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 and a wrist assembly which are sequentially connected. The mechanical arm is provided with the seven joint modules, and the seven joint modules correspond to seven degrees of freedom, so that the mechanical arm can restore actions of a human arm more truly, and the working capacity of the mechanical arm in a complex environment is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, specifically, a kind of mechanical arm and humanoid robot. BACKGROUND

[0002] Humanoid robot is a kind of robot aiming at imitating human appearance and behavior. It has anthropomorphic limbs, movement and work skills, as well as perception, learning and cognitive ability. It has strong environmental adaptability, anthropomorphic work ability and close feeling, and can be widely applied to industrial production, social service, rescue and disaster relief fields.

[0003] Mechanical arm is an important component of humanoid robot anthropomorphic arm movement, and is also an important execution component of humanoid robot anthropomorphic work.

[0004] The flexibility of existing mechanical arm movement is insufficient, mostly three degrees of freedom, four degrees of freedom and six degrees of freedom, and the real restoration degree of human arm is not enough, which affects its work ability in complex work environment. UTILITY MODEL CONTENT

[0005] The utility model aims to provide a kind of mechanical arm and humanoid robot, which can more truly restore the action of human arm, thereby improving its work ability in complex environment.

[0006] The embodiment of the utility model can be realized as follows:

[0007] In the first aspect, the utility model provides a mechanical arm, which comprises shoulder assembly, large arm assembly, small arm assembly and wrist assembly connected in sequence;

[0008] The shoulder assembly comprises a connecting piece, a first joint module, a shoulder member and a second joint module; the connecting piece is used to connect the mechanical arm to the torso of the robot; the shoulder member is connected to the connecting piece through the first joint module; the first joint module can drive the shoulder member to rotate to realize forward and backward arm swinging action; and the second joint module is arranged on the shoulder member.

[0009] The large arm assembly comprises a large arm connecting piece, a third joint module, a large arm body and a fourth joint module; the large arm connecting piece is connected to the shoulder member through the second joint module; the second joint module can drive the large arm connecting piece to rotate to realize left and right direction arm swinging action; the large arm body is connected to the large arm connecting piece through the third joint module; the third joint module can drive the large arm body to rotate along its own axis; and the fourth joint module is arranged on the large arm body.

[0010] The forearm assembly comprises a forearm connector, a fifth joint module and a forearm body, the forearm connector is connected with the end of the forearm body away from the forearm connector through the fourth joint module, the fourth joint module can drive the forearm connector to rotate to realize the forearm bending action, the forearm body is connected with the forearm connector through the fifth joint module, and the fifth joint module can drive the forearm body to rotate along the axis of the forearm body;

[0011] The wrist assembly comprises a sixth joint module, a mounting seat, a seventh joint module and a terminal connector, the mounting seat is connected with the end of the forearm body away from the forearm connector through the sixth joint module, the sixth joint module can drive the mounting seat to rotate to realize the wrist deflection action, the terminal connector is connected with the mounting seat through the seventh joint module, the seventh joint module can drive the terminal connector to rotate to realize the wrist overturning movement, and the terminal connector is used for connecting a terminal execution assembly.

[0012] In a second aspect, the utility model provides a humanoid robot, including robot trunk and any preceding embodiment of robot arm, the connector is fixedly connected to the robot trunk.

[0013] The mechanical arm and the humanoid robot have the following beneficial effects:

[0014] The first joint module is arranged on the shoulder assembly, so that the mechanical arm can swing the arm forward and backward like a human arm. The second joint module and the third joint module are arranged on the upper arm assembly, so that the mechanical arm can swing the arm left and right and turn the upper arm like a human arm. The fourth joint module and the fifth joint module are arranged on the forearm assembly, so that the mechanical arm can bend the forearm and turn the forearm like a human arm. The sixth joint module and the seventh joint module are arranged on the wrist assembly, so that the mechanical arm can realize the wrist deflection and turning like a human arm. Overall, the mechanical arm has seven degrees of freedom, so that the mechanical arm can truly simulate the human arm to perform actions, thereby improving the working ability and the degree of refinement of the work in a complex working environment. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical scheme of the utility model embodiment, the following will be briefly introduced the drawings needed to be used in the embodiment, it should be understood, the following drawings only show some embodiments of the utility model, therefore should not be regarded as the limitation to the scope, for the ordinary skilled person in the art, under the premise of not paying the creative labor, still can obtain other related drawings according to these drawings.

[0016] Figure 1 The mechanical arm provided in the embodiment is shown in the appearance structure schematic diagram of two different visual angles;

[0017] Figure 2 A schematic view of the mechanical arm provided in the embodiment in cross section in one direction;

[0018] Figure 3 A schematic view of the mechanical arm provided in the embodiment in cross section in another direction;

[0019] Figure 4 A schematic view of the connection of the shoulder assembly and the upper arm connecting member;

[0020] Figure 5 A schematic view of the connection of the shoulder assembly and the upper arm connecting member, with the second shell structure and the auxiliary housing hidden;

[0021] Figure 6 A schematic view of the connection of the shoulder assembly and the upper arm connecting member, with the second shell structure and the auxiliary housing hidden;

[0022] Figure 7 A schematic view of the connection of the shoulder assembly and the upper arm connecting member, with the second shell structure and the auxiliary housing hidden; Figure 6 A schematic view of the connection of the shoulder assembly and the upper arm connecting member, with the second shell structure and the auxiliary housing hidden;

[0023] Figure 8 A schematic view of the connection of the shoulder assembly and the upper arm connecting member, with the second shell structure and the auxiliary housing hidden;

[0024] Figure 9 A schematic view of the connection of the shoulder assembly and the upper arm connecting member, with the second shell structure and the auxiliary housing hidden;

[0025] Figure 10 A schematic view of the connection of the shoulder assembly and the upper arm connecting member, with the second shell structure and the auxiliary housing hidden;

[0026] Figure 11 A schematic view of the connection of the shoulder assembly and the upper arm connecting member, with the second shell structure and the auxiliary housing hidden;

[0027] Figure 12 A schematic view of the connection of the shoulder assembly and the upper arm connecting member, with the second shell structure and the auxiliary housing hidden;

[0028] Figure 13 A schematic view of the connection of the shoulder assembly and the upper arm connecting member, with the second shell structure and the auxiliary housing hidden;

[0029] Icon: 100 - mechanical arm; 110 - shoulder assembly; 111 - connecting piece; 112 - first joint module; 113 - shoulder member; 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 connecting piece; 131A - main shell; 131B - auxiliary 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 - small arm assembly; 151 - small arm connecting piece; 152 - fifth joint module; 153 - small arm 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 seat; 173 - seventh joint module; 174 - end connecting piece; 175 - crank; 177 - connecting rod; 178 - fixing ear; 179 - hinged shaft; 180 - hinged 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 piece; 192 - power board; 193 - covering shell; 194 - navigation insertion connector; 210 - power supply wire harness; 211 - first wire harness section; 212 - second wire harness section; 213 - third wire harness section; 214 - fourth wire harness section; 215 - fifth wire harness section; 216 - sixth wire harness section; 217 - seventh wire harness section; 230 - wire pressing member. DETAILED DESCRIPTION

[0030] The existing mechanical arm has insufficient flexibility in movement, is mostly three degrees of freedom, four degrees of freedom and six degrees of freedom, and has insufficient real restoration of a human arm, thereby affecting the work ability in a complex working environment.

[0031] In view of the above problems, the utility model provides a mechanical arm and humanoid robot, which can more truly restore the action of a mechanical arm to a human arm, thereby improving the work ability in a complex environment.

[0032] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme of the embodiments of the utility model will be described clearly and completely in combination with the drawings in the embodiments of the utility model below. Obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments. The components of the embodiments of the utility model described and shown in the drawings can be arranged and designed in various different configurations.

[0033] Therefore, the following detailed description of the embodiments of the utility model provided in the drawings is not intended to limit the scope of the claimed utility model, but only represents selected embodiments of the utility model. Based on the embodiments in the utility model, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the utility model.

[0034] It should be noted that the features in the embodiments of the utility model can be combined with each other without conflict.

[0035] The overall structure, working principle and technical effects of the mechanical arm and humanoid robot provided by the utility model will be described in detail below through embodiments and in combination with the drawings.

