A humanoid robot arm and robot

Abstract

The utility model embodiment provides a kind of humanoid robot arm and robot. Among them, humanoid robot arm includes multiple shaft components;Multiple shaft components are sequentially connected from the first end to the end of humanoid robot arm, and at least one in adjacent two shaft components is installed with motor;Each shaft component includes fixedly connected support and auxiliary part;The output end of each shaft component support and a motor is fixedly connected, and the support of at least one shaft component includes the first part covered by the auxiliary part of this shaft component and the second part not covered by the auxiliary part of this shaft component, and the second part and auxiliary part constitute the shell of humanoid robot arm. The humanoid robot arm of the embodiment of the application is modularized when assembling, and the assembly efficiency is higher. In the above assembly process, the assembly of part of the shell of humanoid robot arm is completed, and the assembly efficiency is further improved.

Description

Technical Field

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

[0002] In recent years, the maturity of technologies such as large-scale artificial intelligence models, battery technology, sensors, and motors has enabled humanoid robots to possess greater intelligence and flexibility. With the increasing global aging population and labor shortages, humanoid robots are finding more and more applications in industry, service sectors, and homes. The shipment of humanoid robots is expected to increase dramatically in the future. Therefore, manufacturability must be considered during the design of humanoid robots to facilitate large-scale production.

[0003] Currently, robotic arm assembly uses a serial method, stacking components from bottom to top. For example, the base is assembled first, followed by multiple axis components. This method has low assembly efficiency. Utility Model Content

[0004] The purpose of this utility model embodiment is to provide a humanoid robot arm and robot to improve assembly efficiency. The specific technical solution is as follows:

[0005] This application provides a humanoid robot arm, including multiple axis assemblies; the multiple axis assemblies are sequentially connected from the first end to the last end of the humanoid robot arm, and at least one of two adjacent axis assemblies has a motor installed inside; each axis assembly includes a support member and an auxiliary member fixedly connected; the support member of each axis assembly is fixedly connected to the output end of one of the motors, and the support member of at least one axis assembly includes a first part covered by the auxiliary member of the axis assembly and a second part not covered by the auxiliary member of the axis assembly, the second part and the auxiliary member constituting the outer shell of the humanoid robot arm.

[0006] In some embodiments of this application, the head shaft assembly includes a first motor and a second motor;

[0007] The first motor is disposed on the side of the first end shaft assembly near the first end, and the output end of the first motor is fixedly connected to the support member of the first end shaft assembly;

[0008] The second motor is disposed on the side of the first end shaft assembly near the end, and the second motor is embedded in the support of the first end shaft assembly. The second part of the first end shaft assembly includes: the support connected to the first motor and the part located on the periphery of the second motor body. The output end of the second motor is fixedly connected to the support of the shaft assembly adjacent to the first end shaft assembly.

[0009] In some embodiments of this application, the middle shaft assembly located between the first and last shaft assemblies includes a motor;

[0010] Each of the middle shaft assemblies has a motor embedded in its support member, and is fixedly connected to the output end of the motor in the shaft assembly adjacent to and close to the first end of the middle shaft assembly.

[0011] The second part of at least one of the middle shaft assemblies includes: a portion of the support member that connects to the output end of the motor and a portion located on the periphery of the motor body embedded therein.

[0012] In some embodiments of this application, the support member of the end shaft assembly is fixedly connected to the output end of the motor in the shaft assembly adjacent to the beginning end on the side near the beginning end, and fixedly connected to the end flange on the side away from the beginning end.

[0013] The second part of the end shaft assembly includes: a portion of the support that connects to the output end of the motor and a portion that connects to the end flange.

[0014] In some embodiments of this application, each motor has a central hole, and the cables of the humanoid robot arm are disposed within the central hole of each motor.

[0015] In some embodiments of this application, the rotation axes of two adjacent motors are perpendicular to each other.

[0016] In some embodiments of this application, the humanoid robotic arm further includes: a camera assembly;

[0017] The camera assembly is connected to the support of the end shaft assembly.

[0018] In some embodiments of this application, the humanoid robot arm further includes: a force sensor;

[0019] The force sensor is disposed between the support of the end shaft assembly and the end flange, and is fixedly connected to the support.

[0020] In some embodiments of this application, the humanoid robot arm further includes: a control circuit board;

[0021] The control circuit board is disposed between the support and auxiliary components of the end shaft assembly and is fixedly connected to the support.

