Wrist joint mechanism, arm structure and robot

Abstract

The invention discloses a wrist joint mechanism, an arm structure and a robot. The wrist joint mechanism comprises a switching assembly and a connecting assembly, the first connecting assembly is rotationally connected with the switching assembly, and the first connecting assembly rotates around a first axis relative to the switching assembly; the first driving assembly is arranged on the first connecting assembly; one end of the connecting rod assembly is connected with the output end of the first driving assembly, and the other end of the connecting rod assembly is connected with the switching assembly; the second driving assembly is arranged on the switching assembly; the second connecting assembly is connected with the output end of the second driving assembly, and the second driving assembly drives the second connecting assembly to rotate around a second axis relative to the switching assembly; the first axis intersects the second axis. According to the technical scheme, the structure of the wrist joint mechanism is more compact, and therefore the space occupied by the wrist joint mechanism in the arm structure is reduced.

Description

Technical Field

[0001] The present application belongs to the field of robotics technology, and in particular relates to a wrist joint mechanism, an arm structure and a robot. Background Art

[0002] The wrist joint mechanism of the robot is an important part of the robot, which is responsible for controlling the posture and position of the robot's end effector. In some cases, a flexible wrist is easier to achieve specific functions, so the design of the wrist joint is very important in the design of the robot.

[0003] In order to achieve flexible multi-axial motion control, existing wrist joint mechanisms usually need to connect multiple axes in series along the length direction. This complex structure causes the wrist joint mechanism to be usually bulky and occupy a large space. Summary of the invention

[0004] One purpose of embodiments of the present application is to provide a wrist joint mechanism, an arm structure and a robot.

[0005] According to a first aspect of an embodiment of the present application, a wrist joint mechanism is provided, comprising:

[0006] Adapter components;

[0007] A first connecting component, the first connecting component is rotatably connected to the adapter component, and the first connecting component rotates around a first axis relative to the adapter component;

[0008] a first driving assembly, the first driving assembly being arranged on the first connecting assembly;

[0009] A connecting rod assembly, one end of which is connected to the output end of the first driving assembly, and the other end of which is connected to the adapter assembly;

[0010] a second driving assembly, the second driving assembly being disposed on the adapter assembly;

[0011] A second connecting component, the second connecting component is connected to an output end of the second driving component, and the second driving component drives the second connecting component to rotate around a second axis relative to the adapter component;

[0012] The first axis intersects the second axis.

[0013] Optionally, the connecting rod assembly includes a first connecting rod and a second connecting rod, and the first connecting rod is spaced apart from the second connecting rod;

[0014] The first connecting rod comprises a first end and a second end, the first end is connected to the output end of the first driving assembly, and the second end is connected to the adapter assembly;

[0015] The second connecting rod includes a third end and a fourth end, the third end is connected to the output end of the first driving assembly, and the fourth end is connected to the adapter assembly.

[0016] Optionally, the connecting rod assembly includes a first connecting member and a second connecting member, the first connecting member is arranged at the output end of the first driving assembly, and the second connecting member is arranged at the adapter assembly;

[0017] The first connecting member includes a first connecting portion and a second connecting portion, the first connecting portion and the second connecting portion are spaced apart, the first end is rotatably connected to the first connecting portion, and the third end is rotatably connected to the second connecting portion;

[0018] The second connecting member includes a third connecting portion and a fourth connecting portion, the third connecting portion and the fourth connecting portion are arranged at an interval, the second end is rotatably connected to the third connecting portion, and the fourth end is rotatably connected to the fourth connecting portion.

[0019] Optionally, the second connecting component includes a connecting end, the axis of the connecting end is a third axis, and the third axis, the first axis and the second axis intersect at a point.

[0020] Optionally, the first connecting assembly further comprises a first mounting plate and a second mounting plate, wherein the first mounting plate and the second mounting plate are spaced apart from each other along the direction of the first axis;

[0021] The adapter assembly is at least partially located between the first mounting plate and the second mounting plate. The first mounting plate is rotatably connected to the adapter assembly, and the second mounting plate is rotatably connected to the adapter assembly.

[0022] Optionally, the second connecting assembly includes a third mounting plate and a fourth mounting plate, the third mounting plate and the fourth mounting plate are spaced apart along the direction of the second axis, the adapter assembly is at least partially located between the third mounting plate and the fourth mounting plate, the third mounting plate is connected to the output end of the second drive assembly, and the fourth mounting plate is rotationally connected to the second drive assembly.

[0023] Optionally, a receiving cavity is formed inside the adapter component, and a first through hole and a second through hole are formed in the adapter component, the first through hole and the second through hole are arranged opposite to each other along the direction of the second axis, the first through hole is communicated with the receiving cavity, and the second through hole is communicated with the receiving cavity;

[0024] The second driving assembly is arranged in the accommodating cavity, the third mounting plate passes through the first through hole and is connected to the output end of the second driving assembly, and the fourth mounting plate passes through the second through hole and is rotatably connected to the second driving assembly.

[0025] According to a second aspect of an embodiment of the present application, an arm structure is provided, comprising the wrist joint mechanism as described above.

[0026] Optionally, the arm structure further includes:

[0027] The first joint mechanism;

[0028] a second joint mechanism, the second joint mechanism being connected to an output end of the first joint mechanism, and the first joint mechanism driving the second joint mechanism to rotate around a fourth axis;

[0029] a third joint mechanism, the third joint mechanism being connected to an output end of the second joint mechanism, and the second joint mechanism driving the third joint mechanism to rotate around a fifth axis;

[0030] a fourth joint mechanism, the fourth joint mechanism being connected to an output end of the third joint mechanism, and the third joint mechanism driving the fourth joint mechanism to rotate around a sixth axis;

[0031] a fifth joint mechanism, the fifth joint mechanism being connected to an output end of the fourth joint mechanism, the fourth joint mechanism driving the fifth joint mechanism to rotate around a seventh axis, the wrist joint mechanism being connected to an output end of the fifth joint mechanism, the fifth joint mechanism driving the wrist joint mechanism to rotate around an eighth axis;

[0032] The fourth axis intersects the fifth axis, the fifth axis intersects the sixth axis, the sixth axis intersects the seventh axis, and the seventh axis intersects the eighth axis.