[0036] Please refer to Figure 1 The embodiment provides a humanoid robot, which comprises a robot trunk and mechanical arms 100 arranged on both sides of the trunk. The mechanical arm 100 is an important component for the humanoid robot to imitate the action of a human arm and perform fine work.

[0037] The robot trunk is the main structure of the humanoid robot, which plays a role in supporting the weight of the whole robot and contains important components such as batteries and controllers inside, providing basic support and internal space for the operation of the robot.

[0038] The humanoid robot further comprises a head component. The head component usually contains devices such as cameras, microphones and sensors, which are used to perceive the external environment, such as obtaining visual information through the camera and collecting sound signals with the microphone, so as to realize interaction with the external environment.

[0039] Secondly, the humanoid robot further comprises a leg component. The leg component is connected to the robot trunk. The leg component is generally composed of a thigh, a lower leg and a foot, and is mainly used to support the weight of the humanoid robot and realize the walking function.

[0040] Please refer to Figures 1 to 13In the embodiment, the mechanical arm 100 comprises a shoulder assembly 110, an upper arm assembly 130, a lower arm assembly 150 and a wrist assembly 170 connected in sequence. The shoulder assembly 110 is a connecting part of the mechanical arm 100 and the humanoid robot trunk, and provides stable support for the whole mechanical arm 100, ensuring the stability and reliability of the mechanical arm 100 during movement. The function of the upper arm assembly 130 is to expand the movement range of the mechanical arm 100, so that the mechanical arm 100 can reach a farther position and complete a wider range of tasks through the extension and contraction of the upper arm assembly 130 and the coordinated movement of the shoulder assembly 110 and the lower arm assembly 150, playing a role of connecting the past and the future in the movement process of the mechanical arm 100. The function of the lower arm assembly 150 is fine positioning. Based on the determination of the approximate position by the upper arm, the lower arm assembly 150 can make more fine position adjustment to realize the accurate movement of the end of the mechanical arm 100 in a small range. The wrist assembly 170 is used for posture adjustment, which can accurately adjust the posture of the end execution assembly, so that the mechanical arm 100 can better adapt to the work objects of different shapes, positions and directions.

[0041] Further, the shoulder assembly 110 comprises a connecting piece 111, a first joint module 112, a shoulder member 113 and a second joint module 114. The connecting piece 111 is used for connecting the mechanical arm 100 to the trunk of the robot, the shoulder member 113 is connected to the connecting piece 111 through the first joint module 112, and the first joint module 112 can drive the shoulder member 113 to rotate to realize the forward and backward swing arm action. The second joint module 114 is fixedly installed on the shoulder member 113 and connected with the upper arm assembly 130.

[0042] Please refer to Figures 1 to 13 Further, the first joint module 112 is installed on the connecting piece 111, and the fixed end of the first joint module 112 is fixedly connected with the connecting piece 111. The shoulder member 113 is connected with the output end of the first joint module 112, and the shoulder member 113 and the connecting piece 111 are coaxially arranged.

[0043] Specifically, the connecting piece 111 is a flange seat, which is installed on the output end of the first joint module 112 and connected with the fixed end of the first joint module 112 through 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 of the first through hole 119. The trunk of the robot is provided with a receiving hole, and the tail end of the first joint module 112 is inserted into the receiving hole, and the flange seat is fixedly connected with the trunk of the robot through bolts.

[0044] In the embodiment, the connecting piece 111 is arranged as a flange seat, which has a simple structure, smaller weight and volume, making the assembly more convenient and allowing the robot to move more flexibly.

[0045] Specifically, the shoulder member 113 is a hollow structure with a shape of a "T" letter. The output end of the first joint module 112 is connected to the end of the vertical segment of the shoulder member 113 by a bolt. The second joint module 114 is installed inside the horizontal segment. The fixed end of the second joint module 114 is fixed to the horizontal segment, and the output end is extended from one end of the horizontal segment of the shoulder member 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 segment of the shoulder member 113, which is more aesthetic and makes the overall layout more compact.

[0046] In this embodiment, the shoulder member 113 is divided into a first shell structure 121 and a second shell structure 122, which are assembled together by bolts or the like to form a hollow structure. During assembly, the first shell structure 121 can be first fixedly connected to the output end of the first joint module 112 by a bolt. Then, the second joint module 114 is installed in the first shell structure 121, and 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 to the first shell structure 121, thereby combining with the first shell structure 121 and covering the fixed end of the second joint module 114 inside.

[0047] Of course, in other embodiments of the present application, the shoulder member 113 can also be integrally injection molded or divided into three parts or even more parts and assembled again.

[0048] Please refer to Figures 1 to 13 Further, the forearm assembly 130 includes a forearm connector 131, a third joint module 132, a forearm body 133, and a fourth joint module 134. The forearm connector 131 is connected to the shoulder member 113 through the second joint module 114. The second joint module 114 can drive the forearm connector 131 to rotate to realize left and right swinging motion. The forearm body 133 is connected to the forearm connector 131 through the third joint module 132, and the third joint module 132 can drive the forearm body 133 to rotate along its own axis. The fourth joint module 134 is installed in the forearm body 133, and its output end is extended out of the forearm body 133 to connect and drive the wrist assembly 150 to bend.

[0049] Specifically, the forearm body 133 and the forearm connector 131 are both hollow structures. The end of the forearm connector 131 away from the forearm body 133 is provided with two connecting lugs 135 on opposite sides. 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 member 113.

[0050] The two connecting lugs 135 are arranged on the big arm connecting member 131, one of which is fixedly connected with the output end of the second joint module 114, and the other is rotatably connected with the shoulder member 113, so that the stability and mechanical strength of the connection between the big arm assembly 130 and the shoulder assembly 110 are improved. Most importantly, the interference during rotation of the two assemblies can be avoided.

[0051] Please refer to Figures 1 to 13 Further, the big arm connecting member 131 comprises a main shell 131A and a secondary shell 131B. The main shell 131A and the secondary shell 131B can form a hollow structure by splicing. One connecting lug 135 is arranged on each of the main shell 131A and the secondary shell 131B. The two connecting lugs 135 are oppositely and spacedly arranged. During assembly, the secondary shell 131B is removed first, then the connecting lug 135 on the main shell 131A is connected with the output end of the second joint module 114, and then the output end of the third joint module 132 is fixedly connected with the bottom end of the main shell 131A. Finally, the secondary shell 131B is assembled on the main shell 131A and the shoulder member 113.

[0052] The big arm connecting member 131 is arranged as the main shell 131A and the secondary shell 131B, so that the assembly parts such as screws for fixing the output end are enclosed in the hollow structure enclosed by the main shell and the secondary shell, thereby being more beautiful and facilitating assembly.

[0053] The connecting lug integrally formed with the secondary shell 131B is arranged with a rotating shaft inside. The second shell structure 122 of the shoulder member 113 is arranged with a bearing groove at a position corresponding to the output end of the second joint module 114. A bearing is embedded in the bearing groove. After the secondary shell 131B is assembled on the main shell 131A, the rotating shaft is inserted into the inner ring of the bearing, so that the connecting lug is rotatably connected with the second shell structure 122, thereby enhancing the stability of rotation.

[0054] It should be noted that the assembly of the main shell and the secondary shell and the assembly of the first shell structure 121 and the second shell structure 122 are both achieved by screwing and positioning column to fix and position the two, and a clamping method such as buckle can also be used to fix the two.

[0055] Please refer to Figures 1 to 13Further, the forearm body 133 is substantially hollow cylindrical. The third joint module 132 is arranged in the forearm body 133 and located at the top end of the forearm body 133. The fixed end of the third joint module 132 is fixedly connected to the top end of the forearm body 133 by a bolt. The output end of the third joint module 132 extends out of the forearm body 133 through a hole in the top end of the forearm body 133. The bottom end of the main shell is provided with a second through hole 149, and the output end of the third joint module 132 extending out of the forearm body 133 extends into the main shell through the second through hole 149 and is fixed to the main shell by a screw.

[0056] In this embodiment, the bottom end of the forearm body 133 extends backward. The fourth joint module 134 is installed inside the backwardly curved extension of the bottom end of the forearm body 133, and the side wall of the forearm body 133 is provided with a notch corresponding to the output end of the fourth joint module 134. The output end of the fourth joint module 134 extends out of the side wall through the notch, and its axis is perpendicular to that of the third joint module 132.

