Mechanical wrist joint, robot hand and robot

Abstract

This invention discloses a mechanical wrist joint for connecting the arm and palm of a robotic hand. It includes a reduction module and a drive module. The reduction module includes a rotating component for connecting to the palm. The drive module is connected to the reduction module via a transmission mechanism. The reduction module also includes a pin tooth housing and a swing component. The inner wall of the pin tooth housing has multiple circumferentially arranged receiving grooves, each groove containing a cylindrical pin tooth. The swing component is rotatably fitted onto the transmission mechanism. The outer circumference of the swing component has multiple gear teeth, fewer than the number of pin teeth, and there is partial meshing between the pin teeth of the pin tooth housing and the gear teeth of the swing component. Furthermore, this application also discloses a robotic hand and robot. The pin tooth housing and swing component reduce impact wear during gear meshing, and the compact meshing layout further enhances structural strength and improves the stability of the reduction module under long-term high-load conditions, thereby extending the overall service life.

Description

Technical Field

[0001] This application relates to the field of embodied intelligence technology, and in particular to a mechanical wrist joint, a robotic hand, and a robot. Background Technology

[0002] As a core component of robot end effectors, robotic arms undertake increasingly sophisticated operational tasks in fields such as industrial manufacturing, medical rehabilitation, and specialized operations. In practical applications, the wrist joint of the robotic arm needs to perform rotational movements for extended periods and at high frequencies, placing extremely high demands on the performance and reliability of the reduction gear transmission system. As a crucial part of the robotic arm's power transmission, the stability and durability of the reduction gear transmission system directly affect the overall operational accuracy and service life of the robotic arm.

[0003] However, existing speed reduction transmission solutions typically employ planetary reducers. Due to their multi-stage gear meshing principle, planetary reducers inevitably suffer from inherent backlash, which causes transmission accuracy to gradually deteriorate over time. Especially during high-speed rotation, insufficient lubrication or aging lubricant further accelerates wear, potentially leading to serious problems such as pitting or tooth breakage. Furthermore, planetary reducers have a complex structure with numerous components and high assembly precision requirements; a failure in any part can cause the entire transmission system to fail. In addition, under frequent start-stop or direction-changing conditions, the internal backlash and hysteresis of the planetary reducer significantly reduce transmission accuracy, affecting the positioning accuracy of the robotic arm. These problems not only shorten the reducer's lifespan but also increase maintenance costs and downtime, reducing the reliability of robotic arms in demanding scenarios such as industrial automation and medical surgery. Summary of the Invention

[0004] The main objective of this application is to propose a mechanical wrist joint, a robotic hand, and a robot, which aims to extend the service life of existing mechanical wrist joints and improve the reliability of robotic hands and robots.

[0005] To achieve the above objectives, this application discloses a mechanical wrist joint for connecting the arm and palm of a robotic hand, including a deceleration module and a drive module. The deceleration module includes a rotating component for connecting with the palm. The drive module is connected to the deceleration module via a transmission mechanism. The deceleration module also includes a pin tooth shell and a swing component. The inner wall of the pin tooth shell is provided with a plurality of receiving grooves in the circumferential direction, and each receiving groove is provided with a cylindrical pin tooth. The oscillating component is rotatably sleeved on the transmission mechanism. The outer periphery of the oscillating component is provided with multiple gear teeth. The number of gear teeth is less than the number of needle teeth, and the needle teeth of the needle tooth shell are partially engaged with the gear teeth of the oscillating component.

[0006] In some embodiments, the rotating member is provided with a pin on the side facing the transmission mechanism, and a plurality of the pins are distributed around the transmission mechanism; One end of the pin is fixed to the rotating member, and the other end of the pin passes through the swing member. The swing member has a through hole for the pin to pass through. The swing member drives the pin to move, and the pin drives the rotating member to move.

[0007] In some embodiments, the transmission mechanism includes an eccentric shaft, which includes a first shaft segment and a second shaft segment arranged axially, and the axes of the first shaft segment and the second shaft segment are parallel but do not coincide.

