Mechanical arm and humanoid robot

Abstract

The utility model provides a mechanical arm and a humanoid robot, and relates to the technical field of robots. The mechanical arm comprises an arm assembly and a shell assembly. The shell assembly comprises a big arm shell, the arm assembly comprises a big arm part, and a big arm reinforcing rib in the big arm shell is pressed against the big arm part, so that the big arm can be reinforced, the purpose of limiting the big arm part can be achieved, and the big arm part can be prevented from shaking in the big arm shell to a certain extent. At least one of the large arm reinforcing ribs is in limiting fit with the first limiting face of the large arm part in the direction, away from the elbow, of the large arm part, and the end, facing the elbow shell, of the large arm shell is in limiting fit with the first driver in the direction, facing the elbow, of the large arm part. Therefore, the big arm shell is relatively fixed to the big arm part in the direction facing or backing on to the elbow, and the big arm shell can be more stably and reliably fixed to the big arm part. And the influence on the structural strength of the big arm shell due to the fact that too many holes are formed in the big arm shell is avoided.

Description

TECHNICAL FIELD

[0001] The application relates to a mechanical arm and a humanoid robot, and belongs to the technical field of humanoid robots. BACKGROUND

[0002] A humanoid robot is closer to a human body in form, and can realize more diverse and complex actions, so the humanoid robot is a project that is vigorously developed in the robot industry. In particular, the arm part of the humanoid robot needs to be movable in more directions to realize more complex actions. Therefore, the arm structure of the humanoid robot is similar to the human body structure, and can include a shoulder part, an upper arm part, an elbow part and a lower arm part. An outer shell can be arranged on the surface of the arm of the humanoid robot to protect the arm.

[0003] At present, the connection between the shell on the surface of the arm of the humanoid robot and the arm is mainly achieved through screw connection, which makes the process of mounting the shell on the arm more complex. CONTENT OF THE UTILITY MODEL

[0004] The application provides a mechanical arm and a humanoid robot, which solves the problem of complex connection between the upper arm shell and the upper arm in the related art.

[0005] In a first aspect, the application provides a mechanical arm, comprising:

[0006] An arm assembly, comprising a shoulder part, an upper arm part, an elbow part, a lower arm part and a first driver, the shoulder part, the upper arm part, the elbow part and the lower arm part are sequentially rotatably connected, the first driver is arranged between the upper arm part and the elbow part, and the first driver is configured to drive the elbow part to rotate relative to the upper arm part, so that the included angle between the elbow part and the upper arm part can be adjusted.

[0007] A shell assembly, comprising a shoulder shell, an upper arm shell, an elbow shell and a lower arm shell, the shoulder shell is sleeved on the shoulder part, the upper arm shell is sleeved on the upper arm part, the elbow shell is sleeved on the elbow part, and the lower arm shell is sleeved on the lower arm part.

[0008] The inner wall of the upper arm shell is provided with a plurality of upper arm reinforcing ribs, the plurality of upper arm reinforcing ribs are spaced apart along the length direction of the upper arm shell, the plurality of upper arm reinforcing ribs are arranged on the upper arm part, the upper arm part comprises a first limiting surface, at least one of the plurality of upper arm reinforcing ribs is in limiting cooperation with the first limiting surface in the direction in which the upper arm part is away from the elbow part, and one end of the upper arm shell towards the elbow shell is in limiting cooperation with the first driver in the direction in which the upper arm part is towards the elbow part.

[0009] In some embodiments, a plurality of the large arm reinforcing ribs are sleeved on the large arm portion along the circumference of the large arm portion, and the large arm reinforcing ribs are pressed on the outer wall of the large arm portion.

[0010] In some embodiments, the first limiting surface is located on the side of the large arm portion away from the first driver.

[0011] In some embodiments, the large arm portion comprises a first large arm segment and a second large arm segment, one end of the first large arm segment is connected with the shoulder portion, the other end of the first large arm segment is connected with the second large arm segment, and one end of the second large arm segment away from the first large arm segment is connected with the elbow portion.

[0012] In the direction of the first large arm segment away from the second large arm segment, the outer diameter of the first large arm segment gradually increases, and the side wall of the second large arm segment constitutes the first limiting surface.

[0013] In some embodiments, the large arm portion further comprises a second limiting surface, the second limiting surface is located on the side of the large arm portion adjacent to the elbow portion, and the large arm shell and the second limiting surface are in limiting cooperation in the direction of the large arm portion away from the elbow portion.

[0014] In some embodiments, the mechanical arm further comprises a limiting block, the limiting block is arranged in the large arm shell and connected with the large arm shell, and the limiting block and the second limiting surface are in limiting cooperation in the direction of the large arm portion away from the elbow portion.

[0015] In some embodiments, the limiting block is connected with the side of the large arm reinforcing rib adjacent to the elbow portion and facing the elbow portion.

[0016] In some embodiments, the large arm shell comprises a first large arm sub-shell, a second large arm sub-shell, and a large arm fixing member, the first large arm sub-shell and the second large arm sub-shell are oppositely arranged to surround the large arm portion, the large arm shell is provided with a large arm fixing hole, the large arm fixing hole passes through the large arm reinforcing rib, and two ends of the large arm fixing hole are respectively located on the surface of the first large arm sub-shell and the surface of the second large arm sub-shell, and the large arm fixing member is arranged in the large arm fixing hole to fix the first large arm sub-shell and the second large arm sub-shell.

[0017] In some embodiments, the shoulder shell and the shoulder portion are provided with corresponding shoulder connecting holes, and the shoulder connecting member is detachably arranged in the shoulder connecting holes to fix the shoulder shell on the shoulder portion.