[0057] This embodiment allows the bottom end of the forearm body 133 to extend backward, so that the smaller arm assembly 150 can achieve a larger rotation angle relative to the larger arm assembly 130.

[0058] It should be noted that the forearm body 133 can be integrally formed or divided into two parts for assembly.

[0059] Further, the smaller arm assembly 150 includes a smaller arm connecting piece 151, a fifth joint module 152, and a smaller arm body 153. The smaller arm connecting piece 151 is connected to the end of the forearm body 133 away from the larger arm connecting piece 131 through the fourth joint module 134, and the fourth joint module 134 can drive the smaller arm connecting piece 151 to rotate to achieve a smaller arm bending action. The smaller arm body 153 is connected to the smaller arm connecting piece 151 through the fifth joint module 152, and the fifth joint module 152 can drive the smaller arm body 153 to rotate along its axis.

[0060] Please refer to Figures 1 to 13 Specifically, one end of the smaller arm connecting piece 151 is provided with a connecting portion 154, and the connecting portion 154 is connected to the output end of the fourth joint module 134. By arranging the connecting portion 154 on the smaller arm connecting piece 151 and connecting it to the output end of the fourth joint module 134, interference between the smaller arm connecting piece 151 and the forearm body 133 during rotation can be avoided.

[0061] In detail, the connecting part 154 is curved and extends rearward relative to the small arm connecting piece 151. The connecting part 154 has two connecting parts 154 which are opposite and spaced apart. One of the connecting parts 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 large arm body 133 through a rotating shaft and a bearing. The two connecting parts 154 are connected to the output end and the large arm body 133 respectively, so that the rotation is more stable.

[0062] In order to facilitate the connection of the two connecting parts 154 to the output end of the fourth joint module 134 and the large arm body 133 respectively, the small arm connecting piece 151 can be provided in a split body manner to facilitate assembly.

[0063] In the embodiment, the small arm body 153 is substantially hollow and cylindrical. The fifth joint module 152 is installed at the top end inside the small arm body 153, and the fixed end of the fifth joint module 152 is fixedly connected to the small arm body 153. The output end of the fifth joint module 152 extends out of the top end of the small arm body 153. The bottom end of the small arm connecting piece 151 is provided with a third through hole 161. 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 end of the small arm connecting piece 151. In this way, the fifth joint module 152 is installed and does not completely leak out, which is more beautiful.

[0064] In one installation mode, the output end of the fifth joint module 152 can extend into the small arm connecting piece 151 through the third through hole 161, and then be fixedly connected to the bottom end of the small arm connecting piece 151 by screws.

[0065] Please refer to Figures 1 to 13 In the embodiment, the wrist assembly 170 includes a sixth joint module 171, a mounting seat 172, a seventh joint module 173, and a terminal connecting piece 174. The mounting seat 172 is connected to one end of the small arm body 153 away from the small arm connecting piece 151 through the sixth joint module 171, the sixth joint module 171 can drive the mounting seat 172 to rotate to realize a wrist deflection action, the terminal connecting piece 174 is connected to the mounting seat 172 through the seventh joint module 173, the seventh joint module 173 can drive the terminal connecting piece 174 to rotate to realize a wrist overturning movement, and the terminal connecting piece 174 is used to connect a terminal execution assembly.

[0066] The sixth joint module 171 and the seventh joint module 173 are provided in the embodiment, so that the wrist assembly 170 can realize wrist overturning, deflection and other actions, and more delicate actions can be completed.

[0067] Please refer to Figures 1 to 13Further, the sixth joint module 171 is installed at the end of the small arm body 153 away from the small arm connector 151 (i.e. the sixth joint module 171 is installed at the bottom end of the small arm body 153), and the fixed end of the sixth joint module 171 is fixedly connected with the small arm body 153, and the output end of the sixth joint module 171 is in transmission connection with the mounting seat 172. The axis of the sixth joint module 171 is arranged perpendicularly to the axis of the fifth joint module 152, and is parallel to the axis of the fourth joint module 134. The sixth joint is installed at the bottom of the small body, which is more convenient for assembly.

[0068] Further, the wrist assembly 170 further comprises a crank 175 and a connecting rod 177, and the end of the small arm body 153 where the sixth joint module 171 is installed (i.e. the bottom end of the small arm body 153) is provided with two fixed lugs 178 protruding in the length direction of the small arm body 153, and the two fixed lugs 178 are arranged in a spaced and opposite manner. The mounting seat 172 is rotatably installed between the two fixed lugs 178. The crank 175 is installed at the output end of the sixth joint module 171, one end of the connecting rod 177 is hinged with the crank 175, and the other end of the connecting rod 177 is hinged with the mounting seat 172. The seventh joint module 173 is installed on the mounting seat 172.

[0069] In this embodiment, the mounting seat 172 drives the seventh joint module 173 to rotate through the crank 175 and connecting rod 177 mechanism, which can avoid the interference between the mounting seat 172 and the bottom end of the small arm body 153 during rotation, so that a larger angle of rotation can be achieved.

[0070] Please refer to Figures 1 to 13 Further, the mounting seat 172 is provided with a hinge shaft 179, the hinge shaft 179 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 close to the sixth joint module 171, so that the axis of the seventh joint module 173 and the axis of the hinge shaft 179 are arranged in a staggered manner. The fixed 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 seat 172 can rotate relative to the hinge shaft 179.

[0071] In this embodiment, the hinge shaft 179 and the axis of the seventh joint module 173 are arranged in a staggered manner, so that the mounting seat 172 can rotate a larger angle relative to the small arm body 153.

[0072] Specifically, the hinge shaft 179 is installed in the hinge hole 180 through a bearing, and a gasket, a bearing gasket, a bearing outer pressure plate, a bearing end cover and the like are arranged to install the bearing in the fixed lug 178.

[0073] In the embodiment, the end connecting piece 174 comprises a fixed part 184 and assembling lugs 185 arranged on opposite sides of the fixed part 184, one of the two assembling lugs 185 is fixedly connected to the output end of the seventh joint module 173, and the other is rotatably mounted on the mounting seat 172, so that rotation is more stable. One of the assembling lugs 185 is assembled in a split manner, after the assembling lug 185 on the end connecting piece 174 is fixedly connected to the output end of the seventh joint module 173, the other assembling lug 185 processed in a split manner is rotatably connected to the mounting seat 172 and fixedly connected to the end connecting piece 174.

[0074] Generally, the end of the end connecting piece 174 is connected to a six-dimensional force sensor and a dexterous hand. Of course, the dexterous hand can be replaced by other end execution components, such as a mechanical gripper, a suction cup, etc.

[0075] Please refer to Figures 1 to 13 In the embodiment, the connecting piece 111 is provided with a first limiting structure 115, and the shoulder member 113 is provided with a second limiting structure 116 matched with the first limiting structure 115. When the shoulder member 113 rotates relative to the connecting piece 111, the first limiting structure 115 can abut against the second limiting structure 116, so as to limit the rotation angle of the shoulder member 113 relative to the connecting piece 111.

[0076] In the embodiment, the first limiting structure 115 is arranged on the connecting piece 111, and the second limiting structure 116 is arranged on the shoulder member 113, so that the rotation angle of the shoulder member 113 can be limited, thereby avoiding the mechanical structure from being bumped, damaged or the wire harness from being pulled off when the rotation position exceeds the limit rotation position.

[0077] Specifically, the first limiting structure 115 and the second limiting structure 116 are both 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 is protruded on the side of the flange seat close to the shoulder member 113, and the second limiting structure 116 is protruded on the end of the shoulder member 113 (the first shell structure 121) close to the flange seat. Limiting is realized by the face-to-face abutment of the first limiting structure 115 and the second limiting structure 116.

[0078] It should be noted that the number of the first limiting structure 115 and the second limiting structure 116 can be set as needed, and one can be arranged. Two can be arranged on one, and one can be arranged on the other. The first limiting structure 115 and the second limiting structure 116 can also be arranged in pairs.

[0079] Please refer to Figures 1 to 13In the embodiment, the connecting piece 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 is rotated to a preset angle relative to the connecting piece 111, the first insertion hole 117 and the second insertion hole 118 are aligned, and then the pin is sequentially arranged in the first insertion hole 117 and the second insertion hole 118 to fix the connecting piece 111 and the shoulder member 113.

