A manipulator and a robot

Abstract

The embodiment of the present invention relates to the field of robot technology, and in particular to a manipulator and a robot, wherein the manipulator comprises an arm body; a wrist actuator connected to the arm body; a multi-degree-of-freedom connection device, which is rotationally connected to the wrist actuator; and a gripper connected to the multi-degree-of-freedom connection device, wherein the multi-degree-of-freedom connection device is used to receive power output by the wrist actuator and drive the gripper to rotate. In the above manner, the embodiment of the present invention can realize the use of a wrist actuator to drive the gripper to rotate in two different directions.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of robot technology, and in particular to a manipulator and a robot. Background Art

[0002] The manipulator is the most representative complex component in the humanoid robot system and is the basic component for the humanoid robot to complete grasping operations.

[0003] During the process of implementing the present invention, the inventors of the present invention discovered that a wrist actuator of an existing manipulator can only realize the rotation of the gripper of the manipulator in one direction. If one wants to increase the degree of freedom of the gripper, one must add a corresponding wrist actuator. This will easily make the manipulator more bulky and increase the difficulty of controlling the motion trajectory of the manipulator. Summary of the invention

[0004] In view of the above-mentioned defects of the prior art, the main purpose of the embodiments of the present invention is to provide a manipulator, which can control the gripper of the manipulator to rotate in two unrelated directions through a wrist actuator.

[0005] In order to solve the above technical problems, a technical solution adopted in an embodiment of the present invention is: to provide a robot arm, including an arm body; a wrist actuator connected to the arm body; a multi-degree-of-freedom connection device, rotationally connected to the wrist actuator; a gripper connected to the multi-degree-of-freedom connection device, and the multi-degree-of-freedom connection device is used to receive power output by the wrist actuator and drive the gripper to rotate.

[0006] Optionally, the multi-degree-of-freedom connection device includes a connecting member, a first transmission device, a second transmission device and a bevel gear drive device, and the bevel gear drive device includes a bracket, a first active bevel gear, a second active bevel gear and a first planetary gear; one end of the connecting member is connected to the wrist actuator, and the other end is rotatably connected to the bracket, the first active bevel gear, the second active bevel gear and the first planetary gear are all rotatably connected to the bracket, the first active bevel gear and the second active bevel gear are relatively arranged, the first planetary gear is located between the first active bevel gear and the second active bevel gear, and the first planetary gear is respectively meshed with the first active bevel gear and the second active bevel gear; the first transmission device is respectively connected to the first output shaft and the first active bevel gear of the wrist actuator, and the first output shaft of the wrist actuator is used to drive the first active bevel gear to rotate, the second transmission device is respectively connected to the second output shaft and the second active bevel gear of the wrist actuator, and the second output shaft of the wrist actuator is used to drive the second active bevel gear to rotate, and the gripper is connected to the first planetary gear.

[0007] Optionally, the first transmission device includes a first belt, a first pulley and a second pulley, the first pulley is connected to the first output shaft of the wrist actuator, the second pulley is connected to the first driving bevel gear, and the first belt is sleeved on the first pulley and the second pulley.

[0008] Optionally, the second transmission device includes a second belt, a third pulley and a fourth pulley, the third pulley is connected to the second output shaft of the wrist actuator, the fourth pulley is connected to the second driving bevel gear, and the second belt is sleeved on the third pulley and the fourth pulley.

[0009] Optionally, the multi-degree-of-freedom connection device also includes a second planetary gear; the second planetary gear is rotatably connected to the bracket, the second planetary gear is located between the first active bevel gear and the second active bevel gear, and the second planetary gear is respectively meshed with the first active bevel gear and the second active bevel gear; the gripper is also connected to the second planetary gear.

[0010] Optionally, the gripper includes a gripper body and a U-shaped connecting frame, one end of the gripper body is connected to the U-shaped connecting frame, and the two legs of the U-shaped connecting frame are respectively connected to the first planetary gear and the second planetary gear.

[0011] Optionally, the arm body includes: an arm raising actuator, a side arm actuator, a first connecting frame, an elbow turning actuator, an elbow actuator, a second connecting frame and a wrist turning actuator; the shell of the side arm actuator is connected to the output end of the arm raising actuator, one end of the first connecting frame is connected to the output end of the side arm actuator, the shell of the elbow turning actuator is connected to the other end of the first connecting frame, the shell of the elbow actuator is connected to the output end of the elbow turning actuator, one end of the second connecting frame is connected to the output end of the elbow actuator, the shell of the wrist turning actuator is connected to the other end of the second connecting frame, and the shell of the wrist actuator is connected to the output end of the wrist turning actuator.

