Wrist structure of humanoid robot and humanoid robot
By employing a universal joint and crank-rocker structure in the wrist structure of the humanoid robot, a two-degree-of-freedom coupled rotational motion of the wrist is achieved, solving the problem of insufficient wrist movement space in existing technologies and improving the flexibility and precision of hand control.
Patent Information
- Application Number
- CN202511554127.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-28
- Publication Date
- 2025-11-28
AI Technical Summary
Existing humanoid robot wrist structures are unable to effectively simulate the complex movements of the human wrist, especially in terms of insufficient spatial coverage during pitch and roll movements, and the structure is not compact enough, which affects hand control and algorithm analysis.
The universal joint structure design allows the pitch and roll axes to intersect, with the intersection point located at the center of the universal joint. Combined with the crank-rocker structure and joint motor, it enables dual-degree-of-freedom coupled rotational motion of the wrist, ensuring symmetrical wrist movement in all directions.
It achieves compactness and symmetry in the robot wrist's motion space, facilitating hand control and algorithm analysis, simulating the movement patterns of the human wrist, and improving the flexibility and accuracy of hand movements.
Smart Images
Figure CN121018655A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of humanoid robots, and particularly relates to a wrist structure of a humanoid robot and the humanoid robot. BACKGROUND
[0002] In recent years, the robot industry has developed rapidly, and in particular, humanoid robots have become one of the focuses in the field of robot technology at home and abroad, and the wrist structure of the humanoid robot is also the focus of the design of the humanoid robot.
[0003] In the human body, the wrist belongs to a low-inertia joint and performs rapid and accurate posture movements. The proximal joint is more controlled for the human body, and thus the wrist is designed for posture adjustment and fine positioning, and the degrees of freedom thereof are divided into roll, pitch and yaw rotation movements in three directions.
[0004] However, from the biomechanics of the wrist joint of the human body, most of the natural movements of the wrist joint are not purely the above three degrees of freedom, but are composed of components in the frontal plane and the sagittal plane, and the radial / ulnar deflection often accompanies the pitch in the waving motion. In order to simplify the analysis, the least degrees of freedom are used to cover most of the task space that can be reached by the human wrist. Here, the distal radial-ulnar joint is not considered, and thus the wrist joint can be regarded as a double spherical joint system composed of the radiocarpal joint and the midcarpal joint, which respectively complete the roll and pitch two posture movements. SUMMARY
[0005] An object of the present application is to provide a wrist structure of a humanoid robot and the humanoid robot.
[0006] According to an aspect of the present application, a wrist structure of a humanoid robot is provided, wherein the wrist structure comprises a second joint motor, a second joint motor ring, a third joint motor, a third joint motor ring, a forearm support, a first connecting rod, a second connecting rod, a wrist universal joint, a first hand base, a second hand base, a first joint shaft, and a second joint shaft; wherein the stator of the second joint motor and the stator of the third joint motor are both mounted on the forearm support, the second joint motor ring is mounted on the rotor of the second joint motor, the third joint motor ring is mounted on the rotor of the third joint motor, the second joint motor ring is connected with the first connecting rod, the third joint motor ring is connected with the second connecting rod, the first connecting rod and the second connecting rod are respectively connected with one of the two shafts of the first hand base, the first joint shaft and the second joint shaft are fixed on the forearm support, the first joint shaft, the second joint shaft, the first hand base, and the second hand base are respectively connected with a groove of the wrist universal joint, the first connecting rod and the second connecting rod are used to drive the first hand base to rotate around a second reference axis and / or a third reference axis, and the second reference axis and the third reference axis intersect at the structural center of the wrist universal joint.
[0007] According to an aspect of the present application, a humanoid robot is provided, which comprises the above-mentioned wrist structure of the humanoid robot.