[0018] The elbow shell and the elbow portion are provided with corresponding elbow connecting holes, and the elbow connecting member is detachably arranged in the elbow connecting holes to fix the elbow shell on the elbow portion.

[0019] The small arm shell and the small arm part are provided with corresponding small arm connecting holes, and the small arm connecting piece is detachably arranged in the small arm connecting hole to fix the small arm shell to the small arm part.

[0020] In a second aspect, based on the above mechanical arm, the application further provides a humanoid robot, comprising the above mechanical arm.

[0021] In the mechanical arm provided by the application, the shoulder part, the large arm part, the elbow part and the small arm part are sequentially rotatably connected, so that the shoulder part, the large arm part, the elbow part and the small arm part can all relatively move, so that the mechanical arm can complete complex actions. The first driver drives the elbow part to rotate relative to the large arm part, so that the small arm part connected with the elbow part can also rotate relative to the large arm part, so that the mechanical arm can simulate the movement mode of the human arm. The shoulder shell, the large arm shell, the elbow shell and the small arm shell are respectively sleeved on the shoulder part, the large arm part, the elbow part and the small arm part, which can protect the shoulder part, the large arm part, the elbow part and the small arm part, and the independent arrangement of the shoulder shell, the large arm shell, the elbow shell and the small arm shell can prevent the shoulder shell, the large arm shell, the elbow shell and the small arm shell from interfering with the relative movement of the shoulder part, the large arm part, the elbow part and the small arm part. The length of the large arm part is greater than the length of the shoulder part, the length of the elbow part and the length of the small arm part, and accordingly, the length of the large arm shell needs to be relatively longer to enable the large arm shell to sleeve the large arm part. The large arm reinforcing ribs in the large arm shell are pressed against the large arm part, so that the large arm reinforcing ribs can limit the position of the large arm part, thereby preventing the large arm part from shaking in the large arm shell to a certain extent. At least one of the plurality of large arm reinforcing ribs is limited in position in the direction away from the elbow part in cooperation with the first limiting surface of the large arm part, and the end of the large arm shell facing the elbow shell is limited in position in the direction toward the elbow part in cooperation with the first driver, so that the large arm shell is relatively fixed to the large arm part in the direction toward or away from the elbow part, thereby enabling the large arm shell to be more stably and reliably fixed to the large arm part. Compared with the current method of fixing the large arm shell by screws, this method avoids the opening of too many holes in the large arm shell, which affects the structural strength of the large arm shell, and improves the efficiency of fixing the large arm shell to the large arm part.

[0022] The humanoid robot provided by the application comprises the above mechanical arm, so that the structural stability of the humanoid robot is better, and the assembly efficiency of the humanoid robot is improved. BRIEF DESCRIPTION OF DRAWINGS

[0023] The above and other objects, features and advantages of the embodiments of the application will become more apparent from the following detailed description made with reference to the accompanying drawings. In the drawings, various embodiments of the application will be illustrated in an exemplary and non-limiting manner, in which:

[0024] Figure 1 FIG. 1 is a schematic view of a mechanical arm according to an embodiment of the application;

[0025] Figure 2Fig. 1 is a schematic view of a mechanical arm according to an embodiment of the present application;

[0026] Figure 3 Fig. 2 is a schematic view of a large arm part and a large arm shell cooperating with each other according to an embodiment of the present application;

[0027] Figure 4 Fig. 3 is a schematic view of a first large arm sub-shell according to an embodiment of the present application;

[0028] Figure 5 Fig. 4 is a schematic view of a shell assembly according to an embodiment of the present application;

[0029] Figure 6 Fig. 5 is a schematic view of a first shoulder sub-shell according to an embodiment of the present application;

[0030] Figure 7 Fig. 6 is a schematic view of a first elbow sub-shell according to an embodiment of the present application;

[0031] Figure 8 Fig. 7 is a schematic view of a first small arm sub-shell according to an embodiment of the present application.

[0032] Reference signs:

[0033] 100 - arm assembly, 110 - large arm part, 111 - first limit surface, 112 - second limit surface, 113 - first large arm segment, 114 - second large arm segment, 120 - shoulder part, 130 - elbow part, 140 - small arm part, 150 - first driver, 160 - second driver, 170 - third driver,

[0034] 200 - shell assembly, 210 - large arm shell, 211 - large arm reinforcing rib, 212 - first large arm sub-shell, 213 - second large arm sub-shell, 214 - limit block, 215 - large arm fixing hole, 220 - shoulder shell, 221 - shoulder reinforcing rib, 222 - first shoulder sub-shell, 223 - second shoulder sub-shell, 224 - shoulder connecting hole, 225 - shoulder fixing hole, 230 - elbow shell, 231 - elbow reinforcing rib, 232 - first elbow sub-shell, 233 - second elbow sub-shell, 234 - elbow connecting hole, 235 - elbow fixing hole, 240 - small arm shell, 241 - small arm reinforcing rib, 242 - first small arm sub-shell, 243 - second small arm sub-shell, 244 - small arm connecting hole. DETAILED DESCRIPTION

[0035] Embodiments of the present application are described in detail below with reference to the attached drawings, wherein like or similar elements are denoted by the same or similar reference signs throughout the drawings. The embodiments described below are examples for explaining the present application and are not intended to be limiting of the present application.

[0036] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship shown in the drawings, which 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 particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0037] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise explicitly specified and limited.

[0038] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral; it can be mechanical connection, or electrical connection or communication with each other; it can be directly connected, or indirectly connected through intermediate medium, it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0039] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0040] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples without contradiction.