[0033] Optionally, the first joint mechanism includes a first joint module and a first connecting bracket;

[0034] The second joint mechanism comprises a second joint module and a second connecting bracket, the second connecting bracket is connected to the output end of the first joint module, and the second joint module is arranged on the second connecting bracket;

[0035] The third joint mechanism comprises a third joint module and a third connecting bracket, the third connecting bracket is connected to the output end of the second joint module, and the third joint module is arranged on the third connecting bracket;

[0036] The fourth joint mechanism comprises a fourth joint module and a fourth connecting bracket, the fourth connecting bracket is connected to the output end of the third joint module, and the fourth joint module is arranged on the fourth connecting bracket;

[0037] The fifth joint mechanism comprises a fifth joint module and a fifth connecting bracket, the fifth connecting bracket is connected to the output end of the fourth joint module, and the fifth joint module is arranged on the fifth connecting bracket;

[0038] The wrist joint mechanism is arranged at the output end of the fifth joint module.

[0039] Optionally, the fourth joint mechanism comprises:

[0040] A fourth joint module, the fourth joint module comprising a motor module, a connection module and a reducer module, the motor module and the reducer module are spaced apart along a first direction, an output end of the motor module is connected to the connection module, and an input end of the reducer module is connected to the connection module;

[0041] A fourth connecting bracket, wherein the fourth joint module is arranged on the fourth connecting bracket.

[0042] Optionally, the projection of the axis of the output end of the motor module and the axis of the output end of the reducer module in the first direction does not coincide.

[0043] According to a third aspect of an embodiment of the present application, there is provided a robot, comprising:

[0044] A wrist mechanism as described above; or

[0045] The arm structure described above.

[0046] One technical effect of an embodiment of the present application is that the first axis and the second axis of the wrist joint mechanism intersect at one point, which can shorten the length of the wrist joint mechanism, making the structure of the wrist joint mechanism more compact, thereby reducing the space occupied by the wrist joint mechanism in the arm structure.

[0047] Other features and advantages of the present application will become apparent from the following detailed description of exemplary embodiments of the present application with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the application and, together with the description, serve to explain the principles of the application.

[0049] Figure 1 is a schematic structural diagram of a wrist joint mechanism in an embodiment of the present application;

[0050] Figure 2is a schematic structural diagram of a wrist joint mechanism in an embodiment of the present application;

[0051] Figure 3 is a schematic structural diagram of a wrist joint mechanism in an embodiment of the present application;

[0052] Figure 4 is an exploded schematic diagram of a wrist joint mechanism in an embodiment of the present application;

[0053] Figure 5 This is a schematic structural diagram of a first connecting component in an embodiment of the present application;

[0054] Figure 6 This is a schematic structural diagram of a first connecting member in an embodiment of the present application;

[0055] Figure 7 This is a schematic structural diagram of a second connecting member in an embodiment of the present application;

[0056] Figure 8 It is a structural schematic diagram of the arm structure in the implementation manner of the present application;

[0057] Fig. 9 It is a structural schematic diagram of the arm structure in the implementation manner of the present application;

[0058] Fig.10 It is a schematic diagram of the exploded structure of the arm in the implementation manner of the present application.

[0059] Description of the reference numerals: wrist joint mechanism 600; adapter component 1; first mounting surface 11; first mounting axis 111; second mounting surface 12; accommodating cavity 13; first through hole 14; second through hole 15; first connecting component 2; first mounting plate 21; third through hole 211; second mounting plate 22; fourth through hole 221; first support plate 23; second support plate 24; first bearing 25; second bearing 26; accommodating cavity 27; second connecting component 3; connecting end 31; third mounting plate 32; fifth through hole 321; fourth mounting plate 33; sixth through hole 331; first method Flange 34; second flange 35; connecting rod assembly 4; first connecting rod 41; second connecting rod 42; first connecting member 43; first connecting portion 431; second connecting portion 432; fifth connecting portion 433; first mounting hole 4331; second connecting member 44; third connecting portion 441; fourth connecting portion 442; sixth connecting portion 443; first joint bearing 45; second joint bearing 46; third joint bearing 47; fourth joint bearing 48; first driving assembly 5; first mounting plate 51; second driving assembly 6; second mounting plate 61; first connecting portion 7; circuit board 8;

[0060] The first joint mechanism 100; the first joint module 101; the first connecting bracket 102; the second joint mechanism 200; the second joint module 201; the second connecting bracket 202; the third joint mechanism 300; the third joint module 301; the third connecting bracket 302; the fourth joint mechanism 400; the fourth joint module 401; the motor module 4011; the reducer module 4012; the fourth connecting bracket 402; the fifth joint mechanism 500; the fifth joint module 501; the fifth connecting bracket 502; the first axis A; the second axis B; the third axis C; the fourth axis D; the fifth axis E; the sixth axis F; the seventh axis G; the eighth axis H. DETAILED DESCRIPTION

[0061] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present application.

[0062] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present application, its application, or uses.

[0063] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0064] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0065] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0066] First, the first direction, the second direction and the third direction mentioned in the embodiment of the present application are described in the attached drawings. Fig. 9 and Fig.10 The marked directions. The axes of the first direction, the second direction and the third direction intersect each other. The first direction refers to the front-back direction, the second direction refers to the left-right direction, and the third direction refers to the up-down direction.

