A humanoid flexible parallel wrist joint with redundant actuation

Abstract

The application discloses a novel human-simulating flexible parallel wrist joint with redundant driving, and has the characteristics that the joint comprises a moving platform (1), an intermediate branch chain (2), a first driving branch chain (3-1), a second driving branch chain (3-2), a third driving branch chain (3-2) and a base (4). The application is based on bionics and bionically designs the bony structure and muscle system of a human wrist joint, adopts a rope driving mode, has a high stiffness bearing ratio, is driven redundantly and has good human-machine interaction performance. The joint can be pulled by three motors through external ropes, converts the rotation of the motors into the movement of the ropes through a movable pulley, realizes 2-DOF (degree of freedom) movement, and is suitable for occasions such as the end wrist joint of an industrial robot, a human-simulating arm wrist joint and an intelligent prosthesis.

Description

Technical Field

[0001] This invention relates to a humanoid flexible parallel wrist joint with redundant drive, which is suitable for applications such as end-effector wrist joints of industrial robots, humanoid arm wrist joints, and intelligent prostheses. Background Technology

[0002] Through millions of years of natural selection and evolution, organisms in nature have developed a high degree of adaptability to their environment. Their functional organizations and organ structures are far more sophisticated and rational than any mechanical devices created by humans. Humans have a long history of designing and manufacturing various mechanical devices by imitating the external morphology and internal structure of living organisms. In the late 1960s, the first World Congress on Bionics was held at an Air Force base in Ohio, USA, where it officially became an independent discipline. Bionics is an emerging interdisciplinary field based on mechanics and mechanical engineering, integrating biology, engineering, electronics, and cybernetics. In 1970, Japan hosted the first Symposium on Biological Structures, which established biomechanics and biomechanics as two disciplines, forming the basis for bionic mechanics. With the help of bionic mechanics, people can design more rational mechanical systems in terms of morphology, structure, function, and materials. Therefore, in recent years, bionic mechanics has received increasing attention and favor. With the rapid development of the field of bionic robots, new forms of bionic mechanisms focus more on their transformative, practical, and groundbreaking development. Bionic rigid-flexible coupled robots are evolving towards lighter and more flexible designs, leading to higher demands on load-bearing capacity and repeatability. Existing dynamic modeling and analysis methods primarily focus on the robot body itself, neglecting the interactive dynamics of human-robot interaction. Therefore, addressing the integration of rigid-flexible coupling and human-robot interaction in bionic structures remains a challenge. Currently, based on their functional characteristics and application areas, bionic machines are categorized into several types, including bionic load-bearing machines, bionic grasping machines, and bionic mobile machines. Bionic load-bearing machines refer to load-bearing devices designed using the principles of static load-bearing structures in living organisms; bionic grasping machines refer to grasping devices designed using the grasping functions and principles of living organisms; and bionic mobile machines refer to walking devices designed using the principles of biological movement and structural characteristics. Since ancient times, machines have served to improve human living standards, liberate humans from arduous work, and increase social productivity. Among these, robotic arms have become a major type of robot for improving productivity and facilitating production processes. Robotic arms have a wide range of applications, from industrial production to specialized robots used in explosion-proof and maintenance work. The performance of a robotic arm is mainly reflected in its weight-to-weight ratio, the flexibility of its end effector, its working range, and the safety of human-machine interaction. Traditional robotic arms, due to their heavy weight and high inertia, are not safe in human-machine interaction and are prone to accidents. One reason for the heavy weight of robotic arms lies in the wrist that connects to the end effector. Traditional robotic arm wrists are mostly of the serial or gear type, which are heavy and have high rigidity. Combined with the length of the robotic arm, this places extremely high demands on the end effector motor. Therefore, when solving the human-machine interaction problem of robotic arms, a breakthrough can be made by focusing on the wrist.Humans, as apex predators in the food chain, rely on their freed hands and highly developed brains. It is the use and invention of tools that has allowed humans, with relatively weak bodies, to stand at the top of the food chain. The hands and wrists, which use tools, play a crucial role in this process. The human wrist joint, as the connection between the arm and hand, possesses characteristics such as high rigidity, light weight, and high load-bearing capacity, while also exhibiting strong flexibility. Therefore, research on robotic wrist joints can be conducted by biomimicking the human wrist joint in terms of function, structure, and shape, to achieve a wrist joint design with a high load-bearing ratio, lightweight construction, high rigidity, and good human-computer interaction—that is, flexibility. Summary of the Invention

[0003] To address the shortcomings of current wrist joints, such as insufficient stiffness-to-load ratio and poor human-computer interaction performance, this invention proposes a biomimetic flexible parallel wrist joint with redundant actuation, based on bionics and biomimetic design of the bony structure and muscular system of the human wrist joint. Structurally, this wrist joint is a rigid-flexible coupling structure with two degrees of freedom on its moving platform. Since the ropes cannot withstand tensile forces, three ropes are required for actuation to ensure the smoothness and compliance of the moving platform's motion, thus exhibiting redundant actuation. The purpose of this invention is to design a biomimetic flexible parallel wrist joint with redundant actuation based on the biological structure of the human wrist joint. It can achieve two degrees of freedom motion by using three motors to pull external ropes, and by using movable pulleys to convert the rotation of the motors into the movement of the ropes.

[0004] A humanoid flexible parallel wrist joint with redundant drive includes: a moving platform (1), an intermediate branch (2), a first drive branch (3-1), a second drive branch (3-2), a third drive branch (3-3), and a base (4). The threaded hole (A31) of the first drive branch (3-1) is screwed into the first hole (A1) of the moving platform (1); the first hole (K311) of the first drive branch (3-1) passes through the second support column (4-1-3-2) of the base (4), the second hole (K312) of the first drive branch (3-1) passes through the first support column (4-1-3-1) of the base (4), and the first groove (H31) of the first drive branch (3-1) passes through the first guide rail (4-1-4-1) of the base (4), allowing sliding within a corresponding range; the bolt shaft (B31) of the first drive branch (3-1) is screwed into the first threaded hole (A1) of the base (4). The holes (A1) are connected by screws; the third hole (C311) of the first drive chain (3-1) is bolted to the first hole (B11) of the base (4); the fourth hole (C312) of the first drive chain (3-1) is bolted to the second hole (B12) of the base (4); the fifth hole (D311) of the first drive chain (3-1) is bolted to the third hole (C11) of the base (4); the sixth hole (D312) of the first drive chain (3-1) is bolted to the fourth hole (C12) of the base (4); the seventh hole (E311) of the first drive chain (3-1) is bolted to the fifth hole (D11) of the base (4). Bolt connection is made; the eighth hole (E312) of the first drive branch (3-1) is bolted to the sixth hole (D12) of the base (4); the ninth hole (K313) of the first drive branch (3-1) is fitted onto the first shaft (Z3) of the base (4), and a set screw is passed through the tenth hole (F31) of the first drive branch (3-1) to fix it to the base (4); the threaded hole (A32) of the second drive branch (3-2) is screwed to the second hole (A2) of the moving platform (1); the first hole (K321) of the second drive branch (3-2) passes through the fourth support column (4-1-3-4) of the base (4) and the second drive branch (3- 2) The second hole (K322) passes through the third support column (4-1-3-3) of the base (4), and the second slide groove (H32) of the second drive chain (3-2) passes through the second guide rail (4-1-4-2) of the base (4), and can slide within the corresponding range; the bolt shaft (B32) of the second drive chain (3-2) is screwed to the second threaded hole (A2) of the base (4); the third hole (C321) of the second drive chain (3-2) is bolted to the seventh hole (B21) of the base (4); the fourth hole (C322) of the second drive chain (3-2) is bolted to the eighth hole (B22) of the base (4);The fifth hole (D321) of the second drive branch (3-2) is bolted to the seventh hole (C21) of the base (4); the sixth hole (D322) of the second drive branch (3-2) is bolted to the eighth hole (C22) of the base (4); the seventh hole (E321) of the second drive branch (3-2) is bolted to the eleventh hole (D131) of the base (4); the eighth hole (E322) of the second drive branch (3-2) is bolted to the twelfth hole (D132) of the base (4); the... The ninth hole (K323) of the second drive chain (3-2) is fitted onto the second shaft (Z4) of the base (4), and a set screw is used to pass through the tenth hole (F32) of the second drive chain (3-2) to fix it to the base (4); the threaded hole (A33) of the third drive chain (3-3) is screwed to the third hole (A3) of the moving platform (1); the first hole (K331) of the third drive chain (3-3) passes through the sixth support column (4-1-3-6), and the second hole (K332) of the third drive chain (3-3) passes through... The fifth support column (4-1-3-5) and the third slide groove (H32) of the third drive chain (3-3) pass through the third guide rail (4-1-4-3) and can slide within the corresponding range; the bolt shaft (B33) of the third drive chain (3-3) is screwed to the third threaded hole (A3) of the base (4); the third hole (C331) of the third drive chain (3-3) is bolted to the thirteenth hole (B31) of the base (4); the fourth hole (C332) of the third drive chain (3-3) is bolted to the base (4). The fourteenth hole (B32) of the third drive chain (3-3) is bolted to the fifteenth hole (C31) of the base (4); the sixth hole (D332) of the third drive chain (3-3) is bolted to the sixteenth hole (C32) of the base (4); the holes (E321) and (E322) of the third drive chain (3-3) (these two holes are shared with the second drive chain (3-2)) are bolted to the holes (D131) and (D132) of the base (4) respectively.

