WO2018121711A1 - 机器人及其机器人肩臂转动结构 - Google Patents

机器人及其机器人肩臂转动结构 Download PDF

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Publication number
WO2018121711A1
WO2018121711A1 PCT/CN2017/119689 CN2017119689W WO2018121711A1 WO 2018121711 A1 WO2018121711 A1 WO 2018121711A1 CN 2017119689 W CN2017119689 W CN 2017119689W WO 2018121711 A1 WO2018121711 A1 WO 2018121711A1
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WO
WIPO (PCT)
Prior art keywords
shoulder
arm
robot
ball
rotating
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Application number
PCT/CN2017/119689
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English (en)
French (fr)
Inventor
熊友军
舒文泉
赵琦
Original Assignee
深圳市优必选科技有限公司
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Application filed by 深圳市优必选科技有限公司 filed Critical 深圳市优必选科技有限公司
Publication of WO2018121711A1 publication Critical patent/WO2018121711A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases

Definitions

  • the invention relates to the technical field of robots, in particular to a robot and a robot arm shoulder arm rotating structure.
  • the traditional intelligent robot mainly includes the head and the torso.
  • the arms are provided on both sides of the trunk.
  • the traditional arm and the trunk are pivoted, the connection reliability is poor, and the pivotal joint is easily broken.
  • the technical problem to be solved by the present invention is to provide a robot and its robot shoulder arm rotation structure, which aims to solve the defect that the connection reliability between the arm and the trunk is poor in the prior art.
  • the invention provides a robot shoulder arm rotating structure for connecting a shoulder and an arm, the shoulder comprising a first end having a spherical structure and a second end opposite to the first end; the arm having the A spherically fitted ball socket having a rotating disk for coupling with the ball socket and a power member for rotating the rotating disk about the axis of the rotating disk.
  • a fixing bracket for fixing the power component is disposed in the spherical structure, and the power component is a steering gear having an output shaft, and the rotating disk is disposed on the output shaft.
  • the ball socket is composed of a first ball socket member and a second ball socket member, each of the first and second ball socket members having an arc-shaped mating surface adapted to an outer surface of the spherical structure
  • the rotating disk is fixedly coupled to the first ball and socket member.
  • the power member has a first side to which the rotating disk is mounted and a second side opposite to the first side;
  • the robot shoulder arm rotating structure further includes a second rotatably mounted a hollow body on the side, the body being coaxial with the rotating disk.
  • a first circular recess corresponding to the rotating disk is disposed at a center of an outer side of the first ball and socket member, and a first end cover for closing the first circular recess is connected to the first ball and socket member
  • a second circular recess corresponding to the rotating body is disposed at a center of the outer side of the second ball and socket member, and a second end cover for closing the second circular recess is connected to the second ball and socket member.
  • the rotating body is provided with a wire gap for facilitating the passage of the power cable.
  • the arm includes an upper arm portion connected to the socket, the upper arm portion includes a first cover body and a second cover body connected to each other, and the first cover body is integrally formed with the first ball socket member, The second cover body is integrally formed with the second ball socket member; the first cover body and the second cover body are fixedly connected by a fastener.
  • the upper arm portion further includes a decorative member that is respectively engaged with the outer sides of the first cover body and the second cover body.
  • the robot shoulder arm rotation structure includes an adapter and a driving source having a rotating shaft;
  • the adapter includes a disk-shaped mounting disk portion for connecting the shoulder, and the rotating shaft a connected driving portion and a holding portion connected between the mounting plate portion and the driving portion; an axis of the rotating shaft is perpendicular to an axis of the rotating disk.
  • the invention provides a robot comprising a shoulder and an arm, wherein the shoulder and the arm are provided with the above-mentioned robot shoulder arm rotating structure.
  • the invention provides a robot shoulder arm rotation structure, the shoulder adopts a spherical structure, and the arm has a ball socket seat matched with the spherical structure, so that the reliability of the connection between the arm and the shoulder can be improved, and the arm shoulder is realized.
  • the robot provided by the present invention adopts the above-mentioned robot shoulder arm rotation structure on the shoulder and the arm, and the arm has high operational flexibility and can swing to a relatively large swing angle with respect to the shoulder.
  • FIG. 1 is a perspective view of a robot head according to an embodiment of the present invention.
  • FIG. 2 is an exploded perspective view of a robot head according to an embodiment of the present invention.
  • FIG. 3 is a perspective view of a fixing frame provided by an embodiment of the present invention.
  • FIG. 4 is an exploded perspective view of a fixing frame, a connecting assembly, and a transmission mechanism according to an embodiment of the present invention
  • Figure 5 is an enlarged view of a portion A of Figure 4.
  • FIG. 6 is a side view of a robot head according to an embodiment of the present invention.
  • Figure 7 is a cross-sectional view of the I-I surface of Figure 6;
  • Figure 8 is an enlarged view of a portion B of Figure 7;
  • FIG. 9 is an exploded perspective view of a robot head, a shoulder, and an arm according to an embodiment of the present invention.
  • FIG. 10 is a cross-sectional view of a robot head, a shoulder, and an arm according to an embodiment of the present invention
  • Figure 11 is an enlarged view of a portion C of Figure 10;
  • FIG. 12 is a cross-sectional view of a shoulder and an arm according to an embodiment of the present invention.
  • Figure 13 is a perspective view of a shoulder and an arm according to an embodiment of the present invention.
  • Figure 14 is a schematic exploded view of the shoulder and the arm provided by the embodiment of the present invention.
  • Figure 15 is an enlarged view of the portion D of Figure 14
  • 16 is a schematic exploded view of a shoulder and an arm according to an embodiment of the present invention.
  • Figure 17 is an enlarged view of a portion E of Figure 16.
  • first connection component 3b second connection component
  • chassis portion 313 mounting hole
  • Positioning notch 315 sleeve part
  • stop flange 421a first tooth
  • ball socket 4011 first ball and socket member
  • the robot shoulder arm rotation structure provided in this embodiment is used for connecting the shoulder 300 and the arm 400.
  • the shoulder 300 includes a first end 301 having a spherical structure 300a and a second end 302 opposite to the first end 301.
