CN112045710B

CN112045710B - Arm mechanism and humanoid robot

Info

Publication number: CN112045710B
Application number: CN202011047539.4A
Authority: CN
Inventors: 赵波; 钱阳明; 熊友军
Original assignee: Ubtech Robotics Corp
Current assignee: Ubtech Robotics Corp
Priority date: 2020-09-29
Filing date: 2020-09-29
Publication date: 2022-01-21
Anticipated expiration: 2040-09-29
Also published as: CN112045710A

Abstract

The invention relates to the technical field of robots and provides an arm mechanism and a humanoid robot. The arm mechanism comprises an elbow arm structure, a hand structure and a wrist connection structure, wherein the elbow arm structure is provided with at least one arm end electric connector at one side; the hand structure is provided with at least one hand electric connector on one side facing the elbow arm structure, and each hand electric connector is electrically connected with each arm electric connector; the wrist joint structure is sleeved on the elbow arm structure and can rotate relative to the elbow arm structure, and the wrist joint structure is in threaded connection fit with the hand structure, so that the elbow arm structure and the hand structure are relatively fixed. The arm mechanism quickly and easily realizes connection and fixation between the elbow arm structure and the hand structure, the hand structure is higher in convenience for dismounting from the elbow arm structure, and the hand structure is higher in interchangeability, so that the arm mechanism is diversified and expandable in form and performance, and more use requirements can be met to a greater extent.

Description

Arm mechanism and humanoid robot

Technical Field

The invention belongs to the technical field of robots, and particularly relates to an arm mechanism and a humanoid robot.

Background

The arm mechanism of the humanoid robot generally comprises an elbow arm structure and a hand structure, the elbow arm structure and the hand structure are connected and fixed mostly in a screw connection or rotary buckle mode, and the interchangeability and the dismounting convenience of the hand structure are poor due to the adoption of the screw connection mode, so that the arm mechanism of the humanoid robot lacks diversity in shape and performance, has poor expansibility and cannot meet use requirements; and the connection mode that adopts the gyration buckle can lead to the elbow arm structure and the hand structure between the face rigidity of being connected to be relatively poor inevitable, and overall structure intensity is also relatively poor, causes humanoid robot's arm mechanism can appear obvious shake phenomenon in the operation process, and arm mechanism's position precision will be relatively poor.

Disclosure of Invention

The embodiment of the invention aims to provide an arm mechanism to solve the technical problems that the interchangeability and the dismounting convenience of a hand structure of the existing arm mechanism are poor, and the connecting rigidity and the integral structural strength of an elbow arm structure and the hand structure are poor.

In order to achieve the purpose, the invention adopts the technical scheme that: an arm mechanism comprising:

an elbow arm structure, at least one arm end electric connector is arranged on one side of the elbow arm structure;

the hand structure is provided with at least one hand end electric connector on one side facing the elbow arm structure, and each hand end electric connector is electrically connected with each arm end electric connector respectively;

the wrist joint structure is sleeved on the elbow arm structure and can rotate relative to the elbow arm structure, and the wrist joint structure is in threaded connection and matching with the hand structure so that the elbow arm structure and the hand structure are relatively fixed.

In one embodiment, the hand structure is provided with a hand external thread on the outer circumference side, and the wrist structure is provided with a connecting internal thread on the inner cylindrical surface thereof, and the connecting internal thread is in threaded connection fit with the hand external thread.

In one embodiment, the hand external thread and the connecting internal thread are fine threads.

In one embodiment, the elbow structure comprises an arm body, an arm end stop part and an arm end butt-joint part which are connected in sequence, each arm end electric connector is arranged on one side of the arm end butt-joint part facing the hand structure, the cross-sectional dimension of the arm end butt-joint part is larger than that of the arm body, and the cross-sectional dimension of the arm end stop part is gradually enlarged from the side connected with the arm body to the side connected with the arm end butt-joint part;

the wrist joint structure comprises a stop ring and a screw joint ring which are sequentially connected, the screw joint ring can be in sleeve fit with the butt joint part of the arm end and in threaded connection fit with the hand structure, the inner annular surface of the stop ring can be in butt joint with the outer peripheral surface of the stop part of the arm end, so that the stop ring can be stopped at the stop part of the arm end.

In one embodiment, the arm end stop is circular in cross-sectional shape.

In one embodiment, the stop ring is subjected to a pulling force F along an axial direction and directed to the arm end stop, a component of the pulling force F in a direction perpendicular to an inner annular surface of the stop ring is a normal pressure Fx, an included angle α formed between the pulling force F and the normal pressure Fx is smaller than a friction angle between the arm end stop and the stop ring, and a calculation formula of the included angle α is as follows:

α≤arctan(f)

wherein f is a static friction coefficient between the arm end stop and the stop ring.