[0022] This application provides a robot including a humanoid robotic arm according to any embodiment of the first aspect.

[0023] Beneficial effects:

[0024] The humanoid robot arm of this application embodiment includes multiple axis assemblies. Each axis assembly includes a fixedly connected support member and an auxiliary member. The support member serves as the mounting base for the motor, facilitating the modularization of the axis assembly. Compared to the serial assembly method in related technologies, the humanoid robot arm of this application embodiment adopts modular assembly during assembly. First, the support member and motor belonging to the same axis assembly are assembled into a module, and then multiple modules are sequentially connected together for overall assembly, resulting in higher assembly efficiency. At the same time, the second part of the support member of at least one axis assembly, together with the auxiliary member, constitutes the outer shell of the humanoid robot arm. In the above assembly process, the assembly of part of the outer shell of the humanoid robot arm is completed, further improving the assembly efficiency.

[0025] The robot in this application includes a humanoid robot arm according to any embodiment of the first aspect. By improving the assembly efficiency of the humanoid robot arm, the assembly efficiency of the robot is improved.

[0026] Of course, any product implementing this utility model does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0027] 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 some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings.

[0028] Figure 1 This is a first-view structural schematic diagram of the humanoid robot arm according to an embodiment of this application;

[0029] Figure 2 This is a structural schematic diagram of the humanoid robot arm from a second perspective, representing an embodiment of this application.

[0030] Figure 3 This is an exploded view of the axis assembly of a humanoid robot arm from a first-person perspective, according to an embodiment of this application.

[0031] Figure 4 This is an exploded view of the axis assembly of the humanoid robot arm from a second perspective, according to an embodiment of this application.

[0032] Figure 5 This is an exploded structural diagram of the humanoid robot arm according to an embodiment of this application;

[0033] Figure 6 This is an exploded structural diagram of the first shaft assembly in an embodiment of this application;

[0034] Figure 7 This is an exploded structural diagram of the second axis assembly in an embodiment of this application;

[0035] Figure 8 This is an exploded structural diagram of the third axis assembly in an embodiment of this application;

[0036] Figure 9 This is an exploded structural diagram of the fourth axis assembly in an embodiment of this application;

[0037] Figure 10 This is an exploded structural diagram of the fifth axis assembly in an embodiment of this application;

[0038] Figure 11 This is an exploded structural diagram of the sixth axis assembly in an embodiment of this application;

[0039] Figure 12 This is a connection diagram of the fifth axis assembly and the sixth axis assembly in the embodiments of this application;

[0040] Figure 13 for Figure 12 A magnified view of a portion of point P;

[0041] Figure 14 This is an exploded structural diagram of the seventh axis assembly in an embodiment of this application.

[0042] Explanation of reference numerals in the attached figures:

[0043] Shaft assembly 10; Motor 11; Motor central hole 111; Support 12; Auxiliary component 13; End flange 20; Camera assembly 30; Camera 31; Camera bracket 32; Camera connector 33; Force sensor 40; Control circuit board 50; Output connector 60; First shaft assembly 10a; End shaft assembly 10b; Middle shaft assembly 10c; First connection point S1; Second connection point S2;

[0044] First shaft assembly 100; first motor 110; second motor 120; first support member 130; first auxiliary member 140; first sub-auxiliary member 141; second sub-auxiliary member 142; second shaft assembly 200; third motor 210; second support member 220; second auxiliary member 230; third sub-auxiliary member 231; fourth sub-auxiliary member 232; first connecting member 240;

[0045] Third shaft assembly 300; fourth motor 310; third support member 320; third auxiliary member 330; second connector 340; decorative member 350; fourth shaft assembly 400; fifth motor 410; fourth support member 420; fourth auxiliary member 430;

[0046] Fifth axis assembly 500; Sixth motor 510; Fifth support member 520; Connecting arm 521; Connecting through hole 5211; Fifth auxiliary member 530; Fifth sub-auxiliary member 531; Sixth sub-auxiliary member 532; Connecting rod 540; Connecting hole 541; Third connecting member 550;

[0047] Sixth axis assembly 600; seventh motor 610; sixth support member 620; connecting shaft 621; sixth auxiliary member 630; seventh sub-auxiliary member 631; eighth sub-auxiliary member 632; seventh axis assembly 700; seventh support member 710; seventh auxiliary member 720; fourth connecting member 730. Detailed Implementation

[0048] 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 based on this application are within the protection scope of the present utility model.

