Upper limb structure of bionic humanoid robot

Abstract

The utility model discloses an upper limb structure of a bionic humanoid robot, and aims to overcome the defects that the upper limb of the robot is directly mounted on an output flange of a motor by adopting an L-shaped bracket structure, the structural rigidity is insufficient, mechanical shaking is easily caused in high-speed dynamic motion, and the motion precision and the system stability are further reduced. The device comprises a shoulder turnover seat and an elbow turnover seat, an upper support and an upper opposite side flange are arranged on the shoulder turnover seat, a second motor is installed between the upper support and the upper opposite side flange, and the second motor drives the shoulder turnover seat to rotate; a lower support and a lower opposite side flange are arranged on the elbow turnover seat, a fourth motor is installed between the lower support and the lower opposite side flange, and the fourth motor drives the elbow turnover seat to rotate. A bearing and a connecting structure are arranged on the opposite side of a motor output flange to form a C-shaped supporting structure, the bearing capacity of the motor bearing is effectively shared, the joint rigidity is improved, and the service life is prolonged.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and more specifically, to an upper limb structure for a bionic humanoid robot. Background Technology

[0002] Most existing industrial or general-purpose robotic arms differ significantly in structure from the human arm, making it difficult to meet the requirements of biomimicry, compactness, and flexibility for humanoid robots, especially in upper limb design. Chinese Patent Publication No. CN222345580U discloses a robot called Leju, in which an L-shaped bracket structure is directly mounted on the motor's output flange at the second and fourth joints. This structure relies on the motor's own bearings to bear the weight of the subsequent joints and the resulting overturning torque. While the installation method is simple, when the robotic arm has a large weight or bears external loads, the motor bearings will be under high stress for extended periods, affecting their lifespan and reliability. Furthermore, the L-shaped bracket structure lacks rigidity, easily causing mechanical vibration during high-speed dynamic movements, thus reducing motion accuracy and system stability. Another example is a Fourier robot disclosed in Chinese Patent Publication No. CN118700186A, where the motor is mounted close to the wrist's end flange, significantly increasing the rotational inertia of the entire arm. This is detrimental to achieving high-speed, flexible dynamic operations, especially exhibiting inertial response lag during frequent directional changes. Utility Model Content

[0003] To overcome the above shortcomings, this utility model provides a bionic humanoid robot upper limb structure, which achieves the two inventive objectives of this application. First, by setting a bearing and connecting structure on the opposite side of the motor output flange to form a C-shaped support structure, the bearing load of the motor bearing is effectively distributed, improving the joint rigidity and lifespan. Second, by controlling the coordinated / differential motion of the two electric cylinders, the decoupling control of the two wrist degrees of freedom is achieved, which is conducive to realizing high-speed and flexible dynamic operation, and has the advantages of high rigidity and low rotational inertia.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: a bionic humanoid robot upper limb structure, including a shoulder rotating seat and an elbow rotating seat, wherein an upper support and an upper opposite flange are provided on the shoulder rotating seat, and a second motor is installed between the upper support and the upper opposite flange, the second motor driving the shoulder rotating seat to rotate; a lower support and a lower opposite flange are provided on the elbow rotating seat, and a fourth motor is installed between the lower support and the lower opposite flange, the fourth motor driving the elbow rotating seat to rotate.

[0005] In this application, an upper support and an upper opposite flange are provided on the shoulder swivel seat, thereby forming a closed C-shaped structure. The No. 2 motor is installed between the upper support and the upper opposite flange. The closed C-shaped structure effectively distributes the radial and axial loads acting on the No. 2 motor bearing, significantly improving the structural rigidity and stability of the joint, and helping to improve the dynamic response performance and operating accuracy of the whole machine.

[0006] Similarly, a lower support and a lower opposite flange are set on the elbow swivel seat to form a closed C-shaped structure. The No. 4 motor is installed between the lower support and the lower opposite flange. The closed C-shaped structure effectively distributes the radial and axial loads acting on the No. 4 motor bearing, significantly improving the structural rigidity and stability of the joint and helping to improve the dynamic response performance and operating accuracy of the whole machine.