[0005] The seventh hole (K333) of the third drive chain (3-3) is fitted onto the third shaft (Z5) of the base (4), and a set screw is used to pass through the eighth hole (F33) of the third drive chain (3-3) to fix it onto the base (4); the threaded hole (A) of the intermediate chain (2) and the fourth hole (A4) of the moving platform (1) are connected by screws; the threaded hole (B) of the intermediate chain (2) and the seventeenth hole (A4) of the base (4) are connected by screws.

[0006] Further, the second drive branch (3-2) includes: a first ball socket assembly (3-2-1), a first ball head assembly (3-2-2), a rotating connection (3-2-3), a first flange bearing MF84zz (3-2-4-1), a second flange bearing MF84zz (3-2-4-2), a first bearing seat (3-2-5-1), a second bearing seat (3-2-5-2), an optical axis slider (3-2-6), a guide rail slider (3-2-7), a first pulley seat (3-2-8), a first pulley fixing screw (3-2-9-1), a second pulley fixing screw (3-2-9-2), a third pulley fixing screw (3-2-9-3), a second pulley seat (3-2-10), and a third pulley seat (3- 2-11), shared pulley seat (3-23), winding shaft (3-2-12), first pulley group (HLZ-321), second pulley group (HLZ-322), third pulley group (HLZ-323), fourth pulley group (HLZ-324), fifth pulley group (HLZ-325), rope (3-2-13); wherein, the first ball socket assembly (3-2-1) and the first ball head assembly (3-2-2) form a ball pair with three degrees of freedom of rotation through clearance fit; the threaded hole (A) of the first ball head assembly (3-2-2) and the stud (A) of the rotating connection (3-2-3) form a threaded connection; the first hole (C) of the first bearing seat (3-2-5-1) and the first flange bearing MF84zz (3 A transition fit is formed between the shaft (A) of the first bearing housing (3-2-5-1) and the second surface (M2) of the first flange bearing MF84zz (3-2-4-1); a transition fit is formed between the first hole (B) of the first flange bearing MF84zz (3-2-4-1) and the first shaft (A1) of the first pulley housing (3-2-8), and the first surface (M1) of the first flange bearing MF84zz (3-2-4-1) is in contact with the first surface (M1) of the first pulley housing (3-2-8); a transition fit is formed between the first hole (C) of the second bearing housing (3-2-5-2) and the first shaft of the second flange bearing MF84zz (3-2-4-2), and the second bearing housing... The first surface (M1) of (3-2-5-2) is in contact with the second surface of the second flange bearing MF84zz (3-2-4-2); the hole of the second flange bearing MF84zz (3-2-4-2) forms a transition fit with the second shaft (A2) of the first pulley seat (3-2-8), and the first surface of the second flange bearing MF84zz (3-2-4-2) is in contact with the first surface of the first pulley seat (3-2-8); the second surface (M2) of the first bearing seat (3-2-5-1) is in contact with the second surface (M2) of the second bearing seat (3-2-5-2), and the two are fixed by bolts passing through the second hole (B) of the first bearing seat (3-2-5-1) and the second hole (B) of the second bearing seat (3-2-5-2);The first hole (B1) of the rotatable connector (3-2-3) is screwed into the third hole (A1) of the first bearing seat (3-2-5-1); the second hole (B2) of the rotatable connector (3-2-3) is screwed into the fourth hole (A2) of the first bearing seat (3-2-5-1); the third hole (B3) of the rotatable connector (3-2-3) is screwed into the third hole (A1) of the second bearing seat (3-2-5-2); the fourth hole (B4) of the rotatable connector (3-2-3) is screwed into the second hole (A2) of the second bearing seat (3-2-5-2); the first hole (B1) of the first pulley seat (3-2-8) is screwed into the optical axis slider (3-2-6). The first hole (B1) of the first pulley seat (3-2-8) is screwed into the second hole (B2) of the optical axis slider (3-2-6); the third hole (A1) of the optical axis slider (3-2-6) is screwed into the first hole (A1) of the guide rail slider (3-2-7); the fourth hole (A2) of the optical axis slider (3-2-6) is screwed into the second hole (A2) of the guide rail slider (3-2-7); the fifth hole (A3) of the optical axis slider (3-2-6) is screwed into the third hole (A3) of the guide rail slider (3-2-7); the sixth hole (A4) of the optical axis slider (3-2-6) is screwed into the guide rail slider (3- The fourth hole (A4) of 2-7) is screwed together; the first pulley group (HLZ-321) is fixed to the threaded hole (C) of the first pulley seat (3-2-8) by the first pulley fixing screw (3-2-9-1); the second pulley group (HLZ-322) is fixed to the second threaded hole (A2) of the base (4) by the second pulley fixing screw (3-2-9-2); the third pulley group (HLZ-323) is fixed to the threaded hole (A) of the second pulley seat (3-2-10) by the third pulley fixing screw (3-2-9-3); the fourth pulley group (HLZ-324) and the third pulley seat (3-2-11) are connected by bolts. The fifth pulley block (HLZ-325) and the common pulley seat (3-23) are connected by bolts through the hole (A3), and are in contact with the first surface (M1) and the second surface (M2) of the common pulley seat (3-23). ​​Section A of the rope (3-2-13) is fixed to the third hole (D) of the first pulley seat (3-2-8), passes successively around the second pulley block (HLZ-322), the first pulley block (HLZ-321), and then through the third pulley block (HLZ-323), the fourth pulley block (HLZ-324), and the fifth pulley block (HLZ-325) for a change of direction, finally winding onto the winding shaft (3-2-12).

[0007] Furthermore, the first pulley assembly (HLZ-321) includes: a first side bearing MF683ZZ (H-1), a second side bearing MF683ZZ (H-3), and a pulley (H-2); wherein, the shaft (A) of the first side bearing MF683ZZ (H-1), the shaft (A) of the second side bearing MF683ZZ (H-3), and the hole (A) of the pulley (H-2) are in transition fit, and the first surface (M1) of the pulley (H-2) is in contact with the surface (M) of the first side bearing MF683ZZ (H-1); the second surface (M2) of the pulley (H-2) is in contact with the surface (M) of the second side bearing MF683ZZ (H-3).

[0008] Furthermore, the components and connection method of the first drive branch (3-1) and the third drive branch (3-3) are consistent with those of the second drive branch (3-2).

[0009] Furthermore, the intermediate branch (2) includes: a second ball socket assembly (2-1), a third ball socket assembly (2-5), a second ball head assembly (2-2), a third ball head assembly (2-4), and an intermediate connecting rod (2-3); their connection relationship is as follows: the ball sockets (A) of the second ball socket assembly (2-1) and the third ball socket assembly (2-5) form a clearance fit with the ball heads (A) of the second ball head assembly (2-2) and the third ball head assembly (2-4); the threaded holes (B) of the second ball head assembly (2-2) and the third ball head assembly (2-4) respectively form a threaded connection with the first stud (A1) and the second stud (A2) of the intermediate connecting rod (2-3).

[0010] Further, the base (4) includes: a wrist joint base (4-1), an intermediate connecting module (4-2), a support frame (4-3), a first drive motor (4-4), a second drive motor (4-5), and a third drive motor (4-6); wherein, the first hole (A1) of the support frame (4-3) and the first hole (B1) of the intermediate connecting module (4-2) are connected by screws; the second hole (A2) of the support frame (4-3) and the second hole (B2) of the intermediate connecting module (4-2) are connected by screws. The third hole (A3) of the support frame (4-3) is connected to the third hole (B3) of the intermediate connecting module (4-2) by screws; the fourth hole (A4) of the support frame (4-3) is connected to the fourth hole (B4) of the intermediate connecting module (4-2) by screws; the fifth hole (A1) of the intermediate connecting module (4-2) is connected to the first hole (A1) of the wrist joint base (4-1) by screws; the sixth hole (A2) of the intermediate connecting module (4-2) is connected to the wrist joint base (4-1) by screws. The second hole (A2) of the intermediate connecting module (4-2) is connected to the third hole (A3) of the wrist joint base (4-1) by screws; the hole of the first drive motor (4-4) is connected to the fifth hole (B1), the sixth hole (B2), the seventh hole (B3), and the eighth hole (B4) of the support frame (4-3) by screws; the hole of the second drive motor (4-5) is connected to the support frame (4-3) by screws. The ninth hole (C1) of the frame (4-3), the tenth hole (C2) of the support frame (4-3), the eleventh hole (C3) of the support frame (4-3), and the twelfth hole (C4) of the support frame (4-3) are connected by screws; the hole of the third drive motor (4-6) is connected to the thirteenth hole (D1) of the support frame (4-3), the fourteenth hole (D2) of the support frame (4-3), the fifteenth hole (D3) of the support frame (4-3), and the sixteenth hole (D4) of the support frame (4-3) by screws.

