Three-degree-of-freedom humanoid wrist joint and robot

Abstract

The invention discloses a three-degree-of-freedom humanoid wrist joint and a robot, and aims to solve the problems of large overall circumferential mounting space, poor accuracy and flexibility and the like in a traditional structure. The humanoid wrist joint comprises a motor assembly, a connecting assembly and a palm assembly. The motor assembly is connected with the palm assembly through the connecting assembly and comprises a first motor, a second motor and a third motor, the first motor drives the palm assembly to move on a first axis, the second motor drives the palm assembly to move on a second axis, and the third motor drives the palm assembly to move on a third axis. The first axis, the second axis and the third axis intersect at one point. Through the combination of the first motor, the second motor and the third motor, the palm assembly can move on three axes, meanwhile, the three axes intersect at one point, the coordination and accuracy of movement are guaranteed, the flexibility and accuracy of the human wrist joint simulation are remarkably improved, natural movement of the human wrist can be better simulated, and the requirements of complex tasks are met.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a three-degree-of-freedom humanoid wrist joint and a robot. BACKGROUND

[0002] In the design of robots, especially in the field of humanoid robots, the design of the wrist joint is one of the key technologies. At present, the traditional serial form robot wrist joint has low similarity in motion form with the human wrist, the overall axial installation space is large, and the rotation axes of the three degrees of freedom do not intersect at a point. These problems limit the workability of the robot in a small space, and are not conducive to data acquisition and data mapping. In addition, parallel form robot wrist joints, such as using Delta mechanism, will result in low overall stiffness and radial size far exceeding the size of the real human wrist, further limiting its application.

[0003] In the prior art, some mechanisms using a Hooke joint to realize two degrees of freedom are humanoid in motion form, but the essence is still a serial form, which is quite different from the physiological structure of the human wrist. These mechanisms are complex in form, difficult to install, and high in maintenance cost. Another scheme has three degrees of freedom, but the axes of the three degrees of freedom do not always intersect at a point, affecting the accuracy and flexibility of the motion. SUMMARY

[0004] The purpose of the present application is to provide a three-degree-of-freedom humanoid wrist joint and a robot, which aims to solve the problems of large overall circumferential installation space, poor accuracy and flexibility in the traditional structure.

[0005] To solve the above problems, the first aspect of the present application provides a three-degree-of-freedom humanoid wrist joint, comprising a motor assembly, a connecting assembly and a palm assembly.

[0006] The motor assembly is connected with the palm assembly through the connecting assembly, the motor assembly comprises a first motor, a second motor and a third motor, the first motor drives the palm assembly to move on a first axis, the second motor drives the palm assembly to move on a second axis, and the third motor drives the palm assembly to move on a third axis, the first axis, the second axis and the third axis are perpendicular to each other and intersect at a point.

[0007] Through such a setting, the combination of the first motor, the second motor and the third motor enables the palm assembly to move on the first axis, the second axis and the third axis. At the same time, the three axes are perpendicular to each other and intersect at a point, avoiding the deviation of positioning in space, ensuring the coordination and accuracy of the motion, significantly improving the flexibility and accuracy of the humanoid wrist joint, and better simulating the natural motion of the human wrist to meet the needs of complex tasks.

[0008] Preferably, the connecting assembly comprises a first connecting piece, a second connecting piece and a third connecting piece;

[0009] The output end of the first motor is connected with one end of the first connecting piece, the other end of the first connecting piece is connected with the side surface of the second motor shell, and the first motor drives the second motor to rotate around the first axis through the first connecting piece.

[0010] The output end of the second motor is connected with one end of the second connecting piece, the other end of the second connecting piece is connected with the side surface of the third motor shell, and the second motor drives the third motor to swing around the second axis through the second connecting piece.

[0011] The output end of the third motor is connected with one end of the third connecting piece, and the other end of the third connecting piece is connected with the palm assembly.

[0012] Through such an arrangement, the first connecting piece is connected with the side surface of the second motor shell, when the first motor rotates, the second motor as a whole is driven to rotate through the first connecting piece, so as to realize the rotation of the human wrist joint on the first axis; the second connecting piece is connected with the side surface of the third motor shell, when the second motor rotates, the third motor is driven to rotate on the second axis through the second connecting piece, so as to realize the rotation of the human wrist joint on the second axis; the third motor directly drives the palm assembly to rotate through the third connecting piece, so as to realize the rotation of the human wrist joint on the third axis.

