Mechanical wrist structure and mechanical arm

Abstract

The utility model belongs to the technical field of mechanical arms, and particularly relates to a mechanical wrist structure and a mechanical arm, and the mechanical wrist structure comprises a supporting seat, an output assembly, a first transmission part, a second transmission part, a first driving part and a second driving part, the output assembly comprises an adapter rotationally mounted on the supporting seat along a first axis and an output part rotationally mounted on the adapter along a second axis, and the first axis is perpendicular to the second axis; the first driving piece is rotationally connected with the output piece through the first transmission piece; and the second driving piece is rotationally connected with the output piece through the second transmission piece. According to the mechanical wrist structure, the movement space needed by the mechanical wrist structure is small, the mechanical wrist structure can be applied to the narrow movement space, and the applicability and universality of the mechanical wrist structure are improved.

Description

Technical Field

[0001] This utility model belongs to the field of robotic arm technology, and in particular relates to a robotic wrist structure and a robotic arm. Background Technology

[0002] A robotic arm is a mechanical device that mimics the human arm, creating a gripper capable of moving its hand to a desired position and bearing the weight of the workpiece and its own body. Robotic arms can replace humans in many tasks or enable human-machine collaborative work. They offer significant advantages over humans, especially in harsh environments or for highly repetitive tasks.

[0003] To improve the dexterity of robotic arms in grasping objects, a robotic wrist is typically installed at the front end of the arm. This robotic wrist can drive the grippers, suction cups, and other components at its output end to rotate in space. In existing technology, robotic wrists usually consist of two drive components connected in series, each of which can drive its output end to rotate. However, robotic wrists in series require a large amount of space and cannot operate in narrow spaces. Summary of the Invention

[0004] This invention addresses the technical problem that existing serially connected robotic wrists require a large amount of space for movement by providing a robotic wrist structure and robotic arm.

[0005] In view of the above technical problems, this utility model provides a mechanical wrist structure, including a support base, an output component, a first transmission component, a second transmission component, and a first driving component and a second driving component, both mounted on the support base; the output component includes a connector rotatably mounted on the support base along a first axis and an output component rotatably mounted on the connector along a second axis, wherein the first axis is perpendicular to the second axis;

[0006] The first driving member is rotatably connected to the output member via the first transmission member; the second driving member is rotatably connected to the output member via the second transmission member.

[0007] Optionally, the first transmission component includes a first rocker arm and a first connecting rod. One end of the first rocker arm is mounted on the output end of the first drive component, the other end of the first rocker arm is rotatably connected to the first connecting rod, and the end of the first connecting rod away from the first rocker arm is rotatably connected to the output component.

[0008] The second transmission component includes a second rocker arm and a second connecting rod. One end of the second rocker arm is mounted on the output end of the second drive component, and the other end of the second rocker arm is rotatably connected to the second connecting rod. The end of the second connecting rod away from the second rocker arm is rotatably connected to the output component.

[0009] Optionally, the first driving member includes a rotary driving member, a first wheel, a second wheel, and a first connecting member wound between the first wheel and the second wheel; the rotary driving member is mounted on the support base, the first wheel is mounted on the output end of the rotary driving member, and the second wheel is rotatably mounted on the second driving member; the end of the first transmission member away from the rotary member is mounted on the second wheel.

[0010] Optionally, the support includes a first base and a second base with a receiving cavity, the rotary drive is mounted on the first base, the second drive is mounted in the receiving cavity, and the first transmission member and the second transmission member are mounted at opposite ends of the second drive member.

[0011] Optionally, the adapter includes a vertically arranged first arm and a second arm, and the support base is provided with a spaced first support arm and a second support arm, with the opposite ends of the first arm respectively rotatably connected to the first support arm and the second support arm.

[0012] The output component includes an output disk and a first protrusion and a second protrusion spaced apart on the output disk, with the opposite ends of the second support arm rotatably connected to the first protrusion and the second protrusion, respectively.

