A small arm wrist structure based on tendon cable drive

Abstract

A forearm wrist structure based on tendon-driven chords includes a forearm skeleton shell and a cross-shaped wrist joint component. The forearm skeleton shell includes a small-end shell, a large-end shell, an upper connecting plate, and a lower connecting plate. The small-end shell and the large-end shell are respectively located at the two ends of the upper and lower connecting plate. A left limiting and dividing bridge is provided on one side of the upper and lower connecting plate, and a right limiting and dividing bridge is provided on the other side. A clamping plate pivot lug assembly is provided in the small-end shell, and the cross-shaped wrist joint component is rotatably mounted on this clamping plate pivot lug assembly. The cross-shaped wrist joint component is used to rotatably mount a robot hand. A robot connector is provided in the large-end shell for connecting the robot body. This invention provides a highly flexible wrist joint without increasing the external contour of the forearm component, and the multiple drive motors are highly integrated, which is conducive to modular or component-based design and assembly.

Description

Technical Field

[0001] This utility model belongs to the technical field of robotics, specifically relating to a forearm wrist structure based on tendon-driven chords. Background Technology

[0002] In the field of robotics, the robot hand, as a key component for achieving fine manipulation and complex interaction, has a precise and complex motion control structure to simulate the diverse hand movements of humans.

[0003] In the prior art, patent CN120773078 A discloses a humanoid five-fingered dexterous hand based on spatial linkages and planetary gear systems, including: a palm, a thumb, and four fingers. Four sets of spatial linkage mechanisms are configured on the palm and correspondingly connected to the four fingers, realizing the freedom of finger bending and lateral movement. A horizontally placed miniature electric cylinder is installed at the bottom of the palm, which drives the thumb through a gear and rack assembly to achieve the freedom of palm swing. The above solution uses linkage transmission control to drive the fingers for grasping movements. The linkages have high structural strength and load-bearing capacity, but the drive motor needs to be integrated into a space the size of the palm, resulting in low torque output from the drive motor and difficulties in arranging multiple motors. This leads to limited finger movement freedom and insufficient actual load-bearing capacity. Currently, this problem can be compensated for by enlarging the overall shape of the dexterous hand or rigidly integrating the dexterous hand and forearm into one unit.

[0004] Of course, it is also possible to replace it with a tendon-driven control method to drive the fingers for grasping movements. The tendon-driven control method is exactly the opposite of the linkage transmission control method. The drive motors can be distributed in relatively large parts such as the arm, so the dexterous hand can be designed to be very small and beautiful, and can replicate the beautiful human hand in proportion, such as the slender hand of a woman. Multiple drive motors can be set according to needs, so the finger movement has a high degree of freedom. However, similarly, it is difficult to stably transmit the torque of the drive motor to the finger part due to the current strength of the tendon rope. In particular, the longer the tendon rope, the higher the failure rate and the shorter the life of the tendon rope. Therefore, there is an urgent need for a forearm component that integrates multiple drive motors and preferably has a highly flexible wrist joint, so that its use does not affect the flexibility of the wrist joint and avoids the problem of forearm stiffness and inability to move. Summary of the Invention

[0005] This invention addresses the shortcomings of existing technologies by proposing a tendon-and-wire driven forearm wrist structure that features a simple structure, a highly flexible wrist joint without increasing the external contour of the forearm components, and highly integrated multiple drive motors, facilitating modular or component-based design and assembly.

[0006] The specific technical solution is as follows: A forearm wrist structure based on tendon-driven chords includes a forearm skeleton shell and a cruciate wrist joint component. The forearm skeleton shell includes a small end shell, a large end shell, an upper connecting plate, and a lower connecting plate. The small end shell and the large end shell are respectively located at the two ends of the upper and lower connecting plate, and are respectively located on the upper and lower sides of the small end shell and the large end shell. A drive mounting cavity is formed between the upper and lower connecting plate. At least one left limiting dividing bridge is provided on one side of the upper and lower connecting plate, and at least two right limiting dividing bridges are provided on the other side. A drive mounting port A is provided between the small end shell, the large end shell and all the left limiting dividing bridges, and a drive mounting port B is provided between the small end shell, the large end shell and all the right limiting dividing bridges. The right limiting dividing bridges are aligned with drive mounting port A, and the left limiting dividing bridges are aligned with drive mounting port B. A clamping plate pivot lug assembly is provided on the small end housing portion, and the cross wrist joint component is rotatably mounted on the clamping plate pivot lug assembly. The cross wrist joint component is used to rotatably mount the robot hand. A robot connecting seat is provided on the large end housing portion for connecting the robot body.

