A humanoid robot arm and a humanoid robot

Abstract

The utility model discloses a kind of humanoid robot arms and humanoid robots, it is related to humanoid robot technical field, to solve the problem of low dismounting efficiency of existing humanoid robot arm, the humanoid robot arm includes: arm mounting piece, fixed in humanoid robot thoracic cavity;Arm adapter plate is detachably connected with arm mounting piece, arm mounting piece and arm adapter plate are annular structure, to make the rotary actuator of arm end portion be arranged in arm mounting piece and arm adapter plate, rotary actuator is detachably connected with arm adapter plate;So set, so that arm whole can be conveniently, quickly installed to humanoid robot thoracic cavity or disassembled from humanoid robot thoracic cavity, simplify the dismounting efficiency of arm, greatly improve the assembly efficiency of robot arm, shorten assembly time.

Description

Technical Field

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

[0002] In the daily use, maintenance, and repair of humanoid robots, frequent disassembly and assembly of the robot's arms is an essential part. However, the traditional connection structure of humanoid robot arms has obvious drawbacks, which greatly limit the efficiency and convenience of disassembly and assembly.

[0003] When the arm needs to be disassembled, the operator must first remove all the rotary actuators and related structural components of the J1 and J2 axes before the entire arm can be detached from the robot body. This disassembly method is complicated, requiring a significant amount of time and manpower, and increasing the difficulty of operation. Moreover, during reinstallation, it is essential to ensure that all components are precisely reset; even slight carelessness can lead to component damage or insecure installation, thus affecting the normal operation of the robot. This complex disassembly method also severely impacts the efficiency of arm assembly and disassembly, causing considerable inconvenience to robot maintenance, repair, and arm replacement.

[0004] Therefore, how to solve the problem of low assembly and disassembly efficiency of existing humanoid robot arms is a problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0005] In view of this, the purpose of this utility model is to provide a humanoid robot arm that can be quickly assembled and disassembled, simplifying the operation steps, shortening the assembly and disassembly time, and improving the efficiency of assembly and disassembly.

[0006] Another objective of this invention is to provide a humanoid robot including the aforementioned humanoid robot arm, which improves the maintenance efficiency, reliability, and safety of the humanoid robot, reduces production and maintenance costs, and enhances its versatility and flexibility.

[0007] To achieve the above objectives, this utility model provides the following technical solution:

[0008] A humanoid robotic arm, comprising:

[0009] Arm mounting components are fixed to the chest cavity of the humanoid robot;

[0010] The arm adapter plate is detachably connected to the arm mounting component. Both the arm mounting component and the arm adapter plate are ring-shaped structures, allowing the rotary actuator at the end of the arm to pass through the arm mounting component and the arm adapter plate. The rotary actuator is detachably connected to the arm adapter plate.

[0011] Preferably, the arm mounting component and the arm adapter plate are connected by bolts.

[0012] Preferably, the arm adapter plate includes a first connecting part and a second connecting part nested together, the first connecting part being located outside the second connecting part, and one end face of the second connecting part forming a stepped surface with the end face of the first connecting part.

[0013] Preferably, the first connecting part is connected to the arm mounting part and the second connecting part is connected to the rotary actuator by bolts.

[0014] Preferably, a first limiting structure is provided between the first connecting part and the first joint connected to the rotary actuator, the first limiting structure being used to limit the rotation angle of the first joint.

[0015] Preferably, the first limiting structure includes at least three first limiting blocks, one of which is located on one end face of the first connecting portion, and the other two are located on one end face of the first joint.

[0016] Preferably, the arm also includes a forearm and several second joints that are rotatably connected in sequence, one of which is rotatably connected to one end of the forearm, and a second limiting structure for limiting its own rotation angle is provided between two adjacent second joints and between the forearm and the second joint.

[0017] Preferably, the second limiting structure includes a second limiting block and a limiting groove, the second limiting block and the limiting groove are respectively disposed on the corresponding second joint and forearm, the limiting groove is an arc-shaped groove, and the second limiting block slides along the limiting groove.

