A multi-degree-of-freedom wrist joint, a manipulator, and a robot

Abstract

The present disclosure provides a multi-degree-of-freedom wrist joint, a manipulator, and a robot. The multi-degree-of-freedom wrist joint includes: a mounting base provided with a mounting area thereon; a base body provided with two sets of first wire grooves, located in the mounting area and rotatably disposed on the mounting base, each set of first wire grooves is arranged along the rotation direction of the base body, and the two sets of first wire grooves are sequentially arranged in the direction of the rotation axis of the base body; and a mounting member provided with two sets of second wire grooves, rotatably disposed on the base body, each set of second wire grooves is arranged along the rotation direction of the mounting member, and the two sets of second wire grooves are sequentially arranged in the direction of the rotation axis of the mounting member; wherein, the rotation axis of the mounting member intersects with the rotation axis of the base body. This multi-degree-of-freedom wrist joint not only has a simple structure, but also has the advantages of low end inertia and high compliance.

Description

Technical Field

[0001] This document relates to the field of artificial intelligence technology, and particularly to a multi-degree-of-freedom wrist joint, a manipulator, and a robot. Background Art

[0002] In order to perform various complex tasks, a prosthetic limb or a bionic robotic arm needs to be equipped with a multi-degree-of-freedom wrist joint. When grasping an object, the wrist joint can flexibly adjust its own posture angle according to actual needs.

[0003] The wrist joint needs to move in a three-degree-of-freedom space to imitate the human wrist. However, adding a three-degree-of-freedom wrist joint to the wrist of a robotic arm often brings great difficulties in design, such as limited range of motion of the wrist joint and very bulky volume. Usually, compromises need to be made at the joint axis positions of each degree of freedom, which also results in most wrist joints being able to achieve two-degree-of-freedom motion only within a very limited range. Such two-degree-of-freedom wrist joints have problems of complex structure and inability to better complete the tasks they need to perform.

[0004] In addition, the wrist joint needs to install driving elements on each joint axis, resulting in a sharp increase in the weight of the wrist joint and the complexity of the transmission structure. As a result, even when the wrist joint moves under a very small load, it requires a large driving ability due to its own large weight, and it is impossible to simultaneously meet the requirements of high torque load, high movement speed, and small volume, weight, and inertia. Summary of the Invention

[0005] To solve at least one of the above technical problems, the present application provides a multi-degree-of-freedom wrist joint with a simpler structure.

[0006] The present application also provides a manipulator and a robot.

[0007] The multi-degree-of-freedom wrist joint provided by the embodiments of the present invention includes: a mounting base provided with a mounting area thereon; a base body provided with two groups of first wire grooves, located in the mounting area and rotatably disposed on the mounting base, each group of the first wire grooves is arranged along the rotation direction of the base body, and the two groups of the first wire grooves are sequentially arranged in the direction of the rotation axis of the base body; and a mounting member provided with two groups of second wire grooves, rotatably disposed on the base body, each group of the second wire grooves is arranged along the rotation direction of the mounting member, and the two groups of the second wire grooves are sequentially arranged in the direction of the rotation axis of the mounting member; wherein, the rotation axis of the mounting member intersects with the rotation axis of the base body.

[0008] In an exemplary embodiment, in the direction of the rotation axis of the base body: the two groups of the second wire grooves are located between the two groups of the first wire grooves.

[0009] In an exemplary embodiment, the base further has two sets of third wire grooves, and the two sets of third wire grooves correspond to the two sets of first wire grooves one by one.

[0010] In an exemplary embodiment, in the direction of the rotation axis of the base: the two sets of second wire grooves are located between the two sets of first wire grooves, and the two sets of second wire grooves are also located between the two sets of third wire grooves.

[0011] In an exemplary embodiment, the multi-degree-of-freedom wrist joint further includes: a first rope driving mechanism, whose first rope is wound around one of the two sets of first wire grooves and one of the two sets of second wire grooves; and a second rope driving mechanism, whose second rope is wound around the other of the two sets of first wire grooves and the other of the two sets of second wire grooves; wherein, the first rope driving mechanism and the second rope driving mechanism are configured to be able to drive the base and the mounting member to rotate together around the rotation axis of the base and keep the mounting member stationary relative to the base, and the first rope driving mechanism and the second rope driving mechanism are also configured to be able to drive the mounting member to rotate around its rotation axis and keep the base stationary relative to the mounting seat.

[0012] In an exemplary embodiment, the first ends of the first rope and the second rope are located on one side of the base, and the second ends of the first rope and the second rope are located on the other side of the base; from the first end to the second end of the first rope, and from the first end to the second end of the second rope: the winding direction of the first rope in one of the two sets of first wire grooves is the same as the winding direction of the second rope in the other of the two sets of first wire grooves; the winding direction of the first rope in one of the two sets of second wire grooves is opposite to the winding direction of the second rope in the other of the two sets of second wire grooves.