[0011] Further, the wrist joint base (4-1) includes: a first fixed base (4-1-1), a first upper spring (4-1-2-1), a second upper spring (4-1-2-2), a third upper spring (4-1-2-3), a fourth upper spring (4-1-2-4), a fifth upper spring (4-1-2-5), a sixth upper spring (4-1-2-6), a first support column (4-1-3-1), a second support column (4-1-3-2), a third support column (4-1-3-3), a fourth support column (4-1-3-4), a fifth support column (4-1-3-5), a sixth support column (4-1-3-6), and a first guide rail (4-1-4- 1) Second guide rail (4-1-4-2), third guide rail (4-1-4-3), first guide rail fixed (4-1-5-1), second guide rail fixed (4-1-5-2), third guide rail fixed (4-1-5-3), first lower spring (4-1-6-1), second lower spring (4-1-6-2), third lower spring (4-1-6-3), fourth lower spring (4-1-6-4), fifth lower spring (4-1-6-5), sixth lower spring (4-1-6-6), second fixed base (4-1-7); wherein, the first upper spring (4-1-2-1) and the first lower spring (4-1-6-1) are both fitted onto the first support column (4- The surface of the second support column (4-1-3-1); the second upper spring (4-1-2-2) and the second lower spring (4-1-6-2) are both fitted on the surface of the second support column (4-1-3-2); the third upper spring (4-1-2-3) and the third lower spring (4-1-6-3) are both fitted on the surface of the third support column (4-1-3-3); the fourth upper spring (4-1-2-4) and the fourth lower spring (4-1-6-4) are on the surface of the fourth support column (4-1-3-4); the fifth upper spring (4-1-2-5) and the fifth lower spring (4-1-6-5) are both fitted on the surface of the fifth support column (4-1-3-5); the sixth upper spring (4-1-2-6) and the sixth lower spring... (4-1-6-6) The surface of the sixth support column (4-1-3-6); the threaded hole (A) of the first support column (4-1-3-1) is connected to the first hole (A1) of the first fixed base (4-1-1) by screws; the threaded hole (B) of the first support column (4-1-3-1) is connected to the first hole (A1) of the second fixed base (4-1-7) by screws; the threaded hole (A) of the second support column (4-1-3-2) is connected to the second hole (A2) of the first fixed base (4-1-1) by screws; the threaded hole (B) of the second support column (4-1-3-2) is connected to the second hole (A2) of the second fixed base (4-1-7) by screws.The threaded hole (A) of the third support column (4-1-3-3) is connected to the third hole (A3) of the first fixed base (4-1-1) by screws; the threaded hole (B) of the third support column (4-1-3-3) is connected to the third hole (A3) of the second fixed base (4-1-7) by screws; the threaded hole (A) of the fourth support column (4-1-3-4) is connected to the fourth hole (A4) of the first fixed base (4-1-1) by screws; the threaded hole (B) of the third support column (4-1-3-3) is connected to the fourth hole (A4) of the second fixed base (4-1-7) by screws; the threaded hole (A) of the fifth support column (4-1-3-5) is connected to the fifth hole (A5) of the first fixed base (4-1-1) by screws. The threaded hole (B) of the third support column (4-1-3-3) is connected to the fifth hole (A5) of the second fixed base (4-1-7) via screws; the threaded hole (A) of the sixth support column (4-1-3-6) is connected to the sixth hole (A6) of the first fixed base (4-1-1) via screws; the threaded hole (B) of the sixth support column (4-1-3-6) is connected to the sixth hole (A6) of the second fixed base (4-1-7) via screws; the first hole (A1) of the third guide rail (4-1-4-3) is connected to the first hole (B1) of the third guide rail fixing (4-1-5-3) via bolts; the second hole (A2) of the third guide rail (4-1-4-3) is connected to the third guide rail fixing (4-1-5-3). The second hole (B2) is connected by bolts; the third hole (A3) of the third guide rail (4-1-4-3) is connected to the third hole (B3) of the third guide rail fixing (4-1-5-3) by bolts; the fourth hole (A4) of the third guide rail (4-1-4-3) is connected to the fourth hole (B4) of the third guide rail fixing (4-1-5-3) by bolts; the connection methods of the first guide rail (4-1-4-1) and the first guide rail fixing (4-1-5-1) and the second guide rail (4-1-4-2) and the second guide rail fixing (4-1-5-2) are the same as the connection methods of the third guide rail (4-1-4-3) and the third guide rail fixing (4-1-5-3); the first guide rail fixing (4-1-5-1) The hole (A1) of the third guide rail (4-1-5-2) is connected to the seventh hole (B1) of the first fixed base (4-1-1) by a screw; the hole (A1) of the second guide rail (4-1-5-2) is connected to the eighth hole (B2) of the first fixed base (4-1-1) by a screw; the fifth hole (A1) of the third guide rail (4-1-5-3) is connected to the ninth hole (B3) of the first fixed base (4-1-1) by a screw; the sixth hole (C1) of the third guide rail (4-1-5-3) is connected to the twelfth hole (B6) of the second fixed base (4-1-7) by a screw; the seventh hole (C2) of the third guide rail (4-1-5-3) is connected to the eleventh hole (B5) of the second fixed base (4-1-7) by a screw.The holes for fixing the first guide rail (4-1-5-1) are screwed into the seventh hole (B1) and the eighth hole (B2) of the second fixing base (4-1-7); the holes for fixing the second guide rail (4-1-5-2) are screwed into the ninth hole (B3) and the tenth hole (B4) of the second fixing base (4-1-7).

[0012] Further, the intermediate connecting module (4-2) includes: a front fixing plate (4-2-1), a first intermediate fixing plate (4-2-2), a first front copper pillar (4-2-3-1), a second front copper pillar (4-2-3-2), a third front copper pillar (4-2-3-3), a rear fixing plate (4-2-4), a second intermediate fixing plate (4-2-5), a first rear copper pillar (4-2-6-1), a second rear copper pillar (4-2-6-2), a third rear copper pillar (4-2-6-3), and a fourth rear copper pillar (4-2-6-4); wherein, the first hole (A1) of the front fixing plate (4-2-1) and the first hole (A1) of the first front copper pillar (4-2-3-1) are connected. The threaded hole (A) is connected by screws; the second hole (A2) of the front fixing plate (4-2-1) is connected to the first threaded hole (A) of the second front copper pillar (4-2-3-2) by screws; the third hole (A3) of the front fixing plate (4-2-1) is connected to the first threaded hole (A) of the third front copper pillar (4-2-3-3) by screws; the first protrusion (A1) of the first intermediate fixing plate (4-2-2) is inserted into the first groove (B1) of the front fixing plate (4-2-1); the second protrusion (A2) is inserted into the second groove (B2) of the front fixing plate (4-2-1); the third protrusion (B1) of the first intermediate fixing plate (4-2-2) is inserted into the rear fixing plate. The fourth protruding part (B2) is inserted into the first groove (C1) of the fixed plate (4-2-4); the fourth protruding part (B2) is inserted into the second groove (C2) of the rear fixed plate (4-2-4); the first hole (A1) of the rear fixed plate (4-2-4) is connected to the second threaded hole (B) of the first front copper pillar (4-2-3-1) by screws; the second hole (A2) of the rear fixed plate (4-2-4) is connected to the second threaded hole (B) of the second front copper pillar (4-2-3-2) by screws; the third hole (A3) of the rear fixed plate (4-2-4) is connected to the third threaded hole (B) of the third front copper pillar (4-2-3-3) by screws; the fifth hole (B1) of the rear fixed plate (4-2-4) The first threaded hole (A) of the first rear copper pillar (4-2-6-1) is connected by screws; the sixth hole (B2) of the rear fixing plate (4-2-4) is connected to the first threaded hole (A) of the second rear copper pillar (4-2-6-2) by screws; the seventh hole (B3) of the rear fixing plate (4-2-4) is connected to the first threaded hole (A) of the third rear copper pillar (4-2-6-3) by screws; the eighth hole (B4) of the rear fixing plate (4-2-4) is connected to the fourth threaded hole (A) of the fourth rear copper pillar (4-2-6-4) by screws; the protruding part (A1) of the second intermediate fixing plate (4-2-5) is inserted into the third groove D of the rear fixing plate (4-2-4). Attached Figure Description

[0013] Figure 1 This is a schematic diagram of a humanoid flexible parallel wrist joint structure with redundant drive.

[0014] Figure 2 This is a schematic diagram of the first driving branch structure.

[0015] Figure 3 This is a schematic diagram of the second drive branch structure.

[0016] Figure 4 This is a schematic diagram of the third driving branch structure.

[0017] Figure 5 This is a schematic diagram of the dynamic platform structure.

[0018] Figure 6 This is a schematic diagram of the intermediate branch structure.

[0019] Figure 7 This is a schematic diagram of the base structure.

[0020] Figure 8 This is a schematic diagram of the explosion of the second drive chain (without rope).

[0021] Figure 9 This is a schematic diagram of the second drive branch rope winding.

[0022] Figure 10 This is a schematic diagram of an explosion in the middle branch.

[0023] Figure 11 This is a schematic diagram of a pulley block explosion.

[0024] Figure 12 A schematic diagram of the supporting frame structure.

[0025] Figure 13 This is a schematic diagram of the wrist joint base structure.

[0026] Figure 14 This is a schematic diagram of the intermediate connection structure.

[0027] Figure 15 This is a schematic diagram of the explosion of the wrist joint base.

[0028] Figure 16 This is a schematic diagram of an explosion of the intermediate connection.

[0029] In the diagram: moving platform (1), intermediate branch (2), first drive branch (3-1), second drive branch

[0030] Chain (3-2), third drive branch chain (3-3), base (4).

[0031] The moving platform (1) is a separate part.

