Mechanical humanoid wrist

Abstract

The invention discloses a mechanical humanoid wrist, and relates to the technical field of humanoid wrist robots, the mechanical humanoid wrist comprises a static platform, a movable platform, a driving connecting rod assembly, a universal hinge assembly, a connecting rod assembly, a reversing pulley assembly, a reel assembly, a driving rope assembly and a restraint rope assembly; the driving connecting rod assembly comprises a first driving connecting rod and a second driving connecting rod which are connected between the static platform and the movable platform in a series-parallel mode. The universal hinge assembly comprises a first universal hinge connecting fork, a second universal hinge connecting fork and a first universal hinge. The connecting rod assembly comprises seven connecting rod pieces; the reversing pulley assembly comprises nine reversing pulley blocks; the driving rope assembly comprises three pairs of driving ropes which drive the same joint in pairs in a closed-loop mode. The restraint rope assembly comprises a first restraint rope and a second restraint rope which form a closed loop to restrain the same joint. The mechanical humanoid wrist is simple and compact in structure, three-degree-of-freedom rolling is achieved through the three sets of driving ropes, the wrist rolling motion space is large, and the model is simple.

Description

Technical Field

[0001] The invention relates to the technical field of humanoid wrist robots, and in particular to a mechanical humanoid wrist. Background Art

[0002] The humanoid wrist is an important component of the humanoid manipulator, which is responsible for simulating the flexible movements of the human hand, including rotation, bending and swinging. The design of the wrist directly affects the operating accuracy, adaptability and flexibility of the robot arm. When performing complex tasks such as fine assembly, surgical assistance or human-computer interaction, a highly bionic wrist can provide a range of motion and control similar to that of a human hand, thereby greatly improving the performance of the robot arm.

[0003] A Chinese invention patent with publication number CN104875215A discloses a two-degree-of-freedom humanoid wrist device, which uses a double gear transmission to achieve the inward and outward flipping and rotation functions of the wrist. It has high rigidity and high precision, and is easy to control precisely, but it has fewer degrees of freedom of movement, a small deflection angle, and a very small operating space.

[0004] A Chinese invention patent with publication number CN104875214A discloses a three-degree-of-freedom humanoid wrist mechanical device. The wrist has a compact structure and is lightweight. The wrist flipping action is achieved through a worm gear and a bevel gear. However, its transmission structure is complex and the moving platform cannot rotate around a fixed point. The deflection and pitch angles are very small, and there is no space inside the wrist to pass the cable of the end effector.

[0005] Comprehensive analysis shows that the existing different types of humanoid parallel or series-parallel hybrid wrists have the following problems: First, there is a significant technical bottleneck in the current design of cable-driven humanoid wrists. There is often not enough space inside the wrist to properly arrange the cables leading to the end effector. Even if a cable channel is barely set up, it is difficult to ensure that the cable length remains unchanged when the wrist performs complex movements. This situation forces the cables to be exposed outside the wrist or to become entangled with the mechanical structure during movement; Second: the posture space of the humanoid wrist is small, the angle range of rolling motion is too small, and singular points may be encountered during the motion; Third: The existing three-DOF rope-driven wrist joint requires four drive motors and four sets of drive ropes, which not only has a large number of drive parts but also a complex kinematic model; Fourth: The existing anthropomorphic wrist cannot simultaneously meet the advantages of simple and compact structure, three sets of drive ropes to achieve three degrees of freedom, large wrist rolling motion space, and simple mathematical model, resulting in obvious shortcomings in application. Summary of the invention

[0006] In view of this, and in response to the technical problems existing in the prior art, the purpose of the present invention is to provide a mechanical anthropomorphic wrist that has the advantages of simple and compact structure, three sets of driving ropes capable of achieving three-degree-of-freedom rolling, a large wrist rolling motion space and a simple mathematical model.

[0007] In order to solve the above problems, the first object of the present invention is to provide a mechanical humanoid wrist, the mechanical humanoid wrist comprising: Quiet platform; The moving platform is arranged directly above the static platform; An active connecting rod assembly includes a first active connecting rod and a second active connecting rod connected in series between the static platform and the dynamic platform; The universal hinge assembly comprises a first universal hinge connecting fork and a second universal hinge connecting fork installed between the static platform and the dynamic platform, wherein the first universal hinge connecting fork and the second universal hinge connecting fork are hingedly connected via a first universal hinge; A connecting rod assembly, comprising a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod and a seventh connecting rod; and the first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod and the fifth connecting rod are all fixedly connected to the static platform; a reversing pulley assembly, comprising a first reversing pulley block, a second reversing pulley block, a third reversing pulley block, a fourth reversing pulley block, a fifth reversing pulley block, a sixth reversing pulley block connected to the static platform, a seventh reversing pulley block connected to the fourth connecting rod, an eighth reversing pulley block connected to the third connecting rod, and a ninth reversing pulley block connected to the first active connecting rod; A winding wheel assembly, comprising a first winding wheel, a second winding wheel, a third winding wheel, a fourth winding wheel and a fifth winding wheel; A driving rope assembly includes a first driving rope, a second driving rope and a third driving rope which drive the same joint in a closed loop in pairs; The restraint rope assembly comprises a first restraint rope and a second restraint rope which respectively form closed loops to restrain the same joint.

