Robotic wrist, robotic arm and robot

Abstract

The present disclosure provides a mechanical wrist joint, a mechanical arm and a robot, and relates to the field of robot technology. The mechanical wrist joint includes: a base member, a movable member and a first drive assembly; the base member and the movable member are rotatably connected; the first drive assembly includes at least two first drive sources and at least two drive ropes; each of the at least two first drive sources is connected to the movable member through at least one drive rope; the mechanical wrist joint is configured so that at least two first drive sources can apply traction forces in the same direction to the movable member through at least one drive rope, respectively, to drive the movable member to rotate around a first axis. In the mechanical wrist joint disclosed in the present disclosure, at least two first drive sources can simultaneously apply traction forces to the movable member, drive the movable member to rotate, realize the coupled drive of at least two first drive sources to the movable member, and improve the working performance of the movable member such as the torque and rotation speed.

Description

Technical Field

[0001] The present disclosure relates to the technical field of robots, and in particular to a mechanical wrist joint, a mechanical arm and a robot. Background Art

[0002] With the development of robot technology and the expansion of its applicable fields, robots have gradually become irreplaceable tools in the fields of production, services, etc. Among them, articulated robots are based on the bionic design of human arms and are widely used due to their advantages such as flexible movements and compact structure.

[0003] In related technologies, articulated robots usually include shoulder joints, elbow joints and wrist joints. The wrist joints adopt a closed-loop rope drive (Tendon Driven, or wire drive) scheme. However, in this drive scheme, each degree of freedom of the wrist joint corresponds to a drive source. The speed, acceleration and other performance of the wrist joint completely depend on the performance of the drive source, which is not conducive to improving the performance of the wrist joint. Summary of the invention

[0004] The present disclosure provides a mechanical wrist joint, a mechanical arm and a robot, which can solve the problem that the performance of the wrist joint is completely dependent on the performance of a driving source, which is not conducive to performance improvement.

[0005] The technical solution is as follows:

[0006] In one aspect, a mechanical wrist joint is provided, the mechanical wrist joint comprising: a base member, a movable member and a first drive assembly;

[0007] The base member and the movable member are rotatably connected;

[0008] The first drive assembly includes at least two first drive sources and at least two drive ropes;

[0009] Each of the at least two first driving sources is connected to the movable member via at least one driving rope;

[0010] The mechanical wrist joint is configured such that the at least two first driving sources can respectively apply traction forces in the same direction to the movable part through at least one driving rope, thereby driving the movable part to rotate around the first axis.

[0011] On the other hand, a mechanical arm is provided, the mechanical arm comprising: the mechanical wrist joint described in the present disclosure, as well as a mechanical elbow joint and a mechanical shoulder joint;

[0012] The base member is connected to the mechanical elbow joint, and the mechanical elbow joint is connected to the mechanical shoulder joint; the at least two first driving sources are located in at least one of the mechanical elbow joint and the mechanical shoulder joint.

[0013] On the other hand, a robot is provided, comprising the mechanical wrist joint described in the present disclosure.

[0014] The beneficial effects of the technical solution provided by the present disclosure include at least:

[0015] The mechanical wrist joint disclosed in the present invention includes a base member, a movable member and a first drive component, wherein the first drive component includes at least two first drive sources and at least two drive ropes, each of the at least two first drive sources is connected to the movable member via at least one drive rope, and the at least two first drive sources can simultaneously apply traction force to the movable member to drive the movable member to rotate, thereby realizing coupled drive of the at least two first drive sources to the movable member, and improving the working performance of the movable member such as the torque and rotation speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 is a schematic diagram of the structure of a mechanical wrist joint provided by an embodiment of the present disclosure;

[0018] Figure 2 is a schematic diagram of the connection between the movable part and the driving rope provided in the embodiment of the present disclosure;

[0019] Figure 3 is a schematic diagram of the structure of the movable parts provided by the embodiment of the present disclosure;

[0020] Figure 4 It is a schematic diagram of the structure of the connecting frame provided by the embodiment of the present disclosure and its connection with the driving rope;

[0021] Figure 5 is a structural exploded diagram of a mechanical wrist joint provided by an embodiment of the present disclosure;

[0022] Figure 6 It is a schematic diagram of a rope-running method in which at least one of the driving ropes connected to the first rope pulley is wound around the third connecting shaft provided in an embodiment of the present disclosure;

[0023] Figure 7 is a schematic diagram of a rope-running method in which at least one of the driving ropes connected to the first rope pulley is wound around the third connecting shaft, provided by another embodiment of the present disclosure;

[0024] Figure 8 is a schematic structural diagram of a second guide wheel assembly provided in an embodiment of the present disclosure;

[0025] Fig. 9 is a schematic diagram of a rope-walking method of a second guide wheel assembly provided in an embodiment of the present disclosure;

[0026] Fig.10 is a schematic structural diagram of a first guide wheel group provided in an embodiment of the present disclosure;

[0027] Fig.11 is a schematic diagram of the structure of a second drive assembly provided in an embodiment of the present disclosure;

[0028] Fig.12 is a structural schematic diagram of a second driving assembly provided by another embodiment of the present disclosure;

[0029] Fig.13 It is a schematic diagram of the structure of the robotic arm provided in an embodiment of the present disclosure.

[0030] The reference numerals in the figures represent respectively:

[0031] 100, mechanical wrist joint; 200, mechanical elbow joint; 300, mechanical shoulder joint;

[0032] 001, first axis; 002, second axis; 003, first plane;

[0033] 1. Base parts;

[0034] 11. base body; 111. fifth bearing seat; 112. sixth bearing seat; 113. base end plate; 114. third cantilever portion; 115. fourth cantilever portion;

[0035] 12. The third rope sheave; 13. The fourth rope sheave;

[0036] 2. movable part; 201. first position; 202. second position;

[0037] 21. movable body; 211. second bearing seat; 212. fourth bearing seat; 213. movable end plate; 214. first cantilever portion; 215. second cantilever portion;

[0038] 22. first rope pulley; 221. first wheel body; 222. first bearing seat;

[0039] 23. second rope pulley; 231. second wheel body; 232. third bearing seat;

[0040] 24. Rope fixing device;

[0041] 25. Rotating body;

[0042] 3. First drive assembly; 31. First drive source; 32. Drive rope;

[0043] 4. Connecting frame; 41. Main frame body; 411. Hollow portion; 42. First connecting axis; 43. Second connecting axis; 44. Third connecting axis; 45. Fourth connecting axis;

[0044] 46, first guide wheel group; 461, first parallel guide wheel; 462, second parallel guide wheel;

[0045] 47, second guide wheel group; 471, first cross guide wheel; 472, second cross guide wheel;

[0046] 5. Second drive assembly; 51. Second drive source; 52. Transmission assembly;

[0047] 6. Joint encoder. DETAILED DESCRIPTION

[0048] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0049] Unless otherwise defined, all technical terms used in the embodiments of the present disclosure have the same meanings as commonly understood by those of ordinary skill in the art.

[0050] In the related art, an articulated robot generally includes a mechanical shoulder joint, a mechanical elbow joint and a mechanical wrist joint, and the mechanical wrist joint adopts a closed-loop rope drive (Tendon Driven, or wire drive) solution.

[0051] However, in the closed-loop rope drive scheme, each degree of freedom is driven by a driving source (such as a motor) in conjunction with two ropes. The driving source moves forward and reversely, pulling a rope respectively, driving the mechanical wrist joint to move in the corresponding direction.

