Mechanical arm and humanoid robot

Abstract

The utility model discloses a mechanical arm and a humanoid robot, and relates to the technical field of robots. The mechanical arm comprises a plurality of structural parts which are sequentially connected, the adjacent structural parts rotate relatively through driving parts, and the rotating axes of the adjacent driving parts are perpendicular to each other. The driving part comprises a horizontal driving part and a vertical driving part, the rotating axis of the horizontal driving part is perpendicular to the extending direction of the mechanical arm, and the rotating axis of the vertical driving part is parallel to the extending direction of the mechanical arm. An output shaft of the horizontal driving part drives the adjacent structural parts to rotate through the single cantilever, and a first wire harness fixing structure is arranged at the tail end of the horizontal driving part. An output shaft of the vertical driving piece is connected with a first crossed roller bearing through a connecting inner shaft sleeve, and the first crossed roller bearing is installed on an outer ring of the connecting inner shaft sleeve. After being led out from the first wire harness fixing structure, the wire harness extends along the side wall of the vertical driving piece, penetrates through the inner ring connected with the inner shaft sleeve and then extends to the first wire harness fixing structure of the next horizontal driving piece.

Description

Technical Field

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

[0002] The robotic arm of a humanoid robot achieves multiple degrees of freedom similar to a human arm by setting up multiple drive motors and connecting structures, thus ensuring the flexibility of the robotic arm.

[0003] The drive motors used in existing robotic arms are mostly non-hollow motors, and the wiring harness can only be arranged between the drive motor and the structural components. When the robotic arm rotates with multiple degrees of freedom, the wiring harness repeatedly rubs between the drive motor and the structural components, resulting in faster wear of the wiring harness and affecting the stability of the robotic arm. Utility Model Content

[0004] The purpose of this invention is to provide a robotic arm and a humanoid robot that can reduce the probability of wire harness wear while ensuring that the robotic arm can rotate flexibly in multiple degrees of freedom, thereby improving the stability of the robotic arm.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] A robotic arm includes multiple structural components connected in sequence. Adjacent structural components rotate relative to each other via driving components, and the rotation axes of adjacent driving components are perpendicular to each other.

[0007] The driving component includes a horizontal driving component and a vertical driving component. The rotation axis of the horizontal driving component is perpendicular to the extension direction of the robotic arm, and the rotation axis of the vertical driving component is parallel to the extension direction of the robotic arm.

[0008] The output shaft of the horizontal drive unit drives the adjacent structural components to rotate via a single cantilever, and the tail end of the horizontal drive unit is provided with a first wire harness fixing structure.

[0009] The output shaft of the vertical drive is connected to the first crossed roller bearing via a connecting inner bushing, and the first crossed roller bearing is mounted on the outer ring of the connecting inner bushing.

[0010] After the wire harness is led out from the first wire harness fixing structure, it extends along the side wall of the vertical drive member and passes through the inner ring of the connecting inner bushing, and then extends to the first wire harness fixing structure of the next horizontal drive member.

[0011] As an alternative to the robotic arm, the output shaft of the vertical drive component is provided with a connecting disk. A first connecting block is eccentrically provided at one end of the connecting disk near the connecting inner bushing. A second connecting block is provided on the connecting inner bushing corresponding to the first connecting block. The first connecting block and the second connecting block are connected in cooperation.

[0012] As an alternative to the robotic arm, the side wall of the vertical drive component is provided with a second wire harness fixing structure.

[0013] As an alternative to the robotic arm, the drive unit also includes a shoulder drive unit, the rotation axis of which is perpendicular to the extension direction of the robotic arm;

[0014] The mounting base of the shoulder drive component is provided with a cable outlet. The cable harness passes through the cable outlet and enters the mounting base of the horizontal drive component, extending to the first cable harness fixing structure.

[0015] As an optional embodiment of the robotic arm, the plurality of structural components include a shoulder shell, an upper arm shell, an internal connecting body, and a forearm shell connected in sequence; the horizontal drive includes a first horizontal drive and a second horizontal drive; the vertical drive includes a first vertical drive and a second vertical drive; and the single cantilever includes a first single cantilever and a second single cantilever.

[0016] The first vertical drive member is located below the first horizontal drive member, and the shoulder shell surrounds the first horizontal drive member and is connected to the mounting base of the first vertical drive member.

[0017] The output shaft of the first horizontal drive member is connected to the mounting base of the first vertical drive member via the first single cantilever; the output shaft of the first vertical drive member is connected to the second horizontal drive member via the internal connecting body; the outer shell of the upper arm surrounds the internal connecting body and the second horizontal drive member; the output shaft of the second horizontal drive member is connected to the mounting base of the second vertical drive member via the second single cantilever; and the outer shell of the lower arm surrounds the second vertical drive member and is connected to the mounting base of the second vertical drive member.

[0018] As an alternative to the robotic arm, the internal connector is configured as a hollow structure, and a third wire harness fixing structure is provided inside the internal connector.

[0019] As an alternative to the robotic arm, the first wiring harness fixing structure located at the tail end of the second horizontal drive member is configured as a joint wiring harness binding point, which is located on the extension line of the rotation axis of the second horizontal drive member.

[0020] As an optional embodiment of the robotic arm, the horizontal drive unit further includes a third horizontal drive unit and a fourth horizontal drive unit. The output shaft of the second vertical drive unit is connected to the mounting base of the third horizontal drive unit. The output shaft of the third horizontal drive unit is rotatably connected to the mounting base of the fourth horizontal drive unit through a linkage assembly. The single cantilever also includes a third single cantilever. The output shaft of the fourth horizontal drive unit is connected to the end effector through the third single cantilever.

