robotic wrist joints, robotic arms and robots

Abstract

This disclosure provides a mechanical wrist joint, a robotic arm, and a robot, relating to the field of robotics technology. The mechanical wrist joint includes: a fixed member, a connecting member, a first movable member, a second movable member, and a drive assembly; the connecting member is rotatably connected to the fixed member along a first axis, the first movable member is rotatably connected to the connecting member along a second axis, and the second movable member is rotatably connected to the first movable member along a third axis; the drive assembly includes a first driver, a second driver, and a third driver; the first driver is connected to both the fixed member and the connecting member, and is used to drive the connecting member to rotate relative to the fixed member about the first axis; the second driver is connected to both the connecting member and the first movable member, and is used to drive the first movable member to rotate relative to the connecting member about the second axis; the third driver is connected to one of the fixed member and the connecting member, and to the second movable member, and is used to drive the second movable member to rotate relative to the first movable member about the third axis.

Description

Technical Field

[0001] This disclosure relates to the field of robotics, and in particular to a mechanical wrist joint, a robotic arm, and a robot. Background Technology

[0002] As human society's living standards continue to improve, the application of robots is constantly expanding. End-effector load capacity and acceleration are important performance indicators for robots, and the design of the robot's wrist joint has a significant impact on these parameters.

[0003] In related technologies, robot wrists typically use two methods to achieve three degrees of freedom control: series connection of motor modules and parallel connection of motor modules. However, the former method results in a bulky wrist with poor compactness, while the latter method results in poor structural rigidity, low motion accuracy, and poor load capacity. Summary of the Invention

[0004] This disclosure provides a mechanical wrist joint, a robotic arm, and a robot that can solve problems in the design of robot wrists, such as compactness, rigidity, and poor load-bearing capacity.

[0005] The technical solution is as follows:

[0006] On the one hand, a mechanical wrist joint is provided, the mechanical wrist joint comprising: a fixing member, a connecting member, a first movable member, a second movable member, and a drive assembly;

[0007] The connector is rotatably connected to the fixed member along the first axis, the first movable member is rotatably connected to the connector along the second axis, and the second movable member is rotatably connected to the first movable member along the third axis.

[0008] The drive components include a first driver, a second driver, and a third driver;

[0009] The first driver is connected to the fixing member and the connecting member respectively, and is used to drive the connecting member to rotate relative to the fixing member about the first axis;

[0010] The second driver is connected to both the connector and the first movable member, and is used to drive the first movable member to rotate relative to the connector about the second axis;

[0011] The third driver is connected to one of the fixing member and the connecting member, as well as the second movable member, for driving the second movable member to rotate relative to the first movable member about the third axis.

[0012] On the other hand, a robotic arm is provided, the robotic arm including the robotic wrist joint described in this disclosure.

[0013] On the other hand, a robot is provided that includes the mechanical wrist joint described in this disclosure.

[0014] The beneficial effects of the technical solution provided in this disclosure include at least the following:

[0015] The disclosed mechanical wrist joint includes a fixed component, a connecting component, a first movable component, a second movable component, and a drive assembly. The fixed component and the first movable component are rotatably connected to the connecting component, and the second movable component is rotatably connected to the first movable component. A first actuator is used to drive the connecting component to rotate relative to the fixed component, realizing the first degree of freedom control. A second actuator is used to drive the first movable component to rotate relative to the connecting component, realizing the second degree of freedom control. A third actuator is used to drive the second movable component to rotate relative to the first movable component, realizing the third degree of freedom control. This achieves the series connection of the first and second degrees of freedom and the parallel connection of the third degree of freedom. It has a simple structure, strong compactness, and high structural rigidity, which is conducive to achieving high precision and high load of the mechanical wrist joint. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the mechanical wrist joint provided in an embodiment of this disclosure;

[0018] Figure 2 This is a schematic diagram of the spatial positions of the first axis, the second axis, and the third axis provided in the embodiments of this disclosure;

[0019] Figure 3 This is a schematic diagram of the spatial positions of the first axis, the second axis, and the third axis provided in another embodiment of this disclosure;

[0020] Figure 4 This is a schematic diagram of the spatial positions of the first axis, the second axis, and the third axis provided in another embodiment of this disclosure;

[0021] Figure 5 This is an exploded view of the mechanical wrist joint provided in the embodiments of this disclosure;

[0022] Figure 6 This is a structural cross-sectional view of the mechanical wrist joint provided in the embodiments of this disclosure;

[0023] Figure 7 This is a schematic diagram showing the positions of the connector, drive assembly, and universal joint transmission component provided in the embodiments of this disclosure.

