Mechanical anthropomorphic wrist

Abstract

The application discloses a mechanical humanoid wrist, and relates to the technical field of humanoid wrist robots, which comprises a static platform, a dynamic platform, a main driving link assembly, a universal hinge assembly, a connecting rod assembly, a reversing pulley assembly, a winding wheel assembly, a driving rope assembly and a constraint rope assembly. The main driving link assembly comprises a first main driving link and a second main driving link which are connected in series between the static platform and the dynamic platform. 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 pulleys. The driving rope assembly comprises three pairs of driving ropes which are used to drive the same joint in a closed loop. The constraint rope assembly comprises a first constraint rope and a second constraint rope which are used to constrain the same joint in a closed loop. The mechanical humanoid wrist has a simple and compact structure, three groups of driving ropes realize three degrees of freedom rolling, and the wrist has a large rolling motion space and a simple model.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of humanoid wrist robots, in particular to a mechanical humanoid wrist. BACKGROUND

[0002] A humanoid mechanical wrist is an important part of a humanoid robot arm, responsible for simulating the flexible movement of a human hand, including rotation, bending and swinging. The design of the wrist directly affects the operating precision, 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 similar range of motion and control force to a human hand, greatly improving the performance of the robot arm.

[0003] Chinese patent CN104875215A discloses a two-degree-of-freedom humanoid wrist device, which uses double gear transmission to realize the functions of wrist inversion and rotation. It has high stiffness and precision, and is easy to control accurately. However, it has fewer degrees of freedom, small deflection angle and small operating space.

[0004] Chinese patent CN104875214A discloses a three-degree-of-freedom humanoid wrist device, which has a compact structure and light weight. It realizes wrist inversion through a worm gear and a bevel gear. However, its transmission structure is complex, it cannot realize the rotation of the moving platform around the fixed point, the deflection and pitch angles are small, and there is no space inside the wrist for the cables of the end effector to pass through.

[0005] Through comprehensive analysis, the existing different types of humanoid parallel or serial-parallel wrist have the following problems:

[0006] Firstly, in the current design of rope-driven humanoid wrist, there is a significant technical bottleneck. There is often not enough space inside the wrist to properly arrange the cables leading to the end effector. Even if the cable channel is set up, it is difficult to ensure that the length of the cable remains constant during complex wrist movements. This situation forces the cables to be exposed outside the wrist or to be entangled with the mechanical structure during movement.

[0007] Secondly, the posture space of the humanoid wrist is small, and the rolling motion has a too small turning angle range. During the movement, singular points may be encountered.

[0008] Thirdly, the existing three-degree-of-freedom rope-driven wrist joint requires four driving motors and four sets of driving ropes. Not only is the number of driving components large, but the kinematic model is also complex.

[0009] Fourthly, the existing humanoid wrist cannot simultaneously satisfy the requirements of simple and compact structure, three sets of driving ropes to realize three degrees of freedom, large wrist rolling motion space, and simple mathematical model. This results in obvious shortfalls in application. SUMMARY

[0010] Therefore, aiming at the technical problems existing in the prior art, the purpose of the present application is to provide a mechanical humanoid wrist to meet the advantages of simple and compact structure, three degrees of freedom rolling realized by three groups of driving ropes, large wrist rolling motion space and simple mathematical model.

[0011] To solve the above problems, the first purpose of the present application is to provide a mechanical humanoid wrist, which comprises:

[0012] a static platform;

[0013] a dynamic platform arranged directly above the static platform;

[0014] a main link assembly comprising a first main link and a second main link connected in series between the static platform and the dynamic platform;

[0015] a universal hinge assembly comprising a first universal hinge connecting fork and a second universal hinge connecting fork installed between the static platform and the dynamic platform, the first universal hinge connecting fork being connected to the second universal hinge connecting fork through a first universal hinge;

[0016] 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 fixed to the static platform;

[0017] a reversing pulley assembly comprising a first reversing pulley group, a second reversing pulley group, a third reversing pulley group, a fourth reversing pulley group, a fifth reversing pulley group, a sixth reversing pulley group connected to the static platform, a seventh reversing pulley group connected to the fourth connecting rod, an eighth reversing pulley group connected to the third connecting rod and a ninth reversing pulley group connected to the first main link;

[0018] 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;

[0019] a driving rope assembly comprising a first driving rope, a second driving rope and a third driving rope in pairs of closed loops to drive the same joint;

[0020] a constraint rope assembly comprising a first constraint rope and a second constraint rope respectively constituting closed loops to constrain the same joint.

[0021] Preferably, the first reversing pulley group is connected to the static platform through a first revolute pair, and the fourth reversing pulley group is connected to the static platform through a second revolute pair.