[0008] Preferably, the first reversing pulley set is connected to the static platform via a first rotating pair, and the fourth reversing pulley set is connected to the static platform via a second rotating pair; The second reversing pulley block is connected to the static platform via a third rotating pair, and the fifth reversing pulley block is connected to the static platform via a fourth rotating pair; The third reversing pulley block is connected to the static platform via a fifth rotating pair, and the sixth reversing pulley block is connected to the static platform via a sixth rotating pair; The seventh reversing pulley block is connected to the fourth connecting rod through a seventh rotating pair, and the eighth reversing pulley block is connected to the third connecting rod through an eighth rotating pair.

[0009] Preferably, the fifth connecting rod is connected to the first winding wheel through a ninth rotating pair, the first winding wheel is fixedly connected to the sixth connecting rod, and the sixth connecting rod is fixedly connected to the first universal hinge fork.

[0010] Preferably, the first universal joint is connected to the first universal joint fork through a sixteenth rotating pair and an eighteenth rotating pair, the first universal joint is connected to the second universal joint fork through a seventeenth rotating pair and a nineteenth rotating pair, and the second universal joint fork is connected to the moving platform through a fifteenth rotating pair.

[0011] Preferably, the first transmission shaft is connected to the second connecting rod through an eleventh rotation pair, the second winding wheel is fixedly connected to one end of the first transmission shaft, and the first active connecting rod is fixedly connected to the other end of the first transmission shaft; The third transmission shaft is connected to the first active connecting rod through a fourteenth rotation pair, the fifth winding wheel is fixedly connected to the second active connecting rod, the fifth winding wheel is fixedly connected to one end of the third transmission shaft, and the ninth reversing pulley group is connected to the first active connecting rod through a thirteenth rotation pair; The second transmission shaft is connected to the first connecting rod through a tenth rotating pair, the seventh connecting rod is connected to the second transmission shaft through a twelfth rotating pair, the seventh connecting rod is fixedly connected to the first active rod, and the third winding wheel and the fourth winding wheel are respectively fixedly connected to both ends of the second transmission shaft.

[0012] Preferably, the axes of the tenth rotation pair, the eleventh rotation pair and the fourteenth rotation pair converge at the geometric center point of the first universal joint, and the axes of the tenth rotation pair coincide with the axis of the eleventh rotation pair.

[0013] Preferably, one end of the first driving rope is fixedly connected to the first winding wheel and wound around the first winding wheel, the middle part of the first driving rope passes through the seventh reversing pulley group and the eighth reversing pulley group respectively, and then passes through the first reversing pulley group and the fourth reversing pulley group respectively, and the other end of the first driving rope is connected to the driving member.

[0014] Preferably, one end of the second driving rope is fixedly connected to and wound around the second winding wheel, the middle part of the second driving rope passes through the second reversing pulley group and the fifth reversing pulley group respectively, and the other end is connected to the driving member.

[0015] Preferably, one end of the third driving rope is fixedly connected to the third winding wheel and wound around the third winding wheel, the middle part of the third driving rope passes through the third reversing pulley group and the sixth reversing pulley group respectively, and the other end is connected to the driving member.

[0016] Preferably, the first restraint rope and the second restraint rope respectively form closed loops to restrain the same joint; one end of the first restraint rope is fixedly connected to the fourth winding wheel and wound around the fourth winding wheel, the middle part of the first restraint rope passes through the ninth reversing pulley group to achieve vertical reversal, and the other end of the first restraint rope is fixedly connected to the fifth winding wheel and wound around the fifth winding wheel.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. The mechanical humanoid wrist in the present application is composed of a static platform, a dynamic platform, an active connecting rod assembly, a universal hinge assembly, a connecting rod assembly, a reversing pulley assembly, a winding wheel assembly, a driving rope assembly and a restraining rope assembly, wherein the static platform serves as a fixed base to ensure that no shaking or displacement occurs during the movement, and provides support for the entire mechanical wrist; the dynamic platform is located directly above the static platform, and is used to realize the movement of the wrist. The active connecting rod assembly connects the static platform and the dynamic platform in a hybrid manner, and is used to transmit the driving force and realize the movement of the wrist. The active connecting rod assembly is composed of a first active connecting rod and a second active connecting rod that are hybrid-connected between the static platform and the dynamic platform. The active connecting rod assembly can efficiently transmit the driving force to the dynamic platform to realize complex motion control; the hybrid connection method enables the wrist to achieve multi-degree-of-freedom movement, similar to the flexibility of the human wrist. The universal hinge assembly is used to realize multi-directional rotational movement and to connect the static platform and the dynamic platform. The universal hinge assembly is composed of a first universal hinge connecting fork and a second universal hinge connecting fork installed between the static platform and the dynamic platform, and the first universal hinge connecting fork and the second universal hinge connecting fork are hinged through the first universal hinge; through the connection of the universal hinge, precise angle adjustment can be achieved to meet the needs of complex tasks. The connecting rod assembly is used to support and connect other components to ensure the structural stability of the entire system. The connecting rod assembly is composed of a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod and a seventh connecting rod, and the first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod and the fifth connecting rod are all fixedly connected to the static platform; the design of the connecting rod assembly can guide the direction of movement to ensure the smoothness and accuracy of movement. The reversing pulley assembly is used to change the direction of the drive rope and the restraint rope to optimize the layout and movement path of the rope. The reversing pulley assembly comprises a first reversing pulley block connected to a static platform, a second reversing pulley block, a third reversing pulley block, a fourth reversing pulley block, a fifth reversing pulley block, a sixth reversing pulley block, a seventh reversing pulley block and an eighth reversing pulley block, wherein the seventh reversing pulley block is connected to a fourth connecting rod, the eighth reversing pulley block is connected to a third connecting rod, and the ninth reversing pulley block is connected to a first active connecting rod. The reversing pulley can adjust the movement direction of the rope so that the rope can better adapt to a complex movement path. And through the guiding effect of the pulley, the friction between the rope and the fixed component can be reduced, and the service life of the rope can be extended. The winding wheel assembly is used to wind and release the driving rope and the restraining rope to control the length and tension of the rope. The winding wheel assembly is composed of a first winding wheel, a second winding wheel, a third winding wheel, a fourth winding wheel and a fifth winding wheel. Through the rotation of the winding wheel, the length and tension of the rope can be accurately controlled, thereby realizing accurate control of wrist movement. The driving rope assembly drives the same joint in a closed loop to achieve wrist movement.The driving rope assembly is composed of a first driving rope, a second driving rope and a third driving rope that drive the same joint in a closed loop in pairs, which can efficiently transfer power from the winding wheel to the joint to achieve precise motion control. The restraining rope assembly restrains the same joint in a closed loop, limits the range of motion of the joint and prevents excessive motion. The restraining rope assembly is composed of a first restraining rope and a second restraining rope that respectively form a closed loop to restrain the same joint. By controlling the tension of the restraining rope, the stability of the joint can be maintained, ensuring the accuracy and reliability of the motion.