[0013] In an exemplary embodiment, the multi-degree-of-freedom wrist joint further includes: a first rope driving mechanism, whose first rope is sequentially wound around one of the two sets of first wire grooves, one of the two sets of second wire grooves and one of the two sets of third wire grooves; and a second rope driving mechanism, whose second rope is sequentially wound around the other of the two sets of first wire grooves, the other of the two sets of second wire grooves and the other of the two sets of third wire grooves; wherein, the first rope driving mechanism and the second rope driving mechanism are configured to be able to drive the base and the mounting member to rotate together around the rotation axis of the base and keep the mounting member stationary relative to the base, and the first rope driving mechanism and the second rope driving mechanism are also configured to be able to drive the mounting member to rotate around its rotation axis and keep the base stationary relative to the mounting seat.

[0014] In an exemplary embodiment, the first ends of the first rope and the second rope are located on one side of the base body, and the second ends of the first rope and the second rope are located on the other side of the base body; the first rope extends from its first end to its second end, and the second rope extends from its first end to its second end: the winding direction of the first rope in one of the two groups of first winding grooves is the same as the winding direction of the second rope in the other of the two groups of first winding grooves, the winding direction of the first rope in one of the two groups of first winding grooves is the same as the winding direction of the first rope in one of the two groups of third winding grooves, and the winding direction of the second rope in the other of the two groups of first winding grooves is the same as the winding direction of the second rope in the other of the two groups of third winding grooves; the winding direction of the first rope in one of the two groups of second winding grooves is opposite to the winding direction of the second rope in the other of the two groups of second winding grooves.

[0015] In an exemplary embodiment, the mounting seat includes: a base provided with an arc-shaped track, located on the side of the base body facing away from the mounting member and spaced apart from the base body; and an arc-shaped guide rail movably disposed in the arc-shaped track, an installation area being formed between two end portions of the arc-shaped guide rail, and the base body being rotatably disposed at an end of the arc-shaped track; wherein, the rotation axes of the arc-shaped guide rail, the mounting member, and the base body perpendicularly intersect at one point.

[0016] In an exemplary embodiment, the multi-degree-of-freedom wrist joint further includes: a third rope driving mechanism and a fourth rope driving mechanism, first pulleys being provided at both end portions of the arc-shaped guide rail, the base being provided with two groups of second pulleys, a third rope of the third rope driving mechanism being wound around one of the two groups of first pulleys and one of the two groups of second pulleys, and a fourth rope of the fourth rope driving mechanism being wound around the other of the two groups of first pulleys and the other of the two groups of second pulleys.

[0017] The manipulator proposed in the embodiment of the present invention includes the multi-degree-of-freedom wrist joint described in any of the above embodiments.

[0018] The robot proposed in the embodiment of the present invention includes the manipulator described in any of the above embodiments.

[0019] In the multi - degree - of - freedom wrist joint proposed in the embodiments of the present invention, the first rope is wound around one of the two groups of first groove - winding slots and one of the two groups of second groove - winding slots, and the second rope is wound around the other of the two groups of first groove - winding slots and the other of the two groups of second groove - winding slots. By controlling the first rope and the second rope, the base body and the mounting member rotate together around the rotation axis of the base body, and the mounting member remains stationary relative to the base body, thereby realizing one degree of freedom of the multi - degree - of - freedom wrist joint. By controlling the first rope and the second rope, the mounting member rotates around its rotation axis, and the base body remains stationary relative to the mounting seat, thereby realizing another degree of freedom of the multi - degree - of - freedom wrist joint. This multi - degree - of - freedom wrist joint not only has a simple structure, but also has the advantages of low end inertia and high flexibility.

[0020] Other features and advantages of the present application will be described in the subsequent description. And, partly, they will be obvious from the description, or can be understood by implementing the present application. Other advantages of the present application can be realized and obtained through the solutions described in the description and the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings are used to provide an understanding of the technical solutions of the present application, and constitute a part of the description. They are used together with the embodiments of the present application to explain the technical solutions of the present application, and do not constitute a limitation to the technical solutions of the present application.

[0022] Figure 1 It is a schematic three - dimensional structure diagram of an example of the multi - degree - of - freedom wrist joint according to Embodiment 1 of the present invention;

[0023] Figure 2 is Figure 1 a schematic exploded structure diagram of the multi - degree - of - freedom wrist joint shown;

[0024] Figure 3 It is a schematic three - dimensional structure diagram of another example of the multi - degree - of - freedom wrist joint according to Embodiment 1 of the present invention;

[0025] Figure 4 is Figure 1 a schematic exploded structure diagram of the mounting seat in, with the second pulley not shown;

[0026] Figure 5 It is a schematic three - dimensional structure diagram of an example of the multi - degree - of - freedom wrist joint according to Embodiment 2 of the present invention;

[0027] Figure 6 It is a schematic three - dimensional structure diagram of another example of the multi - degree - of - freedom wrist joint according to Embodiment 2 of the present invention.

