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CN-224223930-U - Upper limb structure and robot

CN224223930UCN 224223930 UCN224223930 UCN 224223930UCN-224223930-U

Abstract

The utility model provides an upper limb structure and a robot, which relate to the field of robots and comprise: shoulder, big arm, little arm, wrist joint portion, dexterous hand and a plurality of quick detach subassemblies. The shoulder has a shoulder first joint module and a shoulder second joint module. The big arm part is provided with a big arm first joint module and a big arm second joint module. The forearm portion has a first forearm joint module and a second forearm joint module. The wrist joint part is provided with a wrist joint module. The first joint module of shoulder is connected to the trunk portion of robot, shoulder second joint module and the first joint module of big arm, big arm second joint module and the first joint module of forearm, forearm second joint module and wrist joint module, wrist joint module and smart hand are connected the equipment through the quick detach subassembly that corresponds respectively between, adopt the quick detach subassembly to connect the equipment and can greatly simplify the design and the manufacturing of the upper limbs structure that the robot was used, equipment maintenance is very convenient moreover.

Inventors

  • Request for anonymity
  • DONG DIANBIAO
  • WANG JINLONG

Assignees

  • 深圳赛博格机器人有限公司

Dates

Publication Date
20260512
Application Date
20250606

Claims (10)

  1. 1. An upper limb structure (100) for use in a robot, comprising: A shoulder (1) having a shoulder first joint module (11) and a shoulder second joint module (12); a large arm (2) having a large arm first joint module (21) and a large arm second joint module (22); a forearm section (3) having a first forearm joint module (31) and a second forearm joint module (32); A wrist joint part (4) having a wrist joint module (41), and A dexterous hand; wherein, upper limb structure (100) further includes: A first quick release assembly (51) configured to connect the shoulder first joint module (11) to a torso of the robot; A second quick release assembly (52) configured to connect the shoulder second joint module (12) and the forearm first joint module (21); A third quick release assembly (53) configured to connect the big arm second joint module (22) and the small arm first joint module (31); a fourth quick release assembly (54) configured to connect the forearm second joint module (32) and the wrist module (41), and A fifth quick release assembly (55) configured to connect the wrist module (41) and a smart hand.
  2. 2. The upper limb structure (100) of claim 1, wherein the first quick release assembly (51) comprises an annular flange (510), the annular flange (510) having a first screw hole (511) and a second screw hole (512), the annular flange (510) passing through the first screw hole (511) via a first screw to fixedly connect the annular flange (510) with the fixed end of the shoulder first joint module (11), the annular flange (510) passing through the second screw hole (512) via a second screw to fixedly connect the annular flange (510) with the trunk of the robot.
  3. 3. The upper limb structure (100) of claim 1, wherein the second quick release assembly (52) comprises an integrally formed first securing ring (521) and a first connecting plate (522), the first securing ring (521) is configured to be fixedly sleeved on the fixed end of the first large arm joint module (21), and the first connecting plate (522) is configured to be fixedly connected to the output end of the second shoulder joint module (12).
  4. 4. An upper limb structure (100) according to claim 3, wherein the first fixing ring (521) has a fixing hole for passing a screw therethrough to fix the first fixing ring (521) to the fixed end of the large arm first joint module (21), and the first connecting plate (522) has a fixing hole for passing a screw therethrough to fix the first connecting plate (522) to the output end of the shoulder second joint module (12).
  5. 5. The upper limb structure (100) according to claim 1, wherein the third quick release assembly (53) comprises an integrally formed second fixing ring (531) and a second connecting plate (532), the second fixing ring (531) is used for being fixedly sleeved on the fixed end of the first forearm joint module (31), and the second connecting plate (532) is used for being fixedly connected with the output end of the second forearm joint module (22).
  6. 6. The upper limb structure (100) of claim 5, wherein the second fixing ring (531) has a fixing hole for passing a screw therethrough to fix the second fixing ring (531) to the fixed end of the forearm first joint module (31), and the second connection plate (532) has a fixing hole for passing a screw therethrough to fix the second connection plate (532) to the output end of the forearm second joint module (22).
  7. 7. The upper limb structure (100) according to claim 1, wherein the fourth quick-release assembly (54) comprises a third fixing ring (541) and a third connecting plate (542) which are integrally formed, the third fixing ring (541) is used for being fixedly sleeved on the fixed end of the wrist module (41), the third connecting plate (542) is used for being fixedly connected with the output end of the forearm second joint module (32), the fifth quick-release assembly (55) comprises a fourth fixing plate (551) and a fourth connecting plate (552) which are integrally formed and are mutually perpendicular, the fourth fixing plate (551) is used for being fixedly connected with the output end of the wrist module (41), and the fourth connecting plate (552) is used for being fixedly connected with the smart hand.
  8. 8. The upper limb structure (100) of claim 7, wherein in the fourth quick release assembly (54) the third securing ring (541) has a securing hole for passing a screw therethrough to secure the third securing ring (541) to the fixed end of the wrist module (41), the third connecting plate (542) has a securing hole for passing a screw therethrough to secure the third connecting plate (542) to the output end of the forearm second module (32), and in the fifth quick release assembly (55) the fourth securing plate (551) has a securing hole for passing a screw therethrough to secure the fourth securing plate (551) to the output end of the wrist module (41), the fourth connecting plate (552) has a securing hole for passing a screw therethrough to secure the fourth connecting plate (552) to the smart hand.
  9. 9. The upper limb structure (100) according to any of claims 1-8, wherein the boom portion (2) comprises a boom body (23), the boom body (23) comprises a connecting sleeve (231) with a lightening hole (2311) on the side wall, and a boom first connecting flange (232) and a boom connector (233) respectively connected to both ends of the connecting sleeve (231), the boom first connecting flange (232) has a first flange screw hole (2321) for passing a screw to connect and fix the boom first connecting flange (232) and the connecting sleeve (231), and a second flange screw hole (2) for passing a screw to connect and fix the boom first connecting flange (232) and the output end of the boom first joint module (21), the boom connector (233) has an integrally formed boom connector (2331) and a hoop (2332), and the boom connector (2331) has a fixed end (2332) for passing a screw to fix the boom connector (233) to the connecting sleeve (231) and a hoop (22) to fix the boom module (231).
  10. 10. A robot comprising an upper limb structure (100) according to any of claims 1-9.