[0008] In some embodiments, the oscillating member includes a first cycloidal gear sleeved on the first shaft segment and a second cycloidal gear sleeved on the second shaft segment; The transmission mechanism further includes an isolation ring disposed between the first shaft segment and the second shaft segment, the isolation ring being used to separate the first cycloidal gear and the second cycloidal gear.

[0009] In some embodiments, a positioning cover and an output bearing are provided on the side of the rotating member away from the transmission mechanism, the inner ring of the output bearing is sleeved on the rotating member, and the outer ring of the output bearing is fixed to the inner wall of the positioning cover.

[0010] In some embodiments, the drive module includes a housing and a motor and a rotating shaft disposed within the housing, the motor being connected to the rotating shaft and used to provide driving force to the rotating shaft.

[0011] In some embodiments, the end of the rotating shaft facing the deceleration module is provided with a mounting hole, and one end of the eccentric shaft is embedded in the mounting hole.

[0012] In some embodiments, a mounting base is provided at the end of the drive module away from the deceleration module. The mounting base is used to connect to the arm of the robotic arm, and a main control board is provided inside the mounting base.

[0013] The second aspect of this application discloses a robotic hand, including a palm, an arm, and the aforementioned robotic wrist joint, wherein the two ends of the robotic wrist joint are respectively connected to the palm and the arm.

[0014] A third aspect of this application also discloses a robot that includes the aforementioned robotic arm.

[0015] This application proposes a mechanical wrist joint, a robotic hand, and a robot. The reduction module of the mechanical wrist joint includes a pin tooth housing and a swinging component. Through the characteristics of multi-tooth synchronous meshing and uniform load distribution, the transmission accuracy and stability are improved, and the impact wear during gear meshing is reduced. At the same time, the compact meshing layout further enhances the overall rigidity and improves the stability of the reduction module under long-term high-load conditions, thereby extending the service life of the mechanical wrist joint and improving the reliability of the robotic hand and robot. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the mechanical wrist joint in one embodiment of this application; Figure 2 This is a schematic diagram of the deceleration module in one embodiment of this application; Figure 3 This is a schematic diagram of the structure of the needle-tooth shell in one embodiment of this application; Figure 4 This is a schematic diagram of the structure of the first cycloidal gear and the second cycloidal gear in one embodiment of this application; Figure 5 This is a schematic diagram of the structure of the pin in one embodiment of this application; Figure 6 This is a schematic diagram of the transmission mechanism in one embodiment of this application; Figure 7 This is a schematic diagram of the positioning cover and output bearing in one embodiment of this application; Figure 8 This is a schematic diagram of the structure of the driving module in one embodiment of this application; Figure 9 This is a schematic diagram of the structure of the rotating shaft and mounting hole in one embodiment of this application; Figure 10 This is a schematic diagram of the mounting base in one embodiment of this application.

[0017] Explanation of reference numerals in the attached figures: Reduction module 100; Rotating component 110; Pin 111; Needle tooth housing 120; Receiving groove 121; Needle tooth 122; Oscillating component 130; Through hole 131; First cycloidal gear 132; Second cycloidal gear 133; Transmission mechanism 140; Eccentric shaft 141; First shaft section 142; Second shaft section 143; Isolation ring 144; Drive module 200; Housing 210; Motor 220; Rotating shaft 230; Mounting hole 231; Positioning cover 300; Output bearing 310; Mounting base 400. Detailed Implementation

[0018] The solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments in this application, and not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0019] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0020] It should also be noted that when a component is described as "fixed to" or "set on" another component, it can be directly on the other component or there may be an intervening component present. When a component is described as "connected to" another component, it can be directly connected to the other component or there may be an intervening component present.