[0028] Among them, Figures 1 to 6 the corresponding relationship between the reference numerals in the drawings and the component names is:

[0029] 100 Mounting base, 110 Mounting area, 120 Base, 130 Arc-shaped guide rail, 131 First pulley, 140 Positioning bearing, 150 Mounting bearing, 160 Pulley seat, 200 Substrate, 210 First wire groove, 220 Third wire groove, 300 Mounting piece, 310 Second wire groove, 410 First rope, 420 Second rope, 430 Third rope, 440 Fourth rope. Detailed implementation mode

[0030] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

[0031] It should be noted that all the directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative position relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0032] In addition, the descriptions such as "first" and "second" in the present invention are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0033] In the present invention, unless otherwise clearly defined and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; "connection" can be a direct connection or an indirect connection through an intermediate medium, and can be the internal connection of two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0035] Embodiment 1

[0036] As shown Figures 1 to 4 in FIG. 1, the multi-degree-of-freedom wrist joint provided by an embodiment of the present invention includes: a mounting base 100, on which a mounting area 110 is provided; a base body 200 provided with two sets of first wire grooves 210, the base body 200 is located in the mounting area 110 and is rotatably arranged on the mounting base 100, each set of first wire grooves 210 is arranged along the rotation direction of the base body 200, and the two sets of first wire grooves 210 are sequentially arranged in the direction of the rotation axis of the base body 200; and a mounting member 300 provided with two sets of second wire grooves 310, which is rotatably arranged on the base body 200, each set of second wire grooves 310 is arranged along the rotation direction of the mounting member 300, and the two sets of second wire grooves 310 are sequentially arranged in the direction of the rotation axis of the mounting member 300; wherein, the rotation axis y of the mounting member 300 intersects with the rotation axis x of the base body 200.

[0037] The first rope 410 is wound around one of the two sets of first wire grooves 210 and one of the two sets of second wire grooves 310, and the second rope 420 is wound around the other of the two sets of first wire grooves 210 and the other of the two sets of second wire grooves 310. By controlling the first rope 410 and the second rope 420, the base body 200 and the mounting member 300 are rotated together around the rotation axis of the base body 200, and the mounting member 300 is kept stationary relative to the base body 200, so as to realize one degree of freedom of the multi-degree-of-freedom wrist joint. By controlling the first rope 410 and the second rope 420, the mounting member 300 is rotated around its rotation axis, and the base body 200 is kept stationary relative to the mounting base 100, so as to realize another degree of freedom of the multi-degree-of-freedom wrist joint; this multi-degree-of-freedom wrist joint not only has a simple structure, but also has the advantages of low end inertia and high compliance.

[0038] It may be that the rotation axis y of the mounting member 300 and the rotation axis x of the base body 200 are set to be vertically intersecting.

[0039] In an exemplary embodiment, as shown Figure 1 in FIG. 2, in the direction of the rotation axis of the base body 200: the two sets of second wire grooves 310 are located between the two sets of first wire grooves 210, the first rope 410 is wound around one of the two sets of first wire grooves 210 and one of the two sets of second wire grooves 310, and the second rope 420 is wound around the other of the two sets of first wire grooves 210 and the other of the two sets of second wire grooves 310, so as to avoid the first rope 410 and the second rope 420 from being wound around each other during the driving process.

[0040] In an example, as shown Figure 3As shown, the multi-degree-of-freedom wrist joint further includes: a first cable driving mechanism, where the first cable 410 of the first cable driving mechanism is wound around one of the two groups of first winding grooves 210 and one of the two groups of second winding grooves 310; and a second cable driving mechanism, where the second cable 420 of the second cable driving mechanism is wound around the other of the two groups of first winding grooves 210 and the other of the two groups of second winding grooves 310.

[0041] The first cable driving mechanism and the second cable driving mechanism are configured to drive the first cable 410 and the second cable 420 to enable the driving of the base body 200 and the mounting member 300 to rotate together around the rotation axis of the base body 200 and keep the mounting member 300 stationary relative to the base body 200, thereby realizing one degree of freedom of the multi-degree-of-freedom wrist joint; the first cable driving mechanism and the second cable driving mechanism are further configured to drive the first cable 410 and the second cable 420 to enable the driving of the mounting member 300 to rotate around its rotation axis and keep the base body 200 stationary relative to the mounting seat 100, thereby realizing another degree of freedom of the multi-degree-of-freedom wrist joint.