[0018] Preferably, the second limiting block is connected to the second joint and the forearm by screws, and the arm mounting piece is connected to the chest cavity by bolts.

[0019] A humanoid robot, including any of the aforementioned humanoid robot arms.

[0020] This utility model provides a humanoid robot arm comprising an arm mounting component and an arm adapter plate. Specifically, the arm mounting component is fixed to the chest cavity of the humanoid robot, providing a stable and reliable support foundation for the installation of the arm adapter plate and the arm. The arm adapter plate is detachably connected to the arm mounting component. Both the arm mounting component and the arm adapter plate are annular structures, allowing the rotary actuator at the end of the arm to pass through the arm mounting component and the arm adapter plate, effectively utilizing axial space, reducing the overall size of the arm, and making the humanoid robot structure more compact. The detachable connection between the rotary actuator and the arm adapter plate allows for quick maintenance or replacement when the arm needs to be disassembled, simply by disassembling the connection between the arm adapter plate and the arm mounting component. When the arm needs to be installed, assembly can be quickly completed by simply connecting the arm adapter plate and the arm mounting component. By setting the arm adapter plate, the entire arm can be conveniently and quickly installed into or removed from the chest cavity of the humanoid robot, simplifying the assembly and disassembly efficiency of the arm, greatly improving the assembly efficiency of the robot arm, and shortening the assembly time. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0022] Figure 1 A schematic diagram of the humanoid robot arm provided by this utility model;

[0023] Figure 2 A partial exploded view of the humanoid robot arm provided by this utility model;

[0024] Figure 3 A schematic diagram of the arm adapter plate provided by this utility model;

[0025] Figure 4 A schematic diagram of the first limiting structure provided by this utility model;

[0026] Figure 5 This is a schematic diagram of the second limiting structure provided by this utility model.

[0027] Figure label:

[0028] 1-Arm mounting components;

[0029] 2-Arm adapter plate, 21-First connecting part, 22-Second connecting part, 23-Step surface;

[0030] 3-Arm, 31-First joint, 311-Rotating actuator, 32-Forearm, 33-Second joint;

[0031] 4-First limiting structure;

[0032] 5-Second limiting structure, 51-Second limiting block, 52-Limiting groove. Detailed Implementation

[0033] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0034] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of 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.

[0035] The core of this invention is to provide a humanoid robot arm that enables rapid assembly and disassembly of the entire arm 3, simplifying the operation steps, shortening the assembly and disassembly time, and improving the efficiency of assembly and disassembly. Another core aspect of this invention is to provide a humanoid robot including the aforementioned humanoid robot arm, which improves the maintenance efficiency, reliability, and safety of the humanoid robot, reduces production and maintenance costs, and enhances its versatility and flexibility.

[0036] Please refer to Figure 1 and Figure 2 A humanoid robot arm includes an arm mounting component 1 and an arm adapter plate 2.

[0037] Specifically, the arm mounting component 1 is fixed to the chest cavity of the humanoid robot, providing a stable and reliable support foundation for the installation of the arm adapter plate 2 and the arm 3. The arm adapter plate 2 is detachably connected to the arm mounting component 1. Both the arm mounting component 1 and the arm adapter plate 2 are annular structures, allowing the rotary actuator 311 at the end of the arm 3 to pass through the arm mounting component 1 and the arm adapter plate 2, effectively utilizing axial space, reducing the overall size of the arm 3, and making the humanoid robot structure more compact. The detachable connection between the rotary actuator 311 and the arm adapter plate 2 allows for quick maintenance or replacement when the arm 3 needs to be disassembled, simply by disconnecting the connection between the arm adapter plate 2 and the arm mounting component 1. When the arm 3 needs to be installed, simply by connecting the arm adapter plate 2 and the arm mounting component 1, assembly can be completed quickly. By setting the arm adapter plate 2, the entire arm 3 can be conveniently and quickly installed into or removed from the chest cavity of the humanoid robot, simplifying the assembly and disassembly efficiency of the arm 3, greatly improving the assembly efficiency of the robot arm 3, and shortening the assembly time.