[0008] Compared with the prior art, the wrist structure of the humanoid robot provided by the present application adopts a universal joint structure, the two rotation axes of pitch and roll intersect on the basis that the intersection point is located at the structural center of the universal joint, so that no matter how the robot wrist pitches up and down, swings left and right, etc., the two central axes of the pitch movement and the left-right swing always intersect at one point, and the structure is more compact. This structure makes the space swept by the movement of the robot wrist small, and the structure design of the "crossed axes" is the closest to the structure form of wrist movement, and the wrist movement is symmetrical up, down, left and right, which is convenient for subsequent hand control and algorithm analysis. BRIEF DESCRIPTION OF DRAWINGS
[0009] Other features, objects, and advantages of the present application will become more apparent from the following detailed description of non-limiting embodiments made with reference to the accompanying drawings:
[0010] Figure 1 A schematic diagram of a wrist structure of a humanoid robot according to an embodiment of the present application is shown;
[0011] Figures 2-6 A partial structure schematic diagram of a wrist structure of a humanoid robot according to an embodiment of the present application is shown;
[0012] Figure 7 AFigures 2-6 An exploded view of the wrist structure shown;
[0013] Figure 8a A first state diagram showing a wrist structure of a humanoid robot according to an embodiment of the present application;
[0014] Figure 8b A second state diagram showing the wrist structure shown in the first joint motor rotation; Figure 8a
[0015] Figure 9a A third state diagram showing a wrist structure of a humanoid robot according to an embodiment of the present application;
[0016] Figure 9b 9c A fourth state diagram, a fifth state diagram showing the wrist structure shown in the second joint motor, the third joint motor driving, the first connecting rod and the second connecting rod moving simultaneously in the same direction; Figure 9a
[0017] Figure 10a A sixth state diagram showing a wrist structure of a humanoid robot according to an embodiment of the present application;
[0018] Figure 10b 10c A seventh state diagram, an eighth state diagram showing the wrist structure shown in the second joint motor, the third joint motor driving, the first connecting rod and the second connecting rod moving simultaneously in opposite directions; Figure 10a
[0019] Figure 11 A partial diagram of a first joint motor mounting seat of a wrist structure of a humanoid robot according to an embodiment of the present application;
[0020] Figure 12 A partial diagram of a forearm support of a wrist structure of a humanoid robot according to an embodiment of the present application;
[0021] Figure 13 A partial diagram of a second joint motor ring of a wrist structure of a humanoid robot according to an embodiment of the present application;
[0022] Figure 14 A partial diagram of a first connecting rod of a wrist structure of a humanoid robot according to an embodiment of the present application;
[0023] Figure 15 A partial diagram of a wrist universal joint of a wrist structure of a humanoid robot according to an embodiment of the present application;
[0024] Figure 16 Fig. 1 shows a partial schematic view of a first hand base of a wrist structure of a humanoid robot according to one embodiment of the present application;
[0025] The same or similar reference signs in the drawings represent the same or similar components.
[0026] Reference signs:
[0027] 1 - first joint motor, 2 - first joint motor mount, 3 - second joint motor, 4 - second joint motor ring, 5 - third joint motor, 6 - third joint motor ring, 7 - forearm support, 8 - first connecting rod, 9 - second connecting rod, 10 - wrist universal joint, 11 - first hand base, 12 - second hand base, 13 - first joint shaft, 14 - second joint shaft, 15 - first fisheye bearing, 16 - second fisheye bearing, 17 - first pin shaft, 18 - second pin shaft, 19 - third fisheye bearing, 20 - fourth fisheye bearing, 21 - first micro bearing, 22 - second micro bearing, 23 - third micro bearing, 24 - fourth micro bearing, 101 - rotor of first joint motor, 102 - stator of first joint motor, 301 - rotor of second joint motor, 302 - stator of second joint motor, 501 - rotor of third joint motor, 502 - stator of third joint motor. DETAILED DESCRIPTION
[0028] The present application will be further described below in conjunction with the accompanying drawings.
[0029] In the description of the present application, it needs to be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.
[0030] In addition, the terms "first", "second", and the like are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second", and the like can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.
[0031] In the present application, unless specifically stated and limited otherwise, the terms "mounting", "connected", "connecting", "fixed", and "fixedly" are understood broadly, for example, can be fixedly connected, or detachably connected, or integrally connected; can be mechanically connected, or electrically connected; can be directly connected, or indirectly connected via an intermediate medium; can be internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.
[0032] In the present application, unless specifically stated and limited otherwise, the first feature "on" or "under" the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "over" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "under", "below" and "under" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.
[0033] In the description of the present application, the meaning of "a plurality of" is two or more, unless specifically and specifically limited otherwise.
[0034] Figure 1 A schematic view of a wrist structure of a humanoid robot according to an embodiment of the present application is shown as Figure 1As shown, the wrist structure comprises a second joint motor 3, a second joint motor ring 4, a third joint motor 5, a third joint motor ring 6, an arm support 7, a first connecting rod 8, a second connecting rod 9, a wrist universal joint 10, a first hand base 11, a second hand base 12, a first joint shaft 13, and a second joint shaft 14; wherein the stator 302 of the second joint motor 3 and the stator 502 of the third joint motor 5 are both mounted on the arm support 7, the second joint motor ring 4 is mounted on the rotor 301 of the second joint motor 3, the third joint motor ring 6 is mounted on the rotor 501 of the third joint motor 5, the second joint motor ring 4 is connected with the first connecting rod 8, the third joint motor ring 6 is connected with the second connecting rod 9, the first connecting rod 8 and the second connecting rod 9 are respectively connected with one of the two shafts of the first hand base 11, the first joint shaft 13 and the second joint shaft 14 are fixed on the arm support 7, the first joint shaft 13, the second joint shaft 14, the first hand base 11, and the second hand base 12 are respectively connected with a groove of the wrist universal joint 10, the first connecting rod 8 and the second connecting rod 9 are used to drive the first hand base 11 to rotate around the second reference shaft and / or the third reference shaft, and the second reference shaft and the third reference shaft intersect at the structural center of the wrist universal joint 10.
[0035] In some embodiments, the wrist structure in the present solution can be the left wrist of a humanoid robot, or can also be the right wrist of a humanoid robot, and the present example embodiment does not make special limitations thereon.
