A parallel biomimetic dexterous wrist structure and a biomimetic robot

Abstract

This application provides a parallel bionic dexterous wrist structure and a bionic robot. The wrist structure includes an arm-end unit, a palm-end unit, an isokinetic universal joint, and a parallel joint drive unit. The arm-end unit connects to the forearm of the bionic robot; the palm-end unit connects to the palm of the bionic robot; the isokinetic universal joint connects the arm-end unit and the palm-end unit; one end of the parallel joint drive unit is connected to the arm-end unit, and the other end is connected to the palm-end unit. The parallel joint drive unit drives the palm-end unit to perform flexion, extension, and radial / ulnar deviation relative to the arm-end unit, thereby achieving flexible posture adjustment of the palm. This application balances the functionality of flexible wrist movement with enhanced reliability of the transmission process and stability of the drive operation, enabling the dexterous wrist structure to accurately simulate the flexible movement of the human hand, thus greatly improving the performance of the robotic arm.

Description

Technical Field

[0001] This application relates to the field of robot design, specifically to a parallel bionic dexterous wrist structure and a bionic robot. Background Technology

[0002] The human wrist achieves most of its positional positioning through rotation, lateral movement, and pitch, corresponding to three degrees of freedom: -85~75°, -20~40°, and -75~85°, respectively. The human wrist has a large range of motion, high flexibility, and the movement trajectories intersect.

[0003] The humanoid robotic wrist is an important component of the humanoid robotic hand. It typically connects the forearm and the dexterous hand, and is responsible for simulating the flexible movements of the human hand, including rotation, flexion, extension, and radial-ulnar deflection. The flexible movements of the human hand are referenced... Figure 1 As shown, the design of the wrist directly affects the operational precision, adaptability, and flexibility of the robotic arm. When performing complex tasks, such as precision assembly, surgical assistance, or human-computer interaction, a highly biomimetic wrist can provide a range of motion and control similar to that of a human hand, thereby greatly improving the performance of the robotic arm.

[0004] Traditional robotic arms mostly use a cross-hinged structure for their wrists. Due to space limitations, this results in a limited range of motion, a bulky drive mechanism, and low flexibility. Summary of the Invention

[0005] In view of the deficiencies in the prior art, the purpose of this application is to provide a parallel bionic dexterous wrist structure and a bionic robot.

[0006] According to one aspect of this application, a parallel bionic dexterous wrist structure is provided, comprising:

[0007] Arm end unit, used to connect to the forearm of the bionic robot;

[0008] The palm unit is used to connect to the palm of the bionic robot;

[0009] A constant velocity universal joint is connected between the arm end unit and the palm end unit to achieve constant torque and constant angular velocity transmission between the arm end unit and the palm end unit.

[0010] A parallel joint drive unit is connected at one end to the arm end unit and at the other end to the palm end unit. The parallel joint drive unit is used to drive the palm end unit to flex, extend and deflect radially and ulnarly relative to the arm end unit, so as to realize the flexible posture adjustment of the palm.

[0011] Optionally, the arm end unit includes a first connecting flange, a first fixing seat, and a first connecting shaft; one end of the first connecting flange is used to connect the forearm, and the other end is coaxially connected to one end of the first connecting shaft, the other end of the first connecting shaft is connected to the constant velocity universal joint, the first fixing seat is mounted on the outer peripheral surface of the first connecting shaft, and two first drive shafts are respectively provided on both sides of the first fixing seat, the first drive shafts being used to connect the parallel joint drive unit.

[0012] Optionally, the palm end unit includes a second connecting flange, a second fixing seat, and a second connecting shaft; one end of the second connecting flange is used to connect the palm, and the other end is coaxially connected to one end of the second connecting shaft, the other end of the second connecting shaft is connected to the constant velocity universal joint, the second fixing seat is installed on the outer peripheral surface of the second connecting shaft, and two second drive shafts are respectively provided on both sides of the second fixing seat, the second drive shafts being used to connect the parallel joint drive unit.