[0041] The humanoid robot is closer to the human body in its form, and accordingly, the humanoid robot can realize more diverse and complex actions. Therefore, at present, the humanoid robot is a project that is vigorously developed in the robot industry. In particular, the arm part of the humanoid robot needs to be movable in more directions to realize more complex actions. Therefore, the arm structure of the humanoid robot is similar to the human body structure, which can include a shoulder part, a large arm part, an elbow part and a small arm part, and the surface of the humanoid robot arm can be provided with a shell to protect the arm.

[0042] At present, the connection mode of the shell on the surface of the humanoid robot arm and the arm is mainly through screw connection, but the length of the large arm part in the arm is relatively long, and when the shell is fixed on the large arm part through the screw, a plurality of screws need to be arranged along the length direction of the large arm part to make the shell and the large arm part connect stably. Then this will also cause the process of fixing and disassembling the shell and the large arm part to be complex, and the excessive opening holes on the shell will also cause the structural strength of the shell to decrease.

[0043] The mechanical arm provided in the present application comprises a shoulder part, an upper arm part, an elbow part and a lower arm part which are sequentially rotatably connected, so that the shoulder part, the upper arm part, the elbow part and the lower arm part can all relatively move, thereby enabling the mechanical arm to complete complex actions. The first driver drives the elbow part to rotate relative to the upper arm part, so that the lower arm part connected with the elbow part can also rotate relative to the upper arm part, thereby enabling the mechanical arm to simulate the moving mode of a human arm. The shoulder shell, the upper arm shell, the elbow shell and the lower arm shell are respectively arranged on the shoulder part, the upper arm part, the elbow part and the lower arm part, which can protect the shoulder part, the upper arm part, the elbow part and the lower arm part. The shoulder shell, the upper arm shell, the elbow shell and the lower arm shell are independently arranged, so that the shoulder shell, the upper arm shell, the elbow shell and the lower arm shell will not interfere with the relative movement of the shoulder part, the upper arm part, the elbow part and the lower arm part. The length of the upper arm part is greater than the length of the shoulder part, the length of the elbow part and the length of the lower arm part, and accordingly, the length of the upper arm shell needs to be relatively longer so that the upper arm shell can be arranged on the upper arm part. The upper arm reinforcing ribs in the upper arm shell are arranged in pressure with the upper arm part, so that the upper arm reinforcing ribs can limit the position of the upper arm part, thereby preventing the upper arm part from shaking in the upper arm shell to a certain extent. At least one of the plurality of upper arm reinforcing ribs is limited in position in the direction in which the upper arm part is away from the elbow part in cooperation with the first limiting surface of the upper arm part, and the end of the upper arm shell facing the elbow shell is limited in position in the direction in which the upper arm part is toward the elbow part in cooperation with the first driver, so that the upper arm shell is relatively fixed with the upper arm part in the direction toward or away from the elbow part, thereby enabling the upper arm shell to be more stably and reliably fixed on the upper arm part. In this way, compared with the current way of fixing the upper arm shell by screws, the present application avoids the opening of too many holes on the upper arm shell, which affects the structural strength of the upper arm shell, and improves the efficiency of fixing the upper arm shell and the upper arm part.

[0044] The humanoid robot provided in the present application comprises the mechanical arm, so that the structural stability of the humanoid robot is better, and the assembly efficiency of the humanoid robot is improved.

[0045] The mechanical arm and the humanoid robot provided in the present application will be described in detail below in combination with specific embodiments.

[0046] The present application provides a mechanical arm, as shown in Figures 1 to 2 The mechanical arm can be applied to a humanoid robot as an arm structure of the humanoid robot.

[0047] The arm assembly 100 is the basic component of the humanoid robot of the present application, and can provide a mounting base for other at least partial components of the humanoid robot and protect the other at least partial components. The arm assembly 100 can be made of metal material, so that the arm assembly 100 has better structural strength, thereby making the durability and reliability of the arm assembly 100 better. Of course, part of the arm assembly 100 can also be made of high polymer material, so that the arm assembly 100 has a certain structural strength while being relatively light in weight.

[0048] The arm assembly 100 comprises a shoulder 120, a large arm portion 110, an elbow 130, a small arm portion 140 and a first driver 150. The shoulder 120, the large arm portion 110, the elbow 130 and the small arm portion 140 are sequentially rotatably connected. The first driver 150 is arranged between the large arm portion 110 and the elbow 130. The first driver 150 is configured to drive the elbow 130 to rotate relative to the large arm portion 110, so that the included angle between the elbow 130 and the large arm portion 110 can be adjusted.

[0049] The arm assembly 100 comprises the shoulder 120, the large arm portion 110, the elbow 130 and the small arm portion 140, so that the structure of the arm assembly 100 is similar to the arm structure of the human body. The shoulder 120, the large arm portion 110, the elbow 130 and the small arm portion 140 are rotatably connected, so that the shoulder 120, the large arm portion 110, the elbow 130 and the small arm portion 140 can rotate relative to each other. Thus, the arm assembly 100 can realize complex movements through bending and rotating movements, so that the movement mode of the arm assembly 100 can be more similar to the movement mode of the human arm. The first driver 150 is arranged between the large arm portion 110 and the elbow 130, so that the first driver 150 can provide power to drive the elbow 130 to rotate relative to the large arm portion 110. The small arm portion 140 connected to the elbow 130 can also rotate relative to the large arm portion 110 through the elbow 130, so that the mechanical arm of the present application can simulate the movement mode of the human arm.