[0042] In one embodiment, as Figure 3 shown, the first end a of the first cable 410 and the first end c of the second cable 420 both extend from one side of the base body 200 and are perpendicular to one side of the base body 200. The second end b of the first cable 410 extends from one side of the base body 200, sequentially winds around one of the two first winding grooves 210 and one of the two second winding grooves 310, then extends from the other side of the base body 200 and is perpendicular to the other side of the base body 200; the second end d of the second cable 420 extends from one side of the base body 200, sequentially winds around the other of the two first winding grooves 210 and the other of the two second winding grooves 310, then extends from the other side of the base body 200 and is perpendicular to the other side of the base body 200. Among them, from the first end to the second end of the first cable 410, and from the first end to the second end of the second cable 420, the winding direction of the first cable 410 in one of the two groups of first winding grooves 210 is the same as the winding direction of the second cable 420 in the other of the two groups of first winding grooves 210; the winding direction of the first cable 410 in one of the two groups of second winding grooves 310 is opposite to the winding direction of the second cable 420 in the other of the two groups of second winding grooves 310. From the first end a of the first cable 410 to the second end b of the first cable 410, the first winding groove 210 corresponding to the first cable 410 performs reverse winding, and the second winding groove 310 corresponding to the first cable 410 performs reverse winding; from the first end c of the second cable 420 to the second end d of the second cable 420, the first winding groove 210 corresponding to the second cable 420 performs reverse winding, and the second winding groove 310 corresponding to the second cable 420 performs forward winding.

[0043] Pull the first end a of the first rope 410 and the first end c of the second rope 420. The first rope 410 and the second rope 420 will drive the base body 200 and the mounting member 300 to rotate forward together around the rotation axis of the base body 200. The mounting member 300 is stationary relative to the base body 200 and will not rotate around its own rotation axis; pull the second end b of the first rope 410 and the second end d of the second rope 420. The first rope 410 and the second rope 420 will drive the base body 200 and the mounting member 300 to rotate backward together around the rotation axis of the base body 200. The mounting member 300 is stationary relative to the base body 200 and will not rotate around its rotation axis. In the theoretical state of the above operation process: The first rope 410 does not slip relative to the corresponding first wire groove 210, and the second rope 420 does not slip relative to the corresponding first wire groove 210. At this time, the forces of the first rope 410 and the second rope 420 driving the base body 200 are the same in magnitude and the rotation directions of driving the base body 200 are the same. Therefore, the base body 200 will rotate forward or backward around its rotation axis; the first rope 410 slips relative to the corresponding second wire groove 310, and the second rope 420 slips relative to the corresponding second wire groove 310. At this time, the forces of the first rope 410 and the second rope 420 driving the mounting member 300 are the same in magnitude and the rotation directions of driving the mounting member 300 are opposite. Therefore, the mounting member 300 will not rotate around its rotation axis; in summary, the first rope 410 and the second rope 420 can jointly drive the base body 200 and the mounting member 300 to rotate forward or backward together around the rotation axis of the base body 200.

[0044] Pull the first end a of the first rope 410 and the second end d of the second rope 420, the first rope 410 and the second rope 420 will drive the mounting member 300 to rotate forward about its rotation axis. The base body 200 is stationary relative to the mounting seat 100, and the base body 200 will not drive the mounting member 300 to rotate about the rotation axis of the base body 200; pull the second end b of the first rope 410 and the first end c of the second rope 420, the first rope 410 and the second rope 420 will drive the mounting member 300 to rotate reversely about its rotation axis. The base body 200 is stationary relative to the mounting seat 100, and the base body 200 will not drive the mounting member 300 to rotate about the rotation axis of the base body 200. In the theoretical state of the above operation process: the first rope 410 slides relative to the corresponding first rope groove 210, and the second rope 420 slides relative to the corresponding first rope groove 210. At this time, the forces of the first rope 410 and the second rope 420 driving the base body 200 are the same in magnitude and opposite in the rotation direction of driving the base body 200. Therefore, the base body 200 will not rotate about its rotation axis; the first rope 410 does not slide relative to the corresponding second rope groove 310, and the second rope 420 does not slide relative to the corresponding second rope groove 310. At this time, the forces of the first rope 410 and the second rope 420 driving the mounting member 300 are the same in magnitude and the rotation directions of driving the mounting member 300 are the same. Therefore, the mounting member 300 will rotate forward or reversely about its rotation axis; in summary, the first rope 410 and the second rope 420 can jointly drive the mounting member 300 to rotate forward or reversely about its rotation axis.