[0032] The second drive chain (3-2) includes: a first ball socket assembly (3-2-1), a first ball head assembly (3-2-2), a rotating connection (3-2-3), a first flange bearing MF84zz (3-2-4-1), a second flange bearing MF84zz (3-2-4-2), a first bearing seat (3-2-5-1), a second bearing seat (3-2-5-2), an optical axis slider (3-2-6), a guide rail slider (3-2-7), a first pulley seat (3-2-8), and a first pulley fixing screw (3-2-9). -1), Second pulley fixing screw (3-2-9-2), Third pulley fixing screw (3-2-9-3), Second pulley seat (3-2-10), Third pulley seat (3-2-11), Common pulley seat (3-23), Winding shaft (3-2-12), First pulley group (HLZ-321), Second pulley group (HLZ-322), Third pulley group (HLZ-323), Fourth pulley group (HLZ-324), Fifth pulley group (HLZ-325), Rope (3-2-13).

[0033] The intermediate branch (2) includes: the second ball socket assembly (2-1), the third ball socket assembly (2-5), the second ball head assembly (2-2), the third ball head assembly (2-4), and the intermediate link (2-3).

[0034] The first pulley assembly (HLZ-321) includes: a first side bearing MF683ZZ (H-1), a second side bearing MF683ZZ (H-3), and a pulley (H-2).

[0035] The base (4) includes: wrist joint base (4-1), intermediate connecting module (4-2), support frame (4-3), first drive motor (4-4), second drive motor (4-5), and third drive motor (4-6).

[0036] The wrist joint base (4-1) includes: a first fixed base (4-1-1), a first upper spring (4-1-2-1), a second upper spring (4-1-2-2), a third upper spring (4-1-2-3), a fourth upper spring (4-1-2-4), a fifth upper spring (4-1-2-5), a sixth upper spring (4-1-2-6), a first support column (4-1-3-1), a second support column (4-1-3-2), a third support column (4-1-3-3), a fourth support column (4-1-3-4), a fifth support column (4-1-3-5), and a sixth support column (4- 1-3-6), First guide rail (4-1-4-1), Second guide rail (4-1-4-2), Third guide rail (4-1-4-3), First guide rail fixed (4-1-5-1), Second guide rail fixed (4-1-5-2), Third guide rail fixed (4-1-5-3), First lower spring (4-1-6-1), Second lower spring (4-1-6-2), Third lower spring (4-1-6-3), Fourth lower spring (4-1-6-4), Fifth lower spring (4-1-6-5), Sixth lower spring (4-1-6-6), Second fixed base (4-1-7).

[0037] The intermediate connection module (4-2) includes: a front fixing plate (4-2-1), a first intermediate fixing plate (4-2-2), a first front copper pillar (4-2-3-1), a second front copper pillar (4-2-3-2), a third front copper pillar (4-2-3-3), a rear fixing plate (4-2-4), a second intermediate fixing plate (4-2-5), a first rear copper pillar (4-2-6-1), a second rear copper pillar (4-2-6-2), a third rear copper pillar (4-2-6-3), and a fourth rear copper pillar (4-2-6-4). Detailed Implementation

[0038] The invention will be further described with reference to the accompanying drawings.

[0039] A humanoid flexible parallel wrist joint with redundant actuation, such as Figure 1 As shown, it includes: a moving platform (1), an intermediate branch (2), a first driving branch (3-1), a second driving branch (3-2), a third driving branch (3-3), and a base (4).

[0040] Among them, the threaded hole (A31) of the first drive branch (3-1) is screwed to the first hole (A1) of the moving platform (1); the first hole (K311) of the first drive branch (3-1) passes through the second support column (4-1-3-2) of the base (4), the second hole (K312) of the first drive branch (3-1) passes through the first support column (4-1-3-1) of the base (4), and the first slide groove (H31) of the first drive branch (3-1) passes through the first guide rail (4-1-4-1) of the base (4), and can slide within the corresponding range.

[0041] The bolt shaft (B31) of the first drive branch (3-1) is bolted to the first threaded hole (A1) of the base (4); the third hole (C311) of the first drive branch (3-1) is bolted to the first hole (B11) of the base (4); the fourth hole (C312) of the first drive branch (3-1) is bolted to the second hole (B12) of the base (4); the fifth hole (D311) of the first drive branch (3-1) is bolted to the third hole (C11) of the base (4); the sixth hole (D311) of the first drive branch (3-1) is bolted to the third hole (C11) of the base (4); D312) is bolted to the fourth hole (C12) of the base (4); the seventh hole (E311) of the first drive chain (3-1) is bolted to the fifth hole (D11) of the base (4); the eighth hole (E312) of the first drive chain (3-1) is bolted to the sixth hole (D12) of the base (4); the ninth hole (K313) of the first drive chain (3-1) is fitted onto the first shaft (Z3) of the base (4), and a set screw is passed through the tenth hole (F31) of the first drive chain (3-1) to fix it to the base (4).

[0042] The threaded hole (A32) of the second drive chain (3-2) is screwed to the second hole (A2) of the moving platform (1); the first hole (K321) of the second drive chain (3-2) passes through the fourth support column (4-1-3-4) of the base (4), the second hole (K322) of the second drive chain (3-2) passes through the third support column (4-1-3-3) of the base (4), and the second slide groove (H32) of the second drive chain (3-2) passes through the second guide rail (4-1-4-2) of the base (4), and can slide within the corresponding range.

[0043] The bolt shaft (B32) of the second drive chain (3-2) is screwed to the second threaded hole (A2) of the base (4); the third hole (C321) of the second drive chain (3-2) is bolted to the seventh hole (B21) of the base (4); and the fourth hole (C322) of the second drive chain (3-2) is bolted to the eighth hole (B22) of the base (4).

[0044] The fifth hole (D321) of the second drive branch (3-2) is bolted to the seventh hole (C21) of the base (4); the sixth hole (D322) of the second drive branch (3-2) is bolted to the eighth hole (C22) of the base (4).

[0045] The seventh hole (E321) of the second drive branch (3-2) is bolted to the eleventh hole (D131) of the base (4); the eighth hole (E322) of the second drive branch (3-2) is bolted to the twelfth hole (D132) of the base (4).

[0046] The ninth hole (K323) of the second drive branch (3-2) is fitted onto the second shaft (Z4) of the base (4), and a set screw is passed through the tenth hole (F32) of the second drive branch (3-2) to fix it onto the base (4).

[0047] The threaded hole (A33) of the third drive chain (3-3) is screwed to the third hole (A3) of the moving platform (1); the first hole (K331) of the third drive chain (3-3) passes through the sixth support column (4-1-3-6), the second hole (K332) of the third drive chain (3-3) passes through the fifth support column (4-1-3-5), and the third slide groove (H32) of the third drive chain (3-3) passes through the third guide rail (4-1-4-3), and can slide within the corresponding range.

[0048] The bolt shaft (B33) of the third drive chain (3-3) is bolted to the third threaded hole (A3) of the base (4); the third hole (C331) of the third drive chain (3-3) is bolted to the thirteenth hole (B31) of the base (4); the fourth hole (C332) of the third drive chain (3-3) is bolted to the fourteenth hole (B32) of the base (4); the fifth hole (D331) of the third drive chain (3-3) is bolted to the fifteenth hole (C31) of the base (4); the sixth hole (D332) of the third drive chain (3-3) is bolted to the sixteenth hole (C32) of the base (4); the holes (E321) and (E322) of the third drive chain (3-3) (these two holes are shared with the second drive chain (3-2)) are bolted to the holes (D131) and (D132) of the base (4) respectively.

[0049] The seventh hole (K333) of the third drive chain (3-3) is fitted onto the third shaft (Z5) of the base (4), and a set screw is passed through the eighth hole (F33) of the third drive chain (3-3) to fix it onto the base (4).

[0050] The threaded hole (A) of the intermediate branch (2) and the fourth hole (A4) of the moving platform (1) are connected by screws; the threaded hole (B) of the intermediate branch (2) and the seventeenth hole (A4) of the base (4) are connected by screws.

[0051] The moving platform (1), intermediate branch (2), first drive branch (3-1), and second drive branch are described.

[0052] (3-2), the third drive branch (3-3), and the various holes in the base (4) are shown in the diagram. Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 As shown.

[0053] The second driving branch (3-2) is as follows Figure 8 As shown, it includes: a first ball socket assembly (3-2-1), a first ball head assembly (3-2-2), a rotating connection (3-2-3), a first flange bearing MF84zz (3-2-4-1), a second flange bearing MF84zz (3-2-4-2), a first bearing seat (3-2-5-1), a second bearing seat (3-2-5-2), an optical axis slider (3-2-6), a guide rail slider (3-2-7), a first pulley seat (3-2-8), and a first pulley fixing screw (3-2-9-1). Second pulley fixing screw (3-2-9-2), third pulley fixing screw (3-2-9-3), second pulley seat (3-2-10), third pulley seat (3-2-11), common pulley seat (3-23), winding shaft (3-2-12), first pulley group (HLZ-321), second pulley group (HLZ-322), third pulley group (HLZ-323), fourth pulley group (HLZ-324), fifth pulley group (HLZ-325), rope (3-2-13).

[0054] The first ball socket assembly (3-2-1) and the first ball head assembly (3-2-2) form a ball pair with three degrees of freedom of rotation through clearance fit; the threaded hole (A) of the first ball head assembly (3-2-2) and the stud (A) of the rotating connection (3-2-3) form a threaded connection.

[0055] A transition fit is formed between the first hole (C) of the first bearing housing (3-2-5-1) and the shaft (A) of the first flange bearing MF84zz (3-2-4-1), and the first surface (M1) of the first bearing housing (3-2-5-1) and the second surface (M2) of the first flange bearing MF84zz (3-2-4-1) are in contact.