[0067] like Figure 1-Figure 7As shown, according to the first aspect of an embodiment of the present application, a wrist joint mechanism 600 is provided, including an adapter assembly 1, a first connecting assembly 2, a first driving assembly 5, a connecting rod assembly 4, a second driving assembly 6 and a second connecting assembly 3; the first connecting assembly 2 is rotatably connected to the adapter assembly 1, and the first connecting assembly 2 rotates around a first axis A relative to the adapter assembly 1; the first driving assembly 5 is arranged on the first connecting assembly 2; one end of the connecting rod assembly 4 is connected to an output end of the first driving assembly 5, and the other end of the connecting rod assembly 4 is connected to the adapter assembly 1; the second driving assembly 6 is arranged on the adapter assembly 1; the second connecting assembly 3 is connected to an output end of the second driving assembly 6, and the second driving assembly 6 drives the second connecting assembly 3 to rotate around a second axis B relative to the adapter assembly 1; the first axis A intersects with the second axis B.

[0068] like Figure 1 and Figure 4 As shown, the wrist joint mechanism 600 includes a adapter assembly 1, a first connecting assembly 2, a first driving assembly 5, a connecting rod assembly 4, a second driving assembly 6 and a second connecting assembly 3; wherein the first connecting assembly 2 is used to connect with the forearm mechanism, the second connecting assembly 3 is used to connect with the hand mechanism, and the first driving assembly 5 and the second driving assembly 6 provide power output for the wrist joint mechanism 600.

[0069] Specifically, the first connecting component 2 is rotatably connected to the adapter component 1, and the connection point between the first connecting component 2 and the adapter component 1 is the first connection point 7. The first connecting component 2 and the adapter component 1 can rotate around the first axis A; the first driving component 5 is arranged on the first connecting component 2, and the first connecting component 2 provides an installation position for the first driving component 5, and there is no need to set an additional installation position for the first driving component 5, so that the structure of the wrist joint mechanism 600 is more compact; one end of the connecting rod assembly 4 is connected to the output end of the first driving component 5, and the other end of the connecting rod assembly 4 is connected to the adapter component 1, and the connecting rod assembly 4 is connected to the adapter component 1 at the first connection point 7, that is, Figure 3 As shown, the first drive assembly 5 transmits power to the connecting rod assembly 4, which can drive the adapter assembly 1 to rotate around the first axis A relative to the first connecting assembly 2 through the connecting rod assembly 4; the second drive assembly 6 is arranged on the adapter assembly 1, and the adapter assembly 1 provides an installation position for the second drive assembly 6, and there is no need to set an additional installation position for the second drive assembly 6, so that the structure of the wrist joint mechanism 600 is more compact; the second connecting assembly 3 is connected to the output end of the second drive assembly 6, and the second drive assembly 6 can drive the second connecting assembly 3 to rotate around the second axis B, that is, as shown in FIG. Figure 2 As shown, the second connecting component 3 can rotate around the second axis B relative to the adapter component 1; the first axis A and the second axis B intersect.

[0070] Further explanation: the first driving assembly 5 drives the adapter assembly 1 and the second connecting assembly 3 to rotate around the first axis A through the connecting rod assembly 4, that is, the rotating adapter assembly and the second connecting assembly 3 can swing left and right; the second driving assembly 6 drives the second connecting assembly 3 to rotate around the second axis B, that is, the second connecting assembly 3 can swing up and down; because the second connecting assembly 3 is used to connect the hand mechanism, the hand mechanism can be accurately operated in the left and right directions and the up and down directions.

[0071] To further illustrate, the first axis A intersects with the second axis B, that is, the two rotation axes of the wrist joint mechanism 600 intersect at one point, which can shorten the length of the wrist joint mechanism 600 and make the structure of the wrist joint mechanism 600 more compact, thereby reducing the space occupied by the wrist joint mechanism 600 in the arm structure; and, the first axis A intersects with the second axis B, and when the wrist joint mechanism 600 is working, it can ensure that the centers of motion of the up and down swings and the left and right swings converge at one point, so as to ensure the precise coordinated motion of the two degrees of freedom of the wrist joint mechanism 600 and achieve high flexibility and stability during complex operations.

[0072] In a specific embodiment, the connecting rod assembly 4 includes a connecting rod, one end of which is connected to the output end of the first drive assembly 5, and the other end of the connecting rod is connected to the adapter assembly 1; the first drive assembly 5 drives the adapter assembly 1 to rotate around the first axis A relative to the first connecting assembly 2 through the connecting rod to realize the left and right swing of the adapter assembly 1 and the second connecting assembly 3.

[0073] In another specific embodiment, the connecting rod assembly 4 includes a first connecting rod 41 and a second connecting rod 42, and the first connecting rod 41 and the second connecting rod 42 are arranged at an interval; the first connecting rod 41 includes a first end and a second end, the first end is connected to the output end of the first drive assembly 5, and the second end is connected to the adapter assembly 1; the second connecting rod 42 includes a third end and a fourth end, the third end is connected to the output end of the first drive assembly 5, and the fourth end is connected to the adapter assembly 1.

[0074] like Figure 4 As shown, the connecting rod assembly 4 includes a first connecting rod 41 and a second connecting rod 42. The first connecting rod 41 and the second connecting rod 42 are spaced apart from each other. The first connecting rod 41 and the second connecting rod 42 are spaced apart from each other in the direction of the second axis B.

[0075] Further description, the first connecting rod 41 includes a first end and a second end, the first end and the second end are respectively located at the two ends of the first connecting rod 41, the first end is provided with the output end of the first drive component 5, and the second end is provided at the adapter component 1; the second connecting rod 42 includes a third end and a fourth end, the fourth end and the third end are respectively located at the two ends of the second connecting rod 42, the third end is provided at the output end of the first drive component 5, and the fourth end is provided at the adapter component 1; it can be understood that the output end of the first drive component 5 is connected to the adapter component 1 through the first connecting rod 41 and the second connecting rod 42, and the first connecting rod 41 and the second connecting rod 42 work together to provide efficient motion transmission, and can also improve the stability of power transmission of the connecting rod assembly 4, and further improve the control accuracy of the wrist joint mechanism 600 over the hand mechanism.