[0036] In some embodiments, the joint (rotary) motor is generally composed of a motor body, a reducer, and a control system circuit board, etc. The motor body is the core component of the joint motor, responsible for generating a rotating torque. The motor body is composed of a stator and a rotor. The stator of the motor body is usually an external component, composed of a stator core and a stator winding. The rotor of the motor body is usually an internal component, composed of a rotating steel ring assembly with permanent magnets. The stator and rotor of the joint rotary motor refer to the combined parts connected with the stator and rotor of the motor body, respectively. The stator and rotor of the joint motor can generally be fixed, for example, with screw holes on both sides. They can also rotate, for example, the stator is fixed and the rotor rotates, or the rotor is fixed and the stator rotates. The two parts can rotate relative to each other, so during use, either part can be fixed according to actual use. The core function of the joint motor is to convert electrical energy into mechanical energy to achieve precise position, speed, or torque control of the joint, thereby simulating human movement ability. The specific type of motor body in the joint motor includes but is not limited to frameless torque motor, etc. The present example embodiment does not make special limitations thereon.
[0037] In some embodiments, the stator 302 of the second joint motor 3 is fixedly (for example, by screwing) mounted on the forearm support 7, wherein the fixed connection manner in the embodiments of the present specification includes but is not limited to screwing, welding, riveting, etc., and the present example embodiment does not make special limitations on this. In some embodiments, the second joint motor ring 4 is fixedly mounted on the rotor 301 of the second joint motor 3, wherein the joint motor ring serves as an output end and is responsible for transmitting the rotary motion of the joint motor. In some embodiments, the stator 502 of the third joint motor 5 is fixedly mounted on the forearm support 7, and the third joint motor ring 6 is fixedly mounted on the rotor 501 of the third joint motor 5.
[0038] In some embodiments, the second joint motor ring 4 is directly or indirectly connected with the first connecting rod 8 to form a first hinge, the third joint motor ring 6 is directly or indirectly connected with the second connecting rod 9 to form a second hinge, the first connecting rod 8 is directly or indirectly connected with one shaft of the first hand base 11 to form a third hinge, and the second connecting rod 9 is directly or indirectly connected with another shaft of the first hand base 11 to form a fourth hinge, so that the first connecting rod 8 can drive the first hand base 11 to rotate through the first hinge and the third hinge when it moves, and the second connecting rod 9 can drive the first hand base 11 to rotate through the second hinge and the fourth hinge when it moves.
[0039] In some embodiments, the joint shaft is an axial structure, which is a high-precision axial part for providing an accurate rotation center for a rotary joint in a humanoid robot. For example, the joint shaft can be a metal shaft that is specially heat-treated and precisely machined. In some embodiments, the front end of the first joint shaft 13 away from the base portion of the first joint shaft 13 is embedded in a hole in the lower part of the forearm support 7, and the first joint shaft 13 is fixed to the forearm support 7 by screwing through the threaded hole of the base portion of the first joint shaft 13. The front end of the second joint shaft 14 away from the base portion of the second joint shaft 14 is embedded in another hole in the lower part of the forearm support 7, and the second joint shaft 14 is fixed to the forearm support 7 by screwing through the threaded hole of the base portion of the second joint shaft 14.
[0040] In some embodiments, the first joint shaft 13 is directly or indirectly connected with the first groove of the wrist universal joint 10 to form a first shaft joint, the second joint shaft 14 is directly or indirectly connected with the second groove of the wrist universal joint 10 to form a second shaft joint, the first hand base 11 is directly or indirectly connected with the third groove of the wrist universal joint 10 to form a third shaft joint, and the second hand base 12 is directly or indirectly connected with the fourth groove of the wrist universal joint 10 to form a fourth shaft joint. The shaft joint is a movement joint formed by a shaft, and can also be said to be a movement form formed by several parts combined together. The shaft joint allows the components at the position of the shaft joint to rotate. The wrist universal joint is a universal joint structure. The universal joint is a mechanical structure form that simulates the ball-and-socket joint of the human body in a humanoid robot, which allows two connected parts to rotate in multiple directions. The wrist universal joint is a key part of wrist movement and is a "crossed shaft" of wrist movement.
[0041] In some embodiments, the first hand base 11 and the second hand base 12 are fixedly connected with the hand structure (for example, a dexterous hand) of the humanoid robot. The central part of the first hand base 11 has a threaded hole. The first hand base 11 and the dexterous hand are fixed together by screw threads of the threaded hole. The central part of the second hand base 12 also has a threaded hole. The second hand base 12 and the dexterous hand are fixed together by screw threads of the threaded hole.
[0042] In some embodiments, the second joint motor 3, the second joint motor ring 4, the first connecting rod 8 constitute a first driving assembly of a first crank rocker structure, the third joint motor 5, the third joint motor ring 6, the second connecting rod 9 constitute a second driving assembly of a second crank rocker structure, the first driving assembly and the second driving assembly are two parallel driving assemblies, and act on the first hand base 11. The first driving assembly controls one axis of the first hand base 11 through the first connecting rod 8, and the second driving assembly controls another axis of the first hand base 11 through the second connecting rod 9. When the first connecting rod 8 and the second connecting rod 9 move, they can drive the first hand base 11 and the hand structure of the humanoid robot fixedly connected with the first hand base 11 to rotate around the second reference axis (pitch) and / or the third reference axis (roll). The second reference axis (pitch) and the third reference axis (roll) coincide with the symmetry axis of the cross structure of the wrist gimbal 10, wherein the wrist gimbal 10 is a symmetrical structure and is symmetrical in the pitch and roll directions. The second reference axis and the third reference axis intersect at the center of the structure of the wrist gimbal 10, that is, the intersection of the second reference axis and the third reference axis coincides with the center of the structure of the wrist gimbal 10, and the center of the structure of the wrist gimbal 10 is the intersection of the symmetry axis of the cross structure of the wrist gimbal 10. In some embodiments, the intersection of the second reference axis and the third reference axis is also the structural symmetry center of the hand structure mounting base (for example, the dexterous hand mounting base) when the hand structure (for example, the dexterous hand) of the humanoid robot is installed.