  • the arm 400 has The ball socket 401 mated with the spherical structure 300a is provided with a rotary disk 303 for connection with the ball socket 401 and a power member 304 for rotating the rotary disk 303 around the axis of the rotary disk 303.
  • the above-mentioned robot shoulder arm rotation structure has a spherical structure on the shoulder, and the arm has a ball socket seat matched with the spherical structure, so that the connection reliability between the arm and the shoulder can be improved, and the left and right swing of the arm relative to the shoulder can be realized.
  • the robot provided by this embodiment includes a robot head 100, an arm 400, and a shoulder 300 connected between the robot head 100 and the arm 400.
  • the robot head 100 of the present embodiment includes a housing 1 having an internal space 1a and a holder 2, a connection assembly 3 and a rotary drive unit 4 built in the internal space 1a.
  • the outer casing 1 is substantially spherical, and the above-mentioned components are built in the outer casing 1 and protected by the outer casing 1.
  • the outer casing 1 is integrally rotatable relative to the fixed frame 2, and the inner wall of the outer casing 1 can be mounted and fixed.
  • the housing 1 includes a front housing 11 and a rear cover 12 that are connected to each other to form an internal space 1a.
  • the front side of the front housing 11 has a flat surface on which a display screen can be mounted. camera.
  • the front case 11 and the rear cover 12 each include a side portion for connection with the flange 33, and the side portion of the front case 11 is provided with a through-line through hole 13.
  • the fixing frame 2 is used as a rotating support structure of the outer casing 1.
  • the fixing frame 2 is fixedly connected with a supporting seat (not shown) located outside the outer casing 1.
  • the fixing frame 2 is but not The square frame is limited to a double-layer structure, and the fixing frame 2 includes an upper layer plate 21, a lower layer plate 22 located below the upper layer plate 21, a locking bracket 23, and side plates 24 on both sides of the layer plate, upper and lower layers 21
  • the support plate 25 may be provided on the 22 for placing electrical components, and the locking bracket 23 is connected between the rear sides of the upper and lower plates 21, 22 for fixing with the support base.
  • the connecting component 3 is used for connecting the fixing frame 2 and the outer casing 1.
  • the connecting component 3 comprises a fixing shaft 31, a first bearing 32 and a flange 33.
  • the fixing shaft 31 is fixedly connected to the side plate 24 of the fixing frame 2.
  • the first bearing 32 can be a rolling bearing, the first bearing 32 is mounted on the fixed shaft 31, the flange 33 is sleeved on the first bearing 32, the flange 33 is fixedly connected with the outer casing 1, and the outer casing 1 is fixed by the method
  • the rotation of the blue disc 33 on the fixed shaft 31 is rotated relative to the fixed frame 2.
  • the number of the connecting components 3 is, but not limited to, two groups.
  • the two sets of connecting components 3 are arranged in a bilaterally symmetric manner with the center line of the fixing frame 2 perpendicular to the upper and lower plates 21 and 22 as axes.
  • the first bearing 32 on the left and right sides of the fixing frame 2 is coaxially disposed.
  • the left and right sides of the fixing frame 2 serve as a pivotal joint with the outer casing 1.
  • the outer casing 1 rotates more stably with respect to the fixed frame 2, and the rotating structure is more firm.
  • the two connecting components are respectively a first connecting component 3a and a second connecting component 3b.
  • the first connecting component 3a and the second connecting component 3b are symmetrically disposed on both sides of the fixing frame 2, and the first connecting component 3a It is disposed coaxially with the second connecting component 3b.
  • the structures of the first connection assembly 3a and the second connection assembly 3b may be the same or similar.
  • the first connection component 3a will be briefly described below as an example.
  • the fixed shaft 31 of the first connecting member 3a is a hollow structure, and the fixed shaft 31 includes a shaft portion 311 extending horizontally and having a cylindrical shape, and a chassis portion 312 connected to one side of the shaft portion 311.
  • the fixed shaft 31 is formed with a first shaft hole 31a, and the shaft portion 311 and the chassis portion 312 are integrally formed.
  • the chassis portion 312 is circumferentially spaced apart from the chassis portion 312 to form a plurality of mounting holes 313, on the side plate 24. A screw hole corresponding to the mounting hole 313 is opened, and the fixing hole 31 is fixed to the outer side of the fixing frame 2 through the screw hole.
  • the chassis portion 312 has a positioning notch 314, and the chassis portion 312 is protruded. There is a positioning post to fasten the quick connection of the shaft 31 to the holder 2.
  • the shaft portion 311 includes a sleeve portion 315 protruding from a side surface of the chassis portion 312 facing away from the holder 2 and an annular support extending outward from the outer end surface of the sleeve portion 315 along the axis of the sleeve portion 315.
  • the outer end surface of the sleeve portion 315 has a first support surface 317 surrounding the outer side of the support portion 316, and the outer circumferential surface of the support portion 316 has a second support surface 318.
  • the first bearing 32 can be sleeved by a tight fit.
  • the support portion 316 is disposed, and the second support surface 318 abuts against the inner circumferential surface of the first bearing 32, and the first support surface 317 abuts against a side end surface of the first bearing 32 adjacent to the fixing frame 2 to limit the first bearing 32 moves in the direction of the chassis portion 312.
  • the flange 33 of the first connecting member 3a includes a flange portion 331 for fixed connection with the outer casing 1, a fitting portion 332, and a connecting portion 333 connected between the flange portion 331 and the fitting portion 332.
  • the flange 33 is formed with a second shaft hole 33a.
  • the flange portion 331, the mounting portion 332, and the connecting portion 333 are integrally formed.
  • the flange portion 331 has a substantially circular disk shape, and the connecting portion 333 is self-method.
  • the inner edge of the flange portion 331 extends in the axial direction of the flange portion 331, and the fitting portion 332 extends from the inner edge of the connecting portion 333 away from the flange portion 331 in the radial direction of the connecting portion 333, and the flange portion 331 is along the circumference thereof.
  • a plurality of locking holes 334 are disposed at intervals, and the side portions of the front case 11 and the side portions of the rear cover 12 are respectively provided with locking holes 14 corresponding to the locking holes 334, and the locking holes of the front case 11 are passed through the screws.
  • a rotary drive unit 4 is provided for rotating the flange 33 of the first coupling assembly 3a to drive the housing 1 to rotate relative to the holder 2.
