A wrist arm structure and robot

Abstract

This application discloses a wrist arm structure and a robot, relating to the field of bionic robot technology. The wrist arm structure includes a forearm and a support plate; the forearm includes a mounting frame, a first telescopic mechanism, and a second telescopic mechanism. The mounting frame includes a first end and a second end. The first telescopic mechanism and the second telescopic mechanism are mounted side-by-side at the first end and extend to the second end. The support plate includes a first connecting arm, a third connecting arm, and a second connecting arm arranged in parallel. The third connecting arm is pivotally connected to the second end. The first connecting arm is pivotally connected to the end of the first telescopic mechanism near the second end, and the second connecting arm is pivotally connected to the end of the second telescopic mechanism near the second end. The wrist arm structure provided by this application can improve the flexibility of robot hand movements.

Description

Technical Field

[0001] This application relates to the field of biomimetic robotics, and more particularly to a wrist arm structure and robot. Background Technology

[0002] Bionic robots are increasingly being used in fields such as medicine and manufacturing, and can perform actions such as surgical procedures and mechanical manufacturing.

[0003] However, the wrist structure of existing bionic robots can only achieve relatively simple up-and-down swinging, and its flexibility is weak, which can no longer meet the needs of current production applications. Summary of the Invention

[0004] This application provides a wrist arm structure and robot to improve the flexibility of the wrist arm structure.

[0005] This application provides a wrist-arm structure, including:

[0006] The forearm includes a mounting frame, a first telescopic mechanism, and a second telescopic mechanism. The mounting frame includes a first end and a second end. The first telescopic mechanism and the second telescopic mechanism are mounted side by side at the first end and extend to the second end.

[0007] The support plate includes a first connecting arm, a third connecting arm, and a second connecting arm arranged in parallel. The third connecting arm is pivotally connected to the second end. The first connecting arm is pivotally connected to the end of the first telescopic mechanism near the second end. The second connecting arm is pivotally connected to the end of the second telescopic mechanism near the second end.

[0008] Based on the above technical solution, when the wrist arm structure is applied to a robot, the first end of the mounting bracket can be connected to the robot's upper arm, and the carrier plate can be used to mount the robot's hand. During operation, the carrier plate can be driven to perform different movements by adjusting the extension lengths of the first and second telescopic mechanisms. Specifically, when the extension lengths of the first and second telescopic mechanisms are different, the carrier plate can be driven to swing the hand left and right. When the first and second telescopic mechanisms move synchronously and their extension lengths are the same, the carrier plate can be driven to swing the hand up and down, thus simulating the movements of a human hand and providing greater flexibility.

[0009] In some possible implementations, the first telescopic mechanism includes a drive member and a transmission rod assembly that are connected by a drive mechanism, the drive member being mounted at the first end and the transmission rod assembly extending to the second end and pivotally connected to the first connecting arm.

[0010] In some possible implementations, the driving element is a motor, and the first telescopic mechanism further includes a lead screw and an adapter.

[0011] The lead screw is rotatably mounted on the mounting bracket and connected to the output end of the drive component;

[0012] The adapter is sleeved on the lead screw and is threadedly connected to the lead screw. The end of the transmission rod assembly away from the first connecting arm is hinged to the adapter.

[0013] In some possible implementations, the transmission rod assembly includes a first adapter, a sleeve, a telescopic rod, and a second adapter;

[0014] One end of the first adapter is connected to the output end of the driving component, and the end of the first adapter away from the driving component is fixedly connected to the sleeve.

[0015] One end of the telescopic rod is floatingly installed in the sleeve, and the other end of the telescopic rod is telescopically positioned relative to the end of the sleeve that is away from the first adapter.

[0016] The second adapter is connected to the end of the telescopic rod away from the first adapter, and the end of the second adapter away from the telescopic rod is pivotally connected to the first connecting arm.

[0017] In some possible implementations, the telescopic rod has a first flange protruding from its circumference at the end near the first adapter, and the sleeve has a second flange protruding from its inner wall at the end away from the first adapter.