In one embodiment, the arm body includes elbow section, changeover portion and the wrist section that connects gradually, the wrist section still with arm end backstop portion is connected, the cross sectional dimension of wrist section is greater than the cross sectional dimension of elbow section, the cross sectional dimension of changeover portion from its one side of being connected with the wrist section to its one side of being connected with the elbow section convergent setting.

In one embodiment, one of the elbow arm structure and the hand structure is convexly provided with at least two aligning protrusions which are arranged in a staggered manner, the other one of the elbow arm structure and the hand structure is concavely provided with at least two aligning grooves which are used for aligning and matching with the aligning protrusions, and the aligning protrusions are also arranged in a staggered manner with the arm end electric connector or the hand end electric connector.

In one embodiment, the alignment protrusions are disposed on two opposite sides of the arm-end electrical connector, or the alignment protrusions are disposed on two opposite sides of the hand-end electrical connector.

In one embodiment, one of the elbow arm structure and the hand structure is convexly provided with a docking boss, the other one of the elbow arm structure and the hand structure is concavely provided with a docking groove for docking and matching with the docking boss, and each of the arm-end electrical connector, each of the hand-end electrical connector, each of the docking protrusions and each of the docking grooves are arranged in a range enclosed by the docking boss and the docking groove.

In one embodiment, each of the arm end electrical connectors is in a line, and the line of each of the arm end electrical connectors passes through a centerline of the elbow arm structure.

The embodiment of the invention also aims to provide the humanoid robot which comprises the arm mechanism.

The invention has the following beneficial effects:

the arm mechanism provided by the embodiment of the invention firstly electrically connects and matches each hand end electric connector of the hand structure with each arm end electric connector of the elbow arm structure one by one, and then the wrist joint structure sleeved on the elbow arm structure is in threaded connection and matching with the hand structure, so that the elbow arm structure and the hand structure are mutually fixed on the basis of ensuring the electric connection relationship of the elbow arm structure and the hand structure, therefore, the arm mechanism provided by the embodiment of the invention quickly and easily realizes the connection and fixation between the elbow arm structure and the hand structure, has simple and compact structure, stronger connection rigidity between the elbow arm structure and the hand structure, stronger structural strength of the whole arm mechanism, contribution to ensuring that the arm mechanism can stably and reliably run, contribution to ensuring and improving the positioning precision of the arm mechanism, and higher convenience for dismounting the hand structure from the elbow arm structure, the hand structure has higher interchangeability, so that the arm mechanism has diversity and expansibility in form and performance, and can meet more use requirements to a greater extent.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic perspective view of an arm mechanism according to an embodiment of the present invention;

FIG. 2 is a cross-sectional view A-A of the arm mechanism provided in FIG. 1;

FIG. 3 is an enlarged view of area B provided in FIG. 2;

FIG. 4 is a first schematic diagram of an exploded structure of the arm mechanism of FIG. 1;

fig. 5 is a schematic diagram of an exploded structure of the arm mechanism shown in fig. 1.

Wherein, in the figures, the respective reference numerals:

100-elbow-arm structure, 110-arm-end electric connector, 120-arm body, 121-elbow section, 122-transition section, 123-wrist section, 130-arm-end stopping part, 140-arm-end abutting part, 101-alignment groove and 102-abutting groove; 200-hand structure, 210-hand electric connector, 220-hand external thread, 230-alignment bulge and 240-alignment boss; 300-wrist joint structure, 310-connecting internal thread, 320-stop ring and 330-screw joint ring.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The following describes a specific implementation of the present invention in more detail with reference to specific embodiments:

referring to fig. 1, 4 and 5, an embodiment of the present invention provides an arm mechanism, which includes an elbow structure 100, a hand structure 200 and a wrist structure 300, wherein the elbow structure 100 has at least one arm end electrical connector 110 on a side facing the hand structure 200, the hand structure 200 has at least one hand end electrical connector 210 on a side facing the elbow structure 100, and each of the hand end electrical connectors 210 is electrically connected to each of the arm end electrical connectors 110 one by one. The wrist structure 300 is disposed in a cylindrical shape, and the wrist structure 300 is sleeved on the elbow arm structure 100 and can rotate relative to the elbow arm structure 100. On the basis that the respective arm-end electrical connectors 210 are electrically connected and matched with the respective arm-end electrical connectors 110 one by one, the wrist structure 300 is screwed and matched with the hand structure 200, so that the elbow structure 100 and the hand structure 200 are relatively fixed.