[0021] As an optional embodiment of the robotic arm, the linkage assembly includes two parallel and spaced movable links, each with a first deep groove ball bearing at both ends; the structural component also includes a support arm, one end of which is connected to the tail end of the third horizontal drive member, and the other end is rotatably connected to the mounting base of the fourth horizontal drive member via a rotating shaft.

[0022] As an alternative to the robotic arm, a second cross roller bearing is provided between the output shaft of the first horizontal drive member and the first single cantilever, and between the support arm and the rotating shaft.

[0023] And / or, a second deep groove ball bearing is provided inside the output shaft of the second horizontal drive member, and between the output shaft of the second horizontal drive member and the second single cantilever.

[0024] As an optional solution for the robotic arm, both the mounting base of the third horizontal drive component and the mounting base of the fourth horizontal drive component are provided with a fourth wire harness fixing structure.

[0025] As an optional embodiment of the robotic arm, the shoulder shell, the upper arm shell, and the forearm shell are all configured as two half-shell splicing structures, with the two half-shells magnetically connected and / or snap-fitted together.

[0026] As an alternative to the robotic arm, a magnet is provided on the mating surface of one half of the housing near the wire harness, and a first screw is connected to the mating surface of the other half of the housing, with the magnet and the first screw magnetically attracted and fixed together.

[0027] As an optional embodiment of the robotic arm, the internal connecting body is provided with a first clearance space, which is located inside the elbow joint of the robotic arm; the outer shell of the upper arm includes a flexible shell, which is provided corresponding to the first clearance space and is connected to the second horizontal drive component.

[0028] As an alternative to the robotic arm, the flexible housing includes a sleeve and a semi-enclosed connector communicating with the sleeve. The sleeve is fitted around the outer periphery of the second horizontal drive member, and the semi-enclosed connector encloses the first clearance space.

[0029] As an alternative to the robotic arm, the opening of the semi-enclosed connector is bent inward to form a flange, and metal plates are bonded to both the inner and outer sides of the flange. The two metal plates are locked together by a second screw, and the flexible shell is connected to the inner connector through the metal plates.

[0030] A humanoid robot comprising two robotic arms as described in any of the above embodiments, the two robotic arms being arranged symmetrically.

[0031] The beneficial effects of this utility model are:

[0032] The robotic arm provided by this utility model uses a horizontal drive component to drive the rotation of adjacent structural components via a single cantilever. The tail end of the horizontal drive component is equipped with a first wire harness fixing structure. The output shaft of the vertical drive component is connected to a first crossed roller bearing via a connecting inner bushing. The first crossed roller bearing is mounted on the outer ring of the connecting inner bushing. The wire harness inside the robotic arm is led out from the first wire harness fixing structure, extends along the side wall of the vertical drive component, passes through the inner ring of the connecting inner bushing, and then extends to the first wire harness fixing structure of the next horizontal drive component. The first crossed roller bearing is used to bear forces other than the torsional force of the vertical drive component, thereby ensuring the multi-degree-of-freedom flexibility of the robotic arm. Simultaneously, both the first wire harness fixing structure and the inner ring of the connecting inner bushing protect the wire harness, ensuring that during the multi-degree-of-freedom rotation of the robotic arm, the wire harness is only subjected to torsional force and not frictional force, reducing the probability of wire harness wear and thus improving the stability of the robotic arm.

[0033] The humanoid robot provided by this utility model includes two symmetrically arranged robotic arms, which can ensure the flexibility of the robotic arms with multiple degrees of freedom, and also ensure that the wiring harness is not subject to friction, reducing the probability of wiring harness wear and thus improving the stability of the robotic arms. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the first structure of the robotic arm provided in this embodiment of the utility model;

[0035] Figure 2 This is a schematic diagram of the second structure of the robotic arm provided in this embodiment of the utility model;

[0036] Figure 3 This is a schematic diagram of the first structure of the hidden shell of the robotic arm provided in this embodiment of the utility model;

[0037] Figure 4 This is an exploded view of the robotic arm hidden in its outer shell, as provided in this embodiment of the utility model.

[0038] Figure 5This is a schematic diagram of the second structure of the hidden shell of the robotic arm provided in this embodiment of the utility model;

[0039] Figure 6 This is a schematic diagram of the structure of the hidden portion shell of the robotic arm provided in this embodiment of the utility model;

[0040] Figure 7 This is a schematic diagram of the connection between the output shaft of the first vertical drive member and the first crossed roller bearing provided in this embodiment of the utility model;

[0041] Figure 8 This is a schematic diagram of the structure of the connecting disk disposed on the output shaft of the first vertical drive member according to an embodiment of the present invention;

[0042] Figure 9 This is a schematic diagram of the connecting inner bushing that mates with the connecting disc disposed on the output shaft of the first vertical drive member, according to an embodiment of this utility model.

[0043] Figure 10 This is a schematic diagram of the connection between the output shaft of the second vertical drive component and the first crossed roller bearing provided in this embodiment of the utility model;

[0044] Figure 11 This is a schematic diagram of the connecting disc disposed on the output shaft of the second vertical drive member according to an embodiment of the present invention;

[0045] Figure 12 This is a schematic diagram of the connecting inner bushing that mates with the connecting disc located on the output shaft of the second vertical drive member, according to an embodiment of this utility model.