[0012] Optionally, the first connecting frame includes a first connecting vertical plate and a second connecting vertical plate, one end of the first connecting vertical plate is connected to the output end of the side boom actuator, one end of the second connecting vertical plate is rotatably connected to the housing of the side boom actuator, and the other ends of the first connecting vertical plate and the second connecting vertical plate are both connected to the housing of the elbow actuator, wherein the first connecting vertical plate and the second connecting vertical plate are arranged side by side.

[0013] Optionally, the first connecting frame further includes a connecting bearing, and one end of the second connecting vertical plate is connected to the housing of the side boom actuator through the connecting bearing.

[0014] Optionally, the first connecting frame further includes a fixing plate, the fixing plate is connected to the elbow actuator, and the other ends of the first connecting vertical plate and the second connecting vertical plate are both connected to the fixing plate.

[0015] Optionally, the second connecting frame includes a third connecting vertical plate and a fourth connecting vertical plate, one end of the third connecting vertical plate is connected to the output end of the elbow actuator, and the other end of the third connecting vertical plate is connected to the shell of the wrist turning actuator, one end of the fourth connecting vertical plate is rotatably connected to the shell of the elbow actuator, and the other end of the fourth connecting vertical plate is connected to the shell of the wrist turning actuator.

[0016] In order to solve the above technical problems, an embodiment of the present invention further provides a robot, comprising the manipulator described above.

[0017] The beneficial effect of the embodiment of the present invention is: different from the prior art, in the embodiment of the present invention, the wrist actuator is connected to the gripper through a multi-degree-of-freedom connection device, and the multi-degree-of-freedom connection device drives the gripper to rotate in multiple different directions through the power output by the wrist actuator, thereby achieving the effect of one wrist actuator controlling the gripper of the manipulator to rotate in multiple different directions, which is conducive to reducing the number of actuators of the manipulator while keeping the degrees of freedom unchanged, thereby making the structure of the manipulator more compact. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the specific embodiments or the prior art description. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, each element or part is not necessarily drawn according to the actual scale.

[0019] Figure 1 is a schematic diagram of an embodiment of a manipulator of the present invention;

[0020] Figure 2 is an exploded view of an embodiment of a manipulator of the present invention;

[0021] Figure 3 It is an exploded view of the arm body in one embodiment of the robot of the present invention;

[0022] Figure 4 Schematic diagram of an arm lifting actuator in a manipulator embodiment of the present invention;

[0023] Figure 5 is a schematic diagram of a first connecting frame in an embodiment of a manipulator of the present invention;

[0024] Figure 6is a schematic diagram of some components in an embodiment of a manipulator of the present invention;

[0025] Figure 7 is an exploded view of a first transmission device and a second transmission device in an embodiment of a manipulator of the present invention;

[0026] Figure 8 is another exploded view of the first transmission device and the second transmission device in an embodiment of a manipulator of the present invention;

[0027] Fig. 9 is a schematic diagram of a multi-degree-of-freedom connection device and a wrist actuator in an embodiment of a manipulator of the present invention;

[0028] Fig.10 It is an exploded view of a middle bevel gear drive device of a robot embodiment of the present invention;

[0029] Fig.11 is a cross-sectional view of a middle bevel gear drive device of a robot embodiment of the present invention;

[0030] Fig.12 It is a structural schematic diagram of a multi-degree-of-freedom connection device in another embodiment of a manipulator of the present invention;

[0031] Fig.13 It is another exploded view of a robot embodiment of the present invention.

[0032] The accompanying drawings of the specific embodiments are as follows:

[0033] Arm body 21 Connecting bearing 2133 The third pulley 2342 Lifting arm actuator 211 Fixed plate 2134 Bevel gear drive 231 Groove 2111 Elbow actuator 214 First driving bevel gear 2312 Side boom actuator 212 Elbow Actuator 215 The second active bevel gear 2313 Boss 2121 Second connecting frame 216 First planetary gear 2314 First connecting frame 213 Wrist Actuator 217 Second planetary gear 2310 First connecting plate 2131 Wrist Actuator 22 U-shaped connecting frame 241 The second connecting plate 2132 First output shaft 221 Gripper 24 Fourth pulley 2343 The third connecting plate 2161 Support 2315 First inner bearing 2316 Second inner bearing 2317 Second transmission device 234 First outer bearing 2319 Second outer bearing 23110 The third outer bearing 23111 Fourth outer bearing 23112 First sink 2311a Second sink 2311b The third sink 2311c Fourth sink 2311d DETAILED DESCRIPTION

[0034] The following embodiments of the technical solution of the present invention are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and are therefore only used as examples, and cannot be used to limit the protection scope of the present invention.

