Cantilever module and robot

Abstract

The invention provides a cantilever module and a robot. The cantilever module comprises a wrist base and at least three arm assemblies. The wrist base is used for installing a hand or a foot. The arm assembly comprises an arm part and a linkage assembly, and the arm part is connected with the wrist base through the linkage assembly. Wherein the arm part comprises a driving part, and the driving part is arranged on one side of the wrist part base in the first direction. The driving component is used for driving the linkage assembly to move in the first direction so as to drive the wrist base to stretch out, draw back and turn over relative to the arm. In this way, the wrist base can stretch out, draw back and turn over relative to the arm parts through the at least three arm assemblies, and flexibility is better.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of robots, and in particular, to a wrist-arm module and a robot. BACKGROUND

[0002] With the development of science and technology, robots have been widely applied in industry and daily life. Some robots usually realize the rotation of the wrist through a driving structure connected in series or in parallel. Thus, the wrist of the robot only has two degrees of freedom, and the motion range is small and the flexibility is poor. SUMMARY

[0003] The purpose of the present disclosure is to provide a wrist-arm module and a robot with better flexibility.

[0004] The present disclosure provides a wrist-arm module, comprising a wrist base and at least three arm assemblies; the wrist base is used for mounting a hand or a foot; the arm assembly comprises an arm part and a linkage assembly, and the arm part is connected with the wrist base through the linkage assembly;

[0005] The arm part comprises a driving component, which is arranged on one side of the wrist base along a first direction; the driving component is used to drive the linkage assembly to move along the first direction, so as to drive the wrist base to stretch and turn over relative to the arm part.

[0006] Optionally, the linkage assembly comprises a hinge structure and a transmission structure; the transmission structure is connected with the driving component; the hinge structure is arranged along a second direction and is connected with one of the transmission structure and the driving component, and is used to realize the relative rotation of the transmission structure or the driving component with the second direction as the axis; wherein the second direction is perpendicular to the first direction.

[0007] The driving component is used to drive the transmission structure to move along the first direction, and through the linkage of the hinge structure and the transmission structure, the wrist base is driven to stretch and turn over relative to the arm part.

[0008] Optionally, the driving component comprises an output end; one end of the transmission structure is connected with the output end of the driving component, and the other end is connected with the hinge structure, and the hinge structure is connected with the wrist base.

[0009] The driving component is used to drive the transmission structure to move along the first direction, and the transmission structure is rotated relative to the wrist base with the second direction as the axis, so as to drive the wrist base to stretch and turn over relative to the arm part.

[0010] Optionally, the wrist base comprises a base body and a groove part arranged on the base body, and the hinge structure is accommodated in the groove part.

[0011] The hinge structure comprises a fixed part and a pivot part, the fixed part is fixedly connected to the side wall of the groove part; the other end of the transmission structure is connected to the pivot part; the pivot part extends along the second direction and can rotate relative to the fixed part with the second direction as the axis, so that the transmission structure rotates relative to the wrist base with the second direction as the axis.

[0012] Optionally, the wrist arm module further comprises an upper support and a lower support; the driving component further comprises a main body part, and the output end is movably arranged in the main body part; the main body part is fixedly connected between the upper support and the lower support, so that the upper support, the driving component and the lower support form an integral whole.

[0013] Optionally, the wrist arm module further comprises a lower support; the driving component comprises an output end and a main body part, the output end is movably arranged in the main body part and extends from one end of the main body part; one end of the transmission structure is connected to the output end of the driving component, and the other end is connected to the wrist base; the hinge structure is connected between the end of the main body part away from the output end and the lower support.

[0014] The driving component is used to drive the transmission structure to move along the first direction, and to rotate the driving component relative to the lower support with the second direction as the axis, so as to drive the wrist base to stretch and retract and turn over relative to the arm.

[0015] Optionally, the arm further comprises a mounting rack, the mounting rack comprises a planar part and a protruding part, the planar part is connected to the end of the main body part away from the output end, and the protruding part is connected to the planar part.

[0016] The lower support further comprises a receiving groove, the protruding part is accommodated in the receiving groove, and the hinge structure penetrates the side wall of the receiving groove and the protruding part, so that the driving component rotates relative to the lower support with the second direction as the axis.

[0017] Optionally, the driving component comprises an output end; the transmission structure comprises a cross universal joint, the cross universal joint comprises a first part and a second part, the first part has two degrees of freedom relative to the second part; the first part can rotate relative to the hinge structure or the wrist base with the first direction as the axis, and the second part is fixedly connected to the output end.