[0076] In an optional embodiment, the connecting rod assembly 4 includes a first connecting member 43 and a second connecting member 44, the first connecting member 43 is arranged at the output end of the first driving assembly 5, and the second connecting member 44 is arranged at the adapter assembly 1; the first connecting member 43 includes a first connecting portion 431 and a second connecting portion 432, the first connecting portion 431 and the second connecting portion 432 are arranged at intervals, the first end is rotatably connected to the first connecting portion 431, and the third end is rotatably connected to the second connecting portion 432; the second connecting member 44 includes a third connecting portion 441 and a fourth connecting portion 442, the third connecting portion 441 and the fourth connecting portion 442 are arranged at intervals, the second end is rotatably connected to the third connecting portion 441, and the fourth end is rotatably connected to the fourth connecting portion 442.

[0077] like Figure 4 , Figure 6 and Figure 7 As shown, the connecting rod assembly 4 further includes a first connecting member 43 and a second connecting member 44 ; wherein the first connecting member 43 is arranged at the output end of the first driving assembly 5 , and the second connecting member 44 is connected to the adapter assembly 1 .

[0078] Specifically, the first connecting member 43 includes a first connecting portion 431, a second connecting portion 432 and a fifth connecting portion 433. The first connecting portion 431 and the second connecting portion 432 are spaced apart in the fifth connecting portion 433. The fifth connecting portion 433 is provided with a first mounting hole 4331. The output end of the first driving component 5 is provided with a first mounting disk 51. The first mounting disk 51 is provided with a second mounting hole. The first connecting member 43 is connected to the first mounting disk 51 through the fifth connecting portion 433. Bolts pass through the first mounting hole 4331 and the second mounting hole to fix the first connecting member 43 and the first mounting disk 51 together.

[0079] The second connecting member 44 includes a third connecting portion 441, a fourth connecting portion 442 and a sixth connecting portion 443. The third connecting portion 441 and the fourth connecting portion 442 are spaced apart from each other. The sixth connecting portion 443 is arranged relative to the third connecting portion 441 and the fourth connecting portion 442 in the direction of the first axis A. The sixth connecting portion 443 is connected to the adapter assembly 1, and the first connecting portion 431 is rotatably connected to the first connecting assembly 2.

[0080] Further description, the first end is rotatably connected to the first connection part 431, the second end is rotatably connected to the third connection part 441, the third end is rotatably connected to the second connection part 432, and the fourth end is rotatably connected to the fourth connection part 442. In this embodiment, through the first connection member 43 and the second connection member 44, an installation position is provided for the first connection rod 41 to be connected to the output end of the first drive assembly 5, the first connection rod 41 to be connected to the adapter assembly 1, the second connection rod 42 to be connected to the output end of the first drive assembly 5, and the second connection rod 42 to be connected to the adapter assembly 1; and through the first connection part 431 and the second connection part 432 of the first connection member 43, the third connection part 441 and the fourth connection part 442 of the second connection member 44, the installation of the first connection rod 41 and the second connection rod 42 is facilitated, and the installation accuracy of the first connection rod 41 and the second connection rod 42 can be improved, thereby improving the control accuracy of the wrist joint mechanism 600.

[0081] In a preferred embodiment, Figure 4 As shown, the connecting rod assembly 4 also includes a first joint bearing 45, a second joint bearing 46, a third joint bearing 47 and a fourth joint bearing 48; the first end is rotatably connected to the first connecting part 431 through the first joint bearing 45; the second end is rotatably connected to the third connecting part 441 through the second joint bearing 46; the third end is rotatably connected to the second connecting part 432 through the third joint bearing 47, and the fourth end is rotatably connected to the fourth connecting part 442 through the fourth joint bearing 48; through the multi-directional rotation characteristics of the joint bearings, the smoothness of rotation between the first connecting component 2 and the adapter component 1 can be improved, and the problem of jamming can be avoided.

[0082] In an optional embodiment, the second connecting component 3 includes a connecting end 31, the axis of the connecting end 31 is a third axis C, and the third axis C, the first axis A and the second axis B intersect at a point; wherein the connecting end 31 is used to connect with a hand mechanism, wherein the hand mechanism can rotate relative to the third axis C; the first axis A, the second axis B and the third axis C intersect at a point, which can ensure that the motion centers of the three degrees of freedom of the hand mechanism converge at one point, and can improve the high flexibility, coordination and stability when performing complex operations on the hand mechanism.

[0083] In an optional embodiment, the first connecting component 2 includes a first mounting plate 21 and a second mounting plate 22, and the first mounting plate 21 and the second mounting plate 22 are spaced apart along the direction of the first axis A; the adapter component 1 is at least partially located between the first mounting plate 21 and the second mounting plate 22, the first mounting plate 21 is rotatably connected to the adapter component 1, and the second mounting plate 22 is rotatably connected to the adapter component 1.

[0084] like Figure 4 As shown, the first connecting component 2 includes a first mounting plate 21 and a second mounting plate 22; wherein, the first mounting plate 21 and the second mounting plate 22 are spaced apart in the direction of the first axis A, a gap is formed between the first mounting plate 21 and the second mounting plate 22, and the adapter component 1 is at least partially located in the gap between the first mounting plate 21 and the second mounting plate 22; therefore, placing the adapter component 1 between the first mounting plate 21 and the second mounting plate 22 can shorten the length of the wrist joint mechanism 600, thereby making the structure of the wrist joint mechanism 600 more compact, thereby reducing the space occupied by the wrist joint mechanism 600 in the arm structure.