[0035] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in this application should have the common meanings understood by those skilled in the art to which the present invention belongs.

[0036] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0037] In addition, the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the description of the present invention, the meaning of "plurality" is more than two, unless otherwise clearly and specifically defined.

[0038] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0040] See also Figure 1 and Figure 2 The manipulator 20 includes an arm body 21, a wrist actuator 22, a multi-degree-of-freedom connection device 23 and a gripper 24. The multi-degree-of-freedom connection device 23 is connected to the wrist actuator 22 and the gripper 24 respectively, and the arm body 21 is connected to the wrist actuator 22.

[0041] For the above-mentioned arm body 21, Figure 3As shown, the arm body 21 includes an upper arm lifting actuator 211, a side upper arm actuator 212, a first connecting frame 213, an elbow rotating actuator 214, an elbow actuator 215, a second connecting frame 216 and a wrist rotating actuator 217.

[0042] For the above-mentioned arm lifting actuator 211, if Figure 3 and Figure 4 As shown, the output end of the boom lift actuator 211 is provided with a groove 2111. The output end of the boom lift actuator 211 is used to output power. In some embodiments, the boom lift actuator 211 can be an outer rotor actuator, and the output end of the boom lift actuator 211 is a flange, so that the output torque of the boom lift actuator 211 is larger.

[0043] For the above-mentioned side arm actuator 212, continue to refer to Figure 3 The housing of the side boom actuator 212 is provided with a boss 2121, which is inserted into the groove 2111, and the boss 2121 and the groove 2111 are interference fit, so that the side boom actuator 212 is fixed to the output end of the lifting boom actuator 211. When the output end of the lifting boom actuator 211 rotates, the side boom actuator 212 also rotates around the axis of the output end of the lifting boom actuator 211.

[0044] It can be understood that: in other embodiments, the connection method of the side boom actuator 212 to the output end of the lifting boom actuator 211 is not limited to the method described above: for example: the side boom actuator 212 is directly screwed and fixed to the output end of the lifting boom actuator 211.

[0045] For the first connecting frame 213, Figure 3 , Figure 5 and Figure 6As shown, the first connecting frame 213 includes a first connecting plate 2131, a second connecting plate 2132, a connecting bearing 2133 and a fixing plate 2134. One end of the first connecting plate 2131 is screwed to the output end of the side boom actuator 212, and the other end of the first connecting plate 2131 is screwed to the fixing plate 2134, so that the two ends of the first connecting plate 2131 are respectively fixed to the output end of the side boom actuator 212 and the fixing plate 2134. This fixing method is firm and reliable, which is conducive to torque transmission, and also makes disassembly convenient, which is conducive to maintenance and replacement of parts. The inner ring of the connecting bearing 2133 is fixed to the side of the housing of the side boom actuator 212 away from its output end, and the outer ring of the connecting bearing 2133 is fixed to one end of the second connecting plate 2132, so that the second connecting plate 2132 and the housing of the side boom actuator 212 are rotatably connected. The other end of the second connecting plate 2132 is screwed to the fixing plate 2134, and the second connecting plate 2132 is aligned with the first connecting plate 2131, so that the first connecting plate 2131 and the second connecting plate 2132 are arranged side by side. A wiring space is reserved between the first connecting plate 2131 and the second connecting plate 2132 to facilitate wiring, thereby making installation more convenient.

[0046] It is understandable that the rotational connection between the second connecting plate 2132 and the housing of the side arm actuator 212 may also be other connection modes with the same connection effect, such as clearance fit.

[0047] Since one end of the first connecting plate 2131 is fixed to the output end of the side boom actuator 212, the second connecting plate 2132 and the shell of the side boom actuator 212 are rotationally connected. When the output end of the side boom actuator 212 drives the first connecting plate 2131 to rotate, the second connecting plate 2132 acts as a follower and rotates accordingly. At the same time, the fixed plate 2134 will also rotate accordingly because it is fixed to the first connecting plate 2131 and the second connecting plate 2132.