[0013] Preferably, the second connecting piece comprises a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod are arranged in parallel, the first end of the first connecting rod is rotationally connected with the output end of the second motor, the first end of the second connecting rod is rotationally connected with the output end of the second motor, the first end of the first connecting rod and the first end of the second connecting rod are symmetrically arranged along the output end axis of the second motor, the second end of the first connecting rod is rotationally connected with the side surface of the third motor shell, the second end of the second connecting rod is rotationally connected with the side surface of the third motor shell, and the first connecting rod and the second connecting rod are located on the same side of the third motor shell and are symmetrically arranged.

[0014] By such an arrangement, the first connecting rod and the second connecting rod are parallel, and during rotation of the output end of the second motor, the first end of the symmetrically arranged first connecting rod and the first end of the second connecting rod are driven to rotate around the second motor output end axis, the first connecting rod and the second connecting rod drive the third motor housing to move, at this time, the first connecting rod, the second connecting rod, the second motor output end and the third motor housing form a parallelogram, that is, a symmetric double parallelogram mechanism, so that the kinematics of the whole mechanism is simpler, which facilitates the deployment of the control algorithm and also makes the movement more stable. When the output end of the second motor rotates, the third motor housing rotates along the center of the positions of the second ends of the first connecting rod and the second connecting rod, and by arranging the first connecting rod and the second connecting rod on the same side of the third motor housing and symmetrically, the third motor as a whole rotates around the midpoint between the second ends of the two connecting rods.

[0015] Preferably, the first connecting piece is provided with a mounting groove, and the second motor is arranged in the mounting groove.

[0016] By such an arrangement, the second motor is arranged in the mounting groove of the first connecting piece, ensuring the stability of the second motor.

[0017] Preferably, the connecting assembly further comprises a first reinforcing piece, one end of the first reinforcing piece is fixedly connected with the first connecting piece, and the other end of the first reinforcing piece is rotatably connected with the side surface of the third motor housing.

[0018] By such an arrangement, the first reinforcing piece increases the stability of the third motor, and at the same time, the first reinforcing piece connects the third motor housing and the first connecting piece, improving the integrity of the humanoid wrist joint, so that the humanoid wrist joint is more stable during movement.

[0019] Preferably, the number of the first reinforcing pieces is two, and the two first reinforcing pieces are respectively located on two opposite sides of the side wall of the third motor housing.

[0020] By such an arrangement, two first reinforcing pieces are respectively located on opposite sides of the side surface of the third motor housing, which makes the third motor more stable during rotation along the second axis, and at the same time, reduces the load of the second connecting piece during movement, improving the durability of the humanoid wrist joint.

[0021] Preferably, the connecting assembly further comprises a second reinforcing piece, one end of the second reinforcing piece is fixedly connected with the third connecting piece, and the other end of the second reinforcing piece is rotatably connected with the base of the third motor.

[0022] By such an arrangement, the second reinforcing piece can increase the support and transmission effect of the third motor on the palm assembly, so that the transmission effect is more stable when the third motor drives the palm assembly to move, and at the same time, the load of the third connecting piece is reduced, improving the durability of the humanoid wrist joint.

[0023] Preferably, the motor assembly comprises an integrated joint with a harmonic reducer and a motor module.

[0024] Through such an arrangement, the rotation speed of the motor assembly is reduced by the harmonic reducer, while the output torque is increased to meet the working requirements of the anthropomorphic wrist joint.

[0025] Preferably, the motor assembly adopts a hollow structure, and the motor assembly and the shell of the first connecting member are provided with a wire hole for arranging and fixing the cable.

[0026] Through such an arrangement, the hollow structure of the motor assembly realizes the effect of hollow wiring, cancels the design of fixed cable, makes the structure of the whole anthropomorphic wrist joint more compact, the appearance more neat, and avoids the safety risk caused by the structure of external wiring.

