Three-axis rope-driven wrist joint structure based on ball cage universal joint and humanoid robot

Abstract

The invention discloses a three-axis rope-driven wrist joint structure based on a ball cage universal joint and a humanoid robot. The three-axis rope-driven wrist joint structure comprises a base support unit, a rope-driven elbow rotation unit, a rope-driven flexion and deflection unit, an elbow rotation power source, a deflection power source and a flexion and extension power source. An upper rope-driven elbow rotating assembly and a lower rope-driven elbow rotating assembly of the rope-driven elbow rotating unit are movably mounted on the base support unit, and the upper rope-driven elbow rotating assembly and the lower rope-driven elbow rotating assembly are connected through a ball cage universal joint; the elbow rotation power source is connected with an elbow rotation rope of the lower rope-driven elbow rotation assembly; the rope-driven deflection unit is movably installed on the base support unit and located outside the upper rope-driven elbow rotating assembly. The deflection power source is connected with a deflection rope of the rope-driven deflection unit; and the flexion and extension power source is connected with a flexion and extension rope of the rope-driven flexion and deflection unit. The mechanism is designed based on the ball cage universal joint with the short axial size, the structure is compact, rope-driven decoupling is achieved, and the mechanism has the complete three-degree-of-freedom movement function.

Description

Technical Field

[0001] This invention relates to the technical field of humanoid robots, and in particular to a three-axis cable-driven wrist joint structure based on a ball-cage universal joint and a humanoid robot. Background Technology

[0002] As a core component of humanoid robots, the wrist joint mechanism has stringent requirements for lightweight structure and dexterity. Due to its advantages such as lightweight structure and low manufacturing cost, rope-driven technology is frequently used in the design of humanoid robot drive systems.

[0003] Currently, the wrist joint structures of humanoid robots based on rope-driven methods mainly include cross-connected structures and three-axis wrist joint structures. Among them, cross-connected structures mostly use built-in actuators or rope-driven compensation drive methods, which have good load-bearing capacity, but cannot achieve rope-driven decoupling function, and also have problems such as insufficient joint stiffness and difficulty in modeling. The three-axis wrist joint structure can realize three flexible movements of the wrist joint through rope drive. The quaternion wrist joint, as a typical three-axis wrist joint structure, can realize flexible wrist joint movement in a lightweight manner, but it uses a pair of coupled universal joints to realize elbow rotation function. Although it can achieve constant velocity elbow rotation transmission, its axial dimension is large, which is significantly different from the actual human wrist joint mechanism.

[0004] In existing cable-driven wrist joint mechanisms, most of the cross-series structures are relatively compact, but they require drive compensation control to achieve antagonistic cable drive transmission, which is relatively complex. Achieving high-precision drive performance requires a large amount of engineering work, making it difficult to achieve high-rigidity drive, and they generally cannot achieve elbow rotation function. On the other hand, cable-driven wrist joint mechanisms with cable drive decoupling and elbow rotation functions mostly adopt quaternion wrist joint structures, which have a large axial dimension and are quite different from the structure of real human wrist joints.

[0005] As a key component of humanoid robots, the wrist joint's structural compactness is just as important as its actuation performance. Therefore, designing a compact wrist joint structure that enables cable-driven decoupling is of great significance to the development of humanoid robots. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of the prior art and provide a three-axis cable-driven wrist joint structure based on a ball-cage universal joint. Designed based on a ball-cage universal joint with a short axial dimension, the structure is compact, can achieve cable-driven decoupling, and has complete three-degree-of-freedom motion functions. It has the advantages of high driving accuracy and high reliability.

[0007] Another object of the present invention is to provide a humanoid robot.

[0008] The objective of this invention is achieved through the following technical solution:

[0009] A triaxial cable-driven wrist joint structure based on a ball-cage universal joint includes a base support unit, a cable-driven elbow rotation unit, a cable-driven flexion-deflection unit, an elbow rotation power source, a deflection power source, and a flexion-extension power source. The cable-driven elbow rotation unit comprises an upper cable-driven elbow rotation assembly and a lower cable-driven elbow rotation assembly, which are movably mounted on the base support unit and connected via a ball-cage universal joint. The elbow rotation winch of the elbow rotation power source is connected to the elbow rotation rope of the lower cable-driven elbow rotation assembly. The elbow rotation winch is driven by the elbow rotation power source to rotate, thereby causing the lower and upper cable-driven elbow rotation assemblies to rotate at the same speed, achieving wrist rotation. The elbow rotation movement of the joint structure; the rope-driven flexion-deflection unit is movably mounted on the base support unit and located outside the upper rope-driven elbow rotation assembly. It includes a deflection rope and a flexion-extension rope, and a groove is formed on it for the upper rope-driven elbow rotation assembly to slide; the deflection winch of the deflection power source is connected to the deflection rope of the rope-driven flexion-deflection unit. The deflection power source drives its deflection winch to rotate, thereby driving the upper rope-driven elbow rotation assembly to move within the groove, realizing the deflection movement of the wrist joint structure; the flexion-extension winch of the flexion-extension power source is connected to the flexion-extension rope of the rope-driven flexion-deflection unit. The flexion-extension power source drives its flexion-extension winch to rotate, thereby driving the upper rope-driven elbow rotation assembly to move within the groove, realizing the flexion-extension movement of the wrist joint structure.