[0080] The first insertion hole 117 and the second insertion hole 118 are arranged in the embodiment. When the first joint module 112 is calibrated and the relative position is calibrated, the pin is inserted into the first insertion hole 117 and the second insertion hole 118 to fix the two, so that the two are kept at a preset angle, thereby facilitating calibration. In addition, when the humanoid robot is powered off, the pin is inserted into the first insertion hole 117 and the second insertion hole 118 to fix the two, thereby avoiding random swinging at the joint.

[0081] Specifically, the first insertion hole 117 is arranged on the boss of the first limiting structure 115, and is arranged along the radial direction of the connecting piece 111 and penetrates the boss of the first limiting structure 115. The second insertion hole 118 is arranged on the side wall of the shoulder member 113. When the shoulder member 113 is rotated relative to the connecting piece to correspond the second insertion hole 118 to the first insertion hole 117, the pin is sequentially inserted into the first insertion hole 117 and the second insertion hole 118.

[0082] Please refer to Figures 1 to 13 In the embodiment, the inner wall of the upper arm connecting piece 131 is provided with a third limiting structure 136 and a fourth limiting structure 137 corresponding to the region between the two connecting tabs 135. When the upper arm connecting piece 131 is rotated 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 connecting piece 131 in the first direction. When the upper arm connecting piece 131 is rotated 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 connecting piece 131 in the second direction. The first direction and the second direction are opposite.

[0083] The third limiting structure 136 and the fourth limiting structure 137 are arranged on the upper arm connecting piece 131 in the embodiment, thereby limiting the rotation angle of the upper arm connecting piece 131 relative to the shoulder member 113 to avoid the problem of mechanical damage and wire harness breakage caused by excessive rotation angle.

[0084] In the embodiment, the third limiting structure 136 and the fourth limiting structure 137 are protrusions protruding on the inner side of the big arm connecting member, so that the first direction and the second direction are limited by the engagement with the outer side wall of the shoulder member 113 when the big arm connecting member 131 rotates relative to the shoulder member 113.

[0085] Please refer to Figures 1 to 13 In the embodiment, the connecting lug 135 is provided with a third insertion hole 138, and the shoulder member 113 is provided with a fourth insertion hole 139. When the big arm connecting member 131 rotates to a preset angle relative to the shoulder member 113, the third insertion hole 138 and the fourth insertion hole 139 are aligned, so that the bolt can be sequentially inserted into the third insertion hole 138 and the fourth insertion hole 139 to fix the big arm connecting member 131 and the shoulder member 113.

[0086] The third insertion hole 138 and the fourth insertion hole 139 are provided in the embodiment. When the second joint module 114 is calibrated and the relative position is calibrated, the bolt can be sequentially inserted into the third insertion hole 138 and the fourth insertion hole 139 to fix the two, so that the two can be kept at a preset angle, thereby facilitating the calibration. In addition, in the case of power failure of the humanoid robot, the bolt can be inserted into the third insertion hole 138 and the fourth insertion hole 139 to fix the two, thereby avoiding random swinging of the joint.

[0087] In the embodiment, the big arm connecting member 131 is provided with a fifth limiting structure 141, and the big arm body 133 is provided with a sixth limiting structure 142 corresponding to the fifth limiting structure 141. When the big arm body 133 rotates to a preset angle relative to the big arm connecting member 131, the fifth limiting structure 141 can abut against the sixth limiting structure 142, thereby limiting the rotation angle of the big arm body 133 relative to the big arm connecting member 131.

[0088] The fifth limiting structure 141 is provided on the big arm connecting member 131, and the sixth limiting structure 142 is provided on the big arm body 133 in the embodiment, so that the rotation angle of the big arm body 133 relative to the big arm connecting member 131 can be limited, thereby avoiding the problem of knocking and mechanical structure damage or wire harness being pulled off due to exceeding the limit rotation position during rotation.

[0089] Please refer to Figures 1 to 13 Specifically, the fifth limiting structure 141 and the sixth limiting structure 142 are both protrusion structures. The sixth limiting structure 142 protrudes on the top end of the big arm body 133, and the fifth limiting structure 141 is provided on the bottom end of the big arm connecting member 131 (the first shell structure 121). The fifth limiting structure 141 and the sixth limiting structure 142 are provided on the same circumference with the axis of the third joint module 132 as the center. The limiting is realized by the face-to-face abutment of the fifth limiting structure 141 and the sixth limiting structure 142.

[0090] It should be noted that the number of the fifth limiting structure 141 and the sixth limiting structure 142 can be set as required, and one can be provided respectively. Two can be provided for one, and one can be provided for the other. The first limiting structure 115 and the second limiting structure 116 can also be provided at intervals.

[0091] In the embodiment, the side wall of the upper arm connecting piece 131 is provided with a fifth insertion hole 143, and the upper arm body 133 is provided with a sixth insertion hole 144 corresponding to the fifth insertion hole 143. When the upper arm body 133 is rotated to a preset angle relative to the upper arm connecting piece 131, the fifth insertion hole 143 and the sixth insertion hole 144 are centered, and the bolt can be sequentially arranged in the fifth insertion hole 143 and the sixth insertion hole 144 to fix the upper arm connecting piece 131 and the upper arm body 133.

[0092] The fifth insertion hole 143 and the sixth insertion hole 144 are provided in the embodiment, and when the third joint module 132 is zeroed and calibrated, the bolt can be inserted into the fifth insertion hole 143 and the sixth insertion hole 144 to fix the two, so that the two can be kept at a preset angle, thereby facilitating zeroing and calibration. Secondly, in the case of power failure of the humanoid robot, the two can also be fixed by inserting the bolt into the fifth insertion hole 143 and the sixth insertion hole 144, thereby avoiding random swinging at the joint. Specifically, the sixth insertion hole 144 is arranged on the boss of the sixth limiting structure 142 and is arranged along the radial direction.

[0093] Please refer to Figures 1 to 13 In the embodiment, the upper arm body 133 is provided with a seventh limiting structure 145 and an eighth limiting structure 146. When the lower arm connecting piece 151 is rotated in the third direction relative to the upper arm body 133, the outer wall thereof abuts against the seventh limiting structure 145, thereby limiting the rotation angle of the lower arm connecting piece 151 in the third direction; when rotated in the fourth direction, the outer wall abuts against the eighth limiting structure 146, thereby also limiting the rotation angle thereof in the fourth direction, and the third direction and the fourth direction are opposite.

[0094] The seventh limiting structure 145 and the eighth limiting structure 146 are provided on the upper arm body 133 in the embodiment, thereby limiting the rotation angle of the lower arm connecting piece 151 relative to the upper arm body 133, to avoid the problem of mechanical damage or broken wiring harness due to excessive rotation angle.

[0095] In the embodiment, the seventh limiting structure 145 and the eighth limiting structure 146 are limiting surfaces provided on both sides of the upper arm body 133 in the rotation direction of the lower arm connecting piece 151, to achieve limiting by surface-to-surface abutment.

[0096] Of course, in some embodiments, the seventh limiting structure 145 and the eighth limiting structure 146 can also be bosses arranged on the large arm body 133 or the small arm connecting piece.

[0097] Please refer to Figures 1 to 13 In the embodiment, the connecting piece 154 is provided with a seventh insertion hole 147, and the large arm body 133 is provided with an eighth insertion hole (not shown in the figure) corresponding to the seventh insertion hole 147. When the small arm connecting piece 151 is rotated to a preset angle relative to the large arm connecting piece 131, the seventh insertion hole 147 and the eighth insertion hole are aligned, and the bolt can be sequentially inserted into the seventh insertion hole 147 and the eighth insertion hole to fix the small arm connecting piece 151 and the large arm body 133.

[0098] In the embodiment, the seventh insertion hole 147 and the eighth insertion hole are arranged, and when the fourth joint module 134 is zeroed and calibrated, the large arm body 133 and the small arm connecting piece 151 can be fixed by sequentially inserting the bolt into the seventh insertion hole 147 and the eighth insertion hole, so that they can be kept at a preset angle, thereby facilitating zeroing and calibration. Secondly, in the case of power failure of the humanoid robot, the large arm body 133 and the small arm connecting piece 151 can also be fixed by inserting the bolt into the seventh insertion hole 147 and the eighth insertion hole, thereby avoiding random swinging at the joint.