[0021] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0022] This application proposes a mechanical wrist joint for connecting the arm and hand of a robotic hand. Please refer to [link to relevant documentation]. Figure 1 , Figure 2 , Figure 3 and Figure 4 In some embodiments, the mechanical wrist joint includes a deceleration module 100 and a drive module 200. The deceleration module 100 includes a rotating component 110 for connecting with the palm. The drive module 200 is connected to the deceleration module 100 through a transmission mechanism 140. The deceleration module 100 also includes a pin tooth housing 120 and a swing component 130. The inner wall of the pin tooth housing 120 is provided with a plurality of receiving grooves 121 in the circumferential direction. Each receiving groove 121 is provided with a cylindrical pin tooth 122. The swing member 130 is rotatably sleeved on the transmission mechanism 140. The outer periphery of the swing member 130 is provided with multiple gear teeth. The number of gear teeth is less than the number of needle teeth 122. The needle teeth 122 of the needle tooth housing 120 are partially meshed with the gear teeth of the swing member 130.

[0023] Specifically, the robotic wrist joint in this embodiment is applied to a robotic hand, with its two ends connected to the robotic arm and palm, respectively. It includes a reduction module 100 and a drive module 200 connected via a transmission mechanism 140. The reduction module 100 incorporates a rotating component 110 directly connected to the palm. High-speed power output from the drive module 200 is transmitted to the reduction module 100 via the transmission mechanism 140, and after reduction and torque amplification, drives the rotating component 110 to rotate. The motion of the rotating component 110 is further transmitted to the palm, thereby achieving multi-degree-of-freedom flexible movement similar to that of a human wrist joint. This design, by integrating power transmission, reduction conversion, and motion output functions, ensures precise control and smooth movement of the robotic wrist joint.

[0024] The reduction module 100 includes a pin tooth housing 120 and a swing member 130. The inner wall of the pin tooth housing 120 has multiple circumferentially evenly arranged receiving grooves 121, each containing a freely rotatable cylindrical pin tooth 122. The swing member 130 is fitted onto the transmission mechanism 140 and located inside the pin tooth housing 120. It is important to note that the swing member 130 has a ring of teeth on its outer circumference, and its outer diameter is smaller than the inner diameter of the pin tooth housing 120. This results in the swing member 130 having fewer teeth than the pin teeth 122 inside the pin tooth housing 120; the difference in tooth count is typically one or two teeth. The smaller the difference, the greater the reduction ratio. When the transmission mechanism 140 drives the swing member 130 to rotate, due to the difference in tooth count, the swing member 130 generates an angular displacement relative to the pin tooth housing 120 corresponding to the tooth count difference after each rotation cycle, thus generating a decelerated rotational motion for power output. This meshing method with a difference in the number of teeth allows the reduction module 100 to achieve a high reduction ratio within a compact structural space. Furthermore, since multiple pin teeth 122 participate in the meshing process simultaneously, the load distribution is more uniform, which is beneficial for improving stability and load-bearing capacity, making it more suitable for applications such as mechanical wrist joints that have more stringent requirements for space and precision.

[0025] The reduction module 100 proposed in this application employs a pin-tooth housing 120 and a swing element 130. Compared to the structure of a planetary reducer, its core advantage lies in significantly reducing transmission backlash. This design, through the characteristics of multi-tooth synchronous meshing and uniform load distribution, not only improves transmission accuracy and stability but also reduces impact wear during gear meshing. Simultaneously, the compact meshing layout further enhances overall rigidity, improving the reliability of the reduction module 100 under long-term high-load conditions, thereby extending the service life of the mechanical wrist joint.

[0026] Please see Figure 2 , Figure 4 and Figure 5In some embodiments, the rotating member 110 is provided with a pin 111 on the side facing the transmission mechanism 140, and a plurality of pins 111 are distributed around the transmission mechanism 140. One end of the pin 111 is fixed to the rotating member 110, and the other end of the pin 111 passes through the swing member 130. The swing member 130 has a through hole 131 for the pin 111 to pass through. The swing member 130 drives the pin 111 to move, and the pin 111 drives the rotating member 110 to move.