[0045] In an exemplary embodiment, as Figures 1 to 4 shown, the mounting seat 100 includes: a base 120 provided with an arc-shaped track, located on the side of the base body 200 facing away from the mounting member 300 and spaced from the base body 200; and an arc-shaped guide rail 130 movably disposed in the arc-shaped track. The two end portions of the arc-shaped guide rail 130 are located outside the base 120, and an installation area 110 is formed between the two end portions of the arc-shaped guide rail 130. The base body 200 is rotatably disposed at the end of the arc-shaped track. The arc-shaped guide rail 130 and the arc-shaped track form another degree of freedom of a multi-degree-of-freedom wrist joint; wherein, the rotation axis z of the arc-shaped guide rail 130, the rotation axis y of the mounting member 300 and the rotation axis x of the base body 200 are set to be vertically intersecting at a point. In this way, there is no singularity in the working space of the wrist joint, and there is no problem that the wrist joint is stuck in the movement at certain angles, and the wrist joint can realize continuous movement at any posture angle within the working range, and better complete the tasks it needs to execute.

[0046] To ensure the structural strength of the wrist joint, as Figures 1 to 3As shown, the arc-shaped guide rail 130 is a semi-circular guide rail. Pulley seats 160 are provided at both ends of the semi-circular guide rail. A first pulley 131 and a mounting bearing 150 are mounted on the pulley seat 160. The base body 200 is rotatably connected to two mounting bearings 150 mounted on two pulley seats 160.

[0047] It can be, for example Figure 3 As shown, the first pulley 131 and the second pulley are located on the radially inner side of the arc-shaped guide rail 130; or it can be that the first pulley and the second pulley are located on the radially outer side of the arc-shaped guide rail (not shown in the figure); the above can all achieve the purpose of this application, and its gist does not deviate from the design concept of the present invention, so it will not be elaborated here and should all fall within the protection scope of this application.

[0048] In one embodiment, as Figure 2 and Figure 4 shown, the base 120 is provided with a plurality of positioning bearings 140. The plurality of positioning bearings 140 are distributed on both sides of the arc-shaped guide rail 130 and construct an arc-shaped track. The plurality of positioning bearings 140 are at least three.

[0049] In one example, as Figure 3 shown, the multi-degree-of-freedom wrist joint further includes: a third cable drive mechanism and a fourth cable drive mechanism. First pulleys 131 are provided at both ends of the arc-shaped guide rail 130. The base 120 is provided with two groups of second pulleys. The third cable 430 of the third cable drive mechanism is wound around one of the two groups of first pulleys 131 and one of the two groups of second pulleys. The fourth cable 440 of the fourth cable drive mechanism is wound around the other of the two groups of first pulleys 131 and the other of the two groups of second pulleys. When the third cable 430 is tightened and the fourth cable 440 is released, the distance between the first pulley 131 and the second pulley driven by the third cable 430 decreases, and the distance between the first pulley 131 and the second pulley driven by the fourth cable 440 increases. At this time, the arc-shaped guide rail 130 rotates forward around its rotation axis; when the third cable 430 is released and the fourth cable 440 is tightened, the distance between the first pulley 131 and the second pulley driven by the third cable 430 increases, and the distance between the first pulley 131 and the second pulley driven by the fourth cable 440 decreases. At this time, the arc-shaped guide rail 130 rotates reversely around its rotation axis.

[0050] Embodiment 2

[0051] The difference between this embodiment and Embodiment 1 is that, as Figure 5 and Figure 6 shown, the base body 200 is further provided with two groups of third wire grooves 220, and the two groups of third wire grooves 220 correspond to the two groups of first wire grooves 210 one by one.

[0052] The first cable 410 is sequentially wound around one of the two groups of first cable grooves 210, one of the two groups of second cable grooves 310, and one of the two groups of third cable grooves 220. The second cable 420 is sequentially wound around the other of the two groups of first cable grooves 210, the other of the two groups of second cable grooves 310, and the other of the two groups of third cable grooves 220. By controlling the third cable 430 and the fourth cable 440, the base body 200 and the mounting member 300 are rotated together around the rotation axis of the base body 200, and the mounting member 300 is kept stationary relative to the base body 200, so as to realize one degree of freedom of the multi-degree-of-freedom wrist joint. By controlling the third cable 430 and the fourth cable 440, the mounting member 300 is rotated around its rotation axis, and the base body 200 is kept stationary relative to the mounting seat 100, so as to realize another degree of freedom of the multi-degree-of-freedom wrist joint. The multi-degree-of-freedom wrist joint also has the advantages of low end inertia and high compliance, and the control difficulty is lower.

[0053] In an exemplary embodiment, as Figure 5 shown, in the direction of the rotation axis of the base body 200: the two groups of second cable grooves 310 are located between the two groups of first cable grooves 210, and the two groups of second cable grooves 310 are also located between the two groups of third cable grooves 220. As Figure 6 shown, the first cable 410 is sequentially wound around one of the two groups of first cable grooves 210, one of the two groups of second cable grooves 310, and one of the two groups of third cable grooves 220. One of the two groups of third cable grooves 220 is adjacent to one of the two groups of first cable grooves 210. The second cable 420 is sequentially wound around the other of the two groups of first cable grooves 210, the other of the two groups of second cable grooves 310, and the other of the two groups of third cable grooves 220. The other of the two groups of third cable grooves 220 is adjacent to the other of the two groups of first cable grooves 210. In this way, the first cable 410 and the second cable 420 can be prevented from being wound around each other during the driving process.