[0038] The humanoid robot arm designed in the above manner allows for quick disassembly or installation of the arm 3 by simply disconnecting or reconnecting the arm adapter plate 2 and the arm mounting component 1. This simplifies the disassembly and assembly steps, shortens operation time, and improves maintenance and replacement efficiency. Compared to traditional methods that require the removal of multiple components to disassemble the arm 3, this application only requires operation of one component (the arm adapter plate 2), reducing operational difficulty and minimizing the risk of damage due to operational errors.

[0039] In the above embodiment, the arm mounting component 1 and the arm adapter plate 2 are connected by bolts.

[0040] It should be noted that both the arm mounting component 1 and the arm adapter plate 2 are provided with several corresponding threaded connection holes. The threaded connection holes on the arm mounting component 1 and the arm adapter plate 2 are aligned and then fixed together with bolts. Furthermore, bolted connections typically do not require complex special tools; ordinary tools can be used, reducing maintenance costs and the skill requirements for operators. The disassembly and installation process is very convenient, greatly shortening maintenance and replacement time and improving work efficiency.

[0041] Among them, bolt connection is a high-strength connection method that can provide sufficient fastening force to ensure a stable and reliable connection between the arm mounting component 1 and the arm adapter plate 2. During the operation of the robot arm 3, even if subjected to large forces or vibrations, the bolt connection can remain stable and will not loosen or fall off.

[0042] Please refer to Figure 3The arm adapter plate 2 includes a first connecting part 21 and a second connecting part 22 nested together. The first connecting part 21 is located outside the second connecting part 22, and one end face of the second connecting part 22 forms a stepped surface 23 with the end face of the first connecting part 21.

[0043] Understandably, the design of the stepped surface 23 provides a precise positioning reference for the rotary actuator 311, ensuring accurate alignment and fixation during installation, reducing errors during installation, and improving installation accuracy. The positioning function of the stepped surface 23 makes the installation of the rotary actuator 311 more intuitive and convenient. Operators can quickly complete the installation of the rotary actuator 311 without additional alignment tools or complex adjustment steps, significantly improving assembly efficiency. The nested first connecting part 21 and second connecting part 22 effectively utilize space, making the overall size of the arm adapter plate 2 more compact, helping to reduce the overall volume of the robot arm 3, and making the robot structure lighter and more flexible.

[0044] Furthermore, the first connecting part 21 is connected to the arm mounting part 1, and the second connecting part 22 is connected to the rotary actuator 311 by bolts.

[0045] It should be noted that both the first connecting part 21 and the second connecting part 22 are provided with several threaded connection holes. The threaded connection holes on the first connecting part 21 correspond one-to-one with those on the arm mounting part 1, and the threaded connection holes on the second connecting part 22 correspond one-to-one with those on the rotary actuator 311. The first connecting part 21 is aligned with the threaded connection holes on the arm mounting part 1 and fixed by bolts, and the second connecting part 22 is aligned with the threaded holes on the rotary actuator 311 and fixed by bolts. Bolted connections typically do not require complex special tools; ordinary tools can be used, reducing maintenance costs and the skill requirements for operators. Disassembly and installation are very convenient, greatly shortening maintenance and replacement time and improving work efficiency.

[0046] Furthermore, when connecting arm 3 to the chest cavity, the rotary actuator 311 of the first joint 31 can be inserted into the arm adapter plate 2 first, and the rotary actuator 311 can be connected and fixed to the arm adapter plate 2 by screws. Hex socket head cap screws can be used to ensure the stability of the connection and ease of operation. Then, the arm adapter plate 2 and the arm mounting component 1 are connected by bolts to achieve rapid installation of arm 3. When arm 3 needs to be disassembled for maintenance or repair, simply remove the fixing bolts on the arm adapter plate 2 and the arm mounting component 1 to disassemble the entire arm 3. The arm adapter plate 2 can be made of aluminum alloy, which has advantages such as light weight, high strength, and corrosion resistance, and can meet the structural requirements.

[0047] Please refer to Figure 2 and Figure 4A first limiting structure 4 is provided between the first connecting part 21 and the first joint 31 connected to the rotary actuator 311. The first limiting structure 4 is used to limit the rotation angle of the first joint 31.