[0018] Optionally, the driving component comprises an output end; the transmission structure comprises a spherical universal joint, the spherical universal joint comprises a third part and a fourth part, the third part has three degrees of freedom relative to the fourth part; the third part is fixedly connected to the articulated structure or the wrist base; the other end of the spherical universal joint is fixedly connected to the output end.

[0019] Optionally, the linkage assembly comprises a transmission structure; the transmission structure is connected to the driving component, one of the end of the transmission structure away from the driving component and the end of the driving component away from the transmission structure is a movable end, and the other is a fixed end.

[0020] Optionally, the at least three arm assemblies are connected in parallel and are uniformly spaced along the circumference of the wrist base.

[0021] Optionally, the at least three driving components comprise three groups of driving component groups; each group of the driving component groups comprises at least one driving component, and the driving components in each group of the driving component groups move synchronously at the same speed in the same direction.

[0022] When the three groups of driving component groups move synchronously in the same direction along the first direction, the wrist base extends or retracts relative to the arm along the first direction.

[0023] When two groups of the driving component groups move synchronously in the same or opposite direction along the first direction, and the relative motion between the two groups of the driving component groups and the remaining group of the driving component groups, the wrist base flips relative to the arm.

[0024] The embodiments of the present disclosure provide a robot, which comprises at least one wrist-arm module as described in any of the above embodiments.

[0025] Optionally, the robot further comprises a first component and a second component; the linkage assembly comprises a transmission structure; the transmission structure is connected to the driving component, one of the end of the transmission structure away from the driving component and the end of the driving component away from the transmission structure is a movable end, and the other is a fixed end; one of the first component and the second component is connected to the movable end, and the other is connected to the driving end.

[0026] The wrist-arm module provided by the present disclosure comprises a wrist base and at least three arm assemblies, the arm assembly comprises an arm part and a linkage assembly, the arm part is connected with the wrist base through the linkage assembly, the arm part comprises a driving part, the linkage assembly can be driven to move in a first direction through the driving part to drive the wrist base to stretch and retract and turn over relative to the arm part, so that the wrist base of the wrist-arm module can perform stretching and retracting movement and turning over movement, which is more flexible, and the stretchable wrist base expands the movement range of the wrist-arm module, so that a wider working area can be covered, thereby improving work efficiency.

[0027] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and are not limiting to the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0028] The accompanying drawings, which are incorporated into and form part of the specification, illustrate embodiments consistent with the present disclosure and, together with the specification, serve to explain the principles of the present disclosure.

[0029] Figure 1 A perspective view of a wrist-arm module according to an exemplary embodiment of the present disclosure is shown;

[0030] Figure 2 A perspective view of a wrist-arm module according to an exemplary embodiment of the present disclosure is shown; Figure 1 A front view of the wrist-arm module is shown;

[0031] Figure 3 A perspective view of a wrist-arm module according to an exemplary embodiment of the present disclosure is shown; Figure 1 A top view of the wrist-arm module is shown;

[0032] Figure 4 A perspective view of a wrist-arm module according to an exemplary embodiment of the present disclosure is shown; Figure 1 A partial cross-sectional view of the wrist-arm module is shown;

[0033] Figure 5 A perspective view of a wrist-arm module according to an exemplary embodiment of the present disclosure is shown;

[0034] Figure 6 A perspective view of a wrist-arm module according to an exemplary embodiment of the present disclosure is shown;

[0035] Figure 7 A perspective view of a wrist-arm module according to an exemplary embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0036] The exemplary embodiments will be described in detail herein with reference to the attached drawings. The description of the exemplary embodiments is intended to apply to any embodiment of the present disclosure, unless specified otherwise. Accordingly, when the description of the exemplary embodiments is applied to any embodiment of the present disclosure, it should be understood that all the features described in the exemplary embodiments can be applied to any embodiment of the present disclosure.

[0037] The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the present disclosure. Unless otherwise defined, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. The description and drawings merely schematically illustrate typical specific embodiments of the disclosure. Other embodiments of this disclosure can be utilized and other changes can be made without departing from the scope of the present disclosure. The present disclosure is not intended to be limited to the embodiments shown, but is to be accorded the full scope consistent with the claims.

[0038] The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the present disclosure. Unless otherwise defined, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. The description and drawings merely schematically illustrate typical specific embodiments of the disclosure. Other embodiments of this disclosure can be utilized and other changes can be made without departing from the scope of the present disclosure. The present disclosure is not intended to be limited to the embodiments shown, but is to be accorded the full scope consistent with the claims.