[0027] According to another aspect of the present application, a robot is provided, comprising the anthropomorphic wrist joint.

[0028] Through such an arrangement, the anthropomorphic wrist joint is arranged on the robot, so that the robot can better simulate the completion of complex tasks, improve the working efficiency of the robot and reduce errors. BRIEF DESCRIPTION OF DRAWINGS

[0029] Fig. 1 is a schematic view of a three-degree-of-freedom anthropomorphic wrist joint structure according to an embodiment of the present application;

[0030] Fig. 2 is a top view of a three-degree-of-freedom anthropomorphic wrist joint according to an embodiment of the present application;

[0031] Fig. 3 is a schematic view of the axis and rotation center of a three-degree-of-freedom anthropomorphic wrist joint according to an embodiment of the present application.

[0032] REFERENCE NUMERALS:

[0033] 1, motor assembly; 11, first motor; 12, second motor; 13, third motor;

[0034] 2, connecting assembly; 21, first connecting member; 22, second connecting member; 221, first connecting rod; 222, second connecting rod; 23, third connecting member; 24, first reinforcing member; 25, second reinforcing member;

[0035] 3, palm assembly;

[0036] X, first axis; Y, second axis; Z, third axis; A, rotation center point. DETAILED DESCRIPTION

[0037] For the purposes of the present application, the term "coupled" is used to describe both an indirect coupling and a direct coupling between two entities, where coupling includes use of one or more intermediate coupled entities. The term "coupled" is used herein to express a relationship between two entities in which the two entities are in electronic communication, whether directly or through one or more intermediate coupled entities. The term "coupled" is also used herein to express a relationship between two entities in which the two entities are in physical communication, whether directly or through one or more intermediate coupled entities. The term "coupled" is also used herein to express a relationship between two entities in which the two entities are in electrical communication, whether directly or through one or more intermediate coupled entities. The term "coupled" is also used herein to express a relationship between two entities in which the two entities are in mechanical communication, whether directly or through one or more intermediate coupled entities. The term "coupled" is also used herein to express a relationship between two entities in which the two entities are in fluid communication, whether directly or through one or more intermediate coupled entities. The term "coupled" is also used herein to express a relationship between two entities in which the two entities are in thermal communication, whether directly or through one or more intermediate coupled entities. The term "coupled" is also used herein to express a relationship between two entities in which the two entities are in optical communication, whether directly or through one or more intermediate coupled entities. The term "coupled" is also used herein to express a relationship between two entities in which the two entities are in electromagnetic communication, whether directly or through one or more intermediate coupled entities. The term "coupled" is also used herein to express a relationship between two entities in which the two entities are in electrical communication, whether directly or through one or more intermediate coupled entities. The term "coupled" is also used herein to express a relationship between two entities in which the two entities are in mechanical communication, whether directly or through one or more intermediate coupled entities. The term "coupled" is also used herein to express a relationship between two entities in which the two entities are in fluid communication, whether directly or through one or more intermediate coupled entities. The term "coupled" is also used herein to express a relationship between two entities in which the two entities are in thermal communication, whether directly or through one or more intermediate coupled entities. The term "coupled" is also used herein to express a relationship between two entities in which the two entities are in optical communication, whether directly or through one or more intermediate coupled entities. The term "coupled" is also used herein to express a relationship between two entities in which the two entities are in electromagnetic communication, whether directly or through one or more intermediate coupled entities.

[0040] In the drawings, schematic diagrams of layer structures according to embodiments of the present application are shown. These drawings are not drawn to scale, in which certain details are exaggerated for the purpose of clarity, and certain details can be omitted. The shapes of various regions, layers, and their relative sizes and positional relationships shown in the drawings are merely exemplary, and in actuality can deviate due to manufacturing tolerances or technical limitations, and regions / layers having different shapes, sizes, relative positions can be additionally designed according to actual needs by those skilled in the art.