[0010] Furthermore, the base support unit includes a base, two side plates, a first transverse support plate, a second transverse support plate, a cross slider, and an auxiliary support. The base has four mounting holes around its top perimeter, designated as a front and rear mounting hole for mounting the cross slider, and a left and right mounting hole for mounting the rope-driven deflection unit. The left and right side plates of the base are connected by the first transverse support plate. The two side plates are symmetrically arranged at the bottom of the left and right sides of the base and connected by the second transverse support plate. The cross slider includes an annular body and two connecting rods symmetrically arranged on the front and rear sides of the annular body. These two connecting rods are rotatably mounted in the front and rear mounting holes of the base via rolling bearings. The auxiliary support has an upwardly protruding semi-annular structure and is positioned above the annular body of the cross slider. Its left and right ends are fixedly connected to the left and right sides of the annular body, respectively. The auxiliary support can rotate synchronously with the cross slider.

[0011] Furthermore, the upper rope-driven elbow-rotor assembly includes an output shaft and an output turntable; the output shaft is rotatably connected to the auxiliary support of the base support unit through a rolling bearing, its bottom is connected to the top of the lower rope-driven elbow-rotor assembly through a ball cage universal joint, and its top passes upward through the slide groove of the rope-driven bending unit; the output turntable is disposed on the top of the output shaft.

[0012] Furthermore, the outer circumferential surface of the output shaft is provided with a nylon bushing to prevent wear.

[0013] Furthermore, the lower rope-driven elbow rotation assembly includes a central shaft, a rope winch, an elbow rotation rope, and two fixed pulleys. The top of the central shaft is connected to the bottom of the output shaft via a ball-cage universal joint, and its upper part is rotatably connected to the base of the base support unit via a rolling bearing. The center of the rope winch is provided with an internal hexagonal hole for connecting the central shaft, and the middle of the central shaft is provided with an external hexagonal shaft section for engaging with the internal hexagonal hole. The rope winch is connected to the external hexagonal shaft section of the central shaft via the internal hexagonal hole and is axially locked by a nut. The two fixed pulleys are rotatably mounted on the left and right sides of the front end of the first transverse support plate of the base support unit, and are located diagonally below the rope winch. The midpoint of the elbow rotation rope is fixed to the rope winch via a rope lock, and its two ends pass around the two fixed pulleys and are connected to the elbow rotation winch of the elbow rotation power source. The elbow rotation power source drives the elbow rotation winch to rotate, thereby driving the rope winch, central shaft, ball-cage universal joint, output shaft, and output turntable to rotate synchronously, realizing the elbow rotation movement of the wrist joint structure.

[0014] Furthermore, the rope-driven flexion-deflection unit includes an inner wheel assembly, an outer wheel assembly, a deflection rope, a first deflection pulley group, a second deflection pulley group, a flexion-extension rope, a first flexion-extension pulley group, and a second flexion-extension pulley group. The inner wheel assembly is disposed outside the cross slider and auxiliary support of the base support unit, and its front and rear sides are rotatably connected to the two connecting rods of the cross slider of the base support unit through rolling bearings, respectively. The outer wheel assembly is disposed outside the inner wheel assembly, and its left and right sides are rotatably connected to the left and right mounting holes of the base of the base support unit through rolling bearings, respectively. The rotation axes of the inner wheel assembly and the outer wheel assembly are orthogonal to each other. The inner wheel assembly and the outer wheel assembly have grooves formed on them for the upper rope-driven toggle assembly to move. The slide groove includes an inner wheel upper slide groove, an inner wheel lower slide groove, an outer wheel upper slide groove, and an outer wheel lower slide groove. The inner wheel upper slide groove and the inner wheel lower slide groove are respectively located on the inner wheel assembly, and the line connecting the two ends of the inner wheel upper slide groove and the line connecting the two ends of the inner wheel lower slide groove are spatially orthogonal. The outer wheel upper slide groove and the outer wheel lower slide groove are respectively located on the outer wheel assembly, and the line connecting the two ends of the outer wheel upper slide groove and the line connecting the two ends of the outer wheel lower slide groove are spatially orthogonal. Furthermore, the line connecting the two ends of the outer wheel upper slide groove and the line connecting the two ends of the inner wheel upper slide groove are orthogonal, and the output shaft of the upper rope-driven elbow-rotor assembly can slide along the outer wheel upper slide groove or the inner wheel upper slide groove. The line connecting the two ends of the outer wheel lower slide groove and the line connecting the two ends of the inner wheel lower slide groove are orthogonal, and the lower rope... The central shaft of the drive elbow rotation assembly passes through the outer wheel sliding groove and the inner wheel sliding groove and extends downwards; the outer wheel assembly has a first deflection rope drive groove and a second deflection rope drive groove respectively, and the first deflection rope drive groove and the second deflection rope drive groove are symmetrically arranged on the left and right sides of the outer wheel sliding groove; the first deflection pulley group and the second deflection pulley group are symmetrically arranged on the front and rear sides below the outer wheel assembly; the first deflection pulley group includes a first upper deflection pulley and a first lower deflection pulley, and the first upper deflection pulley and the first lower deflection pulley are rotatably mounted between two first deflection pulley side plates; the second deflection pulley group includes a second upper deflection pulley and a second lower deflection pulley, and the second upper deflection pulley and the second lower deflection pulley are rotatably mounted between two first deflection pulley side plates; The pulley is rotatably mounted between two second deflecting pulley side plates; the deflecting rope includes a first upper deflecting rope, a second upper deflecting rope, a first lower deflecting rope, and a second lower deflecting rope; the first upper deflecting rope and the second upper deflecting rope are respectively arranged on the front and rear sides of the outer wheel assembly and are respectively antagonistically driven connected to the outer wheel assembly; wherein, the first upper deflecting rope passes around the first upper deflecting pulley, and its two ends extend upward and are respectively fixed to the top of the first deflecting rope drive groove and the second deflecting rope drive groove on the front side; the second upper deflecting rope passes around the second upper deflecting pulley, and its two ends extend upward and are respectively fixed to the top of the first deflecting rope drive groove and the second deflecting rope drive groove on the rear side;One end of the first lower deflection rope and the second lower deflection rope are respectively fixed to the second transverse support plate of the base support unit, and the other end passes over the first lower deflection pulley and the second lower deflection pulley respectively and is connected to the deflection winch of the deflection power source. The deflection power source drives the deflection winch to rotate, thereby driving the output shaft of the upper rope-driven elbow rotation assembly to move in the groove on the inner wheel, realizing the deflection movement of the wrist joint structure; the inner wheel assembly has a first flexion-extension rope drive groove and a second flexion-extension rope drive groove respectively, and the first flexion-extension rope drive groove and the second flexion-extension rope drive groove are respectively formed on the inner wheel assembly. The second flexion-extension rope drive groove is symmetrically arranged on the front and rear sides of the inner wheel sliding groove; the first flexion-extension pulley group and the second flexion-extension pulley group are symmetrically arranged on the left and right sides below the inner wheel assembly; the first flexion-extension pulley group includes a first upper flexion-extension pulley and a first lower flexion-extension pulley, which are rotatably mounted between the two first flexion-extension pulley side plates; the second flexion-extension pulley group includes a second upper flexion-extension pulley and a second lower flexion-extension pulley, which are rotatably mounted between the two second flexion-extension pulley side plates. Between the side plates of the extension pulley; the extension rope includes a first upper extension rope, a second upper extension rope, a first lower extension rope, and a second lower extension rope; the first upper extension rope and the second upper extension rope are respectively arranged on the left and right sides of the inner wheel assembly and are respectively antagonistically driven connected to the inner wheel assembly; wherein, the first upper extension rope passes around the first upper extension pulley, and its two ends extend upward and are respectively fixed to the top of the first extension rope drive groove and the second extension rope drive groove on the left side; the second upper extension rope passes around the second upper extension pulley. A pulley extends upwards at both ends and is fixed to the top right side of the first and second flexion-extension rope drive grooves, respectively. One end of the first and second lower flexion-extension ropes is fixed to the second transverse support plate of the base support unit, and the other end passes around the first and second lower flexion-extension pulleys and is connected to the flexion-extension winch of the flexion-extension power source. The flexion-extension power source drives the winch to rotate, thereby causing the output shaft of the upper rope-driven elbow rotation assembly to move within the groove on the outer wheel, realizing the flexion-extension movement of the wrist joint structure.

