Modular humanoid robot arm and humanoid robot

Abstract

The utility model discloses a modular humanoid robot arm and humanoid robot relates to robot technical field, in order to solve the problem that the existing end effector replacement process is complex and lacks universal adaptability, this modular humanoid robot arm includes: arm body module, quick change module and end effector, one end of quick change module is detachably connected with arm body module, and the other end of quick change module is detachably connected with end effector, and quick change module is mechanical electrical connection structure, so setting, can realize the quick replacement of end effector of different manufacturers, different types, different functions.

Description

Technical Field

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

[0002] Humanoid robots, as one of the most promising and attractive branches of robotics, have received widespread attention and rapid development in recent years. Integrating advanced technologies such as artificial intelligence, high-end manufacturing, and new materials, they possess a structural layout similar to the human form, enabling them to adapt to more complex terrain conditions and providing more flexible workspaces and rapid movement capabilities. Humanoid robots can perform a variety of complex tasks, such as handling, assembly, precise grasping, and contact inspection, and are widely used in specific scenarios such as industrial production, service robots, medical assistance, and logistics distribution.

[0003] The humanoid robot arm is a key component for performing tasks, while the end effector is the tool that directly contacts the external environment or work object. Traditional end effectors mostly employ a fixed design, making replacement extremely complex once installed. This requires not only professional personnel but also specialized tools, consuming significant time and effort. Furthermore, the inconsistent interface standards of end effectors from different manufacturers hinder rapid adaptation and replacement between humanoid robot arms and end effectors.

[0004] Therefore, how to solve the problem of the complexity and lack of universal adaptability of the existing end effector replacement process is an urgent problem 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 modular humanoid robot arm that can quickly replace end effectors from different manufacturers, of different types, and with different functions.

[0006] Another objective of this invention is to provide a humanoid robot including the aforementioned modular humanoid robot arm, which has a wide range of applications.

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

[0008] A modular humanoid robot arm includes: an arm body module, a quick-change module, and an end effector. One end of the quick-change module is detachably connected to the arm body module, and the other end of the quick-change module is detachably connected to the end effector. The quick-change module is a mechanical-electrical connection structure.

[0009] Preferably, the quick-change module includes a mechanical connection structure and an electrical connection structure. The electrical connection structure is detachably located within the mechanical connection structure. One end of the mechanical connection structure is detachably connected to the end effector, and the other end of the mechanical connection structure is detachably connected to the arm body module.

[0010] Preferably, the electrical connection structure includes a printed circuit board, which is detachably disposed on the connection plate, and the printed circuit board is provided with at least two connectors for electrical connection of cables to the arm body module and the end effector.

[0011] Preferably, the mechanical connection structure includes a first connection part and a second connection part that are coaxially arranged and hollow, the first connection part being connected to the arm body module, and the second connection part being connected to the end effector.

[0012] Preferably, the outer diameter of the first connecting part is larger than the outer diameter of the second connecting part, so that a stepped surface is formed between the first connecting part and the second connecting part.

[0013] Preferably, the end of the arm body module that is engaged with the first connecting part is provided with a mounting base, and the mounting base is provided with a limiting step, and the end of the first connecting part abuts against the limiting step.

[0014] Preferably, the outer periphery of the first connecting part is provided with a slot, the slot extends axially along the first connecting part, and the inner wall of the mounting base is provided with a protrusion that engages with the slot, one end of the protrusion abutting against the limiting step.

[0015] Preferably, there are at least two card slots, which are evenly distributed along the outer periphery of the first connecting part, and at least two protrusions, which correspond one-to-one with the card slots.

[0016] Preferably, both the first connecting part and the second connecting part are provided with threaded connecting holes in the circumferential direction.

[0017] A humanoid robot comprising the modular humanoid robot arm described in any of the preceding claims.