[0007] By setting a bearing and connecting structure on the opposite side of the motor output flange to form a C-shaped support structure, the bearing load of the motor bearing is effectively distributed, improving the joint rigidity and lifespan, thus achieving the first inventive objective of this application.

[0008] Preferably, the upper side flange is rotatably connected to the shoulder connector, the second motor is mounted on the shoulder connector, and the output flange of the second motor is connected to the upper support.

[0009] The shoulder connector facilitates the installation of motor number two.

[0010] Preferably, a No. 1 motor is installed on the shoulder connector, and the output flange of the No. 1 motor is fastened to the shoulder connector.

[0011] The No. 1 motor output flange is fastened to the shoulder connector, and the rotation of the No. 1 motor enables the circumferential rotation of the entire upper limb.

[0012] Preferably, the lower side flange is rotatably connected to the boom body, the No. 4 motor is installed on the boom body, and the No. 4 motor output flange is connected to the lower support.

[0013] The No. 4 motor output flange rotates, causing the elbow swivel seat to rotate. At this time, the lower opposite flange rotates at the lower end of the boom body.

[0014] As a preferred option, a No. 3 motor is installed on the shoulder swivel seat, and the output flange of the No. 3 motor is fastened to the upper end of the main body of the boom.

[0015] Motor No. 3 drives the main body of the boom to rotate.

[0016] As a preferred option, a No. 5 motor is installed on the elbow swivel seat, and the output flange of the No. 5 motor is fastened to the main body of the forearm.

[0017] Motor No. 5 drives the main body of the forearm to rotate.

[0018] Preferably, the forearm body is connected to the end output flange via a cross shaft, and two linear electric cylinders are installed on the forearm body. The extension rods of the linear electric cylinders are rotatably connected to the end output flange.

[0019] Two linear electric cylinders are arranged in parallel to drive the motion control of two degrees of freedom. Compared with the end-effector mounting method of rotary motors, this design has a smaller moment of inertia, significantly improving the dynamic performance of the end effector. At the same time, the two linear electric cylinders can also work together on the same degree of freedom, increasing the upper limit of output torque and meeting the requirements of high load and high response tasks. By controlling the coordinated / differential motion of the two electric cylinders, the two wrist degrees of freedom are decoupled, which is conducive to achieving high-speed and flexible dynamic operation. It has the advantages of high stiffness and low moment of inertia, thus achieving the second inventive objective of this application.

[0020] Preferably, an attitude adjustment horizontal axis is provided on the end output flange, and universal ball joints are provided at both ends of the attitude adjustment horizontal axis. An attitude adjustment ring is installed on the linear electric cylinder telescopic rod, and the attitude adjustment ring is adapted to the universal ball joint. The inner wall of the attitude adjustment ring is provided with a spherical surface, and the spherical surface is adapted to the universal ball joint.

[0021] The linear electric cylinder telescopic rod uses the spherical surface of the inner wall of the attitude adjustment ring to cooperate with the universal ball joint on the attitude adjustment horizontal axis, so that the telescopic rod can deflect during the extension and retraction process, making the attitude adjustment flexible and adaptable, and improving the overall structural stability and impact resistance.

[0022] Preferably, the cross shaft includes a transverse shaft and a longitudinal shaft connected together, with the longitudinal shaft rotatably connected to the end output flange and the forearm body rotatably connected to the transverse shaft.

[0023] When the two linear electric cylinders move in the same direction, the end output flange rotates about the transverse axis of the cross shaft, achieving one degree of freedom of oscillation. When the two electric cylinders move in opposite directions, the end output flange rotates about the longitudinal axis of the cross shaft, achieving the other degree of freedom. Through this dual-cylinder parallel drive mechanism, the end effector can achieve high torque and high stiffness control in two degrees of freedom, and has the advantages of low rotational inertia, compact structure, and fast response speed.

[0024] Preferably, a six-dimensional force sensor is installed on the end face of the output flange.

[0025] A six-dimensional force sensor facilitates pressure detection.