[0015] Furthermore, the inner wheel assembly includes an upper inner wheel and a lower inner wheel, which are connected by bolts. The left and right sides of the upper inner wheel are rotatably connected to the two connecting rods of the cross slider via rolling bearings. The upper sliding groove and the lower sliding groove of the inner wheel are respectively provided on the upper inner wheel and the lower inner wheel. The upper part of the first flexion-extension rope drive groove and the second flexion-extension rope drive groove are provided on the upper inner wheel, and the lower part of the first flexion-extension rope drive groove and the second flexion-extension rope drive groove are provided on the lower inner wheel.

[0016] Furthermore, the outer wheel assembly includes an upper outer wheel and a lower outer wheel, which are connected by bolts. The front and rear sides of the upper outer wheel are rotatably connected to the left and right mounting holes of the base of the base support unit through rolling bearings, respectively. The upper outer wheel groove and the lower outer wheel groove are respectively provided on the upper outer wheel and the lower outer wheel. The first deflection rope drive groove and the second deflection rope drive groove are respectively provided on the lower inner wheel.

[0017] Furthermore, the elbow rotation power source, deflection power source, and flexion / extension power source are all motors.

[0018] Another objective of this invention is achieved through the following technical solution:

[0019] A humanoid robot includes the aforementioned three-axis cable-driven wrist joint structure based on a ball-cage universal joint.

[0020] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0021] 1. This invention adopts a wrist joint structure that combines a ball cage universal joint with assembled inner and outer wheels. The motion modeling is simple, the drive control is convenient, the axial dimensions are compact, and the structure is lightweight. Through the cooperation of inner and outer wheels and pulley system, the driving stiffness of the rope-driven wrist joint flexion, extension and deflection movements can be effectively increased, the rope driving force can be enhanced, and the overall structural reliability can be improved.

[0022] 2. The rope-driven bending and deflection unit of this invention adopts a bidirectional rope-driven decoupling design of inner and outer wheels, further realizing the lightweight design of the structure; the rope-driven elbow rotation unit utilizes the constant velocity transmission characteristics of the ball cage universal joint, and cooperates with the rope-driven bending and deflection unit to realize bending, extension, deflection and elbow rotation movements, with a compact overall structure; the base support unit provides a stable and reliable installation foundation for the above units through hollow cross sliders and auxiliary supports, improving the reliability and load-bearing capacity of the overall structure.

[0023] In summary, the wrist joint structure of the present invention has the advantages of compact and lightweight structure, stable and reliable performance, good cable-driven decoupling effect, and high driving stiffness, which is of great significance for improving the joint performance of humanoid robots and promoting the development of humanoid robot technology. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of the wrist joint structure of the present invention.

[0025] Figure 2 This is a front view of the wrist joint structure of the present invention.

[0026] Figure 3 for Figure 2 A sectional view along the AA direction.

[0027] Figure 4 for Figure 3 BB-direction sectional view.

[0028] Figure 5 This is a schematic diagram of the structure of the rope-driven deflection unit of the present invention.

[0029] Figure 6 This is a schematic diagram of the structure of the rope-driven elbow rotation unit of the present invention.

[0030] Figure 7 This is a schematic diagram of the base support unit of the present invention.

[0031] Figure 8 This is an exploded view of the wrist joint structure of the present invention.

[0032] Figure 9 This is a schematic diagram illustrating the principle of the wrist joint structure of the present invention for lateral and flexion-extension movements.