[0041] In conjunction with , a first aspect of the present application provides a three-degree-of-freedom humanoid wrist joint, characterized in that the humanoid wrist joint comprises a motor assembly 1, a connecting assembly 2, and a palm assembly 3; the motor assembly 1 is connected to the palm assembly 3 through the connecting assembly 2, the motor assembly 1 comprises a first motor 11, a second motor 12, and a third motor 13, the first motor 11 drives the palm assembly 3 to move on a first axis X, the second motor 12 drives the palm assembly 3 to move on a second axis Y, the third motor 13 drives the palm assembly 3 to move on a third axis Z, the first axis X, the second axis Y, and the third axis Z are perpendicular to each other and intersect at a point. Specifically, the first axis X coincides with the axial direction of the output end of the first motor 11, the first motor 11 drives the humanoid wrist joint to rotate along the first axis X; the second axis Y is parallel to the axial direction of the output end of the second motor 12, and the second axis Y intersects the third axis Z, the third axis Z coincides with the axial direction of the third motor 13, and the third axis Z intersects the first axis X. As

[0042] As shown, the first axis X, the second axis Y and the third axis Z all pass through the center of the third motor 13, i.e. the center of the third motor 13 is the rotation center point A of the humanoid wrist joint, the three axes intersect at the rotation center point A, and during the movement of the humanoid wrist joint, it always rotates around the rotation center point A. Through such a setting, the coordination and accuracy of the movement are guaranteed, the flexibility and accuracy of the humanoid wrist joint are significantly improved, the natural movement of the human wrist can be better simulated, and the demand for complex tasks can be met. Each motor controls an independent axis, so that the palm assembly 3 can perform complex three-dimensional space movement, thereby realizing more realistic bionic operation. Moreover, this multi-axis movement mode also enables the palm assembly 3 to be fine-tuned in different directions, thereby adapting to operation requirements in various complex environments. Especially when performing delicate operations, the high-precision movement capability of the humanoid wrist joint is particularly important, which can effectively reduce errors and improve the success rate and efficiency of operation.

[0040] It should be noted that the specific positions of the first motor 11, the second motor 12 and the third motor 13 are not limited here, and the specific structure of the connecting assembly 2 is also not limited. As long as the three degrees of freedom axes of the humanoid wrist joint can be set to intersect at the rotation center point A through the combination of the first motor 11, the second motor 12 and the third motor 13 and the connecting assembly 2, and during the movement of the humanoid wrist joint, it always moves around the rotation center point A, further, the position of the rotation center remains unchanged on the humanoid wrist joint.

[0041] In the preferred case, the connecting assembly 2 comprises a first connecting piece 21, a second connecting piece 22 and a third connecting piece 23; one end of the first connecting piece 21 is connected with the output end of the first motor 11, the other end of the first connecting piece 21 is connected with the side surface of the shell of the second motor 12, the first motor 11 drives the second motor 12 to rotate around the first axis X through the first connecting piece 21; one end of the second connecting piece 22 is connected with the output end of the second motor 12, the other end of the second connecting piece 22 is connected with the side surface of the shell of the third motor 13, the second motor 12 drives the third motor 13 to swing around the second axis Y through the second connecting piece 22; one end of the third connecting piece 23 is connected with the output end of the third motor 13, the other end of the third connecting piece 23 is connected with the palm assembly 3. Through such a setting, the first connecting piece 21 is connected with the side surface of the shell of the second motor 12, when the first motor 11 rotates, the second motor 12 will be driven to rotate as a whole through the first connecting piece 21, so as to realize the rotation of the anthropomorphic wrist joint around the first axis X, specifically, the first axis X coincides with the direction of the arm, the first motor 11 realizes the rotation of the palm assembly 3 along the first axis X as a whole, that is, the palm assembly 3 completes the rotation along the direction of the arm through the first motor 11; the second connecting piece 22 is connected with the side surface of the shell of the third motor 13, when the second motor 12 rotates, the third motor 13 is driven to rotate around the second axis Y through the second connecting piece 22, so as to realize the rotation of the anthropomorphic wrist joint around the second axis Y, specifically, the second motor 12 drives the palm assembly 3 to rotate along the second axis Y, so as to realize the swing of the palm assembly 3 along the left-right direction, where the left-right direction refers to the left-right direction of the palm, that is, the palm assembly 3 swings around the wrist left and right; the third motor 13 drives the palm assembly 3 to rotate directly through the third connecting piece 23, so as to realize the rotation of the anthropomorphic wrist joint around the third axis Z, specifically, the third motor 13 drives the palm assembly 3 to swing around the wrist front and back through the third connecting piece 23, where the front and back swing refers to the two directions of the palm surface and the palm back of the palm assembly 3, that is, the palm assembly 3 realizes the stretching action around the wrist.