[0013] Optionally, the output member further includes a third protrusion and a fourth protrusion spaced apart on the output disk; the end of the first transmission member away from the first driving member is rotatably connected to the third protrusion, and the end of the second transmission member away from the second driving member is rotatably connected to the fourth protrusion.

[0014] Another embodiment of the present invention provides a robotic arm, including a robotic arm structure and the aforementioned robotic wrist structure, wherein the robotic arm structure is connected to the end of the support base away from the output component.

[0015] Optionally, the robotic arm structure includes a shoulder assembly and an elbow assembly;

[0016] The shoulder assembly includes a first joint drive, and the elbow assembly includes a second joint drive, a third joint drive, a first support frame, and a second support frame. The output end of the first joint drive is connected to the first support frame. The second joint drive is mounted on the first support frame and connected to the second support frame. The third joint drive is mounted on the second support frame and connected to the support base.

[0017] The rotation direction of the first shaft joint drive member driving the first support frame is perpendicular to the rotation direction of the second shaft joint drive member driving the second support frame.

[0018] The rotation direction of the second shaft joint drive member driving the second support frame is perpendicular to the rotation direction of the third shaft joint drive member driving the support base.

[0019] Optionally, the robotic arm structure further includes a rotating assembly, which includes a fourth joint drive, a fifth joint drive, and a third support frame;

[0020] The output end of the third shaft joint drive is connected to the third support frame, the fourth shaft joint drive is mounted on the third support frame and connected to the fifth shaft joint drive, and the fifth shaft joint drive is rotatably mounted on the third support frame and connected to the support base;

[0021] The rotation direction of the fourth shaft joint drive member driving the fifth shaft joint drive member is perpendicular to the rotation direction of the fifth shaft joint drive member driving the support base.

[0022] Optionally, the rotating assembly further includes a third transmission component, which includes a third wheel body, a fourth wheel body, and a second connecting member wound between the third wheel body and the fourth wheel body; the third wheel body is mounted on the output end of the fourth shaft joint drive component, and the fourth wheel body is rotatably mounted on the fifth shaft joint drive component.

[0023] In this invention, by controlling the direction of movement and whether the output component moves synchronously with the first and second driving components, the output component can be controlled to rotate within a hemispherical range at the front end of the support base (i.e., rotation around the X, Y, and Z axes). The rotation centers of the output component are all integrated at a single coordinate point (the intersection of the first and second axes). Both the first and second driving components are fixed to the support base and do not rotate with the output component. Therefore, this robotic wrist structure requires less space and can be used in confined spaces, improving its applicability and versatility. Furthermore, this robotic wrist structure can achieve rotation in three directions using only two driving components, reducing its power consumption. Attached Figure Description

[0024] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0025] Figure 1 This is a schematic diagram of the mechanical wrist structure provided in one embodiment of the present invention;

[0026] Figure 2 This is a schematic diagram of the output component of a mechanical wrist structure provided in an embodiment of the present invention;

[0027] Figure 3This is a schematic diagram of the structure of the adapter for the mechanical wrist structure provided in one embodiment of the present invention;

[0028] Figure 4 This is a schematic diagram of the output component of a mechanical wrist structure provided in an embodiment of the present invention;

[0029] Figure 5 This is a schematic diagram of the structure of a robotic arm provided in one embodiment of the present invention;

[0030] Figure 6 This is a schematic diagram of the structure of a robotic arm provided in another embodiment of the present invention;

[0031] Figure 7 This is a schematic diagram of the rotating component of a robotic arm provided in another embodiment of the present invention.