[0056] The hole (B) of the first flange bearing MF84zz (3-2-4-1) forms a transition fit with the first shaft (A1) of the first pulley seat (3-2-8), and the first surface (M1) of the first flange bearing MF84zz (3-2-4-1) is in contact with the first surface (M1) of the first pulley seat (3-2-8).

[0057] A transition fit is formed between the first hole (C) of the second bearing housing (3-2-5-2) and the first shaft of the second flange bearing MF84zzz (3-2-4-2), and the first surface (M1) of the second bearing housing (3-2-5-2) and the second surface of the second flange bearing MF84zz (3-2-4-2) are in contact.

[0058] The hole of the second side bearing MF84zz (3-2-4-2) forms a transition fit with the second shaft (A2) of the first pulley seat (3-2-8), and the first surface of the second side bearing MF84zz (3-2-4-2) is in contact with the first surface of the first pulley seat (3-2-8).

[0059] The second surface (M2) of the first bearing housing (3-2-5-1) is fitted with the second surface (M2) of the second bearing housing (3-2-5-2) and the two are fixed by bolts passing through the second hole (B) of the first bearing housing (3-2-5-1) and the second bearing housing (3-2-5-2).

[0060] The second surface (M2) of the first bearing housing (3-2-5-1) is fitted with the second surface (M2) of the second bearing housing (3-2-5-2) and the two are fixed by bolts passing through the second hole (B) of the first bearing housing (3-2-5-1) and the second bearing housing (3-2-5-2).

[0061] The first hole (B1) of the rotatable connector (3-2-3) is screwed to the third hole (A1) of the first bearing housing (3-2-5-1); the second hole (B2) of the rotatable connector (3-2-3) is screwed to the fourth hole (A2) of the first bearing housing (3-2-5-1); the third hole (B3) of the rotatable connector (3-2-3) is screwed to the third hole (A1) of the second bearing housing (3-2-5-2); and the fourth hole (B4) of the rotatable connector (3-2-3) is screwed to the second hole (A2) of the second bearing housing (3-2-5-2).

[0062] The first hole (B1) of the first pulley seat (3-2-8) is connected to the first hole (B1) of the optical axis slider (3-2-6) by screws; the second hole (B2) of the first pulley seat (3-2-8) is connected to the second hole (B2) of the optical axis slider (3-2-6) by screws.

[0063] The third hole (A1) of the optical axis slider (3-2-6) is screwed to the first hole (A1) of the guide rail slider (3-2-7); the fourth hole (A2) of the optical axis slider (3-2-6) is screwed to the second hole (A2) of the guide rail slider (3-2-7); the fifth hole (A3) of the optical axis slider (3-2-6) is screwed to the third hole (A3) of the guide rail slider (3-2-7); and the sixth hole (A4) of the optical axis slider (3-2-6) is screwed to the fourth hole (A4) of the guide rail slider (3-2-7).

[0064] The first pulley assembly (HLZ-321) is fixed to the threaded hole (C) of the first pulley seat (3-2-8) by the first pulley fixing screw (3-2-9-1).

[0065] The second pulley assembly (HLZ-322) is fixed to the second threaded hole (A2) of the base (4) by the second pulley fixing screw (3-2-9-2).

[0066] The third pulley block (HLZ-323) is fixed to the threaded hole (A) of the second pulley seat (3-2-10) by the third pulley fixing screw (3-2-9-3).

[0067] The fourth pulley block (HLZ-324) and the third pulley seat (3-2-11) are connected by bolts through holes (A).

[0068] The fifth pulley block (HLZ-325) and the common pulley seat (3-23) are connected by bolts through the hole (A3), and are in contact with the first surface (M1) and the second surface (M2) of the common pulley seat (3-23).

[0069] The rope winding diagram of the second drive branch (3-2) is shown below. Figure 9 As shown, section A of the rope (3-2-13) is fixed on the third hole (D) of the first pulley seat (3-2-8), and passes through the second pulley group (HLZ-322), the first pulley group (HLZ-321), the third pulley group (HLZ-323), the fourth pulley group (HLZ-324), and the fifth pulley group (HLZ-325) to change direction, and finally winds around the winding shaft (3-2-12);

[0070] The first pulley block (HLZ-321) is as follows Figure 10 As shown, it includes: a first flange bearing MF683ZZ (H-1), a second flange bearing MF683ZZ (H-3), and a pulley (H-2); wherein, the shaft (A) of the first flange bearing MF683ZZ (H-1), the shaft (A) of the second flange bearing MF683ZZ (H-3), and the hole (A) of the pulley (H-2) are in transition fit, and the first surface (M1) of the pulley (H-2) is in contact with the surface (M) of the first flange bearing MF683ZZ (H-1); the second surface (M2) of the pulley (H-2) is in contact with the surface (M) of the second flange bearing MF683ZZ (H-3).

[0071] The component composition and connection method of the first drive branch (3-1) and the third drive branch (3-3)

[0072] Consistent with the second driving branch (3-2).

[0073] The intermediate branch (2) is as follows Figure 11As shown, it includes: a second ball socket assembly (2-1), a third ball socket assembly (2-5), a second ball head assembly (2-2), a third ball head assembly (2-4), and an intermediate connecting rod (2-3); wherein, the ball socket (A) of the second ball socket assembly (2-1) and the ball head (A) of the second ball head assembly (2-2) form a clearance fit; the ball socket (A) of the third ball socket assembly (2-5) and the ball head (A) of the third ball head assembly (2-4) form a clearance fit; the threaded hole (B) of the second ball head assembly (2-2) and the first stud (A1) of the intermediate connecting rod (2-3) form a threaded connection; the threaded hole (B) of the third ball head assembly (2-4) and the second stud (A2) of the intermediate connecting rod (2-3) form a threaded connection.

[0074] The base (4) is as follows Figure 7 As shown, it includes: a wrist joint base (4-1), an intermediate connecting module (4-2), a support frame (4-3), and a first drive motor (4-4), a second drive motor (4-5), and a third drive motor (4-6); the wrist joint base (4-1), the intermediate connecting module (4-2), and the support frame (4-3) are as follows: Figure 12 , Figure 13 , Figure 14 As shown.

[0075] Specifically, the first hole (A1) of the support frame (4-3) is connected to the first hole (B1) of the intermediate connecting module (4-2) by screws; the second hole (A2) of the support frame (4-3) is connected to the second hole (B2) of the intermediate connecting module (4-2) by screws; the third hole (A3) of the support frame (4-3) is connected to the third hole (B3) of the intermediate connecting module (4-2) by screws; and the fourth hole (A4) of the support frame (4-3) is connected to the fourth hole (B4) of the intermediate connecting module (4-2) by screws.

[0076] The fifth hole (A1) of the intermediate connecting module (4-2) is connected to the first hole (A1) of the wrist joint base (4-1) by a screw; the sixth hole (A2) of the intermediate connecting module (4-2) is connected to the second hole (A2) of the wrist joint base (4-1) by a screw; and the seventh hole (A3) of the intermediate connecting module (4-2) is connected to the third hole (A3) of the wrist joint base (4-1) by a screw.

[0077] The holes of the first drive motor (4-4) are connected to the fifth hole (B1), the sixth hole (B2), the seventh hole (B3), and the eighth hole (B4) of the support frame (4-3) by screws.

[0078] The holes of the second drive motor (4-5) are connected to the ninth hole (C1), the tenth hole (C2), the eleventh hole (C3), and the twelfth hole (C4) of the support frame (4-3) by screws.

[0079] The holes of the third drive motor (4-6) are connected to the thirteenth hole (D1), the fourteenth hole (D2), the fifteenth hole (D3), and the sixteenth hole (D4) of the support frame (4-3) by screws.

[0080] The wrist joint base (4-1) is as follows Figure 15 As shown, it includes: a first fixed base (4-1-1), a first upper spring (4-1-2-1), a second upper spring (4-1-2-2), a third upper spring (4-1-2-3), a fourth upper spring (4-1-2-4), a fifth upper spring (4-1-2-5), a sixth upper spring (4-1-2-6), a first support column (4-1-3-1), a second support column (4-1-3-2), a third support column (4-1-3-3), a fourth support column (4-1-3-4), a fifth support column (4-1-3-5), and a sixth support column (4-1-3-6). 6) First guide rail (4-1-4-1), second guide rail (4-1-4-2), third guide rail (4-1-4-3), first guide rail fixed (4-1-5-1), second guide rail fixed (4-1-5-2), third guide rail fixed (4-1-5-3), first lower spring (4-1-6-1), second lower spring (4-1-6-2), third lower spring (4-1-6-3), fourth lower spring (4-1-6-4), fifth lower spring (4-1-6-5), sixth lower spring (4-1-6-6), second fixed base (4-1-7).

[0081] Among them, the first upper spring (4-1-2-1) and the first lower spring (4-1-6-1) are both fitted on the surface of the first support column (4-1-3-1); the second upper spring (4-1-2-2) and the second lower spring (4-1-6-2) are both fitted on the surface of the second support column (4-1-3-2); the third upper spring (4-1-2-3) and the third lower spring (4-1-6-3) are both fitted on the surface of the third support column (4-1-3-3); the fourth upper spring (4-1-2-4) and the fourth lower spring (4-1-6-4) are fitted on the surface of the fourth support column (4-1-3-4); the fifth upper spring (4-1-2-5) and the fifth lower spring (4-1-6-5) are both fitted on the surface of the fifth support column (4-1-3-5); and the sixth upper spring (4-1-2-6) and the sixth lower spring (4-1-6-6) are fitted on the surface of the sixth support column (4-1-3-6).