[0022] The second reversing pulley set is connected with the static platform through a third revolute pair, and the fifth reversing pulley set is connected with the static platform through a fourth revolute pair;

[0023] The third reversing pulley set is connected with the static platform through a fifth revolute pair, and the sixth reversing pulley set is connected with the static platform through a sixth revolute pair;

[0024] The seventh reversing pulley set is connected with the fourth connecting rod through a seventh revolute pair, and the eighth reversing pulley set is connected with the third connecting rod through an eighth revolute pair.

[0025] Preferably, the fifth connecting rod is connected with the first winding wheel through a ninth revolute pair, the first winding wheel is fixedly connected with the sixth connecting rod, and the sixth connecting rod is fixedly connected with the first universal hinge connecting fork.

[0026] Preferably, the first universal hinge is connected with the first universal hinge connecting fork through a sixteenth revolute pair and an eighteenth revolute pair, and is connected with the second universal hinge connecting fork through a seventeenth revolute pair and a nineteenth revolute pair, and the second universal hinge connecting fork is connected with the moving platform through a fifteenth revolute pair.

[0027] Preferably, the first transmission shaft is connected with the second connecting rod through an eleventh revolute pair, the second winding wheel is fixedly connected with one end of the first transmission shaft, and the first driving link is fixedly connected with the other end of the first transmission shaft.

[0028] The third transmission shaft is connected with the first driving link through a fourteenth revolute pair, the fifth winding wheel is fixedly connected with the second driving link, the fifth winding wheel is fixedly connected with one end of the third transmission shaft, and the ninth reversing pulley set is connected with the first driving link through a thirteenth revolute pair.

[0029] The second transmission shaft is connected with the first connecting rod through a tenth revolute pair, the seventh connecting rod is connected with the second transmission shaft through a twelfth revolute pair, the seventh connecting rod is fixedly connected with the first driving link, and the third winding wheel and the fourth winding wheel are respectively fixedly connected to two ends of the second transmission shaft.

[0030] Preferably, the axes of the tenth revolute pair, the eleventh revolute pair and the fourteenth revolute pair converge at the geometric center point of the first universal hinge, and the axes of the tenth revolute pair and the eleventh revolute pair coincide.

[0031] Preferably, one end of the first driving rope is fixedly connected with the first winding wheel and wound on the first winding wheel, the middle part of the first driving rope passes through the seventh and eighth reversing pulley groups respectively, and then passes through the first and fourth reversing pulley groups respectively, and the other end of the first driving rope is connected with the driving member.

[0032] Preferably, one end of the second driving rope is fixedly connected with the second winding wheel and wound on the second winding wheel, the middle part of the second driving rope passes through the second and fifth reversing pulley groups respectively, and the other end of the second driving rope is connected with the driving member.

[0033] Preferably, one end of the third driving rope is fixedly connected with the third winding wheel and wound on the third winding wheel, the middle part of the third driving rope passes through the third and sixth reversing pulley groups respectively, and the other end of the third driving rope is connected with the driving member.

[0034] Preferably, the first and second constraint ropes constitute closed loops respectively to constrain the same joint; one end of the first constraint rope is fixedly connected with the fourth winding wheel and wound on the fourth winding wheel, the middle part of the first constraint rope passes through the ninth reversing pulley group to realize vertical reversing, and the other end of the first constraint rope is fixedly connected with the fifth winding wheel and wound on the fifth winding wheel.

[0035] Compared with the prior art, the present application has the following beneficial effects:

