Mechanical arm and humanoid robot

Abstract

The embodiment of the utility model provides a mechanical arm and a humanoid robot, and relates to the field of robots. The mechanical arm comprises a shoulder assembly, a large arm assembly, a small arm assembly, a wrist assembly and a power supply wire harness which are sequentially in transmission connection. The shoulder assembly, the big arm assembly and the small arm assembly are all of a hollow structure. The shoulder assembly, the big arm assembly, the small arm assembly and the wrist assembly are each provided with a joint module, and the joint modules are used for driving corresponding joints to act. The power supply wire harness sequentially penetrates through the shoulder assembly, the large arm assembly and the small arm assembly and extends to the wrist assembly. The power supply wire harness is electrically connected with all the joint modules so as to supply power to the joint modules and / or control the joint modules. And the power supply wire harness is arranged in the mechanical arm, so that the problem that the power supply wire harness is exposed is avoided.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and more specifically, to a robotic arm and a humanoid robot. Background Technology

[0002] Humanoid robots, as highly realistic intelligent devices, aim to mimic human appearance and behavior in all aspects. They not only possess anthropomorphic limb structures, enabling diverse movement and operational skills, but also exhibit intelligent characteristics such as perception, learning, and cognition. With their strong environmental adaptability, anthropomorphic working abilities, and natural affinity, humanoid robots have demonstrated broad application prospects in numerous fields, including industrial production, social services, and disaster relief.

[0003] As a key component for humanoid robots to achieve humanoid arm movements and humanoid tasks, the performance of the robotic arm directly affects the overall efficiency of the humanoid robot. In existing robotic arm designs, each joint is equipped with a joint module that drives the joint movement. These joint modules need to be electrically connected to the control module located in the robot's torso to achieve power supply and control functions.

[0004] However, in existing technologies, the power supply harnesses used to control and power these joint modules generally employ external wiring connections. This external wiring method has significant drawbacks: firstly, it greatly reduces the aesthetics of the robotic arm; secondly, during operation, the exposed power supply harnesses are easily pulled by external forces, leading to problems such as poor contact or even breakage, seriously affecting the normal operation and stability of the robotic arm. Utility Model Content

[0005] The purpose of this invention is to provide a robotic arm and a humanoid robot that can house the power supply harness inside the robotic arm, thereby avoiding the problem of exposed power supply harnesses.

[0006] The embodiments of this utility model can be implemented as follows:

[0007] In a first aspect, this utility model provides a robotic arm, which includes a shoulder assembly, an upper arm assembly, a forearm assembly, a wrist assembly, and a power supply harness that are connected in sequence.

[0008] The shoulder assembly, the upper arm assembly, and the forearm assembly are all hollow structures;

[0009] The shoulder assembly, the upper arm assembly, the forearm assembly, and the wrist assembly are all provided with joint modules, which are used to drive the corresponding joint movements.

[0010] The power supply harness is sequentially routed through the inside of the shoulder assembly, the upper arm assembly, and the forearm assembly, and extends to the wrist assembly;

[0011] The power supply harness is electrically connected to all of the joint modules to power and / or control the joint modules.

[0012] Secondly, this utility model provides a humanoid robot, including a robot torso and a mechanical arm as described in any of the foregoing embodiments, wherein the shoulder assembly is connected to the torso of the humanoid robot, and the power supply harness is electrically connected to a control module disposed on the torso.

[0013] The beneficial effects of the robotic arm and humanoid robot provided in this embodiment of the invention include:

[0014] This application achieves internal wiring by designing the shoulder assembly, upper arm assembly, and forearm assembly as hollow structures and incorporating joint modules at the joints. The power supply harness is sequentially routed through the interiors of these three assemblies, extending from the forearm assembly to the wrist assembly, thus electrically connecting the power supply harness to all joint modules. This internal wiring eliminates the problem of exposed power supply harnesses. Overall, this improves aesthetics, making the robotic arm appear cleaner and more streamlined, meeting the aesthetic design requirements of modern industrial products and offering advantages in applications where appearance is paramount. Secondly, the internal wiring arrangement enhances stability by preventing exposed power supply harnesses and avoiding external pulling during operation. In complex environments such as industrial production and disaster relief, the robotic arm's movement is protected from poor contact or breakage due to external forces affecting the harness, ensuring the stability of power supply and control signal transmission to the joint modules and guaranteeing continuous and stable operation of the robotic arm. In addition, it can improve reliability. The internal wiring design effectively protects the power supply harness, reduces damage to the harness caused by external environmental factors (such as dust, moisture, corrosive substances, etc.), reduces the probability of failure, extends the service life of the robotic arm, and improves its reliability in various working scenarios. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 Schematic diagrams of the appearance structure of the robotic arm provided in this embodiment from two different perspectives;

[0017] Figure 2 This is a cross-sectional view of the robotic arm provided in this embodiment in one direction;

[0018] Figure 3 This is a cross-sectional view of the robotic arm provided in this embodiment from another direction.

[0019] Figure 4 This is a schematic diagram showing the connection between the shoulder assembly and the upper arm connector;

[0020] Figure 5 This is a structural diagram showing the connection between the shoulder assembly and the upper arm connector, while concealing the second shell structure and the sub-shell.

[0021] Figure 6 This is a partial sectional view of the connection between the shoulder assembly and the upper arm connector;

[0022] Figure 7 for Figure 6 Schematic diagram of cross-section at CC;

[0023] Figure 8 This is a cross-sectional structural diagram of the connection between the boom connector and the boom body.

[0024] Figure 9 This is a schematic diagram of the connection between the forearm connector and the upper arm body.

[0025] Figure 10 A schematic diagram showing the hidden connection part on one side of the connection between the forearm connector and the upper arm body;

[0026] Figure 11 This is a cross-sectional view of the connection between the forearm connector and the forearm body.

[0027] Figure 12 This is a schematic diagram of a partial structure at the wrist joint of the robotic arm provided in this embodiment;

[0028] Figure 13 This is a partial cross-sectional view of the wrist joint of the robotic arm provided in this embodiment.

[0029] Icons: 100-Robotic arm; 110-Shoulder assembly; 111-Connector; 112-First joint module; 113-Shoulder component; 114-Second joint module; 115-First limiting structure; 116-Second limiting structure; 117-First insertion hole; 118-Second insertion hole; 119-First through hole; 121-First shell structure; 122-Second shell structure; 130-Large arm assembly; 131-Large arm connector; 131A-Main shell; 131B-Second shell; 132-Third joint module; 133-Large arm body ; 134-Fourth joint module; 135-Connecting ear; 136-Third limiting structure; 137-Fourth limiting structure; 138-Third insertion hole; 139-Fourth insertion hole; 141-Fifth limiting structure; 142-Sixth limiting structure; 143-Fifth insertion hole; 144-Sixth insertion hole; 145-Seventh limiting structure; 146-Eighth limiting structure; 147-Seventh insertion hole; 149-Second through hole; 150-Forearm assembly; 151-Forearm connector; 152-Fifth joint module; 153-Forearm body; 154 - Connecting part; 155- Ninth limiting structure; 156- Tenth limiting structure; 157- Ninth insertion hole; 158- Tenth insertion hole; 159- Eleventh limiting structure; 161- Third through hole; 170- Wrist assembly; 171- Sixth joint module; 172- Mounting base; 173- Seventh joint module; 174- End connector; 175- Crank; 177- Connecting rod; 178- Fixed lug; 179- Hinge shaft; 180- Hinge hole; 181- Twelfth limiting structure; 182- Eleventh insertion hole; 183- Twelfth insertion hole ; 184-Fixing part; 185-Assembly ear; 186-Thirteenth limiting structure; 187-Fourteenth limiting structure; 188-Thirteenth insertion hole; 189-Fourteenth insertion hole; 191-Power board mounting part; 192-Power board; 193-Encasing shell; 194-Aircraft connector; 210-Power supply harness; 211-First harness segment; 212-Second harness segment; 213-Third harness segment; 214-Fourth harness segment; 215-Fifth harness segment; 216-Sixth harness segment; 217-Seventh harness segment; 230-Wire clamping component. Detailed Implementation

[0030] In existing technologies, the power supply harnesses used to control and power these joint modules generally adopt an external wiring connection method. This external wiring method has obvious drawbacks: firstly, it greatly reduces the aesthetics of the robotic arm; secondly, when the robotic arm is in operation, the exposed power supply harness 210 is easily pulled by external forces, which can lead to problems such as poor contact or even breakage, seriously affecting the normal operation and stability of the robotic arm.