[0099] In the embodiment, the small arm body 153 is provided with a ninth limiting structure 155, and the small arm connecting piece 151 is provided with a tenth limiting structure 156 corresponding to the ninth limiting structure 155. When the small arm body 153 is rotated to a preset angle relative to the small arm connecting piece 151, the ninth limiting structure 155 and the tenth limiting structure 156 abut, thereby limiting the rotation angle of the small arm body 153 relative to the small arm connecting piece 151.

[0100] In the embodiment, the ninth limiting structure 155 is arranged on the small arm body 153, and the tenth limiting structure 156 is arranged on the small arm connecting piece 151, which can limit the rotation angle of the small arm body 153 relative to the small arm connecting piece 151, thereby avoiding the problem of knocking and mechanical structure damage or wire harness being pulled off when the rotation angle exceeds the limit rotation position.

[0101] Please refer to Figures 1 to 13 Specifically, the ninth limiting structure 155 and the tenth limiting structure 156 are both boss structures. The ninth limiting structure 155 is arranged at the top end of the small arm body 153, and the tenth limiting structure 156 is arranged at the bottom end of the small arm connecting piece. 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. Limiting can be achieved by face-to-face abutment of the ninth limiting structure 155 and the tenth limiting structure 156.

[0102] It should be noted that the number of the ninth limiting structure 155 and the tenth limiting structure 156 can be set as required, and one can be provided. Alternatively, two can be provided for one, and one can be provided for the other. Alternatively, the first limiting structure 115 and the second limiting structure 116 can be provided in pairs.

[0103] In the embodiment, the small arm body 153 is provided with a ninth insertion hole 157, and the small arm connecting piece 151 is provided with a tenth insertion hole 158 corresponding to the ninth insertion hole 157. When the small arm body 153 is rotated to a preset angle relative to the small arm connecting piece 151, the ninth insertion hole 157 and the tenth insertion hole 158 are aligned, and the bolt can be sequentially arranged in the ninth insertion hole 157 and the tenth insertion hole 158 to fix the small arm connecting piece 151 and the small arm body 153.

[0104] In the embodiment, the ninth insertion hole 157 and the tenth insertion hole 158 are provided, and when the fifth joint module 152 is calibrated and the relative position is calibrated, the bolt can be inserted into the ninth insertion hole 157 and the tenth insertion hole 158 to fix the small arm body 153 and the small arm connecting piece 151, so that they can be kept at a preset angle, thereby facilitating calibration. In addition, in the case of power failure of the humanoid robot, the bolt can also be inserted into the ninth insertion hole 157 and the tenth insertion hole 158 to fix the two, thereby avoiding random swinging at the joint. Specifically, the tenth insertion hole 158 is arranged on the boss of the tenth limiting structure 156 and is arranged along the radial direction.

[0105] Please refer to Figures 1 to 13 In the embodiment, the small arm 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 is rotated to a preset angle relative to the small arm body 153, 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 small arm body 153.

[0106] In the embodiment, the eleventh limiting structure 159 is arranged on the small arm body 153, and the twelfth limiting structure 181 is arranged on the crank 175, thereby limiting the rotation angle of the mounting seat 172 relative to the small arm body 153, to avoid the problem of bumping, mechanical damage and wire harness breakage caused by excessive rotation angle.

[0107] Specifically, the eleventh limiting structure 159 and the twelfth limiting structure 181 are both boss structures. The eleventh limiting structure 159 includes two bosses protruding from the side end face of the small arm body 153 corresponding to the crank 175, and the two bosses are arranged at a preset circular angle. The twelfth limiting structure 181 is arranged on the protrusion of the side wall of the crank 175, and when the crank 175 rotates, the protrusion can rotate between the two bosses to achieve bidirectional limiting.

[0108] Further, the crank 175 is provided with an eleventh insertion hole 182, and the small arm body 153 is provided with a twelfth insertion hole 183 corresponding to the eleventh insertion hole 182. When the crank 175 is rotated to a preset angle relative to the small arm body 153, the eleventh insertion hole 182 and the twelfth insertion hole 183 are aligned, and the bolt can be sequentially inserted into the eleventh insertion hole 182 and the twelfth insertion hole 183 to fix the crank 175 and the small arm body 153.

[0109] The eleventh insertion hole 182 and the twelfth insertion hole 183 are provided in the embodiment, and when the sixth joint module 171 is zeroed and calibrated, the small arm body 153 and the crank 175 (i.e., the mounting seat 172) can be fixed by inserting the bolt into the eleventh insertion hole 182 and the twelfth insertion hole 183, so that they are kept at a preset angle, thereby facilitating zeroing and calibration. In addition, in the case of power failure of the humanoid robot, the small arm body 153 and the crank 175 can also be fixed by inserting the bolt into the eleventh insertion hole 182 and the twelfth insertion hole 183, thereby avoiding random swinging at the joint. Specifically, the twelfth insertion hole 183 is arranged on the side wall of the bottom end of the small arm body 153.

[0110] Please refer to Figures 1 to 13 In the embodiment, the assembly lug 185 is provided with a thirteenth limiting structure 186, and the mounting seat 172 is provided with a fourteenth limiting structure 187 corresponding to the thirteenth limiting structure 186. When the end connecting piece 174 is rotated to a preset angle relative to the mounting seat 172, the thirteenth limiting structure 186 can abut against the fourteenth limiting structure to limit the rotation angle of the end connecting piece 174 relative to the mounting seat 172.

[0111] The thirteenth limiting structure 186 is arranged on the assembly lug 185, and the fourteenth limiting structure 187 is arranged on the mounting seat 172 in the embodiment, which can limit the rotation angle of the end connecting piece 174 relative to the mounting seat 172, thereby avoiding the problems of bumping, mechanical structure damage or wire harness being pulled off during the rotation process.

[0112] Specifically, the thirteenth limiting structure 186 and the fourteenth limiting structure 187 are both in the form of a boss. The thirteenth limiting structure 186 is a boss arranged on the inner side of the assembly lug 185, and the fourteenth limiting structure 187 is a boss arranged on the end of the mounting seat 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. Limiting can be achieved by the face-to-face abutment of the thirteenth limiting structure 186 and the fourteenth limiting structure 187.

[0113] It should be noted that the number of the thirteenth limiting structure 186 and the fourteenth limiting structure 187 can be set as required, and one can be provided respectively. Alternatively, two can be provided for one, and one for the other. Alternatively, the first limiting structure 115 and the second limiting structure 116 can be both provided with two limiting structures at intervals.

[0114] In the present embodiment, the assembly ear 185 is provided with a thirteenth insertion hole 188, and the mounting seat 172 is provided with a fourteenth insertion hole 189 corresponding to the thirteenth insertion hole 188. When the end connecting piece 174 is rotated to a preset angle relative to the mounting seat 172, the thirteenth insertion hole 188 and the fourteenth insertion hole 189 are centered, and the bolt can be sequentially inserted into the thirteenth insertion hole 188 and the fourteenth insertion hole 189 to fix the end connecting piece 174 and the mounting seat 172.

[0115] The present embodiment is provided with the thirteenth insertion hole 188 and the fourteenth insertion hole 189, which can be inserted by the bolt when the seventh joint module 173 is calibrated and the relative position is calibrated, so as to fix the end connecting piece 174 and the mounting seat 172, and keep them at a preset angle, thereby facilitating calibration. In addition, in the case of power failure of the humanoid robot, the end connecting piece 174 and the mounting seat 172 can also be fixed by inserting the bolt into the thirteenth insertion hole 188 and the fourteenth insertion hole 189, thereby avoiding random swinging at the joint. Specifically, the fourteenth insertion hole 189 is arranged at the end of the mounting seat 172.

[0116] It should be noted that the shoulder member 113, the large arm connecting piece 131, the large arm body 133, the small arm connecting piece 151, and the small arm 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 mechanical arm 100 further comprises a power supply wire harness 210. The power supply wire harness 210 is sequentially inserted into the interiors of the connecting piece 111, the shoulder member 113, the large arm connecting piece 131, the large arm body 133, the small arm connecting piece 151, and the small arm body 153 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 in sequence, and is extended to the mounting seat 172 from the small arm body 153. The power supply wire harness 210 is electrically connected with 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.