[0085] It is further explained that the first mounting plate 21 is rotatably connected to the adapter assembly 1, and the second mounting plate 22 is rotatably connected to the adapter assembly 1; therefore, a double-arm support is used between the first connecting assembly 2 and the adapter assembly 1, which can improve the structural stability between the first connecting assembly 2 and the adapter assembly 1, thereby further improving the rotational stability between the first connecting assembly 2 and the adapter assembly 1.

[0086] In a specific embodiment, Figure 2 and Figure 4As shown, the adapter assembly 1 includes a first mounting surface 11, a first mounting axis 111, a second mounting surface 12 and a second mounting axis; wherein the first mounting surface 11 and the second mounting surface 12 are arranged relative to each other in the direction of the first axis A, the first mounting axis 111 is arranged on the first mounting surface 11, the second mounting axis is arranged on the second mounting surface 12, the axis of the first mounting axis 111 coincides with the first axis A, and the axis of the second mounting axis coincides with the first axis A. The first mounting plate 21 is provided with a third through hole 211, the outer ring of the first bearing 25 is embedded in the third through hole 211, and the first mounting shaft 111 is provided in the inner ring of the first bearing 25, so that the first mounting plate 21 is rotatably connected to the adapter assembly 1; wherein, the sixth connecting portion 443 is also provided in the inner ring of the first bearing 25, so that the first driving assembly 5 transmits power through the connecting rod assembly 4, the connecting rod assembly 4 can drive the adapter assembly 1 to rotate, and the connecting rod assembly 4 and the first mounting plate 21 are rotatably connected; in this embodiment, the mounting structure of the connecting rod assembly 4, the first connecting assembly 2 and the adapter assembly 1 can be simplified. The second mounting plate 22 is provided with a fourth through hole 221, the outer ring of the second bearing 26 is embedded in the fourth through hole 221, and the second mounting shaft is provided in the inner ring of the second bearing 26, so that the second mounting plate 22 and the adapter assembly 1 are rotatably connected through the second axis B.

[0087] In a specific embodiment, Figure 4 and Figure 5 As shown, the first connecting component 2 also includes a first support plate 23 and a second support plate 24, and the first support plate 23 and the second support plate 24 are spaced apart in the direction of the second axis B, one end of the first support plate 23 is connected to the first mounting plate 21, and the other end of the first support plate 23 is connected to the second mounting plate 22, one end of the second support plate 24 is connected to the first mounting plate 21, and the other end of the second support plate 24 is connected to the second mounting plate 22, and the first support plate 23 and the second support plate 24 can improve the structural strength of the first connecting component 2; an accommodating cavity 27 is formed between the first mounting plate 21, the second mounting plate 22, the first support plate 23 and the second support plate 24, and the first driving component 5 is arranged in the accommodating cavity 27.

[0088] In a specific embodiment, Figure 4 As shown, the first mounting plate 21, the first support plate 23 and the second support plate 24 are integrally arranged, the first support plate 23 and the second mounting plate 22 are detachably connected, and the second support plate 24 and the second mounting plate 22 are detachably connected. The first drive assembly 5 is first arranged on the second mounting plate 22, and then the second mounting plate 22 is installed together with the first support plate 23 and the second support plate 24; in this embodiment, the structural strength of the first connecting assembly 2 can be further improved, and the installation of the first drive assembly 5 is also convenient.

[0089] In a specific embodiment, the wrist joint mechanism 600 further includes a circuit board 8 , which is disposed on the first support plate 23 or the second support plate 24 , and is electrically connected to the first drive assembly 5 and the second drive assembly 6 .

[0090] In an optional embodiment, the second connecting component 3 includes a third mounting plate 32 and a fourth mounting plate 33, and the third mounting plate 32 and the fourth mounting plate 33 are spaced apart along the direction of the second axis B, and the adapter component 1 is at least partially located between the third mounting plate 32 and the fourth mounting plate 33, and the third mounting plate 32 is connected to the output end of the second driving component 6, and the fourth mounting plate 33 is rotatably connected to the second driving component 6.

[0091] like Figure 4 As shown, the second connecting component 3 includes a third mounting plate 32 and a fourth mounting plate 33; wherein, the third mounting plate 32 and the fourth mounting plate 33 are spaced apart in the direction of the second axis B, a gap is formed between the third mounting plate 32 and the fourth mounting plate 33, and the adapter component 1 is at least partially located in the gap between the third mounting plate 32 and the fourth mounting plate 33; that is, in the direction of the third axis C, a part of the adapter component 1 is located in the gap between the first mounting plate 21 and the second mounting plate 22, and another part of the adapter component 1 is located in the gap between the third mounting plate 32 and the fourth mounting plate 33, thereby reducing the size of the wrist joint mechanism 600 in the direction of the third axis C, thereby making the structure of the wrist joint mechanism 600 more compact; wherein, the direction of the third axis C is the same as the length direction of the wrist joint mechanism 600.

[0092] It is further explained that the second drive component 6 is arranged on the adapter component 1, the third mounting plate 32 is connected to the output end of the second drive component 6, and the fourth mounting plate 33 is rotatably connected to the second drive component 6; therefore, a double-arm support is adopted between the second connecting component 3 and the second drive component 6, which can improve the connection strength between the second connecting component 3 and the second drive component 6, and further improve the rotational stability between the second connecting component 3 and the adapter component 1.

[0093] In an optional embodiment, a accommodating cavity 13 is formed inside the adapter component 1, and the adapter component 1 is provided with a first through hole 14 and a second through hole 15, the first through hole 14 and the second through hole 15 are arranged relative to each other along the direction of the second axis B, the first through hole 14 is connected to the accommodating cavity 13, and the second through hole 15 is connected to the accommodating cavity 13; the second drive component 6 is arranged in the accommodating cavity 13, the third mounting plate 32 is connected to the output end of the second drive component 6 at the first through hole 14, and the fourth mounting plate 33 is rotatably connected to the second drive component 6 at the second through hole 15.