It should be noted that, a corresponding arm end driver for driving the elbow arm structure 100 is disposed in the elbow arm structure 100, the arm end driver is electrically connected to each arm end electrical connector 110, and similarly, a corresponding hand end driver for driving the hand structure 200 is disposed in the hand structure 200, and the hand end driver is electrically connected to each hand end electrical connector 210, so that when each hand end electrical connector 210 is electrically connected to each arm end electrical connector 110, the arm end driver in the elbow arm structure 100 and the hand end driver in the hand structure 200 can establish electrical connection and signal transmission, that is, the elbow arm structure 100 and the hand structure 200 can realize electrical connection and signal transmission, which is beneficial for the arm mechanism to realize operation. Alternatively, one of the electrical hand end connector 210 and the electrical arm end connector 110 may be, but not limited to, a metal pogo pin, and the other one may be, but not limited to, a groove with a metal surface, and the electrical hand end connector 210 and the electrical arm end connector 110 can establish a stable and reliable electrical connection through elastic interference, so that the operation is convenient, and the rapid, easy and precise establishment or release of the electrical connection between the hand structure 200 and the elbow structure 100 is facilitated.

Alternatively, the structure of the elbow structure 100 and the hand structure 200 may be designed such that the side of the hand structure 200 facing the elbow structure 100 and the side of the elbow structure 100 facing the hand structure 200 have an abutting relationship upon completion of the arm mechanism assembly, and as such, based on the abutting relationship, the distance between the side of the hand structure 200 facing the elbow structure 100 and the side of the elbow structure 100 facing the hand structure 200 may be made 0, which, on the one hand, the risk of shaking and jittering of the hand-end electrical connector 210 during the operation of the arm mechanism can be effectively avoided, thereby ensuring the service performance and service life of the hand-end electrical connector 210, and on one hand, stabilizing the electrical connection relationship between the hand-end electrical connector 210 and the arm-end electrical connector 110, the stability and reliability of the electrical connection relationship between the hand-end electrical connector 210 and the arm-end electrical connector 110 can be further ensured and improved; on one hand, the state of the hand structure 200 and the elbow structure 100 in the operation process can be stabilized, the shaking amplitude can be reduced, and the operation stability of the arm mechanism can be improved by the mutual abutting acting force between the side surface of the hand structure 200 facing the elbow structure 100 and the side surface of the elbow structure 100 facing the hand structure 200.

It should be noted that, when the wrist structure 300, which is disposed in a cylindrical shape, is in a fitting relationship with the elbow arm structure 100, and particularly, in a fitting relationship with an end of the elbow arm structure 100 close to the hand structure 200, the wrist structure 300 can rotate around the elbow arm structure 100, and the wrist structure 300 is restricted from being disengaged from the end of the elbow arm structure 100 close to the hand structure 200 and the elbow arm structure 100. On the basis that the respective hand-end electrical connectors 210 are electrically connected and matched with the respective arm-end electrical connectors 110 one by one, an operator can move the wrist-connecting structure 300 along the elbow-arm structure 100 to the hand-connecting structure 200, rotate the wrist-connecting structure 300, so that the wrist-connecting structure 300 is screwed with the hand structure 200 until the wrist-connecting structure 300 cannot be screwed continuously, and at this time, the positional relationship among the elbow arm structure 100, the hand structure 200 and the wrist structure 300 is relatively fixed, thereby realizing the connection and fixation of the elbow arm structure 100 and the hand structure 200, ensuring that the elbow arm structure 100 and the hand structure 200 have certain connection rigidity, ensuring and improving the integral structural strength of the arm mechanism, the risk that the arm mechanism shakes in the operation process can be effectively reduced, and the device such as a humanoid robot adopting the arm mechanism can realize accurate positioning of the arm mechanism, so that the use performance of the arm mechanism can be further ensured and improved.

To sum up, in the arm mechanism provided in the embodiment of the present invention, the hand end electrical connectors 210 of the hand structure 200 are electrically connected to the arm end electrical connectors 110 of the elbow arm structure 100 one by one, and then the wrist connection structure 300 sleeved on the elbow arm structure 100 is screwed to the hand structure 200, so as to fix the elbow arm structure 100 and the hand structure 200 to each other while ensuring the electrical connection relationship between the elbow arm structure 100 and the hand structure 200, and based on this, the arm mechanism provided in the embodiment of the present invention quickly and easily realizes the connection and fixation between the elbow arm structure 100 and the hand structure 200, has a simple and compact structure, has a strong connection rigidity between the elbow arm structure 100 and the hand structure 200, and also can make the arm mechanism have a strong structural strength as a whole, thereby facilitating the guarantee of the stable and reliable operation of the arm mechanism, and facilitating the guarantee and improvement of the positioning accuracy of the arm mechanism, moreover, the hand structure 200 is also convenient to mount and dismount from the elbow arm structure 100, that is, the hand structure 200 has high interchangeability, so that the arm mechanism has diversity and expansibility in form and performance, and can meet more use requirements to a greater extent.