[0018] The transmission rod assembly further includes a first elastic element and a second elastic element. The first elastic element abuts between the first adapter and the first flange, and the second elastic element is sleeved on the telescopic rod and abuts between the first flange and the second flange.

[0019] In some possible implementations, the first connecting arm is connected to a first connecting shaft at one end near the first telescopic mechanism, and the first connecting shaft and the first telescopic mechanism are pivotally connected via a first joint bearing.

[0020] In some possible implementations, the third connecting arm includes two spaced-apart opposing connecting plates, with a second connecting shaft connecting the two connecting plates;

[0021] An adapter sleeve is also connected to the side of the second end away from the first end. The adapter sleeve is fitted onto the second connecting shaft, and a second joint bearing is provided between the adapter sleeve and the second connecting shaft.

[0022] In some possible implementations, a gasket is sandwiched between the second joint bearing and both connecting plates.

[0023] In some possible implementations, the wrist arm structure further includes a support rod connected between the first end and the second end.

[0024] In addition, this application also provides a robot including the wrist structure described in the above embodiments. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 A three-dimensional structural schematic diagram of the carpal arm structure in some embodiments is shown;

[0027] Figure 2 Partial structural schematic diagrams of the carpal arm structure are shown in some embodiments;

[0028] Figure 3 A cross-sectional structural schematic diagram of the transmission rod assembly in some embodiments is shown;

[0029] Figure 4 Schematic diagrams of the connection structure between the transmission rod assembly and the bearing plate are shown in some embodiments;

[0030] Figure 5 A partial cross-sectional structural schematic diagram of the connection between the second adapter and the first connecting arm is shown in some embodiments;

[0031] Figure 6 A partial cross-sectional structural diagram of the connection between the adapter sleeve and the third connecting arm is shown in some embodiments.

[0032] Explanation of key component symbols:

[0033] 1000-wrist-arm structure;

[0034] 100-Forearm; 110-Mounting bracket; 1101-First end; 1102-Second end; 111-First mounting plate; 112-Second mounting plate; 120-First telescopic mechanism; 121-Driver; 122-Screw; 123-Adapter; 124-Transmission rod assembly; 1241-First adapter; 1242-Sleeve; 12421-Second flange; 1243-Telescopic rod; 12431-First flange; 1244-Second adapter; 1245-First elastic element; 1246-Second elastic element; 130-Second telescopic mechanism; 141-Support base; 1411-Connecting ring; 1412-Opening structure; 142-Adapter sleeve;

[0035] 200 - Support plate; 210 - Main body plate; 220 - First connecting arm; 230 - Second connecting arm; 240 - Third connecting arm; 241 - Connecting plate;

[0036] 310 - First connecting shaft; 320 - First spherical bearing; 330 - Second connecting shaft; 340 - Second spherical bearing; 350 - Gasket;

[0037] 400 - Support rod. Detailed Implementation

[0038] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0039] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0040] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0041] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0042] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0043] like Figure 1 As shown, a Cartesian coordinate system is established. The length direction of the carpal structure 1000 is defined to be parallel to the x-axis, the width direction to be parallel to the y-axis, and the height direction to be parallel to the z-axis. It is understood that the above definitions are only for ease of understanding the relative positional relationships of the various parts of the carpal structure 1000 and should not be construed as limitations on this application.

[0044] The embodiment provides a wrist arm structure 1000 that can be applied to a robot. It is understood that the wrist arm structure 1000 can be connected between the robot's upper arm and hand.

[0045] like Figure 1 As shown, the wrist arm structure 1000 may include a forearm 100 and a support plate 200.

[0046] Forearm 100 may include a mounting bracket 110, a first telescopic mechanism 120, and a second telescopic mechanism 130. The mounting bracket 110 may extend along the length of the wrist arm structure 1000, and the mounting bracket 110 may include a first end 1101 and a second end 1102. The first end 1101 may be used to connect to the robot's upper arm.