[0046] Figure 13 This is a schematic diagram of the structure of the flexible shell of the robotic arm provided in this embodiment of the utility model;

[0047] Figure 14 This is a schematic diagram of the forearm structure of the robotic arm provided in this embodiment of the utility model.

[0048] In the picture:

[0049] 1. Structural component; 11. Shoulder shell; 12. Upper arm shell; 121. Flexible shell; 1211. Sleeve; 1212. Semi-enclosed connector; 1213. Flanged edge; 1214. Metal plate; 13. Forearm shell; 131. First forearm shell; 132. Second forearm shell; 14. Internal connector; 141. First clearance space; 15. Support arm; 151. Rotary pivot;

[0050] 2. Driving component; 21. Horizontal driving component; 211. First horizontal driving component; 212. Second horizontal driving component; 213. Third horizontal driving component; 214. Fourth horizontal driving component; 22. Vertical driving component; 221. First vertical driving component; 222. Second vertical driving component; 23. Shoulder driving component; 231. Cable outlet;

[0051] 31. First single cantilever; 32. Second single cantilever; 33. Third single cantilever;

[0052] 41. First wire harness fixing structure; 411. Joint wire harness binding point; 42. Second wire harness fixing structure; 43. Third wire harness fixing structure; 44. Fourth wire harness fixing structure;

[0053] 51. First crossed roller bearing; 52. Second crossed roller bearing; 53. Second deep groove ball bearing;

[0054] 6. Decorative casing;

[0055] 71. Connecting disc; 711. First connecting block; 72. Connecting inner bushing; 721. Second connecting block; 73. Connecting outer bushing;

[0056] 8. Connecting rod assembly; 81. Movable connecting rod; 82. First deep groove ball bearing. Detailed Implementation

[0057] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0058] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions.

[0059] Unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing" should be interpreted broadly. For example, they can refer to fixed connections or detachable connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and connections within two components or interactions between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0060] Unless otherwise expressly specified and limited, "above" or "below" a second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of a second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" of a second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0061] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0062] like Figures 1-5 As shown, this embodiment provides a robotic arm, including multiple structural components 1 connected in sequence. Adjacent structural components 1 rotate relative to each other via driving components 2, and the rotation axes of adjacent driving components 2 are perpendicular to each other. The driving component 2 is typically a motor; the rotation of the motor drives the structural components 1 connected to it to rotate relative to each other.

[0063] Specifically, the multiple structural components 1 include a shoulder shell 11, a upper arm shell 12, an internal connector 14, and a forearm shell 13 connected in sequence, forming a continuous mechanical chain. Each joint (the connection point between two adjacent structural components 1) is equipped with a motor as a drive component 2 to drive the relative rotation between adjacent structural components 1.

[0064] The robotic arm provided in this embodiment has seven degrees of freedom, with seven joints, i.e., seven actuators 2. Specifically, the actuators 2 include a shoulder actuator 23, a horizontal actuator 21, and a vertical actuator 22. The rotation axis of the shoulder actuator 23 is J1, which is perpendicular to the extension direction of the robotic arm. The rotation axis of the horizontal actuator 21 is perpendicular to the extension direction of the robotic arm, and the rotation axis of the vertical actuator 22 is parallel to the extension direction of the robotic arm. The horizontal drive unit 21 includes a first horizontal drive unit 211, a second horizontal drive unit 212, a third horizontal drive unit 213, and a fourth horizontal drive unit 214. The vertical drive unit 22 includes a first vertical drive unit 221 and a second vertical drive unit 222. The first horizontal drive unit 211 is located at the shoulder joint. The output shaft of the shoulder drive unit 23 is connected to the mounting base of the first horizontal drive unit 211. The shoulder housing 11 surrounds the mounting base of the first horizontal drive unit 211 and is connected to the mounting base of the first vertical drive unit 221. The shoulder drive unit 23 can drive the first horizontal drive unit 211 to rotate the entire robotic arm. The rotation axis of the first horizontal drive unit 211 is J2. The output shaft of the first horizontal drive unit 211 is connected to the mounting base of the first vertical drive unit 221. The first vertical drive unit 221 is located below the first horizontal drive unit 211, and its rotation axis is J3. The output shaft of the first vertical drive member 221 is connected to the upper arm housing 12 and the second horizontal drive member 212 via an internal connector 14. The second horizontal drive member 212 is located at the elbow joint, and the internal connector 14 is connected to the second horizontal drive member 212. The rotation axis of the second horizontal drive member 212 is J4. The output shaft of the second horizontal drive member 212 is connected to the mounting base of the second vertical drive member 222. The second vertical drive member 222 is located below the second horizontal drive member 212. The forearm housing 13 surrounds the second vertical drive member 222 and is connected to the mounting base of the second vertical drive member 222. The rotation axis of the second vertical drive member 222 is J5. Below the second vertical drive member 222, a third horizontal drive member 213 and a fourth horizontal drive member 214 are arranged in sequence. The rotation axis of the third horizontal drive member 213 is J6, and the rotation axis of the fourth horizontal drive member 214 is J7. The output shaft of the second vertical drive member 222 is connected to the mounting base of the third horizontal drive member 213, the output shaft of the third horizontal drive member 213 is connected to the mounting base of the fourth horizontal drive member 214, and the output shaft of the fourth horizontal drive member 214 is connected to the end effector.