[0031] To address the aforementioned problems, this invention provides a robotic arm and a humanoid robot that can house the power supply harness inside the robotic arm, thereby avoiding the problem of exposed power supply harnesses.

[0032] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0033] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0034] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0035] It should be noted that, where there is no conflict, the features in the embodiments of this utility model can be combined with each other.

[0036] The following describes in detail the overall structure, working principle, and technical effects of the robotic arm 100 and humanoid robot provided by this utility model through embodiments and in conjunction with the accompanying drawings.

[0037] Please refer to Figure 1 This embodiment provides a humanoid robot, which includes a robot torso and robotic arms 100 disposed on both sides of the torso. The robotic arms 100 are important components of the humanoid robot that mimic the movements of human arms to perform delicate tasks.

[0038] The robot torso is the main structure of the humanoid robot, which supports the weight of the entire robot and houses important components such as batteries and controllers, providing basic support and internal space for the robot's operation.

[0039] Humanoid robots also include a head component. The head component typically contains devices such as cameras, microphones, and sensors to perceive the external environment. For example, it uses cameras to acquire visual information and microphones to collect sound signals, thereby enabling interaction with the outside world.

[0040] Secondly, humanoid robots also include leg components. These leg components are connected to the robot's torso. The leg components generally consist of the thigh, lower leg, and foot, and are primarily used to support the weight of the humanoid robot and enable walking.

[0041] Please refer to Figures 1 to 13 In this embodiment, the robotic arm 100 includes a shoulder assembly 110, an upper arm assembly 130, a forearm assembly 150, and a wrist assembly 170 connected in sequence. The shoulder assembly 110 connects the robotic arm 100 to the humanoid robot torso, providing stable support and ensuring stability and reliability during movement. The upper arm assembly 130 expands the range of motion of the robotic arm 100. Through its own extension and contraction, and in coordination with the shoulder assembly 110 and forearm assembly 150, it enables the robotic arm 100 to reach farther positions and perform a wider range of tasks, playing a crucial role in its movement. The forearm assembly 150 provides precise positioning. Based on the approximate position determined by the upper arm, the forearm assembly 150 can make more precise adjustments, enabling accurate movement of the robotic arm 100's end effector within a smaller range. The wrist assembly 170 is used for attitude adjustment, which can precisely adjust the attitude of the end effector, so that the robotic arm 100 can better adapt to work objects of different shapes, positions and orientations.

[0042] In this embodiment, the shoulder assembly 110, upper arm assembly 130, and forearm assembly 150 are all hollow structures. Each of the shoulder assembly 110, upper arm assembly 130, forearm assembly 150, and wrist assembly 170 is equipped with a joint module, which drives the corresponding joint movements. A power supply harness 210 is sequentially routed through the interiors of the shoulder assembly 110, upper arm assembly 130, and forearm assembly 150, extending to the wrist assembly 170. The power supply harness 210 is electrically connected to all joint modules to power and / or control the joint modules.

[0043] In this embodiment, the shoulder assembly 110, upper arm assembly 130, and forearm assembly 150 are all designed as hollow structures, and joint modules are installed at the joints. The power supply harness 210 is sequentially threaded through the inside of the shoulder assembly 110, upper arm assembly 130, and forearm assembly 150, and then extends from the forearm assembly 150 to the wrist assembly 170, allowing the power supply harness 210 to electrically connect with all the joint modules, thereby achieving internal wiring and avoiding the problem of the power supply harness 210 being exposed. Overall, this improves the aesthetics, making the robotic arm 100 look cleaner and smoother, meeting the aesthetic design requirements of modern industrial products, and giving it a greater advantage in application scenarios where appearance is a high priority. Secondly, the internal wiring harness 210 enhances stability by eliminating its exposed state and preventing it from being pulled by external forces during operation. In complex environments such as industrial production and disaster relief, the robotic arm 100 will not experience poor contact or breakage due to external forces affecting the wiring harness during movement, ensuring the stability of power supply and control signal transmission for the joint modules. This, in turn, guarantees the continuous and stable operation of the robotic arm 100. Furthermore, it improves reliability. The internal wiring design effectively protects the power harness 210, reducing damage caused by external environmental factors (such as dust, moisture, and corrosive substances), lowering the probability of malfunctions, extending the service life of the robotic arm 100, and improving its reliability in various working scenarios.

[0044] Furthermore, the shoulder assembly 110 includes a connector 111, a first joint module 112, a shoulder member 113, and a second joint module 114. The connector 111 is used to connect the robotic arm 100 to the robot's torso. The shoulder member 113 is connected to the connector 111 via the first joint module 112, which can drive the shoulder member 113 to rotate to achieve forward and backward arm swinging movements. The second joint module 114 is fixedly mounted on the shoulder member 113 and connected to the upper arm assembly 130.

[0045] Please refer to Figures 1 to 13 Furthermore, the first joint module 112 is mounted on the connector 111, and the fixed end of the first joint module 112 is fixedly connected to the connector 111. The shoulder member 113 is connected to the output end of the first joint module 112, and the shoulder member 113 is coaxially arranged with the connector 111.

[0046] Specifically, connector 111 is a flange seat, which is installed at the output end of the first joint module 112. The flange seat is connected to the fixed end of the first joint module 112 by screws. The flange seat is provided with a first through hole 119 corresponding to the output end of the first joint module 112. The output end of the first joint module 112 extends out through the first through hole 119. The robot's torso is provided with a receiving hole, and the tail end of the first joint module 112 is inserted into the receiving hole. The flange seat is fixedly connected to the robot's torso by bolts.

[0047] In this embodiment, the connector 111 is set as a flange seat. This makes the connector 111 simple in structure, and its weight and volume are small, making assembly more convenient and allowing the robot to move more flexibly.

[0048] Specifically, the shoulder component 113 has a roughly T-shaped hollow structure. The output end of the first joint module 112 is connected to the end of the vertical section of the shoulder component 113 via bolts. The second joint module 114 is installed inside the horizontal section. The fixed end of the second joint module 114 is fixed to the horizontal section, and the output end extends from one end of the horizontal section of the shoulder component 113. The first joint module 112 and the second joint module 114 are arranged vertically. In this embodiment, the second joint module 114 is installed inside the horizontal section of the shoulder component 113, which is more aesthetically pleasing and makes the overall layout more compact.

[0049] In this embodiment, the shoulder component 113 is divided into a first shell structure 121 and a second shell structure 122. The first shell structure 121 and the second shell structure 122 are then assembled together by bolts or other means to form a hollow structure. During assembly, the first shell structure 121 is first fixedly connected to the output end of the first joint module 112 by bolts. Then, the second joint module 114 is installed inside the first shell structure 121, so that the fixed end of the first joint module 112 is fixedly connected to the first shell structure 121. Then, the second shell structure 122 is assembled into the first shell structure 121, thereby splicing with the first shell structure 121 and covering the fixed end portion of the second joint module 114 inside.

[0050] Of course, in other embodiments of this application, the shoulder member 113 may also be integrally injection molded or divided into three or more parts and then assembled.

[0051] Please refer to Figures 1 to 13 Furthermore, the upper arm assembly 130 includes an upper arm connector 131, a third joint module 132, an upper arm body 133, and a fourth joint module 134. The upper arm connector 131 is connected to the shoulder member 113 via a second joint module 114. The second joint module 114 can drive the upper arm connector 131 to rotate to achieve left and right arm swinging movements. The upper arm body 133 is connected to the upper arm connector 131 via the third joint module 132, which can drive the upper arm body 133 to rotate along its own axis. The fourth joint module 134 is installed inside the upper arm body 133, and its output end extends out of the upper arm body 133 to connect to and drive the forearm assembly 150 to bend.

[0052] Specifically, both the upper arm body 133 and the upper arm connector 131 are hollow structures. The upper arm connector 131 has connecting lugs 135 on both opposite sides of the end away from the upper arm body 133. One of the two connecting lugs 135 is fixedly connected to the output end of the second joint module 114, and the other is rotatably connected to the shoulder component 113.

[0053] In this embodiment, two connecting lugs 135 are provided on the upper arm connector 131. One of the two connecting lugs 135 is fixedly connected to the output end of the second joint module 114, and the other is rotatably connected to the shoulder component 113. This can improve the stability and mechanical strength of the connection between the upper arm assembly 130 and the shoulder assembly 110. Most importantly, the connection by the two connecting lugs 135 can avoid interference when the two rotate.