[0050] The shell assembly 200 further comprises a shoulder shell 220, a large arm shell 210, an elbow shell 230 and a small arm shell 240. The shoulder shell 220 is sleeved on the shoulder 120, so that the shoulder shell 220 can cover at least part of the shoulder 120 inside to avoid large-area exposure of the shoulder 120. In this way, the shoulder shell 220 can shield the shoulder 120. The large arm shell 210 is sleeved on the large arm portion 110, so that the large arm shell 210 can cover at least part of the large arm portion 110 inside to avoid large-area exposure of the large arm portion 110. In this way, the large arm shell 210 can protect the large arm portion 110. The elbow shell 230 is sleeved on the elbow 130, so that the elbow shell 230 can cover at least part of the elbow 130 inside to avoid large-area exposure of the elbow 130. In this way, the elbow shell 230 can protect the elbow 130. The small arm shell 240 is sleeved on the small arm portion 140, so that the small arm shell 240 can cover at least part of the small arm portion 140 inside to avoid large-area exposure of the small arm portion 140. In this way, the small arm shell 240 can protect the small arm portion 140.

[0051] The shoulder shell 220, the arm shell 210, the elbow shell 230 and the forearm shell 240 are respectively arranged on the shoulder 120, the arm 110, the elbow 130 and the forearm 140, and are arranged independently from each other, so that the shoulder shell 220, the arm shell 210, the elbow shell 230 and the forearm shell 240 do not interfere with each other when the shoulder 120, the arm 110, the elbow 130 and the forearm 140 relatively move.

[0052] It should be understood that, in order to reduce the weight of the mechanical arm, so that the shoulder 120, the arm 110, the elbow 130 and the forearm 140 can relatively move more flexibly, the shoulder shell 220, the arm shell 210, the elbow shell 230 and the forearm shell 240 can be made of a polymer material, so that the shoulder shell 220, the arm shell 210, the elbow shell 230 and the forearm shell 240 are lighter in weight, and the shoulder 120, the arm 110, the elbow 130 and the forearm 140 have less burden when relatively moving. It should also be understood that when the length of the arm shell 210 is relatively long and the arm shell 210 is made of a polymer material, the structural strength of the arm shell 210 is relatively poor, and the risk of breaking and damaging under external force is relatively large. In order to fix the arm shell 210 and the arm 110, the current related technology mainly uses bolt fixing, and since the arm shell 210 and the arm 110 have a certain length, a plurality of bolts need to be arranged along the length direction of the arm shell 210 and the arm 110 to fix the arm shell 210 and the arm 110, thereby causing more holes to be formed on the arm shell 210, and further reducing the structural strength of the arm shell 210.

[0053] In the present application, as shown in Figures 3 to 4 The arm reinforcing rib 211 is arranged in the arm shell 210, the arm reinforcing rib 211 is connected with the inner wall of the arm shell 210, and the arm reinforcing rib 211 can support and stabilize the arm shell 210, so that the structural strength of the arm shell 210 is relatively higher. When the surface of the arm shell 210 is impacted by external force, the arm reinforcing rib 211 can support the arm shell 210 to prevent the arm shell 210 from deforming under stress. The number of the arm reinforcing rib 211 can be set to be multiple, and the multiple arm reinforcing ribs 211 can be arranged along the length direction of the arm shell 210, so that the multiple arm reinforcing ribs 211 can be respectively supported at different parts of the arm shell 210 along the length direction of the arm shell 210, thereby making the arm shell 210 have better structural stability at each part along the length direction.

[0054] The arm reinforcing ribs 211 in the arm shell 210 are pressed against the arm part 110, so that the arm reinforcing ribs 211 can limit the arm part 110, avoiding the arm part 110 from shaking in the arm shell 210. The plurality of arm reinforcing ribs 211 are all pressed against the arm part 110, so that the plurality of arm reinforcing ribs 211 can all limit the arm part 110, thereby making the arm shell 210 and the arm part 110 relatively fixed more effectively.

[0055] The arm part 110 is provided with a first limiting surface 111 on the surface of the arm part 110. At least one of the plurality of arm reinforcing ribs 211 is in limiting cooperation with the first limiting surface 111 of the arm part 110 in the direction in which the arm part 110 is away from the elbow part 130. In this way, when the arm shell 210 is subjected to an action in the direction away from the elbow part 130, the first limiting surface 111 can block the arm reinforcing rib 211 in limiting cooperation with it, so that the arm shell 210 and the arm part 110 are relatively fixed in the direction in which the arm part 110 is away from the elbow part 130.

[0056] The first driver 150 is arranged between the arm part 110 and the elbow part 130, so that the first driver 150 is located on the side of the arm part 110 facing the elbow part 130, and one end of the arm shell 210 facing the elbow part 130 can be in limiting cooperation with the first driver 150 in the direction of the arm part 110 facing the elbow part 130. Specifically, the first driver 150 can be opposite to the side of the arm shell 210 facing the elbow part 130, so that when the arm shell 210 is subjected to a force in the direction of the elbow part 130, the first driver 150 can block the arm shell 210, so that the arm shell 210 is relatively fixed with the arm part 110 in the direction of the elbow part 130 or away from the elbow part 130, thereby making the arm shell 210 more stably and reliably fixed to the arm part 110. In this way, compared with the current way of fixing the arm shell 210 to the arm part 110 by bolts, the number of holes on the arm shell 210 can be reduced, avoiding that too many holes on the arm shell 210 affect the structural strength of the arm shell 210, so that the arm shell 210 has better structural strength.

