CN-121989288-A - Humanoid mechanical arm

Abstract

The invention relates to the technical field of mechanical arms, in particular to a humanoid mechanical arm which comprises a joint, a shoulder blade joint, a shoulder joint, a big arm joint, an upper elbow joint, a lower elbow joint, a wrist joint and a paw joint which are sequentially arranged from a near trunk end to a far trunk end, wherein adjacent joints are connected through joint modules, and the joint modules are planetary joint modules. According to the invention, through the multi-joint serial configuration of the high humanoid, the movement flexibility and the environmental adaptability of the mechanical arm are obviously improved. The bionic joint layout from the trunk to the tail end is adopted, and the bionic joint layout is combined with the connection of the planetary joint modules, so that the coordinated motion of multiple degrees of freedom close to the arms of a human body is realized, and finer and flexible operation tasks can be completed in a complex unstructured environment.

Inventors

• ZENG YAJUN
• YANG FENGYU
• WANG HAIYANG

Assignees

• 优理奇机器人科技(苏州)有限公司

Dates

Publication Date

20260508

Application Date

20260205

Claims (10)

1. 1. The humanoid mechanical arm is characterized by comprising a joint, a shoulder blade joint, a shoulder joint, a large arm joint, an upper elbow joint, a lower elbow joint, a wrist joint and a paw joint which are sequentially arranged from a near trunk end to a far trunk end, wherein adjacent joints are connected through joint modules, and the joint modules are planetary joint modules.
2. 2. The humanoid mechanical arm of claim 1, wherein the planetary joint module comprises a module housing, a drive motor disposed in the housing, a planetary gear reducer connected to an output of the drive motor, and an output flange connected to an output of the planetary gear reducer.
3. 3. The humanoid robot arm according to claim 2, wherein the planetary gear reducer comprises at least a primary planetary gear transmission mechanism, the transmission mechanism comprises a sun gear as an input, at least two planetary gears meshed with the sun gear, a planetary carrier for mounting the planetary gears and serving as an output end of the reducer, and an inner gear meshed with the planetary gears and fixed with a module housing, and the planetary carrier is in driving connection with the output flange.
4. 4. The humanoid robot arm of claim 3, wherein the planetary joint module further includes an angle sensor for detecting a rotation angle of the output flange.
5. 5. The humanoid mechanical arm of claim 2, wherein the drive motor is a frameless torque motor and the planetary joint module is of hollow shaft design to form a wire passage.
6. 6. The humanoid robot arm of claim 1, wherein the articulation joint is for connecting to a robot torso and provides a first degree of rotational freedom about a vertical axis.
7. 7. The humanoid robotic arm of claim 1, wherein the scapular joint is connected to an articulation joint providing a degree of freedom of back and forth swing in the sagittal plane.
8. 8. The humanoid robot arm of claim 1, wherein the axes of the upper elbow joint and the lower elbow joint are parallel to each other.
9. 9. The humanoid robot arm of claim 1, wherein the wrist joint provides two degrees of rotational freedom, respectively effecting pitch and yaw of the wrist.
10. 10. The humanoid robot arm of claim 1, wherein the gripper joint is used to mount a gripper or tool and the end effector can be replaced through a quick change interface.

Description

Humanoid mechanical arm Technical Field The invention relates to the technical field of mechanical arms, in particular to a humanoid mechanical arm. Background At present, the mechanical arm is widely applied to the fields of industrial manufacture, warehouse logistics, medical assistance, service robots and the like and is used for completing tasks such as grabbing, assembling, carrying and the like. The traditional mechanical arm adopts a fixed base or a limited freedom degree configuration, has limitation in flexibility and environmental adaptability, and is difficult to simulate the multi-joint coordination movement capability of the human arm. In particular, in a complex unstructured environment, the existing mechanical arm often cannot realize accurate, flexible and humanoid operation, and the application effect of the mechanical arm in the scenes of fine operation, man-machine cooperation and the like is limited. Therefore, development of a mechanical arm structure with high humanoid degree and multiple degrees of freedom is needed to better meet the needs of diversified tasks. Disclosure of Invention The invention aims to provide a humanoid mechanical arm which can solve the technical problems. The invention provides a humanoid mechanical arm which comprises a joint, a shoulder blade joint, a shoulder joint, a large arm joint, an upper elbow joint, a lower elbow joint, a wrist joint and a paw joint which are sequentially arranged from a near trunk end to a far trunk end, wherein adjacent joints are connected through joint modules, and the joint modules are planetary joint modules. Preferably, the planetary joint module comprises a module shell, a driving motor arranged in the shell, a planetary gear reducer connected with the output end of the driving motor and an output flange connected with the output end of the planetary gear reducer. The planetary gear reducer comprises a first-stage planetary gear transmission mechanism, wherein the mechanism comprises a sun gear serving as an input, at least two planetary gears meshed with the sun gear, a planetary carrier used for installing the planetary gears and serving as an output end of the reducer, and an inner gear ring meshed with the planetary gears and fixed with a module shell, the planetary carrier is in driving connection with the output flange, a pin shaft lever is fixedly arranged on the planetary carrier, the planetary gears are sleeved on the pin shaft lever and are in rotary connection with the pin shaft lever, and in order to ensure the stability and smoothness of the rotation of the planetary gears, the planetary gear reducer can be in rotary connection with the pin shaft lever by adopting bearing fit. The sun gear is connected with the driving motor through a disc frame, and specifically, the sun gear is arranged on the disc frame, and the disc frame is in transmission connection with the driving motor. The outer side of the joint of the sun gear and the disc frame (namely the root of the sun gear) is fixedly sleeved with a shaft sleeve, and the planet carrier is rotationally connected with the shaft sleeve. The output flange is directly fixedly connected with the output end (namely the planet carrier) of the planetary gear reducer, and generally adopts a mode that a plurality of unthreaded holes are designed on the end face of the planet carrier, and threaded holes (or nuts are matched with the output flange) are designed at the corresponding positions of the output flange. Both are axially locked (not shown) using high strength socket head cap bolts or screws. The output flange transmits the rotary motion after speed reduction and torque increase to the connecting rod of the next mechanical arm connected with the output flange, so that the joint is driven to rotate. Preferably, the planetary joint module further comprises an angle sensor for detecting the rotation angle of the output flange. Preferably, the driving motor is a frameless torque motor, and the planetary joint module adopts a hollow shaft design to form a wire passing channel. Preferably, the articulation joint is for connecting to a robot torso and provides a first degree of rotational freedom about a vertical axis. Preferably, the scapular joint is connected to the articulation joint, providing a degree of freedom of forward and backward swing in the sagittal plane. Preferably, the axes of the upper elbow joint and the lower elbow joint are parallel to each other or at a specific angle (in operation), and together simulate the flexion and extension movements of the human elbow. Preferably, the wrist joint provides two degrees of rotational freedom, enabling pitch and yaw of the wrist, respectively. The yaw motion is realized by a joint module between the wrist joint and the lower elbow joint, and the pitch motion is realized by a joint module between the wrist joint and the paw joint. Preferably, the gripper joint is used to mount a gripper or tool and the end effector c