[0024] The reference numerals in the figure are respectively:

[0025] 01. First axis; 02. Second axis; 03. Third axis;

[0026] 1. Fixing component; 11. Fixing body; 111. Third clearance part; 12. Second bearing part; 13. Second cantilever part;

[0027] 2. Connector; 21. Connecting body; 211. Second clearance part; 22. First pivot part; 23. Second pivot part;

[0028] 3. First movable component; 31. Movable body; 311. First clearance part; 32. First cantilever part; 33. First bearing part;

[0029] 4. Second moving part; 41. Bearing housing;

[0030] 5. Drive components; 51. First driver; 52. Second driver; 53. Third driver;

[0031] 6. Universal joint drive components;

[0032] 7. Encoder;

[0033] 8. Speed ​​reducer. Detailed Implementation

[0034] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0035] In the disclosed description, the terms “center,” “longitudinal,” “lateral,” “length,” “width,” “thickness,” “upper,” “lower,” “front,” “rear,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” “outer,” “clockwise,” “counterclockwise,” “axial,” “radial,” and “circumferential” indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this disclosure and simplifying the description, and are not intended to 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 disclosure.

[0036] Unless otherwise defined, all technical terms used in the embodiments of this disclosure have the same meaning as commonly understood by one of ordinary skill in the art.

[0037] As human society's living standards continue to improve, the application of robots is constantly expanding. End-effector load capacity and acceleration are important performance indicators for robots, and the design of the robot's wrist joint has a significant impact on these parameters.

[0038] For humanoid robot joints, a compact structural design is required, as well as the ability to meet the corresponding high load, high strength and stiffness, and high precision control requirements.

[0039] In the design of robot wrists in related technologies, most of them adopt a dual-freedom design, which sacrifices some range of motion and posture of the three degrees of freedom of the wrist.

[0040] Another type is designed with three degrees of freedom, which mainly uses two methods to achieve three-degree-of-freedom control of the wrist: series connection of motor modules and parallel connection of motor modules.

[0041] In this design, the motor modules are connected in series, with the first motor driving the second and third motors to achieve one degree of freedom, the second motor driving the third motor to achieve two degrees of freedom, and the third motor achieving three degrees of freedom. This results in a bulky and poorly compact wrist structure for the robot. It also leads to a large weight and moment of inertia in the robot's wrist, making it impossible to achieve high speed, high precision, and high load.

[0042] Parallel solutions typically employ ball joints, Agile eye (a parallel mechanism with three degrees of rotational freedom), 3-SP Sparrallel (a parallel structure with three degrees of freedom), and Omini wrist to achieve complex movements. These solutions generally have poor stiffness, low precision, and are not compact, making it difficult to achieve high-load, high-precision wrist control.

[0043] Therefore, this disclosure provides a mechanical wrist joint that realizes the series connection of the first and second degrees of freedom and the parallel connection of the third degree of freedom. It has a simple structure, strong compactness, and high structural rigidity, which is conducive to achieving high precision and high load of the mechanical wrist joint.

[0044] It should be understood that the mechanical wrist joint provided in this application can be applied to robotic arm and robot scenarios in fields such as cloud technology, artificial intelligence, and smart transportation, enabling human-computer interaction and serving people's daily lives through robotic arms and robots.

[0045] Artificial intelligence (AI) is the theory, methods, technology, and application systems that utilize mathematical or digital computers to simulate, extend, and expand human intelligence, enabling machines to perceive the environment, acquire knowledge, and use that knowledge to achieve optimal results. In other words, AI is a comprehensive technology within computer science that attempts to understand the essence of intelligence and produce new intelligent machines that can react in a way similar to human intelligence. AI studies the design principles and implementation methods of various intelligent machines, enabling them to possess perception, reasoning, and decision-making capabilities.

