Humanoid robot arm structure and humanoid robot thereof

Abstract

The utility model relates to the technical field of humanoid robot, disclose a humanoid robot arm structure and humanoid robot thereof, including shoulder module, wrist module and two wedge modules, wedge module includes first mount pad, second mount pad, auxiliary support block, first driver and second driver, first mount pad includes connecting plate, first installation ring and second installation ring. Through the modularization setting enhancement arm structure's maintenance convenience, solve because frequent maintenance causes workload increase, or local damage cannot be maintained alone and need to cause the problem of high use cost of overall replacement. In addition, the auxiliary support block and the connecting plate of opposite setting effectively reduce the vibration and the swing of arm structure in the movement process, solve the problem that the overall stability and reliability are insufficient when adopting detachable connection or unilateral connection in the arm structure inside.

Description

Technical Field

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

[0002] As a core component of humanoid robots and industrial automation, robotic arms typically rely on the coordinated drive of multiple motors and actuators to achieve high degrees of freedom and flexibility, enabling them to perform multi-directional movements and complex tasks. This design is widely used in scenarios requiring the simulation of human arm functions, such as handling, assembly, and precision operations. To improve arm performance, existing technologies often achieve functional integration through motor control and mechanical structure optimization.

[0003] Meanwhile, with increasing demands for efficiency and durability, related designs focus on maintaining stability and accuracy under conditions of greater forces and torques. For example, some industrial robot arms, by optimizing motor layout and selecting high-torque motors, can provide sufficient power support for heavy-duty tasks. However, with the expansion of application scenarios, the comprehensive requirements for arm weight, durability, and ease of maintenance are becoming increasingly prominent.

[0004] However, existing technologies still have significant drawbacks. The use of multiple motors and actuators increases the overall weight of the arm, leading to increased energy consumption and reduced battery life, limiting the robot's application in long-duration tasks. Simultaneously, the significant forces and torques exerted during task execution cause substantial wear on mechanical structures and electronic components, resulting in insufficient durability, easily damaged parts, and increased maintenance frequency and costs. Furthermore, existing robotic arms often suffer from low overall strength due to the need to reduce weight, leading to insufficient reliability that may affect the arm's performance in critical tasks, even causing task failure, making it difficult to meet the practical needs of high-intensity and complex operational scenarios. Utility Model Content

[0005] To address the aforementioned shortcomings, the purpose of this utility model is to propose a humanoid robot arm structure and a humanoid robot thereof. Through modular design, the weight, energy consumption, wear and maintenance costs of the arm structure are effectively coordinated, facilitating partial replacement and maintenance. At the same time, it enhances rigidity, reduces vibration, and improves operational reliability. This solves the problems of humanoid robot arm structures being prone to wear, difficult to replace and maintain after wear, unable to replace different performance actuators, and the inability to balance overall lightweighting and strength.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] A humanoid robot arm structure includes a shoulder module, a wrist module, and two wedge-shaped modules. The shoulder module, one wedge-shaped module, the other wedge-shaped module, and the wrist module are detachably connected in sequence. The shoulder module is detachably connected to the torso of the humanoid robot, and the wrist module is detachably connected to the palm of the humanoid robot.

[0008] The wedge-shaped module includes a first mounting base, a second mounting base, an auxiliary support block, a first driver, and a second driver. The first mounting base includes a connecting plate, a first mounting ring, and a second mounting ring. The first mounting ring is connected to one side of the connecting plate, and the axis of the first mounting ring is parallel to the surface of the connecting plate. The second mounting ring is connected to the side of the connecting plate away from the first mounting ring, and the axis of the second mounting ring is perpendicular to the surface of the connecting plate. The first driver is detachably mounted on the first mounting ring, and the second driver is detachably mounted on the second mounting ring. The second mounting base is detachably connected to the second driver, and the axes of the second mounting base, the second driver, and the third mounting ring coincide. The first driver drives the wedge-shaped module to rotate around the axis of the first mounting ring, and the second driver drives the first mounting base and the second mounting base to rotate relative to each other around the axis of the second mounting ring. The auxiliary support block is positioned opposite the connecting plate. The first mounting ring is detachably connected to one end of the auxiliary support block, and the auxiliary support block is positioned opposite the connecting plate. The end of the second driver away from the second mounting ring is detachably connected to the other end of the auxiliary support block.