[0033] Figure 10 This is a schematic diagram illustrating the principle of elbow rotation movement in the wrist joint structure of this invention.

[0034] Figure 11 This is a schematic diagram of the outer wheel assembly of the present invention.

[0035] Figure 12 This is a schematic diagram of the lower outer wheel of the present invention.

[0036] Figure 13 This is a schematic diagram of the inner wheel assembly of the present invention.

[0037] Figure 14 This is a schematic diagram of the lower inner wheel of the present invention.

[0038] The attached diagram lists the components represented by each number as follows:

[0039] 1-Rope-driven bending and deflection unit; 101-Upper inner wheel; 102-Lower inner wheel; 1011-Inner wheel upper sliding groove; 1021-Inner wheel lower sliding groove; 103-First bending and extension rope drive groove; 104-Second bending and extension rope drive groove; 105-Upper outer wheel; 106-Lower outer wheel; 1051-Outer wheel upper sliding groove; 1061-Outer wheel lower sliding groove; 107-First deflection rope drive groove; 108-Second deflection rope drive groove; 109-First deflection pulley block; 110-Second deflection pulley block; 111-First upper deflection rope; 112-Second upper deflection rope; 113-First lower deflection rope; 114-Second lower deflection rope; 115-First bending and extension pulley block; 116-Second bending and extension... Pulley block, 117-First upper bending and stretching rope, 118-Second upper bending and stretching rope, 119-First lower bending and stretching rope, 120-Second lower bending and stretching rope, 2-Rope-driven elbow-spinning unit, 201-Output shaft, 202-Output turntable, 203-Ball cage universal joint, 204-Central shaft, 205-Rope winch, 206-Elbow-spinning rope, 207-Fixed pulley, 208-Rope lock, 209-Nylon bushing, 3-Base support unit, 301-Base, 3011-Mounting hole, 302-Side plate, 303-First transverse support plate, 304-Second transverse support plate, 305-Cross slider, 3051-Annular body, 3052-Connecting rod, 306-Auxiliary support. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0041] Example 1:

[0042] like Figures 1 to 14As shown, this embodiment provides a triaxial cable-driven wrist joint structure based on a ball-cage universal joint, including a cable-driven flexion-deflection unit 1, a cable-driven elbow rotation unit 2, a base support unit 3, an elbow rotation power source, a deflection power source, and a flexion-extension power source (not shown in the figure). In this embodiment, the elbow rotation power source, deflection power source, and flexion-extension power source are all motors. The base support unit 3 is mainly used to provide installation conditions for the cable-driven elbow rotation unit 2 and the cable-driven flexion-deflection unit 1, improving the load performance and reliability of the overall structure. The cable-driven elbow rotation unit 2 is mainly used to realize the elbow rotation function of the wrist joint structure and has constant velocity drive characteristics. The cable-driven elbow rotation unit 2 includes an upper cable-driven elbow rotation assembly and a lower cable-driven elbow rotation assembly, which are movably mounted on the base support unit 3, and are connected by a ball-cage universal joint 203, enabling constant velocity transmission in any state space. The elbow rotation winch of the elbow rotation power source is connected to the lower cable-driven elbow rotation assembly. The elbow rotation rope 206 is connected and driven by the elbow rotation power source to rotate its elbow rotation winch, thereby driving the lower rope-driven elbow rotation assembly and the upper rope-driven elbow rotation assembly to rotate at the same speed, realizing the elbow rotation movement of the wrist joint structure; the rope-driven flexion-deflection unit 1 is mainly used to realize the flexion, extension and deflection functions of the wrist joint structure, and also has a rope-driven decoupling function. The rope-driven flexion-deflection unit 1 is movably installed on the base support unit 3 and located outside the upper rope-driven elbow rotation assembly. It includes a deflection rope and a flexion-extension rope, and has a feed for the upper... The upper rope-driven elbow rotation assembly slides in a groove; the deflection winch of the deflection power source is connected to the deflection rope of the rope-driven flexion-deflection unit 1, and the deflection winch is driven to rotate by the deflection power source, thereby driving the upper rope-driven elbow rotation assembly to move in the groove, realizing the deflection movement of the wrist joint structure; the flexion-extension winch of the flexion-extension power source is connected to the flexion-extension rope of the rope-driven flexion-deflection unit 1, and the flexion-extension winch is driven to rotate by the flexion-extension power source, thereby driving the upper rope-driven elbow rotation assembly to move in the groove, realizing the flexion-extension movement of the wrist joint structure.

[0043] The base support unit 3 includes a base 301, two side plates 302, a first transverse support plate 303, a second transverse support plate 304, a cross slider 305, and an auxiliary support 306. The base 301 has four mounting holes 3011 around its top perimeter, which are respectively the front and rear mounting holes for mounting the cross slider 305, and the left and right mounting holes for mounting the rope-driven bending unit 1. The left and right side plates of the base 301 are connected by the first transverse support plate 303. The two side plates 302 are symmetrically arranged at the bottom of the left and right sides of the base 301, and are connected by the second transverse support plate 304. The cross slider 305 includes an annular body 3051 and two connecting rods 3052 symmetrically arranged on the front and rear sides of the annular body 3051. The two connecting rods 3052 are rotatably installed in the front mounting hole and the rear mounting hole of the base 301 through rolling bearings, respectively. The auxiliary bracket 306 has an upwardly protruding semi-annular structure and is arranged above the annular body 3051 of the cross slider 305. Its left and right ends are fixedly connected to the left and right sides of the annular body 3051, respectively. The auxiliary bracket 306 can rotate synchronously with the cross slider 305 and can follow the output shaft 201 of the upper rope-driven elbow rotation assembly to perform bending, extension and deflection movements.