[0054] Please refer to Figures 1 to 13 Furthermore, the boom connector 131 includes a main housing 131A and a secondary housing 131B. The main housing 131A and the secondary housing 131B can be assembled to form a hollow structure. Both the main housing 131A and the secondary housing 131B are provided with a connecting lug 135. These two connecting lugs 135 are opposite to each other and spaced apart. During assembly, the secondary housing 131B is first removed, then the connecting lug 135 on the main housing 131A is connected to the output end of the second joint module 114, and then the output end of the third joint module 132 is fixedly connected to the bottom end of the main housing 131A. Finally, the secondary housing 131B is assembled onto the main housing 131A and the shoulder member 113.

[0055] The boom connector 131 is configured as a main housing 131A and a secondary housing 131B. This way, the screws and other accessories that fix the output end will be enclosed in the hollow structure enclosed by the main housing and the secondary housing, which is more aesthetically pleasing and easier to assemble.

[0056] A pivot is provided on the inner side of the connecting piece integrally formed with the secondary housing 131B. A bearing groove is provided on the second shell structure 122 of the shoulder member 113, aligned with the output end of the second joint module 114. A bearing is embedded in the bearing groove. After the secondary housing 131B is assembled into the main housing 131A, the pivot is inserted into the inner ring of the bearing, causing the connecting piece to be rotatably connected to the second shell structure 122, thereby enhancing rotational stability.

[0057] It should be noted that the assembly of the main shell and the secondary shell, as well as the assembly of the first shell structure 121 and the second shell structure 122, are all fixed and positioned by screws and positioning pins. Alternatively, snap-fit ​​or other snap-fit ​​methods can also be used to fix them.

[0058] Please refer to Figures 1 to 13Furthermore, the main arm body 133 is generally hollow and cylindrical. The third joint module 132 is disposed inside the main arm body 133 and located at the top of the main arm body 133. The fixed end of the third joint module 132 is fixedly connected to the top of the main arm body 133 by bolts. The output end of the third joint module 132 extends out of the main arm body 133 through an extension hole at the top of the main arm body 133. A second through hole 149 is provided at the bottom of the main housing. The output end of the third joint module 132 extending out of the main arm body 133 extends into the main housing through the second through hole 149 and is fixed to the main housing by screws.

[0059] In this embodiment, the bottom end of the upper arm body 133 bends and extends rearward. The fourth joint module 134 is installed inside the rearwardly bent portion of the bottom end of the upper arm body 133, and the side wall of the upper arm body 133 is provided with a notch corresponding to the output end of the fourth joint module 134 extending out. The output end of the fourth joint module 134 extends out of the side wall through the notch, and its axis is perpendicular to the third joint module 132.

[0060] In this embodiment, the bottom end of the upper arm body 133 bends and extends backward, thereby allowing the forearm assembly 150 to achieve a larger rotation angle relative to the upper arm assembly 130.

[0061] It should be noted that the main body 133 can be formed as a single piece or it can be divided into front and rear parts and assembled together.

[0062] Furthermore, the forearm assembly 150 includes a forearm connector 151, a fifth joint module 152, and a forearm body 153. The forearm connector 151 is connected to the end of the upper arm body 133 away from the upper arm connector 131 via a fourth joint module 134. The fourth joint module 134 can drive the forearm connector 151 to rotate to achieve forearm bending. The forearm body 153 is connected to the forearm connector 151 via the fifth joint module 152. The fifth joint module 152 can drive the forearm body 153 to rotate along its own axis.

[0063] Please refer to Figures 1 to 13 Specifically, one end of the forearm connector 151 is provided with a connecting part 154, which is connected to the output end of the fourth joint module 134. By providing the connecting part 154 of the forearm connector 151 to connect to the output end of the fourth joint module 134, interference between the forearm connector 151 and the upper arm body 133 can be avoided when the forearm connector 151 rotates.

[0064] In detail, the connecting part 154 bends and extends rearward relative to the forearm connector 151. There are two connecting parts 154, which are positioned opposite each other and spaced apart. One connecting part 154 is fixedly connected to the output end of the fourth joint module 134, and the other connecting part 154 is rotatably connected to the upper arm body 133 via a pivot and a bearing. By using two connecting parts 154 to connect to the output end and the upper arm body 133 respectively, the rotation can be made more stable.

[0065] To facilitate the connection of the two connecting parts 154 to the output end of the fourth joint module 134 and the upper arm body 133 respectively, the forearm connector 151 can be set separately for easy assembly.

[0066] In this embodiment, the forearm body 153 is generally hollow and cylindrical. The fifth joint module 152 is installed inside the top of the forearm body 153, and the fixed end of the fifth joint module 152 is fixedly connected to the forearm body 153. The output end of the fifth joint module 152 extends out of the top of the forearm body 153. A third through hole 161 is provided at the bottom of the forearm connector 151. The output end of the fifth joint module 152 is provided corresponding to the third through hole 161 and is fixedly connected to the bottom of the forearm connector 151. This installation method ensures that the fifth joint module 152 is not exposed, resulting in a more aesthetically pleasing appearance.

[0067] In one installation method, the output end of the fifth joint module 152 can be inserted into the forearm connector 151 through the third through hole 161, and then fixedly connected to the bottom end of the forearm connector 151 by screws.

[0068] Please refer to Figures 1 to 13 In this embodiment, the wrist assembly 170 includes a sixth joint module 171, a mounting base 172, a seventh joint module 173, and an end effector 174. The mounting base 172 is connected to the end of the forearm body 153 away from the forearm connector 151 via the sixth joint module 171. The sixth joint module 171 can drive the mounting base 172 to rotate to achieve wrist deflection. The end effector 174 is connected to the mounting base 172 via the seventh joint module 173. The seventh joint module 173 can drive the end effector 174 to rotate to achieve wrist rotation. The end effector 174 is used to connect to the end effector assembly.

[0069] In this embodiment, by setting a sixth joint module 171 and a seventh joint module 173, the wrist component 170 can perform wrist rotation, deflection and other actions, thereby enabling more precise movements.

[0070] Please refer to Figures 1 to 13Furthermore, the sixth joint module 171 is installed at the end of the forearm body 153 away from the forearm connector 151 (i.e., the sixth joint module 171 is installed at the bottom end of the forearm body 153), and the fixed end of the sixth joint module 171 is fixedly connected to the forearm body 153, while the output end of the sixth joint module 171 is drive-connected to the mounting base 172. The axis of the sixth joint module 171 is perpendicular to the axis of the fifth joint module 152 and parallel to the axis of the fourth joint module 134. Installing the sixth joint at the bottom of the forearm body facilitates assembly.

[0071] Furthermore, the wrist assembly 170 also includes a crank 175 and a connecting rod 177. Two fixing lugs 178 protrude from one end of the forearm body 153 (i.e., the bottom end of the forearm body 153) along the length of the forearm body 153, and the two fixing lugs 178 are spaced apart and opposite to each other. A mounting base 172 is rotatably mounted between the two fixing lugs 178. The crank 175 is mounted at the output end of the sixth joint module 171, one end of the connecting rod 177 is hinged to the crank 175, and the other end of the connecting rod 177 is hinged to the mounting base 172. The seventh joint module 173 is mounted on the mounting base 172.

[0072] In this embodiment, the mounting base 172 is driven by the crank 175 and connecting rod 177 mechanism to rotate the seventh joint module 173. This avoids interference between the mounting base 172 and the bottom of the forearm body 153 during rotation, thereby enabling rotation at a larger angle.

[0073] Please refer to Figures 1 to 13 Furthermore, the mounting base 172 is provided with a hinge shaft 179, which is perpendicular to the axis of the seventh joint module 173, and the axis of the hinge shaft 179 is located on the side of the axis of the seventh joint module 173 closer to the sixth joint module 171, so that the axis of the seventh joint module 173 is misaligned with the axis of the hinge shaft 179. The fixing lug 178 is provided with a hinge hole 180, and the hinge shaft 179 is installed in the hinge hole 180 so that the mounting base 172 can rotate relative to the hinge shaft 179.

[0074] In this embodiment, the hinge axis 179 is set in a staggered manner with the axis of the seventh joint module 173, so that the mounting base 172 can rotate at a larger angle relative to the forearm body 153.

[0075] Specifically, the hinge shaft 179 is mounted in the hinge hole 180 via a bearing, and the bearing is mounted in the fixed lug 178 by means of a shim, bearing shim, bearing outer pressure plate, bearing end cover, etc.