[0013] Optionally, the constant velocity universal joint includes a ball head, a steel ball, and a ball cage sleeve; the outer ring of the ball head is uniformly provided with at least one first steel ball roller track along its circumference, and the inner ring of the ball cage sleeve is uniformly provided with at least one second steel ball roller track along its circumference, and the steel ball is rotatably embedded in the rolling space formed by the first steel ball roller track and the second steel ball roller track;

[0014] The ball head is connected to the end of the first connecting shaft that is away from the first connecting flange; the ball cage sleeve is connected to the end of the second connecting shaft that is away from the second connecting flange.

[0015] Optionally, both the outer ring of the ball head and the inner ring of the ball cage are spherical, and the centers of the spherical surfaces of the outer ring of the ball head and the inner ring of the ball cage coincide.

[0016] Optionally, the parallel joint drive unit includes at least two drive mechanisms, each drive mechanism including a rotating arm, a joint actuator, a joint actuator mounting base, and a connecting rod;

[0017] The housing of the joint actuator is mounted on the joint actuator mounting base. The joint actuator mounting base is provided with a first joint bearing, which is connected to the first drive shaft. The output shaft of the joint actuator is connected to one end of the rotating arm. The two ends of the connecting rod are respectively connected to the other end of the rotating arm and the second drive shaft. The joint actuator is used to drive the connecting rod to perform push-pull motion through the rotation of the rotating arm, and then drive the arm end unit to perform flexion-extension and radial-ulnar deflection through the coordinated push-pull motion of the connecting rod in the two drive mechanisms.

[0018] Optionally, the palm unit includes three motion states: extension, flexion, and radial-ulnar deviation.

[0019] If the two links simultaneously push outward in a direction away from the arm end unit, the palm end unit extends relative to the arm end unit.

[0020] If the two links simultaneously retract in a direction away from the arm end unit, the palm end unit flexes relative to the arm end unit.

[0021] If one of the links performs a pushing motion away from the arm end unit, and the other link performs a retraction motion away from the arm end unit, then the palm end unit performs radial and ulnar deflection relative to the arm end unit.

[0022] Optionally, the end of the swing arm is provided with a connecting shaft, and both ends of the connecting rod are provided with second joint bearings. The second joint bearing at one end of the connecting rod is connected to the connecting shaft, and the second joint bearing at the other end of the connecting rod is connected to the second transmission shaft.

[0023] Optionally, in the initial installation state, if there are two drive mechanisms, the two drive mechanisms are symmetrically distributed on both sides of the first connecting shaft with the axis of the first connecting shaft as the center of symmetry, and the line connecting the geometric centers of the two drive mechanisms is perpendicular to the axis of the first connecting shaft.

[0024] According to another aspect of this application, a bionic robot is provided, the bionic robot including the above-described parallel bionic dexterous wrist structure.

[0025] This application provides a parallel biomimetic dexterous wrist structure that employs a collaborative design of a constant velocity universal joint and a parallel joint drive unit. The constant velocity universal joint enables precise synchronous transmission of torque and angular velocity between the arm-end unit and the hand-end unit, ensuring the wrist structure's motion accuracy during flexion, extension, and radial-ulnar deviation movements. Simultaneously, the parallel joint drive unit provides active actuation, endowing the wrist structure with flexible posture adjustment capabilities in three-dimensional space. This combined design balances the functionality of flexible wrist movement with enhanced reliability of the transmission process and stability of the drive operation, allowing the dexterous wrist structure to accurately simulate the flexible movements of the human hand, thereby significantly improving the performance of the robotic arm.

[0026] Other technical effects resulting from the additional features will be further illustrated in the corresponding embodiments. Attached Figure Description

[0027] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0028] Figure 1The following are diagrams illustrating the flexible movement state of a human hand in the background art, wherein (a) is a side view of the flexible movement state of a human hand; and (b) is a side view of the flexible movement state of a human hand.