[0065] To prevent the power supply and / or signal harnesses connected to the various motors from being damaged by friction during the multi-degree-of-freedom rotation of the robotic arm, the robotic arm provided in this embodiment has a horizontal drive component 21 that drives the adjacent structural component 1 to rotate via a single cantilever. The tail end of the horizontal drive component 21 is provided with a first harness fixing structure 41. The vertical drive component 22 is connected to the adjacent structural component 1 via a first crossed roller bearing 51, and the output shaft of the vertical drive component 22 is connected to the first crossed roller bearing 51 via a connecting inner bushing 72. The first crossed roller bearing 51 is mounted on the outer ring of the connecting inner bushing 72. After the harness is led out from the first harness fixing structure 41, it extends along the side wall of the vertical drive component 22 and passes through the inner ring of the connecting inner bushing 72, and then extends to the first harness fixing structure 41 of the next horizontal drive component 21.

[0066] The horizontal drive component 21 drives the adjacent structural component 1 to rotate via a single cantilever. The tail end of the horizontal drive component 21 is provided with a first wire harness fixing structure 41. The vertical drive component 22 is connected to the adjacent structural component 1 via a first crossed roller bearing 51. The output shaft of the vertical drive component 22 is connected to the first crossed roller bearing 51 via a connecting inner bushing 72. The first crossed roller bearing 51 is mounted on the outer ring of the connecting inner bushing 72. The wire harness inside the robotic arm is led out from the first wire harness fixing structure 41, extends along the side wall of the vertical drive component 22, passes through the inner ring of the connecting inner bushing 72, and then extends to the first wire harness fixing structure 41 of the next horizontal drive component 21. The first crossed roller bearing 51 is used to bear forces other than the torsional force of the vertical drive component 22, thereby ensuring the flexibility of the robotic arm with multiple degrees of freedom. Meanwhile, the first wire harness fixing structure 41 and the inner ring of the connecting inner bushing 72 can both protect the wire harness, so that during the multi-degree-of-freedom rotation of the robotic arm, the wire harness is only subjected to torsional force and not frictional force, which reduces the probability of wire harness wear and thus improves the stability of the robotic arm.

[0067] In this embodiment, the single cantilever includes a first single cantilever 31, a second single cantilever 32, and a third single cantilever 33. The output shaft of the first horizontal drive 211 is connected to the mounting base of the first vertical drive 221 via the first single cantilever 31, and is used to drive the shoulder shell 11 to rotate around J2. The first vertical drive 221 is used to drive the upper arm shell 12 to rotate around J3, enabling the robotic arm to rotate on a horizontal plane or a similar horizontal plane, thereby covering a wider working area. The second horizontal drive 212 is connected to the mounting base of the second vertical drive 222 via the second single cantilever 32. The second horizontal drive 212 drives the forearm shell 13 to rotate around J4, allowing the forearm to move closer to or further away from the upper arm to achieve a certain folding angle, making the robotic arm more flexible and applicable to a wider range. The second vertical drive 222 drives the forearm shell 13 to rotate around J5, enabling the robotic arm to maintain a certain posture while adjusting the angle of the forearm shell 13 to achieve fine adjustment of the angle of the end effector. The output shaft of the third horizontal drive 213 is rotatably connected to the mounting base of the fourth horizontal drive 214 via the linkage assembly 8, driving the mounting base of the fourth horizontal drive 214 to rotate around J6, which is perpendicular to J5. This layout is similar to a human wrist joint, allowing the mounting base of the fourth horizontal drive 214 to rotate and tilt further based on the forearm housing 13. This design greatly increases the flexibility and operational precision of the robotic arm. The output shaft of the fourth horizontal drive 214 is connected to the end effector via the third single cantilever 33, driving the end effector to rotate around J7, providing the end effector with additional degrees of freedom, enabling it to perform more complex movements and operations in three-dimensional space.

[0068] Furthermore, the linkage assembly 8 includes two parallel and spaced movable links 81. Each end of the two movable links 81 is equipped with a first deep groove ball bearing 82. One end of each movable link 81 is connected to the output shaft of the third horizontal drive member 213 via the first deep groove ball bearing 82, and the other end is connected to the mounting base of the fourth horizontal drive member 214 via the first deep groove ball bearing 82. The two movable links 81 form a four-bar linkage, allowing the third horizontal drive member 213 to be mounted in the forearm instead of the wrist, reducing the end effector weight of the robotic arm while maintaining a harmonious and aesthetically pleasing appearance. The first deep groove ball bearing 82 can simultaneously withstand radial and axial loads, effectively balancing the combined loads generated during the movement of the linkage assembly 8, thus enhancing structural stability and reducing transmission backlash and wear risk.

[0069] In this embodiment, the output shaft of the third horizontal drive component 213 is connected to two movable connecting rods 81 via a connecting block. The connecting block has two first connecting shafts, each with a first threaded hole at its center. Both ends of the movable connecting rods 81 have through holes, and each through hole has a first deep groove ball bearing 82 at each end. The first connecting shaft passes through the two first deep groove ball bearings 82, and a first semi-circular head screw is threaded into the first threaded hole to fix the two movable connecting rods 81 to the connecting block. The mounting base of the fourth horizontal drive component 214 has two second connecting shafts spaced apart. The second connecting shaft has a second threaded hole at its center, and the second connecting shaft passes through the two first deep groove ball bearings 82. A second semi-circular head screw is threaded into the second threaded hole.