[0046] Artificial intelligence (AI) is a comprehensive discipline encompassing a wide range of fields, including both hardware and software technologies. Fundamental AI technologies generally include sensors, dedicated AI chips, cloud computing, distributed storage, big data processing, operating / interactive systems, and mechatronics. AI software technologies primarily include computer vision, speech processing, natural language processing, and machine learning / deep learning.

[0047] Understandably, the Intelligent Traffic System (ITS) used in the field of intelligent transportation, also known as the Intelligent Transportation System, effectively integrates advanced science and technology (information technology, computer technology, data communication technology, sensor technology, electronic control technology, automatic control theory, operations research, artificial intelligence, etc.) into transportation, service control, and vehicle manufacturing. It strengthens the connection between vehicles, roads, and users, thereby forming a comprehensive transportation system that ensures safety, improves efficiency, improves the environment, and saves energy.

[0048] To make the objectives, technical solutions, and advantages of this disclosure clearer, the embodiments of this disclosure will be described in further detail below with reference to the accompanying drawings.

[0049] Figure 1 This is a schematic diagram of the mechanical wrist joint provided in an embodiment of this disclosure.

[0050] On the one hand, combined with Figure 1 As shown, this embodiment provides a mechanical wrist joint, which includes: a fixing member 1, a connecting member 2, a first movable member 3, a second movable member 4, and a driving assembly 5.

[0051] Connector 2 is rotatably connected to fixed member 1 along first axis 01, first movable member 3 is rotatably connected to connector 2 along second axis 02, and second movable member 4 is rotatably connected to first movable member 3 along third axis 03.

[0052] The drive assembly 5 includes a first driver 51, a second driver 52, and a third driver 53. The first driver 51 is connected to the fixed member 1 and the connecting member 2 respectively, and is used to drive the connecting member 2 to rotate relative to the fixed member 1 about the first axis O1. The second driver 52 is connected to the connecting member 2 and the first movable member 3 respectively, and is used to drive the first movable member 3 to rotate relative to the connecting member 2 about the second axis O2. The third driver 53 is connected to one of the fixed member 1 and the connecting member 2, as well as the second movable member 4, and is used to drive the second movable member 4 to rotate relative to the first movable member 3 about the third axis O3.

[0053] The mechanical wrist joint of this embodiment includes a fixing member 1, a connecting member 2, a first movable member 3, a second movable member 4, and a drive assembly 5. The fixing member 1 and the first movable member 3 are rotatably connected to the connecting member 2, and the second movable member 4 is rotatably connected to the first movable member 3.

[0054] The first actuator 51 is used to drive the connecting member 2 to rotate relative to the fixed member 1, thereby achieving the first degree of freedom control. The second actuator 52 is used to drive the first movable member 3 to rotate relative to the connecting member 2, thereby achieving the second degree of freedom control. The third actuator 53 is used to drive the second movable member 4 to rotate relative to the first movable member 3, thereby achieving the third degree of freedom control. This achieves the series connection of the first and second degrees of freedom and the parallel connection of the third degree of freedom. It has a simple structure, strong compactness, and high structural rigidity, which is conducive to achieving high precision and high load of the mechanical wrist joint.

[0055] For example, the third actuator 53 is connected to the fixed member 1 and the second movable member 4. For instance, the third actuator 53 is fixedly connected to the fixed member 1 and connected to the second movable member 4 via a transmission mechanism or similar structure. The third actuator 53 uses the transmission mechanism to drive the second movable member 4 to rotate relative to the first movable member 3. The transmission mechanism includes, but is not limited to, a universal joint, etc.

[0056] In another exemplary embodiment, the third actuator 53 is connected to the connector 2 and the second movable member 4. For example, the third actuator 53 is fixedly connected to the connector 2 and directly or indirectly connected to the second movable member 4, and the third actuator 53 directly or indirectly drives the second movable member 4 to rotate relative to the first movable member 3.

[0057] The third driver 53 is directly connected to the second movable member 4. For example, when the third driver 53 is an electric motor, the second movable member 4 is connected to the output shaft of the third driver 53.

[0058] The third drive 53 is indirectly connected to the second movable part 4. For example, the third drive 53 and the second movable part 4 are indirectly connected by a coupling, universal joint or other structure, and the coupling, universal joint or other structure realizes the transmission of power.

