Humanoid robot arm device

Abstract

The utility model discloses a humanoid robot arm device, including palm department mechanism, shoulder swing motor module, shoulder department open and shut motor module, big arm connecting piece, big arm motor module, big arm fixing piece, elbow motor module, small arm connecting piece, small arm motor module, small arm fixing piece, palm department torsional motor module, palm department transmission mechanism, palm department swing motor module, palm department connecting piece, big arm connecting piece is correspondingly established on shoulder department open and shut motor module, elbow motor module is correspondingly established on big arm fixing piece, and palm department torsional motor module is established on small arm fixing piece, and palm department swing motor module is correspondingly established in palm department torsional motor module bottom, and palm department torsional motor module is connected palm department swing motor module through palm department transmission mechanism, and palm department connecting piece is correspondingly established on palm department swing motor module, and palm department mechanism connects palm department connecting piece. The utility model has improved the robot arm flexibility, operation precision and reliability.

Description

Technical Field

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

[0002] Humanoid robots represent a significant research area in robotics, placing extremely high demands on the flexibility and precision of their arm systems. A high-performance arm system needs to simulate the multi-degree-of-freedom movements of a human arm while possessing sufficient load-bearing capacity, movement speed, and operational reliability. Existing humanoid robots suffer from complex structures and exhibit poor arm flexibility, operational precision, and reliability. Utility Model Content

[0003] The technical problem to be solved by this utility model embodiment is to provide a humanoid robot arm device to simplify the structure and improve flexibility.

[0004] To address the aforementioned technical problems, this utility model provides a humanoid robot arm device, including a palm mechanism, a shoulder swing motor module, a shoulder opening and closing motor module, an upper arm connector, an upper arm motor module, an upper arm fixing component, an elbow motor module, a forearm connector, a forearm motor module, a forearm fixing component, a palm torsion motor module, a palm transmission mechanism, a palm swing motor module, and a palm connector. The shoulder opening and closing motor module is correspondingly disposed on the shoulder swing motor module, and the upper arm connector is correspondingly disposed on the shoulder opening and closing motor module. The upper arm motor module is... On the upper arm connector, the upper arm fixing component is connected to the upper arm motor module, the elbow motor module is located on the upper arm fixing component, the forearm connector is located on the elbow motor module, the forearm motor module is located on the forearm connector, the forearm fixing component is connected to the forearm motor module, the palm torsion motor module is located on the forearm fixing component, the palm swing motor module is located at the bottom of the palm torsion motor module, the palm torsion motor module is connected to the palm swing motor module through the palm transmission mechanism, the palm connector is located on the palm swing motor module, and the palm mechanism is connected to the palm connector.

[0005] Furthermore, the palm swing motor module is rotatably mounted at the bottom of the palm torsion motor module.

[0006] Furthermore, the palm transmission mechanism consists of a crank and two connecting rods. The crank is located on the output end of the palm torsion motor module, and the two ends of the crank are respectively connected to one end of the two connecting rods. The other ends of the two connecting rods are respectively connected to the front and rear sides of the palm swing motor module.

[0007] Furthermore, the axis of the shoulder swing motor module is in the left-right direction, and the axis of the shoulder opening and closing motor module is in the front-back direction.

[0008] Furthermore, the shoulder swing motor module is provided with a shoulder limiting component A, and the shoulder opening and closing motor module is provided with a corresponding shoulder limiting component B.

[0009] Furthermore, the shoulder opening and closing motor module is equipped with a corresponding boom limiting component for limiting the movement of the boom connector.

[0010] Furthermore, the elbow motor module is equipped with a forearm limiting component for limiting the position of the forearm connector.

[0011] Furthermore, the palm torsion motor module is equipped with a palm torsion limiting component for limiting the palm transmission mechanism.

[0012] Furthermore, the palm swing motor module is equipped with a palm swing limiting component for limiting the palm connector.