[0057] In addition, when the arm shell 210 is assembled on the arm part 110, no bolts for fixing the arm shell 210 and the arm part 110 are needed to be installed on the arm shell 210 and the arm part 110, which improves the efficiency of assembling the arm shell 210 on the arm part 110, and further improves the assembly efficiency of the mechanical arm of the present application.

[0058] In some embodiments, reference is made to Figures 3 to 4As shown, the plurality of arm reinforcing ribs 211 of the present application are sleeved on the arm portion 110, and are pressed on the outer wall of the arm portion 110 along the circumference of the arm portion 110. Specifically, the arm reinforcing rib 211 can have an opening matching the outer diameter of the arm portion 110, and when the arm portion 110 is inserted into the opening of the arm reinforcing rib 211, the circumferential outer wall of the arm portion 110 can abut against the inner wall of the opening of the arm reinforcing rib 211, so that the arm reinforcing rib 211 is more closely and reliably connected with the arm portion 110. The arm reinforcing rib 211 is sleeved on the arm portion 110, and the arm reinforcing portion and the arm portion 110 are fixed relative to each other in the radial direction of the arm portion 110, so that the relative movement of the arm shell 210 and the arm portion 110 in the radial direction of the arm portion 110 is prevented.

[0059] In some embodiments, with reference to Figures 3 to 4 As shown, the first limiting surface 111 of the arm portion 110 is located on the side of the arm portion 110 away from the first driver 150, and the arm reinforcing rib 211 corresponding to the limiting cooperation with the first limiting surface 111 is also located on the side of the arm portion 110 away from the first driver 150. In this way, the main fixed parts of the arm shell 210 and the arm portion 110 in the length direction of the arm portion 110 can be distributed on both sides of the arm portion 110 and the arm shell 210, so that the force on the arm shell 210 is more balanced.

[0060] In some embodiments, with reference to Figure 3 As shown, in order to form the first limiting surface 111 on the surface of the arm portion 110, the arm portion 110 can further include a first arm segment 113 and a second arm segment 114. One end of the first arm segment 113 is connected with the shoulder portion 120, the other end of the first arm segment 113 is connected with the second arm segment 114, and one end of the second arm segment 114 away from the first arm segment 113 is connected with the elbow portion 130. In the direction away from the second arm segment 114, the outer diameter of the first arm segment 113 gradually increases, and the side wall of the second arm segment 114 constitutes the first limiting surface 111.

[0061] The gradually increasing outer diameter of the second arm segment 114 causes the side wall of the second arm segment 114 to be arranged at an angle with the axis direction of the second arm segment 114, so that the arm reinforcing rib 211 away from the first driver 150 can abut against the side wall of the second arm segment 114, thereby enabling the arm reinforcing rib 211 away from the first driver 150 to be limited and cooperated with the first limiting surface 111.

[0062] Specifically, the openings of the large-arm reinforcing ribs 211 away from the first driver 150 can be arranged to gradually increase in the direction away from the first driver 150, so that the hole diameter and hole shape of the openings of the large-arm reinforcing ribs 211 away from the first driver 150 can be matched to the side wall of the first large-arm section 113. In this way, the contact area of the large-arm reinforcing ribs 211 away from the first driver 150 with the first large-arm section 113 is larger, and the contact can be more sufficient.

[0063] In some embodiments, referring to Figure 3 As shown, in order to further strengthen the fixing effect of the large-arm shell 210 and the large-arm part 110, the large-arm part 110 can also be provided with a second limiting surface 112 located on the side of the large-arm part 110 adjacent to the elbow part 130. The large-arm shell 210 and the second limiting surface 112 are limited and matched in the direction away from the elbow part 130 of the large-arm part 110, so that the fixing effect of the large-arm shell 210 and the large-arm part 110 in the direction away from the elbow part 130 of the large-arm part 110 can be strengthened.

[0064] Specifically, the second limiting surface 112 and the first limiting surface 111 can be distributed on both sides of the large-arm part 110 along the length direction of the large-arm part 110. Correspondingly, the part of the large-arm part 110 limited and matched with the first limiting surface 111 and the second limiting surface 112 is also distributed on both sides of the large-arm part 110, so that the stress on the large-arm shell 210 can be more balanced.

[0065] In some embodiments, referring to Figures 3 to 4 As shown, in order to enable the large-arm shell 210 to be limited and matched with the second limiting surface 112 of the large-arm part 110 in the direction away from the elbow part 130 of the large-arm part 110, a limiting block 214 can be arranged in the large-arm shell 210. The limiting block 214 is arranged in the large-arm shell 210 and connected with the large-arm shell 210. The limiting block 214 is limited and matched with the second limiting surface 112 in the direction away from the elbow part 130 of the large-arm part 110.

[0066] Specifically, the limiting block 214 can be opposite to and abut against the second limiting surface 112, so that the limiting block 214 is limited and matched with the second limiting surface 112 in the direction toward the second limiting surface 112. In this way, the limiting block 214 can be limited and matched with the second limiting surface 112 in the direction away from the elbow part 130 of the large-arm part 110.

[0067] In this application, the limiting block 214 and the plurality of large-arm reinforcing ribs 211 can be arranged to be integrated with the large-arm shell 210. In this way, when the large-arm shell 210 of this application is prepared, the large-arm shell 210, the plurality of large-arm reinforcing ribs 211 and the limiting block 214 can be integrally formed, so that the connection of the large-arm shell 210, the plurality of large-arm reinforcing ribs 211 and the limiting block 214 is more stable and reliable. Specifically, the large-arm shell 210, the plurality of large-arm reinforcing ribs 211 and the limiting block 214 can be integrally formed by an injection molding process.