[0042] Here, the specific structure and connection mode in the structure of the first connecting piece 21, the second connecting piece 22 and the third connecting piece 23 are not limited, as long as the structure stability of the anthropomorphic wrist joint can be realized through the first connecting piece 21, the second connecting piece 22 and the third connecting piece 23, the corresponding action of the anthropomorphic wrist joint can be realized, and the anthropomorphic wrist joint can always rotate around the rotation center during operation.

[0043] Preferably, the second connecting member 22 comprises a first connecting rod 221 and a second connecting rod 222, the first connecting rod 221 and the second connecting rod 222 are arranged in parallel, the first end of the first connecting rod 221 is rotationally connected with the output end of the second motor 12, the first end of the second connecting rod 222 is rotationally connected with the output end of the second motor 12, the first end of the first connecting rod 221 and the first end of the second connecting rod 222 are symmetrically arranged along the output end axis of the second motor 12, the second end of the first connecting rod 221 is rotationally connected with the side surface of the third motor 13 shell, the second end of the second connecting rod 222 is rotationally connected with the side surface of the third motor 13 shell, and the first connecting rod 221 and the second connecting rod 222 are arranged symmetrically on the same side of the third motor 13 shell.

[0044] Through such an arrangement, the first connecting rod 221 and the second connecting rod 222 are parallel, and during the rotation of the output end of the second motor 12, the first end of the symmetrically arranged first connecting rod 221 and the first end of the second connecting rod 222 are driven to rotate around the output end axis of the second motor 12, and the first connecting rod 221 and the second connecting rod 222 drive the shell of the third motor 13 to move, at this time, the first connecting rod 221, the second connecting rod 222, the output end of the second motor 12 and the shell of the third motor 13 form a parallelogram, that is, a symmetric double parallelogram mechanism, so that the kinematics of the whole mechanism is simpler, which is convenient for control algorithm deployment, and also makes the movement more stable. When the output end of the second motor 12 rotates, the shell of the third motor 13 rotates along the center of the positions of the second ends of the first connecting rod 221 and the second connecting rod 222, and by arranging the first connecting rod 221 and the second connecting rod 222 on the same side of the third motor 13 shell and symmetrically, the third motor 13 as a whole rotates around the midpoint between the second ends of the two connecting rods, and the center point of the second ends of the two connecting rods is located on the second axis Y. Through such an arrangement, the position of the rotation center is further limited, and the position of the rotation center is fixed relative to the anthropomorphic wrist joint during movement.

[0045] Here, the specific connection mode of the first connecting rod 221 and the second connecting rod 222 with the output end of the second motor 12 and the shell of the third motor 13 is not limited, and optionally, two symmetric bearings are arranged on the output end of the second motor 12, and the first connecting rod 221 and the second connecting rod 222 are rotationally connected through the two symmetric bearings. Similarly, two bearings symmetric to the side surface of the shell are arranged on the side surface of the shell of the third motor 13 to rotationally connect the first connecting rod 221 and the second connecting rod 222 with the side surface of the shell of the third motor 13.

[0046] In the preferred case, the first connecting member 21 is provided with a mounting groove, and the second motor 12 is arranged in the mounting groove.

[0047] Through the arrangement, the second motor 12 is arranged in the mounting groove of the first connecting piece 21, and the stability of the second motor 12 is ensured. Here, the specific structure of the first connecting piece 21 is not limited, and the second motor 12 can be wrapped and fixed, for example, in the form of a shell structure. Optionally, the shell of the second motor 12 and the second connecting piece 22 are integrated, so that the structure is more compact, and the rotation of the second motor 12 is more stable.