[0039] The present disclosure provides a wrist module and a robot. The wrist module can be applied to a robot. In some embodiments, the robot can include a humanoid robot, a multi-legged robot, etc. The robot can include at least one wrist module. The robot can include one, two, three, four, or more wrist modules. The wrist module can be used as a wrist forearm and a wrist shank of the robot.

[0040] In one embodiment, the robot further includes a first component and a second component. The first component includes a hand or a foot. The second component includes a large arm or a large thigh.

[0041] In order to better understand the technical solutions of the present disclosure, the wrist-arm module and the robot of the present disclosure will be described in detail below. The features in the following embodiments and implementation manners can be combined with each other without conflict.

[0042] Referring to Figure 1 and Figure 2 , the present embodiment provides a wrist-arm module 10, which includes a wrist base 11 and at least three arm assemblies 12. The wrist base 11 is used to mount a hand or a foot, and the wrist base 11 can be used as a hand base or a foot base. A first component is connected to the wrist base 11, and a second component is connected to the side of the arm assembly 12 away from the wrist base 11.

[0043] The arm assembly 12 includes an arm 13 and a linkage assembly 14, and each arm assembly 12 can include one arm 13 and a set of linkage assemblies 14. The arm 13 is connected to the wrist base 11 through the linkage assembly 14. The arm 13 can be arranged to extend in a first direction X. The arm 13 includes a driving component 15 arranged on one side of the wrist base 11 in the first direction X. On the first direction X, one side of the wrist base 11 is used to arrange the driving component 15, and the other side is used to arrange the hand or the foot. It should be noted that the driving component 15 can be a linear driving component, or a rotary driving component capable of converting rotary motion into linear motion. The driving component 15 can drive the linkage assembly 14 to move in a linear direction to drive the linkage assembly 14 to move. In this embodiment, the driving component 15 is an electric push rod, so that the position control is more accurate.

[0044] The driving component 15 is used to drive the linkage assembly 14 to move in the first direction X to drive the wrist base 11 to extend and retract relative to the arm 13 and to flip. The wrist base 11 can perform an extension movement relative to the arm 13, or a flipping movement relative to the arm 13.

[0045] The wrist-arm module 10 provided by the present disclosure includes a wrist base 11 and at least three arm assemblies 12, the arm assembly 12 includes an arm 13 and a linkage assembly 14, the arm 13 is connected to the wrist base 11 through the linkage assembly 14, the arm 13 includes a driving component 15, and the driving component 15 can drive the linkage assembly 14 to move in a first direction X to drive the wrist base 11 to extend and retract relative to the arm 13 and to flip, so that the wrist base 11 of the wrist-arm module 10 can perform an extension movement, or a flipping movement, so that the flexibility is better, and the extendable wrist base 11 expands the movement range of the wrist-arm module 10, so that a wider working area can be covered, thereby improving the work efficiency.

[0046] In one embodiment, the at least three arm assemblies 12 are connected in parallel and evenly spaced along the circumference of the wrist base 11. The at least three arm assemblies 12 are connected in parallel, so that each arm assembly 12 can be controlled separately, so that the motion response speed is faster and the accuracy is higher. The at least three arm assemblies 12 are evenly spaced along the circumference of the wrist base 11, so that the structure of the wrist-arm module 10 is more compact and the space utilization is high. In this embodiment, the number of arm assemblies 12 is three, and the three arm assemblies 12 are evenly spaced along the circumference of the wrist base 11. The three arm assemblies 12 are distributed at an interval of 120° around the center of the wrist base 11 (as shown in Figure 3 The three arm assemblies 12 are connected in parallel, so that the wrist base 11 can be stretched and turned over through the cooperation between the at least three arm assemblies 12.