  • the number of the rotary driving devices 4 is but not limited to one, and the rotary driving device 4 includes a power source 41 and a transmission mechanism 42 connected between the power source 41 and the flange 33.
  • the power source 41 can be, but is not limited to, a steering gear.
  • the transmission mechanism 42 includes a driven wheel 421 fixedly coupled to the flange 33 and a driving wheel 422 for driving the driven wheel 421.
  • the driving wheel 422 is coupled to the power source 41.
  • the output shaft is disposed coaxially with the output shaft, and the drive wheel 422 is rotated by the output shaft when the power source 41 is in operation.
  • the outer casing 1 is rotated relative to the fixed frame 2 by the rotary driving device 4 to swing the robot head 100 back and forth to realize the forward tilting and reclining motion of the head.
  • the output shaft of the power source 41 can also be mounted with a steering wheel.
  • the driving wheel 422 can be mounted on the steering wheel, and the power source 41 drives the steering wheel to rotate the driving wheel 422.
  • one end surface of the driven wheel 421 is fixedly fixed to the fitting portion 332 of the flange 33 of the first connecting member 3a by a screw, and the driven wheel 421 is rotatably sleeved on the first bearing.
  • a limiting flange 423 for restricting the movement of the first bearing 32 is formed inwardly.
  • the inner wall of the driven wheel 421 abuts against the outer peripheral surface of the first bearing 32 of the first connecting member 3a, and the limiting flange 423
  • the outer end surface (the one end surface adjacent to the fixing frame 2) abuts the one end surface of the first bearing 32 away from the fixing frame 2, and the driven wheel 421 and the shaft body portion 311 together define a first bearing 32.
  • the limiting space, the first supporting surface 317, the second supporting surface 318, and the outer end surface of the limiting flange 423 are all located in the limiting space, thereby locking the position of the first bearing 32, and the first bearing when the outer casing 1 rotates 32 does not move, and the outer casing 1 and the fixed frame 2 do not move relative to each other, thereby having better rotational stability.
  • the rotary driving device 4 is connected to the first connecting component 3a, and the second connecting component 3b disposed on the other side of the fixing frame 2 is not driven by rotation.
  • the main difference between the device 4 and thus the first connecting component 3a and the second connecting component 3b is the structure of the flange 33, the flange 33 of the first connecting component 3a being fitted to the first connecting component 3a by the driven wheel 421.
  • the flange 33 of the second connecting member 3b is directly fitted to the first bearing 32 of the second connecting member 3b, and the second connecting member 3b includes a flange portion 331 for fixed connection with the outer casing 1.
  • the inner wall of the extending portion 335 abuts against the outer peripheral surface of the first bearing 32, and the outer end surface of the protruding portion 336 (close to the fixed frame 2)
  • the side end surface abuts against a side end surface of the first bearing 32 away from the fixing frame 2.
  • the first connecting component 3a and the second connecting component 3b are both connected to the corresponding rotary driving device 4, and the first connecting component 3a and the second connecting component 3b have the same structure.
  • the transmission mechanism 42 of the present embodiment is a pulley transmission mechanism, and the driven wheel 421 and the drive wheel 422 are both pulleys.
  • the transmission mechanism 42 further includes a winding between the driven wheel 421 and the drive wheel 422.
  • the transmission belt 424 is outwardly protruded from the outer wall (ie, the outer circumferential surface) of the driven wheel 421 to form a retaining flange 425 for restricting the movement of the belt 424.
  • the upper end portion of the belt 424 is clamped between the retaining flange 425 and the fitting portion 332. In order to avoid the belt 424 from being separated from the driven wheel 421.
  • the driving wheel 422 also has a retaining structure for restricting the movement of the driving belt 424.
  • the retaining structure is two stopping flanges 426 formed on the outer wall (ie, the outer peripheral surface) of the driving wheel 422, and the two stopping flanges 426 are The drive wheels 422 are spaced apart on the axis, and the lower end portion of the drive belt 424 is sandwiched between the two stop flanges 426 to prevent the drive belt 424 from being disengaged from the drive wheels 422.
  • the transmission mechanism 42 may also be a gear transmission mechanism.
  • the driven wheel 421 and the driving wheel 422 are both gears, and the driven wheel 421 can be engaged with the driving wheel 422 to rotate the driven wheel 421, or the driven wheel 421 and the driving wheel 422.
  • a gear set for the transmission is provided between them.
  • the outer wall of the driven wheel 421 is formed with a first tooth portion 421a.
  • the outer wall of the driving wheel 422 is formed with a second tooth portion 422a.
  • the belt 424 is a single-sided toothed belt, and the inner peripheral surface thereof is a rubber contact surface.
  • the inner peripheral surface of the belt 424 is formed with a third tooth portion 424a that meshes with the first tooth portion 421a and the second tooth portion 422a, respectively, so that the belt 424 can be prevented from slipping, and the outer casing 1 can be easily controlled to be turned back and forth.
  • the robot is provided with two shoulders 300, and the two shoulders 300 are coupled to the robot head 100 in a bilaterally symmetrical manner.
  • the fixing frame 2 is provided with a driving source 7 for rotating the shoulder 300 and having a rotating shaft (not shown).
  • the axis of the rotating shaft coincides with the axis of the fixed shaft 31, and the driving source 7 is but not limited to two, two
  • the driving source 7 is in one-to-one correspondence with the two shoulder portions 300.
  • the driving source 7 may be a steering gear having a steering wheel 71.
  • the steering wheel 71 is coaxially disposed with the rotating shaft and is fixedly connected to the steering gear through the rotating shaft.
  • the adapter member 6 is rotatably coupled to the fixed shaft 31 about the axis of the fixed shaft 31.
  • the adapter member 6 includes a disk-shaped mounting plate portion 61 for connecting the shoulder portion 300 for a driving portion 62 connected to the rotating shaft of the driving source 7 and a holding portion 63 connected between the mounting disk portion 61 and the driving portion 62.
  • the number of the adapters 6 is but not limited to two, two
  • the adapters 6 are respectively connected to the left and right shoulders 300, and the adapters 6 can be hollow structures to facilitate the routing of the power lines.
  • the holding portion 63 has a cylindrical shape and extends axially from one side of the mounting disk portion 61.