[0082] The threaded hole (A) of the first support column (4-1-3-1) is connected to the first hole (A1) of the first fixed base (4-1-1) by screws, and the threaded hole (B) of the first support column (4-1-3-1) is connected to the first hole (A1) of the second fixed base (4-1-7) by screws.

[0083] The threaded hole (A) of the second support column (4-1-3-2) is connected to the second hole (A2) of the first fixed base (4-1-1) by screws, and the threaded hole (B) of the second support column (4-1-3-2) is connected to the second hole (A2) of the second fixed base (4-1-7) by screws.

[0084] The threaded hole (A) of the third support column (4-1-3-3) is connected to the third hole (A3) of the first fixed base (4-1-1) by screws, and the threaded hole (B) of the third support column (4-1-3-3) is connected to the third hole (A3) of the second fixed base (4-1-7) by screws.

[0085] The threaded hole (A) of the fourth support column (4-1-3-4) is connected to the fourth hole (A4) of the first fixed base (4-1-1) by screws, and the threaded hole (B) of the third support column (4-1-3-3) is connected to the fourth hole (A4) of the second fixed base (4-1-7) by screws.

[0086] The threaded hole (A) of the fifth support column (4-1-3-5) is connected to the fifth hole (A5) of the first fixed base (4-1-1) by screws, and the threaded hole (B) of the third support column (4-1-3-3) is connected to the fifth hole (A5) of the second fixed base (4-1-7) by screws.

[0087] The threaded hole (A) of the sixth support column (4-1-3-6) is connected to the sixth hole (A6) of the first fixed base (4-1-1) by a screw, and the threaded hole (B) of the sixth support column (4-1-3-6) is connected to the sixth hole (A6) of the second fixed base (4-1-7) by a screw.

[0088] The first hole (A1) of the third guide rail (4-1-4-3) is connected to the first hole (B1) of the third guide rail fixing (4-1-5-3) by bolts; the second hole (A2) of the third guide rail (4-1-4-3) is connected to the second hole (B2) of the third guide rail fixing (4-1-5-3) by bolts; the third hole (A3) of the third guide rail (4-1-4-3) is connected to the third hole (B3) of the third guide rail fixing (4-1-5-3) by bolts; the fourth hole (A4) of the third guide rail (4-1-4-3) is connected to the fourth hole (B4) of the third guide rail fixing (4-1-5-3) by bolts.

[0089] The connection methods of the first guide rail (4-1-4-1) and the first guide rail fixed (4-1-5-1), as well as the connection methods of the second guide rail (4-1-4-2) and the second guide rail fixed (4-1-5-2), are the same as the connection methods of the third guide rail (4-1-4-3) and the third guide rail fixed (4-1-5-3).

[0090] The hole (A1) of the first guide rail fixing (4-1-5-1) is connected to the seventh hole (B1) of the first fixing base (4-1-1) by screws; the hole (A1) of the second guide rail fixing (4-1-5-2) is connected to the eighth hole (B2) of the first fixing base (4-1-1) by screws; the fifth hole (A1) of the third guide rail fixing (4-1-5-3) is connected to the ninth hole (B3) of the first fixing base (4-1-1) by screws.

[0091] The sixth hole (C1) of the third guide rail fixing (4-1-5-3) is connected to the twelfth hole (B6) of the second fixing base (4-1-7) by screws; the seventh hole (C2) of the third guide rail fixing (4-1-5-3) is connected to the eleventh hole (B5) of the second fixing base (4-1-7) by screws.

[0092] The hole of the first guide rail fixing (4-1-5-1) is connected to the seventh hole (B1) of the second fixing base and the eighth hole (B2) of the second fixing base (4-1-7) by screws;

[0093] The hole of the second guide rail fixing (4-1-5-2) is connected to the ninth hole (B3) of the second fixing base (4-1-7) and the tenth hole (B4) of the second fixing base (4-1-7) by screws.

[0094] The intermediate connection module (4-2) is as follows Figure 16 As shown, it includes: a front fixing plate (4-2-1), a first intermediate fixing plate (4-2-2), a first front copper pillar (4-2-3-1), a second front copper pillar (4-2-3-2), a third front copper pillar (4-2-3-3), a rear fixing plate (4-2-4), a second intermediate fixing plate (4-2-5), a first rear copper pillar (4-2-6-1), a second rear copper pillar (4-2-6-2), a third rear copper pillar (4-2-6-3), and a fourth rear copper pillar (4-2-6-4).

[0095] The first hole (A1) of the front fixing plate (4-2-1) is connected to the first threaded hole (A) of the first front copper pillar (4-2-3-1) by screws; the second hole (A2) of the front fixing plate (4-2-1) is connected to the first threaded hole (A) of the second front copper pillar (4-2-3-2) by screws; and the third hole (A3) of the front fixing plate (4-2-1) is connected to the first threaded hole (A) of the third front copper pillar (4-2-3-3) by screws.

[0096] The first protruding part (A1) of the first intermediate fixing plate (4-2-2) is inserted into the first groove (B1) of the front fixing plate (4-2-1); the second protruding part (A2) is inserted into the second groove (B2) of the front fixing plate (4-2-1); the third protruding part (B1) of the first intermediate fixing plate (4-2-2) is inserted into the first groove (C1) of the rear fixing plate (4-2-4); and the fourth protruding part (B2) is inserted into the second groove (C2) of the rear fixing plate (4-2-4).

[0097] The first hole (A1) of the rear fixing plate (4-2-4) is connected to the second threaded hole (B) of the first front copper pillar (4-2-3-1) by screws; the second hole (A2) of the rear fixing plate (4-2-4) is connected to the second threaded hole (B) of the second front copper pillar (4-2-3-2) by screws; the third hole (A3) of the rear fixing plate (4-2-4) is connected to the third threaded hole (B) of the third front copper pillar (4-2-3-3) by screws.

[0098] The fifth hole (B1) of the rear fixing plate (4-2-4) and the first threaded hole (A) of the first rear copper pillar (4-2-6-1) are connected by screws; the sixth hole (B2) of the rear fixing plate (4-2-4) and the first threaded hole (A) of the second rear copper pillar (4-2-6-2) are connected by screws; the seventh hole (B3) of the rear fixing plate (4-2-4) and the first threaded hole (A) of the third rear copper pillar (4-2-6-3) are connected by screws; the eighth hole (B4) of the rear fixing plate (4-2-4) and the fourth threaded hole (A) of the fourth rear copper pillar (4-2-6-4) are connected by screws.

[0099] The protruding part (A1) of the second intermediate fixing plate (4-2-5) is inserted into the third groove D of the rear fixing plate (4-2-4).