[0018] The modular humanoid robot arm provided by this utility model includes an arm body module, a quick-change module, and an end effector. Specifically, one end of the quick-change module is detachably connected to the arm body module, and the other end of the quick-change module is detachably connected to the end effector. By setting up the quick-change module, the replacement of the end effector does not require complex tools or professional personnel. The replacement process can be completed simply by disassembly and installation, which greatly shortens the replacement time and improves work efficiency. By designing quick-change modules of different specifications, it can be compatible with end effectors of different manufacturers, types, and functions. The quick-change module is a mechanical-electrical connection structure, integrating mechanical and electrical connections to ensure the stability and reliability of the electrical connection between the end effector and the arm body module. Regardless of the type of end effector being replaced, the stability of the connection and the reliable transmission of electrical signals can be guaranteed. Attached Figure Description

[0019] 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.

[0020] Figure 1 An exploded view of the modular humanoid robot arm provided by this utility model;

[0021] Figure 2 A schematic diagram of the quick-change module provided by this utility model;

[0022] Figure 3 This is a top view of the quick-change module provided by this utility model;

[0023] Figure 4 This is a side view of the quick-change module provided by this utility model;

[0024] Figure 5 A schematic diagram of the mechanical connection structure provided by this utility model;

[0025] Figure 6 This is a cross-sectional view of the arm body module provided by this utility model;

[0026] Figure 7 This is a partial structural diagram of the arm body module provided by this utility model.

[0027] Figure label:

[0028] 1-Arm body module, 11-Limiting step, 12-Protrusion;

[0029] 2-Quick-change module, 21-Mechanical connection structure, 211-First connection part, 212-Second connection part, 213-Stepped surface, 214-Slot, 215-Threaded connection hole, 22-Electrical connection structure, 221-Printed circuit board, 222-Connecting plate, 223-Plug-in component;

[0030] 3-End actuator. Detailed Implementation

[0031] 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.

[0032] 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.

[0033] The core of this invention is to provide a modular humanoid robot arm that allows for the rapid replacement of end effectors 3 from different manufacturers, of different types, and with different functions. Another core aspect of this invention is to provide a humanoid robot incorporating the aforementioned modular humanoid robot arm, which has a wide range of applications.

[0034] Please refer to Figure 1 A modular humanoid robot arm includes an arm body module 1, a quick-change module 2, and an end effector 3.

[0035] Specifically, one end of the quick-change module 2 is detachably connected to the arm body module 1, and the other end of the quick-change module 2 is detachably connected to the end effector 3. By setting up the quick-change module 2, the replacement of the end effector 3 does not require complicated tools or professional personnel. The replacement process can be completed simply by disassembly and installation, which greatly shortens the replacement time and improves work efficiency. By designing quick-change modules 2 of different specifications, it can be compatible with end effectors 3 of different manufacturers, types and functions. The quick-change module 2 is a mechanical and electrical connection structure. The quick-change module 2 integrates mechanical and electrical connections, ensuring the stability and reliability of the electrical connection between the end effector 3 and the arm body module 1. No matter what kind of end effector 3 is replaced, the stability of the connection and the reliable transmission of electrical signals can be guaranteed.

[0036] The quick-change module 2 is matched with the end effector 3. By replacing the quick-change module 2, different end effectors 3 can be adapted. Furthermore, the quick-change module 2 is concealed and does not affect the appearance. The end effector 3 can be configured with dexterous hands, gripper modules, zero-degree-of-freedom structural components, or multi-functional sensor modules from different manufacturers. This design breaks down technical barriers between manufacturers, allowing users to freely choose various high-quality end effectors 3 on the market according to their actual needs without worrying about compatibility issues. By replacing the quick-change module 2, users can quickly adapt to different end effectors 3 in a short time, thereby achieving rapid switching of the robot arm's functions.

[0037] The modular humanoid robot arm designed in the above manner allows the replacement of the end effector 3 to be completed without the need for complex tools and professional personnel. The replacement process can be completed simply by disassembling and installing the quick-change module 2, which greatly shortens the replacement time and improves work efficiency. As a mechanical and electrical connection module, the quick-change module 2 is compatible with end effectors 3 from different manufacturers, of different types and with different functions.

[0038] Please refer to Figure 2 The quick-change module 2 includes a mechanical connection structure 21 and an electrical connection structure 22. The electrical connection structure 22 is detachably disposed within the mechanical connection structure 21. One end of the mechanical connection structure 21 is detachably connected to the end effector 3, and the other end of the mechanical connection structure 21 is detachably connected to the arm body module 1.

