Wrist assembly and robotic arm

Abstract

The application discloses a wrist joint assembly and a mechanical arm, and belongs to the technical field of robot arm joint structures. The wrist joint assembly comprises a wrist joint base body and a wrist joint driving unit. The wrist joint base body is provided with a wrist joint rack and a wrist joint assembly. The wrist joint assembly is connected with the wrist joint rack. The wrist joint rack is connected with an upper end assembly of the mechanical arm. The wrist joint assembly is connected with a lower end assembly of the mechanical arm. The wrist joint assembly is connected with the wrist joint driving unit. The wrist joint assembly and the mechanical arm are adopted, and through the ingenious transmission structure design, the wrist joint assembly of the robot mechanical arm can realize the transmission or output of the target motion parameters of the large load and high precision.

Description

Technical Field

[0001] This invention relates to the field of robot arm joint structure and drive control technology, and in particular to a wrist joint assembly and a robotic arm. Background Technology

[0002] The wrist joint, as the core motion joint of the humanoid robot arm, has two degrees of freedom in space, enabling flexion, extension, and lateral flexion of the hand. It directly determines the robot arm's motion flexibility, operational accuracy, and load capacity, making it a core component of heavy-duty industrial robots, service robots, and special-purpose robots.

[0003] Currently, the transmission chain design of existing robotic arm wrist joint assemblies generally suffers from technical shortcomings. Most wrist joint transmission structures have simple configurations, insufficient transmission chain stiffness, and poor power transmission stability. In actual operation, traditional wrist joints struggle to simultaneously meet the core requirements of heavy load bearing and high-precision motion output. When the robotic arm bears a large workload, the transmission structure is prone to deformation, backlash deviations, and power loss, leading to distortion of joint motion parameter transmission, a significant decrease in end-effector pose accuracy, and an inability to accurately complete the preset target movements.

[0004] Meanwhile, the existing wrist joint transmission system has an unreasonable structural layout and serious multi-degree-of-freedom motion coupling interference, which further reduces the motion control accuracy and operational stability of the robotic arm wrist joint. This greatly limits the application scenarios and operational reliability of the robotic arm under heavy-load and high-precision working conditions, making it difficult to adapt to the development needs of industrial automation, special operations and other fields for efficient, precise and heavy-load operation of robotic arms. Summary of the Invention

[0005] The purpose of this invention is to provide a wrist joint assembly and a robotic arm. Through a clever transmission chain structure design, the wrist joint assembly of the humanoid robot arm can transmit or output motion parameters of high-load, high-precision targets, thus enabling the application of robotic arms and robots in engineering fields with high load and high precision.

[0006] To achieve the above objectives, the present invention provides a wrist joint assembly, including a wrist joint base and a wrist joint drive unit. The wrist joint base is provided with a wrist joint frame and a wrist joint component. The wrist joint component is connected to the wrist joint frame. The wrist joint frame is connected to the upper end assembly of a robotic arm. The wrist joint component is connected to the lower end assembly of the robotic arm. The wrist joint component is connected to the wrist joint drive unit. The wrist joint drive unit is connected to the wrist joint frame.

[0007] Preferably, the wrist joint assembly includes a wrist joint flexion-extension link, a wrist joint upper flexion-extension pin, a wrist joint lower flexion-extension pin, a wrist joint lateral flexion link, and a wrist joint lateral flexion pin. The wrist joint drive unit includes a wrist joint first drive unit and a wrist joint second drive unit. The fixed ends of the wrist joint first drive unit and the wrist joint second drive unit are respectively hinged to the wrist joint frame. The output ends of the wrist joint first drive unit and the wrist joint second drive unit are hinged to both sides of the lower part of the wrist joint flexion-extension link through the wrist joint lower flexion-extension pin.

[0008] Preferably, one end of the wrist joint flexion-extension link is hinged to the wrist joint drive unit via the lower flexion-extension pin, the other end of the wrist joint flexion-extension link is hinged to the wrist joint lateral flexion link via the upper flexion-extension pin, and the other end of the wrist joint lateral flexion link is hinged to the wrist joint frame via the lateral flexion pin.