[0054] In an example, as Figure 6As shown, the multi-degree-of-freedom wrist joint further includes: a first cable drive mechanism, whose first cable 410 is sequentially wound around one of two sets of first winding grooves 210, one of two sets of second winding grooves 310, and one of two sets of third winding grooves 220; and a second cable drive mechanism, whose second cable 420 is sequentially wound around the other of two sets of first winding grooves 210, the other of two sets of second winding grooves 310, and the other of two sets of third winding grooves 220; wherein, the first cable drive mechanism and the second cable drive mechanism are configured to drive the base body 200 and the mounting member 300 to rotate together around the rotation axis of the base body 200 and keep the mounting member 300 stationary relative to the base body 200 by driving the first cable 410 and the second cable 420; the first cable drive mechanism and the second cable drive mechanism are further configured to drive the mounting member 300 to rotate around its rotation axis and keep the base body 200 stationary relative to the mounting seat 100 by driving the first cable 410 and the second cable 420.

[0055] In one embodiment, as Figure 6As shown, the first end a of the first rope 410 and the first end c of the second rope 420 are both led out from one side of the base body 200 and are perpendicular to one side of the base body 200. The second end b of the first rope 410 is led out from one side of the base body 200, successively bypasses one of the two first winding grooves 210, one of the two second winding grooves 310, and one of the two third winding grooves 220, and then is led out from the other side of the base body 200 and is perpendicular to the other side of the base body 200; the second end d of the second rope 420 is led out from one side of the base body 200, successively bypasses the other of the two first winding grooves 210, the other of the two second winding grooves 310, and the other of the two third winding grooves 220, and then is led out from the other side of the base body 200 and is perpendicular to the other side of the base body 200. Among them, from the first end of the first rope 410 to the second end of the first rope 410, and from the first end of the second rope 420 to the second end of the second rope 420: the winding direction of the first rope 410 in one of the two groups of first winding grooves 210 is the same as the winding direction of the second rope 420 in the other of the two groups of first winding grooves 210, the winding direction of the first rope 410 in one of the two groups of first winding grooves 210 is the same as the winding direction of the first rope 410 in one of the two groups of third winding grooves 220, and the winding direction of the second rope 420 in the other of the two groups of first winding grooves 210 is the same as the winding direction of the second rope 420 in the other of the two groups of third winding grooves 220; the winding direction of the first rope 410 in one of the two groups of second winding grooves 310 is opposite to the winding direction of the second rope 420 in the other of the two groups of second winding grooves 310. From the first end a of the first rope 410 to the second end b of the first rope 410, the first rope 410 winds in the reverse direction around the corresponding first winding groove 210, winds in the reverse direction around the corresponding second winding groove 310, and winds in the reverse direction around the corresponding third winding groove 220; from the first end c of the second rope 420 to the second end d of the second rope 420, the second rope 420 winds in the reverse direction around the corresponding first winding groove 210, winds in the forward direction around the corresponding second winding groove 310, and winds in the reverse direction around the corresponding third winding groove 220.

[0056] Pull the first end a of the first rope 410 and the first end c of the second rope 420. The first rope 410 and the second rope 420 will drive the base body 200 and the mounting member 300 to rotate forward together around the rotation axis of the base body 200. The mounting member 300 is stationary relative to the base body 200 and will not rotate around its own rotation axis. Pull the second end b of the first rope 410 and the second end d of the second rope 420. The first rope 410 and the second rope 420 will drive the base body 200 and the mounting member 300 to rotate backward together around the rotation axis of the base body 200. The mounting member 300 is stationary relative to the base body 200 and will not rotate around its rotation axis. In the theoretical state of the above operation process: The first rope 410 does not slip relative to the corresponding first rope groove 210, the first rope 410 does not slip relative to the corresponding third rope groove 220, the second rope 420 does not slip relative to the corresponding first rope groove 210, and the second rope 420 does not slip relative to the corresponding third rope groove 220. At this time, the forces of the first rope 410 and the second rope 420 driving the base body 200 are the same in magnitude and the rotation directions of driving the base body 200 are the same. Therefore, the base body 200 will rotate forward or backward around its rotation axis; The first rope 410 slips relative to the corresponding second rope groove 310, and the second rope 420 slips relative to the corresponding second rope groove 310. At this time, the forces of the first rope 410 and the second rope 420 driving the mounting member 300 are the same in magnitude and the rotation directions of driving the mounting member 300 are opposite. Therefore, the mounting member 300 will not rotate around its rotation axis; In summary, the first rope 410 and the second rope 420 can jointly drive the base body 200 and the mounting member 300 to rotate forward or backward together around the rotation axis of the base body 200.

