Robot

Abstract

The utility model relates to the technical field of robots, and provides a robot which comprises a big arm and a shoulder cross rod, and further comprises a shoulder pulley block used for driving the shoulder cross rod to rotate and a big arm pulley block used for driving the big arm to swing, and the big arm is connected with the shoulder cross rod in a spherical hinge mode. The big arm pulley block comprises a first big arm pulley rotationally installed on the big arm, the shoulder pulley block comprises a first shoulder pulley rotationally arranged on the shoulder cross rod in a sleeving mode, and the first big arm pulley and the first shoulder pulley are arranged in a spaced mode. The shoulder pulley block and the big arm pulley block are used for driving the shoulder cross rod and the big arm respectively, and compared with a traditional driving mode of a motor and a speed reducer, the weight is light, the rotational inertia is small, the cost is low, and the size is small.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, concretely is a kind of robot. BACKGROUND

[0002] In the field of robots, shoulder transmission is mainly traditional mechanical transmission, swing arm and rotary arm are motor and speed reducer and as drive. However, the weight of the existing robot shoulder transmission and drive parts is heavy, the moment of inertia is large, the volume is large, the structure is complex, and the cost is high. SUMMARY

[0003] The utility model aims at providing a kind of robot, at least can solve the partial defects in prior art.

[0004] To achieve the above object, the utility model embodiment provides the following technical scheme: a kind of robot, including big arm and shoulder cross bar, further comprising the shoulder pulley set for driving the shoulder cross bar gyrostatic and the big arm pulley set for driving the big arm swing, the big arm and the shoulder cross bar spherical hinge connection, the big arm pulley set includes the first big arm pulley rotatablely installed on the big arm, the shoulder pulley set includes the first shoulder pulley rotatablely set on the shoulder cross bar, the first big arm pulley is arranged with the first shoulder pulley interval.

[0005] Further, the big arm includes arm rod and ball head, the end of the shoulder cross bar is hinged with the ball head, and the first big arm pulley is installed on the ball head.

[0006] Further, the ball head is less than half spherical hinge on the shoulder cross bar, and the ball head is connected with the shoulder cross bar by connecting rod.

[0007] Further, the big arm pulley set further includes the first big arm drive for driving the first big arm pulley rotation, and the first big arm drive is connected with the first big arm pulley through the first big arm traction rope.

[0008] Further, the big arm pulley set further includes the second big arm pulley installed on the shoulder cross bar, and the first big arm traction rope is wrapped around the second big arm pulley and the first big arm pulley in sequence.

[0009] Further, the big arm pulley set further includes the first limiting structure for limiting the first big arm traction rope.

[0010] Further, the first limiting structure includes the third big arm pulley and the fourth big arm pulley oppositely arranged, and the first big arm traction rope passes through the gap between the third big arm pulley and the fourth big arm pulley.

[0011] Further, a pulley frame is sleeved on the shoulder cross bar, the first limiting structure is installed on the pulley frame, and the pulley frame is arranged between the first large arm pulley and the first shoulder pulley.

[0012] Further, the shoulder pulley set further comprises a second shoulder pulley rotatably sleeved on the shoulder cross bar, the first shoulder pulley and the second shoulder pulley are coaxially arranged, and the first shoulder pulley and the second shoulder pulley rotate in opposite directions.

[0013] Further, the shoulder pulley set further comprises a first shoulder driving member for driving the first shoulder pulley to rotate, and the first shoulder driving member is connected with the first shoulder pulley through a first shoulder traction rope.

[0014] Compared with the prior art, the shoulder pulley set and the large arm pulley set are used to drive the shoulder cross bar and the large arm respectively, and compared with the driving mode of the traditional motor and the speed reducer, the shoulder pulley set and the large arm pulley set have the advantages of light weight, small rotary inertia, low cost and small size. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 FIG. 1 is a first perspective view of a shoulder-arm driving mechanism of a robot according to an embodiment of the present application;

[0016] Figure 2 FIG. 2 is a second perspective view of the shoulder-arm driving mechanism of the robot according to the embodiment of the present application;