[0026] Compared with the prior art, the beneficial effects of this utility model are: (1) An upper support and an upper opposite flange are set on the shoulder rotatable seat to form a closed C-shaped structure. The closed C-shaped structure effectively distributes the radial and axial loads acting on the No. 2 motor bearing, significantly improving the structural rigidity and stability of the joint and helping to improve the dynamic response performance and running accuracy of the whole machine; (2) A lower support and a lower opposite flange are set on the elbow rotatable seat to form a closed C-shaped structure. The closed C-shaped structure effectively distributes the radial and axial loads acting on the No. 4 motor bearing, significantly improving the structural rigidity and stability of the joint and helping to improve the dynamic response performance and running accuracy of the whole machine; (3) In the wrist structure, a design of two linear electric cylinders driving in parallel is adopted, and the motion is decoupled into two non-interfering rotational degrees of freedom through the cross shaft. This structure has the advantages of low rotational inertia and high output torque, and is suitable for fast and high-precision end control scenarios. Meanwhile, the coordinated control of electric cylinders can generate greater combined force, achieve stronger end-effector capabilities, and the control method is simple, which is conducive to the expansion of industrial and humanoid tasks. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of this utility model.

[0028] Figure 2 This is a structural diagram of the shoulder turntable of this utility model.

[0029] Figure 3 This is a structural diagram of the elbow turntable of this utility model.

[0030] Figure 4 This is a structural diagram of the cross axis position of this utility model.

[0031] Figure 5 This is a partial exploded view of Embodiment 2 of this utility model.

[0032] In the diagram: 1. Shoulder pivot seat, 2. Elbow pivot seat, 3. Upper support, 4. Upper opposite flange, 5. Motor No. 2, 6. Shoulder connector, 7. Output flange of Motor No. 2, 8. Motor No. 1, 9. Output flange of Motor No. 1, 10. Lower support, 11. Lower opposite flange, 12. Motor No. 4, 13. Main body of the boom, 14. Motor No. 5, 15. Cross shaft, 16. End output flange, 17. Six-dimensional force sensor, 18. Linear electric cylinder, 19. Ring, 20. Connector, 21. Lateral axis, 22. Longitudinal axis, 23. Boss, 24. Attitude adjustment lateral axis, 25. Universal ball joint, 26. Attitude adjustment ring, 27. Main body of the forearm. Detailed Implementation

[0033] The technical solution of this utility model will be further described in detail below through specific embodiments and with reference to the accompanying drawings:

[0034] Example 1: A bionic humanoid robot upper limb structure (see...) Figure 1 , Figure 2 , Figure 3 , Figure 4 The device includes a shoulder support 1 and an elbow support 2. The shoulder support 1 is equipped with an upper support 3 and an upper opposite flange 4, which are positioned opposite each other. The upper support 3 and the upper opposite flange 4 are integrally formed with the shoulder support 1. The upper opposite flange 4 is fastened to the shoulder support 1 with screws. Together, the upper support 3, the upper opposite flange 4, and the shoulder support 1 form a closed C-shaped structure. A second motor 5 is installed between the upper support 3 and the upper opposite flange 4, driving the shoulder support 1 to rotate. The upper opposite flange 4 is rotatably connected to a shoulder connector 6, and the second motor 5 is mounted on the shoulder connector 6. The output flange 7 of the second motor is connected to the upper support 3. The rotation axes of the upper opposite flange 4 and the shoulder connector 6, and the rotation axes of the second motor output flange 7 and the upper support 3, coincide. The shoulder swivel seat 1 features a closed C-shaped structure with the opening facing upwards, effectively distributing the radial and axial loads acting on the bearing of motor 5, significantly improving the structural rigidity and stability of the joint, and contributing to enhanced dynamic response performance and operational accuracy of the entire machine. Motor 8 is correspondingly mounted on the shoulder connector 6, and the output flange 9 of motor 8 is securely connected to the shoulder connector 6. Rotation of motor 8 enables circumferential rotation of the entire upper limb.