[0076] In this embodiment, the end connector 174 includes a fixing part 184 and mounting lugs 185 disposed on opposite sides of the fixing part 184. One of the two mounting lugs 185 is fixedly connected to the output end of the seventh joint module 173, while the other is rotatably mounted on the mounting base 172, which makes the rotation more stable. One mounting lug 185 is assembled in a split manner. After the mounting lug 185 on the end connector 174 is fixedly connected to the output end of the seventh joint module 173, the other separately machined mounting lug 185 is rotatably connected to the mounting base 172 and fixedly connected to the end connector 174.

[0077] Typically, the end effector 174 is connected to a six-dimensional force sensor and a dexterous hand. Of course, the dexterous hand can also be replaced by other end effector components, such as mechanical grippers, suction cups, etc.

[0078] Furthermore, the shoulder component 113, upper arm connector 131, upper arm body 133, forearm connector 151, and forearm body 153 are all hollow structures. The first joint module 112, the second joint module 114, the third joint module 132, the fourth joint module 134, and the fifth joint module 152 are all hollow joint modules. The power supply harness 210 passes sequentially through the central holes of the first joint module 112, the second joint module 114, the third joint module 132, the fourth joint module 134, and the fifth joint module 152, and is installed inside the connector 111, the shoulder member 113, the upper arm connector 131, the upper arm body 133, the forearm connector 151, and the forearm body 153. It extends from the forearm body 153 to the mounting base 172. The power supply harness 210 is electrically connected to the first joint module 112, the second joint module 114, the third joint module 132, the fourth joint module 134, the fifth joint module 152, the sixth joint module 171, and the seventh joint module 173.

[0079] In this embodiment, the power supply harness 210 can be routed inside the robotic arm 100 through the above-described structure, avoiding interference from rotation and excessive pulling. Most importantly, this design makes the power supply harness 210 virtually invisible from the outside of the robotic arm 100, resulting in a more aesthetically pleasing design.

[0080] It should be noted that the hollow joint module is unique in that the output shaft is hollow and has a central hole. The central hole is located at the center of the hollow roller shaft at the output end, and its shape is usually cylindrical, coinciding with the axis of the output end, and extending from the output end to the other end.

[0081] Please refer to Figures 1 to 13In this embodiment, the power supply harness 210 includes a first harness segment 211, a second harness segment 212, a third harness segment 213, a fourth harness segment 214, a fifth harness segment 215, a sixth harness segment 216, and a seventh harness segment 217. One end of the first harness segment 211 is used to connect to the control module, and the other end is connected to the wiring terminal of the first joint module 112. One end of the second harness segment 212 is connected to the wiring terminal of the first joint module 112, and the other end passes through the central hole and the first through hole 119 of the first joint module 112 into the shoulder member 113, and is connected to the wiring terminal of the second joint module 114. One end of the third wiring harness segment 213 is connected to the terminal block of the second joint module 114, and the other end passes through the central hole of the second joint module 114 into the upper arm connector 131, and then passes through the second through hole 149 and the central hole of the third joint module 132 into the upper arm body 133, where it connects to the terminal block of the third joint module 132. One end of the fourth wiring harness segment 214 is connected to the terminal block of the third joint module 132, and the other end extends from the interior of the upper arm body 133 to one side of the fourth joint module 134, where it connects to the terminal block of the fourth joint module 134. One end of the fifth wiring harness segment 215 is connected to the terminal block of the fourth joint module 134, and the other end passes through the central hole of the fourth joint module 134 into the forearm connector 151, then passes through the third through hole 161 and the central hole of the fifth joint module 152 into the forearm body 153, where it connects to the terminal block of the fifth joint module 152. One end of the sixth wiring harness segment 216 is connected to the terminal block of the fifth joint module 152, and the other end extends from the inside of the forearm body 153 to the sixth joint module 171 and is connected to the terminal block of the sixth joint module 171. One end of the seventh wiring harness segment 217 is connected to the terminal block of the sixth joint module 171, and the other end of the seventh wiring harness segment 217 extends toward the mounting base 172 and is connected to the terminal block of the seventh joint module 173.

[0082] In this embodiment, the power supply harness 210 is configured as seven independent segments, and is connected sequentially through internal wiring. This facilitates standardized and mass industrial production and reduces the amount of wire used.

[0083] Please refer to Figures 1 to 13 In this embodiment, the robotic arm 100 also includes multiple wire clamping components 230, and the first wire harness segment 211, the second wire harness segment 212, the third wire harness segment 213, the fourth wire harness segment 214, the fifth wire harness segment 215, the sixth wire harness segment 216 and the seventh wire harness segment 217 are all fixed by at least one wire clamping component 230.

[0084] This embodiment uses multiple wire clamping components 230 to fix the power supply harness 210, thereby avoiding the problem of it being pulled out and improving stability. The wire clamping components 230 are generally wire clamping plates, which are fixed by screws.

[0085] Specifically, since the connector 111 (i.e., the flange seat) is located at the front end of the first joint module 112 (i.e., the end with the output end protruding), the wiring terminal at the tail end of the first joint module 112 is exposed, and one end of the first wire harness segment 211 can be directly connected to the wiring terminal at the tail end of the first joint module 112.

[0086] One end of the second wiring harness segment 212 is also connected to the terminal block at the tail end of the first joint module 112. A wire clamping plate is installed at the tail end of the first joint module 112, which can simultaneously fix the first wiring harness segment 211 and the second wiring harness segment 212, preventing the first wiring harness segment 211 and the second wiring harness segment 212 from being pulled off by the terminal block at the tail end of the first joint module 112.

[0087] The other end of the second harness segment 212 passes through the center hole of the first joint module 112 and the first through hole 119 of the flange seat, passes into the shoulder member 113, and extends from the inner side wall of the shoulder member 113 to the tail end of the second joint module 114 and is connected to the wiring terminal of the second joint module 114.

[0088] One end of the third wiring harness segment 213 is also connected to the terminal block at the tail end of the second joint module 114. A wire clamping plate is installed at the tail end of the second joint module 114, which can simultaneously fix the second wiring harness segment 212 and the third wiring harness segment 213, preventing the second wiring harness segment 212 and the third wiring harness segment 213 from being pulled off by the terminal block at the tail end of the second joint module 114. The other end of the third wiring harness segment 213 extends out of the shoulder member 113 through the central hole of the second joint module 114, and extends along the inner side of the connecting lug 135 (the connecting lug 135 on the main housing 131A) to the inner side of the upper arm connector 131, and then extends through the second through hole 149 and the central hole of the third joint module 132 to the tail end of the third joint module 132, and connects to the terminal block of the third joint module 132. Multiple wire clamping plates can be provided at positions such as the inner side of the connecting lug 135 to fix the third wiring harness segment 213.

[0089] One end of the fourth wiring harness segment 214 is connected to the terminal block at the tail end of the third joint module 132, and the tail end of the third joint module 132 is provided with a wire clamping plate, which can simultaneously fix the third wiring harness segment 213 and the fourth wiring harness segment 214. The other end of the fourth wiring harness segment 214 extends directly from the interior of the upper arm body 133 to the tail end of the fourth joint module 134 and is connected to the terminal block at the tail end of the fourth joint module 134.

[0090] One end of the fifth wiring harness segment 215 is connected to the terminal block at the tail end of the fourth joint module 134, and the tail end of the fourth joint module 134 is provided with a wire clamping plate, which can simultaneously fix the fourth wiring harness segment 214 and the fifth wiring harness segment 215. The other end of the fifth wiring harness segment 215 extends out of the upper arm body 133 through the central hole of the fifth joint module 152 and extends to the connecting part 154 of the forearm connector 151 (this connecting part 154 is the one of the two connecting parts 154 that is connected to the output end of the fourth joint module 134). Then, the fifth wiring harness segment 215 extends through the inner wall of the connecting part 154 into the interior of the forearm connector 151, and then through the third through hole 161 and the central hole of the fifth joint module 152 to the tail end of the fifth joint module 152, and is connected to the terminal block at the tail end of the fifth joint module 152. One end of the fifth harness segment 215 is connected to the terminal block at the tail end of the fourth joint module 134, while the other end extends along the inner side of the connecting portion 154 corresponding to the tail end of the fourth joint module 134 into the forearm connector 151, and then extends through the third through hole and the center hole of the fifth joint module 152 to the tail end of the fifth joint module 152, and is connected to the terminal block at the tail end of the fifth joint module 152.