[0017] Figure 3 FIG. 3 is a schematic view of an arm rod and a ball head of the shoulder-arm driving mechanism of the robot according to the embodiment of the present application;

[0018] Figure 4 FIG. 4 is a schematic view of a shoulder-arm driving mechanism of a robot according to another embodiment of the present application;

[0019] Figure 5 FIG. 5 is a first perspective view of a shoulder-arm driving mechanism of a robot according to the embodiment of the present application;

[0020] Figure 6 FIG. 6 is a second perspective view of the shoulder-arm driving mechanism of the robot according to the embodiment of the present application;

[0021] Figure 7 FIG. 7 is a schematic view of a large arm pulley set of the shoulder-arm driving mechanism of the robot according to the embodiment of the present application;

[0022] Figure 8 FIG. 8 is a schematic view of a large arm of the shoulder-arm driving mechanism of the robot according to the embodiment of the present application;

[0023] Figure 9 Figure 1 is a first perspective view of a shoulder-arm driving mechanism of a robot according to an embodiment of the present application;

[0024] Figure 10 Figure 2 is a second perspective view of the shoulder-arm driving mechanism of the robot according to the embodiment of the present application;

[0025] Figure 11 Figure 3 is an enlarged view of a part of the shoulder-arm driving mechanism of the robot according to the embodiment of the present application;

[0026] Figure 12 Figure 4 is a schematic view of a large arm of the shoulder-arm driving mechanism of the robot according to the embodiment of the present application;

[0027] Figure 13 Figure 5 is a horizontal cross-sectional view of the shoulder-arm driving mechanism of the robot according to the embodiment of the present application;

[0028] In the drawings:

[0029] 10 - first large arm pulley; 11 - second large arm pulley; 12 - third large arm pulley; 13 - fourth large arm pulley; 14 - fifth large arm pulley; 16 - sixth large arm pulley; 17 - seventh large arm pulley; 18 - eighth large arm pulley; 19 - ninth large arm pulley; 20 - tenth large arm pulley; 21 - first shoulder pulley; 22 - second shoulder pulley; 23 - third shoulder pulley; 24 - fourth shoulder pulley; 25 - driving shaft; 26 - connecting piece; 27 - swing frame; 28 - large arm; 29 - arm rod; 30 - ball head; 31 - shoulder crossbar; 32 - driving member; 33 - traction rope; 34 - connecting rod; 35 - shaft sleeve; 36 - first guide wheel; 37 - second guide wheel; 38 - pulley bracket; 39 - first pin shaft; 40 - second pin shaft; 41 - third pin shaft; 42 - first bearing; 43 - second bearing; 44 - third bearing; 45 - first pin rope; 46 - second pin rope; 47 - end cover; 48 - rolling sleeve; 49 - ring screw; 50 - support; 51 - fixing frame. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0031] Please refer to Figures 1 to 13The utility model embodiment provides a kind of robot, specifically can be a humanoid robot, also can be other form's robot, as long as the robot with limb and shoulder crossbar 31 can, including but not limited to dog type robot, various robots with different functional attributes.This robot includes large arm 28 and shoulder crossbar 31, and the both ends of shoulder crossbar 31 are spherical hinged with large arm 28.Large arm 28 and shoulder crossbar 31 are driven by shoulder-arm driving mechanism.This embodiment shows three specific driving modes, wherein embodiment one and embodiment two show the driving mode that can respectively drive large arm 28 swing and shoulder crossbar 31 autorotation, and the driving mode shown in embodiment three can drive large arm 28 swing and shoulder crossbar 31 autorotation, in addition to, also can drive large arm 28 autorotation.In three embodiments, the driving of the robot is realized using more simple pulley, traction rope 33, linear drive piece, connecting rod 34 mechanism, compared with the driving mode of traditional motor and speed reducer, it is light in weight, small in rotational inertia, low in cost, small in size.The three embodiments are described in detail below.The components in the three embodiments can be exchanged as needed, or combined between functions.

[0032] Embodiment one:

[0033] Please refer to Figures 1 to 3 The shoulder-arm driving mechanism of the robot includes shoulder pulley set that can drive shoulder crossbar 31 autorotation and large arm pulley set that can drive large arm 28 swing.