[0068] In some implementations, reference Figures 3 to 4 As shown, in order to connect the limiting block 214 to the upper arm housing 210, the limiting block 214 can be connected to the side of the upper arm reinforcing rib 211 adjacent to the elbow 130 facing the elbow 130. Specifically, by connecting the limiting block 214 to the upper arm reinforcing rib 211, the limiting block 214 can be connected to the upper arm housing 210. Connecting the limiting block 214 to the side of the upper arm reinforcing rib 211 facing the elbow 130 increases the contact area between the limiting block 214 and the upper arm reinforcing rib 211, thereby making the connection between the limiting block 214 and the upper arm reinforcing rib 211 more stable and reliable.

[0069] In some implementations, reference Figures 4 to 5 As shown, to facilitate the installation of the boom shell 210 of this application onto the boom portion 110, the boom shell 210 may include a first boom sub-shell 212, a second boom sub-shell 213, and a boom fixing member. The first boom sub-shell 212 and the second boom sub-shell 213 are arranged opposite to each other to surround the boom portion 110. The boom shell 210 has a boom fixing hole 215, which passes through the boom reinforcing rib 211. The two ends of the boom fixing hole 215 are located on the surface of the first boom sub-shell 212 and the surface of the second boom shell 213, respectively. The boom fixing member is disposed in the boom fixing hole 215 to fix the first boom sub-shell 212 and the second boom shell 213 together.

[0070] The first and second main arm sub-shells 212 and 213 can be symmetrically arranged on both sides of the main arm portion 110, and the first and second main arm sub-shells 212 and 213 can be manufactured separately and then connected by the main arm fixing component. This makes the process of installing the main arm shell 210 onto the main arm portion 110 simpler.

[0071] The boom reinforcing rib 211 can also be divided into two parts: one part of the boom reinforcing rib 211 is located inside the first boom sub-shell 212, and the other part of the boom reinforcing rib 211 is located inside the second boom sub-shell 213. When the first boom sub-shell 212 and the second boom sub-shell 213 are connected, the part of the boom reinforcing rib 211 located inside the first boom sub-shell 212 and the other part of the boom reinforcing rib 211 located inside the second boom sub-shell 213 can also be connected to form a complete boom reinforcing rib 211 structure.

[0072] By setting the boom fixing hole 215 inside the boom reinforcing rib 211, the thickness of the boom shell 210 can be set to be thinner, thereby making the structure of the boom shell 210 more compact.

[0073] In the present application, the arm fixing hole 215 can be provided as a through hole, and part of the arm fixing hole 215 is a round hole, and the other part of the arm fixing hole 215 is a hexagonal hole. The arm fixing member can be provided as a matched bolt and nut. One end of the bolt can pass through the round hole part of the arm fixing hole 215, and a hexagonal nut can be preassembled in the hexagonal hole part of the arm fixing hole 215. The one end of the bolt is arranged in the hexagonal hole and fixed with the nut.

[0074] In some embodiments, in order to fix the shoulder shell 220 to the shoulder 120, the shoulder shell 220 and the shoulder 120 are provided with corresponding shoulder connecting holes 224. A shoulder connecting member is detachably arranged in the shoulder connecting hole 224 to fix the shoulder shell 220 to the shoulder 120. The shoulder connecting hole 224 penetrates the shoulder shell 220 and extends into the shoulder 120. After aligning the shoulder connecting hole 224 on the shoulder shell 220 with the shoulder connecting hole 224 on the shoulder 120, the shoulder connecting member is installed in the shoulder connecting hole 224 to fix the shoulder shell 220 to the shoulder 120.

[0075] It should be understood that the length of the shoulder 120 of the present application is shorter than the length of the arm 110. Accordingly, the length of the shoulder shell 220 is shorter than the length of the arm shell 210. In this way, a smaller number of shoulder connecting holes 224 are provided on the shoulder shell 220 to reliably fix the shoulder shell 220 to the shoulder 120, so that the structural strength of the shoulder shell 220 is less affected, the structural strength of the shoulder shell 220 can be maintained better, and the connection effect of the shoulder shell 220 and the shoulder 120 is stable and reliable.

[0076] In some embodiments, referring to Figures 5 to 6 As shown in the figure, in order to more conveniently install the shoulder shell 220 of the present application to the shoulder 120, the shoulder shell 220 can be provided with a first shoulder sub-shell 222, a second shoulder sub-shell 223, and a shoulder fixing member. The first shoulder sub-shell 222 and the second shoulder sub-shell 223 are oppositely arranged to surround the shoulder 120. The shoulder shell 220 is provided with a shoulder fixing hole 225, and the shoulder shell 220 is provided with a shoulder reinforcing rib 221. The shoulder fixing hole 225 penetrates the shoulder reinforcing rib 221, and the two ends of the shoulder fixing hole 225 are respectively located on the surface of the first shoulder sub-shell 222 and the surface of the second shoulder sub-shell 223. The shoulder fixing member is arranged in the shoulder fixing hole 225 to fix the first shoulder sub-shell 222 and the second shoulder sub-shell 223.

[0077] The first shoulder sub-shell 222 and the second shoulder sub-shell 223 can be symmetrically arranged on both sides of the shoulder 120, and the first shoulder sub-shell 222 and the second shoulder sub-shell 223 can be separately prepared and then connected by the shoulder fixing member. Therefore, the process of installing the shoulder shell 220 on the shoulder 120 is more simple.