[0035] The elbow joint swivel seat 2 is equipped with a lower support 10 and a lower opposite flange 11, which are positioned opposite each other. The lower support 10 is an integral part of the elbow joint swivel seat 2, and the lower opposite flange 11 is fastened to the elbow joint swivel seat 2 with screws. The lower support 10, the lower opposite flange 11, and the elbow joint swivel seat 2 together form a closed C-shaped structure with the opening facing upwards. A No. 4 motor 12 is installed between the lower support 10 and the lower opposite flange 11, and the No. 4 motor 12 drives the elbow joint swivel seat 2 to rotate. The closed C-shaped structure formed by the elbow joint swivel seat 2, the lower support 10, and the lower opposite flange 11 effectively distributes the radial and axial loads acting on the bearing of the No. 4 motor 12, significantly improving the structural rigidity and stability of the joint, and helping to improve the dynamic response performance and operating accuracy of the entire machine.

[0036] The lower opposite flange 11 is rotatably connected to the boom body 13. Motor 12 (No. 4) is mounted on the boom body 13, and its output flange is connected to the lower support 10. The rotation axis of the lower opposite flange 11 and the boom body 13, and the rotation axis of the output flange of motor 12 and the lower support 10, coincide. Motor 3 is mounted on the shoulder swivel seat 1, and its output flange is securely connected to the upper end of the boom body 13.

[0037] A No. 5 motor 14 is installed on the elbow swivel seat 2, and the output flange of the No. 5 motor 14 is fastened to the forearm body 27. The No. 5 motor 14 drives the forearm body 27 to rotate.

[0038] The forearm body 27 is connected to the end output flange 16 via a cross shaft 15. A six-dimensional force sensor 17 is installed on the end face of the end output flange 16. Two linear electric cylinders 18 are installed on the forearm body 27, and the extension rods of the linear electric cylinders 18 are rotatably connected to the end output flange 16. The cross shaft 15 includes a transverse shaft 21 and a longitudinal shaft 22 connected together. The transverse shaft 21 and the longitudinal shaft 22 are arranged perpendicularly. The longitudinal shaft 22 is rotatably connected to the end output flange 16, and the forearm body 27 is rotatably connected to the transverse shaft 21. A boss 23 is provided on the end output flange 16, and a mounting hole is provided on the boss 23. The longitudinal shaft 22 is connected to the mounting hole, and a bearing is installed between the longitudinal shaft 22 and the mounting hole. A U-shaped groove is provided at the end of the forearm body 27. The two ends of the transverse shaft 21 are rotatably connected to the two side walls of the U-shaped groove, and a bearing is installed between the transverse shaft 21 and the forearm body 27.

[0039] An attitude adjustment horizontal shaft 24 is installed on the end output flange 16, and the attitude adjustment horizontal shaft 24 is mounted on the boss 23. Universal ball joints 25 are installed at both ends of the attitude adjustment horizontal shaft 24. An attitude adjustment ring 26 is installed on the telescopic rod of the linear electric cylinder 18. The attitude adjustment ring 26 is adapted to the universal ball joints 25. The inner wall of the attitude adjustment ring 26 has a spherical surface, which is adapted to the universal ball joints 25. The telescopic rod of the linear electric cylinder 18, through the cooperation between the spherical surface of the inner wall of the attitude adjustment ring 26 and the universal ball joints 25 on the attitude adjustment horizontal shaft 24, allows the telescopic rod to deflect during its extension and retraction, providing flexible attitude adjustment and adaptability, thus improving the overall structural stability and impact resistance.

[0040] Two linear electric cylinders 18 are arranged in parallel to drive the motion control of two degrees of freedom. Compared with the end effector mounting method of rotary motor, this design has a smaller moment of inertia, significantly improving the dynamic performance of the end effector. At the same time, the two linear electric cylinders 18 can also work together on the same degree of freedom, increasing the upper limit of output torque and meeting the requirements of high load and high response tasks. By controlling the coordinated / differential motion of the two electric cylinders, the two wrist degrees of freedom are decoupled, which is conducive to achieving high-speed and flexible dynamic operation, and has the advantages of high stiffness and low moment of inertia.

[0041] When the two linear electric cylinders 18 move in the same direction, the end output flange 16 rotates about the transverse axis 21 of the cross shaft 15, achieving one degree of freedom of oscillation. When the two electric cylinders move in opposite directions, the end output flange 16 rotates about the longitudinal axis 22 of the cross shaft 15, achieving the other degree of freedom. Through this dual-cylinder parallel drive mechanism, the end can achieve high torque and high stiffness control in two degrees of freedom, and has the advantages of low rotational inertia, compact structure, and fast response speed.