[0059] In the description of this disclosure, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this disclosure, "a plurality of" means two or more, unless otherwise explicitly specified.

[0060] Figure 2 This is a schematic diagram of the spatial positions of the first axis 01, the second axis 02, and the third axis 03 provided in the embodiments of this disclosure.

[0061] Combination Figure 2 As shown, in some embodiments, the first axis 01, the second axis 02, and the third axis 03 intersect each other perpendicularly.

[0062] In this embodiment of the mechanical wrist joint, the first axis 01, the second axis 02, and the third axis 03 intersect each other perpendicularly. Specifically, relative to point A, the first axis 01 is perpendicular to the second axis 02, the second axis 02 is perpendicular to the third axis 03, and the second axis is perpendicular to the third axis 03. Therefore, the rotation centers of the three degrees of freedom of this mechanical wrist joint intersect each other, and their centers of gravity coincide, resulting in a compact structure with high rigidity, which is beneficial for achieving high precision and high load capacity in the mechanical wrist joint.

[0063] Figure 3 This is a schematic diagram of the spatial positions of the first axis 01, the second axis 02, and the third axis 03 provided in another embodiment of this disclosure.

[0064] Combination Figure 3 As shown, in some embodiments, the first axis 01 and the second axis 02 are perpendicular to each other and are not in the same plane, and the third axis 03 intersects the first axis 01 and the second axis 02 perpendicularly.

[0065] In this embodiment of the mechanical wrist joint, the first axis 01 and the second axis 02 are perpendicular to each other in opposite planes. The third axis 03 intersects the first axis 01 perpendicularly at point B1 and the second axis 02 perpendicularly at point B2. This allows the mechanical wrist joint to adapt to different application scenarios and to perform more movements.

[0066] For example, the second axis 02 is located between the first axis 01 and the third axis 03. For another example, the second axis 02 is located on the side of the first axis 01 away from the third axis 03.

[0067] Figure 4 This is a schematic diagram of the spatial positions of the first axis 01, the second axis 02, and the third axis 03 provided in another embodiment of this disclosure.

[0068] Combination Figure 4 As shown, in some embodiments, the first axis 01 and the second axis 02 intersect perpendicularly, and the third axis 03 is perpendicular to the first axis 01 and the second axis 02 in opposite planes.

[0069] In this embodiment, the mechanical wrist joint has a first axis 01 and a second axis 02 that intersect perpendicularly at point C1, and a third axis 03 that intersects perpendicularly with the plane defined by the first axis 01 and the second axis 02 at point C2. This allows the mechanical wrist joint to adapt to different application scenarios and to perform more actions.

[0070] Figure 5 This is an exploded view of the mechanical wrist joint provided in the embodiments of this disclosure; Figure 6 This is a structural cross-sectional view of the mechanical wrist joint provided in an embodiment of this disclosure.

[0071] Combination Figure 5 , 6 As shown, in some embodiments, the first movable member 3 includes a movable body 31; the second movable member 4 is located on the side of the movable body 31 away from the connector 2, and the second movable member 4 is connected to the movable body 31 through a bearing seat 41; the movable body 31 is provided with a first clearance portion 311, and the third driver 53 passes through the first clearance portion 311 and is connected to the second movable member 4.

[0072] In this embodiment of the mechanical wrist joint, the second movable member 4 is located on the side of the movable body 31 of the first movable member 3 away from the connecting member 2. The second movable member 4 is rotatably connected to the movable body 31 via a bearing seat 41. The third actuator 53 is located on the side of the movable body 31 facing the connecting member 2, and is connected to the second movable member 4 through the first clearance portion 311 of the movable body 31. The third actuator can drive the second movable member 4 to rotate relative to the movable body 31 around the third axis O3 under the support of the bearing seat 41, thereby realizing the third degree of freedom of the mechanical wrist joint.

[0073] Combination Figure 5 , 6 As shown, in some embodiments, the mechanical wrist joint also includes a universal joint 6 that passes through the first clearance portion 311, and the two ends of the universal joint 6 are respectively connected to the third actuator 53 and the second movable member 4.