[0091] One end of the sixth wiring harness segment 216 is connected to the tail end of the fifth joint module 152, and the tail end of the fifth joint module 152 is provided with a wire clamping plate, which can simultaneously fix the fifth wiring harness segment 215 and the sixth wiring harness segment 216. The other end of the sixth wiring harness segment 216 extends from the inside of the forearm body 153 to the tail end of the sixth joint module 171 and is connected to the terminal block of the sixth joint module 171.

[0092] One end of the seventh wire harness segment 217 is connected to the tail end of the sixth joint module 171, and a wire clamping plate is provided at the tail end of the sixth joint module 171. This wire clamping plate can simultaneously fix the sixth wire harness segment 216 and the seventh wire harness segment 217. The other end of the seventh wire harness segment 217 extends along the inner side of the fixing lug 178 to the mounting base 172, and has a hole opened on the mounting plate that extends into the mounting base 172 to connect with the terminal block at the tail end of the seventh joint module 173. A wire clamping plate is provided on the inner side of the fixing lug 178 to fix the seventh wire harness segment 217. A wire clamping plate is also provided at the tail end of the seventh joint module 173 to fix the seventh wire harness segment 217.

[0093] In this embodiment, the power supply harness 210 is configured with seven segments, which facilitates installation, connection, and fixation. Of course, the power supply harness 210 can also be an integrated harness, with these harnesses forming a harness assembly and sequentially threaded through. Furthermore, the power supply harness 210 can not only provide power but also transmit control signals, etc.

[0094] Because the power supply voltage of the end effector components may differ from that of the joint modules, in order to more conveniently power different types of end effector components, in this embodiment, the robotic arm 100 also includes a power board mounting bracket 191, a power board 192, and a protective shell 193. The power board mounting bracket 191 is fixedly mounted to the forearm body 153, and the power board 192 is mounted on the power board mounting bracket 191. The protective shell 193 covers the outer periphery of the forearm body 153. The protective shell 193 is provided with an aviation connector 194 electrically connected to the power board 192, and the aviation connector 194 is used to power the end effector components.

[0095] This embodiment provides a power board 192 and an aviation connector 194, which facilitates the selection of voltages for the end effector components, and the aviation connector 194 also facilitates plugging in and powering.

[0096] Please refer to Figures 1 to 13 In this embodiment, the power board mounting component 191 is disposed inside the forearm body 153, located between the fifth joint module 152 and the sixth joint module 171. The power board 192 is fixedly mounted on the power board mounting component 191 by screws or the like. The outer casing 193 covers the outside of the forearm body 153, enclosing the sixth joint module 171, crank 175, connecting rod 177, and other mechanisms located at the lower end of the forearm body 153, thereby making the robotic arm 100 more aesthetically pleasing. A flight connector 194 is fixedly disposed on the outer casing 193, and the flight connector 194 is connected to the power board 192 via wires. Multiple sets of flight connectors 194 can be provided, for example, one or more sets with an output voltage of 6V, one or more sets with an output voltage of 12V, and one or more sets with an output voltage of 24V, to meet the selective connection of the end effector with different power requirements.

[0097] Secondly, due to the presence of the outer shell 193, the side wall of the forearm body 153 can be made into a hollow shape to facilitate threading and reduce weight.

[0098] It should also be noted that in some embodiments of this application, in order to cover exposed structures such as screws at the installation location, shielding plates are also provided on the shoulder member 113, upper arm connector 131, upper arm body 133, forearm connector 151 and forearm body 153. These shielding plates can be used to cover the exposed structures and cover them inside.

[0099] Please refer to Figures 1 to 13In this embodiment, the connector 111 is provided with a first limiting structure 115, and the shoulder member 113 is provided with a second limiting structure 116 that cooperates with the first limiting structure 115. When the shoulder member 113 rotates relative to the connector 111, the first limiting structure 115 can abut against the second limiting structure 116, thereby limiting the rotation angle of the shoulder member 113 relative to the connector 111.

[0100] In this embodiment, a first limiting structure 115 is provided in the connector 111, and a second limiting structure 116 is provided in the shoulder member 113. This can limit the rotation angle of the shoulder member 113, thereby preventing it from exceeding the limit rotation position during rotation, which could cause the mechanical structure to be bumped, damaged, or the wiring harness to be broken.

[0101] Specifically, both the first limiting structure 115 and the second limiting structure 116 are boss structures. The first limiting structure 115 and the second limiting structure 116 are arranged on the same circumference with the axis of the first joint module 112 as the center. The first limiting structure 115 protrudes from the side of the flange seat near the shoulder member 113, while the second limiting structure 116 protrudes from the end of the shoulder member 113 (first shell structure 121) near the flange seat. Limitation is achieved through the face-to-face contact of the first limiting structure 115 and the second limiting structure 116.

[0102] It should be noted that the number of the first limiting structure 115 and the second limiting structure 116 can be set as needed. One of each can be used, or two of one can be used and one of the other. Alternatively, two of each of the first limiting structure 115 and the second limiting structure 116 can be used alternately.

[0103] Please refer to Figures 1 to 13 In this embodiment, the connector 111 is provided with a first insertion hole 117, and the shoulder member 113 is provided with a second insertion hole 118 corresponding to the first insertion hole 117. When the shoulder member 113 rotates relative to the connector 111 to a preset angle, the first insertion hole 117 and the second insertion hole 118 are aligned, so that the pin can be sequentially inserted through the first insertion hole 117 and the second insertion hole 118 to fix the connector 111 and the shoulder member 113.

[0104] This embodiment provides a first insertion hole 117 and a second insertion hole 118. When zeroing and calibrating the relative position of the first joint module 112, the two can be fixed by inserting a pin into the first insertion hole 117 and the second insertion hole 118, keeping them at a preset angle, thus facilitating zeroing and calibration. Furthermore, when the humanoid robot is powered off, the two can also be fixed by inserting a pin into the first insertion hole 117 and the second insertion hole 118, thereby preventing random swinging at the joint.

[0105] Specifically, the first insertion hole 117 is provided on the boss of the first limiting structure 115, arranged radially along the connector 111, and passing through the boss of the first limiting structure 115. The second insertion hole 118 is provided on the side wall of the shoulder member 113. When the shoulder member 113 is rotated relative to the connection until the second insertion hole 118 corresponds to the first insertion hole 117, the pin can be inserted into the first insertion hole 117 and the second insertion hole 118 in sequence.

[0106] Please refer to Figures 1 to 13 In this embodiment, a third limiting structure 136 and a fourth limiting structure 137 are provided on the inner wall of the upper arm connector 131, corresponding to the area between the two connecting lugs 135. When the upper arm connector 131 rotates relative to the shoulder member 113 in a first direction, the outer wall of the shoulder member 113 can abut against the third limiting structure 136 to limit the rotation angle of the upper arm connector 131 in the first direction. When the upper arm connector 131 rotates relative to the shoulder member 113 in a second direction, the outer wall of the shoulder member 113 can abut against the fourth limiting structure 137 to limit the rotation angle of the upper arm connector 131 in the second direction. The first and second directions are opposite.

[0107] In this embodiment, a third limiting structure 136 and a fourth limiting structure 137 are provided in the upper arm connector 131, thereby limiting the rotation angle of the upper arm connector 131 relative to the shoulder member 113 to avoid mechanical damage and wire harness breakage due to excessive rotation angle.

[0108] In this embodiment, the third limiting structure 136 and the fourth limiting structure 137 are protrusions protruding from the inner side of the upper arm connector, so that when the upper arm connector 131 rotates relative to the shoulder member 113, it achieves limiting in the first and second directions by connecting with the outer side wall of the shoulder member 113.

[0109] Please refer to Figures 1 to 13 In this embodiment, the connecting ear piece 135 is provided with a third insertion hole 138, and the shoulder member 113 is provided with a fourth insertion hole 139. When the upper arm connector 131 rotates relative to the shoulder member 113 to a preset angle, the third insertion hole 138 and the fourth insertion hole 139 are aligned, thereby allowing the pin to pass through the third insertion hole 138 and the fourth insertion hole 139 in sequence to fix the upper arm connector 131 and the shoulder member 113.