[0039] It should be noted that the electrical connection structure 22 is fixed to the mechanical connection structure 21 with screws. Since both the mechanical connection structure 21 and the electrical connection structure 22 are detachable, the replacement process of the end effector 3 becomes extremely convenient. Users can replace the end effector 3 in a short time without complex tools or professional skills, greatly shortening the replacement time and improving the robot's operating efficiency. The detachable design of the mechanical connection structure 21 and the electrical connection structure 22 allows the quick-change module 2 to be compatible with end effectors 3 from different manufacturers, of different types, and with different functions.

[0040] Please refer to Figure 2 , Figure 3 and Figure 4 The electrical connection structure 22 includes a printed circuit board 221, which is detachably mounted on the connection plate 222. The printed circuit board 221 is provided with at least two connectors 223 for electrically connecting the cables of the arm body module 1 and the end effector 3.

[0041] Understandably, the printed circuit board 221 is detachably mounted on the connecting plate 222 with screws, making the maintenance and replacement of the electrical connection part extremely convenient. When the printed circuit board 221 fails or needs to be upgraded, the user can quickly disassemble and replace it with a new printed circuit board 221 without the need for complex disassembly of the entire quick-change module 2 or the robot arm, greatly shortening maintenance time and reducing maintenance costs. By concentrating the electrical connection function on the detachable printed circuit board 221, a modular design is achieved, allowing the electrical connection part to be designed, manufactured, and maintained independently of the mechanical connection part, improving overall flexibility and scalability. The printed circuit board 221 can integrate the feature databases of different end effectors 3, supporting automatic parameter matching. The electrical connection structure 22 is implemented through a unified cable connector, which not only ensures stable transmission of electrical signals but also automatically identifies and adapts to the electrical characteristics of different end effectors 3, enabling the robot arm to adapt to various types of end effectors 3. Whether the products are from the same manufacturer or different manufacturers, electrical connections can be achieved through standardized connectors 223, improving versatility and compatibility.

[0042] Please refer to Figure 2 and Figure 5 The mechanical connection structure 21 includes a first connection part 211 and a second connection part 212 that are coaxially arranged and hollow. The first connection part 211 is connected to the arm body module 1, and the second connection part 212 is connected to the end effector 3.

[0043] It should be noted that the first connecting part 211 and the second connecting part 212 are coaxially arranged, which ensures that the connection between the arm body module 1 and the end effector 3 is geometrically highly aligned. This effectively reduces vibration, stress concentration, and motion errors caused by eccentric connection, thereby improving the stability and accuracy of the robot arm during operation. The hollow structure not only reduces the weight of the mechanical connection structure 21, but also provides space for the internal electrical connection structure 22 (such as cables, connectors 223, etc.), while avoiding interference from external mechanical stress on the electrical connection parts, further improving the reliability of the system. The detachable design of the first connecting part 211 and the second connecting part 212 allows the mechanical connection structure 21 to be quickly disassembled and replaced. This modular connection method not only facilitates the replacement of the end effector 3, but also allows users to quickly switch between different end effectors 3 according to different task requirements, enhancing the flexibility and scalability of the system. By designing first connecting parts 211 and second connecting parts 212 of different specifications, the mechanical connection structure 21 can be adapted to various types of end effectors 3. Regardless of the size, shape, or function of the end effector 3, it can be quickly connected to the robot arm through the corresponding connecting parts.

[0044] In the above embodiment, the outer diameter of the first connecting portion 211 is larger than the outer diameter of the second connecting portion 212, so that a stepped surface 213 is formed between the first connecting portion 211 and the second connecting portion 212.

[0045] Understandably, during installation, the stepped surface 213 ensures precise alignment between the end effector 3 and the quick-change module 2, making the installation process more intuitive and convenient. Users can quickly locate and secure the connection points using the stepped surface 213, eliminating the need for complex alignment tools or specialized skills, significantly reducing installation time and improving work efficiency.

[0046] Please refer to Figure 6 and Figure 7 The arm body module 1 is connected to the first connecting part 211 at one end, which is provided with a mounting base. The mounting base is provided with a limiting step 11, and the end of the first connecting part 211 abuts against the limiting step 11.