[0034] The specific structure of shoulder pulley set is detailed, which specifically can be composed of four shoulder pulleys, which are defined as first shoulder pulley 21, second shoulder pulley 22, third shoulder pulley 23 and fourth shoulder pulley 24 respectively. Among them, the first shoulder pulley 21 and the second shoulder pulley 22 are both sleeved on the shoulder crossbar 31, oppositely arranged, and the axis extension direction is consistent with the extension direction of the shoulder crossbar 31, so that when the first shoulder pulley 21 and the second shoulder pulley 22 rotate, the shoulder crossbar 31 can be driven to rotate, realizing the autorotation of the shoulder crossbar 31. Preferably, the first shoulder pulley 21 and the second shoulder pulley 22 can also be integrated into one pulley, which only needs to have two grooves on the pulley for the traction rope 33 to wrap around. Preferably, the first shoulder pulley 21 and the second shoulder pulley 22 rotate in different directions, so that when the first shoulder pulley 21 and the second shoulder pulley 22 are both connected with the driving piece 32, through the driving of the driving piece 32 in different directions, the first shoulder pulley 21 and the second shoulder pulley 22 can be rotated in different directions, avoiding interference between the two directions of rotation, for example, one driving piece 32 extends, and the other driving piece 32 needs to be correspondingly retracted. The driving piece 32 used in this embodiment can be a fluid artificial muscle, or other existing linear driving mode.

[0035] Continuing to refine the shoulder pulley set described above, the shoulder pulley set further comprises a third shoulder pulley 23, and the first shoulder traction rope is wound around the third shoulder pulley 23 and the first shoulder pulley 21 in sequence. The third shoulder pulley 23 is spaced apart from the shoulder crossbar 31, and the purpose is to be able to constrain the running direction of the traction rope 33 and to ensure that the traction rope 33 is in a tensioned state. Continuing to refine the shoulder pulley set described above, the shoulder pulley set further comprises a second shoulder driving member for driving the second shoulder pulley 22 to rotate, and the second shoulder driving member is connected with the second shoulder pulley 22 through a second shoulder traction rope. Similarly, the shoulder pulley set further comprises a fourth shoulder pulley 24, and the second shoulder traction rope is wound around the fourth shoulder pulley 24 and the second shoulder pulley 22 in sequence, and the fourth shoulder pulley 24 has the same effect as the third shoulder pulley 23, which will not be described here.

[0036] The above-mentioned large arm pulley set includes a first large arm pulley 10 which can be mounted on the large arm 28, and the axis of the first large arm pulley 10 extends perpendicularly to the axis of the first shoulder pulley 21. The first large arm pulley 10 can be horizontally arranged to achieve the swing of the large arm 28. Specifically, the large arm pulley set further includes a first large arm driving member for driving the first large arm pulley 10 to rotate, and the first large arm driving member is connected to the first large arm pulley 10 through a first large arm traction rope. Here, the first large arm driving member can also be the artificial muscle described above, which cooperates with the traction rope 33 to apply a driving force to the first large arm pulley 10 to make the first large arm pulley 10 rotate, thereby driving the large arm 28 to swing. The large arm pulley set is further detailed, and the large arm pulley set further includes a third large arm pulley 12, and the first large arm traction rope is wound around the third large arm pulley 12 and the first large arm pulley 10 in sequence. The third large arm pulley 12 can change the direction of the traction rope 33, thereby adjusting the position of the first large arm driving member, i.e., the artificial muscle.

[0037] The shoulder and arm driving mechanism is further detailed, and the shoulder and arm driving mechanism includes guide wheels which can be sleeved on the shoulder cross rod 31, and the guide wheels are provided with through holes, and the first large arm traction rope passes through the through holes and is connected to the first large arm pulley 10. The guide wheels can guide the running direction of the traction rope 33. Preferably, the guide wheels are two, one of which is fixedly sleeved on the shoulder cross rod 31, and the other of which is slidably sleeved on the shoulder cross rod 31. The two guide wheels can be defined as a first guide wheel 36 and a second guide wheel 37, respectively. The first guide wheel 36 can be a fixed guide wheel, and the second guide wheel 37 can be a movable guide wheel. The position of the second guide wheel 37 can be adjusted as needed, thereby changing the position of the traction rope 33 as needed.