[0036] 1. The mechanical humanoid wrist in the application is composed of a static platform, a dynamic platform, a main driven link assembly, a universal hinge assembly, a connecting rod assembly, a reversing pulley assembly, a winding wheel assembly, a driving rope assembly and a constraint rope assembly. The static platform serves as a fixed base to ensure that no shaking or displacement occurs during movement and provides support for the entire mechanical wrist. The dynamic platform is located directly above the static platform and is used to achieve wrist movement. The main driven link assembly connects the static platform and the dynamic platform through a hybrid connection to transmit driving force and achieve wrist movement. The main driven link assembly is composed of a first main driven link and a second main driven link connected between the static platform and the dynamic platform. The main driven link assembly can efficiently transmit driving force to the dynamic platform, achieving complex motion control. The hybrid connection allows the wrist to achieve multi-degree-of-freedom movement, similar to the flexibility of a human wrist. The universal hinge assembly is used to achieve 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 is connected to the second universal hinge connecting fork through a first universal hinge. Precise angle adjustment can be achieved through the connection of the universal hinge, meeting 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 fixed to the static platform. The design of the connecting rod assembly can guide the movement direction, ensuring the smoothness and accuracy of the movement. The reversing pulley assembly is used to change the direction of the driving rope and the constraint rope, optimizing the layout and movement path of the ropes. The reversing pulley assembly includes a first reversing pulley set, a second reversing pulley set, a third reversing pulley set, a fourth reversing pulley set, a fifth reversing pulley set, a sixth reversing pulley set and a seventh reversing pulley set and an eighth reversing pulley set connected to the static platform. The seventh reversing pulley set is connected to the fourth connecting rod, the eighth reversing pulley set is connected to the third connecting rod, and the ninth reversing pulley set is connected to the first main driven link. The reversing pulley can adjust the movement direction of the rope, making the rope better adapt to complex movement paths. Through the guiding action of the pulley, the friction between the rope and the fixed components can be reduced, prolonging the service life of the rope. The winding wheel assembly is used to wind and release the driving rope and the constraint rope, controlling 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, achieving precise control of wrist movement. The driving rope assembly drives the same joint through 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 which drive the same joint in a closed loop, and can efficiently transmit power from the winding wheel to the joint to realize precise motion control. The constraint rope assembly restricts the motion range of the joint by constraining the same joint in a closed loop, and prevents excessive motion. The constraint rope assembly is composed of a first constraint rope and a second constraint rope which constitute closed loops to constrain the same joint, and the stability of the joint can be maintained through tension control of the constraint rope, ensuring the accuracy and reliability of the motion.

[0037] 2. The mechanical human-like wrist has three degrees of freedom, and the wrist joint is driven by three groups of driving ropes and a group of constraint ropes in a closed loop, so that the driving system is simple and the number of driving components is small.

[0038] 3. The mixed-serial structure design makes the structure simpler, more compact and lighter, effectively improves the rigidity of the human-like wrist and enhances the motion stability; the special reversing wheel set and transmission rod design makes the rolling motion space of the wrist large and effectively solves the singularity problem in the motion process; the rotation joint rotation axes of the human-like wrist all converge at the geometric center point of the universal hinge, which meets the functional requirements of the human-like wrist, and the wrist has large rigidity, small cumulative error and high precision; the dynamic platform of the wrist rolls relative to the geometric center fixed point of the universal hinge, 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, which guarantees the aesthetics and safety; the scheme can simultaneously meet the advantages of simple and compact structure, three degrees of freedom rolling realized by three groups of driving ropes, large wrist rolling motion space, simple kinematic model and the like.

[0039] 4. Through the design of the active connecting rod assembly and the universal hinge assembly, the wrist can realize multi-degree-of-freedom motion, similar to the flexibility of the human wrist; through the closed loop design of the driving rope and the constraint rope, combined with the precise control of the winding wheel and the reversing pulley, high-precision control of the wrist motion can be realized; the design of the connecting rod assembly and the static platform provides stable support for the whole system, ensuring the stability of the system in the complex motion process; through the limiting action of the constraint rope assembly, excessive joint motion is prevented, the mechanical structure is protected, and the reliability of the system is improved. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 is the overall structure schematic diagram of the mechanical human-like wrist in the embodiment of the present application;

[0041] Figure 2 is the front view structure schematic diagram of the mechanical human-like wrist in the embodiment of the present application;

[0042] Figure 3 is another view schematic diagram of the mechanical human-like wrist in the embodiment of the present application;

[0043] Figure 4 Fig. 1 is a schematic diagram of a mechanical anthropomorphic wrist for an embodiment of the present application.

[0044] Legend of the figures:

[0045] a - static platform; b - mobile platform;

[0046] W1 - first universal joint; U1 - first universal joint connecting fork; U2 - second universal joint connecting fork;

[0047] Z1 - first active link; Z2 - second active link;

[0048] 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;

[0049] R1 - first revolute pair; R2 - second revolute pair; R3 - third revolute pair; R4 - fourth revolute pair; R5 - fifth revolute pair; R6 - sixth revolute pair; R7 - seventh revolute pair; R8 - eighth revolute pair; R9 - ninth revolute pair; R10 - tenth revolute pair; R11 - eleventh revolute pair; R12 - twelfth revolute pair; R13 - thirteenth revolute pair; R14 - fourteenth revolute pair; R15 - fifteenth revolute pair; R16 - sixteenth revolute pair; R17 - seventeenth revolute pair; R18 - eighteenth revolute pair; R19 - nineteenth revolute pair;

[0050] F1 - first connecting link; F2 - second connecting link; F3 - third connecting link; F4 - fourth connecting link; F5 - fifth connecting link; F6 - sixth connecting link; F7 - seventh connecting link;

[0051] L1 - first winding wheel; L2 - second winding wheel; L3 - third winding wheel; L4 - fourth winding wheel; L5 - fifth winding wheel;

[0052] O1 - first transmission shaft; O2 - second transmission shaft; O3 - third transmission shaft;

[0053] S1 - first drive rope, S2 - second drive rope, S3 - third drive rope, S4 - first constraint rope; S5 - second constraint rope. DETAILED DESCRIPTION

[0054] The technical solutions of the present application will be described clearly and completely below with reference to the drawings. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of the present application.