[0047] The first telescopic mechanism 120 and the second telescopic mechanism 130 can be installed side by side at the first end 1101 of the mounting bracket 110 and can extend to the second end 1102. It can be understood that the telescopic directions of the first telescopic mechanism 120 and the second telescopic mechanism 130 are both approximately parallel to the length direction of the wrist arm structure 1000.

[0048] Combined again Figure 4 The support plate 200 can be used to mount the robot's hand, i.e., to provide a mounting platform for the hand. In this embodiment, the support plate 200 may include a first connecting arm 220, a second connecting arm 230, and a third connecting arm 240 arranged side by side. The first connecting arm 220, the third connecting arm 240, and the second connecting arm 230 may be arranged sequentially along the width direction of the wrist arm structure 1000, i.e., the first connecting arm 220 and the second connecting arm 230 are respectively located on both sides of the third connecting arm 240.

[0049] The third connecting arm 240 can be universally pivoted to the second end 1102 of the mounting bracket 110, meaning the third connecting arm 240 can rotate in multiple directions relative to the mounting bracket 110. The first connecting arm 220 can be universally pivoted to the end of the first telescopic mechanism 120 near the second end 1102, meaning the first connecting arm 220 can also rotate in multiple directions relative to the first telescopic mechanism 120. The second connecting arm 230 can be universally pivoted to the end of the second telescopic mechanism 130 near the second end 1102, meaning the second connecting arm 230 can rotate in multiple directions relative to the second telescopic mechanism 130.

[0050] When the wrist arm structure 1000 is applied to a robot, the first end 1101 of the mounting bracket 110 can be connected to the robot's upper arm, and the robot's hand can be mounted on the support plate 200.

[0051] When the hand needs to swing around an axis parallel to the height direction of the wrist-arm structure 1000, the first telescopic mechanism 120 and the second telescopic mechanism 130 can be activated, and their extension lengths can be different. For example, the length of the first telescopic mechanism 120 can be greater than the length of the second telescopic mechanism 130. This allows the support plate 200 to drive the hand to swing towards the second telescopic mechanism 130. During use, the extension lengths of the first telescopic mechanism 120 and the second telescopic mechanism 130 can also be continuously adjusted to allow the support plate 200 to drive the hand to swing left and right around an axis parallel to the height direction of the wrist-arm structure 1000.

[0052] When the palm needs to rotate around an axis parallel to the width direction of the wrist-arm structure 1000, the first telescopic mechanism 120 and the second telescopic mechanism 130 can be synchronized, and the length of the first telescopic mechanism 120 can be equal to the length of the second telescopic mechanism 130. Thus, the support plate 200 can be driven to make the palm swing up and down around an axis parallel to the width direction of the wrist-arm structure 1000.

[0053] Therefore, the wrist arm structure 1000 provided in this application can realize the left and right swing and up and down swing of the robot's palm, which can simulate the movement of the human palm and is more flexible.

[0054] Furthermore, in the embodiments, the structures of the first telescopic mechanism 120 and the second telescopic mechanism 130 can be set to be roughly the same. The first telescopic mechanism 120 will be used as an example for detailed description below.

[0055] like Figure 1 and Figure 2 As shown, the first telescopic mechanism 120 may include a drive member 121, a lead screw 122, an adapter 123, and a transmission rod assembly 124.

[0056] In some embodiments, the drive element 121 may be a motor. The drive element 121 may be fixedly mounted on the first end 1101 of the mounting bracket 110, and the output shaft of the drive element 121 may be oriented toward the second end 1102.

[0057] The lead screw 122 is rotatably mounted on the mounting bracket 110. Specifically, a support base 141 extending along the length of the cantilever structure 1000 can be fixedly mounted on one end of the mounting bracket 110 near the drive member 121, and the support base 141 can be located at the end of the drive member 121 near the second end 1102. A connecting ring 1411 is provided at both ends of the support base 141, and the two ends of the lead screw 122 can be rotatably mounted on the connecting rings 1411 at both ends of the support base 141 through bearings.