[0009] Preferably, the auxiliary support block is a curved arm structure, the auxiliary support block includes a first support plate, a second support plate and a connecting part, the connecting part connects the first support plate and the second support plate, the plate surface of the first support plate is parallel to the plate surface of the second support plate, and when the auxiliary support block is installed on the first mounting base, the plate surface of the first support plate and the plate surface of the second support plate are parallel to the plate surface of the connecting plate.

[0010] The first support plate is connected to the first mounting ring, and the second support plate and the second driver are detachably connected.

[0011] Preferably, the shoulder module includes a third actuator, and the wrist module includes a fourth actuator, the third actuator being used to drive the shoulder module to rotate about its axis, and the fourth actuator being used to drive the wrist module to rotate about its axis.

[0012] Preferably, the two wedge modules are detachably connected by a connecting arm, which is a hollow cylindrical shape. One end of the connecting arm is connected to a first mounting ring of one of the wedge modules, and the axis of the connecting arm coincides with the axis of the first mounting ring. The other end of the connecting arm is provided with a chamfered surface and is connected to a second mounting seat of the other wedge module. The axis of the connecting arm is perpendicular to the axis of the second mounting seat it is connected to, and the chamfered surface is parallel to the axis of the second mounting seat it is connected to.

[0013] Preferably, it further includes a first connecting block, a clamp, and a second connecting block. One end of the first connecting block is detachably connected to the shoulder module via a fastener, and the other end of the first connecting block is detachably connected to the wedge module via the clamp. The wrist module and the wedge module are detachably connected via the second connecting block.

[0014] Preferably, the first mounting base and the auxiliary support block are made of magnesium alloy.

[0015] Preferably, the shoulder module further includes a shoulder mounting ring, the inner side of which is used to mount a third actuator, one end of which is provided with a connecting flange, and the other end of which is provided with a lifting ring. The connecting flange is used to connect with the torso of the humanoid robot, and the lifting ring is used for hooking and lifting by an external crane.

[0016] Preferably, sensors are provided in the shoulder module, the wrist module and / or the wedge module.

[0017] Preferably, the first driver and the second driver are torque motors. In the same wedge module, the second driver is located at one end closer to the shoulder module. In the same wedge module, the torque of the second driver is greater than or equal to that of the first driver.

[0018] A humanoid robot includes a head, torso, legs, feet, palms, and the aforementioned arm structure. The head is connected to the torso, the torso is connected to the legs and the arm structure, the legs are connected to the feet, and the arm structure is connected to the palms.

[0019] The technical solution provided by this utility model can include the following beneficial effects:

[0020] like Figure 1As shown, the detachable connection between the shoulder module, wrist module, and wedge module facilitates the replacement and maintenance of each module of the arm structure. The wedge module, based on the first mounting base, detachably connects the first and second actuators, and its rigidity is increased by auxiliary support blocks while enabling easy disassembly. This allows for individual replacement and maintenance of each component within the wedge module, thereby reducing overall operating costs. The arm structure needs to withstand significant forces and torques during task execution, which can cause wear and tear on the mechanical structure and electronic components. Modular design enhances the ease of maintenance of the arm structure, solving the problems of increased workload due to frequent maintenance or high operating costs caused by the need for complete replacement due to partial damage that cannot be repaired individually.

[0021] In addition, the opposing auxiliary support blocks and connecting plates effectively reduce the vibration and sway of the arm structure during movement, improving the stability and safety of operation. Especially when the humanoid robot is performing high-speed movement or complex operations, it can significantly improve the performance and reliability of the arm structure, solving the problem of insufficient overall stability and reliability when the arm structure uses detachable connections or single-sided connections.

[0022] In specific embodiments, the first and second drivers can be replaced with multiple models of the same diameter but different lengths to meet different performance requirements. For example... Figure 2 As shown, through the curved arm structure of the auxiliary support block, the distance between the first support plate and the connecting plate in the wedge module matches the length of the second driver, and the distance between the second support plate and the connecting plate matches the diameter of the first driver, forming a wedge structure. The auxiliary support block is available in multiple sizes, with different distances perpendicular to the plate surface between the first and second support plates in different sized auxiliary support blocks. By replacing the auxiliary support block with one that matches the length of the driver, the required driver model can be installed in the wedge module. This solves the problem in conventional arm structures where the driver model is limited by size, preventing the adjustment of the overall performance of the arm structure.