[0055] In the description of the present application, it should be noted that unless specifically defined and limited, the terms "mounting", "connection" and "linking" should be understood in a broad sense, for example, they can be fixed connection, detachable connection or integral connection; they can be mechanical connection or electrical connection; they can be direct connection or indirect connection through an intermediate medium; they can be internal connection of two elements; they can be wireless connection or wired connection. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0056] In addition, the technical features involved in the different embodiments of the present application described below can be combined with each other as long as there is no conflict.

[0057] Please refer to Figures 1-4 The embodiment of the present application provides a mechanical humanoid wrist, which comprises a static platform a, a dynamic platform b, a main driving link assembly, a universal hinge assembly, a connecting rod assembly, a reversing pulley assembly, a winding wheel assembly, a driving rope assembly and a constraint rope assembly, wherein:

[0058] The static platform a serves as a fixed base to ensure that no shaking or displacement occurs during movement and provides 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.

[0059] The main driving link assembly connects the static platform a and the dynamic platform b in a hybrid manner and is used to transmit driving force and realize the movement of the wrist. Preferably, the main driving link assembly in the embodiment comprises a first main driving link Z1 and a second main driving link Z2 hybridly connected between the static platform a and the dynamic platform b, and the main driving link assembly can efficiently transmit driving force to the dynamic platform b to realize complex movement control; the hybrid connection manner enables the wrist to realize multi-degree-of-freedom movement, similar to the flexibility of a human wrist.

[0060] The universal hinge assembly is used to realize multi-directional rotary movement and is used to connect the static platform a and the dynamic platform b. The universal hinge assembly in the embodiment comprises 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 hingedly connected through a first universal hinge W1; through the connection of the universal hinge, precise angle adjustment can be realized to meet the demand of complex tasks.

[0061] The connecting rod assembly is used to support and connect other components, ensuring 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 fixed to the static platform a. The design of the connecting rod assembly can guide the direction of movement, ensuring the smoothness and accuracy of the movement.

[0062] The reversing pulley assembly is used to change the direction of the driving rope and the constraint rope, optimizing 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, and a seventh reversing pulley group H7 and an eighth reversing pulley group H8, 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 direction of the rope movement, making the rope better adapt to the complex movement path. And through the guiding effect of the pulley, the friction between the rope and the fixed part can be reduced, prolonging the service life of the rope.

[0063] The winding wheel assembly is used to wind and release the driving rope and the constraint rope, controlling 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. Through the rotation of the winding wheel, the length and tension of the rope can be accurately controlled, thereby realizing precise control of the wrist movement.

[0064] The driving rope assembly drives the same joint through a closed loop, realizing the movement of the wrist. 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 form pairs of closed loops to drive the same joint, which can efficiently transmit power from the winding wheel to the joint, realizing precise movement control.

[0065] The constraint rope assembly constrains the same joint through a closed loop, limiting the movement range of the joint to prevent excessive movement. In this embodiment, the constraint rope assembly includes a first constraint rope S4 and a second constraint rope S5 that form closed loops to constrain the same joint. Through the tension control of the constraint rope, the stability of the joint can be maintained, ensuring the accuracy and reliability of the movement.

[0066] Thus, through the design of the active link assembly and the universal hinge assembly, the wrist can achieve multi-degree-of-freedom movement, similar to the flexibility of a human wrist; through the closed-loop design of the driving 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 action of the constraint rope assembly, excessive joint movement is prevented, the mechanical structure is protected, and the reliability of the system is improved.

[0067] Specifically, as shown in Figure 2 、 3 The first reversing pulley set H1 is connected to the static platform a through the first revolute pair R1, and the fourth reversing pulley set H4 is connected to the static platform a through the second revolute pair R2.

[0068] The second reversing pulley set H2 is connected to the static platform a through the third revolute pair R3, and the fifth reversing pulley set H5 is connected to the static platform a through the fourth revolute pair R4.

[0069] The seventh reversing pulley set H7 is connected to the fourth connecting rod F4 through the seventh revolute pair R7, and the eighth reversing pulley set H8 is connected to the third connecting rod F3 through the eighth revolute pair R8.