[0070] Furthermore, structural component 1 also includes a support arm 15. One end of the support arm 15 is connected to the tail end of the third horizontal drive component 213, and the other end is rotatably connected to the mounting base of the fourth horizontal drive component 214 via a rotating shaft 151. This support arm 15 further enhances the mechanical performance and dynamic stability of the robotic arm. The two movable links 81 and the support arm 15 together form a rigid support frame for the third horizontal drive component 213 and the fourth horizontal drive component 214, effectively suppressing local deformation of the third horizontal drive component 213 and the fourth horizontal drive component 214 caused by inertial impact or sudden load changes, and reducing the cumulative error of the linkage assembly 8. At the same time, the support arm 15 can adaptively adjust its angle during the multi-degree-of-freedom motion of the robotic arm, ensuring the efficient coordination of the four-bar linkage. In addition, through mechanical path optimization, the design transfers the composite load that was originally concentrated on the first deep groove ball bearing 82 to the support arm 15, which reduces the long-term stress burden on the first deep groove ball bearing 82, extends the service life of key motion pairs, and ultimately achieves the integration of a robotic arm drive system with high dynamics, high precision and high robustness.

[0071] Furthermore, a second cross roller bearing 52 is provided between the output shaft of the first horizontal drive member 211 and the first single cantilever 31, and between the support arm 15 and the rotating shaft 151. The second cross roller bearing 52 can withstand forces in all directions, ensuring that the first horizontal drive member 211 and the support arm 15 have sufficient load-bearing capacity and provide stable support force.

[0072] like Figure 6As shown, a second deep groove ball bearing 53 is installed inside the output shaft of the second horizontal drive 212 and between the output shaft of the second horizontal drive 212 and the second single cantilever 32. Since the second horizontal drive 212 is located at the elbow joint of the robotic arm, and the space at the elbow joint is limited, it is impossible to install a second crossed roller bearing 52. Simultaneously, to ensure the load-bearing capacity between the second horizontal drive 212 and the second single cantilever 32, a second deep groove ball bearing 53 is installed both inside and outside the output shaft of the second horizontal drive 212. The two second deep groove ball bearings 53 share the load of the output shaft of the second horizontal drive 212, thereby improving the load-bearing capacity and joint stiffness at the elbow joint.

[0073] Since the fourth horizontal drive 214 is located at the end of the robotic arm and has a short lever arm, the bearing capacity of the fourth horizontal drive 214 itself is sufficient. Therefore, there is no need to install a second crossed roller bearing 52 between the output shaft of the fourth horizontal drive 214 and the third single cantilever 33.

[0074] In this embodiment, the second crossed roller bearing 52 includes a second crossed roller bearing body, an outer ring of the bearing cover, and an inner ring of the bearing cover. The outer ring of the bearing cover is located outside the second crossed roller bearing body and is connected to the output shaft or rotating shaft 151 by a first fastening screw. The inner ring of the bearing cover is located inside the second crossed roller bearing body and is connected to the output shaft or rotating shaft 151 by a second fastening screw.

[0075] In one embodiment, such as Figures 7-12 As shown, the output shaft of the vertical drive unit 22 is provided with a connecting disk 71. A first connecting block 711 is eccentrically positioned at one end of the connecting disk 71 near the inner connecting sleeve 72. A second connecting block 721 is positioned on the inner connecting sleeve 72 corresponding to the first connecting block 711. The first connecting block 711 and the second connecting block 721 are connected to form a second clearance space between the connecting disk 71 and the inner connecting sleeve 72, allowing the wire harness to pass through the inner connecting sleeve 72. This arrangement enables both the driving of the vertical drive unit 22 and allows the wire harness to enter and pass through the inner ring of the inner connecting sleeve 72 via the second clearance space.

[0076] Furthermore, in order to connect the first crossed roller bearing 51 with the adjacent structural component 1, a connecting outer bushing 73 is also provided. The first crossed roller bearing 51 is located between the connecting inner bushing 72 and the connecting outer bushing 73, and the connecting outer bushing 73 is connected with the adjacent structural component 1.

[0077] It should be noted that, due to the different installation positions of the first vertical drive component 221 and the second vertical drive component 222, as well as the different structural components 1 connected to them, the structures of the connecting disc 71, the connecting inner bushing 72, and the connecting outer bushing 73 are adapted to the actual connection situation, but the working principle and the function are the same. Figures 7-9 The diagram shows a connecting disc 71, an inner connecting sleeve 72, and an outer connecting sleeve 73 connected to the output shaft of the first vertical drive component 221. The first connecting block 711 and the second connecting block 721 are mated together and fixedly connected by screws. Figures 10-12 The diagram shows a connecting disk 71, an inner connecting sleeve 72, and an outer connecting sleeve 73 connected to the output shaft of the second vertical drive member 222. The first connecting block 711 and the second connecting block 721 are connected by a convex-concave fit structure.

[0078] Specifically, the first crossed roller bearing 51 includes a first crossed roller bearing body and a bearing cover. The bearing cover is located on the outer ring of the first crossed roller bearing body and is connected to the mounting seat of the vertical drive member 22 by a third fastening screw. The connecting inner bushing 72 and the connecting outer bushing 73 are connected by a fourth fastening screw. The first connecting block 711 and the second connecting block 721 are connected by a fifth fastening screw after mating through a concave-convex structure.