[0018] 2. The mechanical anthropomorphic wrist has three degrees of freedom. The wrist joint is driven in a closed loop through three sets of drive ropes and one set of constraint ropes. The drive system is simple and the number of drive parts is small.

[0019] 3. The hybrid structure design is simpler, more compact and lighter, which effectively improves the rigidity of the anthropomorphic wrist and enhances its movement stability; the special reversing wheel set and transmission rod design make the rolling movement space of the wrist very large, and can effectively solve the singularity problem that occurs during the movement; the rotation secondary axes of all the rotating joints of the anthropomorphic wrist converge at the geometric center point of the universal joint, which meets the functional requirements of the anthropomorphic wrist, and the wrist has high stiffness, small cumulative error and high precision; the dynamic platform of the wrist rolls at a fixed point relative to the geometric center of the universal joint, and the distance from the geometric center to the static platform remains unchanged, so that the length of the cable of the end effector remains unchanged when passing through the wrist, ensuring both aesthetics and safety; this solution can simultaneously meet the advantages of simple and compact structure, three sets of drive ropes to achieve three-degree-of-freedom rolling, large wrist rolling movement space, and simple kinematic model.

[0020] 4. Through the design of the active connecting rod assembly and the universal joint assembly, the wrist can achieve multi-degree-of-freedom movement, similar to the flexibility of the human wrist; through the closed-loop design of the drive rope and the constraint rope, combined with the precise control of the winding wheel and the reversing pulley, high-precision control of the wrist movement can be achieved; the design of the connecting rod assembly and the static platform provides stable support for the entire system, ensuring the stability of the system during complex movement; through the limiting effect of the constraint rope assembly, excessive joint movement is prevented, the mechanical structure is protected, and the reliability of the system is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a schematic diagram of the overall structure of the mechanical humanoid wrist in an embodiment of the present invention; Figure 2 Schematic diagram of the main structure of the mechanical humanoid wrist in an embodiment of the present invention; Figure 3 is a schematic diagram of the mechanical humanoid wrist from another perspective in an embodiment of the present invention; Figure 4 Schematic diagram of a universal hinge connection of a mechanical anthropomorphic wrist in an embodiment of the present invention.

[0022] Description of reference numerals: a-static platform; b-dynamic platform; W1-first universal hinge; U1-first universal hinge connecting fork; U2-second universal hinge connecting fork; Z1-first active connecting rod; Z2-second active connecting rod; H1-first reversing pulley block; H2-second reversing pulley block; H3-third reversing pulley block; H4-fourth reversing pulley block; H5-fifth reversing pulley block; H6-sixth reversing pulley block; H7-seventh reversing pulley block; H8-eighth reversing pulley block; H9-ninth reversing pulley block; R1-first rotation pair; R2-second rotation pair; R3-third rotation pair; R4-fourth rotation pair; R5-fifth rotation pair; R6-sixth rotation pair; R7-seventh rotation pair; R8-eighth rotation pair; R9-ninth rotation pair; R10-tenth rotation pair; R11-eleventh rotation pair; R12-twelfth rotation pair; R13-thirteenth rotation pair; R14-fourteenth rotation pair; R15-fifteenth rotation pair; R16-sixteenth rotation pair; R17-seventeenth rotation pair; R18-eighteenth rotation pair; R19-nineteenth rotation pair; F1-first connecting rod; F2-second connecting rod; F3-third connecting rod; F4-fourth connecting rod; F5-fifth connecting rod; F6-sixth connecting rod; F7-seventh connecting rod; L1-first winding wheel; L2-second winding wheel; L3-third winding wheel; L4-fourth winding wheel; L5-fifth winding wheel; O1-first transmission shaft; O2-second transmission shaft; O3-third transmission shaft; S1 - first driving rope, S2 - second driving rope, S3 - third driving rope, S4 - first restraining rope; S5 - second restraining rope. DETAILED DESCRIPTION