[0042] Specifically, such as Figure 2 As shown, in the shoulder structure, motor 8 is bolted to the corresponding base of motor output flange 9. Motor 5 is bolted to the other end of motor output flange 9, forming the first rotational degree of freedom combination. The output end of motor 5 is connected to motor output flange 7 and bolted. Its opposite side is connected to flange 4, which, after press-fitting a deep groove ball bearing, is bolted to the shoulder swivel base 1 to form a C-shaped structure, enhancing overall rigidity. Motor 3 is bolted to the shoulder swivel base 1, and its output end is connected to the main body 13 of the boom.

[0043] like Figure 3 As shown, the No. 4 motor 12 is bolted to the far end of the main body 13 of the boom. Its output end is connected to the output flange of the No. 4 motor 12, and the opposite side is connected to the lower opposite flange 11. The lower opposite flange 11 is fixed to the shoulder swivel seat 1 by installing a deep groove ball bearing to form a C-shaped structure to enhance the overall rigidity.

[0044] like Figure 4 As shown, two linear electric cylinders 18 are mounted on the forearm body 27, and the extension rods of the linear electric cylinders 18 are connected to the end output flange 16. A cross shaft 15 is installed between the forearm body 27 and the end output flange 16, forming a dual-axis free motion mechanism. A six-dimensional force sensor 17 is installed on the outside of the end output flange 16 and fixed by bolts, used to measure the force state of the end in real time.

[0045] Example 2: A biomimetic humanoid robot upper limb structure (see...) Figure 1 , Figure 2 , Figure 5 The device includes a shoulder support 1 and an elbow support 2. The shoulder support 1 is equipped with an upper support 3 and an upper opposite flange 4, which are positioned opposite each other. The upper support 3 and the upper opposite flange 4 are integrally formed with the shoulder support 1. The upper opposite flange 4 is fastened to the shoulder support 1 with screws. Together, the upper support 3, the upper opposite flange 4, and the shoulder support 1 form a closed C-shaped structure. A second motor 5 is installed between the upper support 3 and the upper opposite flange 4, driving the shoulder support 1 to rotate. The upper opposite flange 4 is rotatably connected to a shoulder connector 6, and the second motor 5 is mounted on the shoulder connector 6. The output flange 7 of the second motor is connected to the upper support 3. The rotation axes of the upper opposite flange 4 and the shoulder connector 6, and the rotation axes of the second motor output flange 7 and the upper support 3, coincide. The shoulder swivel seat 1 features a closed C-shaped structure with the opening facing upwards, effectively distributing the radial and axial loads acting on the bearing of motor 5, significantly improving the structural rigidity and stability of the joint, and contributing to enhanced dynamic response performance and operational accuracy of the entire machine. Motor 8 is correspondingly mounted on the shoulder connector 6, and the output flange 9 of motor 8 is securely connected to the shoulder connector 6. Rotation of motor 8 enables circumferential rotation of the entire upper limb.

[0046] The elbow joint swivel seat 2 is equipped with a lower support 10 and a lower opposite flange 11, which are positioned opposite each other. The lower support 10 is an integral part of the elbow joint swivel seat 2, and the lower opposite flange 11 is fastened to the elbow joint swivel seat 2 with screws. The lower support 10, the lower opposite flange 11, and the elbow joint swivel seat 2 together form a closed C-shaped structure with the opening facing upwards. A No. 4 motor 12 is installed between the lower support 10 and the lower opposite flange 11, and the No. 4 motor 12 drives the elbow joint swivel seat 2 to rotate. The closed C-shaped structure formed by the elbow joint swivel seat 2, the lower support 10, and the lower opposite flange 11 effectively distributes the radial and axial loads acting on the bearing of the No. 4 motor 12, significantly improving the structural rigidity and stability of the joint, and helping to improve the dynamic response performance and operating accuracy of the entire machine.

[0047] The lower opposite flange 11 is rotatably connected to the boom body 13. Motor 12 (No. 4) is mounted on the boom body 13, and its output flange is connected to the lower support 10. The rotation axis of the lower opposite flange 11 and the boom body 13, and the rotation axis of the output flange of motor 12 and the lower support 10, coincide. Motor 3 is mounted on the shoulder swivel seat 1, and its output flange is securely connected to the upper end of the boom body 13.