[0052] Each degree of freedom of the mechanical wrist joint corresponds to a driving source, and its speed, acceleration and other performances are completely dependent on the performance of the driving source, which is not conducive to improving the joint motion performance.

[0053] In addition, a redundant rope drive solution has also appeared in the prior art, that is, a solution using three motors to drive two degrees of freedom. However, this solution is only based on the coordination of multiple drive ropes to enable the mechanical wrist joint to move in the desired direction, angle or position, and cannot improve the movement performance of each degree of freedom.

[0054] Therefore, the present disclosure provides a mechanical wrist joint, in which at least two first driving sources can simultaneously apply traction to the movable part to drive the movable part to rotate, thereby realizing coupled drive of the movable part by at least two first driving sources and improving the working performance of the movable part such as rotational torque and rotation speed.

[0055] It should be understood that the mechanical wrist joint provided in the present application can be applied to robotic arms and robot scenarios in the fields of cloud technology, artificial intelligence, smart transportation, etc., to realize human-computer interaction through robotic arms and robots and serve people's daily lives.

[0056] Artificial intelligence is the theory, method, technology and application system that uses a machine controlled by a mathematical computer or a digital computer to simulate, extend and expand human intelligence, perceive the environment, acquire knowledge and use knowledge to obtain the best results. In other words, artificial intelligence is a comprehensive technology in computer science that attempts to understand the essence of intelligence and produce a new intelligent machine that can respond in a similar way to human intelligence. Artificial intelligence is to study the design principles and implementation methods of various intelligent machines so that machines have the functions of perception, reasoning and decision-making.

[0057] Artificial intelligence is a comprehensive discipline that covers a wide range of fields, including both hardware-level and software-level technologies. The basic technologies of artificial intelligence generally include sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing technology, operation / interaction systems, and mechatronics. Artificial intelligence software technology mainly includes computer vision technology, speech processing technology, natural language processing technology, and machine learning / deep learning.

[0058] It can be understood that the intelligent traffic system (ITS) used in the field of smart transportation, also known as the intelligent transportation system (ITS), 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, strengthens the connection between vehicles, roads and users, and thus forms a comprehensive transportation system that ensures safety, improves efficiency, improves the environment and saves energy.

[0059] In order to make the objectives, technical solutions and advantages of the present disclosure more clear, the embodiments of the present disclosure will be further described in detail below with reference to the accompanying drawings.

[0060] Figure 1 It is a schematic diagram of the structure of the mechanical wrist joint provided in an embodiment of the present disclosure.

[0061] On the one hand, combined with Figure 1 As shown, this embodiment provides a mechanical wrist joint 100, which includes: a base member 1, a movable member 2 and a first driving assembly 3; the base member 1 and the movable member 2 are rotatably connected.

[0062] The first driving assembly 3 includes at least two first driving sources 31 and at least two driving ropes 32 ; each of the at least two first driving sources 31 is connected to the movable part 2 via at least one driving rope 32 .

[0063] At least two first driving sources 31 can apply traction forces in the same direction to the movable member 2 through at least one driving rope 32 respectively, so as to drive the movable member 2 to rotate around the first axis 001 .

[0064] The mechanical wrist joint 100 provided in this embodiment includes a base member 1, a movable member 2 and a first drive component 3. The first drive component 3 includes at least two first drive sources 31 and at least two drive ropes 32. Each of the at least two first drive sources 31 is connected to the movable member 2 through at least one drive rope 32. The at least two first drive sources 31 can simultaneously apply traction to the movable member 2 to drive the movable member 2 to rotate, thereby realizing the coupled drive of the at least two first drive sources 31 to the movable member 2, thereby improving the working performance of the movable member 2 such as the torque and rotation speed.

[0065] The mechanical wrist joint 100 provided in this embodiment adopts a coupled driving mode of at least two first driving sources 31. The first driving source 31 with a larger mass can be far away from the end actuator (such as the movable part 2). Through reasonable arrangement, the inertia of the end actuator is reduced and its dynamic performance is improved.

[0066] At least two first driving sources 31 transmit power through driving ropes 32. The driving ropes 32 are flexibly arranged and occupy less assembly space, which is very suitable for the mechanical wrist joint 100 with a small space and a large number of degrees of freedom.

[0067] In addition, at least two first driving sources 31 transmit power through driving ropes 32, which is consistent with the transmission principle of human tendons, meets the background and requirements of bionic design, and is conducive to designing the mechanical wrist joint 100 to be closer to the human wrist joint, so as to better replace manual labor in various tasks.

[0068] Exemplarily, the number of the first driving sources 31 is, for example, two, three, four, etc. Optionally, the number of the first driving sources 31 is two.

[0069] In another exemplary embodiment, the number of the drive ropes 32 is, for example, two, three, four, etc. Optionally, the number of the drive ropes 32 is two.

[0070] For example, when the number of the first driving sources 31 is two and the number of the driving ropes 32 is two, each first driving source 31 is connected to the movable member 2 via one driving rope 32 .

[0071] For another example, when there are two first driving sources 31 and three driving ropes 32 , one of the first driving sources 31 is connected to the movable part 2 via two driving ropes 32 , and the other first driving source 31 is connected to the movable part 2 via one driving rope 32 .

[0072] For another example, when the number of the first driving sources 31 is two and the number of the driving ropes 32 is four, each of the first driving sources 31 is connected to the movable member 2 via two driving ropes 32 .

[0073] In some possible implementations, the first driving source 31 includes a motor and a driving rope pulley, the motor and the driving rope pulley are connected via a transmission mechanism, and the motor drives the driving rope pulley to rotate via the transmission mechanism.

[0074] The driving rope 32 is wound around the driving rope pulley. When the driving rope pulley rotates, the driving rope 32 can be tightly wound around it, so that traction is generated on the movable part 2 through the driving rope 32.

[0075] In some possible implementations, the transmission mechanism includes but is not limited to a belt transmission mechanism, a gear transmission mechanism, a worm gear transmission mechanism, and the like.

[0076] Exemplarily, the transmission mechanism is a belt drive, for example including a driving pulley, a transmission belt and a passive pulley, wherein the driving pulley is connected to the output shaft of the motor, the passive pulley is connected to the driving rope pulley, and the transmission belt is connected between the driving pulley and the passive pulley.

[0077] In another exemplary embodiment, the transmission mechanism is a belt drive, for example, further comprising a tensioning mechanism, the tensioning mechanism is close to the transmission belt, and the tensioning mechanism can be used to adjust the tension of the transmission belt.

[0078] In some possible implementations, the first drive assembly 3 includes two motors, and the real-time output torques of the two motors are T and m1 and T m2 , the equivalent driving torques of the joints are t 1 and t 2 , and the diameters of all the reels are the same. According to the characteristics of the structure (ignoring the friction of the driving rope, that is, the force of the driving rope is equal everywhere), the relationship between the joint torque and the motor torque can be obtained as follows:

[0079]

[0080] Furthermore, for the driving torque T of each motor m1 and Tm2 , assuming that its maximum output torque limit is:

[0081] max(abs(T m1 ),abs(T m2 ))￡T M (2)

[0082] According to the above formula (1), the maximum output torque of each joint is 2T M That is, through the coupled rope arrangement, the load capacity of a single degree of freedom in the mechanical joint can be increased to a maximum of 2 times.