[0057] Pull the first end a of the first rope 410 and the second end d of the second rope 420, and the first rope 410 and the second rope 420 will drive the mounting member 300 to rotate forward around its rotation axis. The base body 200 is stationary relative to the mounting seat 100, and the base body 200 will not drive the mounting member 300 to rotate around the rotation axis of the base body 200; pull the second end b of the first rope 410 and the first end c of the second rope 420, and the first rope 410 and the second rope 420 will drive the mounting member 300 to rotate backward around its rotation axis. The base body 200 is stationary relative to the mounting seat 100, and the base body 200 will not drive the mounting member 300 to rotate around the rotation axis of the base body 200. In the theoretical state of the above action process: the first rope 410 slides relative to the corresponding first rope groove 210, the first rope 410 slides relative to the corresponding third rope groove 220, the second rope 420 slides relative to the corresponding first rope groove 210, and the second rope 420 slides relative to the corresponding third rope groove 220. At this time, the forces of the first rope 410 and the second rope 420 driving the base body 200 are the same in magnitude and opposite in the rotation direction of driving the base body 200. Therefore, the base body 200 will not rotate around its rotation axis; the first rope 410 does not slide relative to the corresponding second rope groove 310, and the second rope 420 also does not slide relative to the corresponding second rope groove 310. At this time, the forces of the first rope 410 and the second rope 420 driving the mounting member 300 are the same in magnitude and the same in the rotation direction of driving the mounting member 300. Therefore, the mounting member 300 will rotate forward or backward around its rotation axis; in summary, the first rope 410 and the second rope 420 can jointly drive the mounting member 300 to rotate forward or backward around its rotation axis.

[0058] Embodiment III

[0059] The manipulator (not shown in the figure) proposed in the embodiment of the present invention includes a manipulator main body and the multi-degree-of-freedom wrist joint described in Embodiment II, and the manipulator main body is fixed on the mounting member.

[0060] The manipulator provided in this embodiment has all the advantages of the multi-degree-of-freedom wrist joint provided in any of the above embodiments, and will not be elaborated here.

[0061] Embodiment IV

[0062] The robot (not shown in the figure) proposed in the embodiment of the present invention includes the manipulator described in any of the above embodiments.

[0063] The robot provided in this embodiment has all the advantages of the multi-degree-of-freedom wrist joint provided in any of the above embodiments, and will not be elaborated here.

[0064] In summary, for the multi-degree-of-freedom wrist joint proposed in the embodiments of the present invention, the first rope is wound around one of the two groups of first winding grooves and one of the two groups of second winding grooves, and the second rope is wound around the other of the two groups of first winding grooves and the other of the two groups of second winding grooves. By controlling the first rope and the second rope, the base body and the mounting member rotate together around the rotation axis of the base body, and the mounting member remains stationary relative to the base body, thereby realizing one degree of freedom of the multi-degree-of-freedom wrist joint. By controlling the first rope and the second rope, the mounting member rotates around its rotation axis, and the base body remains stationary relative to the mounting seat, thereby realizing another degree of freedom of the multi-degree-of-freedom wrist joint. This multi-degree-of-freedom wrist joint not only has a simple structure, but also has the advantages of low end inertia and high flexibility.

[0065] In the description of the embodiments of the present invention, unless otherwise clearly defined and limited, the terms "connection", "direct connection", "indirect connection", "fixed connection", "installation", and "assembly" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; the terms "installation", "connection", and "fixed connection" can be directly connected or indirectly connected through an intermediate medium, and can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0066] Although the disclosed embodiments of the present invention are as above, the above content is only an embodiment adopted for the convenience of understanding the present invention, and is not used to limit the present invention. Any person skilled in the art within the scope of the present invention can make any modifications and changes in the form and details of the implementation without departing from the spirit and scope disclosed by the present invention. However, the scope of patent protection of the present invention shall still be defined by the appended claims.