[0074] In this embodiment of the mechanical wrist joint, the third actuator 53 is connected to the second movable member 4 via a universal joint 6. The universal joint 6 drives the second movable member 4 to rotate, which ensures that power can still be reliably transmitted even when the included angle and / or distance between the two axes of the third actuator 53 and the second movable member 4 frequently change.

[0075] In some possible implementations, the universal drive component 6 includes a universal joint. A universal joint is used for variable-angle power transmission and can change the position of the drive shaft.

[0076] For example, the universal joint 6 includes, but is not limited to, non-constant velocity universal joints (e.g., cross-type), quasi-constant velocity universal joints (e.g., double universal joints, cam-type universal joints, three-pin universal joints, spherical roller universal joints), and constant velocity universal joints (e.g., ball-fork type constant velocity universal joints, ball-cage type universal joints), etc.

[0077] Figure 7 This is a schematic diagram showing the positions of the connector, drive assembly, and universal joint transmission component provided in the embodiments of this disclosure.

[0078] Combination Figure 7 As shown, in some embodiments, the connector 2 includes a connecting body 21, a first rotating shaft portion 22, and a second rotating shaft portion 23; the first rotating shaft portion 22 is connected to the connecting body 21 along the first axis 01, and the second rotating shaft portion 23 is connected to the connecting body 21 along the second axis 02; the connecting body 21 is provided with a second clearance portion 211, which is used to clearance the third driver 53 or the universal joint drive 6.

[0079] In this embodiment, the mechanical wrist joint includes a connecting body 21, a first rotating shaft 22, and a second rotating shaft 23. The first rotating shaft 22 is used to connect to the fixed member 1 and execute the first rotational degree of freedom of the mechanical wrist joint. The second rotating shaft is used to connect to the first movable member 3 and execute the second rotational degree of freedom of the mechanical wrist joint, thereby realizing a reliable rotational connection between the connecting member 2, the fixed member 1, and the first movable member 3.

[0080] When the third drive 53 is connected to the connector 2, the second clearance part 211 is used to avoid the third drive 53; when the third drive 53 is connected to the fixed part 1 and connected to the second movable part 4 through the universal joint 6, the second clearance part 211 is used to avoid the universal joint 6.

[0081] In some possible implementations, there are two first rotating shafts 22 and two second rotating shafts 23. The two first rotating shafts 22 are located at both ends of the connecting body 21 along the first axis 01, and the two second rotating shafts 23 are located at both ends of the connecting body 21 along the second axis 02.

[0082] Thus, the two first rotating shafts 22 or the two second rotating shafts 23 can provide stable support for the connecting body 21 at two coaxial points, thereby improving the stability of the rotational connection of the connecting body 21.

[0083] Combination Figure 7As shown, in some embodiments, the connecting body 21 is annular, the first pivot portion 22 and the second pivot portion 23 are located on the outside of the connecting body 21, and the second clearance portion 211 is located on the inside of the connecting body 21.

[0084] In some possible implementations, the shape of the connecting body 21 includes, but is not limited to, a disk shape, a square disk shape, a circular ring shape, a square ring shape, a cross shape, etc.

[0085] Optionally, the connecting body 21 is circular or square, and the two first rotating shafts 22 and the two second rotating shafts 23 are arranged in a cross shape on the periphery of the connecting body 21. The cavity in the middle of the connecting body 21 forms the second clearance part 211.

[0086] Combination Figure 5 As shown, in some embodiments, the first movable member 3 further includes a first bearing portion 33; the first bearing portion 33 is connected to the movable body 31 along the second axis 02, and the second rotating shaft portion 23 is rotatably connected to the first bearing portion 33.

[0087] In this embodiment of the mechanical wrist joint, the first movable member 3 includes a first bearing portion 33, which is connected to the movable body 31 along the second axis 02. The first bearing portion 33 can be rotatably connected to the second rotating shaft portion 23 of the connector 2, so as to reliably connect the first movable member 3 and the connector 2.

[0088] Combination Figure 5 As shown, in some embodiments, the first movable member 3 further includes a first cantilever portion 32, which is located on the side of the movable body 31 facing the connector 2; the first bearing portion 33 is located at the end of the first cantilever portion 32.