[0023] In a specific embodiment, the side of the first mounting ring and one end of the auxiliary support block are provided with matching threaded mounting holes, and the first mounting ring and the auxiliary support block are detachably connected by bolts that match the threaded mounting holes.

[0024] In a specific embodiment, the shoulder module, wrist module, and two wedge modules comprise six actuators that correspond to two sets of roll, pitch, and yaw rotations in the arm structure. This multi-degree-of-freedom design allows the arm to better mimic human movements, providing a more natural operating experience. This flexibility is crucial for humanoid robots, as they need to perform various tasks in complex environments. The multi-degree-of-freedom design significantly improves the robot's adaptability and operational precision.

[0025] The hollow cylindrical connecting arm reduces weight while ensuring structural strength. The beveled surface is used to avoid gaps, allowing the two connected wedge-shaped modules to simulate the bending and folding of a human forearm and upper arm, increasing the flexibility of the arm structure. The axis of the connecting arm coincides with the axis of the first mounting ring, which is beneficial to the rotational stability of the connecting arm.

[0026] In a specific embodiment, bolts are used as fasteners, and the shoulder module and wrist module are more easily maintained through a clamp structure, a first connecting block, and a second connecting block. The clamp structure also makes it easier to separate the shoulder module.

[0027] Preferably, the connecting arm, the first connecting block, and the second connecting block are made of magnesium alloy.

[0028] Preferably, both the connecting part and the connecting arm are provided with a hollowed-out part.

[0029] To achieve high degrees of freedom and flexibility, robotic arms typically require a structure connecting multiple actuators. This structure increases the overall weight of the arm, leading to higher energy consumption and shorter battery life. By using a magnesium alloy and hollow cylindrical connecting arm structure, with cutouts in the connecting parts and the connecting arm itself, the overall weight is reduced by 25% compared to conventional arm structures made of stainless steel.

[0030] Using an external crane to pull the lifting ring, the arm structure can be lifted, facilitating the overall assembly and disassembly of the arm structure. When the arm mechanism is installed on the humanoid robot's torso, the connecting flange securely connects the arm mechanism to the humanoid robot's torso. The lifting ring located at the humanoid robot's shoulder can be used to lift the robot as a whole, facilitating overall robot maintenance and transportation.

[0031] By providing real-time data feedback to the humanoid robot's control system through sensors, the accuracy and efficiency of operations are improved, enabling precise control and coordination of the arm. Especially when multi-joint coordinated movements are required, the sensors can provide real-time data feedback to ensure the accuracy and smoothness of the arm's movements.

[0032] In one embodiment, a gyroscope sensor and a torque sensor are provided in the shoulder module, wrist module, and wedge module. The gyroscope sensor is used to provide feedback on the rate and angle changes of rotation and to measure the dynamic rotation of the arm structure. The torque sensor is used to provide feedback on rotational force data to help determine the influence of external forces on the arm structure. The combination of the two sensors enables the control system to achieve precise control of the arm structure.

[0033] Torque motors provide powerful output, ensuring the arm maintains stability and precision when performing heavy-duty tasks. They are especially useful when moving heavy objects or performing precision operations, providing sufficient power to ensure the task is completed smoothly.

[0034] In one embodiment, the first driver, the second driver, the third driver, and the third drive all use the same type of torque motor.

[0035] In a preferred embodiment, the third actuator of the shoulder module uses an HJ17-101-48N-DEN00 torque motor, the first actuator in the wedge module connected to the shoulder module uses an HJ17-101-48N-DEN00 torque motor, the other first actuator and two second actuators in the wedge module use HJ14-101-48N-DEN00 torque motors, and the fourth actuator of the wrist module uses an HJ14-101-48N-DEN00 torque motor. With this structure, the portion of the arm structure closer to the humanoid robot's torso uses a higher torque motor to provide sufficient power, while the portion farther from the humanoid robot uses a lighter motor, reducing the weight burden.

[0036] In a specific embodiment, the humanoid robot integrated control system, through the modular and lightweight design of the arm structure, not only improves the performance and flexibility of the arm structure, but also enhances the adaptability of the humanoid robot in various tasks, providing reliable protection for the application of the humanoid robot in complex environments. Attached Figure Description

[0037] Figure 1 This is a three-dimensional structural diagram of one embodiment of the present invention.