[0058] In addition, a reducer (not shown) can also be provided between the lead screw 122 and the drive member 121 to provide a speed reduction function. Thus, the lead screw 122 can be driven to rotate by the drive member 121. In this embodiment, a protective cover or similar structure can be fitted onto the outside of the reducer. Of course, a coupling or similar structure can also be provided between the output shaft of the reducer and the lead screw 122 to achieve power transmission.

[0059] The adapter 123 can be sleeved on the lead screw 122, and the adapter 123 and the lead screw 122 are threadedly connected. In the embodiment, the support 141 may have an opening structure 1412 on the side away from the mounting bracket 110, and the end of the adapter 123 away from the lead screw 122 may pass through the opening structure 1412 and protrude relative to the side of the support 141 away from the mounting bracket 110. At the same time, both sides of the adapter 123 may fit against the side walls of the opening structure 1412. Thus, the support 141 can restrict the rotation of the adapter 123.

[0060] One end of the transmission rod assembly 124 can be hinged to the end of the adapter 123 that protrudes relative to the support 141. The hinge axis between the transmission rod assembly 124 and the adapter 123 can be parallel to the width direction of the wrist arm structure 1000. The end of the transmission rod assembly 124 away from the adapter 123 can extend to a second end 1102 and be universally pivotally connected to the first connecting arm 220.

[0061] In other embodiments, the drive element 121 may also be an electric actuator or similar structure. One end of the transmission rod assembly 124 may be hinged to the output end of the drive element 121.

[0062] Combined again Figure 3 and Figure 4In some embodiments, the transmission rod assembly 124 may be a double-spring telescopic rod structure, which can provide shock absorption and cushioning during transmission. Specifically, the transmission rod assembly 124 may include a first adapter 1241, a sleeve 1242, a telescopic rod 1243, a second adapter 1244, a first elastic element 1245, and a second elastic element 1246.

[0063] One end of the first adapter 1241 is hinged to the end of the adapter 123 away from the lead screw 122. The end of the first adapter 1241 away from the adapter 123 can be fixedly connected to one end of the sleeve 1242 by a threaded connection. The other end of the sleeve 1242 can extend towards the second end 1102.

[0064] In other embodiments, the first adapter 1241 and the sleeve 1242 can also be fixedly connected by means of interference fit, bonding, screw connection or snap-fit.

[0065] One end of the telescopic rod 1243 is slidably mounted in the sleeve 1242. The other end of the telescopic rod 1243 is telescopically positioned relative to the end of the sleeve 1242 away from the first adapter 1241. One end of the second adapter 1244 is fixedly connected to the end of the telescopic rod 1243 away from the first adapter 1241 via a threaded connection. The end of the second adapter 1244 away from the telescopic rod 1243 is pivotally connected to the first connecting arm 220.

[0066] In this embodiment, a first flange 12431 protrudes from the periphery of the telescopic rod 1243 near the first adapter 1241. A second flange 12421 protrudes from the inner wall of the sleeve 1242 away from the first adapter 1241. The second flange 12421 can be opposite to the first flange 12431 and can confine the end of the telescopic rod 1243 near the first flange 12431 within the sleeve 1242, preventing the telescopic rod 1243 from arbitrarily detaching from the sleeve 1242.

[0067] The first elastic element 1245 and the second elastic element 1246 are both disposed within the sleeve 1242. The first elastic element 1245 abuts against the first adapter 1241 and the first flange 12431. The second elastic element 1246 is sleeved around the periphery of the telescopic rod 1243 and abuts against the first flange 12431 and the second flange 12421. In some embodiments, both the first elastic element 1245 and the second elastic element 1246 can be springs.

[0068] In other embodiments, both the first elastic element 1245 and the second elastic element 1246 can be selected from flexible columns, sheet springs, or other structures.

[0069] In other embodiments, the transmission rod assembly 124 may also be a pneumatic rod or a hydraulic rod, which can provide a buffering and shock absorption function. Accordingly, the first elastic element 1245 and the second elastic element 1246 can both be replaced by a pneumatic or hydraulic source.

[0070] Of course, in other embodiments, the transmission rod assembly 124 may also be a rigid rod structure, which can realize the transmission between the drive member 121 and the first connecting arm 220.