[0083] The "several" and "at least one" mentioned in this article refer to one or more, and "multiple" and "at least two" refer to two or more. "And / or" describes the association relationship of the associated objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0084] Combination Figure 2 As shown, in some embodiments, each of the at least two first driving sources 31 is connected to the movable member 2 via at least two driving ropes 32 .

[0085] At least one of the at least two driving ropes 32 is connected to the first position 201 of the movable member 2, and at least one of the remaining driving ropes 32 is connected to the second position 202 of the movable member 2. The first position 201 and the second position 202 are located on both sides of the first axis 001, respectively.

[0086] Each of the at least two first driving sources 31 can apply traction forces in opposite directions to the movable member 2 through at least two driving ropes 32 to drive the movable member 2 to rotate in different directions.

[0087] In the mechanical wrist joint 100 of this embodiment, each first driving source 31 is connected to the movable part 2 via at least two driving ropes 32 , and the at least two driving ropes 32 are respectively connected to the first position 201 and the second position 202 of the movable part 2 .

[0088] When the first driving source 31 rotates in a certain direction, a traction force can be applied to one of the two positions through one of the driving ropes 32, thereby forming a torque in a specific direction on the movable member 2, and the movable member 2 can rotate around the first axis 001 under the action of the torque. At this time, the movable member 2 realizes unidirectional movement in a certain degree of freedom.

[0089] When the first driving source 31 rotates in the opposite direction, a traction force is applied to the other of the two positions through another driving rope 32, thereby forming a torque symmetrical to a specific direction on the movable member 2. Under the action of this symmetrical torque, the movable member 2 rotates in the opposite direction around the first axis 001. At this time, the movable member 2 realizes the restoring motion toward this degree of freedom.

[0090] When the first driving source 31 is controlled to rotate alternately in different directions, the movable member 2 can realize the reciprocating motion of the degree of freedom, thereby satisfying the basic motion function of the mechanical wrist joint 100 .

[0091] Combination Figure 1 As shown, in some embodiments, at least two first driving sources 31 are located on a side of the base member 1 away from the movable member 2 , and at least two driving ropes 32 pass through the base member 1 and are connected to the movable member 2 .

[0092] In the mechanical wrist joint 100 of this embodiment, the movable part 2 serves as the end execution structure and needs to reduce its own mass as much as possible, reduce its rotational inertia, and improve dynamic performance. Therefore, at least two first driving sources 31 are arranged on the side of the base part 1 away from the movable part 2, and the driving rope 32 passes through the base part 1 and is connected to the movable part 2. This can reduce the rotational inertia of the movable part 2 and give full play to the advantage of the flexible arrangement of the rope driving scheme.

[0093] Combination Figure 2 As shown, in some embodiments, the movable part 2 includes: a movable body 21, a first rope pulley 22 and a second rope pulley 23; the first rope pulley 22 and the second rope pulley 23 are coaxially arranged along the first axis 001 and are fixedly connected to the movable body 21 respectively; at least one of the at least two first driving sources 31 is connected to the first rope pulley 22 through at least one driving rope 32, and at least one of the remaining first driving sources 31 is connected to the second rope pulley 23 through at least one driving rope 32.

[0094] In the mechanical wrist joint 100 of the present embodiment, the movable part 2 includes a movable body 21, a first rope pulley 22 and a second rope pulley 23, wherein the first rope pulley 22 and the second rope pulley 23 are coaxially arranged and spaced apart along the first axis 001, and are respectively fixedly connected to the movable body 21, and different driving sources are respectively connected to the first rope pulley 22 or the second rope pulley 23 through different driving ropes 32, so that the traction forces of different driving sources can act on the movable part 2 at intervals along the first axis 001, and the torque of the movable part 2 rotating around the first axis 001 is evenly dispersed, thereby preventing the force concentration on the movable part 2 and improving the movement accuracy and stability of the movable part 2.

[0095] In addition, different driving sources are respectively connected to the first rope pulley 22 or the second rope pulley 23 through different driving ropes 32, which reduces the difficulty of arranging multiple driving ropes 32 in the mechanical wrist joint 100 and avoids the potential risk of the driving ropes getting tangled.

[0096] Combination Figure 3 As shown, in some embodiments, the first rope pulley 22 includes a first wheel body 221, a first bearing seat 222 and at least one rope fixing device 24; at least one rope fixing device 24 is located on the first wheel body 221, and is used to fix at least one driving rope 32 to the first wheel body 221; the first bearing seat 222 is located on one axial side of the first wheel body 221, and the first bearing seat 222 is fixedly connected to the first wheel body 221; a second bearing seat 211 is provided at the end of the movable body 21 close to the base member 1, and the second bearing seat 211 is fixedly connected to the first bearing seat 222.

[0097] The mechanical wrist joint 100 of this embodiment is designed with the first rope pulley 22 to meet the requirement that at least two first driving sources 31 are connected to the movable part 2 through the driving ropes 32. The first rope pulley 22 includes a first wheel body 221, a first bearing seat 222 and at least one rope fixing device 24, wherein at least one rope fixing device 24 is used to fix the driving rope 32 to the first rope pulley 22 and the movable part 2.

[0098] The first bearing seat 222 is located on one axial side of the first wheel body 221 and is fixedly connected to the first wheel body 221. The first bearing seat 222 can provide rotational support for the first wheel body 221, and after the first wheel body 221 is pulled by the driving rope 32, it can drive the first bearing seat 222 to move as a whole.

[0099] A second bearing seat 211 is provided at the end of the movable body 21 close to the base member 1. The second bearing seat 211 is fixedly connected to the first bearing seat 222 to form a complete bearing seat. This structure can not only provide support for the movable part 2 to rotate stably around the first axis 001, but also fix the first wheel body 221 and the movable body 21 as a whole, ensuring that after the first wheel body 221 is pulled by the driving rope, it can drive the entire movable body 21 to rotate synchronously and stably.

[0100] Combination Figure 3As shown, in some embodiments, the second pulley 23 includes a second wheel body 231, a third bearing seat 232 and at least one rope fixing device 24; at least one rope fixing device 24 is located on the second wheel body 231, and is used to fix at least one drive rope 32 to the second wheel body 231; the third bearing seat 232 is located on one axial side of the second wheel body 231, and the third bearing seat 232 is fixedly connected to the second wheel body 231; a fourth bearing seat 212 is provided at the end of the movable body 21 close to the base member 1, and the fourth bearing seat 212 is fixedly connected to the third bearing seat 232.

[0101] It can be understood that the mechanical wrist joint 100 of the present disclosure may include only at least one of the first rope wheel 22 or the second rope wheel 23, that is, it may include only the first rope wheel 22, it may include only the second rope wheel 23, or it may include both the first rope wheel 22 and the second rope wheel 23. When the mechanical wrist joint 100 of the present disclosure includes only one of the first rope wheel 22 or the second rope wheel 23, the driving rope 32 that is not connected to the first rope wheel 22 or the second rope wheel 23 can be connected to the movable part 2 by conventional methods in the art.

[0102] In some possible implementations, the shape of at least one rope fixing device 24 matches the shape of the circumference of the first wheel body 221 or the second wheel body 231 for winding the rope. The at least one rope fixing device 24 can be attached to the circumference of the first wheel body 221 or the second wheel body 231. The driving rope 32 is clamped between one of the rope fixing devices 24 and the circumference of the first wheel body 221 or the second wheel body 231, thereby achieving a fixed connection with the first rope wheel 22 or the second rope wheel 23, and the movable part 2.