Referring to fig. 2, 3 and 4, in the present embodiment, the hand structure 200 is provided with the hand external thread 220 on the outer circumference side thereof, the wrist structure 300 is provided with the connection internal thread 310 on the inner cylindrical surface thereof, and the connection internal thread 310 is in threaded connection with the hand external thread 220.

By adopting the above scheme, an operator can rotate the wrist joint structure 300 through holding the outer cylindrical surface of the wrist joint structure 300, so that the wrist joint structure 300 is in threaded connection and matching with the hand external thread 220 through connecting the internal thread 310, the hand joint structure 300 and the hand structure 200 are in threaded connection and matching, the operation is simple and convenient, the processing difficulty is low, the processing precision controllability is high, the convenience of dismounting and mounting the hand structure 200 from the elbow arm structure 100 can be further improved to a certain extent, the rapid dismounting is convenient, and the interchangeability of the hand structure 200 is further improved.

In an expanded form, in the embodiment, the hand connecting ring is disposed at an interval on the outer circumference of the hand structure 200, the hand internal thread is disposed on the inner annular surface of the hand connecting ring, the wrist connecting structure 300 is disposed with the connecting external thread on the outer cylindrical surface thereof, the wrist connecting structure 300 is inserted into the ring of the hand connecting ring, and the connecting external thread is in threaded connection with the hand internal thread. In this extended embodiment, the wrist-connecting structure 300 extends into the ring of the hand connecting ring, and the external connecting thread and the internal hand thread are in threaded connection and fit with each other, so that the wrist-connecting structure 300 and the hand structure 200 are in threaded connection and fit with each other, and the wrist-connecting structure 300 in this embodiment can also achieve corresponding connection utility, and therefore, an arm mechanism can also be obtained by using the structure of this embodiment, which is not limited in this embodiment. However, compared with the previous embodiment, the inner cylindrical surface of the wrist structure 300 has a risk of rubbing against the hand structure 200, and the processing difficulty is relatively large, and the processing precision is relatively difficult to control, so the previous embodiment is the preferred scheme.

Referring to fig. 2, 3 and 4, in the present embodiment, the hand external thread 220 and the connection internal thread 310 are fine threads. By adopting the above scheme, after the hand external thread 220 is in threaded connection and matching with the connecting internal thread 310, the hand external thread 220 and the connecting internal thread 310 have reverse self-locking function, that is, the connecting internal thread 310 can be effectively prevented from rotating towards the direction of releasing the threaded connection and matching relationship with the hand external thread 220 on the basis of no enough external force action (for example, in vibration), that is, the phenomenon that the wrist joint structure 300 loosens relative to the hand structure 200 (in vibration) can be prevented, so that the connection stability and reliability between the wrist joint structure 300 and the hand structure 200 can be ensured and improved, the connection stability and reliability between the elbow arm structure 100 and the hand structure 200 can be ensured and improved, the strength and rigidity of the connection part between the wrist joint structure 300 and the hand structure 200 can be prevented from being instantly reduced due to the loosening of the connection, and the operation stability and reliability of the arm mechanism can be further ensured, and the positioning precision of the arm mechanism is further ensured and improved.

Referring to fig. 2, 4 and 5, in the present embodiment, the elbow structure 100 includes an arm body 120, an arm end stop portion 130 and an arm end abutting portion 140, which are connected in sequence, each arm end electrical connector 110 is disposed on one side of the arm end abutting portion 140 facing the hand structure 200, a cross-sectional dimension of the arm end abutting portion 140 is greater than a cross-sectional dimension of the arm body 120, and a cross-sectional dimension of the arm end stop portion 130 is gradually enlarged from a side thereof connected with the arm body 120 to a side thereof connected with the arm end abutting portion 140; the wrist connection structure 300 includes a stop ring 320 and a screw connection ring 330 connected in sequence, the screw connection ring 330 can be in sleeve fit with the arm end abutting portion 140 and in screw connection fit with the hand structure 200, and the inner annular surface of the stop ring 320 can be abutted against the outer peripheral surface of the arm end stop portion 130, so that the stop ring 320 is stopped at the arm end stop portion 130.