[0032] The reference numerals in the accompanying drawings are as follows:

[0033] 1. Mechanical wrist structure; 11. Support base; 111. First base body; 112. Second base body; 1121. Receiving cavity; 1122. First side plate; 1123. Second side plate; 1124. Third side plate; 1125. First horizontal plate; 1126. Curved plate; 113. First support arm; 114. Second support arm; 12. Output component; 121. Adapter; 1211. First support arm; 1212. Second support arm; 122. Output component; 221. Output disc; 1222. First protrusion; 1223. Second protrusion; 1224. Third protrusion; 1225. Fourth protrusion; 13. First transmission component; 131. First rocker arm; 132. First connecting rod; 14. Second transmission component; 141. Second rocker arm; 142. Second connecting rod; 15. First driving component; 151. Rotation driving component; 152. First wheel; 153. Second wheel; 154. First connecting component; 16. Second driving component;

[0034] 2. Robotic arm structure; 21. Shoulder assembly; 211. First joint drive; 22. Elbow assembly; 221. Second joint drive; 222. Third joint drive; 223. First support frame; 224. Second support frame; 23. Rotation assembly; 231. Fourth joint drive; 232. Fifth joint drive; 233. Third support frame; 234. Third transmission component; 2341. Third wheel; 2342. Fourth wheel; 2343. Second connecting component. Detailed Implementation

[0035] To make the technical problems solved, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this utility model and are not intended to limit this utility model.

[0036] It should be understood that the terms "upper", "lower", "left", "right", "front", "rear", "middle", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations of this utility model.

[0037] like Figure 1 As shown, an embodiment of the present invention provides a mechanical wrist structure 1, including a support base 11, an output component 12, a first transmission component 13, a second transmission component 14, and a first driving component 15 and a second driving component 16, all mounted on the support base 11. The output component 12 includes a connector 121 rotatably mounted on the support base 11 along a first axis and an output component 122 rotatably mounted on the connector 121 along a second axis, wherein the first axis is perpendicular to the second axis. It can be understood that the connector 121 can rotate around the first axis on the support base 11, and the output component 122 can rotate around the second axis on the connector 121.

[0038] The first driving component 15 is rotatably connected to the output component 122 via the first transmission component 13; the second driving component 16 is rotatably connected to the output component 122 via the second transmission component 14. It can be understood that both the first driving component 15 and the second driving component 16 include, but are not limited to, motors, harmonic joint modules, etc.

[0039] Preferably, the first transmission member 13 is used to drive the output member 122 to rotate around the third axis, and the second transmission member 14 is used to drive the output member 122 to rotate around the third axis, wherein the third axis is perpendicular to the second axis.

[0040] Specifically, when the first transmission member 13 and the second transmission member 14 push or pull the output member 122 simultaneously, the adapter 121 and the output member 122 will rotate around the first axis.

[0041] When the first transmission member 13 pushes the output member 122 and the second transmission member 14 pulls the output member 122, or when the first transmission member 13 pulls the output member 122 and the second transmission member 14 pushes the output member 122, the output member 122 will rotate around the second axis.

[0042] When the first transmission member 13 and the second transmission member 14 push or pull the output member 122 out of sync, the output member 122 can rotate around the third axis, and the first axis, the second axis and the fourth axis are perpendicular to each other.

[0043] In this invention, by controlling the direction of movement and whether the output component 122 moves synchronously with the first driving member 15 and the second driving member 16, the output component 122 can be controlled to rotate within a hemispherical range at the front end of the support base 11 (i.e., rotation around the X, Y, and Z directions). The rotation centers of the output component 122 are all integrated at a single coordinate point (the intersection of the first axis and the second axis). Both the first driving member 15 and the second driving member 16 are fixed to the support base 11 and do not rotate with the output component 122. Therefore, the mechanical wrist structure 1 requires less space and can be used in narrow spaces, improving its applicability and versatility. Furthermore, the mechanical wrist structure 1 can achieve rotation in three directions using two driving members, reducing its power consumption.

[0044] In one embodiment, if Figure 1 As shown, the first transmission component 13 includes a first rocker arm 131 and a first connecting rod 132. One end of the first rocker arm 131 is mounted on the output end of the first drive component 15, and the other end of the first rocker arm 131 is rotatably connected to the first connecting rod 132. The end of the first connecting rod 132 away from the first rocker arm 131 is rotatably connected to the output component 122.