[0103] Exemplarily, the rope fixing device 24 is fixed to the circumference of the first wheel body 221 or the second wheel body 231 by tightening screws.

[0104] Exemplarily, the number of the rope fixing devices 24 is, for example, 1, and may also be, for example, 2, 3, 4, etc. Optionally, the number of the rope fixing devices 24 is equal to the number of the driving ropes 32 connected to the first rope wheel 22 or the second rope wheel 23. Preferably, the number of the rope fixing devices 24 is 2.

[0105] Combination Figure 3 As shown, in some embodiments, the movable body 21 includes: a movable end plate portion 213 , a first cantilever portion 214 and a second cantilever portion 215 .

[0106] The first cantilever portion 214 and the second cantilever portion 215 extend toward the base member 1 along two opposite sides of the movable end plate portion 213 respectively; the end of the first cantilever portion 214 is connected to the second bearing seat 211 , and the end of the second cantilever portion 215 is connected to the fourth bearing seat 212 .

[0107] In the mechanical wrist joint 100 of this embodiment, the movable body 21 is composed of three parts: a movable end plate portion 213, a first cantilever portion 214 and a second cantilever portion 215, forming a stable gate-type structure, wherein the movable end plate portion 213 serves as a crossbeam of the gate-type structure, and the first cantilever portion 214 and the second cantilever portion 215 serve as two vertical beams of the gate-type structure.

[0108] The second bearing seat 211 and the fourth bearing seat 212 are respectively located at the ends of the first cantilever portion 214 and the second cantilever portion 215, so that the movable end plate portion 213 is farther away from the first axis 001 and the base member 1, thereby expanding the rotation range of the movable member 2 and realizing a large range of rotation around the first axis 001.

[0109] In addition, the cantilevered rotating structure is helpful to reduce the overall mass of the movable part 2, thereby reducing the rotational inertia of the movable part 2 and improving its movement performance.

[0110] In some possible implementations, the movable end plate 213 is used to connect the end effector. The movable end plate 213 can drive the end effector to rotate around the first axis 001 to achieve the movement of the first degree of freedom. Under the drive of at least two first drive sources 31, the operating performance of the movable end plate 213 is better than the existing conventional technology.

[0111] Exemplarily, the end effector includes but is not limited to a mechanical gripper, a simulated manipulator, a tool quick changer, a rotary connector, and the like.

[0112] Combination Figure 1 As shown, in some embodiments, the mechanical wrist joint 100 also includes: a connecting frame 4; the movable part 2 and the connecting frame 4 are rotationally connected along the first axis 001, and the connecting frame 4 and the base part 1 are rotationally connected along the second axis 002; at least two driving ropes 32 connected to the movable part 2 are respectively wrapped around the base part 1.

[0113] The mechanical wrist joint 100 is configured so that the movable part 2 can rotate around the first axis 001 under the traction of at least two driving ropes 32, thereby realizing the first rotational degree of freedom of the mechanical wrist joint 100; the connecting frame 4 and the movable part 2 can rotate around the second axis 002 under the traction of at least two driving ropes 32, thereby realizing the second rotational degree of freedom of the mechanical wrist joint 100.

[0114] The mechanical wrist joint 100 of this embodiment also includes a connecting frame 4, and the movable part 2 and the base part 1 are rotatably connected to the connecting frame 4 along different axes respectively. The movable part 2 rotates around the first axis 001 under the traction of the driving rope 32, thereby realizing the first rotational freedom of the mechanical wrist joint 100, and the connecting frame 4 and the movable part 2 rotate around the second axis 002 as a whole under the traction of the driving rope 32, thereby realizing the second rotational freedom of the mechanical wrist joint 100.

[0115] In the mechanical wrist joint 100 of this embodiment, the coupled drive of two rotational degrees of freedom can be achieved through the same set of driving components (for example, including at least two first driving sources 31 and at least two driving ropes 32).

[0116] On the one hand, compared with related technologies, it can save a set of drive components, which is conducive to controlling product costs, reducing the product's rotational inertia, and improving motion performance.

[0117] On the other hand, it can give full play to the potential of a single set of drive components, improve the utilization rate of the drive components, simplify the structure of the product, and improve the production and assembly efficiency of the product.

[0118] In some possible implementations, the first axis 001 and the second axis 002 intersect vertically. Thus, the connecting frame 4 can realize the function of a cross connector, rotatably connecting the movable member 2 and the base member 1 together, and the movable member 2 can realize universal movement.

[0119] Combination Figure 4 As shown, in some embodiments, the connecting frame 4 includes: a main frame body 41, a first connecting axis 42, a second connecting axis 43, a third connecting axis 44 and a fourth connecting axis 45.

[0120] The first connecting shaft 42, the second connecting shaft 43, the third connecting shaft 44 and the fourth connecting shaft 45 are arranged in a cross shape on the peripheral side of the main frame body 41, the first connecting shaft 42 and the second connecting shaft 43 coincide with the first axis 001, and the third connecting shaft 44 and the fourth connecting shaft 45 coincide with the second axis 002.

[0121] The movable member 2 is rotatably connected to the first connecting shaft 42 and the second connecting shaft 43 , and the base member 1 is rotatably connected to the third connecting shaft 44 and the fourth connecting shaft 45 .

[0122] In the mechanical wrist joint 100 of this embodiment, the connecting frame 4 includes a main frame body 41, and a first connecting shaft 42, a second connecting shaft 43, a third connecting shaft 44 and a fourth connecting shaft 45 arranged in a cross shape on the peripheral side of the main frame body 41. The first connecting shaft 42 and the second connecting shaft 43 coincide with the first axis 001 and are used for the rotational connection between the main frame body 41 and the movable part 2, and the third connecting shaft 44 and the fourth connecting shaft 45 coincide with the second axis 002 and are used for the rotational connection between the main frame body 41 and the base part 1.

[0123] In some possible implementations, the shape of the main frame 41 includes but is not limited to a disc, a square disc, a circular ring, a square ring, a cross, etc.

[0124] Optionally, the main frame body 41 is in a circular ring shape or a square ring shape, and the first connecting shaft 42 , the second connecting shaft 43 , the third connecting shaft 44 and the fourth connecting shaft 45 are arranged on the circumference of the main frame body 41 in a cross shape.

[0125] Combination Figure 4 As shown, in some embodiments, the movable member 2 includes: a first rope wheel 22 and a second rope wheel 23; the first rope wheel 22 is rotatably connected to the first connecting shaft 42, and the second rope wheel 23 is rotatably connected to the second connecting shaft 43.

[0126] At least one of the driving ropes 32 connected to the first rope wheel 22 is wound around the third connecting shaft 44 , and at least one of the driving ropes 32 connected to the second rope wheel 23 is wound around the fourth connecting shaft 45 .

[0127] In the mechanical wrist joint 100 of the present embodiment, in order to use a set of driving components (for example, including at least two first driving sources 31 and at least two driving ropes 32) to realize the coupled drive of two rotational degrees of freedom, at least one of the driving ropes 32 connected to the first pulley 22 is wound around the third connecting shaft 44, and at least one of the driving ropes 32 connected to the second pulley 23 is wound around the fourth connecting shaft 45, so that the driving component of the mechanical wrist joint 100 can transmit traction force to the main frame body 41 through the at least two driving ropes 32, drive the main frame body 41 to rotate around the second axis 002, and realize the second rotational degree of freedom of the connecting frame 4 and the movable part 2 as a whole relative to the base part 1.