[0110] This embodiment provides a third insertion hole 138 and a fourth insertion hole 139. When zeroing and calibrating the relative position of the second joint module 114, the two can be fixed by inserting pins into the third insertion hole 138 and the fourth insertion hole 139 in sequence, keeping them at a preset angle, thus facilitating zeroing and calibration. Furthermore, when the humanoid robot is powered off, the two can also be fixed by inserting pins into the third insertion hole 138 and the fourth insertion hole 139, thereby preventing the joint from swinging arbitrarily.

[0111] In this embodiment, the boom connector 131 is provided with a fifth limiting structure 141, and the boom body 133 is provided with a sixth limiting structure 142 corresponding to the fifth limiting structure 141. When the boom body 133 rotates relative to the boom connector 131 to a preset angle, the fifth limiting structure 141 can abut against the sixth limiting structure 142, thereby limiting the rotation angle of the boom body 133 relative to the boom connector 131.

[0112] In this embodiment, a fifth limiting structure 141 is provided on the boom connector 131, and a sixth limiting structure 142 is provided on the boom body 133. This can limit the rotation angle of the boom body 133 relative to the boom connector 131, thereby avoiding the problem of collision, mechanical damage or wire harness breakage caused by exceeding the limit rotation position during rotation.

[0113] Please refer to Figures 1 to 13 Specifically, both the fifth limiting structure 141 and the sixth limiting structure 142 are boss structures. The sixth limiting structure 142 protrudes from the top of the main arm body 133, while the fifth limiting structure 141 is located at the bottom of the main arm connector 131 (first shell structure 121). The fifth limiting structure 141 and the sixth limiting structure 142 are located on the same circumference with the axis of the third joint module 132 as the center. Limitation is achieved by the face-to-face contact between the fifth limiting structure 141 and the sixth limiting structure 142.

[0114] It should be noted that the number of the fifth limiting structure 141 and the sixth limiting structure 142 can be set as needed. One of each can be used, or two of one can be used and one of the other. Alternatively, two of each of the first limiting structure 115 and the second limiting structure 116 can be used alternately.

[0115] In this embodiment, the side wall of the boom connector 131 is provided with a fifth insertion hole 143, and the boom body 133 is provided with a sixth insertion hole 144 corresponding to the fifth insertion hole 143. When the boom body 133 rotates relative to the boom connector 131 to a preset angle, the fifth insertion hole 143 and the sixth insertion hole 144 are aligned, allowing the pin to pass through the fifth insertion hole 143 and the sixth insertion hole 144 in sequence to fix the boom connector 131 to the boom body 133.

[0116] This embodiment provides a fifth insertion hole 143 and a sixth insertion hole 144. When zeroing and calibrating the relative position of the third joint module 132, the two can be fixed by inserting pins into the fifth insertion hole 143 and the sixth insertion hole 144, maintaining them at a preset angle, thus facilitating zeroing and calibration. Furthermore, when the humanoid robot is powered off, the two can also be fixed by inserting pins into the fifth insertion hole 143 and the sixth insertion hole 144, preventing arbitrary swinging at the joint. Specifically, the sixth insertion hole 144 is located on the protrusion of the sixth limiting structure 142 and is arranged radially.

[0117] Please refer to Figures 1 to 13 In this embodiment, the upper arm body 133 is provided with a seventh limiting structure 145 and an eighth limiting structure 146. When the forearm connector 151 rotates relative to the upper arm body 133 in a third direction, its outer wall abuts against the seventh limiting structure 145, thereby limiting the rotation angle of the forearm connector 151 in the third direction; when rotating in a fourth direction, its outer wall abuts against the eighth limiting structure 146, similarly limiting its rotation angle in the fourth direction, and the third direction and the fourth direction are opposite.

[0118] In this embodiment, a seventh limiting structure 145 and an eighth limiting structure 146 are provided on the boom body 133 to limit the rotation angle of the forearm connector 151 relative to the boom body 133, so as to avoid mechanical damage or wire harness breakage due to excessive rotation angle.

[0119] In this embodiment, the seventh limiting structure 145 and the eighth limiting structure 146 are respectively the limiting surfaces of the upper arm body 133 on both sides of the forearm connector 151 in the rotation direction, so as to achieve limiting through surface-to-surface contact.

[0120] Of course, in some embodiments, the seventh limiting structure 145 and the eighth limiting structure 146 may also be provided as bosses on the upper arm body 133 or the forearm connection.

[0121] Please refer to Figures 1 to 13 In this embodiment, the connecting part 154 is provided with a seventh insertion hole 147, and the upper arm body 133 is provided with an eighth insertion hole (not shown) corresponding to the seventh insertion hole 147. When the forearm connector 151 rotates to a preset angle relative to the upper arm connector 131, the seventh insertion hole 147 and the eighth insertion hole are aligned, so that the pin can be inserted sequentially through the seventh insertion hole 147 and the eighth insertion hole to fix the forearm connector 151 and the upper arm body 133.

[0122] This embodiment provides a seventh insertion hole 147 and an eighth insertion hole. During zeroing and calibrating the relative position of the fourth joint module 134, pins can be sequentially inserted into the seventh insertion hole 147 and the eighth insertion hole to fix the upper arm body 133 and the forearm connector 151, maintaining them at a preset angle, thus facilitating zeroing and calibration. Furthermore, in the event of a power outage on the humanoid robot, pins can also be inserted into the seventh insertion hole 147 and the eighth insertion hole to fix both components, preventing uncontrolled swinging at the joint.

[0123] In this embodiment, the forearm body 153 is provided with a ninth limiting structure 155, and the forearm connector 151 is provided with a tenth limiting structure 156 corresponding to the ninth limiting structure 155. When the forearm body 153 rotates relative to the forearm connector 151 to a preset angle, the ninth limiting structure 155 and the tenth limiting structure 156 abut against each other, thereby limiting the rotation angle of the forearm body 153 relative to the forearm connector 151.

[0124] In this embodiment, a ninth limiting structure 155 is provided on the forearm body 153, and a tenth limiting structure 156 is provided on the forearm connector 151. This can limit the rotation angle of the forearm body 153 relative to the forearm connector 151, thereby avoiding the problem of exceeding the limit rotation position during rotation, which could lead to collisions, mechanical damage, or wire breakage.

[0125] Please refer to Figures 1 to 13 Specifically, both the ninth limiting structure 155 and the tenth limiting structure 156 are boss structures. The ninth limiting structure 155 protrudes from the top of the forearm body 153, while the tenth limiting structure 156 is located at the bottom of the forearm connector. The ninth limiting structure 155 and the tenth limiting structure 156 are arranged on the same circumference with the axis of the fifth joint module 152 as the center. Limitation is achieved by the face-to-face contact between the ninth limiting structure 155 and the tenth limiting structure 156.

[0126] It should be noted that the number of the ninth limiting structure 155 and the tenth limiting structure 156 can be set as needed. One of each can be set, or two of one can be set and one of the other. Alternatively, two of the first limiting structure 115 and two of the second limiting structure 116 can be set alternately.

[0127] In this embodiment, the forearm body 153 is provided with a ninth insertion hole 157, and the forearm connector 151 is provided with a tenth insertion hole 158 corresponding to the ninth insertion hole 157. When the forearm body 153 rotates relative to the forearm connector 151 to a preset angle, the ninth insertion hole 157 and the tenth insertion hole 158 are aligned, allowing the pin to pass through the ninth insertion hole 157 and the tenth insertion hole 158 in sequence to fix the forearm connector 151 to the forearm body 153.

[0128] This embodiment provides a ninth insertion hole 157 and a tenth insertion hole 158. During zeroing and calibrating the relative position of the fifth joint module 152, the forearm body 153 and the forearm connector 151 can be fixed by inserting pins into the ninth insertion hole 157 and the tenth insertion hole 158, maintaining them at a preset angle, thus facilitating zeroing and calibration. Furthermore, in the event of a power outage on the humanoid robot, the two components can also be fixed by inserting pins into the ninth insertion hole 157 and the tenth insertion hole 158, preventing uncontrolled swinging at that joint. Specifically, the tenth insertion hole 158 is located on the protrusion of the tenth limiting structure 156 and is arranged radially.

[0129] Please refer to Figures 1 to 13 In this embodiment, the forearm body 153 is provided with an eleventh limiting structure 159, and the crank 175 is provided with a twelfth limiting structure 181 corresponding to the eleventh limiting structure 159. When the crank 175 rotates relative to the forearm body 153 to a preset angle, the eleventh limiting structure 159 can abut against the twelfth limiting structure 181 to limit the rotation angle of the crank 175 relative to the forearm body 153.