[0117] The power supply wire harness 210 can be arranged inside the mechanical arm 100, and interference and excessive pulling of rotation can be avoided. Most importantly, the power supply wire harness 210 is basically invisible from the outside of the mechanical arm 100, so that the mechanical arm 100 is more beautiful.

[0118] 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 drum shaft of the output end, and is usually cylindrical and coincides with the axis of the output end, extending from the output end to the other end.

[0119] Please refer to Figures 1 to 13 In the embodiment, the power supply wire harness 210 includes a first wire harness section 211, a second wire harness section 212, a third wire harness section 213, a fourth wire harness section 214, a fifth wire harness section 215, a sixth wire harness section 216, and a seventh wire harness section 217. One end of the first wire harness section 211 is connected to the control module, and the other end is connected to the terminal of the first joint module 112. One end of the second wire harness section 212 is connected to the terminal of the first joint module 112, and the other end is arranged inside the shoulder member 113 through the central hole of the first joint module 112 and the first through hole 119, and is connected to the terminal of the second joint module 114. One end of the third wire harness section 213 is connected to the terminal of the second joint module 114, and the other end is arranged inside the large arm connecting piece 131 through the central hole of the second joint module 114, and is sequentially arranged inside the large arm body 133 through the second through hole 149 and the central hole of the third joint module 132, and is connected to the terminal of the third joint module 132. One end of the fourth wire harness section 214 is connected to the terminal of the third joint module 132, and the other end extends from the inside of the large arm body 133 to one side of the fourth joint module 134, and is connected to the terminal of the fourth joint module 134. One end of the fifth wire harness section 215 is connected to the terminal of the fourth joint module 134, and the other end is arranged inside the small arm connecting piece 151 through the central hole of the fourth joint module 134, and is arranged inside the small arm body 153 through the third through hole 161 and the central hole of the fifth joint module 152, and is connected to the terminal of the fifth joint module 152. One end of the sixth wire harness section 216 is connected to the terminal of the fifth joint module 152, and the other end extends from the inside of the small arm body 153 to the sixth joint module 171, and is connected to the terminal of the sixth joint module 171. One end of the seventh wire harness section 217 is connected to the terminal of the sixth joint module 171, and the other end of the seventh wire harness section 217 extends towards the mounting seat 172, and is connected to the terminal of the seventh joint module 173.

[0120] The power supply wire harness 210 is arranged as seven independent segments in the embodiment, and is connected in sequence through internal wiring, so that the production is standardized and industrialized in batches, and the amount of wires is reduced.

[0121] Please refer to Figures 1 to 13 In the embodiment, the robot arm 100 further comprises a plurality of wire pressing members 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 pressing member 230.

[0122] The power supply wire harness 210 is arranged as seven independent segments in the embodiment, and is connected in sequence through internal wiring, so that the production is standardized and industrialized in batches, and the amount of wires is reduced.

[0123] Specifically, the connecting piece 111 (i.e. the flange seat) is arranged at the front end (i.e. the end of the output end) of the first joint module 112, so that 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 terminal of the tail end of the first joint module 112.

[0124] One end of the second wire harness segment 212 is also connected to the terminal of the tail end of the first joint module 112. The tail end of the first joint module 112 is provided with a wire pressing plate, which can fix the first wire harness segment 211 and the second wire harness segment 212 at the same time, so as to avoid the first wire harness segment 211 and the second wire harness segment 212 being pulled off from the terminal of the tail end of the first joint module 112.

[0125] The other end of the second wire harness segment 212 passes through the center hole of the first joint module 112, the first through hole 119 of the flange seat, and extends to the tail end of the second joint module 114 through the inner side wall of the shoulder member 113, and is connected to the terminal of the second joint module 114.

[0126] One end of the third wire harness segment 213 is also connected to the terminal at the tail end of the second joint module 114. The tail end of the second joint module 114 is provided with a wire pressing plate that can simultaneously fix the second wire harness segment 212 and the third wire harness segment 213, so as to avoid the second wire harness segment 212 and the third wire harness segment 213 being pulled off from the terminal at the tail end of the second joint module 114. The other end of the third wire harness segment 213 extends out of the shoulder member 113 through the central hole of the second joint module 114, and extends to the inner side of the large arm connecting member 131 along the inner side of the connecting ear 135 (the connecting ear 135 on the main housing 131A), and then extends to the tail end of the third joint module 132 through the second through hole 149 and the central hole of the third joint module 132, and is connected to the terminal of the third joint module 132. A plurality of wire pressing plates can be provided at positions such as the inner side of the connecting ear 135 to fix the third wire harness segment 213.

[0127] One end of the fourth wire harness segment 214 is connected to the terminal 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 pressing plate that can simultaneously fix the third wire harness segment 213 and the fourth wire harness segment 214. The other end of the fourth wire harness segment 214 directly extends to the tail end of the fourth joint module 134 through the inner part of the large arm body 133, and is connected to the terminal at the tail end of the fourth joint module 134.

[0128] One end of the fifth wire harness segment 215 is connected to the terminal 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 pressing plate that can simultaneously fix the fourth wire harness segment 214 and the fifth wire harness segment 215. The other end of the fifth wire harness segment 215 extends to the connecting part 154 (which is one of the two connecting parts 154 connected to the output end of the fourth joint module 134) of the small arm connecting member 151 through the central hole of the fifth joint module 152, and then extends to the inner part of the small arm connecting member through the inner side wall of the connecting part 154, and then extends to the tail end of the fifth joint module 152 through the third through hole 161 and the central hole of the fifth joint module 152, and is connected to the terminal at the tail end of the fifth joint module 152.

[0129] One end of the sixth wire 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 pressing plate that can simultaneously fix the fifth wire harness segment 215 and the sixth wire harness segment 216. The other end of the sixth wire harness segment 216 extends to the tail end of the sixth joint module 171 through the inner side of the small arm body 153, and is connected to the terminal of the sixth joint module 171.

[0130] One end of the seventh wire harness segment 217 is connected to the tail end of the sixth joint module 171, and the tail end of the sixth joint module 171 is provided with a wire pressing plate which 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 seat 172, and has a hole formed in the mounting seat 172 and extending into the mounting seat 172 to connect with the terminal of the tail end of the seventh joint module 173. The inner side of the fixing lug 178 is provided with a wire pressing plate which can fix the seventh wire harness segment 217, and the tail end of the seventh joint module 173 is also provided with a wire pressing plate to fix the seventh wire harness segment 217.

[0131] In the embodiment, the power supply wire harness 210 is provided in seven segments, which is convenient for installation, connection and fixation. Of course, the power supply wire harness 210 can also be an integrated wire harness, and the wire harnesses form a wire harness assembly which are sequentially arranged. In addition, the power supply wire harness 210 can not only be used for power supply, but also can transmit control signals and the like.

[0132] Since the power supply voltage of the end execution assembly can be different from the voltage of the joint module, in order to more conveniently supply power to different types of end execution assemblies, in the embodiment, the robot arm 100 further comprises a power supply board mounting member 191, a power supply board 192 and a covering shell 193. The power supply board mounting member 191 is fixedly installed on the forearm body 153, and the power supply board 192 is installed on the power supply board mounting member 191. The covering shell 193 covers the outer periphery of the forearm body 153. The covering shell 193 is provided with a aviation plug connector 194 which is electrically connected with the power supply board 192, and the aviation plug connector 194 is used for supplying power to the end execution assembly.

[0133] In the embodiment, the power supply board 192 and the aviation plug connector 194 are provided, so that the alternative voltage can be conveniently used for the end execution assembly, and the aviation plug connector 194 is convenient for plugging and power supply.

[0134] Please refer to Figures 1 to 13 In the embodiment, the power supply board mounting member 191 is arranged in the forearm body 153 and located between the fifth joint module 152 and the sixth joint module 171, and the power supply board 192 is fixedly installed on the power supply board mounting member 191 by screws or the like. The covering shell 193 covers the outer side of the forearm body 153, and can cover the sixth joint module 171, the crank 175 and the connecting rod 177 arranged at the lower end of the forearm body 153, so that the appearance of the robot arm 100 is more beautiful. The aviation plug connector 194 is fixedly arranged on the covering shell 193, and the aviation plug connector 194 is connected with the power supply board 192 through wires. The aviation plug connector 194 can be provided with multiple groups, such as one or more groups of 6V output voltage, one or more groups of 12V output voltage and one or more groups of 24V output voltage, so as to meet the selective connection of different power consumption requirements of the execution end.