[0070] Specifically, in this embodiment, the reversing pulley sets (H1, H2, H4, H5, H7, H8) are generally used to change the direction of force. In mechanical systems, they can adjust the direction of input force or movement to meet specific output requirements.

[0071] For example, H1 and H4 are connected to the static platform a through R1 and R2 respectively, indicating that they can be used to transmit external input force or movement to the static platform a, and through the reversing function of the pulley set, the direction of the force can be adjusted to better meet the movement requirements of the static platform.

[0072] The revolute pairs (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 that achieve motion transmission and direction adjustment.

[0073] The static platform a, as the fixed part of the system, is the connection point of multiple reversing pulley sets. Through the revolute pairs R1, R2, R3, R4, etc., multiple reversing pulley sets are connected to the static platform a, making the static platform a play a supporting and connecting role in the entire system.

[0074] The seventh reversing pulley block H7 and the eighth reversing pulley block H8 are connected to the fourth connecting rod F4 and the third connecting rod F3, respectively. This indicates that in addition to the reversing pulley block connected to the static platform a, there are also reversing pulley blocks connected to other connecting rods in the system. These connecting rods may be used to further transmit and adjust forces or motion.

[0075] Therefore, through the combination of reversing pulley systems and revolute joints, the system can achieve efficient force transmission and direction adjustment; the combination of multiple reversing pulley systems and revolute joints enables the system to achieve complex motion coordination. This multi-directional motion coordination allows for precise motion control of complex robot joints.

[0076] Furthermore, by increasing or adjusting the number and position of the reversing pulley blocks and rotating pairs, the system can achieve different functions and motion modes, enabling more complex motion or force transmission. This flexibility and scalability allow the system to be adjusted and optimized according to different application scenarios.

[0077] Specifically, please refer to Figure 2 , 3 As shown, the fifth connecting rod F5 is connected to the first winding wheel L1 via the ninth revolute joint R9, allowing the fifth connecting rod F5 to rotate relative to the first winding wheel L1 at the ninth revolute joint R9, thereby achieving the transmission of motion 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 connecting fork U1, so that they move as a whole.

[0078] Specifically, in this embodiment, the fifth connecting link F5 transmits force or motion to L1 via R9. Since R9 is a revolute joint, this transmission may be rotational motion. The first winding wheel L1 is fixedly connected to the sixth connecting link F6, so the rotational motion of the first winding wheel L1 is directly transmitted to the sixth connecting link F6. For example, the rotational motion of the first winding wheel L1 will cause the sixth connecting link F6 to move in a certain direction (e.g., upward or downward). The sixth connecting link F6 is fixedly connected to the first universal joint connecting fork U1, so the motion of the sixth connecting link F6 is directly transmitted to the first universal joint connecting fork U1. As a universal joint connecting fork, the first universal joint connecting fork U1 can achieve multi-directional motion, not just linear motion. This multi-directional motion capability is very important for complex robot joints, making the entire system more flexible. Through this connection method, the system can achieve complex motion coordination.

[0079] Specifically, please refer to Figure 2 , 4As shown, the first universal joint W1 is connected with the first universal joint connecting fork U1 through the sixteenth revolute pair R16 and the eighteenth revolute pair R18, the first universal joint W1 is connected with the second universal joint connecting fork U2 through the seventeenth revolute pair R17 and the nineteenth revolute pair R19, and the second universal joint connecting fork U2 is connected with the moving platform b through the fifteenth revolute pair R15.

[0080] The first universal joint W1 is a connecting component that can realize multi-degree-of-freedom motion, and is usually used in mechanical systems that require flexible motion. It allows the connected components to move freely in multiple directions. In this embodiment, the first universal joint connecting fork U1 is connected with the first universal joint W1 through the sixteenth revolute pair R16 and the eighteenth revolute pair R18, and this connection allows the first universal joint connecting fork U1 to move in two different directions relative to the first universal joint W1.

[0081] The moving platform b is the active part of the system, and the motion of the second universal joint connecting fork U2 can be transmitted to the moving platform b through the fifteenth revolute pair R15, thereby realizing multi-degree-of-freedom motion of the moving platform b.

[0082] Specifically, referring to 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 with the second connecting link F2 through the eleventh revolute pair R11, the second winding wheel L2 is fixedly connected with one end of the first transmission shaft O1, and the first driving link Z1 is fixedly connected with the other end of the first transmission shaft O1. The eleventh revolute pair R11 allows the first transmission shaft O1 and the second connecting link F2 to rotate relative to each other, thereby realizing motion transmission and direction adjustment. The second connecting link F2 is used to convert the rotational motion of the first transmission shaft O1 into other forms of motion or to transmit external forces to the first transmission shaft O1. When the first transmission shaft O1 rotates, the second winding wheel L2 also rotates synchronously, thereby changing the position or motion state of other components through winding or unwinding, and then the first driving link Z1 is used to directly drive other components to transmit power.