It should be noted that, based on the above-mentioned structural arrangement, the wrist connecting structure 300 in sleeve fit with the elbow arm structure 100 can slide along the arm body 120 as a whole, so that when the hand electrical connector 210 of the hand structure 200 is electrically connected and mated with the arm electrical connector 110 disposed at the arm end butt joint portion 140 of the elbow arm structure 100, the wrist connecting structure 300 can avoid and expose one end of the elbow arm structure 100 facing the hand structure 200, i.e. avoid and expose the arm end butt joint portion 140, thereby facilitating the hand structure 200 to establish an electrical connection relationship with the elbow arm structure 100 quickly and accurately, and further improving the loading convenience and the loading efficiency of the hand structure 200 and the elbow arm structure 100.

It should also be noted that, based on the above-mentioned arrangement, the arm end interface 140 will always be located in the ring of the wrist structure 300 during the process of screwing the screw-coupling ring 330 of the wrist structure 300 and the hand structure 200. When the screw ring 330 of the wrist structure 300 is completely screwed with the hand structure 200, the inner annular surface of the stop ring 320 abuts against the outer peripheral surface of the arm end stop 130, and cannot go over the arm end stop 130 to release the sleeve connection with the elbow structure 100 from the arm end abutting part 140 side. Therefore, based on the abutting relationship between the inner annular surface of the stop ring 320 and the outer circumferential surface of the arm end stop portion 130, on one hand, the stop ring 320 can be limited by the arm end stop portion 130 to move continuously to one side of the hand structure 200, i.e., the stop ring 320 is stopped at the arm end stop portion 130, so that the stability and reliability of the connection relationship between the wrist structure 300 and the elbow-arm structure 100 can be guaranteed, and the position relationship among the elbow-arm structure 100, the hand structure 200 and the wrist structure 300 can be guaranteed; on the other hand, the pressing force of the stop ring 320 on the arm end stop portion 130, in combination with the threaded connection relationship between the screw ring 330 and the hand structure 200, can cause the arm end abutting portion 140 to be in close contact with the hand structure 200, that is, the hand electrical connector 210 of the hand structure 200 is caused to be in close contact with the arm end electrical connector 110 of the arm end abutting portion 140 disposed on the elbow arm structure 100, so that the stability and reliability of the electrical connection relationship between the hand electrical connector 210 and the arm end electrical connector 110 can be further ensured and improved.

Referring to fig. 3, 4 and 5, in the present embodiment, the cross-sectional shape of the arm end stop portion 130 is circular. By adopting the above scheme, the inner annular surface of the stop ring 320 and the outer peripheral surface of the arm end stop portion 130 are both smooth curved surfaces, so on one hand, the contact friction force between the inner annular surface of the stop ring 320 and the outer peripheral surface of the arm end stop portion 130 can be equalized, the degree of wear between the stop ring 320 and the arm end stop portion 130 can be reduced, particularly, the scratch damage caused by the existence of the edge angle can be avoided, and the service performance and the service life of the wrist-jointed structure 300 and the elbow-arm structure 100 can be ensured and prolonged; on the other hand, the mutual pressing force between the inner annular surface of the stop ring 320 and the outer circumferential surface of the arm end stop portion 130 can be equalized, so that the stability and reliability of the connection relationship between the wrist joint structure 300 and the elbow arm structure 100 can be further ensured, and the arm end butt-joint part 140 can be further urged into close contact with the hand structure 200, so as to further ensure and improve the stability and reliability of the electrical connection relationship between the hand end electrical connector 210 and the arm end electrical connector 110.

Referring to fig. 2 and 3, in the present embodiment, the screw ring 330 enables the stop ring 320 to receive a pulling force F along the axial direction and pointing to the arm end stop portion 130, a component of the pulling force F in a direction perpendicular to the inner annular surface of the stop ring 320 is a normal pressure Fx, an included angle α formed between the pulling force F and the normal pressure Fx is smaller than a friction angle between the arm end stop portion 130 and the stop ring 320, and a calculation formula of the included angle α is:

α≤arctan(f)

where f is the static coefficient of friction between the arm end stop 130 and the stop ring 320.