[0047] In one embodiment, the linkage assembly 14 includes a hinge structure 16 and a transmission structure 17. The transmission structure 17 is connected to the driving component 15, and the driving component 15 is used to drive the transmission structure 17 to move. It should be noted that the hinge structure 16 is a rotary hinge structure, which can realize the relative rotation of two structures connected to the hinge structure 16 about the second direction Y. The hinge structure 16 is arranged along the second direction Y and connected to one of the transmission structure 17 and the driving component 15, for realizing the relative rotation of the transmission structure 17 or the driving component 15 about the second direction Y. When the hinge structure 16 is connected to the transmission structure 17, it can be used to realize the relative rotation of the transmission structure 17 about the second direction Y. When the hinge structure 16 is connected to the driving component 15, it can be used to realize the relative rotation of the driving component 15 about the second direction Y. The second direction Y is perpendicular to the first direction X. It should be noted that the transmission structure 17 can be a three-degree-of-freedom structure, which can realize the three degrees of freedom between two structures connected to the transmission structure 17, and can realize the rotation between the two structures about the first set direction A, the second set direction B and the first direction X, wherein the first set direction A, the second set direction B and the first direction X are perpendicular to each other. The driving component 15 is used to drive the transmission structure 17 to move along the first direction X, and through the linkage cooperation of the hinge structure 16 and the transmission structure 17, the wrist base 11 is stretched and turned over relative to the arm 13. In this way, the driving component 15 can drive the wrist base 11 to stretch and turn over through the linkage cooperation of the hinge structure 16 and the transmission structure 17, which is convenient to implement and has good reliability.

[0048] Referring to Figures 1 to 5As shown, in one embodiment, the driving component 15 comprises an output end 18 which can move linearly along the first direction X. One end of the transmission structure 17 is connected to the output end 18 of the driving component 15, and the other end is connected to the hinged structure 16. The driving component 15 can drive the transmission structure 17 to move by the linear movement of the output end 18 along the first direction X. The hinged structure 16 is connected to the wrist base 11, so that the hinged structure 16 is connected between the transmission structure 17 and the wrist base 11, and the hinged structure 16 can realize the relative rotation of the transmission structure 17 and the wrist base 11 about the second direction Y. The driving component 15 is used to drive the transmission structure 17 to move along the first direction X, and make the transmission structure 17 rotate relative to the wrist base 11 about the second direction Y, so as to drive the wrist base 11 to stretch and turn relative to the arm 13. The hinged structure 16 and the transmission structure 17 are arranged on the same side of the driving component 15, so that the structure is more compact, and the driving component 15 is more convenient to move.

[0049] In one embodiment, the wrist-arm module 10 further comprises an upper support 26 and a lower support 27. The driving component 15 further comprises a main body 28, and the output end 18 is movably arranged in the main body 28. The output end 18 can be movably arranged in the main body 28 along the first direction X, and extends from one end of the main body 28. The main body 28 is fixedly connected between the upper support 26 and the lower support 27, so that the upper support 26, the driving component 15 and the lower support 27 form an integral whole. One end of the main body 28 can be fixedly connected to the upper support 26, and the other end can be fixedly connected to the lower support 27, so that at least the three arm assemblies 12, the upper support 26 and the lower support 27 can form an integral whole, thereby enhancing the stiffness of the wrist-arm module 10.

[0050] Referring to Figure 4 As shown, in one embodiment, the wrist base 11 comprises a base main body 19 and a recessed portion 20 arranged on the base main body 19, and the hinged structure 16 is arranged in the recessed portion 20. The hinged structure 16 comprises a fixed portion 21 and a rotating shaft portion 22, and the fixed portion 21 is fixedly connected to the side wall of the recessed portion 20. In one embodiment, the wrist-arm module 10 further comprises a first mounting member 23 which can be a bolt, and the first mounting member 23 can pass through the fixed portion 21 to fixedly connect the fixed portion 21 to the side wall of the recessed portion 20. The other end of the transmission structure 17 is connected to the rotating shaft portion 22, and the other end of the transmission structure 17 can be connected to the middle part of the rotating shaft portion 22. The rotating shaft portion 22 extends along the second direction Y and can rotate relative to the fixed portion 21 about the second direction Y, so as to make the transmission structure 17 rotate relative to the wrist base 11 about the second direction Y. In this way, the transmission structure 17 rotates relative to the wrist base 11 about the second direction Y in a simple manner.

[0051] In one embodiment, the wrist module 10 further comprises a flange bearing 24 and a first bearing gasket 25, which can be arranged between the first mounting member 23 and the flange bearing 24 to protect the flange bearing 24. The flange bearing 24 can comprise a first bearing outer ring and a first bearing inner ring, which are rotatable relative to each other about the second direction Y. One of the first bearing outer ring and the first bearing inner ring is provided with a flange. The one of the first bearing outer ring and the first bearing inner ring provided with the flange can be the fixed portion 21, and the other one can be connected to the rotating shaft portion 22. In this way, the rotating shaft portion 22 can be rotatable relative to the fixed portion 21 about the second direction Y, which is simple and reliable.