[0048] In a preferred case, the connecting assembly 2 further comprises a first reinforcing piece 24, one end of the first reinforcing piece 24 is fixedly connected with the first connecting piece 21, and the other end of the first reinforcing piece 24 is rotatably connected with the side of the shell of the third motor 13. Here, the specific number of the first reinforcing piece 24 is not limited, and the first reinforcing piece 24 can be used to connect the first connecting piece 21 and the shell of the third motor 13 to increase the stability of the overall structure. Preferably, the number of the first reinforcing piece 24 is two, and the two first reinforcing pieces 24 are located on opposite sides of the side wall of the shell of the third motor 13. Through the arrangement, the first reinforcing piece 24 increases the stability of the third motor 13, and at the same time, the first reinforcing piece 24 connects the shell of the third motor 13 and the first connecting piece 21 to improve the integrity of the anthropomorphic wrist joint, so that the anthropomorphic wrist joint is more stable during movement. By using two first reinforcing pieces 24 located on opposite sides of the side of the shell of the third motor 13, the third motor 13 is more stable during rotation along the second axis Y, and at the same time, the load of the second connecting piece 22 during movement is reduced, the durability of the anthropomorphic wrist joint is improved, and the shortcomings of poor strength, poor overall stability and poor durability of the existing anthropomorphic wrist joint mechanism are overcome.

[0049] It should be noted that when the first reinforcing piece 24 is rotatably connected with the side of the shell of the third motor 13, the specific connection method is not limited, which can be through a bearing or a limiting latch is arranged on the shell of the third motor 13, and the first reinforcing piece 24 is sleeved on the limiting latch, so that the relative position of the third motor 13 and the first connecting piece 21 is ensured, and the integrity of the structure is improved.

[0050] Preferably, the connecting assembly 2 further comprises a second reinforcing piece 25, one end of the second reinforcing piece 25 is fixedly connected with the third connecting piece 23, and the other end of the second reinforcing piece 25 is rotatably connected with the base of the third motor 13. Through the arrangement, the second reinforcing piece 25 can increase the support and transmission effect of the third motor 13 on the palm assembly 3, so that the transmission effect of the third motor 13 is more stable when driving the palm assembly 3 to move, and at the same time, the load of the third connecting piece 23 is reduced, and the durability of the anthropomorphic wrist joint is improved.

[0051] The specific structure of the second reinforcing member 25 is not limited here, and the support effect of the third motor 13 on the palm assembly 3 can be increased, and in optional cases, the second reinforcing member 25 can be the same structure as the third connecting member 23, and the second reinforcing member 25 and the third connecting member 23 are symmetrically arranged at both ends of the third motor 13, so that the movement of the palm assembly 3 is more stable when the third motor 13 drives the palm assembly 3 to rotate; in another optional case, the second reinforcing member 25 and the third connecting member 23 are designed integrally, further improving the integrity of the anthropomorphic wrist joint.

[0052] The specific connection mode of the first connecting member 21 and the second motor 12 is not limited here, and in optional cases, the first connecting member 21 and the second motor 12 are fixed by bolts. Through such a setting, the bolt fixing ensures the connection strength of the first connecting member 21 and the second motor 12, and at the same time, the second motor 12 and the first connecting member 21 can be separated by disassembling the bolts, which is convenient for maintenance and maintenance of the anthropomorphic wrist joint. The type and number of bolts are not limited here, and the connection strength of the first connecting member 21 and the second motor 12 can be met.

[0053] In the preferred case, the motor assembly 1 includes an integrated joint with a harmonic reducer and a motor module, which reduces the rotation speed of the motor assembly through the harmonic reducer, while increasing the output torque to meet the working requirements of the anthropomorphic wrist joint.

[0054] Preferably, the motor assembly 1 adopts a hollow structure, and the shell of the motor assembly (1) and the first connecting member (21) has a wire hole for arranging and fixing the cable. Through such a setting, the motor assembly 1 realizes the effect of hollow wiring through the hollow setting, cancels the design of fixing the cable, which not only can reduce the overall size and improve the compactness of the structure, but also can avoid the exposure of the cable, so that the overall appearance is more neat and beautiful. In addition, since the cable is completely wrapped inside, the safety hazards that may be caused by the exposure of the cable, such as cable damage caused by accidental collision, are avoided, thereby improving the safety performance of the overall structure.