[0038] Continuing to refine the shoulder-arm driving mechanism, it further includes a shaft sleeve 35 which can be sleeved on the shoulder cross bar 31, and the first large arm pulley 10 is connected with the shaft sleeve 35 through a connecting rod 34. The connecting rod 34 is hinged with a protruding column on the shaft sleeve 35. Two connecting rods 34 can be respectively arranged for the first large arm pulley 10 and the second large arm pulley 11. A pulley frame 38 is further included, which can be arranged for the third large arm pulley 12 and the fourth large arm pulley 13. The pulley frame 38 is sleeved on the shoulder cross bar 31. As shown in Figure 3 The large arm 28 includes an arm rod 29 and a ball head 30, wherein the ball head 30 is hinged with the end of the shoulder cross bar 31, and a less-than-half spherical surface of the ball head 30 is hinged with the shoulder cross bar 31. Different from the traditional joint bearing concave ball head covering the convex ball head, the connection mode of the embodiment can increase the swing angle of the large arm 28. The ball head 30 has a horizontal hole for the driving shaft 25 to pass through, so as to realize the swing of the large arm 28. Thus, the embodiment utilizes the characteristics of the artificial muscle to drive the steel wire to rotate and swing the arm.

[0039] The above embodiment only introduces the shoulder-arm driving mechanism at one end of the shoulder cross bar 31. Another large arm 28 and shoulder-arm driving mechanism are symmetrically arranged at the other end of the shoulder cross bar 31.

[0040] Embodiment two:

[0041] Please refer to Figures 4 to 8 The robot includes a large arm 28 and a shoulder cross bar 31, further includes a shoulder pulley set for driving the shoulder cross bar 31 to rotate and a large arm pulley set for driving the large arm 28 to swing, the large arm 28 and the shoulder cross bar 31 are ball-hinged, the large arm pulley set includes a first large arm pulley 10 which is rotatably installed on the large arm 28, the shoulder pulley set includes a first shoulder pulley 21 which is rotatably sleeved on the shoulder cross bar 31, and the first large arm pulley 10 is arranged in a spaced manner with the first shoulder pulley 21.

[0042] The structure of the large arm 28 is refined, the large arm 28 includes an arm rod 29 and a ball head 30, the end of the shoulder cross bar 31 is hinged with the ball head 30, and the first large arm pulley 10 is installed on the ball head 30. The ball head 30 has a horizontal hole for the driving shaft 25 to pass through. As shown in Figure 3 The ball head 30 is hinged with the shoulder cross bar 31 through a less-than-half spherical surface, and the ball head 30 is connected with the shoulder cross bar 31 through a connecting rod 34. Different from the traditional joint bearing concave ball head covering the convex ball head, the connection mode of the embodiment can increase the swing angle of the large arm 28.

[0043] Refining the above-mentioned large arm pulley set, the large arm pulley set comprises a first large arm pulley 10 which can be mounted on the large arm 28, and the axis of the first large arm pulley 10 extends perpendicularly to the axis of the first shoulder pulley 21. The first large arm pulley 10 can be horizontally arranged to realize the swing of the large arm 28. Specifically, the large arm pulley set further comprises a first large arm driving member for driving the first large arm pulley 10 to rotate, and the first large arm driving member is connected with the first large arm pulley 10 through a first large arm traction rope. Here, the first large arm driving member can also adopt the artificial muscle, and the artificial muscle cooperates with the traction rope 33 to apply a driving force to the first large arm pulley 10, so that the first large arm pulley 10 rotates and drives the large arm 28 to swing. The large arm pulley set further comprises a second large arm pulley 11 which is mounted on the shoulder cross rod 31, and the first large arm traction rope is wound around the second large arm pulley 11 and the first large arm pulley 10 in sequence. The second large arm pulley 11 can change the direction of the traction rope 33, so as to adjust the position of the first large arm driving member, i.e. the position of the artificial muscle.