[0048] Understandably, the first limiting structure 4 can precisely limit the rotation angle of the first joint 31, ensuring that the rotary actuator 311 moves within the specified angle range, so as to effectively avoid mechanical collisions or damage caused by excessive rotation angle, and improve the motion accuracy and reliability of the robot arm 3.

[0049] Based on the above embodiments, the first limiting structure 4 includes at least three first limiting blocks, one of which is located on one end face of the first connecting portion 21, and the other two first limiting blocks are located on one end face of the first joint 31.

[0050] It should be noted that the coordinated action of the three first limiting blocks can more precisely limit the rotation angle of the first joint 31. By rationally designing the position and shape of the first limiting blocks, it can be ensured that the first joint 31 moves within a specified angle range, avoiding mechanical failures caused by angle deviations. For example, if the rotation angle between the two first limiting blocks on the end face of the first joint 31 is 180 degrees, then the first limiting block on the end face of the first connecting part 21 can swing between the two first limiting blocks on the end face of the first joint 31.

[0051] Please refer to Figure 1 and Figure 5 The arm 3 also includes a forearm 32 and several second joints 33 that are rotatably connected in sequence. One of the second joints 33 is rotatably connected to one end of the forearm 32. A second limiting structure 5 for limiting its own rotation angle is provided between two adjacent second joints 33 and between the forearm 32 and the second joint 33.

[0052] Understandably, the second limiting structure 5 can precisely limit the rotation angle of each second joint 33 and the forearm 32, ensuring that each second joint 33 moves within the specified angle range, so as to effectively avoid mechanical collisions or damage caused by excessive rotation angles, and improve the motion accuracy and reliability of the robot arm 3.

[0053] In a preferred embodiment, the second limiting structure 5 includes a second limiting block 51 and a limiting groove 52. The second limiting block 51 and the limiting groove 52 are respectively disposed on the corresponding second joint 33 and forearm 32. The limiting groove 52 is an arc-shaped groove, and the second limiting block 51 slides along the limiting groove 52.

[0054] It should be noted that the design of the arc-shaped limiting groove 52 can precisely limit the rotation angle of the second joint 33 and the forearm 32. By adjusting the shape or length of the arc-shaped limiting groove 52, the limiting angle of the second joint 33 and the forearm 32 can be flexibly changed to adapt to different application scenarios and task requirements, thus improving versatility and adaptability. The second limiting block 51 slides along the arc-shaped limiting groove 52, which can realize continuous limiting function, ensuring that the joint movement is always effectively constrained throughout the entire movement process, thereby improving the smoothness and reliability of the movement.

[0055] The limiting block is fixed with screws. Multiple mounting holes are provided at different positions on the arm adapter plate 2, joint, and forearm 32 where the limiting block is installed. By selecting different mounting holes and screws, the limiting block can be flexibly fixed in different positions. Simultaneously, the structural design of the limiting block accommodates the installation needs of both the left and right arms 3. Its symmetrical structure and universal mounting interface allow the same limiting block to be used on both the left and right arms 3, enabling shared use of both arms 3. This eliminates the need for separate design and manufacturing for each arm 3, reducing design and manufacturing costs, facilitating standardized management and maintenance of components, and improving production and maintenance efficiency.

[0056] In the above situation, the second limiting block 51 is connected to the second joint 33 and the forearm 32 by screws, and the arm mounting part 1 is connected to the chest cavity by bolts.

[0057] Understandably, screws and bolts possess high strength and rigidity, ensuring a stable and reliable connection between the second limiting block 51 and the second joint 33, the forearm 32, and the arm mounting component 1 and the chest cavity. This connection method can withstand various forces and torques generated by the robotic arm 3 during movement, ensuring structural stability. The simple assembly and disassembly of screws and bolts make the removal and installation of the second limiting block 51 very convenient, significantly reducing maintenance and replacement time and improving work efficiency.