[0128] Combination Figure 5 , 4 As shown, in some embodiments, the base member 1 includes a base body 11, a third rope wheel 12 and a fourth rope wheel 13; the third rope wheel 12 and the third connecting shaft 44 are rotationally connected, and the fourth rope wheel 13 and the fourth connecting shaft 45 are rotationally connected.

[0129] At least one of the drive ropes 32 connected to the first rope wheel 22 is wound around the third rope wheel 12 , and at least one of the drive ropes 32 connected to the second rope wheel 23 is wound around the fourth rope wheel 13 .

[0130] A fifth bearing seat 111 and a sixth bearing seat 112 are provided at the end of the base body 11 facing the movable part 2 ; the fifth bearing seat 111 supports the third connecting shaft 44 ; the sixth bearing seat 112 supports the fourth connecting shaft 45 .

[0131] In the mechanical wrist joint 100 of this embodiment, the base member 1 includes a base body 11, a third pulley 12 and a fourth pulley 13. The third pulley 12 is rotatably connected to the third connecting shaft 44, and the fourth pulley 13 is rotatably connected to the fourth connecting shaft 45. At least one of the driving ropes 32 connected to the first pulley 22 is wound around the third pulley 12, so that the at least one driving rope 32 can be used to transmit traction between the first pulley 22 and the third pulley 12, driving the main frame body 41 to drive the movable part 2 to rotate around the second axis 002, thereby realizing the second rotational freedom.

[0132] In some possible implementations, reference Figure 6 As shown, the two ends of the driving rope 32 between the first rope wheel 22 and the third rope wheel 12 are respectively connected to the lower end of the first rope wheel 22 and the upper end of the third rope wheel 12. When the driving rope 32 is pulled, the traction force F along the driving rope 32 can be decomposed into a component force F1 perpendicular to the axis of the first rope wheel 22 (i.e., the first axis 001) and a component force F2 perpendicular to the axis of the third rope wheel 12 (i.e., the second axis 002). According to the force analysis, the first rope wheel 22 will have a tendency to rotate upward around the axis of the third rope wheel 12 due to the action of the component force F1.

[0133] Correspondingly, if the two ends of the driving rope 32 are respectively connected to the upper end of the first rope wheel 22 and the lower end of the third rope wheel 12, the second rope wheel 23 can generate a tendency to rotate downward around the axis of the third rope wheel 12.

[0134] When the first rope pulley 22 is connected to the first rotating shaft of the connecting frame 4 , under the action of the component force F1 , the first rope pulley 22 can drive the connecting frame 4 and the movable member 2 to rotate as a whole, thereby realizing the second rotational freedom of the mechanical wrist joint 100 .

[0135] In some other possible implementations, refer to Figure 7 As shown, the diameter of the first rope wheel 22 is larger than that of the third rope wheel 12, and the two ends of the driving rope 32 are respectively connected to the upper end of the first rope wheel 22 and the upper end of the third rope wheel 12. When the driving rope 32 is pulled, the traction force F along the driving rope 32 can be decomposed into a component force F1 perpendicular to the axis of the first rope wheel 22 (i.e., the first axis 001) and a component force F2 perpendicular to the axis of the third rope wheel 12 (i.e., the second axis 002). According to the force analysis, the first rope wheel 22 will have a tendency to rotate downward around the axis of the third rope wheel 12 due to the action of the component force F1.

[0136] Correspondingly, if the two ends of the driving rope 32 are respectively connected to the lower end of the first rope wheel 22 and the lower end of the third rope wheel 12, the first rope wheel 22 can generate a tendency to rotate upward around the axis of the third rope wheel 12.

[0137] Combination Figure 5 As shown, in some embodiments, the base body 11 includes: a base end plate portion 113, a third cantilever portion 114 and a fourth cantilever portion 115; the third cantilever portion 114 and the fourth cantilever portion 115 respectively extend toward the movable part 2 along two opposite sides of the base end plate portion 113; the end of the third cantilever portion 114 is connected to the fifth bearing seat 111, and the end of the fourth cantilever portion 115 is connected to the sixth bearing seat 112.

[0138] In the mechanical wrist joint 100 of the present embodiment, the base body 11 is composed of three parts: a base end plate portion 113, a third cantilever portion 114 and a fourth cantilever portion 115, forming a stable gate-type structure, wherein the base end plate portion 113 serves as a horizontal beam of the gate-type structure, and the third cantilever portion 114 and the fourth cantilever portion 115 serve as two vertical beams of the gate-type structure.

[0139] The fifth bearing seat 111 and the sixth bearing seat 112 are respectively located at the ends of the third cantilever portion 114 and the fourth cantilever portion 115, so that the base end plate portion 113 is farther away from the second axis 002, the connecting frame 4, and the movable part 2, thereby expanding the rotation range of the connecting frame 4 and the movable part 2 and realizing a large range of rotation of the connecting frame 4 and the movable part 2 around the second axis 002.

[0140] Combination Figure 5 , 4 As shown, in some embodiments, the first cantilever portion 214 corresponds to the first connecting shaft 42, the second cantilever portion 215 corresponds to the second connecting shaft 43, the third cantilever portion 114 corresponds to the third connecting shaft 44, and the fourth cantilever portion 115 corresponds to the fourth connecting shaft 45. Thus, the door-shaped movable member 2 and the door-shaped base member 1 can be realized, the four cantilever portions are opposite and staggered, and the four cantilever ends are respectively connected to the four connecting shafts of the connecting frame 4, forming a universal movable structure.

[0141] Combination Figure 4 As shown, in some embodiments, the connecting frame 4 further includes: a first guide wheel group 46 and a second guide wheel group 47; the first guide wheel group 46 and the second guide wheel group 47 are respectively connected to the main frame body 41.

[0142] The first guide wheel group 46 is located between the first rope wheel 22 and the third rope wheel 12, and is used to guide at least one of the drive ropes 32 connected to the first rope wheel 22 to the third rope wheel 12; the second guide wheel group 47 is located between the second rope wheel 23 and the fourth rope wheel 13, and is used to guide at least one of the drive ropes 32 connected to the second rope wheel 23 to the fourth rope wheel 13.

[0143] In the mechanical wrist joint 100 of the present embodiment, in order to realize rope winding between different rope wheels, a first guide wheel group 46 and a second guide wheel group 47 are arranged on the connecting frame 4, wherein the first guide wheel group 46 is used between the first rope wheel 22 and the third rope wheel 12, and is used to guide the driving rope 32 connected to the first rope wheel 22 to the third rope wheel 12; the second guide wheel group 47 is located between the second rope wheel 23 and the fourth rope wheel 13, and is used to guide the driving rope 32 connected to the second rope wheel 23 to the fourth rope wheel 13.

[0144] Thus, the first rope wheel 22 and the third rope wheel 12 are coupled by the driving rope 32, and the second rope wheel 23 and the fourth rope wheel 13 are coupled. At the same time, when the driving rope 32 is wound around the first guide wheel group 46 and the second guide wheel group 47, the traction force of the driving rope 32 can also be used to drive the connecting frame 4 to move.