Description

Upper limb structure and robot Technical Field The utility model relates to the field of robots, in particular to an upper limb structure and a robot. Background At present, the humanoid robot can simulate the appearance and the motion gesture of a human body, and the upper limbs of the humanoid robot are taken as important components of the humanoid robot and need to participate in the taking and grasping operations of the humanoid robot, however, the upper limb structure of the current humanoid robot is complex in design, and is unfavorable for actual installation and subsequent maintenance and disassembly, so that the design period of the humanoid robot is overlong, the manufacturing cost is overlarge, and the popularization of the humanoid robot is unfavorable. Disclosure of utility model The utility model aims to provide an upper limb structure and a robot, and aims to solve the technical problem that the upper limb of the existing robot is inconvenient to install and detach. In a first aspect, embodiments of the present utility model provide an upper limb structure (100) for use with a robot, comprising: A shoulder (1) having a shoulder first joint module (11) and a shoulder second joint module (12); a large arm (2) having a large arm first joint module (21) and a large arm second joint module (22); a forearm section (3) having a first forearm joint module (31) and a second forearm joint module (32); A wrist joint part (4) having a wrist joint module (41), and A dexterous hand; Wherein, upper limb structure (100) still includes: A first quick release assembly (51) configured to connect the shoulder first joint module (11) to a torso of a robot; A second quick release assembly (52) configured to connect the shoulder second joint module (12) and the forearm first joint module (21); A third quick release assembly (53) configured to connect the big arm second joint module (22) and the small arm first joint module (31); A fourth quick release assembly (54) configured to connect the forearm second joint module (32) and the wrist module (41), and A fifth quick release assembly (55) configured to connect the wrist module (41) and the dexterous hand. In some embodiments, the first quick release assembly (51) comprises an annular flange (510), the annular flange (510) is provided with a first screw hole (511) and a second screw hole (512), the annular flange (510) penetrates through the first screw hole (511) through a first screw to fixedly connect the annular flange (510) with the fixed end of the shoulder first joint module (11), and the annular flange (510) penetrates through the second screw hole (512) through a second screw to fixedly connect the annular flange (510) with the trunk of the robot. In some embodiments, the second quick release assembly (52) comprises a first fixing ring (521) and a first connecting plate (522) which are integrally formed, wherein the first fixing ring (521) is used for being sleeved and fixed on the fixed end of the large-arm first joint module (21), and the first connecting plate (522) is used for being connected and fixed on the output end of the shoulder second joint module (12). In some embodiments, the first fixation ring (521) has a fixation hole for passing a screw therethrough to secure the first fixation ring (521) to the fixed end of the large arm first joint module (21), and the first connection plate (522) has a fixation hole for passing a screw therethrough to secure the first connection plate (522) to the output end of the shoulder second joint module (12). In some embodiments, the third quick release assembly (53) comprises a second fixing ring (531) and a second connecting plate (532) which are integrally formed, the second fixing ring (531) is used for being fixedly sleeved on the fixed end of the first forearm joint module (31), and the second connecting plate (532) is used for being fixedly connected with the output end of the second forearm joint module (22). In some embodiments, the second fixing ring (531) has a fixing hole for passing a screw therethrough to fix the second fixing ring (531) to the fixed end of the forearm first articulation module (31), and the second connection plate (532) has a fixing hole for passing a screw therethrough to fix the second connection plate (532) to the output end of the forearm second articulation module (22). In some embodiments, the fourth quick-release assembly (54) comprises a third fixing ring (541) and a third connecting plate (542) which are integrally formed, the third fixing ring (541) is used for being sleeved and fixed on the fixed end of the wrist joint module (41), the third connecting plate (542) is used for being connected and fixed on the output end of the forearm second joint module (32), the fifth quick-release assembly (55) comprises a fourth fixing plate (551) and a fourth connecting plate (552) which are integrally formed and mutually perpendicular, the fourth fixing plate (551) is used for being