[0045] Specifically, the first driving member 15 drives the first rocker arm 131 to rotate, and the first rocker arm 131 pushes or pulls the output member 122 through the first connecting rod 132; the first transmission member 13 has a simple structure and low manufacturing cost.

[0046] In one embodiment, if Figure 1 As shown, the second transmission component 14 includes a second rocker arm 141 and a second connecting rod 142. One end of the second rocker arm 141 is mounted on the output end of the second drive component 16, and the other end of the second rocker arm 141 is rotatably connected to the second connecting rod 142. The end of the second connecting rod 142 away from the second rocker arm 141 is rotatably connected to the output component 122. Specifically, the second drive component 16 drives the second rocker arm 141 to rotate, and the second rocker arm 141 pushes or pulls the output component 122 through the second connecting rod 142. The second transmission component 14 has a simple structure and low manufacturing cost.

[0047] In one embodiment, if Figure 1As shown, the first driving member 15 includes a rotary driving member 151, a first wheel body 152, a second wheel body 153, and a first connecting member 154 wound between the first wheel body 152 and the second wheel body 153; the rotary driving member 151 is mounted on the support base 11, the first wheel body 152 is mounted on the output end of the rotary driving member 151, and the second wheel body 153 is rotatably mounted on the second driving member 16; the end of the first transmission member 13 away from the output member 122 is mounted on the second wheel body 153. Understandably, the first wheel body 152, the second wheel body 153, and the first connecting member 154 can be a synchronous pulley and synchronous belt assembly (that is, the first wheel body 152 is a first synchronous pulley, the second wheel body 153 is a second synchronous pulley, and the first connecting member 154 is a synchronous belt), a chain assembly (that is, the first wheel body 152 is a first sprocket, the second wheel body 153 is a second sprocket, and the first connecting member 154 is a chain), and a belt assembly (that is, the first wheel body 152 is a first pulley, the second wheel body 153 is a second pulley, and the first connecting member 154 is a belt), etc.

[0048] Specifically, the rotary drive 151 drives the first wheel 152 to rotate, the first wheel 152 drives the second wheel 153 to rotate via the first connector 154, and the second wheel 153 drives the first rocker arm 131 to rotate on the first drive 15. In this embodiment, the first wheel 152, the second wheel 153, and the first connector 154 can transfer the rotation center of the first rocker arm 131 to the second drive 16, and the rotation center of the second rocker arm 141 is also located on the second drive 16, thereby reducing the required space for the first transmission member 13 and the second transmission member 14, and further reducing the required space for the mechanical wrist structure 1.

[0049] In one embodiment, if Figure 1 As shown, the support base 11 includes a first base 111 and a second base 112 with a receiving cavity 1121. The rotary drive member 151 is mounted on the first base 111, and the second drive member 16 is mounted in the receiving cavity 1121. The first transmission member 13 and the second transmission member 14 are mounted at opposite ends of the second drive member 16. Understandably, the first base 111 connects to the second base 112, and the first rocker arm 131 and the second rocker arm 141 are mounted at opposite ends of the second drive member 16, thereby improving the compactness of the mechanical wrist structure 1.

[0050] In one embodiment, if Figure 1As shown, the second seat 112 includes a first side plate 1122, a second side plate 1123, a third side plate 1124, a first horizontal plate 1125 connected between the first side plate 1122 and the second side plate 1123, and an arcuate plate 1126 connected between the second side plate 1123 and the third side plate 1124; the first side plate 1122 and the third side plate 1124 are coplanar; the receiving cavity 1121 is formed between the first side plate 1122, the second side plate 1123, the first horizontal plate 1125, and the arcuate plate 1126; the opposite ends of the second driving member 16 are respectively connected to the first side plate 1122 and the second side plate 1123; the output assembly 12 is installed at one end of the first horizontal plate 1125 away from the receiving cavity 1121;

[0051] The first base 111 is connected to the second side plate 1123, and the second driving member 16 and the rotary driving member 151 are both located on the same side of the plane where the first side plate 1122 is located; the second driving member 16 and the rotary driving member 151 are respectively located on both sides of the arc plate 1126. In this embodiment, the design of the second driving member 16 and the rotary driving member 151 being on the same side improves the stability and compactness of the mechanical wrist structure 1; and the specific structural design of the second base 112 ensures the stability of the second driving member 16 mounted on the support base 11.

