Lightweight humanoid robot arm

Abstract

The utility model relates to a kind of lightweight humanoid robot mechanical arm, including first joint, second joint being rotated on the first joint, third joint being rotated on the second joint, fourth joint being rotated on the third joint, fifth joint being rotated on the fourth joint, sixth joint being rotated on the fifth joint, seventh joint being rotated on the sixth joint;The first joint controls the axial angle of whole;Second joint controls the bending angle of whole;The third joint controls the rotation angle of whole;The fourth joint controls the rotation angle of the fifth joint;The sixth joint controls the rotation angle of the seventh joint;The seventh joint can rotate.Solved part lightweight scheme although through cutting down the number of joint or simplifying structure realizes weight reduction, posture adjustment ability of mechanical arm is sacrificed, it is difficult to complete fine operation or complex spatial motion.

Description

Technical Field

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

[0002] In the current era of rapid development in humanoid robot technology, the performance of the robotic arm, as the core execution component for robot interaction, directly determines the robot's operational capabilities and application scenarios. With the increasing demands for robot flexibility, safety, and endurance in fields such as home services, medical assistance, and industrial collaboration, robotic arms must simultaneously meet the core requirements of high degrees of freedom, a large range of motion, and lightweight design. In existing technologies, traditional humanoid robot arms often employ a series joint structure to achieve multi-degree-of-freedom motion. However, as the number of joints increases (e.g., more than 5), the overall weight often surges due to complex structural design and the use of heavy materials (such as traditional metal castings). This not only increases the robot's drive energy consumption but also limits its motion response speed and flexibility. While some lightweight solutions achieve weight reduction by reducing the number of joints or simplifying the structure, they sacrifice the robot arm's posture adjustment capabilities, making it difficult to perform delicate operations or complex spatial movements. Regarding joint rotation performance, existing robotic arm joint modules suffer from limited angle range: for example, the rotation angle of shoulder or wrist joints is mostly within ±90°, which cannot meet the needs of large-scale posture adjustment; at the same time, the matching accuracy between joint angle and rotation axis is insufficient, which can easily lead to positioning deviation of end effector and affect operation accuracy. In addition, traditional joint materials are mostly steel or aluminum alloy, which can ensure structural strength, but have a high density, and the shell manufactured by conventional processing technology is difficult to achieve complex lightweight structural design, further restricting the lightweight level of robotic arms. Utility Model Content

[0003] This application provides a lightweight humanoid robot arm, which solves the problem that some lightweight solutions in the prior art, although reducing the number of joints or simplifying the structure to reduce weight, sacrifice the robot arm's posture adjustment ability, making it difficult to complete fine operations or complex spatial movements.

[0004] The technical solutions adopted in the embodiments of this application are as follows.

[0005] A lightweight humanoid robot arm includes a first joint, a second joint rotating on the first joint, a third joint rotating on the second joint, a fourth joint rotating on the third joint, a fifth joint rotating on the fourth joint, a sixth joint rotating on the fifth joint, and a seventh joint rotating on the sixth joint. The first joint controls the axial angle of the entire assembly; the second joint controls the bending angle of the entire assembly; the third joint controls the rotation angle of the entire assembly; the fourth joint controls the rotation angle of the fifth joint; the sixth joint controls the rotation angle of the seventh joint; and the seventh joint is rotatable.

[0006] As a further improvement to the above technical solution: The first joint has a rotation range of ±175°.

[0007] The second joint has a rotation range of -5° to 180°.

[0008] The rotation range of the third joint is ±175°.

[0009] The rotation range of the fourth joint is -90° to 140°.

[0010] The fifth joint has a rotation range of ±175°.

[0011] The sixth joint has a rotation range of ±90°.

[0012] The seventh joint has a rotation range of ±175°.

[0013] The joints are made of 3D printed materials or special materials.

[0014] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages: 1. Utilizing a seven-joint serial structure covering complex movements such as axial rotation, bending, and multi-angle rotation, the ultra-large rotation range of each joint (e.g., ±175° for the first / third / fifth / seventh joints, and -5° to 180° for the second joint) breaks through the traditional ±90° angle limitation of robotic arms. This design enables the robotic arm to perform complex spatial posture adjustments, such as wide-range shoulder swing and flexible wrist turning, meeting the needs of delicate operations in home services (e.g., grasping irregularly shaped objects) and precise positioning in medical assistance (e.g., manipulating surgical instruments). Joints are manufactured using 3D printing technology or special materials, and complex lightweight structures (e.g., internal hollowing, thin-walled supports) can be achieved through topology optimization design, significantly reducing overall weight while maintaining structural strength. Compared to traditional metal casting joints, the weight reduction is significant, directly reducing the load on the robot's drive motors, lowering energy consumption, and extending battery life; simultaneously, the lightweight structure reduces joint inertia, resulting in faster motion response and improved dynamic flexibility of the robotic arm. Each joint has a clearly defined function (axial angle, bending angle, rotation angle, etc.), and through coordinated movement, the end effector can achieve omnidirectional positioning. For example, the fourth and sixth joints work together to adjust the end effector orientation, and the ±175° rotation of the seventh joint meets the multi-angle operation requirements of the tool. This solves the problem of blind spots in operation caused by overlapping joint functions or limited angles in traditional robotic arms, and can be adapted to diverse operation tasks in various fields such as home, medical, and industrial applications. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the lightweight humanoid robot arm in this utility model.