[0130] In this embodiment, an eleventh limiting structure 159 is provided on the forearm body 153, and a twelfth limiting structure 181 is provided on the crank 175, so as to limit the rotation angle of the mounting base 172 relative to the forearm body 153, so as to avoid problems such as bumps, mechanical damage and wire harness breakage due to excessive rotation angle.

[0131] Specifically, both the eleventh limiting structure 159 and the twelfth limiting structure 181 are boss structures. The eleventh limiting structure 159 includes two bosses protruding from the end face of the forearm body 153 corresponding to the crank 175, and these two bosses are spaced apart by a pre-set rounded corner. The twelfth limiting structure 181 is a protrusion on the side wall of the crank 175. When the crank 175 rotates, this protrusion can rotate between the two bosses, thereby achieving bidirectional limiting.

[0132] Furthermore, the crank 175 is provided with an eleventh insertion hole 182, and the forearm body 153 is provided with a twelfth insertion hole 183 corresponding to the eleventh insertion hole 182. When the crank 175 rotates relative to the forearm body 153 to a preset angle, the eleventh insertion hole 182 and the twelfth insertion hole 183 are aligned, allowing the pin to pass through the eleventh insertion hole 182 and the twelfth insertion hole 183 in sequence to fix the crank 175 and the forearm body 153.

[0133] This embodiment provides an eleventh insertion hole 182 and a twelfth insertion hole 183. During zeroing and calibrating the relative position of the sixth joint module 171, pins can be inserted into the eleventh and twelfth insertion holes 182 and 183 to fix the forearm body 153 and the crank 175 (i.e., mounting base 172) at a preset angle, facilitating zeroing and calibration. Furthermore, in the event of a power outage, pins can also be inserted into the eleventh and twelfth insertion holes 182 and 183 to fix the forearm body 153, preventing it from swinging arbitrarily at that joint. Specifically, the twelfth insertion hole 183 is located on the side wall at the bottom end of the forearm body 153.

[0134] Please refer to Figures 1 to 13 In this embodiment, the mounting ear 185 is provided with a thirteenth limiting structure 186, and the mounting base 172 is provided with a fourteenth limiting structure 187 corresponding to the thirteenth limiting structure 186. When the end connector 174 rotates relative to the mounting base 172 to a preset angle, the thirteenth limiting structure 186 can abut against the fourteenth limiting structure to limit the rotation angle of the end connector 174 relative to the mounting base 172.

[0135] In this embodiment, a thirteenth limiting structure 186 is provided on the mounting ear piece 185, and a fourteenth limiting structure 187 is provided on the mounting base 172. This can limit the rotation angle of the end connector 174 relative to the mounting base 172, thereby avoiding the problem of exceeding the limit rotation position during rotation, which could lead to collisions, mechanical damage, or wire breakage.

[0136] Specifically, both the thirteenth limiting structure 186 and the fourteenth limiting structure 187 are boss structures. The thirteenth limiting structure 186 is a boss protruding from the inner side of the mounting lug 185, while the fourteenth limiting structure 187 is a boss located at the end of the mounting base 172. The thirteenth limiting structure 186 and the fourteenth limiting structure 187 are arranged on the same circumference with the axis of the seventh joint module 173 as the center. Limitation is achieved by the face-to-face contact between the thirteenth limiting structure 186 and the fourteenth limiting structure 187.

[0137] It should be noted that the number of the thirteenth limiting structure 186 and the fourteenth limiting structure 187 can be set as needed. One of each can be set, or two of one can be set and one of the other. Alternatively, two of each of the first limiting structure 115 and the second limiting structure 116 can be set alternately.

[0138] In this embodiment, the mounting ear 185 is provided with a thirteenth insertion hole 188, and the mounting base 172 is provided with a fourteenth insertion hole 189 corresponding to the thirteenth insertion hole 188. When the end connector 174 rotates relative to the mounting base 172 to a preset angle, the thirteenth insertion hole 188 and the fourteenth insertion hole 189 are aligned, allowing the pin to pass through the thirteenth insertion hole 188 and the fourteenth insertion hole 189 in sequence to fix the end connector 174 to the mounting base 172.

[0139] This embodiment provides a thirteenth insertion hole 188 and a fourteenth insertion hole 189. During zeroing and calibrating the relative position of the seventh joint module 173, the end connector 174 and the mounting base 172 can be fixed by inserting pins into the thirteenth and fourteenth insertion holes 188 and 189, maintaining them at a preset angle, thus facilitating zeroing and calibration. Furthermore, in the event of a power outage on the humanoid robot, the two components can also be fixed by inserting pins into the thirteenth and fourteenth insertion holes 189, preventing uncontrolled swinging at that joint. Specifically, the fourteenth insertion hole 189 is located at the end of the mounting base 172.

[0140] In summary, this embodiment uses hollow structures for the shoulder assembly 110, upper arm assembly 130, and forearm assembly 150, and incorporates joint modules at each joint. The power supply harness 210 is sequentially routed through the interiors of these three components, extending from the forearm assembly 150 to the wrist assembly 170, thus electrically connecting the power supply harness 210 to all joint modules. This internal wiring avoids external exposure of the power supply harness 210. Overall, this improves aesthetics, making the robotic arm 100 appear cleaner and more streamlined, meeting the aesthetic design requirements of modern industrial products and offering advantages in applications where appearance is paramount. Secondly, the internal wiring harness 210 enhances stability by eliminating its exposed state and preventing it from being pulled by external forces during operation. In complex environments such as industrial production and disaster relief, the robotic arm 100 will not experience poor contact or breakage due to external forces affecting the wiring harness during movement, ensuring the stability of power supply and control signal transmission for the joint modules. This, in turn, guarantees the continuous and stable operation of the robotic arm 100. Furthermore, it improves reliability. The internal wiring design effectively protects the power harness 210, reducing damage caused by external environmental factors (such as dust, moisture, and corrosive substances), lowering the probability of malfunctions, extending the service life of the robotic arm 100, and improving its reliability in various working scenarios.

[0141] The above description is only a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model.

Claims

1. A robotic arm, characterized in that, The robotic arm includes a shoulder assembly (110), an upper arm assembly (130), a forearm assembly (150), a wrist assembly (170), and a power supply harness (210) connected in sequence. The shoulder assembly (110), the upper arm assembly (130), and the forearm assembly (150) are all hollow structures; The shoulder assembly (110), the upper arm assembly (130), the forearm assembly (150) and the wrist assembly (170) are all provided with joint modules, which are used to drive the corresponding joint movements; The power supply harness (210) is sequentially threaded through the inside of the shoulder assembly (110), the upper arm assembly (130) and the forearm assembly (150), and extends to the wrist assembly (170); The power supply harness (210) is electrically connected to all of the joint modules to power and / or control the joint modules.

2. The robotic arm according to claim 1, characterized in that, The shoulder assembly (110) includes a connector (111), a first joint module (112), a shoulder member (113), and a second joint module (114); the connector (111) is used for the robotic arm to be connected to the robot's torso, the shoulder member (113) is connected to the connector (111) through the first joint module (112), the first joint module (112) can drive the shoulder member (113) to rotate to realize forward and backward arm swinging movements, and the second joint module (114) is disposed on the shoulder member (113); The upper arm assembly (130) includes an upper arm connector (131), a third joint module (132), an upper arm body (133), and a fourth joint module (134). The upper arm connector (131) is connected to the shoulder component (113) through the second joint module (114). The second joint module (114) can drive the upper arm connector (131) to rotate to achieve left and right arm swinging movements. The upper arm body (133) is connected to the upper arm connector (131) through the third joint module (132). The third joint module (132) can drive the upper arm body (133) to rotate along its own axis. The fourth joint module (134) is disposed on the upper arm body (133). The forearm assembly (150) includes a forearm connector (151), a fifth joint module (152), and a forearm body (153). The forearm connector (151) is connected to the end of the upper arm body (133) away from the upper arm connector (131) through the fourth joint module (134). The fourth joint module (134) can drive the forearm connector (151) to rotate to achieve forearm bending. The forearm body (153) is connected to the forearm connector (151) through the fifth joint module (152). The fifth joint module (152) can drive the forearm body (153) to rotate along its own axis. The wrist assembly (170) includes a sixth joint module (171), a mounting base (172), a seventh joint module (173), and an end effector (174). The mounting base (172) is connected to the end of the forearm body (153) away from the forearm effector (151) via the sixth joint module (171). The sixth joint module (171) can drive the mounting base (172) to rotate to achieve wrist deflection. The end effector (174) is connected to the mounting base (172) via the seventh joint module (173). The seventh joint module (173) can drive the end effector (174) to rotate to achieve wrist rotation. The end effector (174) is used to connect to the end effector assembly. The shoulder component (113), the upper arm connector (131), the upper arm body (133), the forearm connector (151), and the forearm body (153) are all hollow structures; The power supply harness (210) is sequentially threaded through the connector (111), the shoulder member (113), the upper arm connector (131), the upper arm body (133), the forearm connector (151), and the forearm body (153), and extends to the mounting base (172). The power supply harness (210) is electrically connected to the first joint module (112), the second joint module (114), the third joint module (132), the fourth joint module (134), the fifth joint module (152), the sixth joint module (171), and the seventh joint module (173).