[0044] The upper rope-driven elbow rotation assembly includes an output shaft 201 and an output turntable 202. The output shaft 201 is rotatably connected to the auxiliary support 306 of the base support unit 3 via a rolling bearing to ensure the stability of the structure. At the same time, it can realize elbow rotation while performing flexion, extension and deflection movements. Its bottom is connected to the top of the lower rope-driven elbow rotation assembly via a ball cage universal joint 203, and its top passes upward through the slide groove of the rope-driven flexion and deflection unit 1. The output turntable 202 is set on the top of the output shaft 201. The outer circumferential surface of the output shaft 201 is provided with a wear-resistant nylon bushing 209.

[0045] The lower rope-driven toggle assembly includes a central shaft 204, a rope winch 205, a toggle rope 206, and two fixed pulleys 207. The top of the central shaft 204 is connected to the bottom of the output shaft 201 via a ball joint 203, and its upper part is rotatably connected to the base 301 of the base support unit 3 via rolling bearings. The rope winch 205 has an internal hexagonal hole for connecting the central shaft 204 at its center, and an external hexagonal shaft section for engaging with the internal hexagonal hole is provided in the middle of the central shaft 204. The rope winch 205 is connected to the external hexagonal shaft section of the central shaft 204 through the internal hexagonal hole and is axially locked by a nut. Two fixed pulleys 207 are rotatably mounted on the left and right sides of the front end of the first transverse support plate 303 of the base support unit 3, and are located diagonally below the rope winch 205; the midpoint of the elbow-rotating rope 206 is fixed to the rope winch 205 by the rope lock 208, and its two ends pass over the two fixed pulleys 207 and are connected to the elbow-rotating winch of the elbow-rotating power source; the elbow-rotating power source drives the elbow-rotating winch to rotate, thereby driving the rope winch 205, the central shaft 204, the ball cage universal joint 203, the output shaft 201 and the output turntable 202 to rotate synchronously and at the same speed, realizing the elbow rotation movement of the wrist joint structure.

[0046] The rope-driven bending and twisting unit 1 includes an inner wheel assembly, an outer wheel assembly, a deflection rope, a bending and stretching rope, a first deflection pulley group 109, a second deflection pulley group 110, a first bending and stretching pulley group 115, and a second bending and stretching pulley group 116. The inner wheel assembly is located outside the cross slider 305 and auxiliary support 306 of the base support unit 3, and its front and rear sides are rotatably connected to the two connecting rods 3052 of the cross slider 305 of the base support unit 3 via rolling bearings. The outer wheel assembly is located outside the inner wheel assembly, and its left and right sides are rotatably connected to the left mounting hole and right mounting hole of the base 301 of the base support unit 3 via rolling bearings. The rotation axes of the inner wheel assembly and the outer wheel assembly are orthogonal to each other. The inner wheel assembly and the outer wheel assembly have grooves formed on them for the upper rope-driven toggle assembly to move. The grooves include an upper inner wheel groove 1011, a lower inner wheel groove 1021, an upper outer wheel groove 1051, and a lower outer wheel groove 1021. 061; The inner wheel upper sliding groove 1011 and the inner wheel lower sliding groove 1021 are respectively located on the inner wheel assembly, and the line connecting the two ends of the inner wheel upper sliding groove 1011 and the line connecting the two ends of the inner wheel lower sliding groove 1021 are spatially orthogonal to each other; the outer wheel upper sliding groove 1051 and the outer wheel lower sliding groove 1061 are respectively located on the outer wheel assembly, and the line connecting the two ends of the outer wheel upper sliding groove 1051 and the line connecting the two ends of the outer wheel lower sliding groove 1061 are spatially orthogonal to each other; and the outer wheel upper sliding groove 1051... The line connecting the two ends of 051 is orthogonal to the line connecting the two ends of the inner wheel upper groove 1011. The output shaft 201 of the upper rope drive elbow rotation assembly can slide along the outer wheel upper groove 1051 or the inner wheel upper groove 1011. The line connecting the two ends of the outer wheel lower groove 1061 is orthogonal to the line connecting the two ends of the inner wheel lower groove 1021. The central shaft 204 of the lower rope drive elbow rotation assembly passes through the outer wheel lower groove 1061 and the inner wheel lower groove 1021 and extends downward.

[0047] The outer wheel assembly has a first deflection rope drive groove 107 and a second deflection rope drive groove 108 respectively, and the first deflection rope drive groove 107 and the second deflection rope drive groove 108 are symmetrically arranged on the left and right sides of the outer wheel sliding groove 1061; the first deflection pulley group 109 and the second deflection pulley group 110 are symmetrically arranged on the front and rear sides below the outer wheel assembly; the first deflection pulley group 109 includes a first upper deflection pulley and a first lower deflection pulley, and the first upper deflection pulley and the first lower deflection pulley are rotatably mounted between the two first deflection pulley side plates; the second deflection pulley group 110 includes... The assembly includes a second upper deflecting pulley and a second lower deflecting pulley, which are rotatably mounted between two second deflecting pulley side plates. The deflecting ropes include a first upper deflecting rope 111, a second upper deflecting rope 112, a first lower deflecting rope 113, and a second lower deflecting rope 114. The first upper deflecting rope 111 and the second upper deflecting rope 112 are respectively arranged on the front and rear sides of the outer wheel assembly and are respectively connected to the outer wheel assembly in an antagonistic drive connection. The first upper deflecting rope 111 passes around the first upper deflecting pulley, and its two ends extend upwards. The first upper deflection rope 112 extends and is fixed to the top of the first deflection rope drive groove 107 and the second deflection rope drive groove 108 on the front side, respectively; the second upper deflection rope 112 passes around the second upper deflection pulley, and its two ends extend upward and are fixed to the top of the first deflection rope drive groove 107 and the second deflection rope drive groove 108 on the rear side, respectively; one end of the first lower deflection rope 113 and the second lower deflection rope 114 are fixed to the second transverse support plate 304 of the base support unit 3, and the other end passes around the first lower deflection pulley and the second lower deflection pulley, respectively, and is connected to the deflection winch of the deflection power source. The connection is made so that the deflection winch is driven to rotate by the deflection power source. Then, the first deflection pulley group 109 and the second deflection pulley group 110 move up and down through the first lower deflection rope 113 and the second lower deflection rope 114. This drives the outer wheel assembly to rotate around its rotation axis, and finally drives the output shaft 201 of the upper rope drive elbow rotation assembly to move in the inner wheel upper groove 1011, realizing the high-rigidity deflection movement of the wrist joint structure. In this process, the rope drive tension is doubled through the first upper deflection pulley and the second upper deflection pulley, thereby increasing the driving stiffness of the wrist joint deflection direction.