[0016] In the diagram: 1. First joint; 2. Second joint; 3. Third joint; 4. Fourth joint; 5. Fifth joint; 6. Sixth joint; 7. Seventh joint. Detailed Implementation

[0017] This application provides a lightweight humanoid robot arm, which solves the problem that some lightweight solutions in the prior art, although reducing the number of joints or simplifying the structure to reduce weight, sacrifice the robot arm's posture adjustment ability, making it difficult to complete fine operations or complex spatial movements.

[0018] The technical solution in this application embodiment is to solve the above problems, and the overall idea is as follows: To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0019] A lightweight humanoid robot arm includes a first joint 1, a second joint 2 rotating on the first joint 1, a third joint 3 rotating on the second joint 2, a fourth joint 4 rotating on the third joint 3, a fifth joint 5 rotating on the fourth joint 4, a sixth joint 6 rotating on the fifth joint 5, and a seventh joint 7 rotating on the sixth joint 6. The first joint 1 controls the overall axial angle; the second joint 2 controls the overall bending angle; the third joint 3 controls the overall rotation angle; the fourth joint 4 controls the rotation angle of the fifth joint 5; the sixth joint 6 controls the rotation angle of the seventh joint 7; and the seventh joint 7 is rotatable.

[0020] The first joint 1 has a rotation range of ±175°.

[0021] The second joint has a rotation range of -5° to 180°.

[0022] The rotation range of the third joint is ±175°.

[0023] The rotation range of the fourth joint is -90° to 140°.

[0024] The fifth joint has a rotation range of ±175°.

[0025] The sixth joint has a rotation range of ±90°.

[0026] The seventh joint has a rotation range of ±175°.

[0027] The joints are made of 3D printed materials or special materials.

[0028] Employing a seven-joint serial structure covering complex movements such as axial rotation, bending, and multi-angle rotation, the ultra-large rotation range of each joint (e.g., ±175° for joints 1 / 3 / 5 / 7, and -5° to 180° for joint 2) breaks through the ±90° angle limitation of traditional robotic arms. This design enables the robotic arm to perform complex spatial posture adjustments, such as wide-range shoulder swing and flexible wrist turning, meeting the needs of scenarios such as fine operations in home services (e.g., grasping irregularly shaped objects) and precise positioning in medical assistance (e.g., manipulating surgical instruments). Using 3D printing technology or special materials to manufacture the joints allows for complex lightweight structures (e.g., internal hollowing, thin-walled supports) through topology optimization design, significantly reducing overall weight while maintaining structural strength. Compared to traditional metal casting joints, the weight reduction is significant, directly reducing the load on the robot's drive motors, lowering energy consumption, and extending battery life; simultaneously, the lightweight structure reduces joint inertia, resulting in faster motion response and improved dynamic flexibility of the robotic arm. Each joint has a clearly defined function (axial angle, bending angle, rotation angle, etc.), and through coordinated movement, the end effector can achieve omnidirectional positioning. For example, the fourth joint 4 and the sixth joint 6 work together to adjust the end effector orientation, and the ±175° rotation of the seventh joint 7 meets the multi-angle operation requirements of the tool. This solves the problem of blind spots in operation caused by overlapping joint functions or limited angles in traditional robotic arms, and can be adapted to diverse operation tasks in various fields such as home, medical, and industrial applications.

[0029] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the present invention.

[0030] Obviously, those skilled in the art can make various modifications and variations to this utility model without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this utility model and their equivalents, this utility model also intends to include these modifications and variations.

Claims

1. A lightweight humanoid robot arm, characterized in that, It includes a first joint (1), a second joint (2) rotating on the first joint (1), a third joint (3) rotating on the second joint (2), a fourth joint (4) rotating on the third joint (3), a fifth joint (5) rotating on the fourth joint (4), a sixth joint (6) rotating on the fifth joint (5), and a seventh joint (7) rotating on the sixth joint (6); the first joint (1) controls the axial angle of the whole; the second joint (2) controls the bending angle of the whole; the third joint (3) controls the rotation angle of the whole; the fourth joint (4) controls the rotation angle of the fifth joint (5); the sixth joint (6) controls the rotation angle of the seventh joint (7); the seventh joint (7) is rotatable.

2. The lightweight humanoid robot arm as described in claim 1, characterized in that, The first joint (1) has a rotation range of ±175°.

3. The lightweight humanoid robot arm as described in claim 1, characterized in that, The second joint (2) has a rotation range of -5° to 180°.

4. The lightweight humanoid robot arm as described in claim 1, characterized in that, The rotation range of the third joint (3) is ±175°.

5. The lightweight humanoid robot arm as described in claim 1, characterized in that, The rotation range of the fourth joint (4) is -90° to 140°.

6. The lightweight humanoid robot arm as described in claim 1, characterized in that, The fifth joint (5) has a rotation range of ±175°.

7. The lightweight humanoid robot arm as described in claim 1, characterized in that, The sixth joint (6) has a rotation range of ±90°.

8. The lightweight humanoid robot arm as described in claim 1, characterized in that, The seventh joint (7) has a rotation range of ±175°.

9. The lightweight humanoid robot arm as described in claim 7, characterized in that, The joint is formed using 3D printing technology, and the joint has a hollow structure or a thin-walled support structure inside.

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