  • the outer diameter of the holding portion 63 is smaller than the outer diameter of the mounting disk portion 61.
  • the driving portion 62 has a cylindrical shape from the holding portion 63. One end extends axially, and the outer diameter of the driving portion 62 is smaller than the outer diameter of the holding portion 63.
  • the driving portion 62 penetrates the second shaft hole 33a and is inserted into the first shaft hole 31a.
  • the steering wheel 71 is fixedly coupled to the outer end surface of the driving portion 62.
  • the driving portion 62 is coaxially disposed with the fixed shaft 31 and is outside the driving portion 62.
  • a second bearing 8 is provided between the inner edge of the fixed shaft 31 and the second bearing 8 may be a rolling bearing.
  • the two driving sources 7 can work simultaneously or at different times, and the two shoulders can be rotated separately, and the adapter 6 is rotated about the axis of the fixed shaft 31 by the driving source 7 to realize the forward and backward swinging of the arm.
  • the shoulder 300 includes a first end 301 (right end of the drawing) for connecting the arm 400 and a second end 302 (left end of the drawing) opposite the first end 301, the second end 302 being connected to the adapter
  • the mounting plate portion 61 of the member 6 is provided with a rotary disk 303 and a power member 304 for rotating the rotary disk 303 around the axis of the rotary disk 303.
  • the axis of the rotary disk 303 is disposed perpendicular to the axis of the fixed shaft 31 (that is, the axis of the rotary disk 303 is perpendicular to the axis of the rotary shaft), and the first end 301 has a spherical structure 300a whose outer surface is spherical, shoulder
  • the portion 300 is a hollow structure, and the shoulder portion 300 includes a front case 305 and a rear case 306 which are connected to each other, and the front case 305 and the rear case 306 are fixedly connected by a fastener such as a screw.
  • the power member 304 is not limited to the steering gear.
  • the shoulder portion 300 has a mounting position of the power member 304.
  • the power member 304 is mounted on the rear housing 306 via the fixing bracket 308.
  • the rear housing 306 is provided with a hole corresponding to the rotating disc 303.
  • the rotary disk 303 is disposed on an output shaft (not shown).
  • the arm 400 includes an upper arm portion 402 and a lower arm portion 403 coupled to the upper arm portion 402, and an upper end portion of the upper arm portion 402 is formed with a ball socket 401 that cooperates with the spherical structure 300a.
  • the socket 401 is formed by the connection of the first ball socket member 4011 and the second ball socket member 4012, and the first and second ball socket members 4011, 4012 each have an outer surface adapted to the spherical structure 300a.
  • the rotating mat 303 is fixedly coupled to the first ball and socket member 4011.
  • the arm 400 can be swung outwardly about the shoulder 300 around the axis of the rotating disk 303 to realize the left and right swinging motion of the arm 400.
  • the power member 304 has a first side (not shown) to which the rotary disk 303 is attached and a second side (not shown) opposite to the first side;
  • the robot shoulder arm rotation structure further includes a rotatably A hollow body 307 is mounted on the second side, and the body 307 is coaxial with the rotating disk 303 to assist in supporting the ball socket 401. That is to say, the first and second ball and socket members 4011 and 4012 are respectively rotated by the coaxial rotating body 307 and the rotating disk 303, so that the arm 400 swings more smoothly and the transmission property is better.
  • the swiveling body 307 includes a rotating disc 3071 and a rotating post 3072 formed on one side of the rotating disc 3071 and extending along the axis of the rotating disc 3071.
  • the rotating post 3072 passes through
  • the mounting bearing 309 is rotatably mounted on the power member 304 and disposed coaxially with the rotating disc (not shown).
  • the rotating disc 3071 of the rotating body 307 is provided with a wire notch 307a for facilitating the passage of the power cord.
  • a first circular recess 4013 corresponding to the rotating disc 303 is disposed at a center of the outer side of the first ball socket member 4011, and a rear end portion 306 is opened for the bottom end portion of the first circular recess 4013 to penetrate.
  • a second circular recess 4014 corresponding to the rotating body 307 is disposed at a center of the outer side of the second ball and socket member 4012, and the rotating disk of the rotating body 307 is built in the second circular recess 4014, and the bottom of the second circular recess 4014
  • the end portion is provided with a through hole 4017 for the rotating column 3072 to pass through the second ball and socket member
  • the front housing 305 is provided with a second fit for the inside of the front housing 305 through which the bottom end portion of the second circular recess 4014 penetrates.
  • the hole 3051 has a shape matching the shape of the bottom end of the second circular recess 4014.
  • a first end cap 4015 for closing the first circular recess 4013 is connected to the first ball socket member 4011, and a second end cover 4016 for closing the second circular recess 4014 is connected to the second ball socket member 4012.
  • the first end cap 4015 and the first ball socket member 4011 and the second end cap 4016 and the second ball socket member 4012 are respectively engaged by a snap structure.
  • the arm 400 includes an upper arm portion 402 coupled to the ball socket 401, and the upper arm portion 402 includes a first cover body 4021 and a second cover body 4022 that are connected to each other, the first cover body 4021 and the first ball and socket member
  • the first cover 4022 is integrally formed with the second socket member 4012, and the first cover 4021 and the second cover 4022 are connected and fixed by a fastener such as a screw.
  • the upper arm portion 402 further includes a garnish 4023 that is respectively engaged with the outside of the first cover 4021 and the second cover 4022.