[0044] Continuing to refine the above-mentioned large arm pulley set, the large arm pulley set further comprises a first limiting structure for limiting the position of the first large arm traction rope. The first limiting structure can limit the position of the traction rope 33. Preferably, the first limiting structure comprises a third large arm pulley 12 and a fourth large arm pulley 13 which are oppositely arranged, and the first large arm traction rope passes through the gap between the third large arm pulley 12 and the fourth large arm pulley 13. Specifically, the limiting can be realized by using two oppositely arranged large arm 28 pulleys, and a groove can be arranged on at least one of the third large arm pulley 12 and the fourth large arm pulley 13 for embedding the traction rope 33. Preferably, a pulley frame 38 is sleeved on the shoulder cross rod 31, and the first limiting structure is mounted on the pulley frame 38, and the pulley frame 38 is arranged between the first large arm pulley 10 and the first shoulder pulley 21. The pulley frame 38 is arranged for arranging the third large arm pulley 12 and the fourth large arm pulley 13, so that the structure is more compact. Meanwhile, the second limiting structure is also facilitated to be arranged.

[0045] Continuing to refine the above-mentioned large arm pulley set, the large arm pulley set further comprises a fifth large arm pulley 14, and the first large arm traction rope is wound around the fifth large arm pulley 14 and the first large arm pulley 10 in sequence. The fifth large arm pulley 14 can change the direction of the traction rope 33, so as to adjust the position of the first large arm driving member, i.e. the position of the artificial muscle.

[0046] Continuing to refine the above-mentioned large arm pulley set, the large arm pulley set further comprises a sixth large arm pulley 16 which can be installed on the large arm 28, and the axis of the sixth large arm pulley 16 extends perpendicularly to the axis of the first shoulder pulley 21. The sixth large arm pulley 16 can be horizontally arranged to achieve the swing of the large arm 28. The sixth large arm pulley 16 is arranged opposite to and coaxial with the first large arm pulley 10, and the rotation directions of the two are opposite. Specifically, the large arm pulley set further comprises a second large arm driving member for driving the sixth large arm pulley 16 to rotate, and the second large arm driving member is connected with the sixth large arm pulley 16 through a second large arm traction rope. The driving direction of the second large arm driving member is opposite to that of the first large arm driving member, so as to ensure that the two do not interfere when driving the large arm 28 to swing in different directions, for example, when one driving member 32 extends, the other driving member 32 needs to be correspondingly retracted. The second large arm driving member here can also adopt the artificial muscle described above, and cooperate with the traction rope 33 to apply a driving force to the sixth large arm pulley 16, so as to drive the sixth large arm pulley 16 to rotate, thereby driving the large arm 28 to swing. The large arm pulley set further comprises a seventh large arm pulley 17 installed on the shoulder cross rod 31, and the second large arm traction rope is wound around the seventh large arm pulley 17 and the sixth large arm pulley 16 in sequence. The seventh large arm pulley 17 can change the direction of the traction rope 33, so as to adjust the second large arm driving member, i.e. the position of the driving member 32 (artificial muscle).

[0047] Continuing to refine the above-mentioned large arm pulley set, the large arm pulley set further comprises a second limiting structure for limiting the position of the second large arm traction rope. The second limiting structure can limit the position of the traction rope 33. Preferably, the second limiting structure comprises an eighth large arm pulley 18 and a ninth large arm pulley 19 arranged opposite to each other, and the second large arm traction rope passes through the gap between the eighth large arm pulley 18 and the ninth large arm pulley 19. Specifically, the limiting can be achieved by using two large arm 28 pulleys arranged opposite to each other, and a groove can be arranged on at least one of the eighth large arm pulley 18 and the ninth large arm pulley 19 for the traction rope 33 to be embedded in. Preferably, a pulley frame 38 is sleeved on the shoulder cross rod 31, and the second limiting structure is installed on the pulley frame 38, and the pulley frame 38 is arranged between the sixth large arm pulley 16 and the first shoulder pulley 21. The pulley frame 38 is arranged for the eighth large arm pulley 18 and the ninth large arm pulley 19, so as to make the structure more compact. Meanwhile, the second limiting structure is also facilitated to be arranged.

