to claim 1, characterized in that: The first universal bearing includes a bearing body, a first connecting member and a second connecting member. The bearing body is provided with an extension portion, which is connected to the ulna through the first connecting member. The inner bearing body of the bearing body is connected to the radius through the second connecting member.

6. The humanoid robot bionic arm skeletal structure according to claim 5, characterized in that: The extension portion and the bearing body are an integrally formed structure.

7. The humanoid robot bionic arm skeletal structure according to claim 5, characterized in that: A first mounting hole is provided on the ulna, the first connecting member is arranged in the first mounting hole, a first threaded hole is provided on the extension portion, the first connecting member is provided with an external thread, and the first connecting member is threadedly installed in the first threaded hole.

8. The humanoid robot bionic arm skeletal structure according to claim 5, characterized in that: A second threaded hole is provided on the radius, and the second connecting member is a bolt, the screw rod of which passes through the inner bearing body of the bearing body and is threadedly installed in the second threaded hole.

9. The humanoid robot bionic arm skeletal structure according to claim 1, characterized in that The palm is a bionic mechanical palm.

10. A humanoid robot bionic arm, characterized in that: It comprises the humanoid robot bionic arm skeletal structure according to any one of claims 1 to 9, and artificial muscles arranged on the skeletal structure.

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