[0013] The beneficial effects of this invention are as follows: This invention employs a multi-joint, multi-degree-of-freedom serial design with seven motor modules from the shoulder to the palm, mimicking the main degrees of freedom of the human arm from the shoulder joint to the wrist joint. This enables the robotic arm to perform complex and coordinated movements in three-dimensional space, completing delicate tasks such as grasping, carrying, and manipulating. This invention allows the palm mechanism to move faster and more flexibly, reducing swaying during movement, improving operational accuracy and speed, and simultaneously reducing drive energy consumption. Attached Figure Description

[0014] Figure 1 This is a three-dimensional structural diagram of the humanoid robot arm device according to an embodiment of the present invention from one angle.

[0015] Figure 2 This is a three-dimensional structural view of the humanoid robot arm device according to another embodiment of the present invention.

[0016] Figure 3 This is a structural diagram of the shoulder of the humanoid robot arm device according to an embodiment of the present invention.

[0017] Explanation of icon numbers 400. Humanoid robot arm device; 401. Palm mechanism; 402. Shoulder swing motor module; 403. Shoulder opening and closing motor module; 404. Upper arm connector; 405. Upper arm motor module; 406. Upper arm fixing component; 407. Elbow motor module; 408. Forearm connector; 409. Forearm motor module; 410. Forearm fixing component; 411. Palm torsion motor module; 412. Palm swing motor module; 413. Palm connector; 414. Crank; 415. Connecting rod; 416. Shoulder limiting component A; 417. Shoulder limiting component B; 418. Upper arm limiting component; 419. Forearm limiting component; 420. Palm torsion limiting component; 421. Palm swing limiting component. Detailed Implementation

[0018] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of this application can be combined with each other. The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0019] In this embodiment of the invention, directional indicators (such as up, down, left, right, front, back, etc.) are only used to explain the relative positional relationship and movement of the components in a specific posture (as shown in the attached figure). If the specific posture changes, the directional indicators will also change accordingly.

[0020] Furthermore, in this utility model, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features.

[0021] Please refer to Figures 1-3 The humanoid robot arm device of this utility model embodiment includes a palm mechanism, a shoulder swing motor module, a shoulder opening and closing motor module, an upper arm connector, an upper arm motor module, an upper arm fixing component, an elbow motor module, a forearm connector, a forearm motor module, a forearm fixing component, a palm torsion motor module, a palm transmission mechanism, a palm swing motor module, and a palm connector.

[0022] The shoulder opening and closing motor module is correspondingly located on the output end of the shoulder swing motor module. The shoulder swing motor module drives the humanoid robot arm to swing back and forth. The upper arm connector is correspondingly located on the output shaft of the shoulder opening and closing motor module. The shoulder opening and closing motor module drives the humanoid robot arm to perform opening and closing movements. Preferably, the axis of the shoulder swing motor module is in the left-right direction, and the axis of the shoulder opening and closing motor module is in the front-back direction.

[0023] The boom motor module is located on the boom connector. The boom fixing component is correspondingly connected to the boom motor module. The boom motor module drives the boom fixing component and the parts below it to rotate. The boom fixing component features a hollow design.

[0024] The elbow motor module is mounted on the upper arm fixing component, the forearm connector is mounted on the output shaft of the elbow motor module, the forearm motor module is mounted on the forearm connector, and the forearm fixing component is connected to the output end of the forearm motor module.

[0025] The palm torsion motor module is mounted on the forearm fixation component, while the palm swing motor module is rotatably mounted (in specific implementations, a rotating shaft mechanism can be used) at the front end of the forearm fixation component or the bottom end of the palm torsion motor module. The palm torsion motor module is connected to the palm swing motor module via a palm transmission mechanism, driving the palm swing motor module and the following components to rotate. A palm connector is correspondingly mounted on the output shaft of the palm swing motor module, and the palm mechanism is connected to the palm connector. This invention simulates the forward, backward, left, and backward movements of the human hand through the rotation of the two motor modules, the palm torsion motor module and the palm swing motor module.