[0047] It should be noted that the limiting step 11 provided within the mounting base provides a clear positioning for the first connecting part 211. The end of the first connecting part 211 abuts against the limiting step 11, ensuring the stability and reliability of the connection. The design of the limiting step 11 makes the connection process between the first connecting part 211 and the mounting base more intuitive and convenient. In addition, the arm body module 1 integrates a multi-degree-of-freedom bionic joint structure, enabling complex movements similar to those of a human arm, including bending, rotation, and extension, making the robot arm more flexible during operation and adaptable to various complex working scenarios.

[0048] Please refer to Figure 5 , Figure 6 and Figure 7 The outer periphery of the first connecting part 211 is provided with a slot 214, which extends along the axial direction of the first connecting part 211. The inner wall of the mounting base is provided with a protrusion 12 that engages with the slot 214, and one end of the protrusion 12 abuts against the limiting step 11.

[0049] Understandably, the engagement of the slot 214 and the protrusion 12 provides a clear positioning for the connection between the first connecting part 211 and the mounting base. During installation, the protrusion 12 can accurately embed into the slot 214, ensuring precise alignment between the first connecting part 211 and the mounting base, thereby improving assembly accuracy. The snap-fit ​​structure of the slot 214 and the protrusion 12 provides a reliable mechanical locking method, making the connection between the first connecting part 211 and the mounting base more stable, effectively preventing loosening due to external forces or vibrations, and ensuring connection stability.

[0050] In a preferred embodiment, at least two slots 214 are provided, and at least two slots 214 are evenly arranged along the outer periphery of the first connecting portion 211. At least two protrusions 12 are provided, and each protrusion 12 corresponds to a slot 214.

[0051] It should be noted that the evenly distributed design of at least two slots 214 and protrusions 12 ensures that the connection force between the first connecting part 211 and the mounting base is evenly distributed across multiple points. This multi-point uniform force distribution structure effectively disperses stress, preventing damage to the connection points caused by stress concentration, and significantly improving the stability and reliability of the connection. The cooperative design of multiple slots 214 and protrusions 12 provides more precise alignment and positioning for the connection between the first connecting part 211 and the mounting base. During installation, the multiple protrusions 12 can accurately embed into the corresponding slots 214, ensuring precise alignment between the first connecting part 211 and the mounting base, thereby improving assembly accuracy.

[0052] In the above case, both the first connecting part 211 and the second connecting part 212 are provided with threaded connecting holes 215 in the circumferential direction.

[0053] It is understandable that the first connecting part 211 is connected to the arm body module 1 by screws, and the second connecting part 212 is connected to the end effector 3 by screws. Screw connection is a reliable mechanical fixing method that can provide strong connection force and ensure a stable connection between the first connecting part 211 and the mounting base and between the second connecting part 212 and the end effector 3.

[0054] In summary, the modular humanoid robot arm provided by this utility model, when the end effector 3 is installed onto the robot arm, the electrical connection structure 22 and the mechanical connection structure 21 are assembled into a quick-change module 2 by screws. The second connection part 212 of the mechanical connection structure 21 is connected and fixed to the end effector by screws. The cables of the arm body module 1 and the end effector 3 are connected to the connectors of the printed circuit board 221. The slot 214 of the first connection part 211 cooperates with the protrusion 12 on the mounting base. After the end face of the first connection part 211 cooperates with the limiting step 11 of the mounting base to achieve positioning, the screw passes through the threaded connection hole 215 between the mounting base and the first connection part 211, so that the end effector 3 can be installed onto the robot arm.

[0055] When it is necessary to replace the end effector 3: loosen the screws on the first connecting part 211 and the mounting base, loosen the screws on the end effector 3 and the second connecting part 212, disconnect the cable of the arm body module 1 and the cable of the end effector 3, remove the end effector 3 and the corresponding quick-change module 2, loosen the screws on the electrical connection structure 22 and the mechanical connection structure 21, remove the electrical connection structure 22, replace the corresponding mechanical connection structure 21 of the new end effector 3 and fix it with the removed electrical connection structure 22 with screws to form a new quick-change module 2, the cable of the new end effector 3 and the cable of the arm body module 1 are respectively connected to the corresponding connector of the electrical connection structure 22, the slot 214 of the first connecting part 211 cooperates with the protrusion 12 on the mounting base, the end face of the first connecting part 211 cooperates with the limiting step 11 of the mounting base to achieve positioning, and the screw passes through the threaded connection hole 215 between the mounting base and the first connecting part 211 to realize the installation of the end effector 3 on the robot arm.