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  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Toys (AREA)

Abstract

一种机器人及其肩臂转动结构，肩臂转动结构用于连接肩部（300）与手臂（400），肩部（300）包括具有球形结构（300a）的第一端（301）和与第一端（301）相对的第二端（302）；手臂（400）具有与球形结构（300a）配合的球窝座（401），球形结构（300a）内设置有用于与球窝座（401）连接的旋转盘（303）和使旋转盘（303）以旋转盘（303）的轴线为中心转动的动力件（304）。该机器人肩臂转动结构，能够提高手臂（400）与肩部（300）的连接可靠性。该机器人的手臂（400）具有较高的操作灵活性，可相对肩部（300）摆动至较大的摆动角度。

Description

机器人及其机器人肩臂转动结构 技术领域
本发明涉及机器人的技术领域，尤其是涉及一种机器人及其机器人肩臂转动结构。
背景技术
目前，具有一般编程能力和操作功能的机器人，称之为智能机器人，其具有较广的应用范围。传统的智能机器人，主要包括头部和躯干，躯干的两侧设置有手臂，然而，传统的手臂与躯干枢接处，连接可靠性差，枢接处容易断裂。
发明内容
本发明所要解决的技术问题在于提供一种机器人及其机器人肩臂转动结构，旨在解决现有技术中，存在手臂与躯干枢接处，连接可靠性差的缺陷。
本发明提供的一种机器人肩臂转动结构，用于连接肩部与手臂，所述肩部包括具有球形结构的第一端和与第一端相对的第二端；所述手臂具有与所述球形结构配合的球窝座，所述球形结构内设置有用于与所述球窝座连接的旋转盘和使所述旋转盘以所述旋转盘的轴线为中心转动的动力件。
进一步地，所述球形结构内设置有用于固定所述动力件的固定支架，所述动力件为具有一输出轴的舵机，所述旋转盘设置在所述输出轴上。
进一步地，所述球窝座由第一球窝构件和第二球窝构件连接构成，所述第一和第二球窝构件均具有与所述球形结构的外表面适配的弧形配合面；所述旋转盘与所述第一球窝构件连接固定。
进一步地，所述动力件具有安装有所述旋转盘连接的第一侧和与所述第一侧相对的第二侧；所述机器人肩臂转动结构还包括可转动地安装在所述第二侧上的中空的回转体，所述回转体与所述旋转盘同轴。
进一步地，所述第一球窝构件外侧的中心处设有与所述旋转盘对应的第一圆形凹陷，第一球窝构件上连接有用于封闭该第一圆形凹陷的第一端盖；第二球窝构件外侧的中心处设有与所述回转体对应的第二圆形凹陷，第二球窝构件上连接有用于封闭该第二圆形凹陷的第二端盖。
进一步地，所述回转体上开设有便于电源线穿出的走线缺口。
进一步地，所述手臂包括与球窝座连接的上臂部，所述上臂部包括相互连接的第一盖体和第二盖体，所述第一盖体与第一球窝构件一体形成，所述第二盖体与所述第二球窝构件一体形成；所述第一盖体与所述第二盖体通过紧固件连接固定。
进一步地，所述上臂部还包括装饰件，所述装饰件分别卡合在第一盖体和第二盖体的外侧。
进一步地，所述机器人肩臂转动结构包括转接件和具有一转轴的驱动源；所述转接件包括用于连接所述肩部的圆盘状的安装盘部、用于与所述转轴连接的驱动部以及连接在所述安装盘部与所述驱动部之间的保持部；所述转轴的轴线与所述旋转盘的轴线垂直。
本发明提供的一种机器人，包括肩部与手臂，其中，所述肩部与所述手臂设置有上述的机器人肩臂转动结构。
与现有技术对比，本发明提供的机器人肩臂转动结构，肩部采用球形结构，手臂具有与球形结构配合的球窝座，这样，能够提高手臂与肩部的连接可靠性，实现手臂相对肩部的左右摆动。
与现有技术对比，本发明提供的机器人，采用在肩部与手臂设置有上述的机器人肩臂转动结构，手臂具有较高的操作灵活性，可相对肩部摆动至较大的摆动角度。
附图说明
图1是本发明实施例提供的机器人头部的立体示意图；
图2是本发明实施例提供的机器人头部的分解示意图；
图3是本发明实施例提供的固定架的立体示意图；
图4是本发明实施例提供的固定架、连接组件及传动机构的分解示意图；
图5为图4中A部的放大图；
图6是本发明实施例提供的机器人头部的侧视示意图；
图7为图6中I-I面的剖视示意图；
图8为图7中B部的放大图；
图9是本发明实施例提供的机器人头部、肩部及手臂的分解示意图；
图10是本发明实施例提供的机器人头部、肩部及手臂的剖视示意图；
图11为图10中C部的放大图；
图12是本发明实施例提供的肩部与手臂的剖视示意图；
图13是本发明实施例提供的肩部与手臂的立体示意图；
图14是本发明实施例提供的肩部与手臂的分解示意图一；
图15为图14中D部的放大图
图16是本发明实施例提供的肩部与手臂的分解示意图二
图17为图16中E部的放大图。
主要元件符号说明
100：机器人头部
1：外壳               1a：内部空间
11：前壳              12：后盖
13：过线通孔          14：锁合孔
2：固定支架           21：上层板
22：下层板            23：锁定支架
24：侧板              25：支撑板
3：连接组件
3a：第一连接组件      3b：第二连接组件
31：固定轴            311：轴体部
312：底盘部           313：装配孔
314：定位缺口         315：套筒部分
316：支撑部分         317：第一支撑面
318：第二支撑面       319：定位柱
31a：第一轴孔
32：第一轴承
33：法兰盘            331：法兰部
332：装配部           333：连接部
334：锁付孔           335：延伸部
336：突起部           33a：第二轴孔
4：旋转驱动装置       41：动力源
42：传动机构          421：从动轮
422：驱动轮           423：限位凸缘
424：传动带           425：防脱凸缘
426：止移凸缘         421a：第一齿部
422a：第二齿部        424a：第三齿部
6：转接件             61：安装盘部
62：驱动部            63：保持部
7：驱动源             71：舵盘