[0023] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, it can also be the internal connection of two components, it can be a wireless connection, or it can be a wired connection. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0025] See also Figure 1-4 As shown, an embodiment of the present invention provides a mechanical anthropomorphic wrist, which includes a static platform a, a dynamic platform b, an active connecting rod assembly, a universal hinge assembly, a connecting rod assembly, a reversing pulley assembly, a winding wheel assembly, a driving rope assembly and a restraining rope assembly, wherein: The static platform a serves as a fixed foundation to ensure that no shaking or displacement occurs during movement and to provide support for the entire mechanical wrist; the dynamic platform b is located directly above the static platform a and is used to realize the movement of the wrist.

[0026] The active link assembly connects the static platform a and the dynamic platform b in a hybrid manner, and is used to transmit the driving force and realize the movement of the wrist. Preferably, the active link assembly in this embodiment includes a first active link Z1 and a second active link Z2 which are hybridly connected between the static platform a and the dynamic platform b. The active link assembly can efficiently transmit the driving force to the dynamic platform b to realize complex motion control; the hybrid connection method enables the wrist to realize multi-degree-of-freedom movement, which is similar to the flexibility of the human wrist.

[0027] The universal hinge assembly is used to realize multi-directional rotational movement and is used to connect the static platform a and the dynamic platform b. The universal hinge assembly in this embodiment includes a first universal hinge connecting fork U1 and a second universal hinge connecting fork U2 installed between the static platform a and the dynamic platform b, and the first universal hinge connecting fork U1 and the second universal hinge connecting fork U2 are hinged by a first universal hinge W1; through the connection of the universal hinge, precise angle adjustment can be achieved to meet the needs of complex tasks.

[0028] The connecting rod assembly is used to support and connect other components to ensure the structural stability of the entire system. The connecting rod assembly in this embodiment includes a first connecting rod F1, a second connecting rod F2, a third connecting rod F3, a fourth connecting rod F4, a fifth connecting rod F5, a sixth connecting rod F6 and a seventh connecting rod F7, and the first connecting rod F1, the second connecting rod F2, the third connecting rod F3, the fourth connecting rod F4 and the fifth connecting rod F5 are all fixedly connected to the static platform a; the design of the connecting rod assembly can guide the direction of movement to ensure the smoothness and accuracy of movement.

[0029] The reversing pulley assembly is used to change the direction of the driving rope and the restraining rope, and optimize the layout and movement path of the rope. In this embodiment, the reversing pulley assembly includes a first reversing pulley group H1, a second reversing pulley group H2, a third reversing pulley group H3, a fourth reversing pulley group H4, a fifth reversing pulley group H5, a sixth reversing pulley group H6, a seventh reversing pulley group H7 and an eighth reversing pulley group H8 connected to the static platform a, wherein the seventh reversing pulley group H7 is connected to the fourth connecting rod F4, the eighth reversing pulley group H8 is connected to the third connecting rod F3, and the ninth reversing pulley group H9 is connected to the first active connecting rod Z1. The reversing pulley can adjust the movement direction of the rope so that the rope can better adapt to the complex movement path. And through the guiding effect of the pulley, the friction between the rope and the fixed component can be reduced, and the service life of the rope can be extended.

[0030] The winding wheel assembly is used to wind and release the driving rope and the restraining rope, and control the length and tension of the rope. Preferably, the winding wheel assembly includes a first winding wheel L1, a second winding wheel L2, a third winding wheel L3, a fourth winding wheel L4 and a fifth winding wheel L5. By rotating the winding wheels, the length and tension of the rope can be accurately controlled, thereby achieving accurate control of wrist movement.

[0031] The driving rope assembly drives the same joint in a closed loop to achieve wrist movement. In this embodiment, the driving rope assembly includes a first driving rope S1, a second driving rope S2 and a third driving rope S3 that drive the same joint in a closed loop, which can efficiently transfer power from the winding wheel to the joint to achieve precise movement control.

[0032] The restraint rope assembly restrains the same joint in a closed loop manner, limits the range of motion of the joint, and prevents excessive motion. The restraint rope assembly in this embodiment includes a first restraint rope S4 and a second restraint rope S5 that respectively form a closed loop to restrain the same joint. By controlling the tension of the restraint rope, the stability of the joint can be maintained, ensuring the accuracy and reliability of the motion.

[0033] Therefore, through the design of the active connecting rod assembly and the universal joint assembly, the wrist can achieve multi-degree-of-freedom movement, similar to the flexibility of the human wrist; through the closed-loop design of the drive rope and the constraint rope, combined with the precise control of the winding wheel and the reversing pulley, high-precision control of the wrist movement can be achieved; the design of the connecting rod assembly and the static platform provides stable support for the entire system, ensuring the stability of the system during complex movement; through the limiting effect of the constraint rope assembly, excessive joint movement is prevented, the mechanical structure is protected, and the reliability of the system is improved.

[0034] Specifically, see Figure 2 , 3 As shown, the first reversing pulley group H1 is connected to the stationary platform a through the first rotating pair R1, and the fourth reversing pulley group H4 is connected to the stationary platform a through the second rotating pair R2.