[0145] Combination Figure 8 , 9 As shown, in some embodiments, the maximum vertical distance H from the second guide wheel group 47 to the first plane 003 is greater than the radius R of the fourth rope pulley 13; wherein the first plane 003 is a plane passing through the second axis 002 and parallel to the first axis 001.

[0146] Therefore, due to the height difference between the fourth rope wheel 13 and the second guide wheel group 47, when the driving rope 32 passing through the fourth rope wheel 13 and the second guide wheel group 47 is pulled at the same time, the traction force F along the driving rope 32 can be decomposed into a force component F1 perpendicular to the axis of the fourth rope wheel 13 (i.e., the first axis 001) and a force component F2 perpendicular to the axis of the second guide wheel group 47. According to the force analysis, the second guide wheel group 47 will have a tendency to rotate downward around the axis of the third rope wheel 12 due to the action of the force component F1.

[0147] The second guide wheel group 47 is fixedly connected to the connecting frame 4. Therefore, when the second guide wheel group 47 generates a corresponding rotation trend, it can drive the connecting frame 4 to rotate, and then drive the movable part 2 to realize the second rotational freedom of the mechanical wrist joint 100.

[0148] refer to Fig. 9 In the routing method shown, one end of the driving rope 32 between the second rope wheel 23 and the fourth rope wheel 13 is connected to the upper end of the second rope wheel 23, and the other end is connected to the upper end of the fourth rope wheel 13 after passing around the upper end of the second guide wheel group 47, thereby utilizing the characteristic that the second guide wheel group 47 is higher than the upper end of the fourth rope wheel 13, so that the second guide wheel group 47 has a tendency to rotate downward around the second axis 002.

[0149] Figure 8 In the routing method shown in the figure, one end of the driving rope 32 between the second rope wheel 23 and the fourth rope wheel 13 is connected to the upper end of the second rope wheel 23, and the other end is connected to the lower end of the fourth rope wheel 13 after passing through the upper end of the second wheel group. As a result, due to the larger inclination angle of the driving rope 32 between the second guide wheel group 47 and the fourth rope wheel 13, the second guide wheel group 47 can obtain a larger component force F1, and its tendency to rotate downward around the second axis 002 is also greater, which can reduce the difficulty of the driving rope 32 to drive the connecting frame 4 to rotate and reduce the threshold of traction, so that the first driving source 31 with smaller power can be used to reduce the cost of the product.

[0150] Combination Fig.10As shown, in some embodiments, the first guide wheel group 46 includes: a first parallel guide wheel 461 and a second parallel guide wheel 462; the first parallel guide wheel 461 is located on the side of the main frame 41 facing the movable part 2, and the second parallel guide wheel 462 is located on the side of the main frame 41 facing the base part 1.

[0151] The first parallel guide wheel 461 is used to guide at least one drive rope 32 from the upper edge of the first rope wheel 22 facing the movable part 2 to the upper edge of the third rope wheel 12 facing the movable part 2; the second parallel guide wheel 462 is used to guide at least one drive rope 32 from the lower edge of the first rope wheel 22 facing the base part 1 to the lower edge of the third rope wheel 12 facing the base part 1.

[0152] In the mechanical wrist joint 100 of the present embodiment, the first guide wheel group 46 includes a first parallel guide wheel 461 and a second parallel guide wheel 462, which are respectively used for parallel rope guiding between the first rope wheel 22 and the third rope wheel 12, so that the two driving ropes 32 between the two rope wheels can be connected symmetrically and evenly up and down. The traction forces transmitted by the two driving ropes 32 are in parallel directions and the force application points are symmetrical, thereby ensuring the accuracy and stability of the movement of the mechanical wrist joint 100.

[0153] Combination Figure 8 As shown, in some embodiments, the second guide wheel group 47 includes: a first cross guide wheel 471 and a second cross guide wheel 472; the first cross guide wheel 471 is located on the side of the main frame 41 facing the movable part 2, and the second cross guide wheel 472 is located on the side of the main frame 41 facing the base part 1.

[0154] The first cross guide wheel 471 is used to guide at least one drive rope 32 from the upper edge of the second rope wheel 23 facing the movable part 2 to the lower edge of the fourth rope wheel 13 facing the base part 1; the second cross guide wheel 472 is used to guide at least one drive rope 32 from the lower edge of the second rope wheel 23 facing the base part 1 to the upper edge of the fourth rope wheel 13 facing the movable part 2.

[0155] In the mechanical wrist joint 100 of the present embodiment, the second guide wheel group 47 includes a first cross guide wheel 471 and a second cross guide wheel 472, which can realize the cross guide rope between the second rope wheel 23 and the fourth rope wheel 13, so that the two driving ropes 32 can generate a larger component force at the first cross guide wheel 471 or the second cross guide wheel 472 respectively, thereby driving the connecting frame 4 to drive the movable part 2 to realize the second rotational freedom of the mechanical wrist joint 100.

[0156] Combination Fig.11 , 12As shown, in some embodiments, the mechanical wrist joint 100 also includes a second driving component 5, and the movable part 2 includes a rotating body 25; the second driving component 5 is connected to the rotating body 25, driving the rotating body 25 to rotate relative to the movable part 2 to achieve a third rotational degree of freedom.

[0157] The mechanical wrist joint 100 of this embodiment further includes a second driving component 5 , which includes a rotating body 25 . The rotating body 25 can rotate around the movable part 2 under the drive of the second driving component 5 to achieve a third rotational degree of freedom of the mechanical wrist joint 100 .

[0158] Therefore, the mechanical wrist joint 100 of this embodiment can realize the first rotational degree of freedom, the second rotational degree of freedom, and the third rotational degree of freedom, has a high degree of flexibility, can realize more complex movements, and meet more work needs.

[0159] Combination Fig.11 As shown, in some embodiments, the second driving assembly 5 includes: a second driving source 51 and a transmission assembly 52; the second driving source 51 is located on the side of the base member 1 away from the movable member 2, one end of the transmission assembly 52 is connected to the second driving source 51, and the other end passes through the base member 1 and the connecting frame 4, and is connected to the rotating body 25.

[0160] In the mechanical wrist joint 100 of this embodiment, the second drive component 5 includes a second drive source 51 and a transmission component 52, wherein the second drive source 51 is located on the side of the base part 1 away from the movable part 2, thereby reducing the mass of the movable part 2, reducing the rotational inertia of the movable part 2, and improving its dynamic performance.

[0161] Combination Fig.12 As shown, in some embodiments, the second driving source 51 is connected to the connecting frame 4 , one end of the transmission assembly 52 is connected to the second driving source 51 , and the other end is connected to the rotating body 25 .

[0162] In the mechanical wrist joint 100 of this embodiment, the second driving source 51 is integrated in the mechanical wrist joint 100, specifically located on the connecting frame 4, to drive the rotating body 25. The second driving source 51 is close to the rotating body 25, the transmission structure is simple, the reliability is high, and it has considerable practical value.

[0163] Combination Figure 4 , 11 12, in some embodiments, the connecting frame 4 is an annular member, and a hollow portion 411 is provided in the middle of the connecting frame 4 for avoiding the transmission assembly 52 or accommodating the second driving source 51. In the mechanical wrist joint 100 of this embodiment, the connecting frame 4 is an annular member, which can avoid the transmission assembly 52 or accommodate the second driving source 51, and can also reduce the mass of the connecting frame 4 and increase the moment of inertia of the connecting frame 4.