[0027] In this embodiment, the rotating component 110 is an output flange located on the side of the deceleration module 100 facing away from the drive module 200. Its core function is to transmit the decelerated power to the robotic arm through rotational motion. It should be noted that the implementation of the rotating component 110 is not limited to an output flange. In other possible embodiments, it can be replaced with other mechanical components with rotational motion transmission functions, such as couplings, gear shafts, etc. The side of the rotating component 110 facing away from the transmission mechanism 140 (i.e., the exposed end) is used to achieve a rigid connection with the robotic arm, thereby ensuring that the angular displacement output by the deceleration module 100 can accurately drive the arm movement.

[0028] In this configuration, multiple pins 111 are fixed to the rotating component 110 near the transmission mechanism 140 via welding or threaded connections. These pins 111 are arranged in a symmetrical ring around the transmission mechanism 140. The free end of each pin 111 passes through a corresponding through hole 131 on the oscillating component 130, forming a power transmission channel. Through this ring array arrangement, the output torque of the oscillating component 130 can be evenly distributed to each pin 111, reducing the risk of stress concentration in a single pin 111 and thus improving the smoothness of the transmission.

[0029] It is important to note that because the oscillating component 130 moves eccentrically within the pin housing 120, the center of the through hole 131 on the oscillating component 130 will periodically shift relative to the axis of the fixed pin 111. Therefore, the diameter of the through hole 131 must be designed to be larger than the outer diameter of the pin 111 to allow sufficient clearance for movement. If the through hole 131 and the pin 111 are fitted too tightly, the eccentric movement of the oscillating component 130 will be obstructed due to insufficient space, preventing normal operation. The diameter of the through hole 131 must not only allow for necessary relative movement with the pin 111, but also prevent the accumulation of instantaneous impact or vibration energy due to excessive clearance. This clearance design can accommodate the trajectory deviation caused by the eccentric movement of the oscillating component 130, ensuring smooth relative movement between the pin 111 and the oscillating component 130, avoiding jamming or accelerated wear due to geometric interference, and reducing wear and noise caused by mechanical impact, thereby optimizing the overall performance of the mechanical wrist joint and extending its service life.

[0030] When the transmission mechanism 140 drives the swing member 130 to rotate, the inner wall of the through hole 131 on the swing member 130 contacts the pin 111 passing through it and applies a thrust. Since the pin 111 is fixed to the rotating member 110, this thrust directly drives the rotating member 110 to rotate synchronously, thereby realizing the power transmission between the swing member 130 and the rotating member 110. Through this design, the eccentric rotational motion of the swing member 130 can be converted into the synchronous rotational output of the rotating member 110, ensuring the efficiency and accuracy of power transmission while maintaining the angular displacement difference required for the deceleration function. Finally, the optimized rotational motion is transmitted to the robotic arm to achieve the expected motion control effect, ensuring both deceleration performance and the stability and accuracy of power transmission.

[0031] Please see Figure 6 In some embodiments, the transmission mechanism 140 includes an eccentric shaft 141, which includes a first shaft segment 142 and a second shaft segment 143 arranged axially, and the axes of the first shaft segment 142 and the second shaft segment 143 are parallel but do not coincide.

[0032] In this embodiment, the transmission mechanism 140 is an eccentric shaft 141. One end of the eccentric shaft 141 is directly connected to the drive module 200, and it has two parallel but different shaft segments along the axial direction, namely the first shaft segment 142 and the second shaft segment 143. The axes of these two shaft segments have a preset offset (i.e., eccentricity) relative to the rotation center of the eccentric shaft 141 as a whole. The value of the eccentricity is determined according to the reduction ratio requirement and the load-bearing capacity requirement. When the drive module 200 drives the eccentric shaft 141 to rotate, the first shaft segment 142 and the second shaft segment 143 will perform synchronous eccentric motion around the rotation center. This eccentric motion, through the periodic offset of the shaft segments, converts the input rotational power into the eccentric trajectory required by the oscillating component 130, providing precise motion input for subsequent reduction transmission. The eccentricity design ensures both the realization of the reduction ratio and the dynamic balance and load adaptability of the transmission system.