[0052] The curved surface of the arc plate 1126 is adapted to the second driving component 16, thereby improving space utilization and assembly compactness.

[0053] To further explain, the first wheel 152 is mounted on the surface of the third side plate 1124 opposite to the first seat 111, and the second wheel 153 is mounted on the surface of the first side plate 1122 opposite to the receiving cavity 1121.

[0054] In one embodiment, if Figures 1 to 4 As shown, the adapter 121 includes a vertically arranged first support arm 1211 and a second support arm 1212. The support base 11 is provided with a spaced-apart first support arm 113 and a second support arm 114. The opposite ends of the first support arm 1211 are rotatably connected to the first support arm 113 and the second support arm 114, respectively. It can be understood that the first support arm 1211 passes through the second support arm 1212, and the first support arm 1211 is tractively installed between the first support arm 113 and the second support arm 114. The first support arm 113 and the second support arm 114 are spaced apart along a first axis.

[0055] The output component 122 includes an output disk 1221 and a first protrusion 1222 and a second protrusion 1223 spaced apart on the output disk 1221. The opposite ends of the second support arm 1212 are rotatably connected to the first protrusion 1222 and the second protrusion 1223, respectively. It can be understood that the second support arm 1212 is driven between the first protrusion 1222 and the second protrusion 1223, which are spaced apart along a second axis.

[0056] In this embodiment, the adapter 121 has a simple cross-shaped structure. There are two rotating parts between the adapter 121 and the support base 11, and there is also a transmission part between the adapter 121 and the output component 122, thereby ensuring the stability of the rotation of the output component 12.

[0057] In one embodiment, if Figure 1 and Figure 2 As shown, the output component 122 further includes a third protrusion 1224 and a fourth protrusion 1225 spaced apart on the output disk 1221; the end of the first transmission component 13 away from the first driving component 15 is rotatably connected to the third protrusion 1224, and the end of the second transmission component 14 away from the second driving component 16 is rotatably connected to the fourth protrusion 1225. Understandably, the third protrusion 1224 and the fourth protrusion 1225 are spaced apart along a third axis, the end of the first connecting rod 132 away from the first rocker arm 131 is rotatably connected to the third protrusion 1224, and the end of the second connecting rod 142 away from the second rocker arm 141 is rotatably connected to the fourth protrusion 1225. In this embodiment, the mechanical wrist structure 1 has a compact structure and occupies little space.

[0058] like Figure 5 As shown, another embodiment of the present invention also provides a robotic arm, including a robotic arm structure 2 and the aforementioned robotic wrist structure 1, wherein the robotic arm structure 2 is connected to the end of the support base 11 away from the output component 12.

[0059] In one embodiment, if Figure 5 As shown, the robotic arm structure 2 includes a shoulder assembly 21 and an elbow assembly 22;

[0060] The shoulder assembly 21 includes a first joint drive 211, and the elbow assembly 22 includes a second joint drive 221, a third joint drive 222, a first support frame 223, and a second support frame 224. The output end of the first joint drive 211 is connected to the first support frame 223. The second joint drive 221 is mounted on the first support frame 223 and connected to the second support frame 224. The third joint drive 222 is mounted on the second support frame 224 and connected to the support base 11. It can be understood that the first joint drive 211, the second joint drive 221, and the third joint drive 222 include, but are not limited to, motors, harmonic joint modules, etc.