[0043] In some embodiments, the wrist structure of the humanoid robot provided in the present application can make the first hand base 11 simultaneously rotate around the second reference axis and the third reference axis through the first driving assembly and the second driving assembly, so that the execution end mounted on the first hand base 11, that is, the hand structure (for example, the dexterous hand) of the humanoid robot, can reach any other angle position in the activity space similar to the human wrist, thereby realizing the coupled rotary motion of the wrist joint with two degrees of freedom.
[0044] In some embodiments, the structure of the wrist gimbal and the mounting position of the hand structure of the humanoid robot determine that the hand structure is mounted on the wrist gimbal, and the wrist gimbal is a structure symmetrical in up-down and left-right directions, which inevitably leads to the symmetry of the wrist movement in up-down and left-right directions.
[0045] The wrist structure of the humanoid robot provided in this application adopts a universal joint structure. The pitch and roll rotation axes intersect, and the intersection point is located at the structural center of the universal joint. This ensures that no matter how the robot wrist pitches up and down or swings left and right, the two central axes of pitch and swing always intersect at one point, making the structure more compact. This structure makes the space swept by the robot wrist movement small. This "cross-axis" structural design is the closest to the structural form of wrist movement, and the wrist movement is symmetrical up, down, left and right, which facilitates subsequent hand control and algorithm analysis.
[0046] Figures 2-6 This diagram shows a partial structural schematic of the wrist structure of a humanoid robot according to one embodiment of the present application. Figure 7 Show Figures 2-6 The exploded view of the wrist structure is shown below. (The following is combined with...) Figures 2-7 The wrist structure shown is described in further detail.
[0047] In some embodiments, the first link 8 and the second link 9 are used to drive the first hand base 11 to rotate around a second reference axis when they move in the same direction, and to drive the first hand base 11 to rotate around a third reference axis when they move in opposite directions. In some embodiments, when the first link 8 and the second link 9 move in the same direction, they can drive the first hand base 11 and the hand structure of the humanoid robot fixedly connected to the first hand base 11 to rotate around the second reference axis (pitch), and when the first link 8 and the second link 9 move in opposite directions, they can drive the first hand base 11 and the hand structure of the humanoid robot fixedly connected to the first hand base 11 to rotate around the third reference axis (roll). Figure 9a This diagram illustrates a third state of the wrist structure of a humanoid robot according to an embodiment of this application. Figure 9b , 9c Showing according to Figure 9a The wrist structure shown is illustrated in the fourth and fifth states when the first and second links move simultaneously in the same direction under the drive of the second and third joint motors. Figure 9a , Figure 9b and Figure 9c As shown in the example, the humanoid robot from Figure 9a Starting from the indicated state, the first hand base and the hand structure fixedly connected to the first hand base rotate around the second reference axis, reaching its maximum rotation after rotating 30° clockwise. Figure 9b As shown, it reaches its state after rotating 30° to the left. Figure 9c The state shown, where, Figure 9a , Figure 9b and Figure 9c The model includes a hand structure, which is only used to illustrate the location of the hand structure and does not represent the actual shape or appearance of the hand structure. Figure 10aThis diagram illustrates a sixth state of the wrist structure of a humanoid robot according to an embodiment of this application. Figure 10b , 10c Showing according to Figure 10a The wrist structure shown is illustrated in the seventh and eighth states when the first and second links move in opposite directions simultaneously, driven by the second and third joint motors. Figure 10a , Figure 10b and Figure 10c As shown in the example, the humanoid robot from Figure 10a Starting from the indicated state, the first hand base and the hand structure fixedly connected to the first hand base rotate around the third reference axis, and the hand structure rises to reach... Figure 10b As shown, the hand structure tilts downwards to achieve... Figure 10c The state shown, where, Figure 10a , Figure 10b and Figure 10c The model includes a hand structure, which is only used to illustrate the location of the hand structure and does not represent the actual shape or appearance of the hand structure.
[0048] In some embodiments, the wrist structure further includes a first joint motor 1; wherein the stator 102 of the first joint motor is connected to the forearm support 7, and the rotor 101 of the first joint motor is fixedly connected to the upper arm structure of the humanoid robot. In some embodiments, the stator 102 of the first joint motor is fixedly (e.g., by threaded connection) mounted on the forearm support 7, and the rotor 101 of the first joint motor and the upper arm structure of the humanoid robot are fixedly (e.g., by threaded connection) together. In some embodiments, the rotor 101 of the first joint motor is fixed, and the stator rotates. When the stator moves, it drives the forearm support 7 fixed thereto to rotate. The forearm support 7 is connected to the forearm of the humanoid robot, including the second joint motor 3 and the third joint motor 5, thereby driving the entire forearm and its end hand structure to rotate.