[0055] According to another aspect of the present application, a robot including an anthropomorphic wrist joint is provided. Through such a setting, the above-mentioned anthropomorphic wrist joint is provided on the robot, so that the robot can better simulate the completion of complex tasks and improve the working efficiency and reduce errors of the robot.

[0056] It should be understood that the foregoing detailed description of the application, rather than limiting the application, is intended to explain and describe the current implementation of the application. Therefore, any modification, equivalent replacement or improvement made without departing from the spirit and scope of the application should be included in the protection scope of the application. In addition, the appended claims of the application are intended to cover all changes and modifications falling within the scope and boundary of the appended claims, or the equivalent form of such scope and boundary.

Claims

1. A three-degree-of-freedom human wrist joint, characterized in that, The anthropomorphic wrist joint includes a motor assembly (1), a connecting assembly (2), and a hand assembly (3); The motor assembly (1) is connected to the palm assembly (3) via the connecting assembly (2). The motor assembly (1) includes a first motor (11), a second motor (12), and a third motor (13). The first motor (11) drives the palm assembly (3) to move on a first axis, the second motor (12) drives the palm assembly (3) to move on a second axis, and the third motor (13) drives the palm assembly (3) to move on a third axis. The first axis, the second axis, and the third axis are perpendicular to each other and intersect at a point.

2. The anthropomorphic wrist joint according to claim 1, characterized in that, The connecting component (2) includes a first connector (21), a second connector (22), and a third connector (23); The output end of the first motor (11) is connected to one end of the first connector (21), and the other end of the first connector (21) is connected to the side of the housing of the second motor (12). The first motor (11) drives the second motor (12) to rotate around the first axis through the first connector (21). The output end of the second motor (12) is connected to one end of the second connector (22), and the other end of the second connector (22) is connected to the side of the housing of the third motor (13). The second motor (12) drives the third motor (13) to swing around the second axis through the second connector (22). The output end of the third motor (13) is connected to one end of the third connector (23), and the other end of the third connector (23) is connected to the palm assembly (3).

3. The anthropomorphic wrist joint according to claim 2, characterized in that, The second connecting member (22) includes a first connecting rod (221) and a second connecting rod (222). The first connecting rod (221) and the second connecting rod (222) are arranged parallel to each other. The first end of the first connecting rod (221) is rotatably connected to the output end of the second motor (12). The first end of the second connecting rod (222) is rotatably connected to the output end of the second motor (12). The first end of the first connecting rod (221) and the first end of the second connecting rod (222) are symmetrically arranged along the axis of the output end of the second motor (12). The second end of the first connecting rod (221) is rotatably connected to the side of the housing of the third motor (13). The second end of the second connecting rod (222) is rotatably connected to the side of the housing of the third motor (13). The first connecting rod (221) and the second connecting rod (222) are located on the same side of the housing of the third motor (13) and are symmetrically arranged.

4. The anthropomorphic wrist joint according to claim 3, characterized in that, The first connector (21) is provided with a mounting groove, and the second motor (12) is disposed in the mounting groove.

5. The anthropomorphic wrist joint according to claim 4, characterized in that, The connecting assembly (2) further includes a first reinforcing member (24), one end of which is fixedly connected to the first connecting member (21), and the other end of which is rotatably connected to the side of the housing of the third motor (13).

6. The anthropomorphic wrist joint according to claim 5, characterized in that, There are two first reinforcing members (24), and the two first reinforcing members (24) are located on opposite sides of the outer casing sidewall of the third motor (13).

7. The anthropomorphic wrist joint according to claim 6, characterized in that, The connecting component (2) further includes a second reinforcing member (25), one end of which is fixedly connected to the third connecting member (23), and the other end of which is rotatably connected to the base of the third motor (13).

8. The anthropomorphic wrist joint according to claim 4, characterized in that, The motor assembly (1) includes an integrated joint with a harmonic reducer and a motor module.

9. The anthropomorphic wrist joint according to claim 1, characterized in that, The motor assembly (1) has a hollow structure, and the housing of the motor assembly (1) and the first connector (21) has wiring holes for arranging and fixing cables.

10. A robot, characterized in that, The robot includes the humanoid wrist joint as described in any one of claims 1-9.

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