[0009] Preferably, the wrist joint flexion-extension link rotates in a plane perpendicular to the axis of the upper flexion-extension pin of the wrist joint, the axis of the upper flexion-extension pin of the wrist joint is parallel to the motion plane of the wrist joint flexion-extension link, the axis of the lower flexion-extension pin of the wrist joint is parallel to the axis of the upper flexion-extension pin of the wrist joint, and the lateral flexion pin of the wrist joint is spatially perpendicular to the plane formed by the axes of the upper flexion-extension pin and the lower lateral flexion pin of the wrist joint.

[0010] Preferably, when the first drive unit and the second drive unit of the wrist joint extend or retract synchronously at the same speed, the output end of the wrist joint drive unit will push and pull the wrist joint flexion and extension linkage to rotate along the axis of the flexion and extension pin on the wrist joint, thereby realizing the flexion and extension movement of the wrist joint. When the first and second drive units of the wrist joint extend or retract synchronously at the same speed, the output end of the wrist joint drive unit will push and pull the wrist joint lateral flexion linkage to rotate axially around the wrist joint lateral flexion pin, thereby realizing the lateral flexion movement of the wrist joint.

[0011] A robotic arm, including a wrist joint assembly.

[0012] Therefore, the present invention adopts the above-mentioned wrist joint assembly and robotic arm, and through the ingenious transmission chain structure design, realizes the transmission or output of high-load, high-precision target motion parameters of the humanoid robot robotic arm wrist joint assembly, empowering the application of robotic arms and robots in engineering fields with high load and high precision.

[0013] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the wrist joint assembly in this invention (I); Figure 2 This is a schematic diagram (II) of the wrist joint assembly in this invention. Figure 3 This is a simplified kinematic diagram of the two drive units in this invention driving the flexion and extension movements in the same direction and at the same speed. Figure 4 This is a simplified kinematic diagram of the two driving units in this invention driving the lateral bending action in opposite directions at the same speed.

[0015] Figure Labels 1. Wrist joint base; 11. Wrist joint frame; 12. Wrist joint assembly; 121. Wrist joint flexion-extension link; 122. Wrist joint upper flexion-extension pin; 123. Wrist joint lower flexion-extension pin; 124. Wrist joint lateral flexion link; 125. Wrist joint lateral flexion pin; 2. Wrist joint drive unit; 21. Wrist joint first drive unit; 22. Wrist joint second drive unit. Detailed Implementation

[0016] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0017] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0018] Example 1 like Figures 1-4 As shown, a wrist joint assembly includes a wrist joint base 1 and a wrist joint drive unit 2. The wrist joint base 1 is provided with a wrist joint frame 11 and a wrist joint assembly 12. The wrist joint frame 11 is connected to the forearm assembly of the robotic arm through a slewing bearing. The wrist joint assembly 12 is connected to the palm assembly through a wrist joint flexion-extension link 121. The wrist joint assembly 12 is connected to the wrist joint drive unit 2, and the wrist joint drive unit 2 is connected to the wrist joint frame.

[0019] The wrist joint assembly 12 includes a wrist joint flexion-extension link 121, a wrist joint upper flexion-extension pin 122, a wrist joint lower flexion-extension pin 123, a wrist joint lateral flexion link 124, and a wrist joint lateral flexion pin 125.

[0020] The wrist joint drive unit includes a first wrist joint drive unit 21 and a second wrist joint drive unit 22. The fixed ends of the first wrist joint drive unit 21 and the second wrist joint drive unit 22 are respectively hinged to the wrist joint frame 11, and the output ends of the first wrist joint drive unit 21 and the second wrist joint drive unit 22 are hinged to both sides of the lower part of the wrist joint flexion and extension link 121 by a wrist joint flexion and extension pin 123.

[0021] One end of the wrist joint flexion-extension link 121 is hinged to the wrist joint drive unit via the lower flexion-extension pin 123, and the other end of the wrist joint flexion-extension link 121 is hinged to the wrist joint lateral flexion link 124 via the upper flexion-extension pin 122. The other end of the wrist joint lateral flexion link 124 is hinged to the wrist joint frame via the lateral flexion pin 125.

[0022] The wrist joint flexion-extension link 121 rotates in a plane perpendicular to the axis of the upper flexion-extension pin 122 of the wrist joint. The axis of the upper flexion-extension pin 122 of the wrist joint is parallel to the plane of motion of the wrist joint flexion-extension link 121. The axis of the lower flexion-extension pin 123 of the wrist joint is parallel to the axis of the upper flexion-extension pin 122 of the wrist joint. The wrist joint lateral flexion pin 125 is spatially perpendicular to the plane formed by the axes of the upper flexion-extension pin 122 and the lower lateral flexion pin 123 of the wrist joint.