[0049] In some embodiments, the wrist structure further includes a first joint motor mounting base 2; wherein the stator 102 of the first joint motor is mounted on the first joint motor mounting base 2, and the first joint motor mounting base 2 and the forearm support 7 are fixedly connected. In some embodiments, the stator 102 of the first joint motor is fixedly (e.g., by threaded connection) mounted on the first joint motor mounting base 2, and the first joint motor mounting base 2 and the forearm support 7 are fixedly (e.g., by threaded connection) together. In some embodiments, the first joint motor mounting base 2 is marked with scribe lines to indicate the zero position of the motor mounting.
[0050] In some embodiments, the first joint motor 1 is configured to rotate the first joint motor mount 2 when the first joint motor 1 rotates, so that the first joint motor mount 2 rotates the forearm support 7, so that the forearm support 7 rotates the entire forearm of the humanoid robot about a first reference axis, which is the rotation center axis of the first joint motor 1. In some embodiments, the rotor 101 of the first joint motor is fixed, and the stator rotates, and when the stator rotates, it drives the first joint motor mount 2 fixed thereto to rotate, thereby driving the forearm support 7 fixedly connected to the first joint motor mount 2 to rotate, and the forearm support 7 is connected to the forearm of the humanoid robot including the second joint motor 3 and the third joint motor 5, for example, fixedly connected together by threads, thereby driving the forearm and the hand structure (e.g., a dexterous hand) of the humanoid robot at the end of the forearm to rotate about the first reference axis (yaw) perpendicular to the robot arm, and with the change of the forward and reverse rotation of the motor, the arm and the hand structure can rotate clockwise or counterclockwise, and the rotation angle can reach -105°, +105°, which realizes the forward and reverse rotation of the entire forearm and the dexterous hand, wherein the first reference axis (yaw) is the rotation center axis of the first joint motor 1. Figure 8a Fig. 1 shows a first state diagram of a wrist structure of a humanoid robot according to an embodiment of the present application, Figure 8b Fig. 2 shows a second state diagram of the wrist structure of the humanoid robot according to the embodiment of the present application, Figure 8a Fig. 3 shows a third state diagram of the wrist structure of the humanoid robot according to the embodiment of the present application, Figure 8a Fig. 4 shows a fourth state diagram of the wrist structure of the humanoid robot according to the embodiment of the present application, Figure 8b Fig. 5 shows a fifth state diagram of the wrist structure of the humanoid robot according to the embodiment of the present application, Figure 8a Fig. 6 shows a sixth state diagram of the wrist structure of the humanoid robot according to the embodiment of the present application, Figure 8b Fig. 7 shows a seventh state diagram of the wrist structure of the humanoid robot according to the embodiment of the present application,
[0051] In some embodiments, the wrist structure further comprises a first fisheye bearing 15, a second fisheye bearing 16, a first pin shaft 17, a second pin shaft 18; wherein the first fisheye bearing 15 is embedded in the hole of one end of the first connecting rod 8, the inner ring of the first fisheye bearing 15 is embedded with the first pin shaft 17, the first end shaft of the first pin shaft 17 is embedded into the hole of the second joint motor ring 4 through the inner ring of the first fisheye bearing 15, the second fisheye bearing 16 is embedded in the hole of one end of the second connecting rod 9, the inner ring of the second fisheye bearing 16 is embedded with the second pin shaft 18, the second end shaft of the second pin shaft 18 is embedded into the hole of the third joint motor ring 6 through the inner ring of the second fisheye bearing 16. In some embodiments, the fisheye bearing is a specially designed bearing, the core feature of which is to allow angular swing and rotary motion in multiple directions, and it is widely used in mechanical systems that require flexible adjustment and can bear complex load. In some embodiments, in the radial direction of the first fisheye bearing 15, the first fisheye bearing 15 is embedded in the hole of the end of the first connecting rod 8, the outer ring of the first fisheye bearing 15 and the first connecting rod 8 are fixed together through interference fit, the inner ring of the first fisheye bearing 15 is embedded with the first pin shaft 17, and the inner ring of the first fisheye bearing 15 and the first pin shaft 17 are fixed together through interference fit. In some embodiments, in the axial direction of the first fisheye bearing 15, the first end shaft of the first pin shaft 17 is embedded into the hole of the second joint motor ring 4 through the inner ring of the first fisheye bearing 15, the first pin shaft 17 and the second joint motor ring 4 are fixed together through interference fit, in some embodiments, the top end of the first end shaft of the first pin shaft 17 has a threaded hole, the first pin shaft 17 and the second joint motor ring 4 are fixed together in the axial direction through threaded connection, preventing the first pin shaft 17 from falling off in the axial direction. In some embodiments, the first fisheye bearing 15, the second joint motor ring 4, and the first connecting rod 8 are connected together by using the first pin shaft 17, and the first hinge is formed by using the rotating characteristics of the inner and outer rings of the first fisheye bearing 15. In some embodiments, in the radial direction of the second fisheye bearing 16: the second fisheye bearing 16 is embedded in the hole of the end of the second connecting rod, the outer ring of the second fisheye bearing 16 and the second connecting rod 9 are fixed together through interference fit, the inner ring of the second fisheye bearing 16 is embedded with the second pin shaft 18, and the inner ring of the second fisheye bearing 16 and the second pin shaft 18 are fixed together through interference fit. In some embodiments, in the axial direction of the second fisheye bearing 16, the second end shaft of the second pin shaft 18 is embedded into the hole of the third joint motor ring 6 through the inner ring of the second fisheye bearing 16, the second pin shaft 18 and the third joint motor ring 6 are fixed together through interference fit, the top end of the second end shaft of the second pin shaft 18 has a threaded hole, the second pin shaft 18 and the third joint motor ring 6 are fixed together in the axial direction through threaded connection, preventing the second pin shaft 18 from falling off in the axial direction.In some embodiments, the second pin shaft 18 is used to connect the second fish-eye bearing 16, the third joint motor ring 6, and the second connecting rod 9 together. The inner and outer rings of the second fish-eye bearing 16 are used to form the second hinge by rotating relative to each other.