[0048] Continuing to refine the large arm pulley set described above, the large arm pulley set further comprises a tenth large arm pulley 20, and the second large arm traction rope is wound around the tenth large arm pulley 20 and the sixth large arm pulley 16 in turn. By adopting the tenth large arm pulley 20, the direction of the traction rope 33 can be changed, so as to adjust the position of the second large arm driving member, that is, the artificial muscle.

[0049] Refine the shoulder pulley set described above, which can specifically consist of four shoulder pulleys, which are defined as first shoulder pulley 21, second shoulder pulley 22, third shoulder pulley 23 and fourth shoulder pulley 24 respectively. Among them, the first shoulder pulley 21 and the second shoulder pulley 22 are both sleeved on the shoulder cross rod 31, and are oppositely arranged, and the axis extension direction is consistent with the extension direction of the shoulder cross rod 31, so that when the first shoulder pulley 21 and the second shoulder pulley 22 rotate, the shoulder cross rod 31 can be driven to rotate, realizing the rotation of the shoulder cross rod 31. Preferably, the first shoulder pulley 21 and the second shoulder pulley 22 here can also be integrated into one pulley, which only needs to have two grooves on the pulley for the traction rope 33 to wind around. Preferably, the directions of rotation of the first shoulder pulley 21 and the second shoulder pulley 22 are different, so that when the first shoulder pulley 21 and the second shoulder pulley 22 are both connected with the driving member 32, through the driving of the driving member 32 in different directions, the first shoulder pulley 21 and the second shoulder pulley 22 can be rotated in different directions, avoiding interference between the two directions of rotation, for example, when one driving member 32 extends, the other driving member 32 needs to be correspondingly retracted. The driving member 32 adopted in this embodiment can be a fluid artificial muscle, or other existing linear driving modes.

[0050] Continuing to refine the shoulder pulley set described above, the shoulder pulley set further comprises a third shoulder pulley 23, and the first shoulder traction rope is wound around the third shoulder pulley 23 and the first shoulder pulley 21 in turn. The third shoulder pulley 23 has a certain distance from the shoulder cross rod 31, which is to constrain the direction of the traction rope 33 and ensure that the traction rope 33 is in a tension state. Continuing to refine the shoulder pulley set described above, the shoulder pulley set further comprises a second shoulder driving member for driving the second shoulder pulley 22 to rotate, and the second shoulder driving member is connected with the second shoulder pulley 22 through a second shoulder traction rope. Similarly, the shoulder pulley set further comprises a fourth shoulder pulley 24, and the second shoulder traction rope is wound around the fourth shoulder pulley 24 and the second shoulder pulley 22 in turn. The fourth shoulder pulley 24 has the same effect as the third shoulder pulley 23, which will not be described here.

[0051] Embodiment three:

[0052] Please refer to Figures 9 to 13The shoulder-arm driving mechanism of the robot comprises a shoulder pulley set capable of driving the shoulder cross bar 31 to rotate, an arm pulley set capable of driving the arm 28 to swing, and an arm driving set capable of driving the arm 28 to rotate, all of which receive linear driving force provided by the driving member 32. On the basis of the two above-mentioned embodiments, the third embodiment is additionally provided with a driving mechanism of the third degree of freedom, i.e. driving the arm 28 to rotate.