[0007] Preferably, the cross wrist joint component includes a joint base, on the side of which a first joint pivot assembly and a second joint pivot assembly are provided. The rotation axes of the first joint pivot assembly and the second joint pivot assembly are perpendicular to each other. A first sector tooth structure and a second sector tooth structure are respectively provided at the upper and lower ends of the joint base. The rotation axes of the first sector tooth structure and the second sector tooth structure coincide with the rotation axes of the first joint pivot assembly and the second joint pivot assembly, respectively. The robot hand and the small end housing are respectively provided with drive mounting slots, and a first rotary drive device and a second rotary drive device are respectively installed in the drive mounting slots. The output ends of the first rotary drive device and the second rotary drive device are respectively provided with a first drive gear structure and a second drive gear structure, and the first drive gear structure and the second drive gear structure mesh with a first sector tooth structure and a second sector tooth structure, respectively.

[0008] Preferably, the first joint pivot assembly consists of two opposing screw shafts A, and the second joint pivot assembly consists of two opposing screw shafts B, wherein both screw shaft A and screw shaft B consist of a threaded portion, a pivot portion, and a nut portion. Two sets of opposing fixing screw holes are provided on the four sides of the joint base, and all fixing screw holes are located on the same plane. The threaded parts of the screw shaft A and screw shaft B respectively mate with the corresponding fixing screw holes. A pivot support structure is provided on both sides of the robot hand, and a clamp pivot support assembly is installed at the end of the forearm skeleton shell. Both the pivot support structure and the clamp pivot support assembly have pivot mounting holes. The pivot parts of screw shaft A and screw shaft B are respectively rotatably installed in the pivot mounting holes of the pivot support structure and the clamp pivot support assembly.

[0009] Preferably, the second drive gear structure consists of a driving gear, a driven gear, a connecting shaft, and an output gear. The driving gear is installed at the output end of the second rotary drive device and meshes with the driven gear. Both the driven gear and the output gear are mounted on the connecting shaft, and the output gear meshes with the second sector gear structure. Preferably, the clamping plate pivot lug assembly consists of two opposing clamping plate pivot lugs, the output gear and the second sector gear structure are both disposed between the two clamping plate pivot lugs, the connecting shaft is rotatably mounted on the two clamping plate pivot lugs, and one end of the connecting shaft passes through one of the clamping plate pivot lugs, with the driven gear disposed on the outside of the clamping plate pivot lug.

[0010] Preferably, a plurality of threading sleeves are provided between the robot hand and the small end housing for controlling the tendon rope to pass through, and the threading sleeves are connected to the corresponding drive mounting port A or drive mounting port B.

[0011] Preferably, the outer contours of the upper connecting long plate, the lower connecting long plate, the left limiting dividing bridge, and the right limiting dividing bridge are all arc-shaped.

[0012] Preferably, the upper side of the upper connecting plate is provided with a mounting groove for mounting the control adapter circuit board.

[0013] The beneficial effects of this utility model are as follows: the drive mounting cavity formed between the upper connecting long plate and the lower connecting long plate, and the drive mounting ports separated on both sides by the left and right limiting dividing bridges, allow the drive motors to be arranged sufficiently closely, occupying less space and allowing for the arrangement of more drive motors. This achieves a high degree of integration of multiple drive motors without increasing the external contour of the forearm component. Furthermore, the cross wrist joint component enables highly flexible movement in both directions of the wrist joint, consistent with the human wrist, and occupies less space. Additionally, a robot connecting seat is provided at the tail end of the forearm skeleton shell, which is conducive to modular or component-based design and assembly. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0015] Figure 2 This is a schematic diagram of the overall structure of this utility model.

[0016] Figure 3This is a schematic diagram of the forearm skeleton shell of this utility model.

[0017] Figure 4 This is a schematic diagram of the cruciate wrist joint component in this utility model.

[0018] Figure 5 This is a schematic diagram of the second drive gear structure in this utility model.

[0019] Figure 6 This is a schematic diagram showing the arrangement of the first joint pivot assembly and the second joint pivot assembly in this utility model.

[0020] In the diagram: 1. Forearm skeleton shell; 2. Cross wrist joint component; 3. Clamping plate pivot lug assembly; 4. Robot connector; 5. Robot hand; 6. Threading sleeve; 7. Mounting groove; 8. Control adapter circuit board. Small end housing 11; Large end housing 12; Upper connecting long plate 13; Lower connecting long plate 14; Left limiting dividing bridge 15; Right limiting dividing bridge 16; Drive mounting port A17; Drive mounting port B18; Joint base 21; first joint pivot assembly 22; second joint pivot assembly 23; first sector tooth structure 24; second sector tooth structure 25; first rotary drive device 26; second rotary drive device 27; first drive gear structure 28; second drive gear structure 29; Screw shaft A221; Screw shaft B231; Fixing screw hole 211; Driven gear 291; driven gear 292; connecting shaft 293; output gear 294. Detailed Implementation

[0021] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the scope of protection of the present invention.