[0052] Referring to Figs. 1 and 2, Figure 6 and Figure 7 In another embodiment, one end of the transmission structure 17 is connected to the output end 18 of the driving member 15, and the other end is connected to the wrist base 11. The driving member 15 can drive the transmission structure 17 to move along the first direction X through the output end 18. The hinge structure 16 is connected between the end of the main body portion 28 away from the output end 18 and the lower support 27, so that the hinge structure 16 is connected between the driving member 15 and the lower support 27, and the hinge structure 16 can realize the relative rotation of the driving member 15 and the lower support 27 about the second direction Y. The driving member 15 is used to drive the transmission structure 17 to move along the first direction X, and to rotate the driving member 15 relative to the lower support 27 about the second direction Y to drive the wrist base 11 to stretch and retract relative to the arm portion 13 and to flip. The hinge structure 16 and the transmission structure 17 are arranged on opposite sides of the driving member 15, so that the activity space is more sufficient.

[0053] In another embodiment, the arm portion 13 further comprises a mounting bracket 39, which comprises a planar portion 40 and a protruding portion 41. The planar portion 40 can be square or circular, which can be adapted to the shape of the end face of the main body portion 28. The protruding portion 41 can be arc-shaped. The planar portion 40 is connected to the end of the main body portion 28 away from the output end 18, and the protruding portion 41 is connected to the planar portion 40. The planar portion 40 can be connected to the end of the main body portion 28 away from the output end 18 by bolts to fix the mounting bracket 39 to the main body portion 28. The lower support 27 further comprises a receiving groove 42, and the protruding portion 41 is accommodated in the receiving groove 42. The hinge structure 16 can be a rotating shaft, which can be a cylindrical rotating shaft. The hinge structure 16 penetrates the side wall of the receiving groove 42 and the protruding portion 41 to rotate the driving member 15 relative to the lower support 27 about the second direction Y. In this way, the driving member 15 is rotatable relative to the lower support 27 about the second direction Y, which is simple and reliable.

[0054] Referring to Figs. 1 and 2, Figure 1 , Figure 5、 Figure 6 and Figure 7 As shown in FIG. 1, one of the end of the transmission structure 17 away from the driving component 15 and the end of the driving component 15 away from the transmission structure 17 is the movable end, and the other is the fixed end. One of the end of the transmission structure 17 away from the driving component 15 and the end of the driving component 15 away from the transmission structure 17 can be the movable end rotating about the second direction Y, and the other is the fixed end. It can be understood that the side where the hinged structure 16 is located can be the movable end. As shown in FIG. 1, the end of the transmission structure 17 away from the driving component 15 is the movable end, and the end of the transmission structure 17 away from the driving component 15 can rotate about the second direction Y relative to the wrist base 11. The end of the driving component 15 away from the transmission structure 17 is the fixed end, and the end of the driving component 15 away from the transmission structure 17 is fixedly connected to the lower support 27. As shown in FIG. 1, the end of the transmission structure 17 away from the driving component 15 is the fixed end, and the end of the transmission structure 17 away from the driving component 15 is connected to the wrist base 11. The end of the driving component 15 away from the transmission structure 17 is the movable end, and the end of the driving component 15 away from the transmission structure 17 can rotate about the second direction Y relative to the lower support 27. When the wrist arm module 10 is applied to a robot, one of the first component and the second component is connected to the movable end, and the other is connected to the driving end. Figure 1 and Figure 5 As shown in FIG. 1, the end of the transmission structure 17 away from the driving component 15 is the movable end, and the end of the transmission structure 17 away from the driving component 15 can rotate about the second direction Y relative to the wrist base 11. The end of the driving component 15 away from the transmission structure 17 is the fixed end, and the end of the driving component 15 away from the transmission structure 17 is fixedly connected to the lower support 27. As shown in FIG. 1, the end of the transmission structure 17 away from the driving component 15 is the fixed end, and the end of the transmission structure 17 away from the driving component 15 is connected to the wrist base 11. The end of the driving component 15 away from the transmission structure 17 is the movable end, and the end of the driving component 15 away from the transmission structure 17 can rotate about the second direction Y relative to the lower support 27. When the wrist arm module 10 is applied to a robot, one of the first component and the second component is connected to the movable end, and the other is connected to the driving end. Figure 6 and Figure 7 As shown in FIG. 1, the end of the transmission structure 17 away from the driving component 15 is the fixed end, and the end of the transmission structure 17 away from the driving component 15 is connected to the wrist base 11. The end of the driving component 15 away from the transmission structure 17 is the movable end, and the end of the driving component 15 away from the transmission structure 17 can rotate about the second direction Y relative to the lower support 27. When the wrist arm module 10 is applied to a robot, one of the first component and the second component is connected to the movable end, and the other is connected to the driving end.