[0078] The shoulder reinforcing rib 221 can also be divided into two parts, one part of the shoulder reinforcing rib 221 is arranged in the first shoulder sub-shell 222, and the other part of the shoulder reinforcing rib 221 is arranged in the second shoulder sub-shell 223. When the first shoulder sub-shell 222 and the second shoulder sub-shell 223 are butted, the part of the shoulder reinforcing rib 221 in the first shoulder sub-shell 222 and the other part of the shoulder reinforcing rib 221 in the second shoulder sub-shell 223 can also be butted to form a complete shoulder reinforcing rib 221 structure.

[0079] By arranging the shoulder fixing hole 225 in the shoulder reinforcing rib 221, the thickness dimension of the shoulder shell 220 can be arranged to be thinner, so that the structure of the shoulder shell 220 can be more compact.

[0080] In some embodiments, referring to Figure 5 and Figure 7 In order to fix the elbow shell 230 to the elbow 130, the elbow shell 230 and the elbow 130 are provided with corresponding elbow connecting holes 234, and an elbow connecting piece is detachably arranged in the elbow connecting hole 234 to fix the elbow shell 230 to the elbow 130. The elbow connecting hole 234 penetrates the elbow shell 230 and extends into the elbow 130. After aligning the elbow connecting hole 234 on the elbow shell 230 with the elbow connecting hole 234 on the elbow 130, the elbow connecting piece is installed in the elbow connecting hole 234 to fix the elbow shell 230 to the elbow 130.

[0081] It should be understood that the length of the elbow 130 of the present application is shorter than the length of the large arm 110, and accordingly, the length of the elbow shell 230 is shorter than the length of the large arm shell 210. In this way, a smaller number of elbow connecting holes 234 are arranged on the elbow shell 230 to reliably fix the elbow shell 230 to the elbow 130, so that the structural strength of the elbow shell 230 is less affected, the structural strength of the elbow shell 230 can be maintained better, and the connection effect of the elbow shell 230 and the elbow 130 is stable and reliable.

[0082] In some embodiments, referring to Figure 5 and Figure 7 In order to more conveniently install the elbow shell 230 of the present application to the elbow 130, the elbow shell 230 can be provided with a first elbow sub-shell 232, a second elbow sub-shell 233, and an elbow fixing piece. The first elbow sub-shell 232 and the second elbow sub-shell 233 are arranged opposite to each other to surround the elbow 130. The elbow shell 230 is provided with an elbow fixing hole 235, and the elbow shell 230 is provided with an elbow reinforcing rib 231. The elbow fixing hole 235 penetrates the elbow reinforcing rib 231, and the two ends of the elbow fixing hole 235 are located on the surface of the first elbow sub-shell 232 and the surface of the second elbow sub-shell 233, respectively. The elbow fixing piece is arranged in the elbow fixing hole 235 to fix the first elbow sub-shell 232 and the second elbow sub-shell 233.

[0083] The first elbow sub-shell 232 and the second elbow sub-shell 233 can be symmetrically arranged on both sides of the elbow portion 130, and the first elbow sub-shell 232 and the second elbow sub-shell 233 can be separately prepared and then connected through the elbow fixing member. Thus, the process of mounting the elbow shell 230 on the elbow portion 130 is simpler.

[0084] The elbow reinforcing rib 231 can also be divided into two parts, one part of the elbow reinforcing rib 231 is arranged in the first elbow sub-shell 232, and the other part of the elbow reinforcing rib 231 is arranged in the second elbow sub-shell 233. When the first elbow sub-shell 232 and the second elbow sub-shell 233 are butted, the part of the elbow reinforcing rib 231 in the first elbow sub-shell 232 and the other part of the elbow reinforcing rib 231 in the second elbow sub-shell 233 can also be butted to form a complete elbow reinforcing rib 231 structure.

[0085] By arranging the elbow fixing hole 235 in the elbow reinforcing rib 231, the thickness of the elbow shell 230 can be arranged to be thinner, so that the structure of the elbow shell 230 can be more compact.

[0086] In some embodiments, referring to Figure 5 and Figure 8 In order to fix the forearm shell 240 to the forearm portion 140, the forearm shell 240 and the forearm portion 140 are provided with corresponding forearm connecting holes 244, and the forearm connecting holes 244 are detachably provided with a forearm connecting member to fix the forearm shell 240 to the forearm portion 140. The forearm connecting hole 244 penetrates the forearm shell 240 and extends into the forearm portion 140. After aligning the forearm connecting hole 244 on the forearm shell 240 with the forearm connecting hole 244 on the forearm portion 140, the forearm connecting member is mounted in the forearm connecting hole 244 to fix the forearm shell 240 to the forearm portion 140.

[0087] It should be understood that the length of the forearm portion 140 of the present application is shorter than the length of the upper arm portion 110, and accordingly, the length of the forearm shell 240 is shorter than the length of the upper arm shell 210. In this way, a smaller number of forearm connecting holes 244 are arranged on the forearm shell 240 to reliably fix the forearm shell 240 to the forearm portion 140, so that the structural strength of the forearm shell 240 is less affected, the structural strength of the forearm shell 240 can be maintained better, and the connection effect of the forearm shell 240 and the forearm portion 140 is stable and reliable.

[0088] In some embodiments, referring to Figure 5 and Figure 8As shown, in order to make the forearm shell 240 of the present application more convenient to install on the forearm part 140, the forearm shell 240 can be provided with a first forearm sub-shell 242, a second forearm sub-shell 243 and a forearm fixing member. The first forearm sub-shell 242 and the second forearm sub-shell 243 are oppositely arranged to surround the forearm part 140. The first forearm sub-shell 242 and the second forearm sub-shell 243 are both provided with a forearm fixing hole corresponding to the forearm part 140, and the first forearm sub-shell 242 and the second forearm sub-shell 243 can be respectively and independently fixedly connected with the forearm part 140.