[0135] Secondly, due to the presence of the covering shell 193, the side wall of the small arm body 153 can be provided in a hollow shape to facilitate threading and weight reduction.

[0136] It should be further noted that in some embodiments of the present application, in order to shield the exposed structure such as screws of the installation position, shielding pieces are further provided on the shoulder member 113, the large arm connecting piece 131, the large arm body 133, the small arm connecting piece 151 and the small arm body 153. The exposed structure can be covered inside by shielding through the shielding pieces.

[0137] In summary, by providing the first joint module 112 on the shoulder assembly 110, the mechanical arm 100 can perform forward and backward swing arm as a human arm. By providing the second joint module 114 and the third joint module 132 on the large arm assembly 130, the mechanical arm 100 can perform left and right swing arm and large arm overturn as a human arm. By providing the fourth joint module 134 and the fifth joint module 152 on the small arm assembly 150, the mechanical arm 100 can perform small arm bending and small arm overturn as a human arm. By providing the sixth joint module 171 and the seventh joint module 173 on the wrist assembly 170, the mechanical arm 100 can perform wrist deflection and overturn as a human arm. Overall, the mechanical arm 100 has seven degrees of freedom, so that it can truly perform actions as a human arm, thereby improving its workability in a complex working environment and the degree of work refinement.

[0138] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. A robot arm, characterized in that, The shoulder assembly (110), the large arm assembly (130), the small arm assembly (150) and the wrist assembly (170) are sequentially connected; The shoulder assembly (110) comprises a connecting piece (111), a first joint module (112), a shoulder member (113) and a second joint module (114); the connecting piece (111) is used for connecting the robot arm to the torso of the robot, the shoulder member (113) is connected to the connecting piece (111) through the first joint module (112), the first joint module (112) can drive the shoulder member (113) to rotate to realize the forward and backward swing arm action, and the second joint module (114) is arranged on the shoulder member (113); The large arm assembly (130) comprises a large arm connecting piece (131), a third joint module (132), a large arm body (133) and a fourth joint module (134); the large arm connecting piece (131) is connected to the shoulder member (113) through the second joint module (114), the second joint module (114) can drive the large arm connecting piece (131) to rotate to realize the left and right swing arm action, the large arm body (133) is connected to the large arm connecting piece (131) through the third joint module (132), the third joint module (132) can drive the large arm body (133) to rotate along the axis thereof, and the fourth joint module (134) is arranged on the large arm body (133); The small arm assembly (150) comprises a small arm connecting piece (151), a fifth joint module (152) and a small arm body (153); the small arm connecting piece (151) is connected to one end of the large arm body (133) away from the large arm connecting piece (131) through the fourth joint module (134), the fourth joint module (134) can drive the small arm connecting piece (151) to rotate to realize the small arm bending action, and the small arm body (153) is connected to the small arm connecting piece (151) through the fifth joint module (152), and the fifth joint module (152) can drive the small arm body (153) to rotate along the axis thereof; The wrist assembly (170) comprises a sixth joint module (171), a mounting seat (172), a seventh joint module (173) and a terminal connecting piece (174); the mounting seat (172) is connected to one end of the small arm body (153) away from the small arm connecting piece (151) through the sixth joint module (171), the sixth joint module (171) can drive the mounting seat (172) to rotate to realize the wrist deflection action, the terminal connecting piece (174) is connected to the mounting seat (172) through the seventh joint module (173), the seventh joint module (173) can drive the terminal connecting piece (174) to rotate to realize the wrist overturning movement, and the terminal connecting piece (174) is used for connecting a terminal execution assembly.

2. The robot of claim 1, wherein, The shoulder member (113), the large arm connector (131), the large arm body (133), the small arm connector (151) and the small arm body (153) are all hollow structures.

3. The robot of claim 2, wherein, The connector (111) is a flange seat, the first joint module (112) is installed on the connector (111), and a fixed end of the first joint module (112) is fixedly connected with the connector (111); the shoulder member (113) is connected with an output end of the first joint module (112), and the shoulder member (113) is coaxially arranged with the connector (111); The second joint module (114) is installed in the shoulder member (113), and a fixed end of the second joint module (114) is fixedly connected with the shoulder member (113); an axis of the second joint module (114) is perpendicular to an axis of the first joint module (112); the large arm connector (131) is provided with a connecting ear piece (135) on each side of an end of the large arm connector (131) away from the large arm body (133), and one of the two connecting ear pieces (135) is fixedly connected with an output end of the second joint module (114); The third joint module (132) is arranged in the large arm body (133) and located at an end of the large arm body (133) away from the small arm connector (151); a fixed end of the third joint module (132) is fixedly connected with the large arm body (133), and an output end of the third joint module (132) is connected with an end of the large arm connector (131) away from the shoulder member (113); The fourth joint module (134) is arranged at an end of the large arm body (133) away from the third joint module (132), and an axis of the fourth joint module (134) is perpendicular to an axis of the third joint module (132); a fixed end of the fourth joint module (134) is connected with the large arm body (133); an end of the small arm connector (151) is provided with a connecting portion (154), and the connecting portion (154) is connected with an output end of the fourth joint module (134); The fifth joint module (152) is installed in the small arm body (153) and located at an end of the small arm body (153); a fixed end of the fifth joint module (152) is fixedly connected with the small arm body (153), and an output end of the fifth joint module (152) is fixedly connected with an end of the small arm connector (151) away from the connecting portion (154); The sixth joint module (171) is installed at one end of the forearm body (153) away from the forearm connector (151), and a fixed end of the sixth joint module (171) is fixedly connected with the forearm body (153), and an axis of the fifth joint module (152) is arranged perpendicularly to an axis of the sixth joint module (171); the wrist assembly (170) further comprises a crank (175) and a connecting rod (177), two fixed lugs (178) are protruded towards a length direction of the forearm body (153) at one end of the forearm body (153) where the sixth joint module (171) is installed, the two fixed lugs (178) are oppositely arranged, the mounting seat (172) is rotatably installed between the two fixed lugs (178), the crank (175) is installed at an output end of the sixth joint module (171), one end of the connecting rod (177) is hingedly connected with the crank (175), and the other end of the connecting rod (177) is hingedly connected with the mounting seat (172), and the seventh joint module (173) is installed at the mounting seat (172); The end connector (174) comprises a fixed part (184) and assembly lugs (185) arranged at opposite sides of the fixed part (184), and one of the two assembly lugs (185) is fixedly connected with an output end of the seventh joint module (173).