[0023] When the first drive unit 21 and the second drive unit 22 of the wrist joint extend or retract synchronously at the same speed, the output end of the drive unit 2 will push or pull the wrist joint flexion-extension linkage 124 to rotate along the axis of the flexion-extension pin 122 of the wrist joint, thereby realizing the flexion-extension movement of the wrist joint.

[0024] When the first drive unit 21 and the second drive unit 22 of the wrist joint extend or retract synchronously at the same speed, the output end of the drive unit 2 will push and pull the wrist joint lateral flexion linkage 124 to rotate axially around the wrist joint lateral flexion pin 125, thereby realizing the lateral flexion movement of the wrist joint.

[0025] Example 2 A robotic arm includes the wrist joint assembly as described in Embodiment 1, wherein the fixed end of the wrist joint assembly is fixedly connected to the forearm mechanism of the robotic arm, and the movable end of the wrist joint assembly is movably connected to the hand mechanism of the robotic arm.

[0026] This invention employs the aforementioned wrist joint assembly and robotic arm. Through a clever transmission chain structure design, it enables the wrist joint assembly of the humanoid robot robotic arm to transmit or output motion parameters for high-load, high-precision targets, thereby empowering the application of robotic arms and robots in engineering fields with high load and high precision.

[0027] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A wrist joint assembly, characterized in that: The device includes a wrist joint base and a wrist joint drive unit. The wrist joint base is provided with a wrist joint frame and a wrist joint assembly. The wrist joint assembly is connected to the wrist joint frame. The wrist joint frame is connected to the upper end assembly of the robotic arm. The wrist joint assembly is connected to the lower end assembly of the robotic arm. The wrist joint assembly is connected to the wrist joint drive unit. The wrist joint drive unit is connected to the wrist joint frame.

2. The wrist joint assembly according to claim 1, characterized in that: The wrist joint assembly includes a wrist joint flexion-extension link, a wrist joint upper flexion-extension pin, a wrist joint lower flexion-extension pin, a wrist joint lateral flexion link, and a wrist joint lateral flexion pin. The wrist joint drive unit includes a wrist joint first drive unit and a wrist joint second drive unit. The fixed ends of the wrist joint first drive unit and the wrist joint second drive unit are respectively hinged to the wrist joint frame. The output ends of the wrist joint first drive unit and the wrist joint second drive unit are hinged to both sides of the lower part of the wrist joint flexion-extension link through the wrist joint lower flexion-extension pin.

3. A wrist joint assembly according to claim 2, characterized in that: One end of the wrist joint flexion-extension link is hinged to the wrist joint drive unit via the lower flexion-extension pin of the wrist joint, the other end of the wrist joint flexion-extension link is hinged to the wrist joint lateral flexion link via the upper flexion-extension pin of the wrist joint, and the other end of the wrist joint lateral flexion link is hinged to the wrist joint frame via the lateral flexion pin of the wrist joint.

4. A wrist joint assembly according to claim 3, characterized in that: The wrist joint flexion-extension link rotates in a plane perpendicular to the axis of the upper flexion-extension pin of the wrist joint. The axis of the upper flexion-extension pin of the wrist joint is parallel to the plane of motion of the wrist joint flexion-extension link. The axis of the lower flexion-extension pin of the wrist joint is parallel to the axis of the upper flexion-extension pin of the wrist joint. The lateral flexion pin of the wrist joint is spatially perpendicular to the plane formed by the axes of the upper flexion-extension pin and the lower lateral flexion pin of the wrist joint.

5. A wrist joint assembly according to claim 4, characterized in that: When the first and second drive units of the wrist joint extend or retract synchronously at the same speed, the output end of the wrist joint drive unit will push and pull the wrist joint flexion-extension linkage to rotate along the axis of the flexion-extension pin on the wrist joint, thereby realizing the flexion and extension movement of the wrist joint. When the first and second wrist joint drive units extend or retract synchronously at the same speed, the output end of the wrist joint drive unit will push and pull the wrist joint lateral flexion linkage to rotate axially around the wrist joint lateral flexion pin, thereby realizing the lateral flexion movement of the wrist joint.

6. A robotic arm, characterized in that, Includes the wrist joint assembly as described in any one of claims 1-5.

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