8：第二轴承
300：肩部             400：手臂
300a：球形结构        301：第一端
302：第二端           303：旋转盘
304：动力件           305：前壳体
306：后壳体           307：回转体
3071：转动盘          3072：转柱
3061：第一配合孔      3051：第二配合孔
307a：走线缺口
308：固定支架         309：安装轴承
401：球窝座           4011：第一球窝构件
4012：第二球窝构件    4013：第一圆形凹陷
4014：第二圆形凹陷    4015：第一端盖
4016：第二端盖        4017过孔
402：上臂部           4021：第一盖体
4022：第二盖体        4023：装饰件
403：下臂部
具体实施方式
为了使本发明所要解决的技术问题、技术方案及有益效果更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，所描述的实施例是本发明的一部分实施例，而不是全部的实施例。基于所描述的本发明的实施例，本领域普通技术人员在无需创造性劳动的前提下所获得的所有其他实施例，都属于本发明保护的范围。
为了使本领域的技术人员更好地理解本发明的技术方案，下面结合具体附图对本发明的实现进行详细的描述。
为叙述方便，下文中所称的“前”“后”“左”“右”“上”“下”与附图本身的前、后、左、右、上、下方向一致，但并不对本发明的结构起限定作用。
除非另作定义，此处使用的技术术语或者科学术语应当为本发明所属领域内具有一般技能的人士所理解的通常意义。本发明专利申请说明书以及权利要求书中使用的“第一”、“第二”以及类似的词语并不表示任何顺序、数量或者重要性，而只是用来区分不同的组成部分。同样，“一个”或者“一”等类似词语也不表示数量限制，而是表示存在至少一个。
如图1至17所示，为本发明提供的一较佳实施例。
本实施例提供的机器人肩臂转动结构，用于连接肩部300与手臂400，肩部300包括具有球形结构300a的第一端301和与第一端301相对的第二端302；手臂400具有与球形结构300a配合的球窝座401，球形结构300a内设置有用于与球窝座401连接的旋转盘303和使旋转盘303以该旋转盘303的轴线为中心转动的动力件304。
上述的机器人肩臂转动结构，肩部采用球形结构，手臂具有与球形结构配合的球窝座，这样，能够提高手臂与肩部的连接可靠性，实现手臂相对肩部的左右摆动。
本实施例提供的机器人包括机器人头部100、手臂400和连接在机器人头部100与手臂400之间的肩部300。
参见图1和2，本实施例提供的机器人头部100，包括具有一内部空间1a的外壳1以及内置在该内部空间1a中的固定架2、连接组件3和旋转驱动装置4。
参见图1和2，外壳1大致呈球形，上述部件内置在外壳1内并由外壳1保护，在本实施例中，外壳1整体可相对固定架2转动，外壳1的内壁可安装固定有转接板、电源板等，该外壳1包括相互连接的前壳11和后盖12，二者围合形成内部空间1a，前壳11的前侧具有一平面，该平面上可安装有显示屏、摄像头。前壳11和后盖12均包括用于与法兰盘33连接的侧部，前壳11的侧部上设置有过线通孔13。
参见图2至4，固定架2，作为外壳1的转动支撑结构，固定架2与位于外壳1外部的一支撑座(图未示)固定连接，在本实施例中，固定架2为但不局限于双层式结构的方形框架，该固定架2包括一上层板21、位于上层板21下方的一下层板22、锁定支架23以及位于层板两侧的侧板24，上、下层板21、22上均可设置有支撑板25，用以放置电气元件，锁定支架23连接在上、下层板21、22的后侧之间，以用于与支撑座固定。
参见图2至4，连接组件3用以连接固定架2与外壳1，连接组件3包括固定轴31、第一轴承32和法兰盘33，固定轴31固定连接于固定架2的侧板24上，第一轴承32可为滚动轴承，第一轴承32安装在该固定轴31上，法兰盘33套设在第一轴承32上，法兰盘33与外壳1固定连接，外壳1借由法兰盘33在固定轴31上的旋转以相对固定架2转动。在本实施例中，连接组件3的数量为但不局限于两组，两组连接组件3以固定架2的垂直于上、下层板21、22的中线为轴，呈左右对称的方式设置于该固定架2的两侧，左右两侧的第一轴承32同轴设置。这样，固定架2的左右两侧均作为与外壳1枢接的枢接处，外壳1相对固定架2转动更加平稳，转动结构更牢固。
为了便于叙述，两连接组件分别为第一连接组件3a以及第二连接组件3b，第一连接组件3a和第二连接组件3b左右对称地设置于该固定架2的两侧，第一连接组件3a和第二连接组件3b同轴设置。第一连接组件3a和第二连接组件3b的结构可以相同或相似。下面以第一连接组件3a为例简要说明。第一连接组件3a和第二连接组件3b的结构。
参见图4至8，第一连接组件3a的固定轴31为中空结构，该固定轴31包括水平延伸且呈圆筒状的轴体部311和连接在轴体部311一侧的底盘部312，在本实施例中，固定轴31形成有第一轴孔31a，轴体部311和底盘部312一体形成，底盘部312上沿其周向间隔地开设有多个装配孔313，侧板24上开设有与装配孔313对应的螺孔，通过螺钉顺序穿过装配孔313、螺孔以将固定轴31固定在固定架2的外侧，底盘部312具有一定位缺口314，底盘部312上凸设 有定位柱，以便固定轴31与固定架2的快速连接。具体地，轴体部311包括凸设在底盘部312背离固定架2的一侧表面的套筒部分315和从套筒部分315的外端面沿套筒部分315的轴线向外延伸的环形的支撑部分316，套筒部分315的外端面具有环绕在支撑部分316的外侧的第一支撑面317，支撑部分316的外周面具有第二支撑面318，第一轴承32可通过紧配合方式套设在支撑部分316上，且第二支撑面318与第一轴承32的内周面抵接，同时第一支撑面317与第一轴承32靠近固定架2的一侧端面抵接，以限制第一轴承32向底盘部312方向移动。