[0083] The third transmission shaft O3 is connected with the first driving link Z1 through the fourteenth revolute pair R14, the fifth winding wheel L5 is fixedly connected with the second driving link Z2, the fifth winding wheel L5 is fixedly connected with one end of the third transmission shaft O3, and the ninth reversing pulley block H9 is connected with the first driving link Z1 through the thirteenth revolute pair R13.

[0084] Specifically, the first driving link Z1 transmits power to the third transmission shaft O3 through the fourteenth rotary pair R14. This connection allows the rotational motion of the first driving link 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 is directly transmitted to the fifth winding wheel L5, causing the fifth winding wheel L5 to rotate synchronously. The rotation of the fifth winding wheel L5 can change the position or motion state of other components through winding or unwinding. The first driving link Z1 transmits power to the ninth reversing pulley block H9 through the thirteenth rotary pair R13. This connection allows the rotational motion of the first driving link Z1 to be transmitted to the ninth reversing pulley block H9, thereby driving the ninth reversing pulley block H9 to rotate. The ninth reversing pulley block H9, as a reversing pulley block, can change the direction of force, achieving more complex motion adjustment.

[0085] The second transmission shaft O2 is connected to the first connecting rod F1 through the tenth rotary pair R10, the seventh connecting rod F7 is connected to the second transmission shaft O2 through the twelfth rotary pair R12, the seventh connecting rod F7 is fixedly connected to the first driving link Z1, and the third winding wheel L3 and the fourth winding wheel L4 are fixedly connected to both ends of the second transmission shaft O2, respectively. In this way, the first driving link Z1 transmits power to the seventh connecting rod F7 through the fixed connection, causing the seventh connecting rod F7 to move. The seventh connecting rod F7 transmits power to the second transmission shaft O2 through the twelfth rotary pair R12, causing the second transmission shaft O2 to rotate. The second transmission shaft O2 transmits the rotational motion to the first connecting rod F1 through the tenth rotary pair R10, achieving 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 the fixed connection, causing them to rotate synchronously. The third winding wheel L3 and the fourth winding wheel L4 can change the position or motion state of other components through winding or unwinding.

[0086] Specifically, as shown in Figure 2 , 3 The axes of the tenth rotary pair R10, the eleventh rotary pair R11, and the fourteenth rotary pair R14 converge at the geometric center point of the first universal hinge W1, and the axes of the tenth rotary pair R10 and the eleventh rotary pair R11 coincide.

[0087] Specifically, in this embodiment, since the axes of the tenth rotary pair R10, the eleventh rotary pair R11, and the fourteenth rotary pair R14 converge at the geometric center point of the first universal hinge W1, the first universal hinge W1 can achieve multi-degree-of-freedom motion. Specifically, the first universal hinge W1 can rotate around the axis of the tenth rotary pair R10 / eleventh rotary pair R11, and also can rotate around the axis of the fourteenth rotary pair R14. This design allows the system to move freely in multiple directions, increasing the flexibility and diversity of motion.

[0088] The tenth revolute pair R10 and the eleventh revolute pair R11 can work cooperatively to transmit the same rotational motion. This cooperative motion can ensure that the system is more stable and accurate in a certain direction. Meanwhile, the fourteenth revolute pair R14 provides an additional degree of freedom, enabling the system to adjust in another direction.

[0089] Thus, 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 working scenarios and task requirements.

[0090] Specifically, as shown in Figure 2 , 3 , one end of the first driving rope S1 is fixedly connected to and wound around the first winding wheel L1, the middle part of the first driving rope S1 passes through the seventh reversing pulley set H7 and the eighth reversing pulley set H8 respectively, then passes through the first reversing pulley set H1 and the fourth reversing pulley set H4 respectively, and the other end of the first driving rope S1 is connected to the driving member.

[0091] Specifically, in this embodiment, the driving member (such as a motor) pulls the other end of the first driving rope S1 to drive the first winding wheel L1 to rotate, thereby winding and unwinding the rope. The middle part passes through multiple reversing pulley sets, which are used to change the direction of force or increase mechanical advantage, such as saving effort or increasing displacement distance. The seventh reversing pulley set H7 and the eighth reversing pulley set H8 can be located at a 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 passing through the seventh reversing pulley set H7 and the eighth reversing pulley set H8, the rope passes through the first reversing pulley set H1 and the fourth reversing pulley set H4. Such a layout can change the path of the driving rope in multiple directions, thereby adapting to complex mechanism layout or balancing forces in multiple directions.