[0048] For the above-mentioned elbow actuator 214, continue to refer to Figure 3 The elbow actuator 214 is connected to the fixing plate 2134, so that the elbow actuator 214 is connected to the first connecting frame 213, and then the elbow actuator 214 and the side arm actuator 212 are connected through the first connecting frame 213. When the output end of the side arm actuator 212 rotates, the elbow actuator 214 will also rotate around the axis of the output end of the side arm actuator 212.

[0049] It is understandable that the other ends of the first connecting plate 2131 and the second connecting plate 2132 can also be directly screwed or fixed to the elbow actuator 214. In addition, the first connecting frame 213 can also be other devices with the same connection effect, which will not be described here one by one.

[0050] For the above-mentioned elbow actuator 215, continue to refer to Figure 3 The shell of the elbow actuator 215 is fixed to the output end of the rotating elbow actuator 214. When the output end of the rotating elbow actuator 214 rotates, the elbow actuator 215 will also rotate around the axis of the output end of the rotating elbow actuator 214.

[0051] For the second connecting frame 216 and the wrist actuator 217, see Figure 3 The second connecting frame 216 includes a third connecting plate 2161 and a fourth connecting plate 2162. One end of the third connecting plate 2161 is fixed to the output end of the elbow actuator 215, and the other end of the third connecting plate 2161 is fixed to the housing of the wrist turning actuator 217. One end of the fourth connecting plate 2162 is rotatably connected to the housing of the elbow actuator 215, and the other end of the fourth connecting plate 2162 is fixed to the housing of the wrist turning actuator 217, so that the wrist turning actuator 217 is connected to the elbow actuator 215 through the second connecting frame 216. When the output end of the elbow actuator 215 rotates, the wrist turning actuator 217 will also rotate around the axis of the output end of the elbow actuator 215.

[0052] In some embodiments, the connection method for rotatably connecting one end of the fourth connecting plate 2162 to the shell of the elbow actuator 215 can be selected as: clearance fit or bearing connection, etc.

[0053] It is understandable that the connection method between the third connecting plate 2161 and the fourth connecting plate 2162 and the wrist turning actuator 217 is not limited to the method described above, and the other end of the third connecting plate 2161 and the other end of the fourth connecting plate 2162 may be fixed to the housing of the wrist turning actuator 217 through a connecting plate. The second connecting frame 216 may also be other devices with the same connection effect, which will not be described in detail here.

[0054] By dividing the arm body 21 into different actuators and connecting frames, and connecting the actuators directly or through connecting plates, a modular design of the manipulator 20 is achieved, which is convenient for the installation, maintenance and replacement of parts of the manipulator 20. Of course, for manipulators 20 of different types or different design requirements, the requirements for the degree of freedom are also different, and accordingly, the number of actuators and connecting frames included in the arm body 21 is also different.

[0055] For the wrist actuator 22, Figure 7 and Figure 8As shown, the wrist actuator 22 includes a first motor (not shown) and a second motor (not shown). The first motor outputs through a first output shaft 221, and the second motor outputs through a second output shaft 222. The first output shaft 221 and the second output shaft 222 can rotate in the same or different directions at the same or different speeds. The housing of the wrist actuator 22 is fixed to the output end of the wrist actuator 217 to achieve the connection between the wrist actuator 22 and the arm body 21, as shown in FIG. Figure 6 When the output end of the wrist-turning actuator 217 rotates, the wrist actuator 22 will also rotate around the axis of the output end of the wrist-turning actuator 217 .

[0056] For the above-mentioned multi-degree-of-freedom connection device 23, Figures 7 to 9 As shown, the multi-degree-of-freedom connection device 23 includes a bevel gear drive device 231 , a connection member 232 , a first transmission device 233 , and a second transmission device 234 .