[0048] The inner wheel assembly has a first flexion-extension rope drive groove 103 and a second flexion-extension rope drive groove 104, which are symmetrically arranged on the front and rear sides of the inner wheel sliding groove 1021. A first flexion-extension pulley group 115 and a second flexion-extension pulley group 116 are symmetrically arranged on the left and right sides below the inner wheel assembly. The first flexion-extension pulley group 115 includes a first upper flexion-extension pulley and a first lower flexion-extension pulley, which are rotatably mounted between the two first flexion-extension pulley side plates. The second flexion-extension pulley group 116 includes... The assembly includes a second upper flexing pulley and a second lower flexing pulley, which are rotatably mounted between the side plates of the two second flexing pulleys. The flexing ropes include a first upper flexing rope 117, a second upper flexing rope 118, a first lower flexing rope 119, and a second lower flexing rope 120. The first upper flexing rope 117 and the second upper flexing rope 118 are respectively arranged on the left and right sides of the inner wheel assembly and are respectively connected to the inner wheel assembly in an antagonistic drive connection. The first upper flexing rope 117 passes around the first upper flexing pulley, and its two ends extend upwards. The first upper flexion-extension rope 118 is fixed to the top left side of the first flexion-extension rope drive groove 103 and the second flexion-extension rope drive groove 104, respectively; the second upper flexion-extension rope 118 passes over the second upper flexion-extension pulley, and its two ends extend upward and are fixed to the top right side of the first flexion-extension rope drive groove 103 and the second flexion-extension rope drive groove 104, respectively; one end of the first lower flexion-extension rope 119 and the second lower flexion-extension rope 120 are fixed to the second transverse support plate 304 of the base support unit 3, and the other end passes over the first lower flexion-extension pulley and the second lower flexion-extension pulley, respectively, and is connected to the flexion-extension winch of the flexion-extension power source. The connection is driven by a flexion-extension power source to rotate its flexion-extension winch. Then, through the first lower flexion-extension rope 119 and the second lower flexion-extension rope 120, the first flexion-extension pulley group 115 and the second flexion-extension pulley group 116 move up and down, thereby driving the inner wheel assembly to rotate around its rotation axis. Finally, the output shaft 201 of the upper rope-driven elbow rotation assembly moves within the outer wheel's upper groove 1051, realizing high-rigidity flexion-extension movement of the wrist joint structure. During this process, the rope drive tension is doubled through the first and second upper flexion-extension pulleys, thereby increasing the driving stiffness of the wrist joint in the flexion-extension direction.

[0049] The inner wheel assembly includes an upper inner wheel 101 and a lower inner wheel 102, which are connected by bolts. The left and right sides of the upper inner wheel 101 are rotatably connected to the two connecting rods 3052 of the cross slider 305 via rolling bearings. The upper inner wheel groove 1011 and the lower inner wheel groove 1021 are respectively provided on the upper inner wheel 101 and the lower inner wheel 102. The upper parts of the first flexion-extension rope drive groove 103 and the second flexion-extension rope drive groove 104 are provided on the upper inner wheel 101, and the lower parts of the first flexion-extension rope drive groove 103 and the second flexion-extension rope drive groove 104 are provided on the lower inner wheel 102.

[0050] The outer wheel assembly includes an upper outer wheel 105 and a lower outer wheel 106, which are connected by bolts. The front and rear sides of the upper outer wheel 105 are rotatably connected to the left and right mounting holes of the base 301 of the base support unit 3 via rolling bearings. An upper sliding groove 1051 and a lower sliding groove 1061 are respectively provided on the upper outer wheel 105 and the lower outer wheel 106. A first deflection rope drive groove 107 and a second deflection rope drive groove 108 are respectively provided on the lower inner wheel 102. The modular design of the inner and outer wheel assemblies ensures the machinability of the parts and the smooth installation of the structural components.

[0051] Example 2:

[0052] This embodiment provides a humanoid robot, including the three-axis cable-driven wrist joint structure based on a ball-cage universal joint as described in Embodiment 1.

[0053] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope disclosed in the present invention, based on the technical solution and inventive concept of the present invention, shall fall within the scope of protection of the present invention.