[0092] Thus, the direction of force is changed by the pulley set, so that the position of the driving member can be flexibly arranged and is not limited by the position of the winding wheel; multiple pulley sets are used to distribute the load, reduce the stress on a single pulley, and improve the reliability and service life of the system; the driving member can exert a smaller force to generate a larger torque on the winding wheel, or improve the compactness of the system, and through reasonable pulley arrangement, a complex transmission path can be realized in a limited space.

[0093] Specifically, as shown in Figure 2 , 3 , one end of the second driving rope S2 is fixedly connected to and wound around the second winding wheel L2, the middle part of the second driving rope S2 passes through the second reversing pulley set H2 and the fifth reversing pulley set H5 respectively, and the other end is connected to the driving member.

[0094] Specifically, the second driving rope S2 constitutes a key part of a rope transmission system, one end of which is fixedly connected to and wound around the second winding wheel L2. When the second winding wheel L2 rotates, it directly drives the second driving rope S2 to perform the action of winding and unwinding. The middle part of the second driving rope S2 passes through the second reversing pulley set H2 and the fifth reversing pulley set H5. Such an arrangement utilizes the characteristics of the pulley set to change the transmission direction of the rope, so that power can be transmitted and converted according to a specific path. The other end of the second driving rope S2 is connected to the driving member, which acts as a power source. The action of the driving member is transmitted to other components connected thereto through the driving rope.

[0095] Specifically, as shown in Figure 2 、 3 , one end of the third driving rope S3 is fixedly connected to and wound around the third winding wheel L3, the middle part of the third driving rope S3 passes through the third reversing pulley set H3 and the sixth reversing pulley set H6 respectively, and the other end is connected to the driving member.

[0096] 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 the tension in a tensioned state to the sixth reversing pulley set H6 and the third reversing pulley set H3 in turn, and finally make the third winding wheel L3 rotate, realizing effective transmission of power from the driving member to the third winding wheel L3.

[0097] On the contrary, if the driving member performs an action such as pushing that causes the driving rope to relax, the third winding wheel L3 may also rotate in the opposite direction due to its own or other associated components (such as cooperating mechanical structures, etc.), thereby realizing different functional actions.

[0098] Specifically, as shown in Figure 2 、 3 , the first constraint rope S4 and the second constraint rope S5 respectively constitute closed loops to constrain the same joint; one end of the first constraint rope S4 is fixedly connected to and wound around the fourth winding wheel L4, the middle part of the first constraint rope S4 passes through the ninth reversing pulley set H9 to realize vertical reversing, and the other end of the first constraint rope S4 is fixedly connected to and wound around the fifth winding wheel L5.

[0099] 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 are rotated in the tightening direction at the same time, the first constraint rope S4 will be gradually wound up, and the closed loop formed will be tightened, thereby exerting a constraint force on 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 the joint from over-activity or unintended movement, and improving the stability and safety of the entire system.

[0100] The arrangement of the ninth reversing pulley set H9 enables the first constraint rope S4 to realize vertical reversing, which can adjust the transmission direction of the rope to match the force direction or motion direction of the joint, so that the constraint force can be more accurately applied to the key parts of the joint, improving the constraint effect. At the same time, through the layout adjustment of the reversing pulley set, 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, reasonable, and convenient to install and use.

[0101] The first constraint rope S4 and the second constraint rope S5 jointly form a closed loop to constrain the same joint, and work together. During the constraint process, the tension of the two constraint ropes can be adjusted according to the force condition and motion state of the joint, realizing multi-directional and multi-dimensional constraint control of the joint.

[0102] For example, when a larger constraint force is needed to limit the movement of the joint in some directions, the tension of the first constraint rope S4 or the second constraint rope S5 can be increased to achieve this; when a relatively smaller constraint force is needed in other directions, the corresponding constraint rope can be appropriately loosened. This cooperative constraint method can more flexibly and accurately control the motion state of the joint, meet the diversified needs of joint constraint in different scenarios, and improve the adaptability and functionality of the device.

[0103] Although the present disclosure is disclosed as above, the protection scope of the present disclosure is not limited to this. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present disclosure, and these changes and modifications will fall within the protection scope of the present disclosure.