[0038] Figure 2 This is a three-dimensional structural schematic diagram of another embodiment of the present invention.

[0039] Figure 3 This is an exploded view of one embodiment of the present invention.

[0040] The components include: shoulder module 1, shoulder mounting ring 11, connecting flange 111, lifting ring 112, wrist module 2, wedge module 3, first mounting base 31, connecting plate 311, first mounting ring 312, second mounting ring 313, second mounting base 32, auxiliary support block 33, first support plate 331, second support plate 332, connecting part 333, first driver 41, second driver 42, third driver 43, fourth driver 44, connecting arm 51, beveled surface 511, first connecting block 52, clamp 53, and second connecting block 54. Detailed Implementation

[0041] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0042] In the description of this utility model, it should be understood that the terms "longitudinal" and "lateral" are used interchangeably.

[0043] The orientations or positional relationships indicated by terms such as "up," "down," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer" are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this utility model. In addition, features defined with "first" and "second" may explicitly or implicitly include one or more of these features, used to distinguish and describe features, without any order or emphasis.

[0044] In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0045] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" 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 based on the specific circumstances.

[0046] The embodiments of this utility model are described below with reference to the accompanying drawings.

[0047] A humanoid robot arm structure includes a shoulder module 1, a wrist module 2, and two wedge modules 3. The shoulder module 1, one of the wedge modules 3, the other wedge module 3, and the wrist module 2 are detachably connected in sequence. The shoulder module 1 is detachably connected to the torso of the humanoid robot, and the wrist module 2 is detachably connected to the palm of the humanoid robot.

[0048] The wedge-shaped module 3 includes a first mounting base 31, a second mounting base 32, an auxiliary support block 33, a first driver 41, and a second driver 42. The first mounting base 31 includes a connecting plate 311, a first mounting ring 312, and a second mounting ring 313. The first mounting ring 312 is connected to one side of the connecting plate 311, and the axis of the first mounting ring 312 is parallel to the surface of the connecting plate 311. The second mounting ring 313 is connected to the side of the connecting plate 311 away from the first mounting ring 312, and the axis of the second mounting ring 313 is perpendicular to the surface of the connecting plate 311. The first driver 41 is detachably mounted on the first mounting ring 312, and the second driver 42 is detachably mounted on the second mounting ring 313. The second mounting base 32 can... The second driver 42 is detachably connected, and the axes of the second mounting base 32, the second driver 42, and the third mounting ring 313 coincide. The first driver 41 is used to drive the wedge module 3 to rotate around the axis of the first mounting ring 312, and the second driver 42 is used to drive the first mounting base 31 and the second mounting base 32 to rotate relative to each other around the axis of the second mounting ring 313. The auxiliary support block 33 is arranged opposite to the connecting plate 311. The first mounting ring 312 is detachably connected to one end of the auxiliary support block 33, and the auxiliary support block 33 is arranged opposite to the connecting plate 311. The end of the second driver 42 away from the second mounting ring 313 is detachably connected to the other end of the auxiliary support block 33.

[0049] like Figure 1 As shown, the detachable connection between the shoulder module 1, wrist module 2, and wedge module 3 facilitates the replacement and maintenance of each module of the arm structure. The wedge module 3, based on the first mounting base 31, is detachably connected to the first driver 41 and the second driver 42, and its rigidity is increased by the auxiliary support block 33. This also allows for easy disassembly, enabling individual replacement and maintenance of each component within the wedge module 3, thereby reducing overall operating costs. The arm structure needs to withstand significant forces and torques during operation, which can cause wear and tear on the mechanical structure and electronic components. Modular design enhances the ease of maintenance of the arm structure, solving the problems of increased workload due to frequent maintenance or high operating costs caused by the need for complete replacement due to partial damage that cannot be repaired individually.

[0050] In addition, the opposing auxiliary support blocks and connecting plates effectively reduce the vibration and sway of the arm structure during movement, improving the stability and safety of operation. Especially when the humanoid robot is performing high-speed movement or complex operations, it can significantly improve the performance and reliability of the arm structure, solving the problem of insufficient overall stability and reliability when the arm structure uses detachable connections or single-sided connections.