参见图4至8，第一连接组件3a的法兰盘33包括用于与外壳1固定连接的法兰部331、装配部332以及连接在法兰部331与装配部332之间的连接部333。在本实施例中，法兰盘33形成有第二轴孔33a，法兰部331、装配部332、连接部333一体形成，法兰部331大致呈圆形的盘状，连接部333自法兰部331的内缘沿法兰部331的轴向延伸，装配部332自连接部333的远离法兰部331的一端内缘沿连接部333的径向延伸，法兰部331上沿其周向间隔设置有多个锁付孔334，前壳11的侧部和后盖12的侧部上均开设由于锁付孔334对应的锁合孔14，通过螺钉穿过前壳11的锁合孔14和对应的锁付孔334以及穿过后盖12锁合孔14和对应的锁付孔334后，以将前壳11和后盖12固定法兰盘33的外侧，并使前壳11、后盖12连接固定。
参见图4至8，旋转驱动装置4，用于使第一连接组件3a的法兰盘33旋转以带动外壳1相对固定架2转动。在本实施例中，旋转驱动装置4的数量为但不局限于一个，旋转驱动装置4包括动力源41和连接在动力源41与法兰盘33之间的传动机构42。动力源41可为但不局限于舵机，上述传动机构42包括与法兰盘33固定连接的从动轮421和用于驱动从动轮421转动的驱动轮422，驱动轮422连接于动力源41的输出轴上，并与该输出轴同轴设置，进而驱动轮422在动力源41工作时由输出轴带动旋转。通过旋转驱动装置4使外壳1相对固定架2转动，以使机器人头部100前后摆动，实现头部的前倾和后仰动作。
当然，动力源41的输出轴上还可以安装有舵盘，驱动轮422可安装在舵盘上，动力源41驱动舵盘使驱动轮422转动。
具体地，参见图4至8，从动轮421的一侧端面通过螺钉与第一连接组件3a中法兰盘33的装配部332相锁付固定，从动轮421可旋转地套设在第一轴承32上，从动轮421的内壁(即内周面)上向内凸设形成有用于限制第一轴承32移动的限位凸缘423。值得一提的是，从动轮421套设在固定轴31的轴体部311上后，从动轮421的内壁与第一连接组件3a中第一轴承32的外周面抵接，限位凸缘423的外端面(靠近固定架2的一侧端面)与第一轴承32远离固定架2的一侧端面抵接，从动轮421与轴体部311之间共同界定出一个容置第一轴承32的限位空间，第一支撑面317、第二支撑面318、限位凸缘423的外端面均位于该限位空间中，进而将第一轴承32的位置锁定，在外壳1转动时第一轴承32不会移动，并且外壳1与固定架2也不会相对移动，从而具有较好的转动平稳性。
需要指出的是，由于本实施例中仅采用一个旋转驱动装置4，旋转驱动装置4与第一连接组件3a连接，而设置在固定架2另一侧的第二连接组件3b则未与旋转驱动装置4，因而第一连接组件3a与第二连接组件3b的主要不同之处在于法兰盘33的结构，第一连接组件3a的法兰盘33通过从动轮421装配在第一连接组件3a的第一轴承32上。从图7可以看出，第二连接组件3b的法兰盘33直接装配在第二连接组件3b的第一轴承32上，第二连接组件3b包括用于与外壳1固定连接的法兰部331、装配部332、连接在法兰部331与装配部332之间的连接部333、从装配部沿法兰部331的轴向延伸的延伸部335以及凸设在延伸部335的内壁上的突起部336，法兰盘33套设在固定轴31的轴体部311上后，延伸部335的内壁与第一轴承32的外周面抵接，突起部336的外端面(靠近固定架2的一侧端面)与第一轴承32远离固定架2的一侧端面抵接。
当然，在采用两个旋转驱动装置4时，第一连接组件3a与第二连接组件3b均与对应的旋转驱动装置4连接，第一连接组件3a与第二连接组件3b的结构相同。
参见图4至8，本实施例的传动机构42为带轮传动机构，从动轮421和驱动轮422均为带轮，该传动机构42还包括卷绕在从动轮421和驱动轮422之间的传动带424，从动轮421的外壁(即外周面)上向外凸设形成有用于限制传动带424移动的防脱凸缘425，传动带424的上端部分夹持在防脱凸缘425与装配部332之间，以避免传动带424脱离从动轮421。需要说明的是，驱动轮422亦具有限制传动带424移动的防脱结构，防脱结构为形成在驱动轮422外壁(即外周面)上的两止移凸缘426，两止移凸缘426在驱动轮422的轴线上间隔，传动带424的下端部分夹持在两止移凸缘426之间，以避免传动带424脱离驱动轮422。
当然，传动机构42还可以是齿轮传动机构，从动轮421和驱动轮422均为齿轮，可通过从动轮421与驱动轮422相啮合以使从动轮421转动，或在从动轮421与驱动轮422之间设置有用于传动的齿轮组。
参见图4至8，从动轮421的外壁形成有第一齿部421a，驱动轮422的外壁上形成有第二齿部422a，传动带424为单面齿带，其内周面为橡胶接触面，该传动带424的内周面上形成有分别与第一齿部421a和第二齿部422a啮合的第三齿部424a，这样，可避免传动带424打滑，易于控制外壳1前后翻转。
如图9所示，该机器人配置有两个肩部300，两个肩部300以左右对称的方式连接于机器人头部100。固定架2上设置有使肩部300转动并具有一转轴(图未示)的驱动源7，转轴的轴线与上述固定轴31的轴线重合，驱动源7为但不局限于两个，两个驱动源7与两个肩部300分别一一对应，驱动源7可以是具有舵盘71的舵机，舵盘71与上述转轴同轴设置并通过该转轴与舵机连接固定。
参见图9至11，转接件6，以固定轴31的轴线为中心可旋转地连接固定轴31，转接件6包括用于连接肩部300的圆盘状的安装盘部61、用于与驱动源7的转轴连接的驱动部62以及连接在安装盘部61与驱动部62之间的保持部63，在本实施例中，转接件6的数量为但不局限于两个，两个转接件6分别与左右肩部300连接，转接件6可为中空结构，以便于电源线的走线。保持部63呈圆筒状，其从安装盘部61的一侧轴向延伸，保持部63的外径小于安装盘部61的外径；驱动部62呈圆筒状，其从保持部63的一端轴向延伸，该驱动部62的外径小于保持部63的外径。驱动部62贯穿第二轴孔33a并置入第一轴孔31a内，舵盘71与驱动部62的外端面连接固定，驱动部62与固定轴31同轴设置，且在驱动部62的外周与固定轴31的内缘之间设置有第二轴承8，第二轴承8可以是滚动轴承。值得一提的是，两个驱动源7可同时或不同时工作，两个肩部可单独转动，通过驱动源7使转接件6绕固定轴31的轴线旋转，以实现手臂的前后摆动。