[0052] In some embodiments, the other end of the first pin shaft 17 is provided with a first boss, which is pressed against the inner ring of the first fish-eye bearing 15. The other end of the second pin shaft 18 is provided with a second boss, which is pressed against the inner ring of the second fish-eye bearing 16. In some embodiments, the other end of the first pin shaft 17, except for the first end shaft, is provided with a first boss, which is pressed against the inner ring of the first fish-eye bearing 15. The first boss at the end of the first pin shaft 17 is used to fix the first pin shaft 17 and the first fish-eye bearing 15 together in the axial direction, preventing them from falling off in the axial direction. In some embodiments, the other end of the second pin shaft 18, except for the second end shaft, is provided with a second boss, which is pressed against the inner ring of the second fish-eye bearing 16. The second boss at the end of the second pin shaft 18 is used to fix the second pin shaft 18 and the second fish-eye bearing 16 together in the axial direction, preventing them from falling off in the axial direction.
[0053] In some embodiments, the wrist structure further comprises a third fish-eye bearing 19, a fourth fish-eye bearing 20; wherein the third fish-eye bearing 19 is embedded in the hole on the top of the other end of the first connecting rod 8, the inner ring of the third fish-eye bearing 19 is embedded with the first shaft of the first hand base 11, the fourth fish-eye bearing 20 is embedded in the hole on the top of the other end of the second connecting rod 9, the inner ring of the fourth fish-eye bearing 20 is embedded with the second shaft of the first hand base 11. In some embodiments, in the radial direction of the third fish-eye bearing 19, the third fish-eye bearing 19 is embedded in the hole on the top of the other end of the first connecting rod 8, the outer ring of the third fish-eye bearing 19 is fixed together with the first connecting rod 8 by interference fit, the inner ring of the third fish-eye bearing 19 is embedded with the first shaft of the first hand base 11, the inner ring of the third fish-eye bearing 19 is fixed together with the first shaft of the first hand base 11 by interference fit. In some embodiments, here the first shaft of the first hand base 11 is used to connect the third fish-eye bearing 19, the first connecting rod 8 and the first hand base 11 together, and the third hinge is formed by using the rotating characteristics of the inner and outer rings of the third fish-eye bearing 19. In some embodiments, in the radial direction of the fourth fish-eye bearing 20, the fourth fish-eye bearing 20 is embedded in the hole on the top of the other end of the second connecting rod 9, the outer ring of the fourth fish-eye bearing 20 is fixed together with the second connecting rod 9 by interference fit, the inner ring of the fourth fish-eye bearing 20 is embedded with the second shaft of the first hand base 11, the inner ring of the fourth fish-eye bearing 20 is fixed together with the second shaft of the first hand base 11 by interference fit. In some embodiments, here the second shaft of the first hand base 11 is used to connect the fourth fish-eye bearing 20, the second connecting rod 9 and the first hand base 11 together, and the fourth hinge is formed by using the rotating characteristics of the inner and outer rings of the fourth fish-eye bearing 20.
[0054] In some embodiments, the proximal end of the first shaft of the first hand base 11 (close to the structural center of the first hand base 11) is fixed with a step, the inner ring of the third fish-eye bearing 19 is pressed on the proximal end of the first shaft, the proximal end of the second shaft of the first hand base 11 is fixed with a step, and the inner ring of the fourth fish-eye bearing 20 is pressed on the proximal end of the second shaft. In some embodiments, the proximal end of the first shaft of the first hand base 11 is fixed with a step in the axial direction of the third fish-eye bearing 19, the inner ring of the third fish-eye bearing 19 is tightly pressed on the proximal end of the first shaft of the first hand base 11, and the third fish-eye bearing 19 and the first shaft of the first hand base 11 are fastened together. In some embodiments, the distal end of the first shaft of the first hand base 11 (away from the structural center of the first hand base 11) has a threaded hole, and the inner ring of the third fish-eye bearing 19 and the first shaft of the first hand base 11 are fixed together by screw connection. In some embodiments, the proximal end of the second shaft of the first hand base 11 is fixed with a step in the axial direction of the fourth fish-eye bearing 20, the inner ring of the fourth fish-eye bearing 20 is tightly pressed on the proximal end of the second shaft of the first hand base 11, and the fourth fish-eye bearing 20 and the second shaft of the first hand base 11 are fastened together. In some embodiments, the distal end of the second shaft of the first hand base 11 has a threaded hole, and the inner ring of the fourth fish-eye bearing 20 and the second shaft of the first hand base 11 are fixed together by screw connection.