[0057] For the bevel gear drive device 231, Fig.10 and Fig.11As shown, the bevel gear drive device 231 includes a bracket 2311, a first active bevel gear 2312, a second active bevel gear 2313, a first planetary gear 2314, a support member 2315, a first inner bearing 2316, a second inner bearing 2317, a third inner bearing 2318, a first outer bearing 2319, a second outer bearing 23110, a third outer bearing 23111 and a fourth outer bearing 23112. The bracket 2311 is provided with a first sink groove 2311a, a second sink groove 2311b, a third sink groove 2311c and a fourth sink groove 2311d. The first sink groove 2311a and the second sink groove 2311b are arranged opposite to each other, and the third sink groove 2311c and the fourth sink groove 2311d are arranged opposite to each other, and the third sink groove 2311c is connected to the first sink groove 2311a and the second sink groove 2311b respectively, and the fourth sink groove 2311d is connected to the first sink groove 2311a and the second sink groove 2311b respectively. The first inner bearing 2316 is fixed in the first sink groove 2311a, and one shaft end of the first active bevel gear 2312 is sleeved in the first inner bearing 2316, so as to realize the rotation connection between the first active bevel gear 2312 and the bracket 2311. The first outer bearing 2319 is sleeved outside the other shaft end of the first active bevel gear 2312. The second inner bearing 2317 is fixed in the second groove 2311b, and one axial end of the second active bevel gear 2313 is sleeved in the second inner bearing 2317, so that the second active bevel gear 2313 is rotatably connected to the bracket 2311. The second outer bearing 23110 is sleeved outside the other axial end of the second active bevel gear 2313. The third inner bearing 2318 and the third outer bearing 23111 are both fixed in the third groove 2311c, and the two axial ends of the first planetary gear 2314 are sleeved in the third inner bearing 2318 and the third outer bearing 23111, so that the first planetary gear 2314 is rotatably connected to the bracket 2311.

[0058] When the first active bevel gear 2312, the second active bevel gear 2313 and the first planetary gear 2314 are all rotatably connected to the bracket 2311, the first active bevel gear 2312 and the second active bevel gear 2313 are arranged opposite to each other, the first planetary gear 2314 is located between the first active bevel gear 2312 and the second active bevel gear 2313, and the first planetary gear 2314 is respectively meshed with the first active bevel gear 2312 and the second active bevel gear 2313, so that the first active bevel gear 2312 and the second active bevel gear 2313 can drive the first planetary gear 2314 to rotate. The fourth outer bearing 23112 is fixed in the fourth sink 2311d, and the support member 2315 is sleeved in the fourth outer bearing 23112, so that the support member 2315 is rotatably connected to the bracket 2311. The support member 2315 and the first planetary gear 2314 are both fixed to the gripper. When the first planetary gear 2314 rotates, the first planetary gear 2314 drives the gripper to rotate, and the support member 2315 serves as a driven member and follows the rotation.

[0059] It can be understood that: in other embodiments, the bevel gear drive device 231 may not include the support member 2315 and the fourth outer bearing 23112, and the gripper is directly fixed to the first planetary gear 2314. In addition, the manner in which the first active bevel gear 2312, the second active bevel gear 2313, the first planetary gear 2314 and the support member 2315 are rotatably connected to the bracket 2311 is not limited to the manner described above, and may also be other manners, which will not be described in detail here. The structure of the bracket 2311 may also be other structures with the same load-bearing and connection effects, which will not be described in detail here.

[0060] For the above-mentioned connecting member 232, if Figure 7 As shown, the connecting member 232 includes a first connecting plate 2321 and a second connecting plate 2322, one end of the first connecting plate 2321 is fixed to the housing of the wrist actuator 22, and the other end is fixed to the outer ring of the first outer bearing 2319, one end of the second connecting plate 2322 is fixed to the housing of the wrist actuator, and the other end is fixed to the outer ring of the second outer bearing 23110, thereby achieving one end of the connecting member 232 being fixed to the housing of the wrist actuator, and the other end being rotatably connected to the bevel gear drive device 231.

[0061] It can be understood that the connection method of the connecting member 232 and the bevel gear drive device 231 for rotation is not limited to the method described above, and can also be other methods. For example, the bevel gear drive device 231 does not include the first outer bearing 2319 and the second outer bearing 23110, and a first axial hole (not shown) and a second axial hole (not shown) are set on the bracket 2311. One end of the first connecting plate 2321 is fixed to the wrist actuator 22, and the other end is provided with a first protrusion (not shown), the first protrusion (not shown) is inserted into the first axial hole (not shown), and the first protrusion (not shown) can rotate relative to the first axial hole (not shown), one end of the second connecting plate 2322 is fixed to the wrist actuator 22, and the other end is provided with a second protrusion (not shown), the second protrusion (not shown) is inserted into the second axial hole (not shown), and the second protrusion (not shown) can rotate relative to the second axial hole (not shown). The connecting member 232 may also be other devices having the same connecting effect, which will not be described in detail here.