[0029] Figure 2 This is a schematic diagram of the structure of a bionic robotic arm in one embodiment of this application. Figure 1 ;

[0030] Figure 3 This is a schematic diagram of the structure of a bionic robotic arm in one embodiment of this application. Figure 2 ;

[0031] Figure 4 This is a schematic diagram of the dexterous wrist structure in one embodiment of this application. Figure 1 ;

[0032] Figure 5 This is a schematic diagram of the dexterous wrist structure in one embodiment of this application. Figure 2 ;

[0033] Figure 6 This is a state diagram of the dexterous wrist structure when it is extended to 40°-50° in one embodiment of this application, wherein (a) is a side view of the wrist structure when it is extended to 40°-50°; and (b) is a top view of the wrist structure when it is extended to 40°-50°.

[0034] Figure 7 This is a diagram showing the state of the dexterous wrist structure when it is flexed at 40°-50° in one embodiment of this application, wherein (a) is a side view of the wrist structure when it is flexed at 40°-50°; and (b) is a top view of the wrist structure when it is flexed at 40°-50°.

[0035] Figure 8 This is a state diagram of the dexterous wrist structure with radial deviation of 15°-25° in one embodiment of this application, wherein (a) is a side view of the wrist structure with radial deviation of 15°-25°; and (b) is a top view of the wrist structure with radial deviation of 15°-25°.

[0036] Figure 9 This is a state diagram of the dexterous wrist structure with a ulnar deviation of 20°-30° in one embodiment of this application, wherein (a) is a side view of the wrist structure with a ulnar deviation of 20°-30°; and (b) is a top view of the wrist structure with a ulnar deviation of 20°-30°.

[0037] In the diagram: 1. First connecting flange; 2. Second connecting flange; 3. First fixed seat; 4. Second fixed seat; 5. Constant velocity universal joint; 6. Swing arm; 7. First connecting shaft; 8. First joint actuator; 9. Second joint actuator; 10. Joint actuator fixed seat; 11. First joint bearing; 12. Second joint bearing; 13. Pressure plate; 14. Connecting rod; 100. Wrist structure; 200. Forearm; 300. Hand. Detailed Implementation

[0038] The present application will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any way. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application, and these all fall within the protection scope of the present application. Parts not described in detail in the following embodiments can be implemented using existing technology.

[0039] It should be noted that all information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of related data must comply with relevant regulations.

[0040] In the description of the embodiments of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0041] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature.

[0042] In the description of the embodiments in this application, "multiple" means two or more, unless otherwise explicitly specified. In this application, unless otherwise explicitly specified and limited, the terms "installed," "connected," "linked," "fixed," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0043] The terms "comprising" and "having," and any variations thereof, in the embodiments of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such processes, methods, products, or devices.

[0044] The humanoid robotic wrist is a crucial component of the humanoid robotic hand, typically connecting the forearm and the dexterous hand. It is responsible for mimicking the flexible movements of the human hand, including rotation, flexion, extension, and radial-ulnar deflection. Traditional robotic wrists mostly employ a cross-hinged structure, which, due to space constraints, suffers from limited range of motion, a bulky drive mechanism, and low dexterity. To address these issues, this application provides a parallel bionic dexterous wrist structure to resolve these problems.

[0045] Reference Figure 2 and Figure 3 As shown, this application embodiment provides a parallel bionic dexterous wrist structure, including an arm-end unit, a palm-end unit, a constant velocity universal joint 5, and a parallel joint drive unit, wherein,

[0046] The arm-end unit is used to connect to the forearm 200 of the bionic robot;

[0047] The palm unit is used to connect to the palm 300 of the bionic robot;

[0048] The constant velocity universal joint 5 is connected between the arm end unit and the palm end unit to achieve constant torque and constant angular velocity transmission between the arm end unit and the palm end unit.