[0055] As shown in FIG. 1, the end of the transmission structure 17 away from the driving component 15 is the fixed end, and the end of the transmission structure 17 away from the driving component 15 is connected to the wrist base 11. The end of the driving component 15 away from the transmission structure 17 is the movable end, and the end of the driving component 15 away from the transmission structure 17 can rotate about the second direction Y relative to the lower support 27. When the wrist arm module 10 is applied to a robot, one of the first component and the second component is connected to the movable end, and the other is connected to the driving end. Figure 1 and Figure 6 As shown in FIG. 1, the end of the transmission structure 17 away from the driving component 15 is the fixed end, and the end of the transmission structure 17 away from the driving component 15 is connected to the wrist base 11. The end of the driving component 15 away from the transmission structure 17 is the movable end, and the end of the driving component 15 away from the transmission structure 17 can rotate about the second direction Y relative to the lower support 27. When the wrist arm module 10 is applied to a robot, one of the first component and the second component is connected to the movable end, and the other is connected to the driving end.

[0056] As shown in FIG. 1, the end of the transmission structure 17 away from the driving component 15 is the fixed end, and the end of the transmission structure 17 away from the driving component 15 is connected to the wrist base 11. The end of the driving component 15 away from the transmission structure 17 is the movable end, and the end of the driving component 15 away from the transmission structure 17 can rotate about the second direction Y relative to the lower support 27. When the wrist arm module 10 is applied to a robot, one of the first component and the second component is connected to the movable end, and the other is connected to the driving end. Figure 4As shown in the figure, in one embodiment, the wrist module 10 further comprises a mounting bearing 35, a second bearing gasket 36 and a second mounting member 37, which can be a bolt. The second bearing gasket 36 can be arranged between the second mounting member 37 and the mounting bearing 35, and can serve to protect the mounting bearing 35. The mounting bearing 35 can comprise a second bearing outer ring and a second bearing inner ring. The second bearing outer ring is rotatable relative to the second bearing inner ring about the first direction X. One of the second bearing outer ring and the second bearing inner ring is connected to the shaft portion 22, and the other is connected to the first portion 30. In this way, the first portion 30 can be rotatable relative to the hinge structure 16 about the first direction X, which is simple and reliable.

[0057] In another embodiment, one of the second bearing outer ring and the second bearing inner ring is connected to the wrist base 11, and the other is connected to the first portion 30. In this way, the first portion 30 can be rotatable relative to the wrist base 11 about the first direction X, which is simple and reliable.

[0058] Referring to Figure 5 and Figure 7 As shown in the figure, in another embodiment, the transmission structure 17 comprises a spherical joint 32, which comprises a third portion 33 and a fourth portion 34. The third portion 33 has three degrees of freedom relative to the fourth portion 34. The third portion 33 is rotatable relative to the fourth portion 34 about the first set direction A, the second set direction B and the first direction X. The third portion 33 is fixedly connected to the hinge structure 16 or the wrist base 11. The other end of the spherical joint 32 is fixedly connected to the output end 18. When the hinge structure 16 is connected to the wrist base 11, the third portion 33 is fixedly connected to the hinge structure 16. When the hinge structure 16 is connected between the main body portion 28 and the lower support 27 away from the output end 18, the third portion 33 is fixedly connected to the wrist base 11. In this way, the structure is simpler.

[0059] Referring to Figure 1 , Figure 5 , Figure 6 and Figure 7 As shown in the figure, in one embodiment, the at least three arm assemblies 12 comprise at least three driving components 15, which are uniformly spaced along the circumference of the wrist base 11.

[0060] In one embodiment, the at least three driving components 15 include three groups of driving component groups 38. Each group of driving component groups 38 includes at least one driving component 15, and the driving components 15 in each group of driving component groups 38 move synchronously in the same direction at the same speed. It can be understood that the output ends 18 of the driving components 15 in each group of driving component groups 38 synchronously extend or contract at the same speed. The three groups of driving component groups 38 can be connected in parallel, and the driving components 15 in each group of driving component groups 38 can be connected in series.