[0071] like Figure 1 and Figure 4 As shown, the support plate 200 also includes a main body plate portion 210, which can serve as a mounting platform for connecting the palm. The first connecting arm 220, the second connecting arm 230, and the third connecting arm 240 all protrude from the end of the main body plate portion 210 near the forearm 100. In some embodiments, the first connecting arm 220, the second connecting arm 230, the third connecting arm 240, and the main body plate portion 210 can be an integral structure.

[0072] Combined again Figure 5 In this embodiment, the end of the first connecting arm 220 away from the main body plate 210 may be connected to a first connecting shaft 310, which may be parallel to the width direction of the wrist arm structure 1000. In addition, the first connecting shaft 310 may protrude from the side of the first connecting arm 220 closer to the third connecting arm 240.

[0073] The end of the second adapter 1244 furthest from the telescopic rod 1243 can be sleeved onto the first connecting shaft 310, and a first spherical bearing 320 is provided between the second adapter 1244 and the first connecting shaft 310, enabling a universal pivot connection between the first connecting shaft 310 and the second adapter 1244. Thus, the first connecting arm 220 can rotate in multiple directions relative to the second adapter 1244. It is understood that the outer ring of the first spherical bearing 320 can be fixedly connected to the second adapter 1244, and the inner ring of the first spherical bearing 320 can be fixedly connected to the first connecting shaft 310.

[0074] In addition, a gasket 350 is sandwiched between the first joint bearing 320 and the first connecting arm 220 to prevent direct contact between the first joint bearing 320 and the first connecting arm 220, thus preventing severe wear. This also extends the service life of the first joint bearing 320 and ensures the operational accuracy of the wrist arm structure 1000. The gasket 350 can be made of materials such as silicone or rubber.

[0075] In other embodiments, a ball joint structure may also be fixedly connected to the end of the first connecting arm 220 away from the main body plate 210. A spherical groove matching the ball joint structure may be provided at the end of the second adapter 1244 away from the telescopic rod 1243. The ball joint structure can be rotatably installed in the spherical groove, enabling universal pivoting between the first connecting arm 220 and the second adapter 1244.

[0076] like Figure 1 and Figure 6 As shown in the embodiment, the second end 1102 of the mounting bracket 110 is also connected to an adapter sleeve 142. Specifically, the second end 1102 of the mounting bracket 110 may be configured with an inverted L-shaped second mounting plate portion 112, which may be located on the side of the mounting bracket 110 closer to the drive member 121. The adapter sleeve 142 may be fixedly connected to the side of the second mounting plate portion 112 away from the first end 1101 by means of bolt connection or adhesive bonding.

[0077] Combined again Figure 4 The third connecting arm 240 may include two spaced-apart opposing connecting plates 241. A second connecting shaft 330 may be connected between the two connecting plates 241. One end of the adapter sleeve 142 away from the second mounting plate portion 112 may be sleeved onto the second connecting shaft 330. A second spherical bearing 340 is provided between the adapter sleeve 142 and the second connecting shaft 330. It is understood that the outer ring of the second spherical bearing 340 may be fixedly connected to the adapter sleeve 142, and the inner ring of the second spherical bearing 340 may be fixedly connected to the second connecting shaft 330. Accordingly, the third connecting arm 240 may rotate in multiple directions relative to the adapter sleeve 142. That is, a universal pivot connection between the third connecting arm 240 and the mounting bracket 110 can be achieved.

[0078] In addition, shims 350 are provided on both sides of the second joint bearing 340, that is, shims 350 are sandwiched between the two connecting plates 241 and the second joint bearing 340. This can prevent the second joint bearing 340 from directly contacting the connecting plates 241 and causing serious wear, thereby delaying the wear of the second joint bearing 340, extending the service life of the second joint bearing 340, and also ensuring the movement accuracy of the wrist arm structure 1000.