[0094] like Figure 4 As shown, a receiving cavity 13 is formed inside the adapter component 1, and a first through hole 14 and a second through hole 15 are opened on the adapter component 1. The first through hole 14 is connected to the receiving cavity 13, and the second through hole 15 is connected to the receiving cavity 13. The first through hole 14 and the second through hole 15 are arranged opposite to each other in the direction of the second axis B, and the axis of the first through hole 14 coincides with the second axis B, and the axis of the second through hole 15 coincides with the second axis B.

[0095] The second driving component 6 is arranged in the accommodating cavity 13; the output end of the second driving component 6 faces the first through hole 14, and a mounting seat is arranged on the second driving component 6. The mounting seat and the output end of the second driving component 6 are arranged relatively to each other in the direction of the second axis B, and the third connecting portion 441 is connected to the output end of the second driving component 6 through the first through hole 14, and the fourth connecting portion 442 is rotatably connected to the mounting seat through the second through hole 15.

[0096] In a specific embodiment, a fifth through hole 321 is provided on the third mounting plate 32, a second mounting plate 61 is provided at the output end of the second driving assembly 6, and the first flange 34 passes through the fifth through hole 321 and the first through hole 14 to connect the third mounting plate 32 and the second mounting plate 61; a sixth through hole 331 is provided on the fourth mounting plate 33, and the second flange 35 passes through the sixth through hole 331 and the second through hole 15 to connect the fourth mounting plate 33 and the mounting seat, and the second flange 35 is rotatably connected to the mounting seat. In this embodiment, the mounting structure of the second connecting assembly 3 and the second driving assembly 6 is simple and has high structural stability.

[0097] like Figure 8-10As shown, according to the first aspect of the embodiment of the present application, an arm structure is provided, including a first joint mechanism 100, a second joint mechanism 200, a third joint mechanism 300, a fourth joint mechanism 400, a fifth joint mechanism 500 and a wrist joint mechanism 600; the second joint mechanism 200 is connected to the output end of the first joint mechanism 100, and the first joint mechanism 100 drives the second joint mechanism 200 to rotate around a fourth axis D; the third joint mechanism 300 is connected to the output end of the second joint mechanism 200, and the second joint mechanism 200 drives the third joint mechanism 300 to rotate around a fifth axis E; the fourth joint mechanism 400 is connected to the third joint mechanism 30 0, the third joint mechanism 300 drives the fourth joint mechanism 400 to rotate around the sixth axis F; the fifth joint mechanism 500 is connected to the output end of the fourth joint mechanism 400, and the fourth joint mechanism 400 drives the fifth joint mechanism 500 to rotate around the seventh axis G; the wrist joint mechanism 600 is connected to the output end of the fifth joint mechanism 500, and the fifth joint mechanism 500 drives the wrist joint mechanism 600 to rotate around the eighth axis H; the fourth axis D intersects with the fifth axis E, the fifth axis E intersects with the sixth axis F, the sixth axis F intersects with the seventh axis G, and the seventh axis G intersects with the eighth axis H.

[0098] like Figure 8-10 As shown, the arm structure includes a first joint mechanism 100 , a second joint mechanism 200 , a third joint mechanism 300 , a fourth joint mechanism 400 , a fifth joint mechanism 500 and a wrist joint mechanism 600 .

[0099] First, it is explained that the wrist joint mechanism 600 is connected to the fifth joint mechanism 500 to form a first structural segment, the first structural segment is connected to the fourth joint mechanism 400 to form a second structural segment, the second structural segment is connected to the third joint mechanism 300 to form a third structural segment, the third structural segment is connected to the second joint mechanism 200 to form a fourth structural segment, and the fourth structural segment is connected to the first joint mechanism 100 to form an arm structure. The above first structural segment, second structural segment, third structural segment and fourth structural segment are only for explaining the multi-degree-of-freedom movement of the arm mechanism.

[0100] by Fig.10Taking the state of the arm structure in as an example, the direction of the fourth axis D is the same as the first direction, and the first joint mechanism 100 can drive the fourth structure segment to rotate around the axis of the first direction; the direction of the fifth axis E is the same as the second direction, and the second joint mechanism 200 can drive the third structure segment to swing up and down; the direction of the sixth axis F is the same as the first direction, and the third joint mechanism 300 can drive the second structure segment to rotate around the axis of the first direction; the direction of the seventh axis G is the same as the second direction, and the fourth joint mechanism 400 can drive the first structure segment to swing up and down; the direction of the eighth axis H is the same as the first direction, and the fifth joint mechanism 500 can drive the wrist joint mechanism 600 to rotate around the axis of the first direction; therefore, through the coordinated control of the first joint mechanism 100, the second joint mechanism 200, the third joint mechanism 300, the fourth joint mechanism 400, the fifth joint mechanism 500 and the wrist joint mechanism 600, the arm structure realizes multi-degree-of-freedom motion, which enables the arm structure to perform high-precision complex tasks, such as grasping, assembly or welding.

[0101] In an optional embodiment, the first joint mechanism 100 includes a first joint module 101 and a first connecting bracket 102; the second joint mechanism 200 includes a second joint module 201 and a second connecting bracket 202, the second connecting bracket 202 is connected to the output end of the first joint module 101, and the second joint module 201 is arranged on the second connecting bracket 202; the third joint mechanism 300 includes a third joint module 301 and a third connecting bracket 302, the third connecting bracket 302 is connected to the output end of the second joint module 201, and the third joint module 301 is arranged on the third joint mechanism 300. Three connecting brackets 302; the fourth joint mechanism 400 includes a fourth joint module 401 and a fourth connecting bracket 402, the fourth connecting bracket 402 is connected to the output end of the third joint module 301, and the fourth joint module 401 is arranged on the fourth connecting bracket 402; the fifth joint mechanism 500 includes a fifth joint module 501 and a fifth connecting bracket 502, the fifth connecting bracket 502 is connected to the output end of the fourth joint module 401, and the fifth joint module 501 is arranged on the fifth connecting bracket 502; the wrist joint mechanism 600 is arranged at the output end of the fifth joint module 501.