[0048] A No. 5 motor 14 is installed on the elbow swivel seat 2, and the output flange of the No. 5 motor 14 is fastened to the forearm body 27. The No. 5 motor 14 drives the forearm body 27 to rotate.

[0049] The forearm body 27 is connected to the end output flange 16 via a cross shaft 15. A six-dimensional force sensor 17 is installed on the end face of the end output flange 16. Two linear electric cylinders 18 are installed on the forearm body 27, and the extension rods of the linear electric cylinders 18 are rotatably connected to the end output flange 16.

[0050] The end of the linear electric cylinder 18 is fastened to a ring 19. A spherical surface is provided on the inner wall of the ring 19. A connector 20 is provided on the forearm body 27 corresponding to the ring 19. The connector 20 has a spherical structure. The ring 19 and the connector 20 are adapted to be connected, so that the ring 19 can deflect, thereby realizing the deflection of the linear electric cylinder 18.

[0051] The cross shaft 15 includes a transverse shaft 21 and a longitudinal shaft 22 connected together. The transverse shaft 21 and the longitudinal shaft 22 are arranged perpendicularly. The longitudinal shaft 22 is rotatably connected to the end output flange 16, and the forearm body 27 is rotatably connected to the transverse shaft 21. The end output flange 16 is provided with a boss 23, and the boss 23 is provided with a mounting hole. The longitudinal shaft 22 is connected to the mounting hole, and a bearing is installed between the longitudinal shaft 22 and the mounting hole. The end of the forearm body 27 is provided with a U-shaped groove, and both ends of the transverse shaft 21 are rotatably connected to the two side walls of the U-shaped groove, respectively. A bearing is installed between the transverse shaft 21 and the forearm body 27.

[0052] An attitude adjustment horizontal shaft 24 is installed on the end output flange 16, and the attitude adjustment horizontal shaft 24 is mounted on the boss 23. Universal ball joints 25 are installed at both ends of the attitude adjustment horizontal shaft 24. An attitude adjustment ring 26 is installed on the telescopic rod of the linear electric cylinder 18. The attitude adjustment ring 26 is adapted to the universal ball joints 25. The inner wall of the attitude adjustment ring 26 has a spherical surface, which is adapted to the universal ball joints 25. The telescopic rod of the linear electric cylinder 18, through the cooperation between the spherical surface of the inner wall of the attitude adjustment ring 26 and the universal ball joints 25 on the attitude adjustment horizontal shaft 24, allows the telescopic rod to deflect during its extension and retraction, providing flexible attitude adjustment and adaptability, thus improving the overall structural stability and impact resistance.

[0053] Two linear electric cylinders 18 are arranged in parallel to drive the motion control of two degrees of freedom. Compared with the end effector mounting method of rotary motor, this design has a smaller moment of inertia, significantly improving the dynamic performance of the end effector. At the same time, the two linear electric cylinders 18 can also work together on the same degree of freedom, increasing the upper limit of output torque and meeting the requirements of high load and high response tasks. By controlling the coordinated / differential motion of the two electric cylinders, the two wrist degrees of freedom are decoupled, which is conducive to achieving high-speed and flexible dynamic operation, and has the advantages of high stiffness and low moment of inertia.

[0054] When the two linear electric cylinders 18 move in the same direction, the end output flange 16 rotates about the transverse axis 21 of the cross shaft 15, achieving one degree of freedom of oscillation. When the two electric cylinders move in opposite directions, the end output flange 16 rotates about the longitudinal axis 22 of the cross shaft 15, achieving the other degree of freedom. Through this dual-cylinder parallel drive mechanism, the end can achieve high torque and high stiffness control in two degrees of freedom, and has the advantages of low rotational inertia, compact structure, and fast response speed.