It should be noted that, because the screw ring 330 of the wrist structure 300 is coupled with the screw thread of the hand structure 200, the screw ring 330 can make the stop ring 320 have a pulling force F parallel to the central line thereof and directed to the arm end stop 130 side, the pulling force F can be decomposed into a normal pressure Fx perpendicular to the inner annular surface of the stop ring 320 and an inclined plane pulling force Fy parallel to the inner annular surface of the stop ring 320, and based on the included angle α formed between the pulling force F and the normal pressure Fx, it can be obtained:

Fx＝F·cosα；Fy＝F·sinα

it should also be noted here that by selecting the material of the arm end stop 130 and the material of the stop ring 320, the static friction coefficient (also called static friction factor) between the arm end stop 130 and the stop ring 320 can be obtained, and based on this static friction coefficient, the contact friction angle β between the arm end stop 130 and the stop ring 320, i.e., arctan (f), can be determined. Based on this, the present embodiment sets the included angle α smaller than the friction angle β between the arm end stop 130 and the stop ring 320, and thus the included angle α is set such that:

F·sinα≤f·F·cosα

i.e., Fy is less than or equal to f.fx

So, can be when the outer peripheral face of the inner ring face of backstop ring 320 and arm end backstop portion 130 butt each other, form the effect of auto-lock between the outer peripheral face of the inner ring face of backstop ring 320 and arm end backstop portion 130, in order to make the inner ring face of backstop ring 320 and the outer peripheral face of arm end backstop portion 130 keep mutual butt all the time through relatively great normal pressure Fx, and can not produce relative slip because of the vibrations of arm mechanism, thereby can further ensure the operation stationarity and the reliability of arm mechanism, and do benefit to further guarantee and improve arm mechanism's positioning accuracy. In addition, it can also effectively eliminate the negative effect caused by the fitting error that is difficult to avoid because of the processing of the inner ring surface of the stop ring 320 and the outer peripheral surface of the arm end stop portion 130, and especially can effectively avoid the inner ring surface of the stop ring 320 from slightly twisting relative to the outer peripheral surface of the arm end stop portion 130 (i.e. avoid the inner ring surface of the stop ring 320 from moving towards the screw ring 330 side relative to the outer peripheral surface of the arm end stop portion 130) when the inclined plane pulling force Fy generated by the mutual extrusion between the inner ring surface of the stop ring 320 and the outer peripheral surface of the arm end stop portion 130 is uneven, so that the phenomenon of "one side high and one side low" can be effectively avoided from occurring on the inner ring surface of the stop ring 320.

Referring to fig. 2, 4 and 5, in the present embodiment, the arm body 120 includes an elbow section 121, a transition section 122 and a wrist section 123 connected in sequence, the wrist section 123 is further connected to the arm end stop 130, the cross-sectional dimension of the wrist section 123 is larger than that of the elbow section 121, and the cross-sectional dimension of the transition section 122 is tapered from the side connected to the wrist section 123 to the side connected to the elbow section 121.

Here, it should be noted that the elbow segment 121, the transition segment 122, the wrist segment 123 and the arm end stopper 130 are connected in sequence, and the radial sectional dimension tends to gradually increase. Through the arrangement of the embodiment, on one hand, the supporting effect of the arm body 120 on the arm end stopping portion 130 and the arm end abutting portion 140 can be gradually increased, so as to improve the usability of the elbow structure 100; on one hand, the wrist joint structure 300 can slide along the elbow section 121, the transition section 122 and the wrist section 123 freely, so that when the hand-end electrical connector 210 is electrically connected and matched with the arm-end electrical connector 110, the wrist joint structure 300 can avoid and expose one end of the elbow-arm structure 100 facing the hand structure 200, the hand structure 200 can be electrically connected with the elbow-arm structure 100 quickly and accurately, and the loading convenience and the loading efficiency of the hand structure 200 and the elbow-arm structure 100 can be further improved; on the one hand, the wrist structure 300 can be guided by the transition section 122 to smoothly slide from the elbow section 121 to the wrist section 123 and the arm end stop 130, thereby facilitating further improvement of the operational convenience of the threaded connection fitting between the wrist structure 300 and the hand structure 200.

Referring to fig. 4 and 5, in the present embodiment, at least two alignment protrusions 230 are protruded from one of the elbow structure 100 and the hand structure 200, and at least two alignment slots 101 for aligning and matching with the alignment protrusions 230 are recessed from the other, and the alignment protrusions 230 are further disposed in a staggered manner from the arm-end electrical connector 110 or the hand-end electrical connector 210.

It should be noted that when the alignment protrusions 230 are disposed on the side of the elbow structure 100 facing the hand structure 200, the alignment grooves 101 are disposed on the side of the hand structure 200 facing the elbow structure 100, whereas when the alignment grooves 101 are disposed on the side of the elbow structure 100 facing the hand structure 200, the alignment protrusions 230 are disposed on the side of the hand structure 200 facing the elbow structure 100.