[0102] like Fig.10As shown, the first joint mechanism 100 includes a first joint module 101 and a first connecting bracket 102, and the second joint mechanism 200 includes a second joint module 201 and a second connecting bracket 202; specifically, the first connecting bracket 102 is connected to the output end of the first joint module 101, and the second connecting bracket 202 is connected to the output end of the first joint module 101 through the first connecting bracket 102. There is a single cantilever support between the first joint mechanism 100 and the second joint mechanism 200, and the second connecting bracket 202 is connected to the output end of the first joint module 101 through a cross roller bearing, which can improve the connection stability between the first joint mechanism 100 and the second joint mechanism 200, can ensure the reliability of the load, and can make the structure of the lower arm structure more compact. The second joint module 201 is arranged on the second connecting bracket 202, and the second connecting bracket 202 can provide support for the second joint module 201.

[0103] like Fig.10 As shown, the third joint mechanism 300 includes a third joint module 301 and a third connecting bracket 302, the third joint module 301 is arranged on the third connecting bracket 302, and the third connecting bracket 302 provides support for the third joint module 301; the third connecting bracket 302 is connected to the output end of the second joint module 201, wherein the third connecting bracket 302 and the second joint module 201 are double-arm connected, thereby improving the connection stability between the second joint mechanism 200 and the third joint mechanism 300, making the bearing rigidity of the overall structure of the arm structure more reliable, and the output end of the second joint module 201 only needs to be supported by the output bearing in the second joint module 201, and does not need to be supported by a cross roller bearing, thereby reducing the structural volume and overall weight.

[0104] like Fig.10 As shown, the fourth joint mechanism 400 includes a fourth joint module 401 and a fourth connecting bracket 402, the fourth joint module 401 is arranged on the fourth connecting bracket 402, and the fourth connecting bracket 402 provides support for the fourth joint module 401; the fourth connecting bracket 402 is connected to the output end of the third joint module 301, and the third joint module 301 and the fourth connecting bracket 402 are connected to each other. A single cantilever support is provided, and the fourth connecting bracket 402 is connected to the output end of the third joint module 301 through a cross roller bearing, which can improve the connection stability between the third joint mechanism 300 and the fourth joint mechanism 400, can ensure the reliability of load-bearing, and can make the structure of the lower arm structure more compact.

[0105] like Fig.10As shown, the fifth joint mechanism 500 includes a fifth joint module 501 and a fifth connecting bracket 502, the fifth joint module 501 is arranged on the fifth connecting bracket 502, and the fifth connecting bracket 502 provides support for the fifth joint module 501; the wrist joint mechanism 600 is connected to the output end of the fifth joint module 501, and there is a single cantilever support between the wrist joint mechanism 600 and the fifth joint mechanism 500, and the wrist joint mechanism 600 is connected to the output end of the first jointless module through a cross roller bearing, which can improve the connection stability between the fifth joint mechanism 500 and the wrist joint mechanism 600, can ensure the reliability of load-bearing, and can make the structure of the lower arm structure more compact.

[0106] Among them, the first joint mechanism 100 and the second joint mechanism 200 are connected by a single cantilever, the second joint mechanism 200 and the third joint mechanism 300 are connected by a double cantilever, and the third joint mechanism 300 and the fourth joint mechanism 400 are connected by a single cantilever; by alternating the single cantilever and the double cantilever, the load-bearing reliability of the arm structure can be improved and the arm structure can be made more compact.

[0107] In an optional embodiment, the fourth joint module 401 includes a motor module 4011, a connecting module and a reducer module 4012, the motor module 4011 and the reducer module 4012 are spaced apart along a first direction, the output end of the motor module 4011 is connected to the connecting module, and the input end of the reducer module 4012 is connected to the connecting module; the fourth joint module 401 is arranged on the fourth connecting bracket 402.

[0108] like Fig.10 As shown, the fourth joint module 401 includes a motor module 4011, a connection module and a reducer module; the motor module 4011 and the reducer module 4012 are spaced apart in the first direction;

[0109] The motor module 4011 and the reducer module 4012 are connected via a connecting module. The motor module 4011 and the reducer module 4012 are connected in a non-direct connection manner, which can reduce the overall thickness of the fourth joint mechanism 400 in the second direction. When the fourth joint mechanism 400 is used in an arm structure, the size of the arm structure in the second direction can be reduced, thereby making the arm structure more compact.

[0110] In an optional embodiment, the axis of the output end of the motor module 4011 does not overlap with the projection of the axis of the output end of the reducer module 4012 in the first direction; the fifth connecting bracket 502 is connected to the output end of the reducer module 4012, and the axis of the output end of the motor module 4011 does not overlap with the projection of the axis of the output end of the reducer module 4012 in the first direction, thereby increasing the rotation angle between the fifth joint mechanism 500 and the fourth joint mechanism 400, thereby improving the swing angle and flexibility of the arm structure.

[0111] According to a third aspect of an embodiment of the present application, there is provided a robot comprising the wrist joint mechanism 600 described above; or the arm structure described above.

[0112] Although some specific embodiments of the present application have been described in detail by way of example, it should be understood by those skilled in the art that the above examples are only for illustration, not for limiting the scope of the present application. It should be understood by those skilled in the art that the above embodiments may be modified without departing from the scope and spirit of the present application. The scope of the present application is defined by the appended claims.

Claims

1. A wrist joint mechanism, characterized in that: include: Adapter components; A first connecting component, the first connecting component is rotatably connected to the adapter component, and the first connecting component rotates around a first axis relative to the adapter component; a first driving assembly, the first driving assembly being arranged on the first connecting assembly; A connecting rod assembly, one end of which is connected to the output end of the first driving assembly, and the other end of which is connected to the adapter assembly; a second driving assembly, the second driving assembly being disposed on the adapter assembly; A second connecting component, the second connecting component is connected to an output end of the second driving component, and the second driving component drives the second connecting component to rotate around a second axis relative to the adapter component; The first axis intersects the second axis.