[0049] The purpose of this utility model embodiment is to provide a humanoid robot arm and robot to improve assembly efficiency.

[0050] like Figure 1 and Figure 2 As shown, Figure 1 This is a first-view structural diagram of the humanoid robot arm according to an embodiment of this application. Figure 2 This is a structural schematic diagram of a humanoid robot arm from a second perspective according to an embodiment of this application. The humanoid robot arm includes a plurality of shaft assemblies 10 connected sequentially from the first end to the last end of the humanoid robot arm.

[0051] like Figure 3 As shown, Figure 3 This is an exploded view of the shaft assembly 10 of the humanoid robot arm from a first perspective according to an embodiment of this application. For ease of explanation, the shaft assembly 10 located at the head end of the humanoid robot arm is defined as the head shaft assembly 10a, the shaft assembly 10 located at the tail end of the humanoid robot arm is defined as the tail shaft assembly 10b, and the shaft assembly 10 located between the head shaft assembly 10a and the tail shaft assembly 10b is defined as the middle shaft assembly 10c.

[0052] like Figure 4 As shown, Figure 4 This is an exploded view of the axis assembly 10 of the humanoid robot arm from a second perspective according to an embodiment of this application. The multiple axis assemblies 10 may include a first axis assembly 100, a second axis assembly 200, a third axis assembly 300, a fourth axis assembly 400, a fifth axis assembly 500, a sixth axis assembly 600, and a seventh axis assembly 700, which are sequentially connected from the first end to the last end of the humanoid robot arm.

[0053] like Figure 5 As shown, Figure 5 This is an exploded structural diagram of a humanoid robot arm according to an embodiment of this application. The embodiment proposes a humanoid robot arm comprising multiple axis assemblies 10. The multiple axis assemblies 10 are sequentially connected from the first end to the last end of the humanoid robot arm. At least one of two adjacent axis assemblies 10 houses a motor 11. Each axis assembly 10 includes a fixedly connected support member 12 and an auxiliary member 13. The support member 12 of each axis assembly 10 is fixedly connected to the output end of a motor 11. The support member 12 of at least one axis assembly 10 includes a first portion covered by the auxiliary member 13 of that axis assembly 10 and a second portion not covered by the auxiliary member 13. The second portion and the auxiliary member 13 constitute the outer shell of the humanoid robot arm.

[0054] The humanoid robot arm of this embodiment includes multiple axis assemblies 10. Each axis assembly 10 includes a fixedly connected support member 12 and an auxiliary member 13. The support member 12 serves as the mounting base for the motor 11, facilitating the modularization of the axis assembly 10. Compared to the serial assembly method in related technologies, the humanoid robot arm of this embodiment adopts modular assembly during assembly. First, the support member 12 and the motor 11 belonging to the same axis assembly 10 are assembled into a module. Then, multiple modules are sequentially connected together for overall assembly, resulting in higher assembly efficiency. At the same time, the second part of the support member 12 of at least one axis assembly 10 and the auxiliary member 13 constitute the outer shell of the humanoid robot arm. In the above assembly process, the assembly of part of the outer shell of the humanoid robot arm is completed, further improving the assembly efficiency.

[0055] In addition, modular assembly takes up less assembly space, and the same module can be assembled by the same assembly personnel, which helps to improve assembly consistency.

[0056] The modular assembly method of this application embodiment is applicable to humanoid robot arms with six-axis or seven-axis structures.

[0057] In this embodiment, as Figure 5As shown, the first-end shaft assembly 10a includes a first motor 110 and a second motor 120. The first motor 110 is located on the side of the first-end shaft assembly 10a near the first end, and its output end is fixedly connected to the support member 12 of the first-end shaft assembly 10a. The second motor 120 is located on the side of the first-end shaft assembly 10a near the end, and is embedded in the support member 12. The second part of the first-end shaft assembly 10a includes: the portion of the support member 12 connected to the first motor 110 and located on the periphery of the body of the second motor 120. The output end of the second motor 120 is fixedly connected to the support member 12 of the shaft assembly 10 adjacent to the first-end shaft assembly 10a. During assembly, modular assembly is performed first, fixing the first motor 110 and the second motor 120 to the support member 12 of the first-end shaft assembly 10a to form a module, and then connecting it to other modules. The second part of the support member 12 serves as part of the shell of the humanoid robot arm, completing part of the shell assembly during the modular assembly process, thus improving assembly efficiency.