[0033] Please see Figure 2 and Figure 6 In some embodiments, the oscillating member 130 includes a first cycloidal gear 132 sleeved on the first shaft segment 142 and a second cycloidal gear 133 sleeved on the second shaft segment 143; The transmission mechanism 140 also includes an isolation ring 144 disposed between the first shaft segment 142 and the second shaft segment 143, the isolation ring 144 being used to separate the first cycloidal gear 132 and the second cycloidal gear 133.

[0034] Specifically, the oscillating component 130 includes a first cycloidal gear 132 and a second cycloidal gear 133, which are respectively sleeved on two shaft segments of the eccentric shaft 141. The first cycloidal gear 132 is sleeved on the first shaft segment 142 of the eccentric shaft 141, and the second cycloidal gear 133 is sleeved on the second shaft segment 143. The axes of both the first shaft segment 142 and the second shaft segment 143 are offset from the rotation center of the eccentric shaft 141, and the eccentric directions of these two shaft segments are intentionally designed to be 180 degrees opposite to each other, that is, the eccentric direction of the first shaft segment 142 is exactly opposite to the eccentric direction of the second shaft segment 143.

[0035] This symmetrical structure ensures that the eccentric movements of the first cycloidal gear 132 and the second cycloidal gear 133 are always in opposite directions during operation, thus canceling out the centrifugal inertial forces generated by them. This dynamic force balance mechanism significantly reduces vibration and noise during the operation of the reduction module 100, while improving the smoothness and accuracy of the transmission process.

[0036] Meanwhile, driven by the eccentric shaft 141, the first cycloidal gear 132 and the second cycloidal gear 133 alternately mesh with the needle teeth 122 inside the needle tooth housing 120 in a symmetrical motion with a 180-degree difference in phase. This alternating meshing design of the double cycloidal gears increases the number of tooth surfaces participating in the load-bearing process simultaneously, thereby distributing the load to more contact points. By expanding the force distribution area, stress concentration on individual tooth surfaces is reduced, and the overall load distribution becomes more balanced. This not only directly improves the load-bearing capacity of the reduction module 100 but also extends the service life of the mechanical wrist joint by reducing local wear.

[0037] It is important to note that, since the eccentric phases of the first cycloidal gear 132 and the second cycloidal gear 133 differ by 180 degrees, meaning their geometric centers and rotation centers are offset in completely opposite directions, when the pin 111 passes through the corresponding through holes 131 on these two gears in sequence, due to the opposite eccentric directions, the first cycloidal gear 132 and the second cycloidal gear 133 will generate radial thrusts in opposite directions on the pin 111 during rotation.

[0038] Specifically, within the through hole 131 of the first cycloidal gear 132, the pin 111 is subjected to a deflection force to one side, while simultaneously, the through hole 131 of the second cycloidal gear 133 applies a deflection force in the opposite direction to the pin 111. This symmetrical thrust distribution causes the radial forces borne by the pin 111 during transmission to cancel each other out, significantly reducing local stress concentration.

[0039] This design not only optimizes the uniformity of force distribution in the deceleration module 100, but also reduces vibration and noise during gear meshing, while extending the service life of the pin 111, the first cycloidal gear 132, and the second cycloidal gear 133. Through the eccentric layout with opposite phases and the dynamic balance design of bidirectional thrust, high-precision, low-wear stable power transmission is achieved, making the mechanical wrist joint proposed in this application suitable for applications requiring long-term high loads.