Claims

1. A triaxial cable-driven wrist joint structure based on a ball-cage universal joint, characterized in that: The device includes a base support unit, a rope-driven elbow rotation unit, a rope-driven flexion and deflection unit, an elbow rotation power source, a deflection power source, and a flexion and extension power source. The rope-driven elbow rotation unit includes an upper rope-driven elbow rotation assembly and a lower rope-driven elbow rotation assembly, which are movably mounted on the base support unit and connected by a ball-cage universal joint. The elbow rotation winch of the elbow rotation power source is connected to the elbow rotation rope of the lower rope-driven elbow rotation assembly. The elbow rotation winch is driven to rotate by the elbow rotation power source, thereby driving the lower rope-driven elbow rotation assembly and the upper rope-driven elbow rotation assembly to rotate at the same speed, realizing the elbow rotation movement of the wrist joint structure. The cable-driven flexion-deflection unit is movably mounted on the base support unit and located outside the upper cable-driven elbow rotation assembly. It includes a deflection rope and a flexion-extension rope, and has a groove formed on it for the upper cable-driven elbow rotation assembly to slide. The deflection winch of the deflection power source is connected to the deflection rope of the cable-driven flexion-deflection unit. The deflection power source drives the deflection winch to rotate, thereby driving the upper cable-driven elbow rotation assembly to move within the groove, realizing the deflection movement of the wrist joint structure. The flexion-extension winch of the flexion-extension power source is connected to the flexion-extension rope of the cable-driven flexion-deflection unit. The flexion-extension power source drives the flexion-extension winch to rotate, thereby driving the upper cable-driven elbow rotation assembly to move within the groove, realizing the flexion-extension movement of the wrist joint structure.

2. The triaxial cable-driven wrist joint structure based on a ball-cage universal joint according to claim 1, characterized in that: The base support unit includes a base, two side plates, a first transverse support plate, a second transverse support plate, a cross slider, and an auxiliary support. The base has four mounting holes around its top perimeter: a front mounting hole and a rear mounting hole for mounting the cross slider, and a left mounting hole and a right mounting hole for mounting the rope-driven deflection unit. The left and right side plates of the base are connected by the first transverse support plate. The two side plates are symmetrically arranged at the bottom of the left and right sides of the base and connected by the second transverse support plate. The cross slider includes an annular body and two connecting rods symmetrically arranged on the front and rear sides of the annular body. These two connecting rods are rotatably mounted in the front and rear mounting holes of the base via rolling bearings. The auxiliary support has an upwardly protruding semi-annular structure and is located above the annular body of the cross slider. Its left and right ends are fixedly connected to the left and right sides of the annular body, respectively. The auxiliary support can rotate synchronously with the cross slider.

3. The triaxial cable-driven wrist joint structure based on a ball-cage universal joint according to claim 1, characterized in that: The upper rope-driven elbow-rotor assembly includes an output shaft and an output turntable; the output shaft is rotatably connected to the auxiliary support of the base support unit through a rolling bearing, and its bottom is connected to the top of the lower rope-driven elbow-rotor assembly through a ball cage universal joint, and its top passes upward through the slide groove of the rope-driven bending unit; the output turntable is located on the top of the output shaft.

4. A triaxial cable-driven wrist joint structure based on a ball-cage universal joint according to claim 3, characterized in that: The outer circumferential surface of the output shaft is provided with a nylon bushing to prevent wear.

5. A triaxial cable-driven wrist joint structure based on a ball-cage universal joint according to claim 3, characterized in that: The lower rope-driven elbow rotation assembly includes a central shaft, a rope winch, an elbow rotation rope, and two fixed pulleys. The top of the central shaft is connected to the bottom of the output shaft via a ball-cage universal joint, and its upper part is rotatably connected to the base of the base support unit via a rolling bearing. The center of the rope winch is provided with an internal hexagonal hole for connecting the central shaft, and the middle of the central shaft is provided with an external hexagonal shaft section for engaging with the internal hexagonal hole. The rope winch is connected to the external hexagonal shaft section of the central shaft via the internal hexagonal hole and is axially locked by a nut. The two fixed pulleys are rotatably mounted on the left and right sides of the front end of the first transverse support plate of the base support unit, and are located diagonally below the rope winch. The midpoint of the elbow rotation rope is fixed to the rope winch via a rope lock, and its two ends pass around the two fixed pulleys and are connected to the elbow rotation winch of the elbow rotation power source. The elbow rotation power source drives the elbow rotation winch to rotate, thereby driving the rope winch, central shaft, ball-cage universal joint, output shaft, and output turntable to rotate synchronously, realizing the elbow rotation movement of the wrist joint structure.

