A mechanical wrist joint
By designing a mechanical wrist joint with a four-link structure including wrist connector, robot adapter, wrist drive and intermediate connector, the problem of poor flexibility of existing mechanical wrist joints is solved, and the effect of rapid movement and high flexibility is achieved.
Patent Information
- Application Number
- CN202421433261.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-21
- Publication Date
- 2025-04-08
- Estimated Expiration
- 2034-06-21
AI Technical Summary
The flexibility of existing mechanical wrist joints is poor and cannot effectively simulate the movement mode and range of human arms.
A mechanical wrist joint including a wrist connector, a robot adapter, a wrist drive member and an intermediate connector is designed to form a four-link structure, and the up and down swinging action of the robot adapter is realized through the rotation of the wrist rotation module.
It realizes the mechanical wrist joints with fast movement and high flexibility. It has a simple structure, low cost and good durability. It can achieve multiple forms of movement conversion by replacing the connecting rod.
Smart Images
Figure CN222726751U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of manipulators, in particular to a mechanical wrist joint. Background Art
[0002] The current design of humanoid robotic arms is quite different from human arms in appearance, and its overall structure is converted from traditional industrial robotic arms. The movement mode and range of the wrist are still different from those of human arms, and the flexibility is poor. Utility Model Content
[0003] In order to solve the problem of poor flexibility of the existing wrist joint in the prior art, the utility model provides a mechanical wrist joint with high flexibility.
[0004] The technical solution adopted by the utility model to solve its technical problems is:
[0005] A mechanical wrist joint, comprising:
[0006] Wrist connector,
[0007] A manipulator adapter, wherein the manipulator adapter is rotatably connected to the wrist connector,
[0008] A wrist driving component, which is installed on the wrist connecting component and is used to drive the manipulator adapter to move;
[0009] An intermediate connecting member, wherein the first end of the intermediate connecting member is connected to the wrist driving member, the second end of the intermediate connecting member is hinged to the manipulator adapter, and the wrist connecting member 1, the wrist driving member, the intermediate connecting member and the manipulator adapter form a four-bar structure.
[0010] Furthermore, the wrist driving member includes a wrist rotation module installed on the wrist connecting member, the intermediate connecting member is rotationally connected to the output end of the wrist rotation module, and the connection position between the intermediate connecting member and the wrist rotation module is offset from the rotation center of the wrist rotation module.
[0011] Furthermore, the output end of the wrist rotation module is connected to a bearing seat, and the second end of the intermediate connector is connected to the bearing seat. The bearing seat and the output end of the wrist rotation module can be fixedly connected by bolts or the like. The use of a bearing seat to connect the wrist rotation module and the intermediate connector is convenient for processing and has high overall strength.
[0012] Furthermore, the wrist connector is rotatably connected to a wrist axis, and the manipulator adapter is rotatably connected to the wrist connector via the wrist axis.
[0013] Furthermore, the intermediate connecting member includes a wrist connecting rod. The entire driving mechanism forms a deformed four-bar mechanism, which converts the rotation of the wrist rotation module into an up and down swinging movement of the manipulator adapter around the wrist axis, with rapid movement and high flexibility.
[0014] Beneficial effects:
[0015] (1) The wrist joint of the utility model realizes the transmission between the wrist rotation module and the manipulator connecting part through the intermediate connecting part, and the movement is fast and the flexibility is high;
[0016] (2) The wrist connecting rod can be used as the connecting part to realize transmission, which has a simple structure and reduces costs. The wrist connecting rod is used to form a four-bar structure, which is very flexible in movement, has no interference from the transmission system, has good durability, and can realize the conversion of various motion forms by replacing the connecting rod. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0018] Figure 1 This is a front view structural diagram of a mechanical wrist joint of the utility model;
[0019] Figure 2 It is a schematic diagram of the right side structure of a mechanical wrist joint of the utility model;
[0020] Figure 3 It is a schematic diagram of the left side structure of a mechanical wrist joint of the utility model.
[0021] 1. Wrist connector, 2. Manipulator adapter, 3. Wrist rotation module, 4. Wrist axis, 5. Bearing seat, 6. Wrist connecting rod. DETAILED DESCRIPTION
[0022] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means a limitation on the utility model and its application or use. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model.
[0023] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.
[0024] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values of the parts and steps set forth in these embodiments do not limit the scope of the utility model. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.