[0079] In one embodiment, the mounting base of the shoulder drive member 23 is provided with a cable outlet 231. The wire harness passes through the cable outlet 231 and enters the mounting base of the horizontal drive member 21, extending to the first wire harness fixing structure 41. The side wall of the vertical drive member 22 is provided with a second wire harness fixing structure 42. The internal connecting body 14 is a hollow structure, and a third wire harness fixing structure 43 is provided inside the internal connecting body 14. The mounting bases of the third horizontal drive member 213 and the fourth horizontal drive member 214 are both provided with fourth wire harness fixing structures 44. The wire harness extends from the shoulder drive member 23 to the fourth horizontal drive member 214, and is guided in an orderly manner along the way. During the multi-degree-of-freedom rotation of the robotic arm, the wire harness is only subjected to torsional force and not frictional force.

[0080] Specifically, the first wire harness fixing structure 41, the second wire harness fixing structure 42, the third wire harness fixing structure 43, and the fourth wire harness fixing structure 44 can be wire harness distribution plates, wire harness clips, wire passages, or wire harness binding points. The wire harness distribution plate has wire harness partitioning spaces, through which the wire harness passes. The wire harness clips constrain the wire harness with retaining rings, and cable ties secure the wire harness to the binding points, forming a fixing loop between the cable ties and the binding points. When the wire harness twists within the wire harness partitioning spaces, retaining rings, wire passages, and fixing loops, it will not experience frictional forces.

[0081] Furthermore, continue to refer to Figure 5 The first wire harness fixing structure 41 located at the tail end of the second horizontal drive member 212 is set as a joint wire harness binding point 411, which is located on the extension line of the rotation axis of the second horizontal drive member 212. This setting ensures that the wire harness length does not change with the elbow joint bending angle when the second horizontal drive member 212 is fully rotated, further reducing wire harness wear.

[0082] In this embodiment, after each drive component 2 is installed, the wiring harness is connected, and finally the outer casing is installed. The wiring harness connected to the shoulder drive component 23 is hidden inside the mounting base of the shoulder drive component 23, and passes through the outlet 231 of the mounting base of the shoulder drive component 23 before entering the mounting base of the first horizontal drive component 211. The mounting base of the first horizontal drive component 211 has openings on opposite sides, allowing the output shaft and tail end of the first horizontal drive component 211 to be exposed. The first wiring harness fixing structure 41 (wiring harness splitter and wiring harness hook) is provided at the tail end of the first horizontal drive component 211, through which the wiring harness passes. The wire harness passes through the first wire harness fixing structure 41 and enters the inner ring of the connecting inner bushing 72 connected to the output shaft of the first vertical drive member 221 along the side wall of the first vertical drive member 221. After passing through the inner ring of the connecting inner bushing 72, it enters the inner connecting body 14 and is guided and fixed by the third wire harness fixing structure 43 (wire harness splitter). After passing through the inner connecting body 14, it extends to the joint wire harness binding point 411 at the tail end of the second horizontal drive member 212 for fixation. When the shoulder shell 11 and the upper arm shell 12 are installed, the wire harness is hidden inside the shoulder shell 11 and the upper arm shell 12, without affecting the appearance. The mounting base of the third horizontal drive member 213 has openings on both sides. A fourth wire harness fixing structure 44 (wire harness binding point) is provided at both the upper and lower ends of the openings. The top of the mounting base of the fourth horizontal drive member 214 has a fourth wire harness fixing structure 44 (wire harness binding point). The wire harness continues to extend to the forearm, passing through the second wire harness fixing structure 42 (wire passage) on the mounting base of the second vertical drive member 222, the fourth wire harness fixing structures 44 at both the upper and lower ends of the mounting base of the third horizontal drive member 213, and then through the fourth wire harness fixing structure 44 at the top of the mounting base of the fourth horizontal drive member 214. It then connects to the fourth horizontal drive member 214 through the openings on both sides of the mounting base of the fourth horizontal drive member 214. After the forearm shell 13 is installed, the wire harness is covered by the forearm shell 13 and does not affect the appearance.

[0083] In one embodiment, the internal connecting body 14 is provided with a first clearance space 141, which is located inside the elbow joint of the robotic arm. The upper arm shell 12 includes a flexible shell 121, which is disposed corresponding to the first clearance space 141 and connected to the second horizontal drive member 212. To achieve the largest possible adduction angle for the elbow joint, the first clearance space 141 is provided on the internal connecting body 14 to facilitate folding of the forearm relative to the upper arm. Simultaneously, to ensure a more aesthetically pleasing and fuller appearance when the robotic arm is extended, the flexible shell 121 is provided corresponding to the first clearance space 141.

[0084] In this embodiment, the adduction angle of the elbow joint is >110°, with a maximum of 150°. The flexible shell 121 is a rubber shell. Of course, in other embodiments, it can also be a silicone shell.

[0085] Specifically, such as Figure 6 and Figure 13 As shown, the flexible housing 121 includes a sleeve 1211 and a semi-enclosed connecting body 1212 communicating with the sleeve 1211. The sleeve 1211 is fitted around the outer periphery of the second horizontal drive member 212, and the semi-enclosed connecting body 1212 encloses the first clearance space 141. The sleeve 1211 is provided with a dividing line extending axially in the circumferential direction, which divides the sleeve 1211 into an opening that facilitates the entry of the second horizontal drive member 212. The opening closes naturally after the second horizontal drive member 212 enters the sleeve 1211.

[0086] In one embodiment, the shoulder shell 11, upper arm shell 12, and forearm shell 13 are all configured as two half-shell splicing structures, with the two half-shells magnetically connected and / or snap-fitted together. By configuring the shoulder shell 11, upper arm shell 12, and forearm shell 13 as magnetically connected and / or snap-fitted together, disassembly and assembly are convenient when the wiring harness and / or drive component 2 require maintenance, thus facilitating repairs.