[0062] For the first transmission device 233, Figure 7 and Figure 8As shown, the first transmission device 233 includes a first belt 2331, a first pulley 2332 and a second pulley 2333. The first pulley 2332 is connected to the first output shaft 221 of the wrist actuator, and the second pulley 2333 is connected to the first active bevel gear 2312. The first belt 2331 is sleeved on the first pulley 2332 and the second pulley 2333. When the first output shaft 221 of the wrist actuator 22 rotates, the first output shaft 221 drives the first pulley 2332 to rotate, the first pulley 2332 drives the second pulley 2333 to rotate through the first belt 2331, and the second pulley 2333 drives the first active bevel gear 2312 to rotate, so that the first transmission device 233 is respectively connected to the first output shaft 221 and the first active bevel gear 2312 of the wrist actuator 22, and the first output shaft 221 of the wrist actuator 22 is used to drive the first active bevel gear 2312 to rotate.

[0063] For the second transmission device 234, see Figure 7 and Figure 8 The second transmission device 234 includes a second belt 2341, a third pulley 2342 and a fourth pulley 2343. The third pulley 2342 is connected to the second output shaft 222 of the wrist actuator 22, and the fourth pulley 2343 is connected to the second active bevel gear 2313. The second belt 2341 is sleeved on the third pulley 2342 and the fourth pulley 2343. When the second output shaft 222 of the wrist actuator 22 rotates, the second output shaft 222 drives the third pulley 2342 to rotate, the third pulley 2342 drives the fourth pulley 2343 to rotate through the second belt, and the fourth pulley 2343 drives the second active bevel gear 2313 to rotate, so that the second transmission device 234 is respectively connected to the second output shaft 222 and the second active bevel gear 2313 of the wrist actuator 22, and the second output shaft 222 of the wrist actuator 22 is used to drive the second active bevel gear 2313 to rotate.

[0064] It is understandable that in other embodiments, the first transmission device 233 and the second transmission device 234 may also be other transmission devices having the same transmission effect, such as gear transmission.

[0065] In order to facilitate readers to understand more easily how the multi-degree-of-freedom connection device 23 drives the gripper 24 to rotate in two directions, the principle of the multi-degree-of-freedom connection device 23 driving the gripper 24 to rotate is described in detail as follows:

[0066] (1) When the speed and direction of the first output shaft 221 and the second output shaft 222 are the same, the speed and direction of the first active bevel gear 2312 and the second active bevel gear 2313 are also the same, and because the first planetary gear 2314 is meshed with the first active bevel gear 2312 and the second active bevel gear 2313, the magnitude and direction of the forces on the tooth surfaces of the first planetary gear 2314 are the same. Therefore, the first planetary gear 2314 cannot rotate on its own, and the first planetary gear 2314 and the bracket 2311 both rotate with the axis of the first active bevel gear 2312 and the second active bevel gear 2313 as the center line, thereby driving the gripper to rotate in the first direction.

[0067] (2) When the first output shaft 221 and the second output shaft 222 rotate at the same speed but rotate in opposite directions, the forces on the tooth surfaces on both sides of the first planetary gear 2314 are of the same magnitude but in opposite directions, that is, the resultant shear force on the radial direction of the first planetary gear 2314 is zero, but there is a force difference between the tooth surfaces on both sides of the first planetary gear 2314. Therefore, the first planetary gear 2314 cannot rotate with the axis of the first active bevel gear 2312 and the second active bevel gear 2313 as the center line, and the first planetary gear 2314 can rotate on its own, thereby driving the gripper to rotate in the second direction. The first direction and the second direction are different.

[0068] (3) When the first output shaft 221 and the second output shaft 222 rotate at different speeds but rotate in the same direction, the directions of the forces on the tooth surfaces on both sides of the first planetary gear 2314 are the same, that is, the resultant force of the shear force on the radial direction of the first planetary gear 2314 is not zero, and there is a force difference between the tooth surfaces on both sides of the first planetary gear 2314. Therefore, the first planetary gear 2314 and the bracket 2311 rotate with the axis of the first active bevel gear 2312 and the second active bevel gear 2313 as the center line, and the first planetary gear 2314 also rotates, thereby driving the gripper to rotate in the first direction and the second direction at the same time. In order to achieve different rotation speeds of the first output shaft 221 and the second output shaft 222 but the same direction, in other embodiments, the first output shaft 221 and the second output shaft 222 can also be driven by the same motor. The multi-degree-of-freedom connection device 23 may include a reduction device, and one end of the first output shaft 221 or the second output shaft 222 may be connected to the reduction device, which can also make the rotation speed of the first output shaft 221 or the second output shaft 222 different, so that the hand grip 24 can rotate in two different directions at the same time.