Claims

1. A mechanical anthropomorphic wrist, characterized in that, The utility model relates to a kind of parallel kinematic machine, including: Static platform; Dynamic platform, it is arranged in the upper of the static platform; Active link assembly, including first active link and second active link connected between the static platform and the dynamic platform; Universal hinge assembly, including first universal hinge connecting fork and second universal hinge connecting fork installed between the static platform and the dynamic platform, and the first universal hinge connecting fork is connected with the second universal hinge connecting fork through first universal hinge; Connecting rod assembly, including first connecting rod piece, second connecting rod piece, third connecting rod piece, fourth connecting rod piece, fifth connecting rod piece, sixth connecting rod piece and seventh connecting rod piece;And the first connecting rod piece, the second connecting rod piece, the third connecting rod piece, the fourth connecting rod piece and the fifth connecting rod piece are all fixed to the static platform; Reversing pulley assembly, including first reversing pulley group, second reversing pulley group, third reversing pulley group, fourth reversing pulley group, fifth reversing pulley group, sixth reversing pulley group and seventh reversing pulley group connected on the static platform, eighth reversing pulley group connected on the third connecting rod piece and ninth reversing pulley group connected on the first active link; Winding wheel assembly, including first winding wheel, second winding wheel, third winding wheel, fourth winding wheel and fifth winding wheel; Drive rope assembly, including first drive rope, second drive rope and third drive rope that drive same joint in pair closed loop; Constraint rope assembly, including first constraint rope and second constraint rope that constitute closed loop to constrain same joint respectively.

2. The mechanical humanoid wrist of claim 1, wherein, The first reversing pulley group is connected with the static platform through first rotary pair, and the fourth reversing pulley group is connected with the static platform through second rotary pair; The second reversing pulley group is connected with the static platform through third rotary pair, and the fifth reversing pulley group is connected with the static platform through fourth rotary pair; The third reversing pulley group is connected with the static platform through fifth rotary pair, and the sixth reversing pulley group is connected with the static platform through sixth rotary pair; The seventh reversing pulley group is connected with the fourth connecting rod piece through seventh rotary pair, and the eighth reversing pulley group is connected with the third connecting rod piece through eighth rotary pair.

3. The mechanical humanoid wrist of claim 1, wherein, The fifth connecting rod piece is connected with the first winding wheel through ninth rotary pair, the first winding wheel is fixed with the sixth connecting rod piece, and the sixth connecting rod piece is fixed with the first universal hinge connecting fork.

4. The mechanical humanoid wrist of claim 1, wherein, The first universal hinge is connected with the first universal hinge connecting fork through sixteenth rotary pair and eighteenth rotary pair, and is connected with the second universal hinge connecting fork through seventeenth rotary pair and nineteenth rotary pair, and the second universal hinge connecting fork is connected with the dynamic platform through fifteenth rotary pair.

5. The mechanical humanoid wrist of claim 1, wherein, First transmission shaft is connected with the second connecting rod piece through eleventh rotary pair, the second winding wheel is fixed with one end of the first transmission shaft, and the first active link is fixed with the other end of the first transmission shaft. The third transmission shaft is connected with the first driving link through the fourteenth rotating pair, the fifth winding wheel is fixedly connected with the second driving link, one end of the third transmission shaft is fixedly connected with the fifth winding wheel, and the ninth reversing pulley set is connected with the first driving link through the thirteenth rotating pair; The second transmission shaft is connected with the first connecting rod through the tenth rotating pair, the seventh connecting rod is connected with the second transmission shaft through the twelfth rotating pair, the seventh connecting rod is fixedly connected with the first driving link, and the third winding wheel and the fourth winding wheel are fixedly connected to two ends of the second transmission shaft.

6. The mechanical humanoid wrist of claim 5, wherein, The axes of the tenth rotating pair, the eleventh rotating pair and the fourteenth rotating pair converge at the geometric center point of the first universal hinge, and the axes of the tenth rotating pair and the eleventh rotating pair coincide.

7. The mechanical humanoid wrist of claim 1, wherein, One end of the first driving rope is fixedly connected with the first winding wheel and wound on the first winding wheel, the middle part of the first driving rope passes through the seventh reversing pulley set and the eighth reversing pulley set respectively, and then passes through the first reversing pulley set and the fourth reversing pulley set respectively, and the other end of the first driving rope is connected with a driving member.

8. The mechanical humanoid wrist of claim 1, wherein, One end of the second driving rope is fixedly connected with 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 set and the fifth reversing pulley set respectively, and the other end of the second driving rope is connected with a driving member.

9. The mechanical humanoid wrist of claim 1, wherein, One end of the third driving rope is fixedly connected with 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 set and the sixth reversing pulley set respectively, and the other end of the third driving rope is connected with a driving member.

10. The mechanical humanoid wrist of claim 1, wherein, The first constraint rope and the second constraint rope constitute closed loops to constrain the same joint respectively, one end of the first constraint rope is fixedly connected with the fourth winding wheel and wound on the fourth winding wheel, the middle part of the first constraint rope passes through the ninth reversing pulley set to realize vertical reversing, and the other end of the first constraint rope is fixedly connected with the fifth winding wheel and wound on the fifth winding wheel.

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