[0089] In this embodiment of the mechanical wrist joint, the first bearing part 33 is located at the end of the first cantilever part 32, so that the movable body 31 is far away from the second axis 02 and the connecting member 2, thereby expanding the rotation range of the first movable member 3 and realizing its large-range rotation around the second axis 02.

[0090] In some possible implementations, there are two first cantilever sections 32 and two first bearing sections 33. The two first cantilever sections 32 are located at both ends of the movable body 31 along the second axis O2, and the two first bearing sections 33 are located at the ends of the two first cantilever sections 32. The first movable member 3 forms a stable portal structure, wherein the movable body 31 serves as the crossbeam of the portal structure, and the two first cantilever sections 32 serve as the two columns of the portal structure.

[0091] Combination Figure 5As shown, in some embodiments, the fixing member 1 includes a fixing body 11 and a second bearing part 12; the second bearing part 12 is connected to the fixing body 11 along the first axis 01, and the first rotating shaft part 22 is rotatably connected to the second bearing part 12.

[0092] In this embodiment of the mechanical wrist joint, the fixing member 1 includes a fixing body 11 and a second bearing part 12. The second bearing part 12 is connected to the fixing body 11 along the first axis 01. The second bearing part 12 can be rotatably connected to the first rotating shaft part 22 of the connecting member 2, so as to reliably connect the connecting member 2 and the fixing member 1.

[0093] In some possible implementations, the fixed body 11 includes a third clearance portion 111, which is used to avoid the universal joint 6. When the third actuator 53 is located on the side of the fixed body 11 away from the connector 2, the third actuator 53 uses the universal joint 6 to pass through the third clearance portion 111, the second clearance portion 211 and the first clearance portion 311 in sequence to connect with the second movable member 4, thereby driving the second movable member 4 to rotate and realizing the third degree of freedom of the mechanical wrist joint.

[0094] Combination Figure 5 As shown, in some embodiments, the fixing member 1 further includes a second cantilever portion 13, which is located on the side of the fixing body 11 facing the connector 2; the second bearing portion 12 is located at the end of the second cantilever portion 13.

[0095] In this embodiment of the mechanical wrist joint, the second bearing part 12 is located at the end of the second cantilever part 13, so that the movable body 31 is far away from the first axis 01 and the connecting member 2, thereby expanding the rotation range of the connecting member 2 and realizing its large-range rotation around the first axis 01.

[0096] In some possible implementations, there are two second cantilever portions 13 and two second bearing portions 12. The two second cantilever portions 13 are located at both ends of the fixed body 11 along the first axis O1, and the two second bearing portions 12 are located at the ends of the two second cantilever portions 13. The fixing member 1 forms a stable portal structure, wherein the fixed body 11 serves as the crossbeam of the portal structure, and the two second cantilever portions 13 serve as the two columns of the portal structure.

[0097] Thus, the first movable member 3 of the gate and the fixed member 1 of the gate can achieve a relative staggered arrangement of four cantilever parts (two first cantilever parts and two second cantilever parts 13), and the four cantilever parts are respectively connected to the four pivot parts (two first pivot parts 22 and two second pivot parts 23) of the connector 2, forming a universal movable structure.

[0098] Combination Figure 7As shown, in some embodiments, the first driver 51 is located on the first axis 01, the second driver 52 is located on the second axis 02, and the third driver 53 is located on the third axis 03.

[0099] In this embodiment of the mechanical wrist joint, the first driver 51 is located on the first axis 01, the body is connected to the fixing member 1, and the output shaft is connected to the first rotating shaft 22. After the first driver 51 is started, the output shaft rotates, which drives the first rotating shaft 22 to rotate. The first rotating shaft 22 drives the connecting member 2 to rotate around the first axis 01, thereby realizing the first degree of freedom of the mechanical wrist joint.

[0100] The second driver 52 is located on the second axis 02. Its main body is connected to the first movable part 3, and its output shaft is connected to the second rotating shaft 23. After the second driver 52 is started, the output shaft rotates, and the main body drives the first movable part 3 to rotate around the second axis 02, thereby realizing the second degree of freedom of the mechanical wrist joint.