[0069] In other embodiments, the support member 2315 in the bevel gear drive device 231 may be replaced by the second planetary gear 2310. Fig.12As shown, one shaft end of the second planetary gear 2310 is sleeved in the fourth outer bearing 23112, so that the second planetary gear 2310 is rotatably connected to the bracket 2311. The second planetary gear 2310 is also meshed with the first active bevel gear 2312 and the second active bevel gear 2313 respectively. The gripper is connected to the first planetary gear 2314 and the second planetary gear 2310 respectively. The rotation mode of the second planetary gear 2310 is the same as that of the first planetary gear 2314, which will not be described in detail here.

[0070] It can be understood that: in other embodiments, the number of motors of the wrist actuator 22 can also be 3 or 4, etc. Correspondingly, the wrist actuator 22 can drive the gripper 24 to rotate in 3 or 4 different directions through the multi-degree-of-freedom connection device 23, which will not be repeated here.

[0071] For the above-mentioned gripper 24, if Fig.13 As shown, the gripper 24 includes a U-shaped connecting frame 241, one leg of the U-shaped connecting frame 241 is screwed to an end face of an axis of the first planetary gear 2314, and the other leg of the U-shaped connecting frame 241 is screwed to an end face of an axis of the second planetary gear 2310 or a support member 2315. When the first planetary gear 2314 and the second planetary gear 2310 or only the first planetary gear 2314 rotate, the gripper 24 will also rotate.

[0072] It is understandable that the U-shaped connecting frame 241 may also be other devices having the same connecting effect, which will not be described in detail here.

[0073] Of course, in other embodiments, the manipulator 20 may also include a plurality of multi-degree-of-freedom connection devices 23, further reducing the number of joints of the manipulator 20, reducing the weight of the manipulator 20, and making it more integrated. At the same time, in the motion control of the manipulator 20, the terminal position of the manipulator 20 is jointly determined by the joints in front of it. The more joints in front of the terminal, the more complex the algorithm for planning and controlling the motion trajectory of the manipulator 20. However, with fewer joints, the manipulator 20 also has fewer degrees of freedom, which will reduce its flexibility. The present invention can reduce joints while ensuring its flexibility, thereby reducing the difficulty of planning and controlling the motion trajectory of the manipulator 20.

[0074] In the embodiment of the present invention, the multi-degree-of-freedom connection device 23 is connected to the wrist actuator 22 and the gripper 24 respectively. The multi-degree-of-freedom connection device 23 transmits the power of the wrist actuator 22 to the gripper 24, and enables the gripper 24 to rotate in multiple different directions under the drive of the wrist actuator 22, so as to achieve the effect that one wrist actuator 22 controls the gripper 24 of the manipulator 20 to rotate in multiple different directions, so that the manipulator 20 can reduce the number of actuators while keeping the degrees of freedom unchanged, thereby making the structure of the manipulator 20 more compact and more integrated. In addition, the embodiment of the present invention improves the modularity of the manipulator 20 by dividing the arm body 21 into different actuators and connecting frames, which is convenient for the installation, maintenance and replacement of parts of the manipulator 20.

[0075] The present invention further provides a robot, including a manipulator. The structure and function of the manipulator are consistent with those of the manipulator in the above embodiment. The structure and function of the manipulator can be referred to the above embodiment, and will not be described in detail here.