In the present embodiment, through the one-to-one alignment matching between each alignment protrusion 230 and each alignment groove 101, which are disposed in a staggered manner with the arm end electrical connector 110 or the hand end electrical connector 210, the elbow arm structure 100 and the hand structure 200 are precisely aligned, and particularly, the elbow arm structure 100 and the hand structure 200 are circumferentially and radially positioned, based on which, on one hand, the hand end electrical connectors 210 and the arm end electrical connectors 110 can be rapidly and precisely butted by the positioning, so as to rapidly and precisely establish an electrical connection relationship; on the other hand, the elbow structure 100 and the hand structure 200 can be effectively prevented from deflecting, so that the risk of breakage of each of the hand electrical connectors 210 and/or each of the arm electrical connectors 110 can be effectively reduced, and the service performance and the service life of each of the hand electrical connectors 210 and each of the arm electrical connectors 110 can be further ensured.

Referring to fig. 4 and 5, in the present embodiment, each alignment protrusion 230 is disposed on two opposite sides of each arm-end electrical connector 110, or each alignment protrusion 230 is disposed on two opposite sides of each hand-end electrical connector 210.

By adopting the above scheme, the position layout of each alignment protrusion 230 and each corresponding alignment groove 101 is further optimized, so that, based on the alignment fit relationship between each alignment protrusion 230 and each alignment groove 101, each hand-end electrical connector 210 and each arm-end electrical connector 110 located therebetween can be further prompted to be quickly and accurately butted, thereby further highlighting the alignment fit between each alignment protrusion 230 and each alignment groove 101, and the guiding effect of each hand-end electrical connector 210 and each arm-end electrical connector 110.

Referring to fig. 3, 4 and 5, in the present embodiment, one of the elbow arm structure 100 and the hand structure 200 is convexly provided with a docking boss 240, and the other one is concavely provided with a docking groove 102 for docking and matching with the docking boss 240, and each of the arm-end electrical connectors 110, each of the hand-end electrical connectors 210, each of the docking protrusions 230 and each of the docking grooves 101 are all disposed within a range enclosed by the docking boss 240 and the docking groove 102.

It should be noted that, when the side of the elbow structure 100 facing the hand structure 200 is convexly provided with the docking boss 240, the side of the hand structure 200 facing the elbow structure 100 is concavely provided with the docking groove 102; conversely, as shown in fig. 2, when the side of the elbow structure 100 facing the hand structure 200 is concavely provided with the docking groove 102, the side of the hand structure 200 facing the elbow structure 100 is convexly provided with the docking boss 240. And each arm end electrical connector 110, each hand end electrical connector 210, each alignment protrusion 230 and each alignment groove 101 are all located within the area where the docking protrusion 240 and the docking groove 102 are docked and enclosed.

By adopting the above scheme, on one hand, the alignment precision of the elbow arm structure 100 and the hand structure 200 can be further improved through the butt-joint matching of the butt-joint boss 240 and the butt-joint groove 102, and the center alignment of the elbow arm structure 100 and the hand structure 200 can be promoted to a certain extent, so that the alignment of the alignment protrusions 230 and the alignment grooves 101, the hand-end electric connectors 210 and the arm-end electric connectors 110 can be guided to be respectively and rapidly and accurately realized, and the disassembly and assembly convenience of the elbow arm structure 100 and the hand structure 200 can be further improved; on one hand, the matching stability between the elbow arm structure 100 and the hand structure 200 can be further improved, and the mutual offset of the elbow arm structure 100 and the hand structure 200 can be further limited, so that the state stability of the elbow arm structure 100 and the hand structure 200 in the operation process of the arm mechanism and the process of establishing or releasing the threaded connection between the wrist joint structure 300 and the hand structure 200 is favorably ensured and improved, and the convenience in assembling and disassembling the elbow arm structure 100 and the hand structure 200 is favorably further improved; on one hand, the aligning pressure to be borne by the aligning protrusion 230 and the aligning groove 101 can be correspondingly relieved, so that the usability and the service life of the elbow arm structure 100 and the hand structure 200 can be further ensured and improved.

Referring to fig. 4, in the present embodiment, each of the arm-end electrical connectors 110 is located on a straight line, and a connection line L1 of each of the arm-end electrical connectors 110 passes through a center line L2 of the elbow structure 100.