[0164] Combination Figure 5 As shown, in some embodiments, the mechanical wrist joint 100 also includes two joint encoders 6, one of the two joint encoders 6 is located on the first axis 001, for detecting and feeding back the first rotational degree of freedom; the other of the two joint encoders 6 is located on the second axis 002, for detecting and feeding back the second rotational degree of freedom.

[0165] Among them, the joint encoder 6 can measure the rotation speed of the shaft of the mechanical joint. Through photoelectric conversion, it can convert mechanical quantities such as the angular displacement and angular velocity of the shaft into corresponding electrical pulses and output them in digital quantities.

[0166] Exemplarily, the joint encoder 6 includes but is not limited to voltage output, open collector output, push-pull complementary output, long-line drive output, and the like.

[0167] In the robotic arm of this embodiment, a joint encoder 6 is provided at the mechanical joint, which can detect and feedback the rotation angle of the mechanical joint in real time, ensure that the mechanical joint of the robotic arm rotates to the target position accurately and reliably, and improve the working accuracy of the robotic arm.

[0168] On the other hand, combined Fig.13 As shown, this embodiment provides a mechanical arm, which includes: a mechanical wrist joint 100, a mechanical elbow joint 200 and a mechanical shoulder joint 300 disclosed in the present invention.

[0169] The base member 1 is connected to the mechanical elbow joint 200 , and the mechanical elbow joint 200 is connected to the mechanical shoulder joint 300 ; at least two first driving sources 31 are located in at least one of the mechanical elbow joint 200 and the mechanical shoulder joint 300 .

[0170] The robotic arm of this embodiment adopts the robotic wrist joint 100 disclosed in the present invention and has all the technical effects of the robotic wrist joint 100 disclosed in the present invention.

[0171] On the other hand, this embodiment provides a robot, and the robot includes the mechanical wrist joint 100 disclosed in the present invention.

[0172] The robot of this embodiment adopts the mechanical wrist joint 100 disclosed in the present invention and has all the technical effects of the mechanical wrist joint 100 disclosed in the present invention.

[0173] The "several" and "at least one" mentioned in this article refer to one or more, and "multiple" and "at least two" refer to two or more. "And / or" describes the association relationship of the associated objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0174] It should be pointed out that in the description of the present disclosure, it should be explained that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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; it can be directly connected or indirectly connected 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 disclosure can be understood according to specific circumstances.

[0175] In addition, the terms "first" and "second" 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. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more features. In the description of the present disclosure, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0176] It should be pointed out that, in the present disclosure, unless otherwise clearly stipulated and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0177] In the description of this specification, the reference terms "certain embodiments", "one embodiment", "some embodiments", "illustrative embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present disclosure.

[0178] The above descriptions are merely embodiments of the present disclosure and are not intended to limit the present disclosure. Any modifications, equivalent substitutions, improvements, etc. made within the principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A mechanical wrist joint, characterized in that: The mechanical wrist joint (100) comprises: a base member (1), a movable member (2) and a first driving assembly (3); The base member (1) and the movable member (2) are rotatably connected; The first driving assembly (3) comprises at least two first driving sources (31) and at least two driving ropes (32); Each of the at least two first driving sources (31) is connected to the movable member (2) via at least one driving rope (32); The mechanical wrist joint (100) is configured such that the at least two first driving sources (31) can respectively apply traction forces in the same direction to the movable part (2) through at least one driving rope (32), thereby driving the movable part (2) to rotate around a first axis (001), thereby achieving coupled driving of the movable part (2) by the at least two first driving sources (31); The movable member (2) comprises: a first rope wheel (22) and a second rope wheel (23); the first rope wheel (22) and the second rope wheel (23) are coaxially arranged and spaced apart along the first axis (001); At least one of the at least two first driving sources (31) is connected to the first rope wheel (22) through at least one driving rope (32), and at least one of the remaining first driving sources (31) is connected to the second rope wheel (23) through at least one driving rope (32); and the winding direction of one of the driving ropes (32) connected to the first rope wheel (22) is the same as the winding direction of one of the driving ropes (32) connected to the second rope wheel (23).

2. The mechanical wrist joint according to claim 1, characterized in that: Each of the at least two first driving sources (31) is connected to the movable member (2) via at least two driving ropes (32); The at least two driving ropes (32) are respectively connected to a first position (201) and a second position (202) of the movable member (2), and the first position (201) and the second position (202) are respectively located on two sides of the first axis (001); Each of the at least two first driving sources (31) can apply traction forces in opposite directions to the movable part (2) through the at least two driving ropes (32), thereby driving the movable part (2) to rotate in different directions.

3. The mechanical wrist joint according to claim 1, characterized in that: The at least two first driving sources (31) are located on a side of the base member (1) away from the movable member (2), and the at least two driving ropes (32) pass through the base member (1) and are connected to the movable member (2).

4. The mechanical wrist joint according to claim 1, characterized in that: The movable part (2) further comprises a movable body (21), and the first rope wheel (22) and the second rope wheel (23) are respectively fixedly connected to the movable body (21).

5. The mechanical wrist joint according to claim 4, characterized in that: The first rope wheel (22) comprises a first wheel body (221), a first bearing seat (222) and at least one rope fixing device (24); The at least one rope fixing device (24) is located on the first wheel body (221) and is used to fix the at least one driving rope (32) to the first wheel body (221); The first bearing seat (222) is located on one axial side of the first wheel body (221), and the first bearing seat (222) is fixedly connected to the first wheel body (221); A second bearing seat (211) is provided at the end of the movable body (21) close to the base member (1), and the second bearing seat (211) is fixedly connected to the first bearing seat (222); and / or, The second rope wheel (23) comprises a second wheel body (231), a third bearing seat (232) and at least one rope fixing device (24); The at least one rope fixing device (24) is located on the second wheel body (231) and is used to fix the at least one driving rope (32) to the second wheel body (231); The third bearing seat (232) is located on one axial side of the second wheel body (231), and the third bearing seat (232) is fixedly connected to the second wheel body (231); A fourth bearing seat (212) is provided at the end of the movable body (21) close to the base member (1), and the fourth bearing seat (212) is fixedly connected to the third bearing seat (232).

6. The mechanical wrist joint according to claim 5, characterized in that: The movable body (21) comprises: a movable end plate portion (213), a first cantilever portion (214) and a second cantilever portion (215); the first cantilever portion (214) and the second cantilever portion (215) respectively extend along two opposite sides of the movable end plate portion (213) toward the base member (1); The end of the first cantilever portion (214) is connected to the second bearing seat (211), and the end of the second cantilever portion (215) is connected to the fourth bearing seat (212).

7. The mechanical wrist joint according to any one of claims 1 to 6, characterized in that: The mechanical wrist joint (100) further comprises: a connecting frame (4); the movable part (2) and the connecting frame (4) are rotationally connected along the first axis (001), and the connecting frame (4) and the base part (1) are rotationally connected along the second axis (002); At least two of the driving ropes (32) connected to the movable part (2) are respectively wound around the base part (1); the mechanical wrist joint (100) is configured so that the movable part (2) can rotate around the first axis (001) under the traction of the at least two driving ropes (32), thereby realizing a first rotational degree of freedom of the mechanical wrist joint (100); the connecting frame (4) and the movable part (2) can rotate around the second axis (002) under the traction of the at least two driving ropes (32), thereby realizing a second rotational degree of freedom of the mechanical wrist joint (100).