[0035] The second reversing pulley block H2 is connected to the stationary platform a through the third rotation pair R3, and the fifth reversing pulley block H5 is connected to the stationary platform a through the fourth rotation pair R4.

[0036] The seventh reversing pulley block H7 is connected to the fourth connecting rod F4 via the seventh rotation pair R7, and the eighth reversing pulley block H8 is connected to the third connecting rod F3 via the eighth rotation pair R8.

[0037] Specifically in this embodiment, the reversing pulleys (H1, H2, H4, H5, H7, H8) are usually used to change the direction of force. In a mechanical system, they can adjust the input force or motion direction to meet specific output requirements.

[0038] For example, H1 and H4 are connected to the static platform a through R1 and R2 respectively, which means that they may be used to transmit external input force or motion to the static platform a, and through the reversing function of the pulley set, the direction of the force can be adjusted to make it more in line with the motion requirements of the static platform.

[0039] Revolute joints (R1, R2, R3, R4, R7, R8) are joints that connect two components and allow them to rotate relative to each other. They are key components in mechanical systems to achieve motion transmission and direction adjustment.

[0040] As the fixed part of the system, the static platform a is the connection point of multiple reversing pulley blocks. Through the rotating pairs such as R1, R2, R3, and R4, multiple reversing pulley blocks are connected to the static platform a, so that the static platform a plays a supporting and connecting role in the entire system.

[0041] The seventh reversing pulley group H7 and the eighth reversing pulley group H8 are connected to the fourth connecting rod F4 and the third connecting rod F3 respectively, which indicates that in addition to the reversing pulley group connected to the static platform a, there are also reversing pulley groups connected to other connecting rods in the system, and these connecting rods may be used to further transmit and adjust force or movement.

[0042] Therefore, through the combination of reversing pulleys and revolving pairs, the system can achieve efficient force transmission and direction adjustment; the combination of multiple reversing pulleys and revolving pairs enables the system to achieve complex motion coordination. This multi-directional motion coordination can achieve precise motion control for complex robot joints.

[0043] In addition, by increasing or adjusting the number and position of the reversing pulley sets and rotating pairs, the system can realize different functions and motion modes and achieve more complex motion or force transmission. This flexibility and scalability allows the system to be adjusted and optimized according to different application scenarios.

[0044] Specifically, see Figure 2 , 3 As shown, the fifth connecting rod F5 is connected to the first winding wheel L1 through the ninth rotation pair R9, so that the fifth connecting rod F5 can rotate relative to the first winding wheel L1 at the ninth rotation pair R9, thereby realizing the transmission of movement or force. The first winding wheel L1 is fixedly connected to the sixth connecting rod F6, and the sixth connecting rod F6 is fixedly connected to the first universal joint fork U1, so that they move as a whole.

[0045] Specifically in this embodiment, the fifth connecting rod F5 transmits force or motion to L1 through R9. Since R9 is a revolute pair, this transmission may be rotational motion. The first winding wheel L1 is fixedly connected to the sixth connecting rod F6, so the rotational motion of the first winding wheel L1 will be directly transmitted to the sixth connecting rod F6. For example, the rotational motion of the first winding wheel L1 will cause the sixth connecting rod F6 to move in a certain direction (for example, up or down); the sixth connecting rod F6 is fixedly connected to the first universal hinge fork U1, so the movement of the sixth connecting rod F6 will be directly transmitted to the first universal hinge fork U1. As a universal hinge fork, the first universal hinge fork U1 can achieve multi-directional motion, not just linear motion. This multi-directional motion capability is very important for complex robot joints, which makes the entire system more flexible. Through this connection method, the system can achieve complex motion coordination.

[0046] Specifically, see Figure 2 , 4As shown, the first universal joint W1 is connected to the first universal joint fork U1 through the sixteenth rotation pair R16 and the eighteenth rotation pair R18, the first universal joint W1 is connected to the second universal joint fork U2 through the seventeenth rotation pair R17 and the nineteenth rotation pair R19, and the second universal joint fork U2 is connected to the moving platform b through the fifteenth rotation pair R15.

[0047] Since the first universal joint W1 is a connection component that can realize multi-degree-of-freedom movement, it is usually used in mechanical systems that require flexible movement. It allows the connected components to move freely in multiple directions. In this embodiment, the first universal joint fork U1 is connected to the first universal joint W1 through the sixteenth rotation pair R16 and the eighteenth rotation pair R18. This connection method allows the first universal joint fork U1 to move relative to the first universal joint W1 in two different directions.

[0048] The moving platform b is the active part of the system. The movement of the second universal joint fork U2 can be transmitted to the moving platform b through the fifteenth rotation pair R15, thereby realizing the multi-degree-of-freedom movement of the moving platform b.