Claims

1. A humanoid flexible parallel wrist joint with redundant actuation, characterized in that, include: The moving platform (1), the intermediate branch (2), the first driving branch (3-1), the second driving branch (3-2), the third driving branch (3-3), and the base (4); Among them, the threaded hole (A31) of the first drive branch (3-1) is screwed to the first hole (A1) of the moving platform (1); the first hole (K311) of the first drive branch (3-1) passes through the second support column (4-1-3-2) of the base (4), the second hole (K312) of the first drive branch (3-1) passes through the first support column (4-1-3-1) of the base (4), and the first slide groove (H31) of the first drive branch (3-1) passes through the first guide rail (4-1-4-1) of the base (4), and can slide within the corresponding range; The bolt shaft (B31) of the first drive branch (3-1) is bolted to the first threaded hole (A1) of the base (4); the third hole (C311) of the first drive branch (3-1) is bolted to the first hole (B11) of the base (4); the fourth hole (C312) of the first drive branch (3-1) is bolted to the second hole (B12) of the base (4); the fifth hole (D311) of the first drive branch (3-1) is bolted to the third hole (C11) of the base (4); the sixth hole (D311) of the first drive branch (3-1) is bolted to the third hole (C11) of the base (4); D312) is bolted to the fourth hole (C12) of the base (4); the seventh hole (E311) of the first drive chain (3-1) is bolted to the fifth hole (D11) of the base (4); the eighth hole (E312) of the first drive chain (3-1) is bolted to the sixth hole (D12) of the base (4); the ninth hole (K313) of the first drive chain (3-1) is fitted onto the first shaft (Z3) of the base (4), and a set screw is passed through the tenth hole (F31) of the first drive chain (3-1) to fix it to the base (4); The threaded hole (A32) of the second drive chain (3-2) is screwed to the second hole (A2) of the moving platform (1); the first hole (K321) of the second drive chain (3-2) passes through the fourth support column (4-1-3-4) of the base (4), the second hole (K322) of the second drive chain (3-2) passes through the third support column (4-1-3-3) of the base (4), and the second slide groove (H32) of the second drive chain (3-2) passes through the second guide rail (4-1-4-2) of the base (4), and can slide within the corresponding range; The bolt shaft (B32) of the second drive chain (3-2) is bolted to the second threaded hole (A2) of the base (4); the third hole (C321) of the second drive chain (3-2) is bolted to the seventh hole (B21) of the base (4); the fourth hole (C322) of the second drive chain (3-2) is bolted to the eighth hole (B22) of the base (4); The fifth hole (D321) of the second drive branch (3-2) is bolted to the seventh hole (C21) of the base (4); the sixth hole (D322) of the second drive branch (3-2) is bolted to the eighth hole (C22) of the base (4); The seventh hole (E321) of the second drive branch (3-2) is bolted to the eleventh hole (D131) of the base (4); the eighth hole (E322) of the second drive branch (3-2) is bolted to the twelfth hole (D132) of the base (4); The ninth hole (K323) of the second drive branch (3-2) is fitted onto the second shaft (Z4) of the base (4), and a set screw is passed through the tenth hole (F32) of the second drive branch (3-2) to fix it onto the base (4); The threaded hole (A33) of the third drive chain (3-3) is screwed to the third hole (A3) of the moving platform (1); the first hole (K331) of the third drive chain (3-3) passes through the sixth support column (4-1-3-6), the second hole (K332) of the third drive chain (3-3) passes through the fifth support column (4-1-3-5), and the third slide groove (H32) of the third drive chain (3-3) passes through the third guide rail (4-1-4-3), and can slide within the corresponding range; The bolt shaft (B33) of the third drive chain (3-3) is bolted to the third threaded hole (A3) of the base (4); the third hole (C331) of the third drive chain (3-3) is bolted to the thirteenth hole (B31) of the base (4); the fourth hole (C332) of the third drive chain (3-3) is bolted to the fourteenth hole (B32) of the base (4); the fifth hole (D331) of the third drive chain (3-3) is bolted to the fifteenth hole (C31) of the base (4); and the sixth hole (D332) of the third drive chain (3-3) is bolted to the sixteenth hole (C32) of the base (4). The eighth hole (E321) of the third drive branch (3-3) is bolted to the eleventh hole (D131) of the base (4); the ninth hole (E322) of the third drive branch (3-3) is bolted to the twelfth hole (D132) of the base (4); The seventh hole (K333) of the third drive chain (3-3) is fitted onto the third shaft (Z5) of the base (4), and the set screw is passed through the eighth hole (F33) of the third drive chain (3-3) to fix it on the base (4); The threaded hole (A) of the intermediate branch (2) and the fourth hole (A4) of the moving platform (1) are connected by screws; the threaded hole (B) of the intermediate branch (2) and the seventeenth hole (A4) of the base (4) are connected by screws. The second drive chain (3-2) includes: a first ball joint assembly (3-2-1), a first ball head assembly (3-2-2), a rotating connection (3-2-3), a first flange bearing MF84zz (3-2-4-1), a second flange bearing MF84zz (3-2-4-2), a first bearing seat (3-2-5-1), a second bearing seat (3-2-5-2), an optical axis slider (3-2-6), a guide rail slider (3-2-7), a first pulley seat (3-2-8), and a first pulley fixing screw (3-2). -9-1), Second pulley fixing screw (3-2-9-2), Third pulley fixing screw (3-2-9-3), Second pulley seat (3-2-10), Third pulley seat (3-2-11), Common pulley seat (3-23), Winding shaft (3-2-12), First pulley group (HLZ-321), Second pulley group (HLZ-322), Third pulley group (HLZ-323), Fourth pulley group (HLZ-324), Fifth pulley group (HLZ-325), Rope (3-2-13); Among them, the first ball socket assembly (3-2-1) and the first ball head assembly (3-2-2) form a ball pair with three degrees of freedom of rotation through clearance fit; the threaded hole (A) of the first ball head assembly (3-2-2) and the stud (A) of the rotary connection (3-2-3) form a threaded connection; A transition fit is formed between the first hole (C) of the first bearing housing (3-2-5-1) and the shaft (A) of the first flange bearing MF84zz (3-2-4-1), and the second surface (M2) of the first bearing housing (3-2-5-1) and the second surface (M2) of the first flange bearing MF84zz (3-2-4-1) are in contact; The hole (B) of the first flange bearing MF84zz (3-2-4-1) forms a transition fit with the first shaft (A1) of the first pulley seat (3-2-8), and the first surface (M1) of the first flange bearing MF84zz (3-2-4-1) is in contact with the first surface (M1) of the first pulley seat (3-2-8); A transition fit is formed between the first hole (C) of the second bearing housing (3-2-5-2) and the first shaft of the second flange bearing MF84zzz (3-2-4-2), and the first surface (M1) of the second bearing housing (3-2-5-2) and the second surface of the second flange bearing MF84zz (3-2-4-2) are in contact. The hole of the second flange bearing MF84zz (3-2-4-2) forms a transition fit with the second shaft (A2) of the first pulley seat (3-2-8), and the first surface of the second flange bearing MF84zz (3-2-4-2) is in contact with the first surface of the first pulley seat (3-2-8); The second surface (M2) of the first bearing housing (3-2-5-1) is fitted with the second surface (M2) of the second bearing housing (3-2-5-2) and the two are fixed by bolts passing through the second hole (B) of the first bearing housing (3-2-5-1) and the second bearing housing (3-2-5-2). The first hole (B1) of the rotatable connector (3-2-3) is screwed into the third hole (A1) of the first bearing housing (3-2-5-1); the second hole (B2) of the rotatable connector (3-2-3) is screwed into the fourth hole (A2) of the first bearing housing (3-2-5-1); the third hole (B3) of the rotatable connector (3-2-3) is screwed into the third hole (A1) of the second bearing housing (3-2-5-2); and the fourth hole (B4) of the rotatable connector (3-2-3) is screwed into the second hole (A2) of the second bearing housing (3-2-5-2). The first hole (B1) of the first pulley seat (3-2-8) is connected to the first hole (B1) of the optical axis slider (3-2-6) by screws; the second hole (B2) of the first pulley seat (3-2-8) is connected to the second hole (B2) of the optical axis slider (3-2-6) by screws. The third hole (A1) of the optical axis slider (3-2-6) is screwed to the first hole (A1) of the guide rail slider (3-2-7); the fourth hole (A2) of the optical axis slider (3-2-6) is screwed to the second hole (A2) of the guide rail slider (3-2-7); the fifth hole (A3) of the optical axis slider (3-2-6) is screwed to the third hole (A3) of the guide rail slider (3-2-7); and the sixth hole (A4) of the optical axis slider (3-2-6) is screwed to the fourth hole (A4) of the guide rail slider (3-2-7). The first pulley block (HLZ-321) is fixed to the threaded hole (C) of the first pulley seat (3-2-8) by the first pulley fixing screw (3-2-9-1); The second pulley block (HLZ-322) is fixed to the second threaded hole (A2) of the base (4) by the second pulley fixing screw (3-2-9-2); The third pulley block (HLZ-323) is fixed to the threaded hole (A) of the second pulley seat (3-2-10) by the third pulley fixing screw (3-2-9-3); The fourth pulley block (HLZ-324) and the third pulley seat (3-2-11) are connected by bolts through hole (A); The fifth pulley block (HLZ-325) and the common pulley seat (3-23) are connected by bolts through the hole (A3), and are in contact with the first surface (M1) and the second surface (M2) of the common pulley seat (3-23); Section A of the rope (3-2-13) is fixed on the third hole (D) of the first pulley seat (3-2-8), and passes through the second pulley group (HLZ-322), the first pulley group (HLZ-321), the third pulley group (HLZ-323), the fourth pulley group (HLZ-324), and the fifth pulley group (HLZ-325) to change direction, and finally winds around the winding shaft (3-2-12); The components and connection method of the first drive branch (3-1) and the third drive branch (3-3) are the same as those of the second drive branch (3-2); The intermediate branch (2) includes: a second ball socket assembly (2-1), a third ball socket assembly (2-5), a second ball head assembly (2-2), a third ball head assembly (2-4), and an intermediate connecting rod (2-3); wherein, the ball socket (A) of the second ball socket assembly (2-1) and the ball head (A) of the second ball head assembly (2-2) form a clearance fit; the ball socket (A) of the third ball socket assembly (2-5) and the ball head (A) of the third ball head assembly (2-4) form a clearance fit; the threaded hole (B) of the second ball head assembly (2-2) and the first stud (A1) of the intermediate connecting rod (2-3) form a threaded connection; the threaded hole (B) of the third ball head assembly (2-4) and the second stud (A2) of the intermediate connecting rod (2-3) form a threaded connection.

2. The anthropomorphic flexible parallel wrist joint with redundant drive as described in claim 1, characterized in that, The first pulley assembly (HLZ-321) includes: a first side bearing MF683ZZ (H-1), a second side bearing MF683ZZ (H-3), and a pulley (H-2); wherein, the shaft (A) of the first side bearing MF683ZZ (H-1), the shaft (A) of the second side bearing MF683ZZ (H-3), and the hole (A) of the pulley (H-2) are in transition fit, and the first surface (M1) of the pulley (H-2) is in contact with the surface (M) of the first side bearing MF683ZZ (H-1); the second surface (M2) of the pulley (H-2) is in contact with the surface (M) of the second side bearing MF683ZZ (H-3).