8. The mechanical wrist joint according to claim 7, characterized in that: The connecting frame (4) comprises: a main frame body (41), a first connecting shaft (42), a second connecting shaft (43), a third connecting shaft (44) and a fourth connecting shaft (45); The first connecting shaft (42), the second connecting shaft (43), the third connecting shaft (44) and the fourth connecting shaft (45) are arranged in a cross shape on the circumference of the main frame (41), the first connecting shaft (42) and the second connecting shaft (43) coincide with the first axis (001), and the third connecting shaft (44) and the fourth connecting shaft (45) coincide with the second axis (002); The movable member (2) is rotationally connected to the first connecting shaft (42) and the second connecting shaft (43), and the base member (1) is rotationally connected to the third connecting shaft (44) and the fourth connecting shaft (45).

9. The mechanical wrist joint according to claim 8, characterized in that: The movable part (2) comprises: a first rope wheel (22) and a second rope wheel (23); the first rope wheel (22) is rotationally connected to the first connecting shaft (42), and the second rope wheel (23) is rotationally connected to the second connecting shaft (43); At least one of the drive ropes (32) connected to the first rope wheel (22) is wound around the third connecting shaft (44), and at least one of the drive ropes (32) connected to the second rope wheel (23) is wound around the fourth connecting shaft (45).

10. The mechanical wrist joint according to claim 9, characterized in that: The base member (1) comprises a base body (11), a third rope wheel (12) and a fourth rope wheel (13); The third rope wheel (12) and the third connecting shaft (44) are rotationally connected, and the fourth rope wheel (13) and the fourth connecting shaft (45) are rotationally connected; at least one of the drive ropes (32) connected to the first rope wheel (22) is wound around the third rope wheel (12), and at least one of the drive ropes (32) connected to the second rope wheel (23) is wound around the fourth rope wheel (13); The end of the base body (11) facing the movable member (2) is provided with a fifth bearing seat (111) and a sixth bearing seat (112); The fifth bearing seat (111) supports the third connecting shaft (44); the sixth bearing seat (112) supports the fourth connecting shaft (45).

11. The mechanical wrist joint according to claim 10, characterized in that: The base body (11) comprises: a base end plate portion (113), a third cantilever portion (114) and a fourth cantilever portion (115); the third cantilever portion (114) and the fourth cantilever portion (115) respectively extend along two opposite sides of the base end plate portion (113) toward the movable member (2); The end of the third cantilever portion (114) is connected to the fifth bearing seat (111), and the end of the fourth cantilever portion (115) is connected to the sixth bearing seat (112).

12. The mechanical wrist joint according to claim 11, characterized in that: The movable member (2) comprises a first cantilever portion (214) and a second cantilever portion (215); The first cantilever portion (214) and the first connecting shaft (42) correspond in position, the second cantilever portion (215) and the second connecting shaft (43) correspond in position, the third cantilever portion (114) and the third connecting shaft (44) correspond in position, and the fourth cantilever portion (115) and the fourth connecting shaft (45) correspond in position.

13. The mechanical wrist joint according to claim 10, characterized in that: The connecting frame (4) further comprises: a first guide wheel group (46) and a second guide wheel group (47); the first guide wheel group (46) and the second guide wheel group (47) are respectively connected to the main frame body (41); The first guide wheel group (46) is located between the first rope wheel (22) and the third rope wheel (12), and is used to guide at least one of the driving ropes (32) connected to the first rope wheel (22) to the third rope wheel (12); The second guide wheel group (47) is located between the second rope wheel (23) and the fourth rope wheel (13), and is used to guide at least one of the driving ropes (32) connected to the second rope wheel (23) to the fourth rope wheel (13).

14. The mechanical wrist joint according to claim 13, characterized in that: The maximum vertical distance H from the second guide wheel group (47) to the first plane (003) is greater than the radius R of the fourth rope pulley (13); wherein the first plane (003) is a plane passing through the second axis (002) and parallel to the first axis (001).

15. The mechanical wrist joint according to claim 13, characterized in that: The first guide wheel group (46) comprises: a first parallel guide wheel (461) and a second parallel guide wheel (462); the first parallel guide wheel (461) is located on a side of the main frame (41) facing the movable part (2), and the second parallel guide wheel (462) is located on a side of the main frame (41) facing the base part (1); The first parallel guide wheel (461) is used to guide at least one of the driving ropes (32) from the upper edge of the first rope wheel (22) facing the movable part (2) to the upper edge of the third rope wheel (12) facing the movable part (2); The second parallel guide wheel (462) is used to guide at least one of the drive ropes (32) from the lower edge of the first rope wheel (22) facing the base member (1) to the lower edge of the third rope wheel (12) facing the base member (1); and / or, The second guide wheel group (47) comprises: a first cross guide wheel (471) and a second cross guide wheel (472); the first cross guide wheel (471) is located on a side of the main frame (41) facing the movable member (2), and the second cross guide wheel (472) is located on a side of the main frame (41) facing the base member (1); The first cross guide wheel (471) is used to guide at least one of the drive ropes (32) from the upper edge of the second rope wheel (23) facing the movable member (2) to the lower edge of the fourth rope wheel (13) facing the base member (1); The second cross guide wheel (472) is used to guide at least one of the drive ropes (32) from the lower edge of the second rope wheel (23) facing the base member (1) to the upper edge of the fourth rope wheel (13) facing the movable member (2).

16. The mechanical wrist joint according to claim 7, characterized in that: The mechanical wrist joint (100) further comprises a second driving assembly (5), and the movable part (2) comprises a rotating body (25); The second driving assembly (5) is connected to the rotating body (25) and drives the rotating body (25) to rotate relative to the movable part (2) to achieve a third rotational degree of freedom.

17. The mechanical wrist joint according to claim 16, characterized in that: The second driving component (5) comprises: a second driving source (51) and a transmission component (52); The second driving source (51) is located on a side of the base member (1) away from the movable member (2); one end of the transmission assembly (52) is connected to the second driving source (51), and the other end passes through the base member (1) and the connecting frame (4) to be connected to the rotating body (25); or, The second driving source (51) is connected to the connecting frame (4); one end of the transmission assembly (52) is connected to the second driving source (51), and the other end is connected to the rotating body (25).

18. The mechanical wrist joint according to claim 17, characterized in that: The connecting frame (4) is an annular member, and a hollow portion (411) for avoiding the transmission assembly (52) or accommodating the second driving source (51) is provided in the middle of the connecting frame (4).

19. The mechanical wrist joint according to any one of claims 7 to 18, characterized in that: The mechanical wrist joint (100) also includes two joint encoders (6), one of the two joint encoders (6) is located on the first axis (001) and is used to detect and feedback the first rotational degree of freedom; the other of the two joint encoders (6) is located on the second axis (002) and is used to detect and feedback the second rotational degree of freedom.

20. A robotic arm, characterized in that: The mechanical arm comprises: a mechanical wrist joint (100) as claimed in any one of claims 1 to 19, as well as a mechanical elbow joint (200) and a mechanical shoulder joint (300); The base member (1) is connected to the mechanical elbow joint (200), and the mechanical elbow joint (200) is connected to the mechanical shoulder joint (300); the at least two first driving sources (31) are located in at least one of the mechanical elbow joint (200) and the mechanical shoulder joint (300).

21. A robot, characterized in that: The robot comprises the mechanical wrist joint (100) according to any one of claims 1 to 19.

Images