[0040] Furthermore, an isolation ring 144 is provided on the eccentric shaft 141, located between the first shaft segment 142 and the second shaft segment 143. Its function is to physically separate the first cycloidal gear 132 and the second cycloidal gear 133. During the high-speed eccentric motion of the eccentric shaft 141, the first cycloidal gear 132 and the second cycloidal gear 133 will experience axial displacement due to the periodic shift of their rotation centers. Without effective restraint, the end faces of these two gears may come into direct contact, leading to frictional loss. By providing an isolation ring 144 between the first shaft segment 142 and the second shaft segment 143, the thickness of the isolation ring 144 limits the axial movement range of the two gears, thereby preventing their end faces from contacting. The isolation ring 144 also possesses wear resistance and vibration damping properties, absorbing some of the vibration energy transmitted by the eccentric motion. This design not only avoids efficiency loss and wear caused by direct friction between the first cycloidal gear 132 and the second cycloidal gear 133, but also optimizes dynamic balance by stabilizing axial clearance, enabling the mechanical wrist joint proposed in this application to operate reliably for a long time in high-speed and high-precision scenarios.

[0041] It is important to note that the isolation ring 144 is convex and circumferentially arranged around the eccentric shaft 141. A safety clearance is maintained between the outer contour of the isolation ring 144 and the through holes 131 on the first cycloidal gear 132 and the second cycloidal gear 133, preventing contact or interference between the isolation ring 144 and the pin 111 within the through holes 131 during eccentric movement. This ensures the reliability and stability of the reduction module 100 during operation. Simultaneously, the convex structure enhances the rigidity of the isolation ring 144, further optimizing its axial support effect. Therefore, the design of the isolation ring 144 not only ensures independent movement space for the double cycloidal gears but also further improves the operational stability and service life of the reduction module 100 by eliminating unnecessary mechanical interference.

[0042] Please see Figure 1 and Figure 7 In some embodiments, a positioning cover 300 and an output bearing 310 are provided on the side of the rotating member 110 away from the transmission mechanism 140. The inner ring of the output bearing 310 is sleeved on the rotating member 110, and the outer ring of the output bearing 310 is fixed to the inner wall of the positioning cover 300.

[0043] In this embodiment, the inner ring of the output bearing 310 is tightly fitted to the rotating component 110 using an interference fit or key connection to ensure synchronous rotation. The outer ring of the output bearing 310 is fixed to the inner wall of the positioning cover 300 by set screws, pressure plates, or an interference fit, forming a rigid constraint. This structural design confines the rotational movement of the rotating component 110 within the positioning cover 300, effectively suppressing unintended displacements such as yaw and axial movement caused by radial loads or vibrations, thereby ensuring the accuracy of the mechanical wrist joint movement. The positioning cover 300 not only provides a stable mounting reference for the output bearing 310 but also completely constrains the radial degree of freedom of the rotating component 110 by fixing the outer ring of the output bearing 310, thereby reducing motion errors when transmitting torque.

[0044] In the design of the output bearing 310, multiple balls are embedded between its inner and outer rings to achieve relative rolling. The opposing surfaces of the inner and outer rings are ground and polished to form smooth curved surfaces, reducing friction between the balls. When the robotic wrist joint is in operation, the output bearing 310 begins to bear the load. The rolling of the balls between the inner and outer rings converts sliding friction into rolling friction, reducing friction loss and heat generation. This design not only ensures smooth rotational transmission but also effectively distributes the load, avoiding localized stress concentration, thereby extending the service life of the output bearing 310 and improving the reliability of the robotic wrist joint. Furthermore, the arrangement of the balls is typically fixed by a cage (also called an isolator) to prevent the balls from colliding with each other or deviating from their track, further enhancing operational stability and reliability. Lubricating oil is also applied to the balls, which not only alleviates microscopic wear on the contact surfaces of the output bearing 310 but also prevents corrosion.

[0045] Please see Figure 1 and Figure 8 In some embodiments, the drive module 200 includes a housing 210 and a motor 220 and a rotating shaft 230 disposed within the housing 210. The motor 220 is connected to the rotating shaft 230 and is used to provide driving force to the rotating shaft 230.

[0046] Specifically, the drive module 200 is a component used to provide initial power to the robotic wrist joint. In this embodiment, the motor 220 is a frameless torque motor 220. The frameless torque motor 220 is a specially designed servo motor 220 that eliminates the housing and bearing structure, retaining only the stator and rotor. It can be directly integrated into the device. With its compact size, high torque output, and fast dynamic response, it is particularly suitable for applications such as space-constrained robotic wrist joints.