[0058] In this embodiment, as Figure 5 As shown, each intermediate shaft assembly 10c located between the first and last shaft assemblies 10 includes a motor 11. The motor 11 of each intermediate shaft assembly 10c is embedded in its support member 12 and is fixedly connected to the output end of the motor 11 in the shaft assembly 10 adjacent to and near the first end of the intermediate shaft assembly 10. At least one intermediate shaft assembly 10c has a second part comprising: a portion of the support member 12 connected to the output end of the motor 11 and a portion located around the body of the embedded motor 11. During assembly, modular assembly is performed first, fixing the motor 11 to the support member 12 of its corresponding intermediate shaft assembly 10c to form a module, which is then connected to other modules. The second part of the support member 12 serves as part of the outer shell of the humanoid robot arm, completing part of the outer shell assembly during the modular assembly process, thus improving assembly efficiency.

[0059] In this embodiment, as Figure 5As shown, the support member 12 of the end effector assembly 10b has its side near the head end fixedly connected to the output end of the motor 11 in the adjacent shaft assembly 10, and its side away from the head end fixedly connected to the end flange 20. The second part of the end effector assembly 10b includes a portion of the support member 12 connected to the output end of the motor 11 and a portion connected to the end flange 20. The end flange 20 can be connected to an end effector, such as a gripper, suction cup, or dexterous hand. During assembly, modular assembly is performed first, fixing the end flange 20 to the support member 12 of the end effector assembly 10b to form a module, and then connecting it to other modules. The second part of the support member 12 serves as part of the outer shell of the humanoid robot arm, completing part of the outer shell assembly during the modular assembly process, thus improving assembly efficiency.

[0060] In this embodiment, as Figure 5 As shown, each motor 11 has a motor central hole 111, and the cables of the humanoid robot arm (not shown in the figure) are disposed within the motor central hole 111 of each motor 11. The placement of the cables within the motor central hole 111 reduces the extra space occupied by the cables, which is beneficial for reducing the diameter of the humanoid robot arm and for miniaturizing the design of the humanoid robot arm.

[0061] In this embodiment, as Figure 5 As shown, the rotation axes of two adjacent motors 11 are perpendicular to each other. The use of a rectangular coordinate system structure makes the joint movement of the humanoid robot arm more in line with ergonomic principles, while also enabling a more compact mechanical structure design to complete complex actions within a limited space.

[0062] The structures of the multiple shaft assemblies 10 in the embodiments of this application will be described below. Among them, the first shaft assembly 100 is the first-end shaft assembly 10a, the second shaft assembly 200, the third shaft assembly 300, the fourth shaft assembly 400, the fifth shaft assembly 500 and the sixth shaft assembly 600 are the middle-section shaft assemblies 10c, and the seventh shaft assembly 700 is the end-end shaft assembly 10b.

[0063] like Figure 6 As shown, Figure 6This is an exploded view of the first shaft assembly 100 in this embodiment of the application. The first shaft assembly 100 includes a first motor 110, a second motor 120, a first support member 130, and a first auxiliary member 140. The first support member 130 covers the output end of the first motor 110 near its head end, and the two are fixedly connected by fasteners. The first support member 130 covers the body of the second motor 120 near its tail end, exposing the output end of the second motor 120. The first auxiliary member 140 includes a first sub-auxiliary member 141 and a second sub-auxiliary member 142. In the axial direction of the second motor 120, the first sub-auxiliary member 141 and the second sub-auxiliary member 142 are located on both sides of the second motor 120 and the first support member 130, respectively. The first sub-auxiliary member 141 is annular, disposed away from the output end of the second motor 120, and is snapped and fixed to the first support member 130. The second sub-auxiliary member 142 is annular, disposed near the output end of the second motor 120 and exposing the output end of the second motor 120, and is snapped and fixed to the first support member 130.

[0064] like Figure 6 and Figure 7 As shown, Figure 7 This is an exploded view of the second shaft assembly 200 in this embodiment. The second shaft assembly 200 includes a third motor 210, a second support member 220, a second auxiliary member 230, and a first connector 240. The second support member 220 is fixedly connected to the output end of the second motor 120 near its first end via fasteners; the second support member 220 covers the body of the third motor 210 near its last end, exposing the output end of the third motor 210. The second auxiliary member 230 includes a third sub-auxiliary member 231 and a fourth sub-auxiliary member 232, which are located on opposite sides of the second support member 220. They interlock and cover the outside of the second support member 220, exposing the connection between the second support member 220 and the second motor 120, as well as the output end of the third motor 210. The first connector 240 is annular and is fixedly connected to the output end of the third motor 210 via fasteners.