[0051] Preferably, the auxiliary support block 33 is a curved arm structure. The auxiliary support block 33 includes a first support plate 331, a second support plate 332, and a connecting part 333. The connecting part 333 connects the first support plate 331 and the second support plate 332. The surface of the first support plate 331 is parallel to the surface of the second support plate 332. When the auxiliary support block 33 is installed on the first mounting base 31, the surface of the first support plate 331 and the surface of the second support plate 332 are parallel to the surface of the connecting plate 311.

[0052] The first support plate 331 is connected to the first mounting ring 312, and the second support plate 332 and the second driver 42 are detachably connected.

[0053] In specific embodiments, the first driver 41 and the second driver 42 can be replaced with multiple models of the same diameter but different lengths to meet different performance requirements. For example... Figure 2 As shown, through the curved arm structure of the auxiliary support block 33, the distance between the first support plate 331 and the connecting plate 311 in the wedge module 3 matches the length of the second driver 42, and the distance between the second support plate 332 and the connecting plate 311 matches the diameter of the first driver 41, forming a wedge structure. The auxiliary support block 33 is available in multiple sizes, with different distances perpendicular to the plate surface between the first support plate 331 and the second support plate 332 in different sized auxiliary support blocks 33. By replacing the auxiliary support block 33 with one that matches the length of the driver, the required driver model can be installed in the wedge module 3. This solves the problem in conventional arm structures where the driver model is limited by size and cannot be changed, thus preventing adjustments to the overall performance of the arm structure.

[0054] In a specific embodiment, the side of the first mounting ring 312 and one end of the auxiliary support block 33 are provided with matching threaded mounting holes, and the first mounting ring 312 and the auxiliary support block 33 are detachably connected by bolts that match the threaded mounting holes.

[0055] Preferably, the shoulder module 1 includes a third actuator 43, and the wrist module 2 includes a fourth actuator 44. The third actuator 43 is used to drive the shoulder module 1 to rotate about its axis, and the fourth actuator 44 is used to drive the wrist module 3 to rotate about its axis.

[0056] In a specific embodiment, the shoulder module 1, wrist module 2, and two wedge modules 3 comprise six actuators that respectively form two sets of roll, pitch, and yaw rotations in the arm structure. This multi-degree-of-freedom design allows the arm to better simulate human movements, providing a more natural operating experience. This flexibility is crucial for humanoid robots, as they need to perform various tasks in complex environments. The multi-degree-of-freedom design can significantly improve the robot's adaptability and operational precision.

[0057] Preferably, the two wedge modules 3 are detachably connected by a connecting arm 51, which is a hollow cylindrical shape. One end of the connecting arm 51 is connected to a first mounting ring 312 of one of the wedge modules 3, and the axis of the connecting arm 51 coincides with the axis of the connected first mounting ring 312. The other end of the connecting arm 51 is provided with a chamfered surface 511 and is connected to a second mounting seat 32 of the other wedge module 3. The axis of the connecting arm 51 is perpendicular to the axis of the connected second mounting seat 32, and the chamfered surface 511 is parallel to the axis of the connected second mounting seat 32.

[0058] The hollow cylindrical connecting arm 51 reduces weight and ensures structural strength. The beveled surface 511 is used to avoid gaps, so that the two connected wedge-shaped modules 3 can simulate the bending and folding of a human forearm and upper arm, increasing the flexibility of the arm structure. The axis of the connecting arm 51 coincides with the axis of the first mounting ring 312, which is beneficial to the rotational stability of the connecting arm 51.

[0059] Preferably, it also includes a first connecting block 52, a clamp 53, and a second connecting block 54. One end of the first connecting block 52 is detachably connected to the shoulder module 1 via a fastener, and the other end of the first connecting block 52 is detachably connected to the wedge module 3 via the clamp 53. The wrist module 2 and the wedge module 3 are detachably connected via the second connecting block 54.

[0060] In a specific embodiment, bolts are used as fasteners, and the shoulder module 1 and wrist module 2 are easier to maintain through the clamp structure, the first connecting block 52, and the second connecting block 54. The clamp structure also makes it easier to separate the shoulder module 1.

[0061] Preferably, the first mounting base 31 and the auxiliary support block 33 are made of magnesium alloy.

[0062] Preferably, the connecting arm 51, the first connecting block 52, and the second connecting block 54 are made of magnesium alloy.

[0063] Preferably, both the connecting part 333 and the connecting arm 51 are provided with a hollowed-out part.