[0061] When the three groups of driving component groups 38 synchronously move in the same direction along the first direction X, the wrist base 11 extends or contracts relative to the arm 13 along the first direction X. Thus, by controlling the three groups of driving component groups 38 to synchronously move in the same direction along the first direction X, the wrist base 11 can be controlled to extend or contract relative to the arm 13 along the first direction X.

[0062] When two groups of driving component groups 38 in the three groups of driving component groups 38 synchronously move in the same or opposite directions along the first direction X, and the two groups of driving component groups 38 move relative to the remaining one group of driving component groups 38, the wrist base 11 rotates relative to the arm 13. When two groups of driving component groups 38 in the three groups of driving component groups 38 synchronously move in the same direction along the first direction X, and the two groups of driving component groups 38 move relative to the remaining one group of driving component groups 38, the wrist base 11 rotates in one direction relative to the arm 13. When two groups of driving component groups 38 in the three groups of driving component groups 38 synchronously move in opposite directions along the first direction X, and the two groups of driving component groups 38 move relative to the remaining one group of driving component groups 38, the wrist base 11 rotates in the other direction relative to the arm 13.

[0063] In the present embodiment, each group of drive components 38 comprises one drive component 15. When all three drive components 15 are moved synchronously in the same direction in the first direction X, i.e. are extended or retracted simultaneously, the wrist base 11 is extended or retracted in the first direction X relative to the arm 13. This provides a degree of freedom of movement in the first direction X. When one of the three drive components 15 is fixed and the remaining two drive components 15 are moved synchronously in the same direction in the first direction X, i.e. are extended or retracted simultaneously, the wrist base 11 is tilted in one direction relative to the arm 13, the wrist base 11 can be tilted about the second direction Y, this provides a degree of freedom of tilting about the second direction Y. When one of the three drive components 15 is fixed and the remaining two drive components 15 are moved synchronously in opposite directions in the first direction X, i.e. one is extended and the other is retracted, the wrist base 11 is tilted in the other direction relative to the arm 13. The wrist base 11 can be tilted about the third direction Z, this provides a degree of freedom of tilting about the third direction Z. This arrangement provides the wrist base 11 with three degrees of freedom, which provides a high degree of flexibility.

[0064] Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the disclosure be construed as including any patents, patent applications, publications, or other disclosure of the prior art which can come out of the consideration of the specification and practice of the application. The specification and examples are to be regarded as exemplary in nature and not as restrictive.

[0065] It should be understood that the present disclosure is not limited to the precise construction that has been described above and illustrated in the accompanying drawings, and that various modifications and changes can be made by those skilled in the art without departing from the scope of the present disclosure. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A wrist-arm module, characterized in that: The invention comprises a wrist base (11) and at least three arm assemblies (12); the wrist base (11) is used for mounting a hand or a foot; the arm assembly (12) comprises an arm (13) and a linkage assembly (14); the arm (13) is connected to the wrist base (11) via the linkage assembly (14); The arm portion (13) includes a driving component (15), which is arranged on one side of the wrist base (11) along a first direction; the driving component (15) is used to drive the linkage assembly (14) to move along the first direction, so as to drive the wrist base (11) to extend and flip relative to the arm portion (13).

2. The arm module according to claim 1, characterized in that: The linkage assembly (14) comprises a hinge structure (16) and a transmission structure (17); the transmission structure (17) is connected to the driving component (15); the hinge structure (16) is extended along a second direction and connected to one of the transmission structure (17) and the driving component (15), and is used to realize relative rotation of the transmission structure (17) or the driving component (15) with the second direction as an axis; wherein the second direction is perpendicular to the first direction; The driving component (15) is used to drive the transmission structure (17) to move along the first direction, and through the linkage cooperation between the hinge structure (16) and the transmission structure (17), to drive the wrist base (11) to extend and flip relative to the arm (13).

3. The arm module according to claim 2, characterized in that: The driving component (15) includes an output end (18); one end of the transmission structure (17) is connected to the output end (18) of the driving component (15), and the other end is connected to the hinge structure (16); the hinge structure (16) is connected to the wrist base (11); The driving component (15) is used to drive the transmission structure (17) to move along the first direction, and to make the transmission structure (17) rotate relative to the wrist base (11) with the second direction as the axis, so as to drive the wrist base (11) to extend and flip relative to the arm (13).