[0022] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0023] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," and "connect" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or a connection through an intermediate medium; or they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances. Example

[0024] like Figures 1 to 6 As shown: A forearm wrist structure based on tendon chord drive includes a forearm skeleton shell 1 and a cruciate wrist joint component 2. The forearm skeleton shell 1 includes a small end shell portion 11, a large end shell portion 12, an upper connecting plate portion 13, and a lower connecting plate portion 14. The small end shell portion 11 and the large end shell portion 12 are respectively located at the two ends of the upper connecting plate portion 13 and the lower connecting plate portion 14, and the upper connecting plate portion 13 and the lower connecting plate portion 14 are located above and below the small end shell portion 11 and the large end shell portion 12, respectively. The outer contours of the upper connecting plate portion 13 and the lower connecting plate portion 14 are inclined. A drive mounting cavity is located between the upper connecting plate portion 13 and the lower connecting plate portion 14. The drive motors for tendon chords are installed side by side in this drive mounting cavity. This arrangement of drive motors is sufficiently compact, occupies less space, and allows for the arrangement of more drive motors. Therefore, multiple drive motors are highly integrated without increasing the outer contour of the forearm component. The height of the drive mounting cavity is generally consistent, and can also be adjusted according to... The drive motors are designed with a gradually varying height. A left limiting dividing bridge 15 is provided on one side of the upper connecting long plate 13 and the lower connecting long plate 14, and two right limiting dividing bridges 16 are provided on the other side. There are drive mounting ports A17 between the small end housing 11, the large end housing 12 and all the left limiting dividing bridges 15, so there are two drive mounting ports A17. There are drive mounting ports B18 between the small end housing 11, the large end housing 12 and all the right limiting dividing bridges 16, so there are three drive mounting ports B18. Therefore, there are a total of 5 drive mounting ports arranged alternately in the drive mounting long cavity, which correspond to the five drive motors for installing the five finger drive tendons. The length of the drive mounting long cavity can be changed to accommodate more or fewer drive motors, but generally fewer drive motors are not set. The purpose of this design of the forearm frame housing 1 is to reasonably arrange more drive motors. Therefore, if the number of drive motors is small, the arrangement can be set arbitrarily, and there is no need to adopt this method.

[0025] Furthermore, the right limiting dividing bridge 16 is aligned with the drive mounting port A17, and the left limiting dividing bridge 15 is aligned with the drive mounting port B18. Therefore, the setting of the left limiting dividing bridge 15 and the right limiting dividing bridge 16 not only reasonably allocates the position of the drive mounting port, allowing the drive motor to be installed in an orderly manner in the drive mounting cavity corresponding to the drive mounting port, and having independent working space, but also the limiting dividing bridge abuts against the tail of the drive motor, limiting its installation depth while stabilizing the motor, making it less likely to loosen during operation. When there are enough drive motors, resulting in a sufficiently long upper connecting plate 13 and a sufficiently long lower connecting plate 14, the left limiting dividing bridge 15 and the right limiting dividing bridge 16 also have a stabilizing effect.

[0026] A clamping plate pivot lug assembly 3 is provided on the small end housing 11. The cross wrist joint component 2 is rotatably mounted on the clamping plate pivot lug assembly 3. The cross wrist joint component 2 is used to rotatably mount the robot hand 5. The cross wrist joint component 2 achieves a high degree of wrist joint flexibility. A robot connecting seat 4 is provided on the large end housing 12 for connecting the robot body. This is conducive to modular or component-based design and assembly. It is also possible to combine the tendon-driven robot hand 5 and the forearm wrist structure as a whole as a separate product. Of course, the premise is that the overall forearm wrist structure is compact enough and occupies a small amount of arm space. Otherwise, if the space occupied by the forearm is too large, it will affect the setting of other joints on the arm.

[0027] The upper connecting long plate 13, the lower connecting long plate 14, the left limiting dividing bridge 15, and the right limiting dividing bridge 16 all have arc-shaped outer contours, giving them the shape of a forearm. Several threading sleeves 6 are provided between the robot hand 5 and the small end housing 11 to control the tendon rope to pass through, so that the movement of the cross wrist joint component 2 does not affect the connection of the tendon rope to the robot hand 5. The threading sleeves 6 are connected to the corresponding drive mounting port A17 or drive mounting port B18. The upper connecting long plate 13 has a mounting groove 7 on its upper side for mounting the control adapter circuit board 8, so that multiple drive motors can be connected to the control adapter circuit board 8 nearby to achieve control operation.