4. The robot of claim 3, wherein, The connector (111) is provided with a first limiting structure (115), and the shoulder member (113) is provided with a second limiting structure (116) matched 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), so as to limit the rotation angle of the shoulder member (113) relative to the connector (111); And / or, 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 a bolt can be sequentially arranged in the first insertion hole (117) and the second insertion hole (118) to fix the connector (111) and the shoulder member (113); And / or, The inner wall of the big arm connecting piece (131) is provided with a third limiting structure (136) and a fourth limiting structure (137) corresponding to the region between the two connecting tabs (135). When the big arm connecting piece (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 big arm connecting piece (131) in the first direction. When the big arm connecting piece (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 big arm connecting piece (131) in the second direction. The first direction and the second direction are opposite. And / or, The connecting tab (135) is provided with a third insertion hole (138), and the shoulder member (113) is provided with a fourth insertion hole (139). When the big arm connecting piece (131) rotates relative to the shoulder member (113) to a preset angle, the third insertion hole (138) and the fourth insertion hole (139) are centered, and a bolt can be sequentially arranged in the third insertion hole (138) and the fourth insertion hole (139) to fix the big arm connecting piece (131) and the shoulder member (113); And / or, The big arm connecting piece (131) is provided with a fifth limiting structure (141), and the big arm body (133) is provided with a sixth limiting structure (142) corresponding to the fifth limiting structure (141). When the big arm body (133) rotates relative to the big arm connecting piece (131) to a preset angle, the fifth limiting structure (141) can abut against the sixth limiting structure (142) to limit the rotation angle of the shoulder member (113) relative to the connecting piece (111); And / or, The side wall of the big arm connecting piece (131) is provided with a fifth insertion hole (143), and the big arm body (133) is provided with a sixth insertion hole (144) corresponding to the fifth insertion hole (143). When the big arm body (133) rotates relative to the big arm connecting piece (131) to a preset angle, the fifth insertion hole (143) and the sixth insertion hole (144) are centered, and a bolt can be sequentially arranged in the fifth insertion hole (143) and the sixth insertion hole (144) to fix the big arm connecting piece (131) and the big arm body (133); And / or, The large arm body (133) is provided with a seventh limiting structure (145) and an eighth limiting structure (146); when the small arm connector (151) rotates relative to the large arm body (133) in a third direction, the outer wall of the small arm connector (151) can abut against the seventh limiting structure (145) to limit the rotation angle of the small arm connector (151) in the third direction; when the small arm connector (151) rotates relative to the large arm body (133) in a fourth direction, the outer wall of the small arm connector (151) can abut against the eighth limiting structure (146) to limit the rotation angle of the small arm connector (151) in the fourth direction; wherein the third direction and the fourth direction are opposite; And / or, The connecting part (154) is provided with a seventh insertion hole (147), and the large arm body (133) is provided with an eighth insertion hole corresponding to the seventh insertion hole (147); when the small arm connector (151) rotates relative to the large arm connector (131) to a preset angle, the seventh insertion hole (147) and the eighth insertion hole are centered, and a bolt can be sequentially arranged in the seventh insertion hole (147) and the eighth insertion hole to fix the small arm connector (151) and the large arm body (133); And / or, The small arm body (153) is provided with a ninth limiting structure (155), and the small arm connector (151) is provided with a tenth limiting structure (156) corresponding to the ninth limiting structure (155); when the small arm body (153) rotates relative to the small arm connector (151) to a preset angle, the ninth limiting structure (155) can abut against the tenth limiting structure (156) to limit the rotation angle of the small arm body (153) relative to the small arm connector (151); And / or, The small arm body (153) is provided with a ninth insertion hole (157), and the small arm connector (151) is provided with a tenth insertion hole (158) corresponding to the ninth insertion hole (157); When the small arm body (153) rotates relative to the small arm connector (151) to a preset angle, the ninth insertion hole (157) and the tenth insertion hole (158) are centered, and a bolt can be sequentially arranged in the ninth insertion hole (157) and the tenth insertion hole (158) to fix the small arm connector (151) and the small arm body (153); And / or, The small arm 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 small arm 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 small arm body (153); And / or, The crank (175) is provided with an eleventh insertion hole (182), and the small arm body (153) is provided with a twelfth insertion hole (183) corresponding to the eleventh insertion hole (182); when the crank (175) is rotated to a preset angle relative to the small arm body (153), the eleventh insertion hole (182) is aligned with the twelfth insertion hole (183), and a bolt can be sequentially arranged in the eleventh insertion hole (182) and the twelfth insertion hole (183) to fix the crank (175) and the small arm body (153); And / or, The mounting ear (185) is provided with a thirteenth limiting structure (186), and the mounting seat (172) is provided with a fourteenth limiting structure (187) corresponding to the thirteenth limiting structure (186); when the end connecting piece (174) is rotated to a preset angle relative to the mounting seat (172), the thirteenth limiting structure (186) can abut against the fourteenth limiting structure to limit the rotation angle of the end connecting piece (174) relative to the mounting seat (172); And / or, The mounting ear (185) is provided with a thirteenth insertion hole (188), and the mounting seat (172) is provided with a fourteenth insertion hole (189) corresponding to the thirteenth insertion hole (188); when the end connecting piece (174) is rotated to a preset angle relative to the mounting seat (172), the thirteenth insertion hole (188) is aligned with the fourteenth insertion hole (189), and a bolt can be sequentially arranged in the thirteenth insertion hole (188) and the fourteenth insertion hole (189) to fix the end connecting piece (174) and the mounting seat (172).

5. The robot of claim 3, wherein, The mounting seat (172) is provided with a hinge shaft (179), the hinge shaft (179) 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) close to the sixth joint module (171), so that the axis of the seventh joint module (173) and the axis of the hinge shaft (179) are arranged in a staggered manner; The fixing ear (178) is provided with a hinge hole (180), and the hinge shaft (179) is installed in the hinge hole (180), so that the mounting seat (172) can rotate relative to the hinge hole (180).

6. The robot arm according to any of claims 2-5, characterized in that, The mechanical arm further comprises a power board mounting piece (191), a power board (192) and a cladding shell (193); The power board mounting piece (191) is fixedly installed on the small arm body (153), and the power board (192) is installed on the power board mounting piece (191); The cladding shell (193) covers the outer periphery of the small arm body (153); The cladding shell (193) is provided with a navigation plug (194) electrically connected with the power board (192), and the navigation plug (194) is used to power the end execution assembly.

7. The robot arm according to any of claims 2-5, characterized in that, 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 hollow joint modules; The mechanical arm further comprises a power supply wire harness (210); The power supply wire harness (210) is sequentially arranged in the interiors of the connecting piece (111), the shoulder member (113), the large arm connecting piece (131), the large arm body (133), the small arm connecting piece (151) and the small arm body (153) 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) in sequence, and is extended to the mounting seat (172) by the small arm body (153); The power supply wire harness (210) is electrically connected with 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).

8. The robot of claim 7, wherein, The power supply wire harness (210) comprises a first wire harness section (211), a second wire harness section (212), a third wire harness section (213), a fourth wire harness section (214), a fifth wire harness section (215), a sixth wire harness section (216) and a seventh wire harness section (217); The connecting piece (111) is provided with a first penetrating hole (119), the large arm connecting piece (131) is provided with a second penetrating hole (149), and the small arm connecting piece (151) is provided with a third penetrating hole (161); One end of the first wire harness section (211) is connected to a control module, and the other end is connected to a terminal of the first joint module (112); One end of the second wire harness section (212) is connected to the terminal of the first joint module (112), and the other end is arranged in the interior of the shoulder member (113) through the central hole of the first joint module (112) and the first penetrating hole (119), and is connected to a terminal of the second joint module (114); One end of the third wire harness section (213) is connected to the terminal of the second joint module (114), and the other end is arranged in the interior of the large arm connecting piece (131) through the central hole of the second joint module (114), is sequentially arranged in the large arm body (133) through the second penetrating hole (149) and the central hole of the third joint module (132), and is connected to a terminal of the third joint module (132); One end of the fourth wire harness section (214) is connected to the terminal of the third joint module (132), and the other end is extended from the interior of the large arm body (133) to one side of the fourth joint module (134) and is connected to a terminal of the fourth joint module (134); One end of the fifth wire harness section (215) is connected to the terminal of the fourth joint module (134), and the other end is arranged in the interior of the small arm connecting piece (151) through the central hole of the fourth joint module (134) and the third penetrating hole (161), and is connected to a terminal of the fifth joint module (152); One end of the sixth wire harness section (216) is connected to the terminal of the fifth joint module (152), and the other end is arranged in the interior of the small arm body (153) through the central hole of the fifth joint module (152) and the second penetrating hole (149), and is connected to a terminal of the sixth joint module (171); One end of the seventh wire harness section (217) is connected to the terminal of the sixth joint module (171), and the other end is arranged in the interior of the small arm body (153) through the central hole of the sixth joint module (171) and the first penetrating hole (119), and is connected to a terminal of the seventh joint module (173). One end of the fifth wire harness segment (215) is connected to the terminal of the fourth joint module (134), and the other end is arranged inside the small arm connector (151) through the center hole of the fourth joint module (134), arranged inside the small arm body (153) through the third penetrating hole (161) and the center hole of the fifth joint module (152), and connected to the terminal of the fifth joint module (152); One end of the sixth wire harness segment (216) is connected to the terminal of the fifth joint module (152), and the other end is arranged from inside the small arm body (153) to the sixth joint module (171) and connected to the terminal of the sixth joint module (171), One end of the seventh wire harness segment (217) is connected to the terminal of the sixth joint module (171), and the other end of the seventh wire harness segment (217) extends towards the mounting seat (172) and is connected to the terminal of the seventh joint module (173).

9. The robot of claim 8, wherein, The mechanical arm further comprises a plurality of wire pressing members (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 pressing member (230).

10. A humanoid robot, characterized by, The mechanical arm of any one of claims 1-9 is fixedly connected to the robot trunk. The mechanical arm of any one of claims 1-9 is fixedly connected to the robot trunk.

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