[0101] The third actuator 53 is located on the third axis 03. Its body is connected to the fixed part 1. The output shaft is connected to the second movable part 4 through the universal joint 6. After the third actuator 53 is started, the output shaft drives the second movable part 4 to rotate around the third axis 03 through the universal joint 6, thereby realizing the third degree of freedom of the mechanical wrist joint.

[0102] The universal joint 6 can still transmit the power of the third driver 53 to the second movable member 4 after the second movable member 4 rotates a certain angle around the second axis 02 with the connecting member 2.

[0103] Combination Figure 5 As shown, in some embodiments, the mechanical wrist joint further includes at least one encoder 7, which is used to detect and feedback the rotation parameters of the connector 2, the first movable member 3, or the second movable member 4.

[0104] For example, there are three encoders 7. One of the three encoders 7 is located on the first axis 01 and is used to detect and feed back the rotation parameters of the connector 2 relative to the fixed member 1. Another one is located on the second axis 02 and is used to detect and feed back the rotation parameters of the first movable member 3 relative to the connector 2. The remaining one is located on the third axis 03 and is used to detect and feed back the rotation parameters of the second movable member 4 relative to the first movable member 3.

[0105] Among them, encoder 7 can measure the rotational speed of the mechanical joint shaft. Through photoelectric conversion, it can convert mechanical quantities such as angular displacement and angular velocity of the shaft into corresponding electrical pulses for digital output.

[0106] For example, encoder 7 includes, but is not limited to, voltage output, open collector output, push-pull complementary output, and long-line drive output, etc.

[0107] In another exemplary embodiment, the mechanical wrist joint also includes at least one force sensor for detecting and feeding back mechanical parameters of the connector 2, the first movable member 3, or the second movable member 4.

[0108] Correspondingly, there are three force sensors, which are arranged on the first axis 01, the second axis 02 and the third axis 03 respectively.

[0109] In the robotic wrist joint of this embodiment, an encoder 7 is provided to detect and provide feedback on the rotation angle of the robotic joint in real time, ensuring that the robotic joint rotates to the target position accurately and reliably, thereby improving the working accuracy of the robotic arm.

[0110] Combination Figure 6 As shown, in some embodiments, the mechanical wrist joint also includes a reducer 8 connected between the third actuator 53 and the second moving member 4.

[0111] The reducer 8 is capable of matching speeds and transmitting torque between the third drive 53 and the second movable member 4. Exemplarily, the reducer 8 is located within the bearing housing 41, with its input end connected to the universal joint 6 and its output end connected to the second movable member 4.

[0112] In this article, "several" and "at least one" refer to one or more, while "multiple" and "at least two" refer to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0113] The mechanical wrist joint disclosed herein can realize a first rotational degree of freedom, a second rotational degree of freedom, and a third rotational degree of freedom, exhibiting high flexibility and enabling more complex movements to meet more work needs.

[0114] On the other hand, this embodiment provides a robotic arm, which includes the robotic wrist joint of this disclosure.

[0115] The robotic arm in this embodiment uses the mechanical wrist joint disclosed herein and has all the technical effects of this disclosure.

[0116] On the other hand, this embodiment provides a robot that includes the mechanical wrist joint disclosed herein.

[0117] The robotic arm in this embodiment uses the mechanical wrist joint disclosed herein and has all the technical effects of this disclosure.

[0118] It should be noted that, in the description of this disclosure, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joint" 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 mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0119] In this disclosure, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0120] In the description of this specification, the references to the terms "certain embodiments", "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example", or "some examples" refer to specific features, structures, materials, or characteristics described in connection with the embodiments or examples that are included in at least one embodiment or example of this disclosure.

[0121] The above description is merely an embodiment of this disclosure and is not intended to limit this disclosure. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this disclosure should be included within the protection scope of this disclosure.