[0056] By designing a detachable quick-change module 2, users can quickly replace the end effector 3 in a short time without complex tools or professional skills. This allows the robotic arm to rapidly switch functions according to different task requirements, such as switching from a grasping task to a welding task, or from a cleaning task to an inspection task, greatly enhancing the versatility and flexibility of the robotic arm. The standardized design of the mechanical connection structure 21 and the electrical connection structure 22 enables the robotic arm to be compatible with end effectors 3 from different manufacturers, of different types, and with different functions, such as dexterous hands, gripper modules, and multi-functional sensor modules. This versatility and compatibility reduces the additional costs and time incurred when replacing the end effector 3. The electrical connection structure 22 is implemented through a detachable printed circuit board 221 and standardized connectors 223, ensuring stable transmission of electrical signals and supporting automatic parameter matching, thereby improving the reliability of the robotic arm's electrical connections.

[0057] In addition to the modular humanoid robot arm disclosed in the above embodiments, this utility model also provides a humanoid robot including the above-mentioned modular humanoid robot arm. For the structure of other parts of the humanoid robot, please refer to the prior art, which will not be repeated here.

[0058] 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.

[0059] 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.

[0060] The above provides a detailed description of the modular humanoid robot arm and the 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 modular humanoid robot arm, characterized in that, include: The arm body module (1), quick-change module (2) and end effector (3) are provided. One end of the quick-change module (2) is detachably connected to the arm body module (1), and the other end of the quick-change module (2) is detachably connected to the end effector (3). The quick-change module (2) is a mechanical-electrical connection structure.

2. The modular humanoid robot arm according to claim 1, characterized in that, The quick-change module (2) includes a mechanical connection structure (21) and an electrical connection structure (22). The electrical connection structure (22) is detachably disposed within the mechanical connection structure (21). One end of the mechanical connection structure (21) is detachably connected to the end effector (3), and the other end of the mechanical connection structure (21) is detachably connected to the arm body module (1).

3. The modular humanoid robot arm according to claim 2, characterized in that, The electrical connection structure (22) includes a printed circuit board (221), which is detachably disposed on the connection plate (222). The printed circuit board (221) is provided with at least two connectors (223) for electrically connecting the cables of the arm body module (1) and the end effector (3).

4. The modular humanoid robot arm according to claim 3, characterized in that, The mechanical connection structure (21) includes a first connection part (211) and a second connection part (212) that are coaxially arranged and hollow. The first connection part (211) is connected to the arm body module (1), and the second connection part (212) is connected to the end effector (3).

5. The modular humanoid robot arm according to claim 4, characterized in that, The outer diameter of the first connecting part (211) is larger than the outer diameter of the second connecting part (212) so that a stepped surface (213) is formed between the first connecting part (211) and the second connecting part (212).

6. The modular humanoid robot arm according to claim 5, characterized in that, The arm body module (1) is provided with a mounting base at one end that is engaged with the first connecting part (211). The mounting base is provided with a limiting step (11), and the end of the first connecting part (211) abuts against the limiting step (11).

7. The modular humanoid robot arm according to claim 6, characterized in that, The outer periphery of the first connecting part (211) is provided with a slot (214), the slot (214) extends along the axial direction of the first connecting part (211), and the inner wall of the mounting base is provided with a protrusion (12) that engages with the slot (214), one end of the protrusion (12) abuts against the limiting step (11).

8. The modular humanoid robot arm according to claim 7, characterized in that, At least two slots (214) are provided, and at least two slots (214) are evenly arranged along the outer periphery of the first connecting part (211). At least two protrusions (12) are provided, and each protrusion (12) corresponds to a slot (214).

9. The modular humanoid robot arm according to any one of claims 4-8, characterized in that, Both the first connecting part (211) and the second connecting part (212) are provided with threaded connecting holes (215) in the circumferential direction.

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

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