[0079] In other embodiments, a ball-head structure may also be fixedly connected to the end of the third connecting arm 240 away from the main body plate 210. A spherical groove matching the ball-head structure may be provided at the end of the adapter sleeve 142 away from the second mounting plate 112. The ball-head structure can be rotatably mounted in the spherical groove, enabling universal pivoting between the third connecting arm 240 and the second mounting plate 112, and thus universal pivoting between the third connecting arm 240 and the mounting bracket 110.

[0080] like Figure 1As shown, further, the first end 1101 of the mounting bracket 110 is also provided with a first mounting plate portion 111 opposite to the second mounting plate portion 112. The cantilever structure 1000 also includes a support rod 400. One end of the support rod 400 can be connected to the first mounting plate portion 111, and the other end of the support rod 400 can be connected to the second mounting plate portion 112. Thus, the overall structural strength of the cantilever structure 1000 can be improved.

[0081] The embodiment also provides a robot, which may include the wrist arm structure 1000 provided in the embodiment. The first end 1101 of the mounting bracket 110 is hinged to the robot's upper arm. The robot's hand can be mounted on the main body plate 210 of the support plate 200.

[0082] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0083] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A wrist arm structure, characterized in that, include: The forearm includes a mounting frame, a first telescopic mechanism, and a second telescopic mechanism. The mounting frame includes a first end and a second end. The first telescopic mechanism and the second telescopic mechanism are mounted side by side at the first end and extend to the second end. The support plate includes a first connecting arm, a third connecting arm, and a second connecting arm arranged in parallel in sequence. The third connecting arm is pivotally connected to the second end, and the second connecting arm is pivotally connected to the end of the second telescopic mechanism near the second end. The first telescopic mechanism includes a drive member and a transmission rod assembly that are connected by transmission. The drive member is installed at the first end. One end of the transmission rod assembly is rotatably connected to the output end of the drive member. The end of the transmission rod assembly away from the drive member is universally pivotally connected to the first connecting arm. The transmission rod assembly includes a first adapter, a sleeve, a telescopic rod, and a second adapter. One end of the first adapter is connected to the output end of the driving component, and the end of the first adapter away from the driving component is fixedly connected to the sleeve. One end of the telescopic rod is floatingly installed in the sleeve, and the other end of the telescopic rod is telescopically positioned relative to the end of the sleeve that is away from the first adapter. The second adapter is connected to the end of the telescopic rod away from the first adapter, and the end of the second adapter away from the telescopic rod is pivotally connected to the first connecting arm. The telescopic rod has a first flange protruding from its circumference at the end near the first adapter, and the sleeve has a second flange protruding from its inner wall at the end away from the first adapter. The transmission rod assembly further includes a first elastic element and a second elastic element. The first elastic element abuts between the first adapter and the first flange, and the second elastic element is sleeved on the telescopic rod and abuts between the first flange and the second flange.

2. The wrist arm structure according to claim 1, characterized in that, The driving component is a motor, and the first telescopic mechanism also includes a lead screw and an adapter. The lead screw is rotatably mounted on the mounting bracket and connected to the output end of the drive component; The adapter is sleeved on the lead screw and is threadedly connected to the lead screw. The end of the transmission rod assembly away from the first connecting arm is hinged to the adapter.

3. The wrist arm structure according to claim 1, characterized in that, The first connecting arm is connected to a first connecting shaft at one end near the first telescopic mechanism, and the first connecting shaft and the first telescopic mechanism are pivotally connected via a first joint bearing.

4. The wrist arm structure according to claim 1 or 3, characterized in that, The third connecting arm includes two spaced-apart and opposite connecting plates, and a second connecting shaft is connected between the two connecting plates; An adapter sleeve is also connected to the side of the second end away from the first end. The adapter sleeve is fitted onto the second connecting shaft, and a second joint bearing is provided between the adapter sleeve and the second connecting shaft.

5. The wrist arm structure according to claim 4, characterized in that, A gasket is sandwiched between the second joint bearing and both connecting plates.

6. The wrist arm structure according to claim 1, characterized in that, The wrist arm structure also includes a support rod, which connects the first end and the second end.

7. A robot, characterized in that, Including the wrist-arm structure as described in any one of claims 1 to 6.

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