[0025] In the description of the present utility model, it needs to be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present utility model and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present utility model; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.
[0026] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.
[0027] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the utility model.
[0028] like Figures 1 to 3 The utility model provides a mechanical wrist joint, including a wrist connector 1, a manipulator adapter 2, a wrist driver and an intermediate connector. The manipulator adapter 2 is rotatably connected to the wrist connector 1. Specifically, the wrist connector 1 is rotatably connected to a wrist shaft 4, and the manipulator adapter 2 is rotatably connected to the wrist connector 1 through the wrist shaft 4. The wrist driver is installed on the wrist connector 1 to drive the manipulator adapter 2 to move; the first end of the intermediate connector is connected to the wrist driver, and the second end of the intermediate connector is hinged to the manipulator adapter 2. The wrist connector, the wrist driver, the intermediate connector and the manipulator adapter 2 form a four-bar structure.
[0029] The wrist driving member, the intermediate connecting member and the manipulator adapter 2 of the present invention form a four-bar mechanism, which converts the rotation of the wrist rotation module 3 into the movement of the manipulator adapter 2 to swing up and down around the wrist axis 4. In this embodiment, the wrist driving member includes a wrist rotation module 3 mounted on the wrist connecting member 1, the intermediate connecting member is rotationally connected to the output end of the wrist rotation module 3, and the connection position of the intermediate connecting member and the wrist rotation module 3 is offset from the rotation center of the wrist rotation module 3.
[0030] The output end of the wrist rotation module 3 is connected to the bearing seat 5, and the second end of the intermediate connecting member is connected to the bearing seat 5. The wrist rotation module 3 can be, but is not limited to, a motor.
[0031] The intermediate connecting member can be realized by one or more connecting rods. As an embodiment of the utility model, the intermediate connecting member adopts a wrist connecting rod 6. The structure of the wrist connecting rod 6 is not limited to a straight connecting rod, and can be a connecting rod of other shapes.
[0032] As other embodiments of the utility model, the wrist driving member can also be a motor + driving rod structure, the driving rod is connected to the output end of the motor, and the wrist connecting rod 6 is directly hinged to the driving rod to form a relatively typical four-bar linkage mechanism. Alternatively, the bearing seat 5 is replaced with a turntable, and the wrist connecting rod 6 is hinged on the turntable. The shape of the turntable can be circular or fan-shaped.
[0033] In actual application, the mechanical wrist joint of the utility model can be installed on the elbow joint, so that they cooperate with each other to achieve mechanical actions such as grasping.
[0034] The above are only preferred specific implementation methods of the utility model, but the protection scope of the utility model is not limited to this. Any technician familiar with the technical field within the technical scope disclosed by the utility model, who makes equivalent replacements or changes based on the technical scheme and utility model concept of the utility model, should be covered by the protection scope of the utility model.
Claims
1. A mechanical wrist joint, characterized in that: include: Wrist connector (1), A manipulator adapter (2), wherein the manipulator adapter (2) is rotatably connected to the wrist connector (1). A wrist driving component, the wrist driving component is installed on the wrist connecting component (1) and is used to drive the manipulator adapter (2) to move; An intermediate connecting member, wherein the first end of the intermediate connecting member is connected to the wrist driving member, the second end of the intermediate connecting member is hinged to the manipulator adapter (2), and the wrist connecting member (1), the wrist driving member, the intermediate connecting member and the manipulator adapter (2) form a four-bar structure.
2. A mechanical wrist joint according to claim 1, characterized in that: The wrist driving member comprises a wrist rotation module (3) mounted on a wrist connecting member (1), the intermediate connecting member is rotationally connected to the output end of the wrist rotation module (3), and the connection position between the intermediate connecting member and the wrist rotation module (3) is offset from the rotation center of the wrist rotation module (3).
3. A mechanical wrist joint according to claim 2, characterized in that: The output end of the wrist rotation module (3) is connected to a bearing seat (5), and the second end of the intermediate connecting member is connected to the bearing seat (5).
4. A mechanical wrist joint according to claim 1, characterized in that: The wrist connecting member (1) is rotatably connected to a wrist shaft (4), and the manipulator adapter (2) is rotatably connected to the wrist connecting member (1) via the wrist shaft (4).
5. A mechanical wrist joint according to any one of claims 1 to 4, characterized in that: The intermediate connecting member comprises a wrist connecting rod (6).