[0028] The aforementioned cross wrist joint component 2 includes a joint base 21. The joint base 21 has a first joint pivot assembly 22 and a second joint pivot assembly 23 on its side. The rotation axes of the first joint pivot assembly 22 and the second joint pivot assembly 23 are perpendicular to each other. A first sector tooth structure 24 and a second sector tooth structure 25 are respectively provided at the upper and lower ends of the joint base 21. The rotation axes of the first sector tooth structure 24 and the second sector tooth structure 25 coincide with the rotation axes of the first joint pivot assembly 22 and the second joint pivot assembly 23, respectively. This arrangement can reduce structural complexity and save structural space.

[0029] Specifically: the first joint pivot assembly 22 consists of two opposing screw shafts A221, and the second joint pivot assembly 23 consists of two opposing screw shafts B231. Both screw shafts A221 and B231 consist of a threaded part, a pivot part, and a nut part. Two sets of opposing fixing screw holes 211 are provided on the four sides of the joint base 21, and all fixing screw holes 211 are located on the same plane. The threaded parts of screw shafts A221 and B231 respectively mate with the corresponding fixing screw holes 211.

[0030] Drive mounting slots are provided in the robot hand 5 and the small end housing 11, respectively. A first rotary drive device 26 and a second rotary drive device 27 are respectively installed in the drive mounting slots. A first drive gear structure 28 and a second drive gear structure 29 are respectively provided at the output ends of the first rotary drive device 26 and the second rotary drive device 27. The first drive gear structure 28 and the second drive gear structure 29 mesh with the first sector tooth structure 24 and the second sector tooth structure 25, respectively.

[0031] Rotary shaft support structures are provided on both sides of the robot hand 5, and a clamping plate rotary shaft support assembly 3 is installed at the end of the forearm skeleton shell 1. Both the rotary shaft support structure and the clamping plate rotary shaft support assembly 3 have rotary shaft mounting holes. The rotary shafts of screw shaft A221 and screw shaft B231 are respectively rotatably installed in the rotary shaft support structure and the clamping plate rotary shaft support assembly 3.

[0032] The second drive gear structure 29 consists of a drive gear 291, a driven gear 292, a connecting shaft 293, and an output gear 294. The drive gear 291 is installed at the output end of the second rotary drive device 27 and meshes with the driven gear 292. The driven gear 292 and the output gear 294 are both mounted on the connecting shaft 293, and the output gear 294 meshes with the second sector tooth structure 25. The clamping plate pivot lug assembly 3 consists of two opposing clamping plate pivot lugs. The output gear 294 and the second sector gear structure 25 are both located between the two clamping plate pivot lugs. The connecting shaft 293 is rotatably mounted on the two clamping plate pivot lugs, and one end of the connecting shaft 293 passes through one of the clamping plate pivot lugs. The driven gear 292 is located on the outside of the clamping plate pivot lug. This makes it easy to conceal the power output of the rotary drive device 47 from the edge to the space between the two clamping plate pivot lugs, thus allowing for the design of a smaller forearm skeleton shell 11 to match a more slender hand. This is often used for the hand of female robot characters, or for the hand of tall male robots. The first drive gear structure 48 is a single gear and can be directly located at the output end of the first rotary drive device 46. Since the palm part 2 is relatively large, it is easy to adjust and set the position of the output end of the first rotary drive device 46.

[0033] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims.

Claims

1. A tendon-string-based small-arm wrist structure, characterized in that: The device includes a forearm frame housing (1) and a cruciate wrist joint component (2). The forearm frame housing (1) includes a small end housing part (11), a large end housing part (12), an upper connecting long plate part (13), and a lower connecting long plate part (14). The small end housing part (11) and the large end housing part (12) are respectively disposed at both ends of the upper connecting long plate part (13) and the lower connecting long plate part (14), and the upper connecting long plate part (13) and the lower connecting long plate part (14) are respectively located on the upper and lower sides of the small end housing part (11) and the large end housing part (12). A drive mounting cavity is located between the upper connecting long plate part (13) and the lower connecting long plate part (14), and the upper connecting long plate part (13) is located on the lower side of the large end housing part (12). At least one left limiting dividing bridge (15) is provided on one side of the connecting long plate part (13) and the lower connecting long plate part (14), and at least two right limiting dividing bridges (16) are provided on the other side. There is a drive mounting port A (17) between the small end housing part (11), the large end housing part (12) and all the left limiting dividing bridges (15), and there is a drive mounting port B (18) between the small end housing part (11), the large end housing part (12) and all the right limiting dividing bridges (16). The right limiting dividing bridges (16) are aligned with the drive mounting port A (17), and the left limiting dividing bridges (15) are aligned with the drive mounting port B (18). A clamping shaft support assembly (3) is provided on the small end housing part (11), and the cross wrist joint component (2) is rotatably mounted on the clamping shaft support assembly (3). The cross wrist joint component (2) is used to rotatably mount the robot hand (5). A robot connecting seat (4) is provided on the large end housing part (12) for connecting the robot body.