[0076] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and specification of the present invention. In particular, as long as there is no structural conflict, the various technical features mentioned in each embodiment can be combined in any way. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

Claims

1. A robot, characterized in that: include: Arm body; a wrist actuator connected to the arm body, the wrist actuator comprising a first motor, a second motor, a first output shaft and a second output shaft, the first output shaft is driven by the first motor, the second output shaft is driven by the second motor, and the first output shaft is arranged opposite to the second output shaft; A multi-degree-of-freedom connection device, comprising a connection member, a first transmission device, a second transmission device and a bevel gear drive device, wherein the bevel gear drive device comprises a bracket, a first active bevel gear, a second active bevel gear and a first planetary gear; One end of the connecting member is connected to the wrist actuator, and the other end is rotatably connected to the bracket, the first active bevel gear, the second active bevel gear and the first planetary gear are all rotatably connected to the bracket, the first active bevel gear and the second active bevel gear are arranged opposite to each other, the first planetary gear is located between the first active bevel gear and the second active bevel gear, and the first planetary gear is respectively meshed with the first active bevel gear and the second active bevel gear, and the bracket can rotate with the axes of the first active bevel gear and the second active bevel gear as the center line; The first transmission device is connected to the first output shaft and the first active bevel gear respectively, and the first output shaft is used to drive the first active bevel gear to rotate; the second transmission device is connected to the second output shaft and the second active bevel gear respectively, and the second output shaft is used to drive the second active bevel gear to rotate; A gripper is connected to the first planetary gear, and the first planetary gear is used to drive the gripper to rotate.

2. The robot according to claim 1, characterized in that: The first transmission device includes a first belt, a first pulley and a second pulley, the first pulley is connected to the first output shaft of the wrist actuator, the second pulley is connected to the first active bevel gear, and the first belt is sleeved on the first pulley and the second pulley.

3. The robot according to claim 1, characterized in that: The second transmission device includes a second belt, a third pulley and a fourth pulley, the third pulley is connected to the second output shaft of the wrist actuator, the fourth pulley is connected to the second active bevel gear, and the second belt is sleeved on the third pulley and the fourth pulley.

4. The robot according to claim 1, characterized in that: The multi-degree-of-freedom connection device also includes a second planetary gear; The second planetary gear is rotatably connected to the bracket, the second planetary gear is located between the first driving bevel gear and the second driving bevel gear, and the second planetary gear is meshed with the first driving bevel gear and the second driving bevel gear respectively; The gripper is also connected to the second planetary gear.

5. The robot according to claim 4, characterized in that: The gripper comprises a gripper body and a U-shaped connecting frame, one end of the gripper body is connected to the U-shaped connecting frame, and the two legs of the U-shaped connecting frame are respectively connected to the first planetary gear and the second planetary gear.

6. The robot according to claim 1, characterized in that: The arm body comprises: an arm lifting actuator, a side arm actuator, a first connecting frame, an elbow turning actuator, an elbow actuator, a second connecting frame and a wrist turning actuator; The shell of the side boom actuator is connected to the output end of the boom lifting actuator, one end of the first connecting frame is connected to the output end of the side boom actuator, the shell of the elbow turning actuator is connected to the other end of the first connecting frame, the shell of the elbow actuator is connected to the output end of the elbow turning actuator, one end of the second connecting frame is connected to the output end of the elbow actuator, the shell of the wrist turning actuator is connected to the other end of the second connecting frame, and the shell of the wrist actuator is connected to the output end of the wrist turning actuator.

7. The robot according to claim 6, characterized in that: The first connecting frame includes a first connecting vertical plate and a second connecting vertical plate, one end of the first connecting vertical plate is connected to the output end of the side boom actuator, one end of the second connecting vertical plate is rotatably connected to the shell of the side boom actuator, and the other ends of the first connecting vertical plate and the second connecting vertical plate are both connected to the shell of the elbow actuator, wherein the first connecting vertical plate and the second connecting vertical plate are arranged side by side.

8. The robot according to claim 7, characterized in that: The first connecting frame also includes a connecting bearing, and one end of the second connecting vertical plate is connected to the housing of the side boom actuator through the connecting bearing.

9. The robot according to claim 7, characterized in that: The first connecting frame also includes a fixing plate, which is connected to the elbow actuator, and the other ends of the first connecting vertical plate and the second connecting vertical plate are both connected to the fixing plate.

10. The robot according to claim 6, characterized in that: The second connecting frame includes a third connecting vertical plate and a fourth connecting vertical plate, one end of the third connecting vertical plate is connected to the output end of the elbow actuator, and the other end of the third connecting vertical plate is connected to the shell of the wrist turning actuator, one end of the fourth connecting vertical plate is rotatably connected to the shell of the elbow actuator, and the other end of the fourth connecting vertical plate is connected to the shell of the wrist turning actuator.

11. A robot, characterized in that: A robot comprising the manipulator described in any one of claims 1-10.

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