[0049] Specifically, see Figure 2 , 3 As shown, the first transmission shaft O1 plays a role in power transmission and motion coordination in the system. In this embodiment, the first transmission shaft O1 is connected to the second connecting rod F2 through the eleventh rotation pair R11, the second winding wheel L2 is fixedly connected to one end of the first transmission shaft O1, and the first active connecting rod Z1 is fixedly connected to the other end of the first transmission shaft O1. The eleventh rotation pair R11 allows the first transmission shaft O1 and the second connecting rod F2 to rotate relative to each other, thereby realizing the transmission and direction adjustment of motion. The second connecting rod F2 is used to convert the rotational motion of the first transmission shaft O1 into other forms of motion, or to transmit external force to the first transmission shaft O1. When the first transmission shaft O1 rotates, the second winding wheel L2 will also rotate synchronously, thereby changing the position or motion state of other components by winding or unwinding, and then the first active connecting rod Z1 is used to directly drive other components to transmit power.

[0050] The third transmission shaft O3 is connected to the first active connecting rod Z1 through the fourteenth rotation pair R14, the fifth winding wheel L5 is fixedly connected to the second active connecting rod Z2, the fifth winding wheel L5 is fixedly connected to one end of the third transmission shaft O3, and the ninth reversing pulley group H9 is connected to the first active connecting rod Z1 through the thirteenth rotation pair R13.

[0051] Specifically, the first active connecting rod Z1 transmits power to the third transmission shaft O3 through the fourteenth rotation pair R14. This connection method allows the rotational movement of the first active connecting rod Z1 to be transmitted to the third transmission shaft O3, thereby driving the third transmission shaft O3 to rotate. One end of the third transmission shaft O3 is fixedly connected to the fifth winding wheel L5, so the rotation of the third transmission shaft O3 will be directly transmitted to the fifth winding wheel L5, so that the fifth winding wheel L5 rotates synchronously. The rotation of the fifth winding wheel L5 can change the position or motion state of other components by winding or unwinding. The first active connecting rod Z1 transmits power to the ninth reversing pulley group H9 through the thirteenth rotation pair R13. This connection method allows the rotational movement of the first active connecting rod Z1 to be transmitted to the ninth reversing pulley group H9, thereby driving the ninth reversing pulley group H9 to rotate. As a reversing pulley group, the ninth reversing pulley group H9 can change the direction of force and achieve more complex motion adjustment.

[0052] The second transmission shaft O2 is connected to the first connecting rod F1 through the tenth rotation pair R10, the seventh connecting rod F7 is connected to the second transmission shaft O2 through the twelfth rotation pair R12, the seventh connecting rod F7 is fixedly connected to the first active rod Z1, and the third winding wheel L3 and the fourth winding wheel L4 are respectively fixedly connected to the two ends of the second transmission shaft O2. In this way, the first active rod Z1 transmits power to the seventh connecting rod F7 through a fixed connection relationship, so that the seventh connecting rod F7 moves, and the seventh connecting rod F7 transmits power to the second transmission shaft O2 through the twelfth rotation pair R12, so that the second transmission shaft O2 rotates; the second transmission shaft O2 transmits the rotational motion to the first connecting rod F1 through the tenth rotation pair R10, realizing further transmission of motion; the rotation of the second transmission shaft O2 is directly transmitted to the third winding wheel L3 and the fourth winding wheel L4 through a fixed connection relationship, so that they rotate synchronously. The third winding wheel L3 and the fourth winding wheel L4 can change the position or motion state of other components by winding or releasing the line.

[0053] Specifically, see Figure 2 , 3 As shown, the axes of the tenth rotational pair R10, the eleventh rotational pair R11, and the fourteenth rotational pair R14 converge at the geometric center point of the first universal joint W1, and the axes of the tenth rotational pair R10 coincide with the axes of the eleventh rotational pair R11.

[0054] Specifically in this embodiment, since the axes of the tenth rotation pair R10, the eleventh rotation pair R11 and the fourteenth rotation pair R14 converge at the geometric center point of the first universal joint W1, the first universal joint W1 can achieve multi-degree-of-freedom movement. Specifically, the first universal joint W1 can rotate around the axis of the tenth rotation pair R10 / the eleventh rotation pair R11, and can also rotate around the axis of the fourteenth rotation pair R14. This design enables the system to move freely in multiple directions, increasing the flexibility and diversity of movement.

[0055] The tenth rotation pair R10 and the eleventh rotation pair R11 can work together to transmit the same rotational motion. This coordinated motion can ensure that the system moves more stably and accurately in a certain direction. At the same time, the fourteenth rotation pair R14 provides an additional degree of freedom, allowing the system to be adjusted in another direction.

[0056] As a result, this mechanical structure can achieve multi-degree-of-freedom motion and precise control, increasing the flexibility and adaptability of the system, enabling it to adapt to different work scenarios and task requirements.

[0057] Specifically, see Figure 2 , 3 As shown, one end of the first driving rope S1 is fixedly connected to the first winding wheel L1 and wound around the first winding wheel L1, the middle part of the first driving rope S1 passes through the seventh reversing pulley group H7 and the eighth reversing pulley group H8 respectively, and then passes through the first reversing pulley group H1 and the fourth reversing pulley group H4 respectively, and the other end of the first driving rope S1 is connected to the driving member.

[0058] Specifically in this embodiment, the driving member (such as a motor) drives the first winding wheel L1 to rotate by pulling the other end of the first driving rope S1, thereby retracting and releasing the rope. It passes through multiple reversing pulley groups in the middle, and the function of these pulley groups is to change the direction of the force, or increase the mechanical advantage, such as saving effort or increasing the displacement distance. The seventh reversing pulley group H7 and the eighth reversing pulley group H8 may be located at a certain position, such as on the path between the first winding wheel L1 and the driving member, to change the direction of the rope and reduce friction. After the rope passes through the seventh reversing pulley group H7 and the eighth reversing pulley group H8, it passes through the first reversing pulley group H1 and the fourth reversing pulley group H4. Such a layout may allow the driving rope to change its path in multiple directions, thereby adapting to complex mechanism layouts, or balancing forces in multiple directions.