3. The anthropomorphic flexible parallel wrist joint with redundant drive as described in claim 1, characterized in that, The base (4) includes: wrist joint base (4-1), intermediate connecting module (4-2), support frame (4-3), first drive motor (4-4), second drive motor (4-5), and third drive motor (4-6). Specifically, the first hole (A1) of the support frame (4-3) is connected to the first hole (B1) of the intermediate connecting module (4-2) by screws; the second hole (A2) of the support frame (4-3) is connected to the second hole (B2) of the intermediate connecting module (4-2) by screws; the third hole (A3) of the support frame (4-3) is connected to the third hole (B3) of the intermediate connecting module (4-2) by screws; and the fourth hole (A4) of the support frame (4-3) is connected to the fourth hole (B4) of the intermediate connecting module (4-2) by screws. The fifth hole (A1) of the intermediate connecting module (4-2) is connected to the first hole (A1) of the wrist joint base (4-1) by a screw; the sixth hole (A2) of the intermediate connecting module (4-2) is connected to the second hole (A2) of the wrist joint base (4-1) by a screw; the seventh hole (A3) of the intermediate connecting module (4-2) is connected to the third hole (A3) of the wrist joint base (4-1) by a screw. The holes of the first drive motor (4-4) are connected to the fifth hole (B1), the sixth hole (B2), the seventh hole (B3), and the eighth hole (B4) of the support frame (4-3) by screws. The holes of the second drive motor (4-5) are connected to the ninth hole (C1), the tenth hole (C2), the eleventh hole (C3), and the twelfth hole (C4) of the support frame (4-3) by screws. The holes of the third drive motor (4-6) are connected to the thirteenth hole (D1), the fourteenth hole (D2), the fifteenth hole (D3), and the sixteenth hole (D4) of the support frame (4-3) by screws.

4. The anthropomorphic flexible parallel wrist joint with redundant drive as described in claim 3, characterized in that, The wrist joint base (4-1) includes: a first fixed base (4-1-1), a first upper spring (4-1-2-1), a second upper spring (4-1-2-2), a third upper spring (4-1-2-3), a fourth upper spring (4-1-2-4), a fifth upper spring (4-1-2-5), a sixth upper spring (4-1-2-6), a first support column (4-1-3-1), a second support column (4-1-3-2), a third support column (4-1-3-3), a fourth support column (4-1-3-4), a fifth support column (4-1-3-5), and a sixth support column (4-1-2-6). -1-3-6), First guide rail (4-1-4-1), Second guide rail (4-1-4-2), Third guide rail (4-1-4-3), First guide rail fixed (4-1-5-1), Second guide rail fixed (4-1-5-2), Third guide rail fixed (4-1-5-3), First lower spring (4-1-6-1), Second lower spring (4-1-6-2), Third lower spring (4-1-6-3), Fourth lower spring (4-1-6-4), Fifth lower spring (4-1-6-5), Sixth lower spring (4-1-6-6), Second fixed base (4-1-7); Specifically, the first upper spring (4-1-2-1) and the first lower spring (4-1-6-1) are both fitted onto the surface of the first support column (4-1-3-1); the second upper spring (4-1-2-2) and the second lower spring (4-1-6-2) are both fitted onto the surface of the second support column (4-1-3-2); the third upper spring (4-1-2-3) and the third lower spring (4-1-6-3) are both fitted onto the surface of the third support column (4-1-3-3); the fourth upper spring (4-1-2-4) and the fourth lower spring (4-1-6-4) are fitted onto the surface of the fourth support column (4-1-3-4); the fifth upper spring (4-1-2-5) and the fifth lower spring (4-1-6-5) are both fitted onto the surface of the fifth support column (4-1-3-5); and the sixth upper spring (4-1-2-6) and the sixth lower spring (4-1-6-6) are fitted onto the surface of the sixth support column (4-1-3-6). The threaded hole (A) of the first support column (4-1-3-1) is connected to the first hole (A1) of the first fixed base (4-1-1) by screws, and the threaded hole (B) of the first support column (4-1-3-1) is connected to the first hole (A1) of the second fixed base (4-1-7) by screws. The threaded hole (A) of the second support column (4-1-3-2) is connected to the second hole (A2) of the first fixed base (4-1-1) by screws, and the threaded hole (B) of the second support column (4-1-3-2) is connected to the second hole (A2) of the second fixed base (4-1-7) by screws. The threaded hole (A) of the third support column (4-1-3-3) is connected to the third hole (A3) of the first fixed base (4-1-1) by screws, and the threaded hole (B) of the third support column (4-1-3-3) is connected to the third hole (A3) of the second fixed base (4-1-7) by screws. The threaded hole (A) of the fourth support column (4-1-3-4) is connected to the fourth hole (A4) of the first fixed base (4-1-1) by screws, and the threaded hole (B) of the third support column (4-1-3-3) is connected to the fourth hole (A4) of the second fixed base (4-1-7) by screws. The threaded hole (A) of the fifth support column (4-1-3-5) is connected to the fifth hole (A5) of the first fixed base (4-1-1) by screws, and the threaded hole (B) of the third support column (4-1-3-3) is connected to the fifth hole (A5) of the second fixed base (4-1-7) by screws. The threaded hole (A) of the sixth support column (4-1-3-6) is connected to the sixth hole (A6) of the first fixed base (4-1-1) by a screw, and the threaded hole (B) of the sixth support column (4-1-3-6) is connected to the sixth hole (A6) of the second fixed base (4-1-7) by a screw. The first hole (A1) of the third guide rail (4-1-4-3) is connected to the first hole (B1) of the third guide rail fixing (4-1-5-3) by bolts; the second hole (A2) of the third guide rail (4-1-4-3) is connected to the second hole (B2) of the third guide rail fixing (4-1-5-3) by bolts; the third hole (A3) of the third guide rail (4-1-4-3) is connected to the third hole (B3) of the third guide rail fixing (4-1-5-3) by bolts; the fourth hole (A4) of the third guide rail (4-1-4-3) is connected to the fourth hole (B4) of the third guide rail fixing (4-1-5-3) by bolts. The connection methods of the first guide rail (4-1-4-1) and the first guide rail fixed (4-1-5-1) and the connection methods of the second guide rail (4-1-4-2) and the second guide rail fixed (4-1-5-2) are the same as the connection methods of the third guide rail (4-1-4-3) and the third guide rail fixed (4-1-5-3). The hole (A1) of the first guide rail fixing (4-1-5-1) is connected to the seventh hole (B1) of the first fixing base (4-1-1) by screws; the hole (A1) of the second guide rail fixing (4-1-5-2) is connected to the eighth hole (B2) of the first fixing base (4-1-1) by screws; the fifth hole (A1) of the third guide rail fixing (4-1-5-3) is connected to the ninth hole (B3) of the first fixing base (4-1-1) by screws. The sixth hole (C1) of the third guide rail fixing (4-1-5-3) is connected to the twelfth hole (B6) of the second fixing base (4-1-7) by screws; the seventh hole (C2) of the third guide rail fixing (4-1-5-3) is connected to the eleventh hole (B5) of the second fixing base (4-1-7) by screws. The hole of the first guide rail fixing (4-1-5-1) is connected to the seventh hole (B1) of the second fixing base and the eighth hole (B2) of the second fixing base (4-1-7) by screws; The hole of the second guide rail fixing (4-1-5-2) is connected to the ninth hole (B3) of the second fixing base (4-1-7) and the tenth hole (B4) of the second fixing base (4-1-7) by screws.

5. The anthropomorphic flexible parallel wrist joint with redundant drive as described in claim 3, characterized in that, The intermediate connecting module (4-2) includes: a front fixing plate (4-2-1), a first intermediate fixing plate (4-2-2), a first front copper pillar (4-2-3-1), a second front copper pillar (4-2-3-2), a third front copper pillar (4-2-3-3), a rear fixing plate (4-2-4), a second intermediate fixing plate (4-2-5), a first rear copper pillar (4-2-6-1), a second rear copper pillar (4-2-6-2), a third rear copper pillar (4-2-6-3), and a fourth rear copper pillar (4-2-6-4). The first hole (A1) of the front fixing plate (4-2-1) is connected to the first threaded hole (A) of the first front copper pillar (4-2-3-1) by screws; the second hole (A2) of the front fixing plate (4-2-1) is connected to the first threaded hole (A) of the second front copper pillar (4-2-3-2) by screws; and the third hole (A3) of the front fixing plate (4-2-1) is connected to the first threaded hole (A) of the third front copper pillar (4-2-3-3) by screws. The first protruding part (A1) of the first intermediate fixing plate (4-2-2) is inserted into the first groove (B1) of the front fixing plate (4-2-1); the second protruding part (A2) is inserted into the second groove (B2) of the front fixing plate (4-2-1); the third protruding part (B1) of the first intermediate fixing plate (4-2-2) is inserted into the first groove (C1) of the rear fixing plate (4-2-4); and the fourth protruding part (B2) is inserted into the second groove (C2) of the rear fixing plate (4-2-4). The first hole (A1) of the rear fixing plate (4-2-4) is connected to the second threaded hole (B) of the first front copper pillar (4-2-3-1) by screws; the second hole (A2) of the rear fixing plate (4-2-4) is connected to the second threaded hole (B) of the second front copper pillar (4-2-3-2) by screws; the third hole (A3) of the rear fixing plate (4-2-4) is connected to the third threaded hole (B) of the third front copper pillar (4-2-3-3) by screws. The fifth hole (B1) of the rear fixing plate (4-2-4) and the first threaded hole (A) of the first rear copper pillar (4-2-6-1) are connected by screws; the sixth hole (B2) of the rear fixing plate (4-2-4) and the first threaded hole (A) of the second rear copper pillar (4-2-6-2) are connected by screws; the seventh hole (B3) of the rear fixing plate (4-2-4) and the first threaded hole (A) of the third rear copper pillar (4-2-6-3) are connected by screws; the eighth hole (B4) of the rear fixing plate (4-2-4) and the fourth threaded hole (A) of the fourth rear copper pillar (4-2-6-4) are connected by screws. The protruding part (A1) of the second intermediate fixing plate (4-2-5) is inserted into the third groove D of the rear fixing plate (4-2-4).

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