[0055] In some embodiments, the wrist structure further comprises a first micro-small bearing 21 and a second micro-small bearing 22; wherein the inner ring of the first micro-small bearing 21 is embedded on the first joint shaft 13, the first micro-small bearing 21 is embedded in the first groove of the wrist gimbal 10, and the inner ring of the second micro-small bearing 22 is embedded on the second joint shaft 14, the second micro-small bearing 22 is embedded in the second groove of the wrist gimbal 10. In some embodiments, the inner ring of the first micro-small bearing 21 is embedded on the first joint shaft 13, the first joint shaft 13 and the inner ring of the first micro-small bearing 21 are fixed together by interference fit, the first micro-small bearing 21 is embedded in the first groove of the wrist gimbal 10, and the outer ring of the first micro-small bearing 21 and the wrist gimbal 10 are fixed together by interference fit, thereby forming a first shaft joint. In some embodiments, the inner ring of the second micro-small bearing 22 is embedded on the second joint shaft 14, the second joint shaft 14 and the inner ring of the second micro-small bearing 22 are fixed together by interference fit, the second micro-small bearing 22 is embedded in the second groove of the wrist gimbal 10, and the outer ring of the second micro-small bearing 22 and the wrist gimbal 10 are fixed together by interference fit, thereby forming a second shaft joint. In some embodiments, the micro-small bearing in the humanoid robot is a key core component that ensures its accurate, smooth, flexible and quiet movement, and is usually a precision bearing with an inner diameter of 1mm to 10mm.
[0056] In some embodiments, the wrist structure further includes a third micro-bearing 23 and a fourth micro-bearing 24; wherein the inner ring of the third micro-bearing 23 is embedded in the third shaft at the center of the first hand base 11, and the third micro-bearing 23 is embedded in the third groove of the wrist universal joint 10; the inner ring of the fourth micro-bearing 24 is embedded in the shaft of the second hand base 12, and the fourth micro-bearing 24 is embedded in the fourth groove of the wrist universal joint 10. In some embodiments, the inner ring of the third micro-bearing 23 is embedded in the third shaft at the center of the first hand base 11, and the third shaft of the first hand base 11 and the inner ring of the third micro-bearing 23 are fixed together by an interference fit; the third micro-bearing 23 is embedded in the third groove of the wrist universal joint 10, and the outer ring of the third micro-bearing 23 and the wrist universal joint 10 are fixed together by an interference fit, forming a third shaft joint. In some embodiments, the inner ring of the fourth micro-bearing 24 is embedded on the shaft of the second hand base 12, and the second hand base 12 and the inner ring of the fourth micro-bearing 24 are fixed together by an interference fit. The fourth micro-bearing 24 is embedded in the fourth groove of the wrist universal joint 10, and the outer ring of the fourth micro-bearing 24 and the wrist universal joint 10 are fixed together by an interference fit, thus forming a fourth shaft joint.
[0057] like Figure 11 As shown, a partial schematic diagram of the first joint motor mounting bracket is presented. Figure 12 As shown, a partial schematic diagram of the forearm support is presented. Figure 13 As shown, a partial schematic diagram of the second joint motor ring is presented. Figure 14 As shown, a partial schematic diagram of the first link is presented. Figure 15 As shown, a partial schematic diagram of the wrist universal joint is presented. Figure 16 As shown, a partial schematic diagram of the first hand base is presented.
[0058] Based on the wrist structure described above, this application also proposes a humanoid robot that includes the wrist structure described above.
[0059] It will be obvious to a person skilled in the art that the application is not limited to the details of the above-described exemplary embodiments, but that the application can be implemented in other embodiments without departing from the scope of the application. The scope of the application is defined by the claims and their equivalents, and it is intended to cover all technical and structural equivalents. None of the features or steps of the claims are to be construed as being essential to the application, unless explicitly stated otherwise. Furthermore, the term "comprising" does not exclude other elements or steps, and the singular does not exclude the plural and vice versa. The apparatus claims are to be interpreted in the same way as the corresponding method claims. The words "first", "second" and the like do not imply any orders, but rather are used to distinguish one element from another.