[0067] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention. Any equivalent structural transformation made by using the content of the specification and drawings of the present invention under the concept of the present invention, or directly / indirectly applied to other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. A multi-degree-of-freedom wrist joint, characterized in that, it includes: a mounting base provided with a mounting area thereon; a base body provided with two groups of first wire grooves, located in the mounting area and rotatably arranged on the mounting base. Each group of the first wire grooves is arranged along the rotation direction of the base body, and the two groups of the first wire grooves are sequentially arranged in the direction of the rotation axis of the base body; and a mounting member provided with two groups of second wire grooves, rotatably arranged on the base body. Each group of the second wire grooves is arranged along the rotation direction of the mounting member, and the two groups of the second wire grooves are sequentially arranged in the direction of the rotation axis of the mounting member; wherein, the rotation axis of the mounting member intersects with the rotation axis of the base body; the mounting base includes: a base provided with an arc-shaped track, located on the side of the base body facing away from the mounting member and spaced from the base body; and an arc-shaped guide rail movably arranged in the arc-shaped track. An installation area is formed between the two end parts of the arc-shaped guide rail, and the base body is rotatably arranged at the end part of the arc-shaped track; wherein, the rotation axis of the arc-shaped guide rail, the rotation axis of the mounting member and the rotation axis of the base body are perpendicularly intersected at one point; the multi-degree-of-freedom wrist joint further includes: a third cable driving mechanism and a fourth cable driving mechanism. First pulleys are arranged at both end parts of the arc-shaped guide rail, and two groups of second pulleys are arranged on the base. The third cable of the third cable driving mechanism is wound around one of the two groups of first pulleys and one of the two groups of second pulleys, and the fourth cable of the fourth cable driving mechanism is wound around the other of the two groups of first pulleys and the other of the two groups of second pulleys.

2. The multi-degree-of-freedom wrist joint according to claim 1, characterized in that, in the direction of the rotation axis of the base body: the two groups of the second wire grooves are located between the two groups of the first wire grooves.

3. The multi-degree-of-freedom wrist joint according to claim 1, characterized in that, the base body is further provided with two groups of third wire grooves, and the two groups of the third wire grooves correspond to the two groups of the first wire grooves one by one.

4. The multi-degree-of-freedom wrist joint according to claim 3, characterized in that, in the direction of the rotation axis of the base body: the two groups of the second wire grooves are located between the two groups of the first wire grooves, and the two groups of the second wire grooves are also located between the two groups of the third wire grooves.

5. The multi-degree-of-freedom wrist joint according to claim 1 or 2, characterized in that, it further includes: a first cable driving mechanism, whose first cable is wound around one of the two groups of the first wire grooves and one of the two groups of the second wire grooves; and a second cable driving mechanism, whose second cable is wound around the other of the two groups of the first wire grooves and the other of the two groups of the second wire grooves; Wherein, the first cable driving mechanism and the second cable driving mechanism are configured to drive the base body and the mounting member to rotate together about the rotation axis of the base body and keep the mounting member stationary relative to the base body, and the first cable driving mechanism and the second cable driving mechanism are further configured to drive the mounting member to rotate about its rotation axis and keep the base body stationary relative to the mounting seat.

6. The multi-degree-of-freedom wrist joint according to claim 5, wherein, The first ends of the first cable and the second cable are located on one side of the base body, and the second ends of the first cable and the second cable are located on the other side of the base body; for the first cable from its first end to its second end, and for the second cable from its first end to its second end: The winding direction of the first cable in one of the two groups of the first cable grooves is the same as the winding direction of the second cable in the other of the two groups of the first cable grooves; The winding direction of the first cable in one of the two groups of the second cable grooves is opposite to the winding direction of the second cable in the other of the two groups of the second cable grooves.

7. The multi-degree-of-freedom wrist joint according to claim 3 or 4, wherein, further comprising: A first cable driving mechanism, whose first cable is sequentially wound around one of the two groups of the first cable grooves, one of the two groups of the second cable grooves, and one of the two groups of the third cable grooves; and A second cable driving mechanism, whose second cable is sequentially wound around the other of the two groups of the first cable grooves, the other of the two groups of the second cable grooves, and the other of the two groups of the third cable grooves; Wherein, the first cable driving mechanism and the second cable driving mechanism are configured to drive the base body and the mounting member to rotate together about the rotation axis of the base body and keep the mounting member stationary relative to the base body, and the first cable driving mechanism and the second cable driving mechanism are further configured to drive the mounting member to rotate about its rotation axis and keep the base body stationary relative to the mounting seat.

8. The multi-degree-of-freedom wrist joint according to claim 7, wherein, The first ends of the first cable and the second cable are located on one side of the base body, and the second ends of the first cable and the second cable are located on the other side of the base body; for the first cable from its first end to its second end, and for the second cable from its first end to its second end: The winding direction of the first cable in one of the two groups of the first cable grooves is the same as the winding direction of the second cable in the other of the two groups of the first cable grooves, the winding direction of the first cable in one of the two groups of the first cable grooves is the same as the winding direction of the first cable in one of the two groups of the third cable grooves, and the winding direction of the second cable in the other of the two groups of the first cable grooves is the same as the winding direction of the second cable in the other of the two groups of the third cable grooves; The winding direction of the first rope in one of the two groups of the second wire grooves is opposite to the winding direction of the second rope in the other of the two groups of the second wire grooves.

9. A manipulator, characterized in that it includes the multi-degree-of-freedom wrist joint according to any one of claims 1 to 8.

10. A robot, characterized in that it includes the manipulator according to claim 9.

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