[0061] The rotation direction of the first joint drive member 211 driving the first support frame 223 is perpendicular to the rotation direction of the second joint drive member 221 driving the second support frame 224; the rotation direction of the second joint drive member 221 driving the second support frame 224 is perpendicular to the rotation direction of the third joint drive member 222 driving the support base 11.

[0062] In this embodiment, the rotation direction of the first joint drive member 211 driving the first support frame 223 is perpendicular to the rotation direction of the second joint drive member 221 driving the second support frame 224; the rotation direction of the second joint drive member 221 driving the second support frame 224 is perpendicular to the rotation direction of the third joint drive member 222 driving the support base 11; thus, the robotic arm structure 2 can drive the robotic wrist structure 1 to achieve rotation around the X, Y and Z directions, and the shoulder assembly 21 can simulate the human shoulder, increasing the degree of freedom of the robotic arm.

[0063] In one embodiment, if Figure 6 As shown, the robotic arm structure 2 further includes a rotating assembly 23, which includes a fourth joint drive 231, a fifth joint drive 232, and a third support frame 233. The output end of the third joint drive 213 is connected to the third support frame 233. The fourth joint drive 231 is mounted on the third support frame 233 and connected to the fifth joint drive 232. The fifth joint drive 232 is rotatably mounted on the third support frame 233 and connected to the support base 11. It can be understood that the fourth joint drive 231 and the fifth joint drive 232 include, but are not limited to, motors, harmonic joint modules, etc.

[0064] The rotation direction of the fourth shaft joint drive member 231 driving the fifth shaft joint drive member 232 is perpendicular to the rotation direction of the fifth shaft joint drive member 232 driving the support base 11.

[0065] In this embodiment, the rotating component 23 can rotate in two directions, and the rotating component 23 can simulate the human wrist, further increasing the degree of freedom of the robotic arm.

[0066] In one embodiment, if Figure 6 and Figure 7 As shown, the rotating assembly 23 further includes a third transmission component 234, which includes a third wheel body 2341, a fourth wheel body 2342, and a second connecting component 2343 wound between the third wheel body 2341 and the fourth wheel body 2342; the third wheel body 2341 is mounted on the output end of the fourth shaft joint drive component 231, and the fourth wheel body 2342 is rotatably mounted on the fifth shaft joint drive component 232. Understandably, the third wheel body 2341, the fourth wheel body 2342, and the second connecting member 2343 can be a synchronous pulley and synchronous belt assembly (that is, the third wheel body 2341 is the first synchronous pulley, the fourth wheel body 2342 is the second synchronous pulley, and the second connecting member 2343 is the synchronous belt), a chain assembly (that is, the third wheel body 2341 is the first sprocket, the fourth wheel body 2342 is the second sprocket, and the second connecting member 2343 is the chain), and a belt assembly (that is, the third wheel body 2341 is the first pulley, the fourth wheel body 2342 is the second pulley, and the second connecting member 2343 is the belt), etc.

[0067] Specifically, the fourth joint drive member 231 drives the third wheel 2341 to rotate, the third wheel 2341 drives the fourth wheel 2342 to rotate via the second connecting member 2343, and the fourth wheel 2342 drives the fifth joint drive member 232 to rotate on the third support frame 233. In this embodiment, the third transmission member 234 can transfer the rotation center of the fourth joint drive member 231 to the fifth joint drive member 232, thereby reducing the required movement space of the rotating assembly 23.

[0068] The above are merely embodiments of the mechanical wrist structure and mechanical arm of this utility model, and are not intended to limit this utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A mechanical wrist structure, characterized in that, It includes a support base, an output assembly, a first transmission component, a second transmission component, and a first drive component and a second drive component, both mounted on the support base; the output assembly includes a connector rotatably mounted on the support base along a first axis and an output component rotatably mounted on the connector along a second axis, wherein the first axis is perpendicular to the second axis; The first driving component is rotatably connected to the output component via the first transmission component; the second driving component is rotatably connected to the output component via the second transmission component. The first driving member includes a rotary driving member, a first wheel, a second wheel, and a first connecting member wound between the first wheel and the second wheel; the rotary driving member is mounted on the support base, the first wheel is mounted on the output end of the rotary driving member, and the second wheel is rotatably mounted on the second driving member; the end of the first transmission member away from the output member is mounted on the second wheel.