Claims
1. A wrist structure of a humanoid robot, wherein, The wrist structure comprises a second joint motor (3), a second joint motor ring (4), a third joint motor (5), a third joint motor ring (6), an arm support (7), a first connecting rod (8), a second connecting rod (9), a wrist universal joint (10), a first hand base (11), a second hand base (12), a first joint shaft (13), and a second joint shaft (14). The stator (302) of the second joint motor (3) and the stator (502) of the third joint motor (5) are both mounted on the arm support (7), the second joint motor ring (4) is mounted on the rotor (301) of the second joint motor (3), the third joint motor ring (6) is mounted on the rotor (501) of the third joint motor (5), the second joint motor ring (4) is connected with the first connecting rod (8), the third joint motor ring (6) is connected with the second connecting rod (9), the first connecting rod (8) and the second connecting rod (9) are respectively connected with one of the two shafts of the first hand base (11), the first joint shaft (13) and the second joint shaft (14) are fixed on the arm support (7), the first joint shaft (13), the second joint shaft (14), the first hand base (11), and the second hand base (12) are respectively connected with a groove of the wrist universal joint (10), the first connecting rod (8) and the second connecting rod (9) are used to drive the first hand base (11) to rotate around the second reference shaft and / or the third reference shaft, and the second reference shaft and the third reference shaft intersect at the structural center of the wrist universal joint (10).
2. The wrist structure according to claim 1, wherein the first connecting rod (8) and the second connecting rod (9) are used to drive the first hand base (11) to rotate around the second reference shaft when moving in the same direction and to rotate around the third reference shaft when moving in the opposite direction.
3. The wrist structure according to claim 1, further comprising a first joint motor (1). wherein The stator (102) of the first joint motor is connected with the arm support (7), and the rotor (101) of the first joint motor is fixedly connected with the upper arm structure of the humanoid robot.
4. The wrist structure according to claim 3, further comprising a first joint motor mounting seat (2). wherein The stator (102) of the first joint motor is mounted on the first joint motor mounting seat (2), and the first joint motor mounting seat (2) and the arm support (7) are fixedly connected.
5. The wrist structure according to claim 4, the first joint motor (1) being configured to, when moved, rotate the first joint motor mount (2) such that the first joint motor mount (2) rotates the forearm support (7) such that the forearm support (7) rotates the entire forearm of the humanoid robot about a first reference axis, wherein, The first reference shaft is the rotation center shaft of the first joint motor (1).
6. The wrist structure according to claim 1, further comprising a first fisheye bearing (15), a second fisheye bearing (16), a first pin shaft (17), and a second pin shaft (18). wherein The first fish-eye bearing (15) is embedded in the hole of one end of the first connecting rod (8), the inner ring of the first fish-eye bearing (15) is embedded with the first pin shaft (17), the first end shaft of the first pin shaft (17) is embedded into the hole of the second joint motor ring (4) through the inner ring of the first fish-eye bearing (15), the second fish-eye bearing (16) is embedded in the hole of one end of the second connecting rod (9), the inner ring of the second fish-eye bearing (16) is embedded with the second pin shaft (18), the second end shaft of the second pin shaft (18) is embedded into the hole of the third joint motor ring (6) through the inner ring of the second fish-eye bearing (16).
7. The wrist structure according to claim 6, the other end of the first pin shaft (17) is provided with a first boss, the first boss is pressed on the inner ring of the first fish-eye bearing (15), the other end of the second pin shaft (18) is provided with a second boss, the second boss is pressed on the inner ring of the second fish-eye bearing (16).
8. The wrist structure according to claim 6, the wrist structure further comprises a third fish-eye bearing (19) and a fourth fish-eye bearing (20); wherein The third fish-eye bearing (19) is embedded in the hole of the other end top of the first connecting rod (8), the inner ring of the third fish-eye bearing (19) is embedded with the first shaft of the first hand base (11), the fourth fish-eye bearing (20) is embedded in the hole of the other end top of the second connecting rod (9), the inner ring of the fourth fish-eye bearing (20) is embedded with the second shaft of the first hand base (11).
9. The wrist structure according to claim 8, the proximal end of the first shaft of the first hand base (11) is fixed by using a step, the inner ring of the third fish-eye bearing (19) is pressed on the proximal end of the first shaft, the proximal end of the second shaft of the first hand base (11) is fixed by using a step, the inner ring of the fourth fish-eye bearing (20) is pressed on the proximal end of the second shaft.
10. The wrist structure according to claim 1, the wrist structure further comprises a first micro-small bearing (21) and a second micro-small bearing (22); wherein, The inner ring of the first micro-small bearing (21) is embedded on the first joint shaft (13), the first micro-small bearing (21) is embedded in the first groove of the wrist gimbal (10), the inner ring of the second micro-small bearing (22) is embedded on the second joint shaft (14), the second micro-small bearing (22) is embedded in the second groove of the wrist gimbal (10).
11. The wrist structure according to claim 10, the wrist structure further comprises a third micro-small bearing (23) and a fourth micro-small bearing (24); wherein The inner ring of the third micro-small bearing (23) is embedded on the third shaft in the center of the first hand base (11), the third micro-small bearing (23) is embedded in the third groove of the wrist universal joint (10), the inner ring of the fourth micro-small bearing (24) is embedded on the shaft of the second hand base (12), and the fourth micro-small bearing (24) is embedded in the fourth groove of the wrist universal joint (10).
12. A humanoid robot, wherein, The humanoid robot comprises the wrist structure according to any one of claims 1 to 10.