[0059] Therefore, by changing the direction of force through the pulley group, the position of the driving part can be flexibly arranged without being restricted by the position of the winding wheel; using multiple pulley groups to disperse the load can reduce the force on a single pulley and improve the reliability and life of the system; the driving part can generate a larger torque on the winding wheel by applying a smaller force, or improve the compactness of the system, and through reasonable pulley arrangement, a complex transmission path can be realized in a limited space.

[0060] Specifically, see Figure 2 , 3 As shown, one end of the second driving rope S2 is fixedly connected to the second winding wheel L2 and wound around the second winding wheel L2, the middle part of the second driving rope S2 passes through the second reversing pulley group H2 and the fifth reversing pulley group H5 respectively, and the other end is connected to the driving member.

[0061] Specifically in this embodiment, the second drive rope S2 constitutes a key part of a rope transmission system, one end of which is fixedly connected to the second winding wheel L2 and wound around the second winding wheel L2. When the second winding wheel L2 rotates, it will directly drive the second drive rope S2 to retract and release. The middle part of the second drive rope S2 passes through the second reversing pulley group H2 and the fifth reversing pulley group H5. This arrangement utilizes the characteristics of the pulley group to change the transmission direction of the rope, so that the power can be transmitted and converted along a specific path. The other end of the second drive rope S2 is connected to the driving member. The driving member serves as a power source, and its action will be transmitted to other components connected to it through the driving rope.

[0062] Specifically, see Figure 2 , 3 As shown, one end of the third driving rope S3 is fixedly connected to the third winding wheel L3 and wound around the third winding wheel L3, the middle part of the third driving rope S3 passes through the third reversing pulley group H3 and the sixth reversing pulley group H6 respectively, and the other end is connected to the driving member.

[0063] When the driving member starts and generates power, the power is transmitted through the third driving rope S3. Assuming that the driving member moves in the direction of applying tension to the third driving rope S3, the third driving rope S3 will transmit this tension in a tensioned state through the sixth reversing pulley group H6 and the third reversing pulley group H3 in sequence, and finally the third winding wheel L3 is driven to rotate, realizing the effective transmission of power from the driving member to the third winding wheel L3.

[0064] On the contrary, if the driving member performs a pushing action or the like that causes the driving rope to loosen, the third winding wheel L3 may also rotate in the opposite direction due to the action of itself or other related components (such as a mechanical structure that cooperates with it), thereby achieving different functional actions.

[0065] Specifically, see Figure 2 , 3 As shown, the first restraint rope S4 and the second restraint rope S5 respectively form closed loops to restrain the same joint; one end of the first restraint rope S4 is fixedly connected to the fourth winding wheel L4 and wound around the fourth winding wheel L4, the middle part of the first restraint rope S4 passes through the ninth reversing pulley group H9 to achieve vertical reversal, and the other end of the first restraint rope S4 is fixedly connected to the fifth winding wheel L5 and wound around the fifth winding wheel L5.

[0066] When the joint needs to be constrained, the tightness of the first constraint rope S4 can be adjusted by controlling the rotation of the fourth winding wheel L4 and the fifth winding wheel L5. For example, when the fourth winding wheel L4 and the fifth winding wheel L5 rotate in the tightening direction at the same time, the first constraint rope S4 will be gradually retracted, so that the closed loop formed is tightened, thereby applying a restraining force to the joint, limiting the range of motion of the joint, ensuring that the joint moves in a predetermined manner and angle or remains in a specific position, effectively preventing excessive joint activity or unexpected movement, and improving the stability and safety of the entire system.

[0067] The setting of the ninth reversing pulley block H9 enables the first restraining rope S4 to achieve vertical reversal, and it can adjust the transmission direction of the rope to match the force direction or movement direction of the joint, so that the restraining force can be more accurately applied to the key parts of the joint, improving the restraining effect. At the same time, through the layout adjustment of the reversing pulley block, the rope system can better adapt to the shape and spatial structure of the joint, avoid interference between the rope and the joint or other components, optimize the structural layout of the entire device, and make the device more compact and reasonable, easy to install and use.

[0068] The first restraint rope S4 and the second restraint rope S5 together form a closed loop to restrain the same joint, and the two cooperate and work together. During the restraint process, the tension of the two restraint ropes can be adjusted according to the force and movement state of the joint to achieve multi-directional and multi-dimensional restraint control of the joint.

[0069] For example, when a larger constraint force is needed in certain directions of the joint to limit its movement, this can be achieved by increasing the tension of the first constraint rope S4 or the second constraint rope S5; when a relatively smaller constraint force is needed in other directions, the corresponding constraint rope can be appropriately loosened. This collaborative constraint method can more flexibly and accurately control the movement state of the joint, meet the diverse needs of joint constraints in different scenarios, and improve the adaptability and functionality of the device.