[0065] like Figure 7 and Figure 8 As shown, Figure 8This is an exploded structural diagram of the third axis assembly 300 in this embodiment. The third axis assembly 300 includes a fourth motor 310, a third support member 320, a third auxiliary member 330, and a second connector 340. The side of the third support member 320 near its first end is fixedly connected to the first connector 240 by fasteners to achieve the connection between the third support member 320 and the third motor 210. The side of the second support member 220 near its end covers the body of the fourth motor 310 and exposes the output end of the fourth motor 310. The third auxiliary member 330 is annular and, in the axial direction of the fourth motor 310, is located on the side of the third support member 320 away from the output end of the fourth motor 310, and is snap-fitted and fixed to the third support member 320. The second connector 340 is annular and is fixedly connected to the output end of the fourth motor 310 by fasteners. The third axis assembly 300 may also include a decorative member 350, which is disposed on the outer wall of the third support member 320 and fixedly connected to it.

[0066] like Figure 8 and Figure 9 As shown, Figure 9 This is an exploded structural diagram of the fourth axis assembly 400 in this embodiment of the application. The fourth axis assembly 400 includes a fifth motor 410, a fourth support member 420, and a fourth auxiliary member 430. The side of the fourth support member 420 near its first end is fixedly connected to the second connector 340 by fasteners to achieve the connection between the fourth support member 420 and the fourth motor 310; the side of the fourth support member 420 near its last end covers the body of the fifth motor 410 and exposes the output end of the fifth motor 410. The fourth auxiliary member 430 is circular. In the axial direction of the fourth motor 310, the fourth auxiliary member 430 is located on the side of the fourth support member 420 away from the fourth motor 310 and is snap-fitted and fixed to the fourth support member 420.

[0067] like Figure 9 and Figure 10 As shown, Figure 10This is an exploded view of the fifth axis assembly 500 in this embodiment. The fifth axis assembly 500 includes a sixth motor 510, a fifth support member 520, a fifth auxiliary member 530, a third connector 550, and a connecting rod 540. The fifth support member 520 is fixedly connected to the output end of the fifth motor 510 near its head end by fasteners. The fifth support member 520 has two connecting arms 521 extending towards its tail end, each with a connecting through hole 5211. The main body of the sixth motor 510 is located within the fifth support member 520, and the output end of the sixth motor 510 is fixedly connected to the third connector 550 by fasteners. The third connector 550 is annular. Each end of the connecting rod 540 has a connecting hole 541. The fifth auxiliary component 530 includes a fifth sub-auxiliary component 531 and a sixth sub-auxiliary component 532. In the axial direction of the sixth motor 510, the fifth sub-auxiliary component 531 is disposed on the side away from the output end of the sixth motor 510, and the sixth sub-auxiliary component 532 is disposed on the side close to the output end of the sixth motor 510. The fifth sub-auxiliary component 531 and the sixth sub-auxiliary component 532 are interlocked and disposed outside the sixth motor 510 and the fifth support component 520, and expose the connection between the fifth support component 520 and the support component 12 of the adjacent shaft assembly 10.

[0068] like Figure 11 As shown, Figure 11 This is an exploded view of the sixth axis assembly 600 in this embodiment. The sixth axis assembly 600 includes a seventh motor 610, a sixth support member 620, and a sixth auxiliary member 630. The sixth support member 620 has two coaxially arranged connecting shafts 621. The body of the seventh motor 610 is embedded in the sixth support member 620, and the output end of the seventh motor 610 is exposed outside the sixth support member 620. The sixth auxiliary member 630 includes a seventh sub-auxiliary member 631 and an eighth sub-auxiliary member 632, which are interlocked and disposed outside the sixth support member 620, exposing the connecting shafts 621 on the sixth support member 620 and the output end of the seventh motor 610.