[0089] The first forearm sub-shell 242 and the second forearm sub-shell 243 can be symmetrically arranged on both sides of the forearm part 140, and the first forearm sub-shell 242 and the second forearm sub-shell 243 can be respectively and independently prepared and then connected through the forearm fixing member. Thus, the process of installing the forearm shell 240 on the forearm part 140 is more simple.

[0090] The forearm shell 240 can be provided with a forearm reinforcing rib 241, which can support the forearm shell 240, so that the structural strength of the forearm shell 240 is better.

[0091] Based on the above mechanical arm, the present application further proposes a humanoid robot comprising the above mechanical arm.

[0092] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A robot arm, characterized in that, The application relates to a robot arm assembly. The robot arm assembly comprises a shoulder part (120), an upper arm part (110), an elbow part (130), a lower arm part (140) and a first driver (150), the shoulder part (120), the upper arm part (110), the elbow part (130) and the lower arm part (140) are sequentially rotatably connected, the first driver (150) is arranged between the upper arm part (110) and the elbow part (130), and the first driver (150) is configured to drive the elbow part (130) to rotate relative to the upper arm part (110) so that the included angle between the elbow part (130) and the upper arm part (110) can be adjusted. The robot arm assembly further comprises a shell assembly (200) which comprises a shoulder shell (220), an upper arm shell (210), an elbow shell (230) and a lower arm shell (240), the shoulder shell (220) is sleeved on the shoulder part (120), the upper arm shell (210) is sleeved on the upper arm part (110), the elbow shell (230) is sleeved on the elbow part (130), and the lower arm shell (240) is sleeved on the lower arm part (140). The inner wall of the upper arm shell (210) is provided with a plurality of upper arm reinforcing ribs (211), the plurality of upper arm reinforcing ribs (211) are distributed along the length direction of the upper arm shell (210), the plurality of upper arm reinforcing ribs (211) are pressed on the upper arm part (110), the upper arm part (110) comprises a first limiting surface (111), at least one of the plurality of upper arm reinforcing ribs (211) is in limiting cooperation with the first limiting surface (111) in the direction in which the upper arm part (110) is away from the elbow part (130), and one end of the upper arm shell (210) towards the elbow shell (230) is in limiting cooperation with the first driver (150) in the direction in which the upper arm part (110) is towards the elbow part (130).

2. The robot arm of claim 1, wherein, The plurality of upper arm reinforcing ribs (211) are all sleeved on the upper arm part (110) and are pressed on the outer wall of the upper arm part (110) along the circumferential direction of the upper arm part (110).

3. The robot arm of claim 2, wherein, The first limiting surface (111) is located on the side of the upper arm part (110) away from the first driver (150).

4. The robot arm of claim 3, wherein, The upper arm part (110) comprises a first upper arm section (113) and a second upper arm section (114), one end of the first upper arm section (113) is connected with the shoulder part (120), the other end of the first upper arm section (113) is connected with the second upper arm section (114), and one end of the second upper arm section (114) away from the first upper arm section (113) is connected with the elbow part (130). In the direction in which the first upper arm section (113) is away from the second upper arm section (114), the outer diameter of the first upper arm section (113) gradually increases, and the side wall of the second upper arm section (114) constitutes the first limiting surface (111).

5. The robot arm of claim 4, wherein, The large arm part (110) further comprises a second limiting surface (112) located on a side of the large arm part (110) adjacent to the elbow part (130), and the large arm shell (210) and the second limiting surface (112) are in limiting cooperation in a direction in which the large arm part (110) is away from the elbow part (130).

6. The robot arm of claim 5, wherein, The mechanical arm further comprises a limiting block (214) arranged in and connected with the large arm shell (210), and the limiting block (214) and the second limiting surface (112) are in limiting cooperation in a direction in which the large arm part (110) is away from the elbow part (130).

7. The robot arm of claim 6, wherein, The limiting block (214) is connected with a side of the large arm reinforcing rib (211) adjacent to the elbow part (130) and facing the elbow part (130).

8. The robot arm according to any one of claims 1-7, characterized in that, The large arm shell (210) comprises a first large arm sub-shell (212), a second large arm sub-shell (213), and a large arm fixing member, the first large arm sub-shell (212) and the second large arm sub-shell (213) are oppositely arranged to surround the large arm part (110), the large arm shell (210) is provided with a large arm fixing hole (215) penetrating through the large arm reinforcing rib (211), and two ends of the large arm fixing hole (215) are respectively located on surfaces of the first large arm sub-shell (212) and the second large arm sub-shell (213), and the large arm fixing member is arranged in the large arm fixing hole (215) to fix the first large arm sub-shell (212) and the second large arm sub-shell (213).

9. The robot arm according to any one of claims 1-7, characterized in that, The shoulder shell (220) and the shoulder part (120) are provided with corresponding shoulder connecting holes (224), and the shoulder connecting member is detachably arranged in the shoulder connecting holes (224) to fix the shoulder shell (220) to the shoulder part (120). The elbow shell (230) and the elbow part (130) are provided with corresponding elbow connecting holes (234), and the elbow connecting member is detachably arranged in the elbow connecting holes (234) to fix the elbow shell (230) to the elbow part (130). The small arm shell (240) and the small arm part (140) are provided with corresponding small arm connecting holes (244), and the small arm connecting member is detachably arranged in the small arm connecting holes (244) to fix the small arm shell (240) to the small arm part (140).

10. A humanoid robot, characterized by, The mechanical arm comprises the mechanical arm according to any one of claims 1-9.

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