[0070] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A mechanical humanoid wrist, characterized in that: include: Quiet platform; The moving platform is arranged directly above the static platform; An active connecting rod assembly includes a first active connecting rod and a second active connecting rod connected in series between the static platform and the dynamic platform; The universal hinge assembly comprises a first universal hinge connecting fork and a second universal hinge connecting fork installed between the static platform and the dynamic platform, wherein the first universal hinge connecting fork and the second universal hinge connecting fork are hingedly connected via a first universal hinge; A connecting rod assembly, comprising a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod and a seventh connecting rod; and the first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod and the fifth connecting rod are all fixedly connected to the static platform; a reversing pulley assembly, comprising a first reversing pulley block, a second reversing pulley block, a third reversing pulley block, a fourth reversing pulley block, a fifth reversing pulley block, a sixth reversing pulley block connected to the static platform, a seventh reversing pulley block connected to the fourth connecting rod, an eighth reversing pulley block connected to the third connecting rod, and a ninth reversing pulley block connected to the first active connecting rod; A winding wheel assembly, comprising a first winding wheel, a second winding wheel, a third winding wheel, a fourth winding wheel and a fifth winding wheel; A driving rope assembly includes a first driving rope, a second driving rope and a third driving rope which drive the same joint in a closed loop in pairs; The restraint rope assembly comprises a first restraint rope and a second restraint rope which respectively form closed loops to restrain the same joint.

2. The mechanical humanoid wrist according to claim 1, characterized in that: The first reversing pulley block is connected to the static platform via a first rotating pair, and the fourth reversing pulley block is connected to the static platform via a second rotating pair; The second reversing pulley block is connected to the static platform via a third rotating pair, and the fifth reversing pulley block is connected to the static platform via a fourth rotating pair; The third reversing pulley block is connected to the static platform via a fifth rotating pair, and the sixth reversing pulley block is connected to the static platform via a sixth rotating pair; The seventh reversing pulley block is connected to the fourth connecting rod through a seventh rotating pair, and the eighth reversing pulley block is connected to the third connecting rod through an eighth rotating pair.

3. The mechanical humanoid wrist according to claim 1, characterized in that: The fifth connecting rod is connected to the first winding wheel through a ninth rotating pair, the first winding wheel is fixedly connected to the sixth connecting rod, and the sixth connecting rod is fixedly connected to the first universal hinge fork.

4. The mechanical humanoid wrist according to claim 1, characterized in that: The first universal joint is connected to the first universal joint fork through the sixteenth rotation pair and the eighteenth rotation pair, the first universal joint is connected to the second universal joint fork through the seventeenth rotation pair and the nineteenth rotation pair, and the second universal joint fork is connected to the moving platform through the fifteenth rotation pair.

5. The mechanical anthropomorphic wrist according to claim 1, characterized in that: The first transmission shaft is connected to the second connecting rod through an eleventh rotation pair, the second winding wheel is fixedly connected to one end of the first transmission shaft, and the first active connecting rod is fixedly connected to the other end of the first transmission shaft; The third transmission shaft is connected to the first active connecting rod through a fourteenth rotation pair, the fifth winding wheel is fixedly connected to the second active connecting rod, the fifth winding wheel is fixedly connected to one end of the third transmission shaft, and the ninth reversing pulley group is connected to the first active connecting rod through a thirteenth rotation pair; The second transmission shaft is connected to the first connecting rod through a tenth rotating pair, the seventh connecting rod is connected to the second transmission shaft through a twelfth rotating pair, the seventh connecting rod is fixedly connected to the first active rod, and the third winding wheel and the fourth winding wheel are respectively fixedly connected to both ends of the second transmission shaft.

6. The mechanical anthropomorphic wrist according to claim 5, characterized in that: The axes of the tenth rotation pair, the eleventh rotation pair, and the fourteenth rotation pair converge at the geometric center point of the first universal joint, and the axes of the tenth rotation pair coincide with the axes of the eleventh rotation pair.

7. The mechanical anthropomorphic wrist according to claim 1, characterized in that: One end of the first driving rope is fixedly connected to the first winding wheel and wound around the first winding wheel, the middle part of the first driving rope passes through the seventh reversing pulley group and the eighth reversing pulley group respectively, and then passes through the first reversing pulley group and the fourth reversing pulley group respectively, and the other end of the first driving rope is connected to the driving member.

8. The mechanical anthropomorphic wrist according to claim 1, characterized in that: One end of the second driving rope is fixedly connected to the second winding wheel and wound on the second winding wheel, the middle part of the second driving rope passes through the second reversing pulley group and the fifth reversing pulley group respectively, and the other end is connected to the driving member.

9. The mechanical anthropomorphic wrist according to claim 1, characterized in that: One end of the third driving rope is fixedly connected to the third winding wheel and wound on the third winding wheel, the middle part of the third driving rope passes through the third reversing pulley group and the sixth reversing pulley group respectively, and the other end is connected to the driving member.

10. The mechanical anthropomorphic wrist according to claim 1, characterized in that: The first restraint rope and the second restraint rope respectively form closed loops to restrain the same joint; one end of the first restraint rope is fixedly connected to the fourth winding wheel and wound around the fourth winding wheel, the middle part of the first restraint rope passes through the ninth reversing pulley group to achieve vertical reversal, and the other end of the first restraint rope is fixedly connected to the fifth winding wheel and wound around the fifth winding wheel.

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