4. The arm module according to claim 3, characterized in that: The wrist base (11) comprises a base body (19) and a groove portion (20) provided on the base body (19), and the hinge structure (16) is accommodated in the groove portion (20); The hinge structure (16) includes a fixed portion (21) and a rotating shaft portion (22), wherein the fixed portion (21) is fixedly connected to the side wall of the groove portion (20); the other end of the transmission structure (17) is connected to the rotating shaft portion (22); the rotating shaft portion (22) extends along the second direction and can rotate relative to the fixed portion (21) with the second direction as the axis, so that the transmission structure (17) can rotate relative to the wrist base (11) with the second direction as the axis.

5. The arm module according to claim 3, characterized in that: The arm module further comprises an upper bracket (26) and a lower bracket (27); the driving component (15) further comprises a main body (28), and the output end (18) is movably arranged in the main body (28); the main body (28) is fixedly connected between the upper bracket (26) and the lower bracket (27), so that the upper bracket (26), the driving component (15) and the lower bracket (27) form a whole.

6. The arm module according to claim 2, characterized in that: The wrist-arm module further comprises a lower bracket (27); the driving component (15) comprises an output end (18) and a main body (28), the output end (18) being movably disposed in the main body (28) and extending from one end of the main body (28); one end of the transmission structure (17) is connected to the output end (18) of the driving component (15), and the other end is connected to the wrist base (11); the hinge structure (16) is connected between the end of the main body (28) away from the output end (18) and the lower bracket (27); The driving component (15) is used to drive the transmission structure (17) to move along the first direction, and to make the driving component (15) rotate relative to the lower bracket (27) with the second direction as the axis, so as to drive the wrist base (11) to extend and flip relative to the arm (13).

7. The arm-cantilever module according to claim 6, characterized in that: The arm portion (13) further includes a mounting frame, the mounting frame including a planar portion and a protruding portion, the planar portion being connected to an end of the main body portion (28) away from the output end (18), and the protruding portion being connected to the planar portion; The lower bracket (27) further includes a receiving groove, the protruding portion is accommodated in the receiving groove, and the hinge structure (16) is provided through the side wall of the receiving groove and the protruding portion, so that the driving component (15) rotates relative to the lower bracket (27) with the second direction as the axis.

8. The arm module according to claim 2, characterized in that: The driving component (15) includes an output end (18); the transmission structure (17) includes a cross universal joint (29), the cross universal joint (29) includes a first part (30) and a second part (31), the first part (30) has two degrees of freedom relative to the second part (31); the first part (30) can rotate relative to the hinge structure (16) or the wrist base (11) with the first direction as the axis, and the second part (31) is fixedly connected to the output end (18).

9. The arm module according to claim 2, characterized in that: The driving component (15) includes an output end (18); the transmission structure (17) includes a spherical universal joint (32), the spherical universal joint (32) includes a third part (33) and a fourth part (34), the third part (33) has three degrees of freedom relative to the fourth part (34); the third part (33) is fixedly connected to the hinge structure (16) or the wrist base (11); the other end of the spherical universal joint (32) is fixedly connected to the output end (18).

10. The arm-cantilever module according to claim 1, characterized in that: The linkage assembly (14) comprises a transmission structure (17); the transmission structure (17) is connected to the driving component (15); one of an end of the transmission structure (17) away from the driving component (15) and an end of the driving component (15) away from the transmission structure (17) is a movable end, and the other is a fixed end.

11. The arm-cantilever module according to claim 1, characterized in that: The at least three arm assemblies (12) are connected in parallel and are evenly spaced along the circumference of the wrist base (11).

12. The arm module according to claim 1, wherein: The at least three driving components (15) include three groups of driving component groups (38); wherein each group of the driving component groups (38) includes at least one driving component (15), and the driving components (15) in each group of the driving component groups (38) all move synchronously at the same speed and in the same direction; When the three groups of driving components (38) all move synchronously in the same direction along the first direction, the wrist base (11) expands and contracts relative to the arm (13) along the first direction; When two of the three drive component groups (38) move synchronously in the same or opposite directions along the first direction and the two drive component groups (38) move relative to the remaining drive component group (38), the wrist base (11) flips relative to the arm (13).

13. A robot, characterized in that: It comprises at least one cantilever module (10) according to any one of claims 1 to 12.

14. The robot according to claim 13, characterized in that The robot further comprises a first component and a second component; the linkage assembly (14) comprises a transmission structure (17); the transmission structure (17) is connected to the driving component (15), one of an end of the transmission structure (17) away from the driving component (15) and an end of the driving component (15) away from the transmission structure (17) is a movable end, and the other is a fixed end; one of the first component and the second component is connected to the movable end, and the other is connected to the driving end.

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