[0047] The housing 210 serves as the external encapsulation structure for the motor 220 and the rotating shaft 230. Its main function is to provide mechanical support and environmental protection, preventing external dust, moisture, or mechanical impact from affecting the internal components. This integrated encapsulation design optimizes the space utilization of the drive module 200 and reduces the redundant volume caused by the connections between components in a traditional distributed layout. This makes the proposed robotic wrist joint structure more compact and better suited for robotic applications that have stringent requirements for compactness and long lifespan.

[0048] Here, the housing 210 is typically made of high-strength alloys or composite materials, which not only possess lightweight characteristics but also enhance overall rigidity through its geometry (such as reinforcing ribs and curved structures). When the drive module 200 is running, the vibration energy generated by the high-speed rotation of the motor 220 can be effectively absorbed and dispersed by the housing 210 using its structural rigidity, preventing vibration from being transmitted to the outside or causing resonance in internal components. This vibration suppression mechanism reduces noise emissions on the one hand, and reduces component fatigue damage caused by long-term vibration on the other, such as bearing wear, loose bolts, or broken circuit solder joints, thereby extending the service life of the drive module 200 while ensuring power transmission efficiency.

[0049] Please see Figure 9 In some embodiments, the end of the rotating shaft 230 facing the deceleration module 100 is provided with a mounting hole 231, and one end of the eccentric shaft 141 is embedded in the mounting hole 231.

[0050] In this embodiment, one end of the rotating shaft 230 is directly connected to the motor 220, serving as the power output end of the motor 220. The other end of the rotating shaft 230 has a mounting hole 231 for fixing the eccentric shaft 141. The end of the eccentric shaft 141 is embedded in the mounting hole 231 of the rotating shaft 230 through an interference fit or keyway, forming a rigid linkage structure. When the motor 220 drives the rotating shaft 230 to rotate, the eccentric shaft 141 moves synchronously and transmits torque to the reduction module 100. This design realizes the transmission of power from the motor 220 to the reduction module 100, thereby ensuring that the mechanical wrist joint can achieve the functions of speed conversion and torque amplification, and ensuring the accuracy of power transmission.

[0051] Please see Figure 1 and Figure 10 In some embodiments, a mounting base 400 is provided at the end of the drive module 200 away from the deceleration module 100. The mounting base 400 is used to connect to the arm of the robot. The main control board is provided inside the mounting base 400.

[0052] Specifically, a mounting base 400 is provided at the end of the drive module 200 away from the deceleration module 100. This mounting base 400 is directly fixed to the arm of the robotic hand, thereby realizing the integrated assembly of the robotic wrist joint and the arm. The mounting base 400 contains a main control board. The main control board processes motion commands and feedback signals in real time, and controls the drive of the motor 220 of the robotic wrist joint, the position servo, and the torque output to ensure the coordination of motion and dynamic response performance. The built-in main control board shortens the signal transmission path and improves the overall control accuracy and reliability.

[0053] The second aspect of this application discloses a robotic hand, including a palm, an arm, and the aforementioned robotic wrist joint. The specific structure of the robotic wrist joint is described in the above embodiments. Since the robotic hand adopts all the technical solutions of all the above embodiments, it has at least all the technical effects brought about by the technical solutions of the above embodiments, which will not be repeated here.

[0054] Specifically, the two ends of the robotic wrist joint are connected to the palm and the arm respectively, enabling the robotic wrist joint to drive the palm to rotate precisely relative to the arm in a single axis or multiple degrees of freedom (such as pitch, yaw, and rotation), thereby simulating the flexible movement characteristics of the human wrist and making the movement of the robotic hand more accurate.

[0055] A third aspect of this application also discloses a robot that includes the aforementioned robotic arm.