[0058] In summary, the humanoid robot arm provided by this utility model, by adding an arm adapter plate 2, eliminates the need to remove other components of the J1 or even J2 axes when assembling or disassembling the arm 3. Simply removing the outer ring fixing bolts on the arm adapter plate 2 and the arm mounting component 1 allows for quick assembly and disassembly of the entire arm 3. This design greatly simplifies the operation steps, shortens the assembly and disassembly time, and significantly improves the efficiency of maintenance and replacement. Due to the simplified operation steps, the assembly and disassembly process is more convenient, reducing reliance on professional technicians and lowering labor costs. Achieving quick-disassembly functionality by adding only an arm adapter plate 2 results in a simple overall structure, reduces the number of parts, lowers design and manufacturing complexity, and has strong versatility. It can be applied to the connection of the arm 3 of various humanoid robots and is suitable for different models and specifications of robot arms 3.

[0059] In addition to the humanoid robot arms disclosed in the above embodiments, this utility model also provides a humanoid robot including the above-mentioned humanoid robot arms. For the structure of other parts of the humanoid robot, please refer to the prior art, which will not be repeated here.

[0060] It should be noted that in this specification, relational terms such as first and second are used only to distinguish one entity from several other entities, and do not necessarily require or imply any such actual relationship or order between these entities.

[0061] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0062] The foregoing has provided a detailed description of the humanoid robot arm and humanoid robot provided by this utility model. Specific examples have been used to illustrate the principles and implementation methods of this utility model. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made to this utility model without departing from the principles of this utility model, and these improvements and modifications also fall within the protection scope of this utility model.

Claims

1. A humanoid robotic arm, characterized in that, include: Arm mount (1) is fixed to the chest cavity of the humanoid robot; The arm adapter plate (2) is detachably connected to the arm mounting component (1). Both the arm mounting component (1) and the arm adapter plate (2) are ring-shaped structures, so that the rotary actuator (311) at the end of the arm (3) passes through the arm mounting component (1) and the arm adapter plate (2). The rotary actuator (311) is detachably connected to the arm adapter plate (2).

2. The humanoid robot arm according to claim 1, characterized in that, The arm mounting component (1) is connected to the arm adapter plate (2) by bolts.

3. The humanoid robot arm according to claim 1, characterized in that, The arm adapter plate (2) includes a first connecting part (21) and a second connecting part (22) nested together. The first connecting part (21) is located outside the second connecting part (22), and one side end face of the second connecting part (22) forms a stepped surface (23) with the end face of the first connecting part (21).

4. The humanoid robot arm according to claim 3, characterized in that, The first connecting part (21) is connected to the arm mounting part (1), and the second connecting part is connected to the rotary actuator (311) by bolts.

5. The humanoid robot arm according to claim 4, characterized in that, A first limiting structure (4) is provided between the first connecting part (21) and the first joint (31) connected to the rotary actuator (311), and the first limiting structure (4) is used to limit the rotation angle of the first joint (31).

6. The humanoid robot arm according to claim 5, characterized in that, The first limiting structure (4) includes at least three first limiting blocks, one of which is located on one end face of the first connecting part (21), and the other two are located on one end face of the first joint (31).

7. The humanoid robotic arm according to any one of claims 1-6, characterized in that, The arm also includes a forearm (32) and several second joints (33) that are rotatably connected in sequence. One of the second joints (33) is rotatably connected to one end of the forearm (32). A second limiting structure (5) for limiting its own rotation angle is provided between two adjacent second joints (33) and between the forearm (32) and the second joint (33).

8. The humanoid robot arm according to claim 7, characterized in that, The second limiting structure (5) includes a second limiting block (51) and a limiting groove (52). The second limiting block (51) and the limiting groove (52) are respectively provided on the corresponding second joint (33) and the forearm (32). The limiting groove (52) is an arc-shaped groove. The second limiting block (51) slides along the limiting groove (52).

9. The humanoid robot arm according to claim 8, characterized in that, The second limiting block (51) is connected to the second joint (33) and the forearm (32) by screws, and the arm mounting part (1) is connected to the chest cavity by bolts.

10. A humanoid robot, characterized in that, Includes the humanoid robotic arm as described in any one of claims 1-9.

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