[0055] Specifically, such as Figure 2 As shown, in the shoulder structure, motor 8 is bolted to the corresponding base of motor output flange 9. Motor 5 is bolted to the other end of motor output flange 9, forming the first rotational degree of freedom combination. The output end of motor 5 is connected to motor output flange 7 and bolted. Its opposite side is connected to flange 4, which, after press-fitting a deep groove ball bearing, is bolted to the shoulder swivel base 1 to form a C-shaped structure, enhancing overall rigidity. Motor 3 is bolted to the shoulder swivel base 1, and its output end is connected to the main body 13 of the boom.

[0056] like Figure 3 As shown, the No. 4 motor 12 is bolted to the far end of the main body 13 of the boom. Its output end is connected to the output flange of the No. 4 motor 12, and the opposite side is connected to the lower opposite flange 11. The lower opposite flange 11 is fixed to the shoulder swivel seat 1 by installing a deep groove ball bearing to form a C-shaped structure to enhance the overall rigidity.

[0057] like Figure 4As shown, two linear electric cylinders 18 are mounted on the forearm body 27, and the extension rods of the linear electric cylinders 18 are connected to the end output flange 16. A cross shaft 15 is installed between the forearm body 27 and the end output flange 16, forming a dual-axis free motion mechanism. A six-dimensional force sensor 17 is installed on the outside of the end output flange 16 and fixed by bolts, used to measure the force state of the end in real time.

[0058] The embodiments described above are merely preferred solutions of this utility model and are not intended to limit this utility model in any way. Other variations and modifications are possible without departing from the technical solutions described in the claims.

Claims

1. A biomimetic humanoid robot upper limb structure, characterized in that, It includes a shoulder turnover seat and an elbow turnover seat. The shoulder turnover seat is equipped with an upper support and an upper opposite flange. A No. 2 motor is installed between the upper support and the upper opposite flange, and the No. 2 motor drives the shoulder turnover seat to rotate. The elbow turnover seat is equipped with a lower support and a lower opposite flange. A No. 4 motor is installed between the lower support and the lower opposite flange, and the No. 4 motor drives the elbow turnover seat to rotate.

2. The upper limb structure of a bionic humanoid robot according to claim 1, characterized in that, The upper side flange is rotatably connected to the shoulder connector. Motor No. 2 is mounted on the shoulder connector, and the output flange of Motor No. 2 is connected to the upper support.

3. The upper limb structure of a bionic humanoid robot according to claim 2, characterized in that, The shoulder connector is equipped with motor number one, and the output flange of motor number one is fastened to the shoulder connector.

4. The upper limb structure of a bionic humanoid robot according to claim 1, characterized in that, The lower side flange is rotatably connected to the boom body, and the No. 4 motor is installed on the boom body. The output flange of the No. 4 motor is connected to the lower support.

5. The upper limb structure of a bionic humanoid robot according to claim 4, characterized in that, Motor No. 3 is installed on the shoulder swivel seat, and the output flange of Motor No. 3 is fastened to the upper end of the main body of the boom.

6. A biomimetic humanoid robot upper limb structure according to any one of claims 1 to 5, characterized in that, A No. 5 motor is installed on the elbow swivel seat, and the output flange of the No. 5 motor is fastened to the main body of the forearm.

7. The upper limb structure of a bionic humanoid robot according to claim 6, characterized in that, The forearm body is connected to the end output flange via a cross shaft. Two linear electric cylinders are installed on the forearm body, and the extension rods of the linear electric cylinders are rotatably connected to the end output flange.

8. The bionic humanoid robot upper limb structure according to claim 7, characterized in that the distal end... An attitude adjustment horizontal axis is installed on the output flange, and universal ball joints are installed at both ends of the attitude adjustment horizontal axis. An attitude adjustment ring is installed on the linear electric cylinder telescopic rod. The attitude adjustment ring is adapted to the universal ball joint. The inner wall of the attitude adjustment ring is provided with a spherical surface, which is adapted to the universal ball joint.

9. The upper limb structure of a bionic humanoid robot according to claim 7, characterized in that, The cross shaft consists of a transverse shaft and a longitudinal shaft connected together. The longitudinal shaft is rotatably connected to the end output flange, and the forearm body is rotatably connected to the transverse shaft.

10. The upper limb structure of a bionic humanoid robot according to claim 7, characterized in that, A six-dimensional force sensor is installed on the end face of the output flange.

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