[0056] Specifically, the robot can be any type of robot that requires precise grasping and manipulation capabilities, such as industrial robots, service robots, medical assistive robots, and special operation robots. The robotic arm is installed on the end of the robot's arm or body, serving as the end effector for the robot to physically interact with the external environment.

[0057] In summary, this application proposes a mechanical wrist joint, a robotic hand, and a robot. The reduction module 100 of the mechanical wrist joint includes a pin tooth housing 120 and a swinging component 130. Through the characteristics of multi-tooth synchronous meshing and uniform load distribution, the transmission accuracy and stability are improved, and the impact wear during gear meshing is reduced. At the same time, the compact meshing layout further enhances the overall rigidity and improves the stability of the reduction module 100 under long-term high-load conditions, thereby extending the service life of the mechanical wrist joint and improving the reliability of the robotic hand and robot.

[0058] The above description is only a part or preferred embodiment of this application. Neither the text nor the drawings should limit the scope of protection of this application. All equivalent structural transformations made using the content of this application's specification and drawings under the overall concept of this application, or direct / indirect applications in other related technical fields, are included within the scope of protection of this application.

Claims

1. A mechanical wrist joint for connecting the arm and palm of a robotic hand, comprising a reduction module and a drive module, characterized in that, The deceleration module includes a rotating component for connecting with the palm. The drive module is connected to the deceleration module through a transmission mechanism. The deceleration module also includes a pin tooth shell and a swing component. The inner wall of the pin tooth shell is provided with a plurality of receiving grooves in the circumferential direction. Each receiving groove is provided with a cylindrical pin tooth. The oscillating component is rotatably sleeved on the transmission mechanism. The outer periphery of the oscillating component is provided with multiple gear teeth. The number of gear teeth is less than the number of needle teeth, and the needle teeth of the needle tooth shell are partially engaged with the gear teeth of the oscillating component.

2. The mechanical wrist joint according to claim 1, characterized in that, The rotating component is provided with a pin on the side facing the transmission mechanism, and a plurality of the pins are distributed around the transmission mechanism. One end of the pin is fixed to the rotating member, and the other end of the pin passes through the swing member. The swing member has a through hole for the pin to pass through. The swing member drives the pin to move, and the pin drives the rotating member to move.

3. The mechanical wrist joint according to claim 2, characterized in that, The transmission mechanism includes an eccentric shaft, which includes a first shaft segment and a second shaft segment arranged axially, and the axes of the first shaft segment and the second shaft segment are parallel but do not coincide.

4. The mechanical wrist joint according to claim 3, characterized in that, The oscillating component includes a first cycloidal gear sleeved on the first shaft segment and a second cycloidal gear sleeved on the second shaft segment; The transmission mechanism further includes an isolation ring disposed between the first shaft segment and the second shaft segment, the isolation ring being used to separate the first cycloidal gear and the second cycloidal gear.

5. The mechanical wrist joint according to claim 2, characterized in that, A positioning cover and an output bearing are provided on the side of the rotating component away from the transmission mechanism. The inner ring of the output bearing is sleeved on the rotating component, and the outer ring of the output bearing is fixed to the inner wall of the positioning cover.

6. The mechanical wrist joint according to claim 3, characterized in that, The drive module includes a housing and a motor and a rotating shaft disposed within the housing. The motor is connected to the rotating shaft and is used to provide driving force to the rotating shaft.

7. The mechanical wrist joint according to claim 6, characterized in that, The rotating shaft has a mounting hole at one end facing the deceleration module, and one end of the eccentric shaft is embedded in the mounting hole.

8. The mechanical wrist joint according to claim 1, characterized in that, The drive module is provided with a mounting base at the end away from the deceleration module. The mounting base is used to connect to the arm of the robotic arm, and the main control board is provided inside the mounting base.

9. A robotic arm, characterized in that, Includes a hand, an arm, and a mechanical wrist joint as described in any one of claims 1 to 8, wherein the two ends of the mechanical wrist joint are respectively connected to the hand and the arm.

10. A robot, comprising a robotic arm, characterized in that, The robotic arm is the robotic arm described in claim 9.

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