By adopting the above scheme, the arm end electric connectors 110 can be arranged at intervals along a straight line and are relatively arranged in the middle area of the side surface of the elbow arm structure 100 facing the hand structure 200, so the layout of the arm end electric connectors 110 is further optimized, the alignment precision of the arm end electric connectors 110 and the hand end electric connectors 210 is further ensured, and the alignment difficulty of the arm end electric connectors 110 and the hand end electric connectors 210 is further reduced, thereby the convenience and the precision of the electric connection relationship between the elbow arm structure 100 and the hand structure 200 can be further improved.

For example, if the cross-sectional shape of the arm end interface portion 140 of the elbow arm structure 100 is circular, the connection line of each arm end electrical connector 110 coincides with one of the diameters of the side surfaces of the arm end interface portion 140 facing the hand structure 200.

Referring to fig. 1, an embodiment of the present invention further provides a humanoid robot, which includes an arm mechanism. By adopting the arm mechanism, the humanoid robot provided by the embodiment of the invention can realize quick assembly, disassembly and replacement of the hand structure 200 through small-scale adjustment on the original robot structure so as to meet the use requirements and functional requirements of the humanoid robot, greatly improve the experience of users, is simple and convenient to operate, does not cause great influence on the quality of the whole robot, and has better use performance, lower use cost and strong practicability.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. An arm mechanism, comprising:

the wrist joint structure is sleeved on the elbow arm structure, can rotate relative to the elbow arm structure and is limited to be released from a sleeving relation between one end, close to the hand structure, of the elbow arm structure and the elbow arm structure, and the wrist joint structure is in threaded connection and matching with the hand structure, so that the elbow arm structure and the hand structure are relatively fixed;

the elbow-arm structure comprises an arm body, an arm end stopping part and an arm end butting part which are sequentially connected, each arm end electric connector is arranged on one side, facing the hand structure, of the arm end butting part, the cross section size of the arm end butting part is larger than that of the arm body, and the cross section size of the arm end stopping part is gradually enlarged from one side, connected with the arm body, of the arm end butting part to one side, connected with the arm end butting part, of the arm end butting part; the wrist joint structure comprises a stop ring and a screw joint ring which are sequentially connected, the screw joint ring can be in sleeve fit with the butt joint part of the arm end and in threaded connection fit with the hand structure, the inner annular surface of the stop ring can be in butt joint with the outer peripheral surface of the stop part of the arm end, so that the stop ring can be stopped at the stop part of the arm end.

2. The arm mechanism as claimed in claim 1, wherein said hand structure has a hand male screw on an outer peripheral side thereof, and said wrist structure has a connecting female screw on an inner cylindrical surface thereof, said connecting female screw being screw-engaged with said hand male screw.

3. The arm mechanism according to claim 1, wherein the screw ring subjects the stop ring to a pulling force F in an axial direction and directed toward the arm end stop, a component of the pulling force F in a direction perpendicular to an inner ring surface of the stop ring is a normal pressure Fx, an included angle α formed between the pulling force F and the normal pressure Fx is smaller than a friction angle between the arm end stop and the stop ring, and the included angle α is calculated by:

α≤arctan(f)

4. An arm mechanism according to claim 1, wherein said arm body includes an elbow section, a transition section and a wrist section which are connected in sequence, said wrist section is further connected to said arm end stop, a cross-sectional dimension of said wrist section is larger than a cross-sectional dimension of said elbow section, and a cross-sectional dimension of said transition section is tapered from a side thereof connected to said wrist section to a side thereof connected to said elbow section.

5. An arm mechanism according to claim 1, wherein at least two alignment protrusions are protruded from one of said elbow structure and said hand structure, and at least two alignment grooves are recessed for alignment engagement with said alignment protrusions, and said alignment protrusions are further disposed in a staggered manner from said arm-end electrical connector or said hand-end electrical connector.

6. An arm mechanism according to claim 5, wherein each of said alignment protrusions is disposed on opposite sides of each of said arm end electrical connectors, or each of said alignment protrusions is disposed on opposite sides of each of said hand end electrical connectors.

7. An arm mechanism according to claim 5, wherein one of said elbow structure and said hand structure is provided with a protruding abutment projection and the other is provided with a recessed abutment recess for abutting engagement with said abutment projection, and wherein each of said arm-end electrical connector, each of said hand-end electrical connector, each of said alignment projection and each of said alignment recess are provided within a range defined by said protruding abutment projection and said recessed abutment recess.

8. An arm mechanism according to claim 1, wherein each of said arm end electrical connectors is in a line, and wherein the line of each of said arm end electrical connectors passes through a centerline of said elbow structure.

9. An anthropomorphic robot comprising an arm mechanism according to any one of claims 1 to 8.