参见图12至17，肩部300包括用于连接手臂400的第一端301(图示右端)和第一端301相对的第二端302(图示左端)，第二端302连接于转接件6的安装盘部61，肩部300内设置有旋转盘303和使旋转盘303以该旋转盘303的轴线为中心转动的动力件304。在本实施例中，旋转盘303的轴线与固定轴31的轴线垂直设置(也就是旋转盘303的轴线与转轴的轴线垂直设置)，第一端301具有外表面为球面的球形结构300a，肩部300为中空结构，肩部300包括相互连接的前壳体305和后壳体306，前壳体305和后壳体306通过螺钉等紧固件连接固定。动力件304为不局限于舵机，肩部300内部具有动力件304安装位，动力件304通过固定支架308安装在后壳体306上，后壳体306上开设有与旋转盘303对应的孔，旋转盘303设置在输出轴(图未示)上。
参见图12至17，手臂400包括上臂部402和与上臂部402连接的下臂部403，上臂部402的上端形成有与球形结构300a配合的球窝座401。在本实施例中，球窝座401由第一球窝构件4011和第二球窝构件4012连接构成，第一 和第二球窝构件4011、4012均具有与球形结构300a的外表面适配的弧形配合面，旋转盘303与第一球窝构件4011连接固定。这样，在动力件304的带动下，可使手臂400绕旋转盘303的轴线相对肩部300向外摆动，以实现手臂400的左右摆动动作。
作为进一步地优化，动力件304具有安装有旋转盘303连接的第一侧(图未示)和与第一侧相对的第二侧(图未示)；机器人肩臂转动结构还包括可转动地安装在该第二侧上的中空的回转体307，回转体307与旋转盘303同轴，以达到辅助支撑球窝座401的作用。也就是说，通过同轴的回转体307和旋转盘303，分别带动第一和第二球窝构件4011、4012转动，使手臂400摆动更加平稳，传动性更好。
从图14至17可以看出，在本实施例中，回转体307包括转动盘3071和形成在转动盘3071一侧并沿该转动盘3071的轴线延伸的转柱3072，该转柱3072通过一安装轴承309可转动地安装在动力件304上并与旋转盘(图未示)同轴设置，回转体307的转动盘3071上开设有便于电源线穿出的走线缺口307a。
具体地，第一球窝构件4011外侧的中心处设有与旋转盘303对应的第一圆形凹陷4013，后壳体306上开设有供第一圆形凹陷4013的底端部穿入的后壳体306内部的第一配合孔3061，该第一配合孔3061的形状与第一圆形凹陷4013的底端部形状相匹配，第一圆形凹陷4013的底面形成有供螺钉穿过以将第一球窝构件4011与旋转盘303固定的孔。第二球窝构件4012外侧的中心处设有与回转体307对应的第二圆形凹陷4014，该回转体307的转动盘内置在第二圆形凹陷4014中，第二圆形凹陷4014的底端部开设有供转柱3072穿出第二球窝构件的过孔4017，前壳体305上开设有供第二圆形凹陷4014的底端部穿入的前壳体305内部的第二配合孔3051，该第二配合孔3051的形状与第二圆形凹陷4014的底端部形状相匹配。第一球窝构件4011上连接有用于封闭该第一圆形凹陷4013的第一端盖4015，第二球窝构件4012上连接有用于封闭该第二圆形 凹陷4014的第二端盖4016，第一端盖4015与第一球窝构件4011之间以及第二端盖4016与第二球窝构件4012分别通过卡扣结构卡合。
参见图12至17，手臂400包括与球窝座401连接的上臂部402，上臂部402包括相互连接的第一盖体4021和第二盖体4022，第一盖体4021与第一球窝构件4011一体形成，第二盖体4022与第二球窝构件4012一体形成，第一盖体4021与第二盖体4022通过螺钉等紧固件连接固定。上臂部402还包括装饰件4023，装饰件4023分别卡合在第一盖体4021和第二盖体4022的外侧。
以上仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换或改进等，均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种机器人肩臂转动结构，用于连接肩部与手臂，其特征在于，所述肩部包括具有球形结构的第一端和与第一端相对的第二端；所述手臂具有与所述球形结构配合的球窝座，所述球形结构内设置有用于与所述球窝座连接的旋转盘和使所述旋转盘以所述旋转盘的轴线为中心转动的动力件。
  2. 根据权利要求1所述的机器人肩臂转动结构，其特征在于，所述球形结构内设置有用于固定所述动力件的固定支架，所述动力件为具有一输出轴的舵机，所述旋转盘设置在所述输出轴上。
  3. 根据权利要求2所述的机器人肩臂转动结构，其特征在于，所述球窝座由第一球窝构件和第二球窝构件连接构成，所述第一和第二球窝构件均具有与所述球形结构的外表面适配的弧形配合面；所述旋转盘与所述第一球窝构件连接固定。
  4. 根据权利要求3所述的机器人肩臂转动结构，其特征在于，所述动力件具有安装有所述旋转盘连接的第一侧和与所述第一侧相对的第二侧；所述机器人肩臂转动结构还包括可转动地安装在所述第二侧上的中空的回转体，所述回转体与所述旋转盘同轴。
  5. 根据权利要求4所述的机器人肩臂转动结构，其特征在于，所述第一球窝构件外侧的中心处设有与所述旋转盘对应的第一圆形凹陷，第一球窝构件上连接有用于封闭该第一圆形凹陷的第一端盖；第二球窝构件外侧的中心处设有与所述回转体对应的第二圆形凹陷，第二球窝构件上连接有用于封闭该第二圆形凹陷的第二端盖。
  6. 根据权利要求4所述的机器人肩臂转动结构，其特征在于，所述回转体上开设有便于电源线穿出的走线缺口。
  7. 根据权利要求3所述的机器人肩臂转动结构，其特征在于，所述手臂包括与球窝座连接的上臂部，所述上臂部包括相互连接的第一盖体和第二盖体， 所述第一盖体与第一球窝构件一体形成，所述第二盖体与所述第二球窝构件一体形成；所述第一盖体与所述第二盖体通过紧固件连接固定。
  8. 根据权利要求7所述的机器人肩臂转动结构，其特征在于，所述上臂部还包括装饰件，所述装饰件分别卡合在第一盖体和第二盖体的外侧。
  9. 根据权利要求1所述的机器人肩臂转动结构，其特征在于，所述机器人肩臂转动结构包括转接件和具有一转轴的驱动源；所述转接件包括用于连接所述肩部的圆盘状的安装盘部、用于与所述转轴连接的驱动部以及连接在所述安装盘部与所述驱动部之间的保持部；所述转轴的轴线与所述旋转盘的轴线垂直。
  10. 一种机器人，包括肩部与手臂，其特征在于，所述肩部与所述手臂设置有如权利要求1至9中任一项所述的机器人肩臂转动结构。
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