[0087] Optionally, a magnet is provided on the mating surface of the half-shell near the wire harness, and a first screw is connected to the mating surface of the other half-shell; the magnet and the first screw are magnetically attracted and fixed together. With this arrangement, when repairing the wire harness, only one half-shell needs to be removed, that is, the half-shell closest to the wire harness, for repair, thus improving maintenance efficiency.

[0088] Specifically, the half-shell of the shoulder shell 11 near the output shaft of the first horizontal drive 211 is fixedly connected to the mounting base of the first vertical drive 221 by the first screw. The half-shell of the shoulder shell 11 near the tail end of the first horizontal drive 211 is provided with a magnet and a buckle. The magnet is magnetically connected to the first screw for quick positioning and connection. The buckle engages with the half-shell near the output shaft of the first horizontal drive 211, ensuring that the shoulder shell 11 does not fall off during long-term use of the robotic arm.

[0089] The boom shell 12 also includes two plastic half-shells, which are joined together and then joined to the flexible shell 121 to completely enclose the boom. One of the two plastic half-shells is fixed to the internal connector 14 by a first screw, and the other is provided with a magnet and a buckle. The magnet is magnetically connected to the first screw, and the buckle is engaged and fixed to the plastic half-shell provided by the first screw.

[0090] Specifically, the opening of the semi-enclosed connector 1212 is bent inward to form a flange 1213. Metal plates 1214 are adhered to both the inner and outer sides of the flange 1213. The two metal plates 1214 are locked together by a second screw, pressing the flange 1213 firmly. The flexible shell 121 is connected to the internal connector 14 via the metal plates 1214. A vertical plate is provided on the metal plate 1214, and the vertical plate is fixedly connected to the internal connector 14 by a third screw. This design facilitates installation and prevents the metal plate 1214 from separating from the semi-enclosed connector 1212, which could lead to unstable connection of the flexible shell 121.

[0091] Continue to refer to Figure 2 and Figure 14 The forearm housing 13 includes a first forearm housing 131 and a second forearm housing 132. Both the first forearm housing 131 and the second forearm housing 132 adopt the same docking and fixing structure as the shoulder housing 11 and the upper arm housing 12, which will not be described in detail here. The first forearm housing 131 surrounds the output shaft and tail end of the second horizontal drive member 212 and the second vertical drive member 222. The second forearm housing 132 surrounds the output shaft of the second vertical drive member 222 and one of the opposite sides of the third horizontal drive member 213. The other opposite sides of the third horizontal drive member 213 are respectively connected to the connecting rod assembly 8 and the support arm 15. The output shaft ends of the third horizontal drive member 213 and the output shaft ends of the fourth horizontal drive member 214 are equipped with protective decorative shells 6.

[0092] In this embodiment, the robotic arm is assembled by first connecting each drive component 2 sequentially, then wiring the harness, and finally installing the outer casing. This arrangement facilitates workflow division and station allocation on the production line, improving production efficiency. Furthermore, after wiring the harness, it facilitates various tests and adjustments of the robotic arm, preventing damage to the outer casing during production and testing. The outer casing can be installed as the final step after testing and delivery. Additionally, during the use of the robotic arm, the outer casing can be removed individually for complete wiring harness inspection without disassembling each drive component 2, improving maintenance efficiency.

[0093] This embodiment also provides a humanoid robot, including a torso assembly and two robotic arms as described above. The two robotic arms are arranged mirror-symmetrically on both sides of the torso assembly, forming a left arm and a right arm, respectively. The left and right arms share a set of parts, which has bidirectional installation compatibility; only the position of the parts needs to be changed according to the installation location.

[0094] The humanoid robot provided in this embodiment includes two symmetrically arranged robotic arms, which can ensure the flexibility of the robotic arms with multiple degrees of freedom, and also ensure that the wiring harness is not subject to friction, reducing the probability of wiring harness wear and thus improving the stability of the robotic arms.

[0095] The above description is only a preferred embodiment of this utility model. For those skilled in the art, there will be changes in the specific implementation method and application scope based on the idea of ​​this utility model. The content of this specification should not be construed as a limitation of this utility model.

Claims

1. A robotic arm comprising a plurality of structural components (1) connected in sequence, wherein adjacent structural components (1) rotate relative to each other via driving components (2), and the rotation axes of adjacent driving components (2) are perpendicular to each other; characterized in that, The drive unit (2) includes a horizontal drive unit (21) and a vertical drive unit (22). The rotation axis of the horizontal drive unit (21) is perpendicular to the extension direction of the robotic arm, and the rotation axis of the vertical drive unit (22) is parallel to the extension direction of the robotic arm. The output shaft of the horizontal drive (21) drives the adjacent structural member (1) to rotate through a single cantilever, and the tail end of the horizontal drive (21) is provided with a first wire harness fixing structure (41). The output shaft of the vertical drive (22) is connected to the first crossed roller bearing (51) via a connecting inner bushing (72), and the first crossed roller bearing (51) is mounted on the outer ring of the connecting inner bushing (72). After the wire harness is led out from the first wire harness fixing structure (41), it extends along the side wall of the vertical drive member (22) and passes through the inner ring of the connecting inner bushing (72), and then extends to the first wire harness fixing structure (41) of the next horizontal drive member (21).