[0049] One end of the parallel joint drive unit is connected to the arm end unit, and the other end is connected to the palm end unit. The parallel joint drive unit is used to drive the palm end unit to flex, extend, and deflect radially and ulnarly relative to the arm end unit, so as to achieve flexible posture adjustment of the palm 300°.

[0050] For example, the wrist structure 100 of the dexterous hand is connected to the forearm 200 and the palm 300 at both ends to form a complete bionic robotic arm. Flexion and extension include forward extension and backward flexion, and ulnar and radial deviation include ulnar and radial deviation in the left and right directions. The angles of extension, flexion, ulnar deviation, and radial deviation can all be adjusted, such as extension 40°-50°, flexion 40°-50°, ulnar deviation 20°-30°, and radial deviation 15°-25°. The palm 300 is fixedly connected to one end of the palm end unit, so the flexible posture adjustment of the palm 300 includes the ability of the palm to extend, flex, ulnar, and radial at different angles.

[0051] Specifically, the palm-end unit can extend forward at different angles, flex backward at different angles, and deflect radially and ulnarly at different angles relative to the arm-end unit. The palm 300 is fixedly connected to one end of the palm-end unit, so the flexible posture adjustment of the palm 300 corresponds to the extension, flexion, and radial / ulnar deflection of the palm at different angles.

[0052] The embodiments described above employ a collaborative design of a constant velocity universal joint and a parallel joint drive unit. The constant velocity universal joint enables precise synchronous transmission of torque and angular velocity between the arm-end unit and the hand-end unit, ensuring the motion accuracy of the wrist structure during flexion, extension, and radial-ulnar deviation movements. Simultaneously, the parallel joint drive unit provides active actuation, granting the wrist structure flexible posture adjustment capabilities in three-dimensional space. This combination balances the functionality of flexible wrist movement with enhanced reliability of the transmission process and stability of the drive operation, allowing the dexterous wrist structure to accurately simulate the flexible movements of the human hand, thereby significantly improving the performance of the robotic arm.

[0053] Reference Figure 4 and Figure 5 As shown in some specific embodiments of this application, the arm end unit includes a first connecting flange 1, a first fixing seat 3, and a first connecting shaft 7; one end of the first connecting flange 1 is used to connect the forearm 200, and the other end is coaxially connected to one end of the first connecting shaft 7. The other end of the first connecting shaft 7 is connected to the constant velocity universal joint 5. The first fixing seat 3 is installed on the outer peripheral surface of the first connecting shaft 7. Two first drive shafts are respectively provided on both sides of the first fixing seat 3. The first drive shafts are used to connect the parallel joint drive unit.

[0054] In the above embodiments of this application, the first connecting flange 1 is located at the rear end of the wrist structure, and it is used to connect the entire wrist structure to the forearm, etc. The front part of the first connecting flange 1 is a straight rod-type first connecting shaft 7. An annular step can be machined on the side of the first connecting shaft 7 near the first connecting flange 1 (that is, in the first connecting shaft 7, the diameter of the rear side of the first fixing seat 3 is larger than the diameter of the front side), so that the first fixing seat 3 set on the first connecting shaft 7 is restricted to a preset position. The first fixing seat 3 adopts two semi-circular annular flanges, and the two annular flanges are connected by bolts. When the screws are tightened, the first fixing seat 3 is engaged with the first connecting shaft 7 to prevent the first fixing seat 3 from shifting and rotating. The lower two sides of the first fixing seat 3 are provided with first drive shafts. The first drive shafts can be stepped shafts, but are not limited to them.

[0055] In some specific embodiments of this application, the palm end unit includes a second connecting flange 2, a second fixing seat 4, and a second connecting shaft; one end of the second connecting flange 2 is used to connect the palm 300, and the other end is coaxially connected to one end of the second connecting shaft, the other end of the second connecting shaft is connected to a constant velocity universal joint 5, the second fixing seat 4 is installed on the outer circumferential surface of the second connecting shaft, and two second drive shafts are respectively provided on both sides of the second fixing seat 4, the second drive shafts are used to connect the parallel joint drive unit.