2. The wrist joint mechanism according to claim 1, characterized in that: The connecting rod assembly comprises a first connecting rod and a second connecting rod, wherein the first connecting rod is spaced apart from the second connecting rod; The first connecting rod comprises a first end and a second end, the first end is connected to the output end of the first driving assembly, and the second end is connected to the adapter assembly; The second connecting rod includes a third end and a fourth end, the third end is connected to the output end of the first driving assembly, and the fourth end is connected to the adapter assembly.

3. The wrist joint mechanism according to claim 2, characterized in that: The connecting rod assembly includes a first connecting member and a second connecting member, the first connecting member is arranged at the output end of the first driving assembly, and the second connecting member is arranged at the adapter assembly; The first connecting member includes a first connecting portion and a second connecting portion, the first connecting portion and the second connecting portion are spaced apart, the first end is rotatably connected to the first connecting portion, and the third end is rotatably connected to the second connecting portion; The second connecting member includes a third connecting portion and a fourth connecting portion, the third connecting portion and the fourth connecting portion are arranged at an interval, the second end is rotatably connected to the third connecting portion, and the fourth end is rotatably connected to the fourth connecting portion.

4. The wrist joint mechanism according to claim 1, characterized in that: The second connecting component includes a connecting end, the axis of the connecting end is a third axis, and the third axis, the first axis and the second axis intersect at a point.

5. The wrist joint mechanism according to claim 1, characterized in that: The first connecting assembly further comprises a first mounting plate and a second mounting plate, wherein the first mounting plate and the second mounting plate are spaced apart from each other along the direction of the first axis; The adapter assembly is at least partially located between the first mounting plate and the second mounting plate. The first mounting plate is rotatably connected to the adapter assembly, and the second mounting plate is rotatably connected to the adapter assembly.

6. The wrist joint mechanism according to claim 1, characterized in that: The second connecting assembly includes a third mounting plate and a fourth mounting plate, and the third mounting plate and the fourth mounting plate are spaced apart along the direction of the second axis. The adapter assembly is at least partially located between the third mounting plate and the fourth mounting plate. The third mounting plate is connected to the output end of the second driving assembly, and the fourth mounting plate is rotationally connected to the second driving assembly.

7. The wrist joint mechanism according to claim 6, characterized in that: A receiving cavity is formed inside the adapter component, and a first through hole and a second through hole are formed in the adapter component, the first through hole and the second through hole are arranged opposite to each other along the direction of the second axis, the first through hole is communicated with the receiving cavity, and the second through hole is communicated with the receiving cavity; The second driving assembly is arranged in the accommodating cavity, the third mounting plate passes through the first through hole and is connected to the output end of the second driving assembly, and the fourth mounting plate passes through the second through hole and is rotatably connected to the second driving assembly.

8. An arm structure, characterized in that: Comprising the wrist joint mechanism as described in any one of claims 1-7.

9. The arm structure according to claim 8, characterized in that: The arm structure also includes: The first joint mechanism; a second joint mechanism, the second joint mechanism being connected to an output end of the first joint mechanism, and the first joint mechanism driving the second joint mechanism to rotate around a fourth axis; a third joint mechanism, the third joint mechanism being connected to an output end of the second joint mechanism, and the second joint mechanism driving the third joint mechanism to rotate around a fifth axis; a fourth joint mechanism, the fourth joint mechanism being connected to an output end of the third joint mechanism, and the third joint mechanism driving the fourth joint mechanism to rotate around a sixth axis; a fifth joint mechanism, wherein the fifth joint mechanism is connected to an output end of the fourth joint mechanism, the fourth joint mechanism drives the fifth joint mechanism to rotate around a seventh axis, the wrist joint mechanism is connected to an output end of the fifth joint mechanism, and the fifth joint mechanism drives the wrist joint mechanism to rotate around an eighth axis; The fourth axis intersects the fifth axis, the fifth axis intersects the sixth axis, the sixth axis intersects the seventh axis, and the seventh axis intersects the eighth axis.

10. The arm structure according to claim 9, characterized in that: The first joint mechanism includes a first joint module and a first connecting bracket; The second joint mechanism comprises a second joint module and a second connecting bracket, the second connecting bracket is connected to the output end of the first joint module, and the second joint module is arranged on the second connecting bracket; The third joint mechanism comprises a third joint module and a third connecting bracket, the third connecting bracket is connected to the output end of the second joint module, and the third joint module is arranged on the third connecting bracket; The fourth joint mechanism comprises a fourth joint module and a fourth connecting bracket, the fourth connecting bracket is connected to the output end of the third joint module, and the fourth joint module is arranged on the fourth connecting bracket; The fifth joint mechanism comprises a fifth joint module and a fifth connecting bracket, the fifth connecting bracket is connected to the output end of the fourth joint module, and the fifth joint module is arranged on the fifth connecting bracket; The wrist joint mechanism is arranged at the output end of the fifth joint module.

11. The arm structure according to claim 9, characterized in that: The fourth joint mechanism comprises: A fourth joint module, the fourth joint module comprising a motor module, a connection module and a reducer module, the motor module and the reducer module are spaced apart along a first direction, an output end of the motor module is connected to the connection module, and an input end of the reducer module is connected to the connection module; A fourth connecting bracket, wherein the fourth joint module is arranged on the fourth connecting bracket.

12. The arm structure according to claim 11, characterized in that: The projection of the axis of the output end of the motor module and the axis of the output end of the reducer module in the first direction does not coincide.

13. A robot, characterized in that: include: A wrist joint mechanism as claimed in any one of claims 1 to 7; or An arm structure as described in any one of claims 9 to 12.

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