[0064] To achieve high degrees of freedom and flexibility, robotic arms typically require a structure connecting multiple actuators. This structure increases the overall weight of the arm, leading to higher energy consumption and shorter battery life. By employing a magnesium alloy material and a hollow cylindrical connecting arm 51 structure, with cutouts in the connecting part 333 and the connecting arm 51, the overall weight is reduced by 25% compared to a conventional arm structure made of stainless steel.

[0065] Preferably, the shoulder module 1 further includes a shoulder mounting ring 11. The inner side of the shoulder mounting ring 11 is used to mount the third actuator 43. One end of the outer side of the shoulder mounting ring 11 is provided with a connecting flange 111, and the other end of the outer side of the shoulder mounting ring 11 is provided with a lifting ring 112. The connecting flange 111 is used to connect with the torso of the humanoid robot, and the lifting ring 112 is used for hooking and lifting by an external crane.

[0066] The arm structure can be lifted by using an external crane to pull the lifting ring 112, which facilitates the overall assembly and disassembly of the arm structure. When the arm mechanism is installed on the torso of the humanoid robot, the connecting flange 111 securely connects the arm mechanism to the torso of the humanoid robot. The lifting ring 112 located at the shoulder of the humanoid robot can be used to lift the robot as a whole, which facilitates the overall maintenance and transportation of the robot.

[0067] Preferably, sensors are provided in the shoulder module 1, the wrist module 2 and / or the wedge module 3.

[0068] By providing real-time data feedback to the humanoid robot's control system through sensors, the accuracy and efficiency of operations are improved, enabling precise control and coordination of the arm. Especially when multi-joint coordinated movements are required, the sensors can provide real-time data feedback to ensure the accuracy and smoothness of the arm's movements.

[0069] In one embodiment, a gyroscope sensor and a torque sensor are provided in the shoulder module 1, wrist module 2 and wedge module 3. The gyroscope sensor is used to provide feedback on the rate and angle changes of rotation and to measure the dynamic rotation of the arm structure. The torque sensor is used to provide feedback on rotational force data to help determine the influence of external forces on the arm structure. The combination of the two sensors enables the control system to achieve precise control of the arm structure.

[0070] Preferably, the first driver 41 and the second driver 42 are torque motors. In the same wedge module 3, the second driver 42 is located at one end closer to the shoulder module 3. In the same wedge module 3, the torque of the second driver 42 is greater than or equal to that of the first driver 41.

[0071] Torque motors provide powerful output, ensuring the arm maintains stability and precision when performing heavy-duty tasks. They are especially useful when moving heavy objects or performing precision operations, providing sufficient power to ensure the task is completed smoothly.

[0072] In one embodiment, the first driver 41, the second driver 42, the third driver 43 and the third driver 44 are all torque motors of the same type.

[0073] In a preferred embodiment, the third actuator 43 of the shoulder module 1 is an HJ17-101-48N-DEN00 torque motor, the first actuator 41 of the wedge module 3 connected to the shoulder module 1 is an HJ17-101-48N-DEN00 torque motor, the other first actuator 41 and the two second actuators 42 of the wedge module 3 are HJ14-101-48N-DEN00 torque motors, and the fourth actuator 44 of the wrist module is an HJ14-101-48N-DEN00 torque motor. With this structure, the portion of the arm structure closer to the humanoid robot's torso uses a higher torque motor to provide sufficient power, while the portion farther from the humanoid robot uses a lighter motor, reducing the weight burden.

[0074] A humanoid robot includes a head, torso, legs, feet, palms, and the aforementioned arm structure. The head is connected to the torso, the torso is connected to the legs and the arm structure, the legs are connected to the feet, and the arm structure is connected to the palms.

[0075] In a specific embodiment, the humanoid robot integrated control system, through the modular and lightweight design of the arm structure, not only improves the performance and flexibility of the arm structure, but also enhances the adaptability of the humanoid robot in various tasks, providing reliable protection for the application of the humanoid robot in complex environments.

[0076] Other configurations and operations according to the embodiments of this utility model are known to those skilled in the art and will not be described in detail here.