[0056] In the above embodiments of this application, an annular step can be machined on the side of the second connecting shaft near the second connecting flange 2, so that the second fixed seat 4 is restricted to a preset position. The second fixed seat 4 has the same structure as the first fixed seat 3, both using two semi-circular annular flanges, which are fixed together by screws, so that the second fixed seat 4 is tightly fixed to the second connecting shaft and can prevent the second fixed seat 4 from rotating. The second drive shaft can be a stepped shaft, but is not limited to this.

[0057] In some specific embodiments of this application, the constant velocity universal joint 5 includes a ball head, a steel ball, and a ball cage sleeve; the outer ring of the ball head is uniformly provided with at least one first steel ball roller track along its own circumference, and the inner ring of the ball cage sleeve is uniformly provided with at least one second steel ball roller track along its own circumference, and the steel ball can be rolled and embedded in the rolling space formed by the first steel ball roller track and the second steel ball roller track;

[0058] The ball head is connected to the end of the first connecting shaft 7 that is away from the first connecting flange 1; the ball cage sleeve is connected to the end of the second connecting shaft that is away from the second connecting flange 2.

[0059] In the above embodiments of this application, the constant velocity universal joint 5 adopts a ball cage type constant velocity universal joint. The front end of the first connecting shaft 7 can be machined into an integral structure with the star-shaped ball head of the constant velocity universal joint, or the first connecting shaft 7 can be connected to the star-shaped ball head through spline, flat joint, heat fitting, or other installation methods. A plurality of ball head roller tracks are evenly distributed on the outer spherical surface of the star-shaped ball head, arranged along the direction of the first connecting shaft 7. The number of steel balls is the same as the number of ball head roller tracks, and the steel balls and ball head roller tracks fit tightly together. A ball cage sleeve is provided around the outer ring of the steel balls. The ball cage sleeve is hollow and spherical. A plurality of ball cage sleeve roller tracks corresponding to the ball head roller tracks are evenly distributed on the inner ring of the ball cage sleeve, arranged along the direction of the first connecting shaft 7. The ball head roller tracks and ball cage sleeve roller tracks cooperate to enclose the steel balls inside the two roller tracks, providing support for the movement range of the ball cage type constant velocity universal joint and simultaneously limiting the maximum range of motion. The ball cage sleeve and the ball head of the star-shaped ball head are at the same sphere center, ensuring constant velocity characteristics during transportation. The front end of the ball cage sleeve is equipped with a second drive shaft and a second connecting flange 2. The ball cage constant velocity universal joint is used to simulate the radiocarpal joint of the human wrist. It has the same structure as the human body, with a large range of motion and high flexibility.

[0060] In some specific embodiments of this application, both the outer ring of the ball head and the inner ring of the ball cage are spherical, and the centers of the spherical surfaces of the outer ring of the ball head and the inner ring of the ball cage coincide.

[0061] In the above embodiments of this application, the steel ball is disposed between the ball head and the ball cage sleeve, and generally a ring of steel balls is disposed, with the center of the outer spherical surface of the ball head coinciding with the centroid of the ring of steel balls.

[0062] In some specific embodiments of this application, the parallel joint drive unit includes at least two drive mechanisms, and the drive mechanism includes a rotating arm 6, a joint actuator, a joint actuator fixing seat 10, and a connecting rod 14.

[0063] The housing of the joint actuator is mounted on the joint actuator mounting base 10. The joint actuator mounting base 10 is provided with a first joint bearing 11, which is connected to a first drive shaft. The output shaft of the joint actuator is connected to one end of the rotating arm 6, and the two ends of the connecting rod 14 are respectively connected to the other end of the rotating arm 6 and the second drive shaft. The joint actuator is used to drive the connecting rod 14 to perform push-pull motion through the rotation of the rotating arm 6, and then drive the arm end unit to perform flexion-extension and radial-ulnar deviation through the coordinated push-pull motion of the connecting rod 14 in the two drive mechanisms.