Claims

1. A mechanical wrist joint, characterized in that, The mechanical wrist joint includes: a fixing component (1), a connecting component (2), a first movable component (3), a second movable component (4), and a drive assembly (5); The connector (2) is rotatably connected to the fixing member (1) along the first axis (01), the first movable member (3) is rotatably connected to the connector (2) along the second axis (02), and the second movable member (4) is rotatably connected to the first movable member (3) along the third axis (03). The drive assembly (5) includes a first driver (51), a second driver (52), and a third driver (53); The first driver (51) is connected to the fixing member (1) and the connecting member (2) respectively, and is used to drive the connecting member (2) to rotate relative to the fixing member (1) about the first axis (01); The second driver (52) is connected to the connector (2) and the first movable member (3) respectively, and is used to drive the first movable member (3) to rotate relative to the connector (2) about the second axis (02); The third driver (53) is connected to the connector (2) and the second movable member (4) for driving the second movable member (4) to rotate about the third axis (03) relative to the first movable member (3); The connector (2) includes a connecting body (21), a first rotating shaft (22) and a second rotating shaft (23); the first rotating shaft (22) is integrally formed and connected to the connecting body (21) along the first axis (01), and the second rotating shaft (23) is integrally formed and connected to the connecting body (21) along the second axis (02); There are two of each of the first rotating shaft (22) and the second rotating shaft (23). The two first rotating shafts (22) are located at both ends of the connecting body (21) along the first axis (01), and the two second rotating shafts (23) are located at both ends of the connecting body (21) along the second axis (02). The connector (2) has a symmetrical structure along both the first axis (01) and the second axis (02); The connecting body (21) is provided with a second clearance part (211), which is used to avoid the third driver (53); the connecting body (21) is annular, the first rotating shaft part (22) and the second rotating shaft part (23) are located on the outside of the connecting body (21), and the second clearance part (211) is located on the inside of the connecting body (21); The first movable component (3) includes a movable body (31), a first bearing portion (33) and a first cantilever portion (32); the first bearing portion (33) is connected to the movable body (31) along the second axis (02), and the second rotating shaft portion (23) is rotatably connected to the first bearing portion (33); The first cantilever portion (32) is located on the side of the movable body (31) facing the connector (2), and is located on two opposite edges of the movable body (31) along the second axis (02); the first bearing portion (33) is located at the end of the first cantilever portion (32); The fixing member (1) includes a fixing body (11), a second bearing part (12) and a second cantilever part (13); the second bearing part (12) is connected to the fixing body (11) along the first axis (01), and the first rotating shaft part (22) is rotatably connected to the second bearing part (12); The second cantilever portion (13) is located on the side of the fixed body (11) facing the connector (2) and on the two opposite edges of the fixed body (11) along the first axis (01); the second bearing portion (12) is located at the end of the second cantilever portion (13).

2. The mechanical wrist joint according to claim 1, characterized in that, The first axis (01), the second axis (02), and the third axis (03) intersect each other perpendicularly.

3. The mechanical wrist joint according to claim 1, characterized in that, The first axis (01) and the second axis (02) are perpendicular to each other in opposite planes, and the third axis (03) intersects the first axis (01) and the second axis (02) perpendicularly.

4. The mechanical wrist joint according to claim 1, characterized in that, The first axis (01) and the second axis (02) intersect perpendicularly, and the third axis (03) is perpendicular to the first axis (01) and the second axis (02) on opposite planes.

5. The mechanical wrist joint according to claim 1, characterized in that, The movable body (31) is provided with a first clearance part (311), and the third driver (53) passes through the first clearance part (311) and is connected to the second movable member (4).

6. The mechanical wrist joint according to claim 5, characterized in that, The mechanical wrist joint also includes a universal joint (6) that passes through the first clearance part (311) and the two ends of the universal joint (6) are respectively connected to the third driver (53) and the second movable part (4).

7. The mechanical wrist joint according to claim 1, characterized in that, The first driver (51) is located on the first axis (01), the second driver (52) is located on the second axis (02), and the third driver (53) is located on the third axis (03).

8. The mechanical wrist joint according to any one of claims 1 to 7, characterized in that, The mechanical wrist joint also includes at least one encoder (7), which is used to detect and feed back the rotation parameters of the connector (2), the first movable member (3) or the second movable member (4).

9. The mechanical wrist joint according to any one of claims 1 to 7, characterized in that, The mechanical wrist joint also includes a reducer (8) connected between the third driver (53) and the second movable member (4).

10. A robotic arm, characterized in that, The robotic arm includes the robotic wrist joint as described in any one of claims 1 to 9.

11. A robot, characterized in that, The robot includes the mechanical wrist joint according to any one of claims 1 to 9.

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