[0026] In one implementation, the palm drive mechanism consists of a crank and two connecting rods. The middle of the crank is connected to the output end of the palm torsion motor module. The two ends of the crank are connected to one end of each of the two connecting rods, and the other ends of the two connecting rods are connected to the front and rear sides of the palm swing motor module, respectively. The palm drive mechanism converts the rotation of the palm torsion motor module into the torsional motion of the palm swing motor module.

[0027] In one implementation, the shoulder swing motor module is provided with a shoulder limiting member A, and the shoulder opening and closing motor module is provided with a corresponding shoulder limiting member B. This invention, through the cooperation of shoulder limiting member A and shoulder limiting member B, achieves the limitation of the swing angle of the shoulder opening and closing motor module and the parts below it.

[0028] In one implementation, the shoulder opening and closing motor module is equipped with a corresponding upper arm limiting member for limiting the movement of the upper arm connector. The elbow motor module is equipped with a corresponding forearm limiting member for limiting the movement of the forearm connector. The palm torsion motor module is equipped with a corresponding palm torsion limiting member for limiting the movement of the palm transmission mechanism. The palm swing motor module is equipped with a corresponding palm swing limiting member for limiting the movement of the palm connector. These mechanical hard limits of this invention can effectively prevent the joints from moving beyond their design range due to software errors or control failures, thereby avoiding gear damage, structural impact, or motor stalling of the motor module, and greatly improving the reliability and service life of the arm device.

[0029] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art 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 appended claims and their equivalents.

Claims

1. A humanoid robot arm device, comprising a hand mechanism, characterized in that, It also includes a shoulder swing motor module, a shoulder opening and closing motor module, an upper arm connector, an upper arm motor module, an upper arm fixation component, an elbow motor module, a forearm connector, a forearm motor module, a forearm fixation component, a palm torsion motor module, a palm transmission mechanism, a palm swing motor module, and a palm connector. The shoulder opening and closing motor module is correspondingly located on the shoulder swing motor module, the upper arm connector is correspondingly located on the shoulder opening and closing motor module, the upper arm motor module is located on the upper arm connector, the upper arm fixation component is correspondingly connected to the upper arm motor module, the elbow motor module is correspondingly located on the upper arm fixation component, the forearm connector is correspondingly located on the elbow motor module, the forearm motor module is located on the forearm connector, the forearm fixation component is correspondingly connected to the forearm motor module, the palm torsion motor module is located on the forearm fixation component, the palm swing motor module is correspondingly located at the bottom of the palm torsion motor module, the palm torsion motor module is connected to the palm swing motor module through the palm transmission mechanism, the palm connector is correspondingly located on the palm swing motor module, and the palm mechanism is connected to the palm connector.

2. The humanoid robot arm device as described in claim 1, characterized in that, The palm swing motor module is rotatably mounted at the front end of the forearm fixation component.

3. The humanoid robot arm device as described in claim 2, characterized in that, The palm transmission mechanism consists of a crank and two connecting rods. The crank is located on the output end of the palm torsion motor module. The two ends of the crank are connected to one end of the two connecting rods, and the other ends of the two connecting rods are connected to the front and rear sides of the palm swing motor module, respectively.

4. The humanoid robot arm device as described in claim 1, characterized in that, The axis of the shoulder swing motor module is in the left-right direction, and the axis of the shoulder opening and closing motor module is in the front-back direction.

5. The humanoid robot arm device as described in claim 1, characterized in that, The shoulder swing motor module is equipped with a shoulder limiting component A, and the shoulder opening and closing motor module is equipped with a corresponding shoulder limiting component B.

6. The humanoid robot arm device as described in claim 1, characterized in that, The shoulder opening and closing motor module is equipped with a corresponding boom limiting component for limiting the movement of the boom connector.

7. The humanoid robot arm device as described in claim 1, characterized in that, The elbow motor module is equipped with a forearm limiting component for limiting the position of the forearm connector.

8. The humanoid robot arm device as described in claim 1, characterized in that, The palm torsion motor module is equipped with a palm torsion limiter for limiting the palm transmission mechanism.

9. The humanoid robot arm device as described in claim 1, characterized in that, The palm swing motor module is equipped with a palm swing limiter for limiting the palm connector.

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