2. The mechanical wrist structure according to claim 1, characterized in that, The first transmission component includes a first rocker arm and a first connecting rod. One end of the first rocker arm is mounted on the output end of the first drive component, and the other end of the first rocker arm is rotatably connected to the first connecting rod. The end of the first connecting rod away from the first rocker arm is rotatably connected to the output component. The second transmission component includes a second rocker arm and a second connecting rod. One end of the second rocker arm is mounted on the output end of the second drive component, and the other end of the second rocker arm is rotatably connected to the second connecting rod. The end of the second connecting rod away from the second rocker arm is rotatably connected to the output component.

3. The mechanical wrist structure according to claim 1, characterized in that, The support includes a first base and a second base with a receiving cavity. The rotary drive is mounted on the first base, the second drive is mounted in the receiving cavity, and the first transmission member and the second transmission member are mounted at opposite ends of the second drive member.

4. The mechanical wrist structure according to claim 1, characterized in that, The adapter includes a vertically arranged first arm and a second arm, and the support base is provided with a spaced first support arm and a second support arm, with the opposite ends of the first arm respectively rotatably connected to the first support arm and the second support arm. The output component includes an output disk and a first protrusion and a second protrusion spaced apart on the output disk, with the opposite ends of the second support arm rotatably connected to the first protrusion and the second protrusion, respectively.

5. The mechanical wrist structure according to claim 4, characterized in that, The output component further includes a third protrusion and a fourth protrusion spaced apart on the output disk; the end of the first transmission component away from the first driving component is rotatably connected to the third protrusion, and the end of the second transmission component away from the second driving component is rotatably connected to the fourth protrusion.

6. A robotic arm, characterized in that, It includes a robotic arm structure and a robotic wrist structure as described in any one of claims 1 to 5, wherein the robotic arm structure is connected to one end of the support base away from the output component.

7. The robotic arm according to claim 6, characterized in that, The robotic arm structure includes a shoulder assembly and an elbow assembly; The shoulder assembly includes a first joint drive, and the elbow assembly includes a second joint drive, a third joint drive, a first support frame, and a second support frame. The output end of the first joint drive is connected to the first support frame. The second joint drive is mounted on the first support frame and connected to the second support frame. The third joint drive is mounted on the second support frame and connected to the support base. The rotation direction of the first shaft joint drive member driving the first support frame is perpendicular to the rotation direction of the second shaft joint drive member driving the second support frame. The rotation direction of the second shaft joint drive member driving the second support frame is perpendicular to the rotation direction of the third shaft joint drive member driving the support base.

8. The robotic arm according to claim 7, characterized in that, The robotic arm structure also includes a rotating assembly, which includes a fourth joint drive, a fifth joint drive, and a third support frame; The output end of the third shaft joint drive is connected to the third support frame, the fourth shaft joint drive is mounted on the third support frame and connected to the fifth shaft joint drive, and the fifth shaft joint drive is rotatably mounted on the third support frame and connected to the support base; The rotation direction of the fourth shaft joint drive member driving the fifth shaft joint drive member is perpendicular to the rotation direction of the fifth shaft joint drive member driving the support base.

9. The robotic arm according to claim 8, characterized in that, The rotating assembly further includes a third transmission component, which includes a third wheel body, a fourth wheel body, and a second connecting component wound between the third wheel body and the fourth wheel body; the third wheel body is mounted on the output end of the fourth shaft joint drive component, and the fourth wheel body is rotatably mounted on the fifth shaft joint drive component.

Images