[0053] The arm driving set is further refined, and comprises a driving shaft 25 capable of penetrating the arm 28 and a force receiving member capable of being arranged on the shoulder cross bar 31. Both ends of the driving shaft 25 penetrate out of the arm 28, and both ends of the driving shaft 25 are respectively hinged with a connecting member 26. The other end of each connecting member 26 is hinged with the force receiving member, and the force receiving member is hinged with the driving member 32. In the embodiment, the driving shaft 25, the two connecting members 26 and the force receiving member can constitute a four-bar linkage. When the arm 28 does not rotate, the four-bar linkage forms a rectangular structure. When the arm 28 rotates, the four-bar linkage forms a parallelogram structure. Since the rotating range of the arm 28 of the humanoid robot does not need to be so large, the four-bar linkage can meet the rotating range of the arm 28. Preferably, the force receiving member comprises a swing frame 27 capable of being sleeved on the shoulder cross bar 31. The swing frame 27 is provided with a hinged end for hinging the connecting member 26 and the driving member 32. The swing frame 27 can be used as the force receiving member. The swing frame 27 is preferably an oval or a circle with a diameter slightly larger than that of the shoulder cross bar 31, so as to ensure that the swing frame 27 can produce a certain range of swing relative to the shoulder cross bar 31. Preferably, the driving member 32 hinged with the force receiving member is two, and the directions of the two driving members 32 are opposite. Thus, the rotation of the arm 28 in the two directions can not be interfered. For example, when one driving member 32 extends, the other driving member 32 needs to be correspondingly retracted. Preferably, when connected, one end of the driving member 32 is fixed on the rolling sleeve 48 through the annular screw 49. The rolling sleeve 48 can rotate around the shoulder cross bar 31 through the first bearing 42, the second bearing 43 and the third bearing 44. When the driving member 32 is retracted, the traction rope 33 drives the shoulder pulley to rotate. The shoulder pulley is fixed on the rolling sleeve 48. The rolling sleeve 48 drives the swing frame 27 to rotate. The swing frame 27 drives the arm 28 to swing through the connecting rod 34. The connecting rod 34 is connected with the end cover 47 through the first pin shaft 39. The other end of the driving member 32 is fixed on the swing frame 27 through the first pin rope 45, the second pin rope 46 and the third pin shaft 41. The swing frame 27 is fixed on the rolling sleeve 48 through the second pin shaft 40 and can swing around the second pin shaft 40. When the driving member 32 is retracted, the driving member 32 drives the swing frame 27 to swing through the first pin rope 45 and the third pin shaft 41. The swing frame 27 drives the arm 28 to rotate through the connecting rod 34. Meanwhile, the other opposite driving member 32 is elongated to avoid hindering the arm 28 from rotating.

[0054] The shoulder pulley set is detailed above, which can specifically consist of three or four shoulder pulleys. When three shoulder pulleys are used, they are defined as a first shoulder pulley 21, a second shoulder pulley 22, and a third shoulder pulley 23, respectively. The first shoulder pulley 21 is sleeved on the shoulder cross bar 31, and two grooves for wrapping the traction rope 33 are provided on the pulley. Thus, the first shoulder pulley 21 can be driven to rotate forward or reverse by two driving members 32 in different directions. Of course, two first shoulder pulleys 21 can also be provided, which are oppositely arranged and have the same axial extension direction as the shoulder cross bar 31. Thus, when the first shoulder pulley 21 rotates, the shoulder cross bar 31 can be driven to rotate, realizing the self-rotation of the shoulder cross bar 31. The driving member 32 used in the embodiment can be a fluid artificial muscle or other existing linear driving mode.

[0055] The shoulder pulley set is further detailed above. The shoulder pulley set further includes a third shoulder pulley 23, and the first shoulder traction rope is wrapped around the third shoulder pulley 23 and the first shoulder pulley 21 in sequence. The third shoulder pulley 23 has a certain spacing with the shoulder cross bar 31, which is to constrain the direction of the traction rope 33 and ensure that the traction rope 33 is in a tension state. Similarly, the shoulder pulley set further includes a third shoulder pulley 23, and the second shoulder traction rope is wrapped around the third shoulder pulley 23 and the first shoulder pulley 21 in sequence. The third shoulder pulley 23 has the same effect as the second shoulder pulley 22, which will not be described here.

[0056] The large arm pulley set is detailed above, which can specifically consist of three large arm pulleys, which can be defined as a first large arm pulley 10, a second large arm pulley 11, and a third large arm pulley 12, respectively. The first large arm pulley 10 and the second large arm pulley 11 are oppositely arranged and connected by a rotating shaft, and are used in cooperation with the fixing frame 51. Here, in order to make the swing control of the large arm 28 more refined and the structure more compact, two driving members 32 can be used to control the swing of one direction of the large arm 28, and an independent driving member 32 can be used to control the swing of the other direction of the large arm 28, so as to ensure that the forward and reverse swings of the large arm 28 are not interfered. The three driving members transmit linear driving force through the traction rope 33.