2. The forearm and wrist structure based on tendon-chord drive according to claim 1, characterized in that: The cross wrist joint component (2) includes a joint base (21), on which a first joint pivot assembly (22) and a second joint pivot assembly (23) are provided on the side. The rotation axes of the first joint pivot assembly (22) and the second joint pivot assembly (23) are perpendicular to each other. A first sector tooth structure (24) and a second sector tooth structure (25) are respectively provided at the upper and lower ends of the joint base (21). The rotation axes of the first sector tooth structure (24) and the second sector tooth structure (25) coincide with the rotation axes of the first joint pivot assembly (22) and the second joint pivot assembly (23), respectively. Drive mounting slots are provided in the robot hand (5) and the small end housing (11), respectively. A first rotary drive device (26) and a second rotary drive device (27) are installed in the drive mounting slots, respectively. A first drive gear structure (28) and a second drive gear structure (29) are provided at the output ends of the first rotary drive device (26) and the second rotary drive device (27), respectively. The first drive gear structure (28) and the second drive gear structure (29) mesh with the first sector tooth structure (24) and the second sector tooth structure (25), respectively.

3. The forearm and wrist structure based on tendon chord drive according to claim 2, characterized in that: The first joint pivot assembly (22) consists of two opposing screw shafts A (221), and the second joint pivot assembly (23) consists of two opposing screw shafts B (231). Both screw shafts A (221) and B (231) consist of a threaded part, a pivot part and a nut part. Two sets of opposing fixing screw holes (211) are provided on the four sides of the joint base (21), and all fixing screw holes (211) are located on the same plane. The threaded parts of the screw shaft A (221) and screw shaft B (231) respectively mate with the corresponding fixing screw holes (211). A pivot support structure is provided on both sides of the robot hand (5), and a clamp pivot support assembly (3) is installed at the end of the forearm skeleton shell (1). Both the pivot support structure and the clamp pivot support assembly (3) have pivot mounting holes. The pivot parts of the screw shaft A (221) and the screw shaft B (231) are respectively rotatably installed in the pivot mounting holes of the pivot support structure and the clamp pivot support assembly (3).

4. The forearm wrist structure based on tendon chord drive according to claim 2 or 3, characterized in that: The second drive gear structure (29) consists of a drive gear (291), a driven gear (292), a connecting shaft (293), and an output gear (294). The drive gear (291) is installed at the output end of the second rotary drive device (27). The drive gear (291) meshes with the driven gear (292). The driven gear (292) and the output gear (294) are both mounted on the connecting shaft (293). The output gear (294) meshes with the second sector tooth structure (25).

5. The tendon-strap-driven small arm wrist structure according to claim 4, characterized in that: The clamping plate pivot lug assembly (3) consists of two opposing clamping plate pivot lugs. The output gear (294) and the second sector tooth structure (25) are both located between the two clamping plate pivot lugs. The connecting shaft (293) is rotatably mounted on the two clamping plate pivot lugs, and one end of the connecting shaft (293) passes through one of the clamping plate pivot lugs. The driven gear (292) is located on the outside of the clamping plate pivot lug.

6. The tendon-string-based small arm wrist structure according to any one of claims 1-3 or 5, characterized in that: A plurality of threading sleeves (6) are provided between the robot hand (5) and the small end housing (11) for controlling the tendon rope to pass through, and the threading sleeves (6) are connected to the corresponding drive mounting port A (17) or drive mounting port B (18).

7. The forearm and wrist structure based on tendon chord drive according to claim 6, characterized in that: The outer contours of the upper connecting long plate (13), the lower connecting long plate (14), the left limiting dividing bridge (15), and the right limiting dividing bridge (16) are all arc-shaped.

8. The forearm wrist structure based on tendon-chord drive according to any one of claims 1-3, 5 or 7, characterized in that: The upper connecting plate (13) has an installation groove (7) on its upper side for installing the control adapter circuit board (8).

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