[0069] like Figure 12 and Figure 13 As shown, Figure 12 This is a connection diagram of the fifth axis assembly 500 and the sixth axis assembly 600 in the embodiments of this application. Figure 13 for Figure 12The enlarged schematic diagram at point P shows that the two connecting arms 521 of the fifth support member 520 are rotatably connected to the two connecting shafts 621 of the sixth support member 620 of the sixth shaft assembly 600 through connecting through holes 5211. The two connecting holes 541 of the connecting rod 540 are eccentrically connected to the third connecting member 550 and the sixth auxiliary member 630, respectively. That is, the first connection point S1 between the connecting rod 540 and the third connecting member 550 does not coincide with the rotation axis of the third connecting member 550 and the sixth motor 510, and the second connection point S2 between the connecting rod 540 and the sixth auxiliary member 630 does not coincide with the rotation axis of the connecting shaft 621. With this configuration, when the sixth motor 510 rotates, it can drive the sixth support member 620 to rotate around the connecting shaft 621 through the connecting rod 540, thereby driving the sixth shaft assembly 600 to rotate. The extension direction of the connecting shaft 621 is parallel to the rotation axis direction of the sixth motor 510 and perpendicular to the rotation axis direction of the seventh motor 610.

[0070] like Figure 14 As shown, Figure 14 This is an exploded structural diagram of the seventh axis assembly 700 in this embodiment of the application. The seventh axis assembly 700 includes a seventh support member 710, a seventh auxiliary member 720, and a fourth connector 730. The side of the seventh support member 710 near the head end is connected to the seventh motor 610 (…). Figure 14 (Not shown in the image) is connected to the end flange 20 on the side near the end. The end flange 20 is fixedly connected to the output connector 60.

[0071] In this embodiment, as Figure 14 As shown, the humanoid robotic arm also includes a camera assembly 30; the camera assembly 30 is connected to a support member (seventh support member 710) of the end effector assembly (seventh axis assembly 700). The camera assembly 30 is used to capture images to achieve end effector positioning of the humanoid robotic arm. The camera assembly 30 may include a camera 31, a camera bracket 32, and a camera connector 33, the camera connector 33 being inserted into the camera 31, and the camera 31 being fixedly connected to the seventh support member 710 via the camera bracket 32.

[0072] In this embodiment, as Figure 14 As shown, the humanoid robot arm also includes a force sensor 40. The force sensor 40 is disposed between the support member (seventh support member 710) and the end flange 20 of the end-effector assembly (seventh axis assembly 700), and is fixedly connected to the support member. The force sensor 40 is positioned close to the end of the humanoid robot arm, making it more sensitive and providing a detection result closer to the output torque. The force sensor 40 can be fixedly connected to the seventh support member 710 via a fourth connector 730, and is also fixedly connected to the end flange 20.

[0073] In this embodiment, as Figure 14As shown, the humanoid robot arm also includes a control circuit board 50. The control circuit board 50 is disposed between the support member (seventh support member 710) and the auxiliary member (seventh auxiliary member 720) of the end-axis assembly (seventh axis assembly 700), and is fixedly connected to the support member. The control circuit board 50 is used to receive and transmit signals. Its placement in the end-axis assembly reduces wiring and improves operational stability.

[0074] In this embodiment, the portion of the first support member 130 connected to the first motor 110 and located around the body of the second motor 120 forms part of the shell of the humanoid robot arm; the portion of the third support member 320 connected to the output end of the third motor 210 and located around the body of the fourth motor 310 forms part of the shell of the humanoid robot arm; the portion of the fourth support member 420 connected to the output end of the fourth motor 310 and located around the body of the fifth motor 410 forms part of the shell of the humanoid robot arm; the portion of the seventh support member 710 connected to the output end of the sixth motor 510 and connected to the end flange 20 forms part of the shell of the humanoid robot arm; the above portions, together with the first auxiliary member 140, the second auxiliary member 230, the third auxiliary member 330, the fourth auxiliary member 430, the fifth auxiliary member 530, the sixth auxiliary member 630, and the seventh auxiliary member 720, constitute the shell of the humanoid robot arm.

[0075] During assembly, the first motor 110, the first support member 130, and the second motor 120 can be assembled into a first module; the third motor 210, the second support member 220, and the first connector 240 can be assembled into a second module; the fourth motor 310, the third support member 320, and the second connector 340 can be assembled into a third module; the fifth motor 410 and the fourth support member 420 can be assembled into a fourth module; the sixth motor 510, the fifth support member 520, the connecting rod 540, and the third connector 550 can be assembled into a fifth module; the seventh motor 610 and the sixth support member 620 can be assembled into a sixth module; and the seventh support member 710 and the end flange 20 can be assembled into a seventh module. Then, the above seven modules are assembled. The auxiliary component 13 can be assembled during the assembly process or after the above seven modules are assembled, thereby improving the assembly efficiency.