[0057] The structure of the large arm 28 is detailed above. The large arm 28 includes an arm rod 29 and a ball head 30. The end of the shoulder cross bar 31 is hinged to the ball head 30, and the first large arm pulley 10 is installed on the ball head 30. The ball head 30 has a horizontal hole for the driving shaft 25 to pass through. Figure 3As shown, the ball head 30 is less than half of the spherical surface articulated on the shoulder crossbar 31, and the ball head 30 is connected with the shoulder crossbar 31 through a connecting rod 34. Unlike the traditional joint bearing concave ball head covering the convex ball head, this connecting mode can increase the swing angle of the big arm 28. The driving shaft 25 is provided with an end cover 47 at both ends, and the end cover 47 is arranged on the ball head 30.

[0058] Refining the above-mentioned robot, the big arm 28 is provided with a support 50, and the big arm pulley set is arranged on the support 50. Specifically, two supports 50 are formed on the big arm 28, one of which is arranged for the first big arm pulley 10 and the second big arm pulley 11, and the other is arranged for the third big arm pulley 12. Such design can avoid using additional structure to set the big arm pulley set.

[0059] Refining the above-mentioned robot, the shoulder crossbar 31 is provided with a fixing frame 51, the big arm pulley set is connected to the driving member 32 through a traction rope 33, and the other end of the traction rope 33 is fixed on the fixing frame 51. The fixing frame 51 is arranged for the traction rope 33, one end of the three traction ropes 33 is connected to the driving member 32, and the other end is connected to the fixing frame 51 after passing through the big arm 28 pulley.

[0060] Although the embodiments of the present application have been shown and described, it should be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A robot comprising a large arm and a shoulder crossbar, characterized in that: It also includes a shoulder pulley assembly for driving the shoulder crossbar to rotate and a large arm pulley assembly for driving the large arm to swing. The large arm and the shoulder crossbar are connected by a ball joint. The large arm pulley assembly includes a first large arm pulley rotatably mounted on the large arm. The shoulder pulley assembly includes a first shoulder pulley rotatably sleeved on the shoulder crossbar. The first large arm pulley and the first shoulder pulley are spaced apart.

2. The robot as described in claim 1, characterized in that: The boom includes a boom arm and a ball joint, the end of the shoulder crossbar is hinged to the ball joint, and the first boom pulley is mounted on the ball joint.

3. The robot as described in claim 2, characterized in that: The ball head, with less than half of its spherical surface, is hinged to the shoulder crossbar, and the ball head is connected to the shoulder crossbar via a connecting rod.

4. The robot as described in claim 1, characterized in that: The boom pulley assembly also includes a first boom drive component for driving the first boom pulley to rotate, and the first boom drive component is connected to the first boom pulley via a first boom traction rope.

5. The robot as described in claim 4, characterized in that: The boom pulley assembly also includes a second boom pulley mounted on the shoulder crossbar, and the first boom traction rope sequentially wraps around the second boom pulley and the first boom pulley.

6. The robot as described in claim 4, characterized in that: The boom pulley assembly also includes a first limiting structure for limiting the first boom traction rope.

7. The robot as described in claim 6, characterized in that: The first limiting structure includes a third boom pulley and a fourth boom pulley arranged opposite to each other, and the first boom traction rope passes through the gap between the third boom pulley and the fourth boom pulley.

8. The robot as described in claim 6, characterized in that: A pulley frame is fitted onto the shoulder crossbar, and the first limiting structure is installed on the pulley frame. The pulley frame is located between the first upper arm pulley and the first shoulder pulley.

9. The robot as described in claim 1, characterized in that: The shoulder pulley assembly also includes a second shoulder pulley rotatably mounted on the shoulder crossbar. The first shoulder pulley and the second shoulder pulley are coaxially arranged, and the first shoulder pulley and the second shoulder pulley rotate in opposite directions.

10. The robot as described in claim 1, characterized in that: The shoulder pulley assembly further includes a first shoulder drive member for driving the first shoulder pulley to rotate, the first shoulder drive member being connected to the first shoulder pulley via a first shoulder traction rope.

Images