6. The triaxial cable-driven wrist joint structure based on a ball-cage universal joint according to claim 1, characterized in that: The rope-driven deflection unit includes an inner wheel assembly, an outer wheel assembly, a deflection rope, a first deflection pulley group, a second deflection pulley group, a flexion-extension rope, a first flexion-extension pulley group, and a second flexion-extension pulley group. The inner wheel assembly is located outside the cross slider and auxiliary support of the base support unit, and its front and rear sides are rotatably connected to the two connecting rods of the cross slider of the base support unit via rolling bearings. The outer wheel assembly is located outside the inner wheel assembly, and its left and right sides are rotatably connected to the left and right mounting holes of the base of the base support unit via rolling bearings. The rotation axes of the inner wheel assembly and the outer wheel assembly are orthogonal to each other. The inner wheel assembly and the outer wheel assembly have grooves formed on them for the upper rope-driven toggle assembly to move. The sliding groove includes an inner wheel upper sliding groove, an inner wheel lower sliding groove, an outer wheel upper sliding groove, and an outer wheel lower sliding groove. The inner wheel upper sliding groove and the inner wheel lower sliding groove are respectively located on the inner wheel assembly, and the line connecting the two ends of the inner wheel upper sliding groove and the line connecting the two ends of the inner wheel lower sliding groove are spatially orthogonal to each other. The outer wheel upper sliding groove and the outer wheel lower sliding groove are respectively located on the outer wheel assembly, and the line connecting the two ends of the outer wheel upper sliding groove and the line connecting the two ends of the outer wheel lower sliding groove are spatially orthogonal to each other. Furthermore, the line connecting the two ends of the outer wheel upper sliding groove and the line connecting the two ends of the inner wheel upper sliding groove are orthogonal to each other, and the output shaft of the upper rope-driven elbow assembly can slide along the outer wheel upper sliding groove or the inner wheel upper sliding groove. The line connecting the two ends of the outer wheel lower sliding groove and the line connecting the two ends of the inner wheel lower sliding groove are orthogonal to each other, and the lower rope-driven elbow assembly... The central axis of the rotating assembly passes through the outer wheel's sliding groove and the inner wheel's sliding groove and extends downwards; the outer wheel assembly has a first deflection rope drive groove and a second deflection rope drive groove respectively, and the first deflection rope drive groove and the second deflection rope drive groove are symmetrically arranged on the left and right sides of the outer wheel's sliding groove; the first deflection pulley group and the second deflection pulley group are symmetrically arranged on the front and rear sides below the outer wheel assembly; the first deflection pulley group includes a first upper deflection pulley and a first lower deflection pulley, and the first upper deflection pulley and the first lower deflection pulley are rotatably mounted between two first deflection pulley side plates; the second deflection pulley group includes a second upper deflection pulley and a second lower deflection pulley, and the second upper deflection pulley and the second lower deflection pulley are rotatably mounted between two first deflection pulley side plates; The wheel is rotatably mounted between two second deflecting pulley side plates; the deflecting rope includes a first upper deflecting rope, a second upper deflecting rope, a first lower deflecting rope, and a second lower deflecting rope; the first upper deflecting rope and the second upper deflecting rope are respectively arranged on the front and rear sides of the outer wheel assembly and are respectively antagonistically driven connected to the outer wheel assembly; wherein, the first upper deflecting rope passes around the first upper deflecting pulley, and its two ends extend upward and are respectively fixed to the top of the first deflecting rope drive groove and the second deflecting rope drive groove on the front side; the second upper deflecting rope passes around the second upper deflecting pulley, and its two ends extend upward and are respectively fixed to the top of the first deflecting rope drive groove and the second deflecting rope drive groove on the rear side;One end of the first lower deflection rope and the second lower deflection rope are respectively fixed to the second transverse support plate of the base support unit, and the other end passes over the first lower deflection pulley and the second lower deflection pulley respectively and is connected to the deflection winch of the deflection power source. The deflection power source drives the deflection winch to rotate, thereby driving the output shaft of the upper rope-driven elbow rotation assembly to move in the groove on the inner wheel, realizing the deflection movement of the wrist joint structure; the inner wheel assembly has a first flexion-extension rope drive groove and a second flexion-extension rope drive groove respectively, and the first flexion-extension rope drive groove and the second flexion-extension rope drive groove are respectively formed on the inner wheel assembly. The second flexion-extension rope drive groove is symmetrically arranged on the front and rear sides of the inner wheel sliding groove; the first flexion-extension pulley group and the second flexion-extension pulley group are symmetrically arranged on the left and right sides below the inner wheel assembly; the first flexion-extension pulley group includes a first upper flexion-extension pulley and a first lower flexion-extension pulley, which are rotatably mounted between the two first flexion-extension pulley side plates; the second flexion-extension pulley group includes a second upper flexion-extension pulley and a second lower flexion-extension pulley, which are rotatably mounted between the two second flexion-extension pulley side plates. Between the side plates of the extension pulley; the extension rope includes a first upper extension rope, a second upper extension rope, a first lower extension rope, and a second lower extension rope; the first upper extension rope and the second upper extension rope are respectively arranged on the left and right sides of the inner wheel assembly and are respectively antagonistically driven connected to the inner wheel assembly; wherein, the first upper extension rope passes around the first upper extension pulley, and its two ends extend upward and are respectively fixed to the top of the first extension rope drive groove and the second extension rope drive groove on the left side; the second upper extension rope passes around the second upper extension pulley. A pulley extends upwards at both ends and is fixed to the top right side of the first and second flexion-extension rope drive grooves, respectively. One end of the first and second lower flexion-extension ropes is fixed to the second transverse support plate of the base support unit, and the other end passes around the first and second lower flexion-extension pulleys and is connected to the flexion-extension winch of the flexion-extension power source. The flexion-extension power source drives the winch to rotate, thereby causing the output shaft of the upper rope-driven elbow rotation assembly to move within the groove on the outer wheel, realizing the flexion-extension movement of the wrist joint structure.

7. A triaxial cable-driven wrist joint structure based on a ball-cage universal joint according to claim 6, characterized in that: The inner wheel assembly includes an upper inner wheel and a lower inner wheel, which are connected by bolts. The left and right sides of the upper inner wheel are rotatably connected to the two connecting rods of the cross slider via rolling bearings. The upper inner wheel groove and the lower inner wheel groove are respectively provided on the upper inner wheel and the lower inner wheel. The upper part of the first flexure rope drive groove and the second flexure rope drive groove are provided on the upper inner wheel, and the lower part of the first flexure rope drive groove and the second flexure rope drive groove are provided on the lower inner wheel.

8. A triaxial cable-driven wrist joint structure based on a ball-cage universal joint according to claim 6, characterized in that: The outer wheel assembly includes an upper outer wheel and a lower outer wheel, which are connected by bolts. The front and rear sides of the upper outer wheel are rotatably connected to the left and right mounting holes of the base of the base support unit through rolling bearings, respectively. The upper outer wheel groove and the lower outer wheel groove are respectively provided on the upper outer wheel and the lower outer wheel. The first deflection rope drive groove and the second deflection rope drive groove are respectively provided on the lower inner wheel.

9. A triaxial cable-driven wrist joint structure based on a ball-cage universal joint according to claim 1, characterized in that: The elbow rotation power source, deflection power source, and flexion / extension power source are all motors.

10. A humanoid robot, characterized in that: Includes a triaxial cable-driven wrist joint structure based on a ball-cage universal joint as described in any one of claims 1 to 9.

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