[0064] In the above embodiments of this application, the joint actuator can be a miniature joint actuator with a relatively smaller volume compared to ordinary joint actuators, but is not limited thereto; the joint actuator is connected to the joint actuator mounting base by screws, the first joint bearing 11 on the joint actuator mounting base is hinged to the first drive shaft on the outside of the first mounting base 3, and the first joint bearing 11 and the first drive shaft are pressed together by a pressure plate, the joint actuator output shaft is connected to the rotating arm 6 by screws, and the rotating arm 6 is provided with a stop. Specifically, an annular boss (outer stop) can be machined on the end face of the rotating arm connected to the joint actuator output shaft, and a matching annular groove can be machined on the corresponding joint actuator output shaft. The dimensions of the annular boss and the annular groove are precisely matched, so as to ensure that the rotating arm 6 is reliably connected to the preset connection position of the joint actuator output shaft.

[0065] This application employs a ball-cage type constant velocity universal joint to simulate the radiocarpal joint structure of the human wrist. It also uses two parallel micro-joint actuators as driving elements, employing a rotating arm and connecting rod structure to transmit power from the micro-joint actuators to the second fixed base 4. The connection between the connecting rod and the second fixed base 4, as well as the rotating arm, utilizes joint bearings to ensure flexible movement of each part under load. This application overcomes the shortcomings of traditional robot wrists, such as limited range of motion, large driving mechanisms, and low flexibility. Furthermore, the parallel structure offers advantages such as high motion accuracy and high rigidity.

[0066] In some specific embodiments of this application, the flexible posture adjustment of the palm end unit includes three movement states: extension, flexion, and radial-ulnar deviation.

[0067] If the two links 14 simultaneously perform a pushing motion in the direction away from the arm end unit, the palm end unit will extend relative to the arm end unit.

[0068] If the two links 14 simultaneously retract in a direction away from the arm end unit, the palm end unit will flex relative to the arm end unit.

[0069] If one link 14 performs a pushing motion away from the arm end unit and the other link 14 performs a retraction motion away from the arm end unit, then the palm end unit performs radial and ulnar deflection relative to the arm end unit.

[0070] For example, the two joint actuators are the first joint actuator 8 and the second joint actuator 9. The joint actuators drive the rotating arm 6 to rotate in both directions, causing the two connecting rods to perform linear push-pull movements along a preset trajectory, thereby achieving four motion states of the palm-end unit. The specific motion relationships are as follows:

[0071] Reference Figure 6 As shown, when the first joint actuator 8 rotates counterclockwise and the second joint actuator 9 rotates clockwise, the rotating arm 6 simultaneously pushes the two connecting rods 14 forward, and the second connecting flange 2 rotates upward along the center of the constant velocity universal joint 5 to complete the extension action.

[0072] Reference Figure 7 As shown, when the first joint actuator 8 rotates clockwise and the second joint actuator 9 rotates counterclockwise, the rotating arm 6 simultaneously pulls the two connecting rods 14 to move backward, and the second connecting flange 2 rotates downward along the ball center of the constant velocity universal joint 5 to complete the bending action.

[0073] Reference Figure 8 As shown, when the first joint actuator 8 rotates counterclockwise and the second joint actuator 9 rotates counterclockwise, the rotating arm 6 near the little finger pushes the connecting rod 14 forward, and the rotating arm 6 near the thumb pulls the connecting rod 14 backward, so that the rotating arm 6 pushes the two connecting rods 14 to move in the radial direction, and the second connecting flange 2 rotates in the radial direction along the ball center of the constant velocity universal joint 5 to complete the radial deflection action;

[0074] Reference Figure 9 As shown, when the first joint actuator 8 rotates clockwise and the second joint actuator 9 rotates clockwise, the rotating arm 6 near the little finger pulls the connecting rod 14 backward, and the rotating arm 6 near the thumb pushes the connecting rod 14 forward, so that the rotating arm 6 pushes the two connecting rods 14 to move in the lateral direction, and the second connecting flange 2 rotates along the lateral direction of the ball center of the constant velocity universal joint 5 to complete the lateral action.