[0077] In this specification, the terms "embodiment," "example," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0078] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A humanoid robot arm structure, characterized in that: It includes a shoulder module, a wrist module, and two wedge modules. The shoulder module, one wedge module, the other wedge module, and the wrist module are detachably connected in sequence. The shoulder module is used to detachably connect to the torso of the humanoid robot, and the wrist module is used to detachably connect to the palm of the humanoid robot. The wedge module includes a first mounting base, a second mounting base, an auxiliary support block, a first driver, and a second driver. The first mounting base includes a connecting plate, a first mounting ring, and a second mounting ring. The first mounting ring is connected to one side of the connecting plate, and the axis of the first mounting ring is parallel to the surface of the connecting plate. The second mounting ring is connected to the side of the connecting plate away from the first mounting ring, and the axis of the second mounting ring is perpendicular to the surface of the connecting plate. The first driver is detachably mounted on the first mounting ring, and the second driver is detachably mounted on the second mounting ring. The second mounting base is detachably connected to the second driver, and the axes of the second mounting base, the second driver, and the third mounting ring coincide. The first driver is used to drive the wedge module to rotate around the axis of the first mounting ring, and the second driver is used to drive the first mounting base and the second mounting base to rotate relative to each other around the axis of the second mounting ring. The auxiliary support block is positioned opposite to the connecting plate. The first mounting ring is detachably connected to one end of the auxiliary support block, and the auxiliary support block is positioned opposite to the connecting plate. The end of the second driver away from the second mounting ring is detachably connected to the other end of the auxiliary support block.

2. The humanoid robot arm structure according to claim 1, characterized in that: The auxiliary support block is a curved arm structure. The auxiliary support block includes a first support plate, a second support plate, and a connecting part. The connecting part connects the first support plate and the second support plate. The surface of the first support plate is parallel to the surface of the second support plate. When the auxiliary support block is installed on the first mounting base, the surface of the first support plate and the surface of the second support plate are parallel to the surface of the connecting plate. The first support plate is connected to the first mounting ring, and the second support plate and the second driver are detachably connected.

3. The humanoid robot arm structure according to claim 1, characterized in that: The shoulder module includes a third actuator, and the wrist module includes a fourth actuator. The third actuator is used to drive the shoulder module to rotate about its axis, and the fourth actuator is used to drive the wrist module to rotate about its axis.

4. The humanoid robot arm structure according to claim 1, characterized in that: The two wedge modules are detachably connected by a connecting arm, which is a hollow cylindrical shape. One end of the connecting arm is connected to a first mounting ring of one of the wedge modules, and the axis of the connecting arm coincides with the axis of the first mounting ring. The other end of the connecting arm is provided with a chamfered surface and is connected to a second mounting seat of the other wedge module. The axis of the connecting arm is perpendicular to the axis of the second mounting seat to which it is connected, and the chamfered surface is parallel to the axis of the second mounting seat to which it is connected.

5. The humanoid robot arm structure according to claim 1, characterized in that: It also includes a first connecting block, a clamp, and a second connecting block. One end of the first connecting block is detachably connected to the shoulder module via a fastener, and the other end of the first connecting block is detachably connected to the wedge module via the clamp. The wrist module and the wedge module are detachably connected via the second connecting block.

6. The humanoid robot arm structure according to claim 1, characterized in that: The first mounting base and the auxiliary support block are made of magnesium alloy.

7. The humanoid robot arm structure according to claim 3, characterized in that: The shoulder module also includes a shoulder mounting ring. The inner side of the shoulder mounting ring is used to install a third actuator. One end of the outer side of the shoulder mounting ring is provided with a connecting flange, and the other end of the outer side of the shoulder mounting ring is provided with a lifting ring. The connecting flange is used to connect with the torso of the humanoid robot, and the lifting ring is used for hooking and lifting by an external crane.

8. The humanoid robot arm structure according to claim 1, characterized in that: Sensors are provided in the shoulder module, the wrist module, and / or the wedge module.

9. A humanoid robot arm structure according to any one of claims 1-8, characterized in that: The first driver and the second driver are torque motors. In the same wedge module, the second driver is located at one end closer to the shoulder module. In the same wedge module, the torque of the second driver is greater than or equal to that of the first driver.

10. A humanoid robot, characterized in that: The device includes a head, torso, legs, feet, palms, and an arm structure as described in any one of claims 1-9, wherein the head is connected to the torso, the torso is connected to the legs and the arm structure, the legs are connected to the feet, and the arm structure is connected to the palms.

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