2. The robot of claim 1, wherein, The output shaft of the vertical drive (22) is provided with a connecting disc (71). A first connecting block (711) is eccentrically provided at one end of the connecting disc (71) near the connecting inner bushing (72). A second connecting block (721) is provided on the connecting inner bushing (72) corresponding to the first connecting block (711). The first connecting block (711) and the second connecting block (721) are connected in cooperation.

3. The robot of claim 1, wherein, The side wall of the vertical drive member (22) is provided with a second wire harness fixing structure (42).

4. The robot of claim 1, wherein, The drive unit (2) also includes a shoulder drive unit (23), the rotation axis of which is perpendicular to the extension direction of the robotic arm; The shoulder drive member (23) has a cable outlet (231) on its mounting base. The cable harness passes through the cable outlet (231) and then enters the mounting base of the horizontal drive member (21) and extends to the first cable harness fixing structure (41).

5. The robot arm according to any of claims 1-4, characterized in that, The plurality of structural components (1) include a shoulder shell (11), an upper arm shell (12), an internal connector (14), and a forearm shell (13) connected in sequence; the horizontal drive component (21) includes a first horizontal drive component (211) and a second horizontal drive component (212); the vertical drive component (22) includes a first vertical drive component (221) and a second vertical drive component (222); and the single cantilever includes a first single cantilever (31) and a second single cantilever (32). The first vertical drive member (221) is located below the first horizontal drive member (211), and the shoulder shell (11) surrounds the first horizontal drive member (211) and is connected to the mounting base of the first vertical drive member (221). The output shaft of the first horizontal drive member (211) is connected to the mounting base of the first vertical drive member (221) through the first single cantilever (31); the output shaft of the first vertical drive member (221) is connected to the second horizontal drive member (212) through the internal connecting body (14); the upper arm shell (12) surrounds the internal connecting body (14) and the second horizontal drive member (212); the output shaft of the second horizontal drive member (212) is connected to the mounting base of the second vertical drive member (222) through the second single cantilever (32); the lower arm shell (13) surrounds the second vertical drive member (222) and is connected to the mounting base of the second vertical drive member (222).

6. The robot of claim 5, wherein, The internal connector (14) is configured as a hollow structure, and a third wire harness fixing structure (43) is provided inside the internal connector (14).

7. The robot of claim 5, wherein, The first wire harness fixing structure (41) located at the tail end of the second horizontal drive member (212) is set as a joint wire harness binding point (411), which is located on the extension line of the rotation axis of the second horizontal drive member (212).

8. The robot of claim 5, wherein, The horizontal drive (21) further includes a third horizontal drive (213) and a fourth horizontal drive (214). The output shaft of the second vertical drive (222) is connected to the mounting base of the third horizontal drive (213). The output shaft of the third horizontal drive (213) is rotatably connected to the mounting base of the fourth horizontal drive (214) through a connecting rod assembly (8). The single cantilever further includes a third single cantilever (33). The output shaft of the fourth horizontal drive (214) is connected to the end effector through the third single cantilever (33).

9. The robot of claim 8, wherein, The linkage assembly (8) includes two parallel and spaced movable links (81), and both ends of the two movable links (81) are provided with a first deep groove ball bearing (82); the structural component (1) also includes a support arm (15), one end of the support arm (15) is connected to the tail end of the third horizontal drive component (213), and the other end is rotatably connected to the mounting seat of the fourth horizontal drive component (214) through a rotating shaft (151).

10. The robot of claim 9, wherein, A second cross roller bearing (52) is provided between the output shaft of the first horizontal drive member (211) and the first single cantilever (31), and between the support arm (15) and the rotating shaft (151); And / or, a second deep groove ball bearing (53) is provided inside the output shaft of the second horizontal drive (212) and between the output shaft of the second horizontal drive (212) and the second single cantilever (32).

11. The robot of claim 8, wherein, The mounting base of the third horizontal drive member (213) and the mounting base of the fourth horizontal drive member (214) are both provided with a fourth wire harness fixing structure (44).

12. The robot of claim 5, wherein, The shoulder shell (11), the upper arm shell (12), and the forearm shell (13) are all configured as two half-shell splicing structures, and the two half-shells are magnetically connected and / or snap-fit ​​connected.

13. The robot of claim 12, wherein, A magnet is provided on the mating surface of one half of the housing near the wire harness, and a first screw is connected to the mating surface of the other half of the housing. The magnet and the first screw are magnetically attracted and fixed together.

14. The robot of claim 5, wherein, The internal connecting body (14) is provided with a first clearance space (141), which is located inside the elbow joint of the robotic arm; the outer shell (12) of the upper arm includes a flexible shell (121), which is provided corresponding to the first clearance space (141) and is connected to the second horizontal drive member (212).

15. The robot of claim 14, wherein, The flexible housing (121) includes a sleeve (1211) and a semi-enclosed connector (1212) communicating with the sleeve (1211). The sleeve (1211) is fitted around the outer periphery of the second horizontal drive member (212), and the semi-enclosed connector (1212) encloses the first clearance space (141).

16. The robot of claim 15, wherein, The opening of the semi-enclosed connector (1212) is bent inward to form a flange (1213). Metal plates (1214) are bonded to both the inner and outer sides of the flange (1213), and the two metal plates (1214) are locked together by a second screw. The flexible shell (121) is connected to the inner connector (14) through the metal plates (1214).

17. A humanoid robot, characterized by It includes two robotic arms as described in any one of claims 1-16, the two robotic arms being arranged symmetrically.

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