[0075] In the above embodiments of this application, the relatively rotatable hinge structure between the connecting rod and the palm end unit and the rotating arm can adapt to the changes in the posture of the components under various motion states, ensuring that the power transmission is smooth and the motion stroke is precise and controllable.

[0076] In some specific embodiments of this application, the end of the swing arm 6 is provided with a connecting shaft, and both ends of the connecting rod 14 are provided with second joint bearings 12. The second joint bearing 12 at one end of the connecting rod 14 is connected to the connecting shaft, and the second joint bearing 12 at the other end of the connecting rod 14 is connected to the second transmission shaft.

[0077] In the above embodiments of this application, the connecting shaft is located at the end of the rotating arm 6, and the second joint bearing 12 at one end of the connecting rod 14 is connected to the connecting shaft, and the joint bearing and the connecting shaft are pressed together by the pressure plate 13. Both the first joint bearing 11 and the second joint bearing 12 are spherical sliding bearings. The spherical sliding bearings can realize angle compensation and posture adaptation. The spherical contact structure of the spherical sliding bearings allows for angular deflection within a preset range between the first drive shaft and the joint actuator fixing seat 10, between the connecting rod 14 and the connecting shaft of the rotating arm 6, and between the connecting rod 14 and the second drive shaft. This can effectively absorb the angle difference caused by the relative position change of the connecting shaft and the second drive shaft when the rotating arm 6 swings, avoid motion interference caused by rigid connection, and ensure the stability and smoothness of power transmission.

[0078] In some specific embodiments of this application, in the initial installation state, if there are two drive mechanisms, the two drive mechanisms are symmetrically distributed on both sides of the first connecting shaft 7 with the axis of the first connecting shaft 7 as the center of symmetry, and the line connecting the geometric centers of the two drive mechanisms is perpendicular to the axis of the first connecting shaft 7.

[0079] For example, there are two drive mechanisms, but it is not limited to this. Four or six can also be used. Half of the total number of drive mechanisms and the other half of the drive mechanisms are symmetrically distributed on both sides of the first connecting shaft 7.

[0080] In the above embodiments of this application, in the initial installation state, the two drive mechanisms are equidistant from the axis of the first connecting shaft 7 and have the same spatial posture, forming a symmetrical layout around the first connecting shaft 7. This ensures balanced drive force output to the subsequent rotating arm and connecting rod, adapting to the coordinated drive requirements of multi-posture motion of the palm unit. Two parallel micro-joint actuators are used to drive the joint motion, resulting in high motion precision and high rigidity.

[0081] Based on the same inventive concept, another embodiment of this application provides a bionic robot, which includes the parallel bionic dexterous wrist structure in the above embodiment.

[0082] The preferred features in the above embodiments can be used individually in any embodiment, or in any combination thereof, provided they do not conflict with each other. Furthermore, parts not described in detail in the embodiments can be implemented using existing technologies.

[0083] The foregoing has described some specific embodiments of this application. It should be understood that this application is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the substantive content of this application. The above-described preferred features can be used in any combination without conflict.