3. The robotic arm according to claim 2, characterized in that, The connector (111) is a flange seat. The first joint module (112) is installed on the connector (111), and the fixed end of the first joint module (112) is fixedly connected to the connector (111). The shoulder component (113) is connected to the output end of the first joint module (112), and the shoulder component (113) is coaxially arranged with the connector (111). The second joint module (114) is installed in the cavity of the shoulder component (113), and the fixed end of the second joint module (114) is fixedly connected to the shoulder component (113). The axis of the second joint module (114) is perpendicular to the axis of the first joint module (112). The connector (111) is provided with a first through hole (119). The first joint module (112) and the second joint module (114) are both hollow joint modules. The power supply harness (210) is electrically connected to the first joint module (112). The power supply harness (210) passes through the central hole of the first joint module (112) to the first through hole (119), and passes through the first through hole (119) to the inside of the shoulder member (113), and is electrically connected to the second joint module (114). The power supply harness (210) also passes through the central hole of the second joint module (114) to the inside of the upper arm connector (131).

4. The robotic arm according to claim 3, characterized in that, The upper arm connector (131) has connecting ears (135) on both sides opposite to the end of the upper arm body (133). One of the two connecting ears (135) is fixedly connected to the output end of the second joint module (114), and the other is rotatably connected to the shoulder component (113). The power supply harness (210) extending from the center hole of the second joint module (114) extends from the inside of the connecting ear (135) into the interior of the upper arm connector (131).

5. The robotic arm according to claim 2, characterized in that, The third joint module (132) is disposed inside the upper arm body (133) and is located at the end of the upper arm body (133) away from the forearm connector (151); The fixed end of the third joint module (132) is fixedly connected to the upper arm body (133), and the output end of the third joint module (132) is connected to the end of the upper arm connector (131) away from the shoulder member (113). The third joint module (132) is a hollow joint module, and the upper arm connector (131) is provided with a second through hole (149); The power supply harness (210) extending into the arm connector (131) extends into the arm body (133) through the second through hole (149) and the center hole of the third joint module (132) in sequence, and is electrically connected to the third joint module (132).

6. The robotic arm according to claim 2, characterized in that, The fourth joint module (134) is disposed at the end of the upper arm body (133) away from the third joint module (132), and the axis of the fourth joint module (134) is perpendicular to the axis of the third joint module (132). The fixed end of the fourth joint module (134) is connected to the upper arm body (133). One end of the forearm connector (151) is provided with two connecting parts (154) opposite to each other. One of the two connecting parts (154) is connected to the output end of the fourth joint module (134), and the other is rotatably connected to the upper arm body (133). The power supply harness (210) extending into the upper arm body (133) extends from the interior of the upper arm body (133) to the fourth joint module (134) and is electrically connected to the fourth joint module (134), and then extends from the inside of the connecting part (154) to the interior of the forearm connector (151).

7. The robotic arm according to claim 6, characterized in that, The fourth joint module (134) is a hollow joint module. One end of the power supply harness (210) passes through the central hole of the fourth joint module (134) to the other end of the fourth joint module (134), and then extends along the inner side of the connecting part (154) into the forearm connector (151).

8. The robotic arm according to claim 7, characterized in that, The fifth joint module (152) is installed inside the forearm body (153) and located at one end of the forearm body (153). The fixed end of the fifth joint module (152) is fixedly connected to the forearm body (153), and the output end of the fifth joint module (152) is fixedly connected to the end of the forearm connector (151) away from the connecting part (154). The forearm connector (151) is connected to the output end of the fifth joint module (152) with a third through hole (161) at one end. The fifth joint module (152) is a hollow joint module. The power supply harness (210) that passes through the forearm connector (151) passes through the third through hole (161) and the center hole of the fifth joint module (152) to the inside of the forearm body (153) and is electrically connected to the fifth joint module (152).

9. The robotic arm according to claim 2, characterized in that, The sixth joint module (171) is installed on the end of the forearm body (153) away from the forearm connector (151), and the fixed end of the sixth joint module (171) is fixedly connected to the forearm body (153). The axis of the fifth joint module (152) is perpendicular to the axis of the sixth joint module (171). The wrist assembly (170) further includes a crank (175) and a connecting rod (177). The forearm body (153) on which the sixth joint module (171) is mounted has two fixed lugs (178) protruding along the length of the forearm body (153). The two fixed lugs (178) are arranged opposite to each other. The mounting base (172) is rotatably mounted between the two fixed lugs (178). The crank (175) is mounted on the output end of the sixth joint module (171). One end of the connecting rod (177) is hinged to the crank (175), and the other end of the connecting rod (177) is hinged to the mounting base (172). The seventh joint module (173) is mounted on the mounting base (172). The power supply harness (210) passing through the interior of the forearm body (153) extends from the interior of the forearm body (153) to the sixth joint module (171) and is electrically connected to the sixth joint module (171). The power supply harness (210) extends from the inside of the fixed ear (178) into the mounting base (172) and is electrically connected to the seventh joint module (173).

10. The robotic arm according to claim 2, characterized in that, The power supply harness (210) includes a first harness segment (211), a second harness segment (212), a third harness segment (213), a fourth harness segment (214), a fifth harness segment (215), a sixth harness segment (216), and a seventh harness segment (217); The connector (111) is provided with a first through hole (119), the upper arm connector (131) is provided with a second through hole (149), and the lower arm connector (151) is provided with a third through hole (161). One end of the first wire harness segment (211) is used to connect to the control module, and the other end is connected to the wiring terminal of the first joint module (112); One end of the second wire harness segment (212) is connected to the terminal block of the first joint module (112), and the other end passes through the center hole and the first through hole (119) of the first joint module (112) to the inside of the shoulder member (113) and is connected to the terminal block of the second joint module (114). One end of the third wire harness segment (213) is connected to the terminal block of the second joint module (114), and the other end passes through the central hole of the second joint module (114) into the inside of the upper arm connector (131), and then passes through the second through hole (149) and the central hole of the third joint module (132) into the upper arm body (133), and is connected to the terminal block of the third joint module (132). One end of the fourth harness segment (214) is connected to the terminal block of the third joint module (132), and the other end extends from the inside of the upper arm body (133) to one side of the fourth joint module (134) and is connected to the terminal block of the fourth joint module (134). One end of the fifth harness segment (215) is connected to the terminal block of the fourth joint module (134), and the other end passes through the central hole of the fourth joint module (134) into the interior of the forearm connector (151), through the third through hole (161) and the central hole of the fifth joint module (152) into the forearm body (153), and is connected to the terminal block of the fifth joint module (152). One end of the sixth wiring harness segment (216) is connected to the terminal block of the fifth joint module (152), and the other end extends from the interior of the forearm body (153) to the sixth joint module (171) and is connected to the terminal block of the sixth joint module (171). One end of the seventh wire harness segment (217) is connected to the terminal block of the sixth joint module (171), and the other end of the seventh wire harness segment (217) extends toward the mounting base (172) and is connected to the terminal block of the seventh joint module (173).

11. The robotic arm according to claim 10, characterized in that, The robotic arm also includes multiple wire clamping components (230), and the first wire harness segment (211), the second wire harness segment (212), the third wire harness segment (213), the fourth wire harness segment (214), the fifth wire harness segment (215), the sixth wire harness segment (216), and the seventh wire harness segment (217) are all fixed by at least one of the wire clamping components (230).

12. A humanoid robot, characterized in that, The robot includes a torso and a robotic arm as described in any one of claims 1-11, wherein the shoulder assembly (110) is connected to the torso of the humanoid robot, and the power supply harness (210) is electrically connected to a control module disposed on the torso.

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