[0076] This application provides a robot including a humanoid robotic arm according to any embodiment of the first aspect.

[0077] The robot in this application includes a humanoid robot arm according to any embodiment of the first aspect. By improving the assembly efficiency of the humanoid robot arm, the assembly efficiency of the robot is improved.

[0078] The above description is merely a preferred embodiment of this utility model and is not intended to limit the scope of protection of this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model are included within the scope of protection of this utility model.

Claims

1. A humanoid robotic arm, characterized in that, include: Multiple axis assemblies (10); The plurality of shaft assemblies (10) are connected sequentially from the head end to the tail end of the humanoid robot arm, and at least one of the two adjacent shaft assemblies (10) is equipped with a motor (11). Each of the shaft assemblies (10) includes a support member (12) and an auxiliary member (13) that are fixedly connected; the support member (12) of each shaft assembly (10) is fixedly connected to the output end of one of the motors (11); at least one of the support members (12) of the shaft assembly (10) includes a first part covered by the auxiliary member (13) of the shaft assembly (10) and a second part not covered by the auxiliary member (13) of the shaft assembly (10), the second part and the auxiliary member (13) forming the shell of the humanoid robot arm.

2. The humanoid robot arm according to claim 1, characterized in that, The head shaft assembly (10a) includes a first motor (110) and a second motor (120); The first motor (110) is disposed on the side of the first end shaft assembly (10a) near the first end, and the output end of the first motor (110) is fixedly connected to the support member (12) of the first end shaft assembly (10a). The second motor (120) is disposed on the side of the first end shaft assembly (10a) near the end, and the second motor (120) is embedded in the support member (12) of the first end shaft assembly (10a). The second part of the first end shaft assembly (10a) includes: the support member (12) connected to the first motor (110) and located on the periphery of the body of the second motor (120). The output end of the second motor (120) is fixedly connected to the support member (12) of the shaft assembly (10) adjacent to the first end shaft assembly (10a).

3. The humanoid robot arm according to claim 1, characterized in that, The middle shaft assembly (10c) located between the first and last shaft assemblies (10) each includes a motor (11). The motor (11) of each of the middle shaft assemblies (10c) is embedded in the support member (12) and is fixedly connected to the output end of the motor (11) in the shaft assembly (10) adjacent to and close to the first end of the middle shaft assembly (10c). The second part of at least one of the middle shaft assemblies (10c) includes: a portion of the support (12) that connects to the output end of the motor (11) and a portion located on the periphery of the motor (11) body embedded therein.

4. The humanoid robot arm according to claim 1, characterized in that, The support (12) of the end shaft assembly (10b) is fixedly connected to the output end of the motor (11) in the shaft assembly (10) adjacent to the end shaft assembly (10b) on the side near the head end, and fixedly connected to the end flange (20) on the side away from the head end. The second part of the end shaft assembly (10b) includes: a portion of the support (12) connected to the output end of the motor (11) and a portion connected to the end flange (20).

5. The humanoid robotic arm according to any one of claims 1 to 4, characterized in that, Each of the motors (11) has a motor central hole (111), and the cables of the humanoid robot arm are disposed in the motor central hole (111) of each motor (11).

6. The humanoid robotic arm according to any one of claims 1 to 4, characterized in that, The rotation axes of two adjacent motors (11) are perpendicular to each other.

7. The humanoid robotic arm according to any one of claims 1 to 4, characterized in that, The humanoid robotic arm also includes: a camera assembly (30); The camera assembly (30) is connected to the support (12) of the end shaft assembly (10b).

8. The humanoid robot arm according to claim 4, characterized in that, The humanoid robot arm also includes: a force sensor (40); The force sensor (40) is disposed between the support (12) of the end shaft assembly (10b) and the end flange (20), and is fixedly connected to the support (12).

9. The humanoid robot arm according to claim 4, characterized in that, The humanoid robot arm also includes: a control circuit board (50); The control circuit board (50) is disposed between the support (12) and the auxiliary component (13) of the end shaft assembly (10b) and is fixedly connected to the support (12).

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

Images