Claims

1. A parallel biomimetic dexterous wrist structure, characterized in that, include: Arm end unit, used to connect to the forearm of the bionic robot; The palm unit is used to connect to the palm of the bionic robot; A constant velocity universal joint is connected between the arm end unit and the palm end unit to achieve constant torque and constant angular velocity transmission between the arm end unit and the palm end unit. A parallel joint drive unit is connected at one end to the arm end unit and at the other end to the palm end unit. The parallel joint drive unit is used to drive the palm end unit to flex, extend and deflect radially and ulnarly relative to the arm end unit, so as to realize the flexible posture adjustment of the palm. The arm-end unit includes a first connecting flange, a first fixed base, and a first connecting shaft; One end of the first connecting flange is used to connect the forearm, and the other end is coaxially connected to one end of the first connecting shaft. The other end of the first connecting shaft is connected to the constant velocity universal joint. The first fixed seat is installed on the outer circumferential surface of the first connecting shaft. Two first drive shafts are respectively provided on both sides of the first fixed seat. The first drive shafts are used to connect the parallel joint drive unit. The palm end unit includes a second connecting flange, a second fixed base, and a second connecting shaft; One end of the second connecting flange is used to connect to the palm, and the other end is coaxially connected to one end of the second connecting shaft. The other end of the second connecting shaft is connected to the constant velocity universal joint. The second fixed seat is installed on the outer circumferential surface of the second connecting shaft. Two second drive shafts are respectively provided on both sides of the second fixed seat. The second drive shafts are used to connect to the parallel joint drive unit. The constant velocity universal joint includes a ball head, a steel ball, and a ball cage sleeve; the outer ring of the ball head is uniformly provided with at least one first steel ball roller track along its own circumference, and the inner ring of the ball cage sleeve is uniformly provided with at least one second steel ball roller track along its own circumference; the steel ball can be rolled and embedded in the rolling space formed by the first steel ball roller track and the second steel ball roller track. The ball head is connected to the end of the first connecting shaft that is away from the first connecting flange; the ball cage sleeve is connected to the end of the second connecting shaft that is away from the second connecting flange.

2. The parallel bionic dexterous wrist structure according to claim 1, characterized in that, Both the outer ring of the ball head and the inner ring of the ball cage are spherical, and the centers of the spherical surfaces of the outer ring of the ball head and the inner ring of the ball cage coincide.

3. The parallel bionic dexterous wrist structure according to claim 1, characterized in that, The parallel joint drive unit includes at least two drive mechanisms, each drive mechanism including a rotating arm, a joint actuator, a joint actuator mounting base, and a connecting rod. The housing of the joint actuator is mounted on the joint actuator mounting base. The joint actuator mounting base is provided with a first joint bearing, which is connected to the first drive shaft. The output shaft of the joint actuator is connected to one end of the rotating arm, and the two ends of the connecting rod are respectively connected to the other end of the rotating arm and the second drive shaft. The joint actuator is used to drive the connecting rod to perform push-pull motion through the rotation of the rotating arm, and then drive the arm end unit to perform flexion-extension and radial-ulnar deviation through the coordinated push-pull motion of the connecting rod in the two drive mechanisms.

4. The parallel bionic dexterous wrist structure according to claim 3, characterized in that, The palm unit includes three movement states: extension, flexion, and radial-ulnar deviation. If the two links simultaneously push outward in a direction away from the arm end unit, the palm end unit extends relative to the arm end unit. If the two links simultaneously retract in a direction away from the arm end unit, the palm end unit flexes relative to the arm end unit. If one of the links performs a pushing motion away from the arm end unit, and the other link performs a retraction motion away from the arm end unit, then the palm end unit performs radial and ulnar deflection relative to the arm end unit.

5. The parallel biomimetic dexterous wrist structure according to claim 3, characterized in that, The end of the swing arm is provided with a connecting shaft, and both ends of the connecting rod are provided with second joint bearings. The second joint bearing at one end of the connecting rod is connected to the connecting shaft, and the second joint bearing at the other end of the connecting rod is connected to the second transmission shaft.

6. The parallel bionic dexterous wrist structure according to claim 3, characterized in that, In the initial installation state, if there are two drive mechanisms, the two drive mechanisms are symmetrically distributed on both sides of the first connecting shaft with the axis of the first connecting shaft as the center of symmetry, and the line connecting the geometric centers of the two drive mechanisms is perpendicular to the axis of the first connecting shaft.

7. A biomimetic robot, characterized in that, The bionic robot includes the parallel bionic dexterous wrist structure as described in any one of claims 1-6.

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