Wrist structures, robotic arms, and robots
By designing a rotating shaft structure with non-coincident center points and a telescopic shaft combination, the problem of limited wrist movement angle was solved, enabling flexible flipping and swinging of the gripping device and expanding the operating range of the robotic arm.
Patent Information
- Application Number
- CN202423115820.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-16
- Publication Date
- 2025-11-28
- Estimated Expiration
- 2034-12-16
AI Technical Summary
The limited range of motion of the wrist structure of the robotic arm affects the flexible operation of the gripping device in three-dimensional space.
A wrist structure was designed in which the center points of the first and second rotating shafts do not coincide. The gripping device can be flipped and swung by the extension and retraction of the two telescopic shafts. The use of multiple rotating connections and bearings increases the angle of motion.
This enables the gripping device to move independently in two directions, expanding its range of motion and providing more operational possibilities for robotic arms and robots.
Smart Images
Figure CN223604400U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of robots, in particular to a wrist structure, a mechanical arm and a robot. BACKGROUND
[0002] In the field of robots, a robot with a mechanical arm, such as a humanoid robot or a wheeled robot, etc., can realize flexible operation of a gripping device in a three-dimensional space through a wrist structure on the mechanical arm.
[0003] In the related art, the movement angle of the wrist structure is limited. UTILITY MODEL CONTENT
[0004] Therefore, it is necessary to provide a wrist structure to solve the problem of limited movement angle of the wrist structure of the mechanical arm.
[0005] A wrist structure, comprising:
[0006] a base;
[0007] two driving members, which are spaced apart along a first direction and are both connected to the base, and each of the driving members has an extension shaft;
[0008] a first connecting member, which is rotationally connected to one end of the base, and both ends of the first connecting member along the first direction are rotationally connected to the two extension shafts, respectively;
[0009] a second connecting member, which is rotationally connected to the base through a first rotation shaft, and the first connecting member is rotationally connected to the second connecting member through a second rotation shaft; the two driving members are used to drive the first connecting member to rotate around the first rotation shaft and / or the second rotation shaft; wherein the center point of the first rotation shaft does not coincide with the center point of the second rotation shaft.
[0010] In one of the embodiments, at least one of the second connecting member and the base is configured with a first rotation hole, and the other is connected with the first rotation shaft penetrating through the first rotation hole.
[0011] In one of the embodiments, one of the second connecting member and the base is configured with a first connecting end, and the other is configured with two second connecting ends which are spaced apart along the first direction, and the first connecting end penetrates between the two second connecting ends; the first connecting end and the two second connecting ends are both configured with the first rotation hole.
[0012] In one of the embodiments, the first rotation shaft is configured with a first limiting portion for abutting against the second connecting end; and / or,
[0013] The first rotating shaft sleeve is provided with a first bearing, and the first bearing is clamped to the second connecting end; and / or,
[0014] The first rotating shaft comprises a first main shaft penetrating the first rotating hole and a first locking member detachably connected to the first main shaft, and the first locking member abuts against the second connecting end.
[0015] In one of the embodiments, one of the first connecting member and the second connecting member is configured with a second rotating hole, and the other is configured with the second rotating shaft penetrating the second rotating hole.
[0016] In one of the embodiments, the second connecting member is configured with a first rotating hole and a second rotating hole,
[0017] The outer surface of the second connecting member corresponding to the second rotating hole is a curved surface; and / or the curvature of the outer surface of the second connecting member corresponding to the second rotating hole gradually decreases from top to bottom.
[0018] In one of the embodiments, the second rotating shaft sleeve is provided with a second bearing, and the second bearing is clamped to the hole wall of the second rotating hole; and / or,
[0019] The second rotating shaft comprises a second main shaft penetrating the second rotating hole and a second locking member detachably connected to the second main shaft, and the second locking member abuts against the second connecting member or the first connecting member.
[0020] In one of the embodiments, the wrist structure further comprises a joint member and a third rotating shaft, one end of the joint member is sleeved on the telescopic shaft, and the other end of the joint member is rotationally connected to the first connecting member through the third rotating shaft.
[0021] In one of the embodiments, the joint member is provided with a clearance space towards the inner side; and / or the joint member is a C-shaped structure or an arc-shaped structure.
[0022] In one of the embodiments, the first connecting member is respectively connected with a rotating head member at both ends along the first direction;
[0023] At least one of the rotating head member and the joint member is configured with a third rotating hole, and at least the other is connected with the third rotating shaft penetrating the third rotating hole.
[0024] In one of the embodiments, the third rotating shaft sleeve is provided with a third bearing, and the third bearing is clamped to the hole wall of the third rotating hole; and / or,
[0025] The third rotating shaft includes a third main shaft passing through the third rotating hole and a third locking member detachably connected to the third main shaft, the third locking member abutting against the rotating head or the connector; and / or,
[0026] At least one of the first connector and the rotating head is provided with a fourth rotating hole, and at least the other is connected to a fourth rotating shaft passing through the fourth rotating hole; and / or,
[0027] A fourth bearing is connected between the first connector and the rotating head.
[0028] A robotic arm includes a wrist structure as described above, a joint module connected to the base, and a gripping device connected to the first connector, wherein the joint module is used to drive the wrist structure to rotate.
[0029] A robot, including the robotic arm described above.
[0030] The aforementioned wrist structure, through the extension and retraction of two telescopic shafts, enables the gripping device connected to the first connector to perform flipping and / or swinging movements. For example, when the two telescopic shafts move at the same speed in the same direction, that is, when they extend or shorten by the same distance simultaneously, the first and second connectors rotate synchronously around the first pivot relative to the base, achieving up-and-down flipping of the gripping device; when the two telescopic shafts move at the same speed in opposite directions, that is, when one side extends and the other side shortens by the same distance, the first connector rotates around the second pivot relative to the second connector, achieving forward and backward swinging of the gripping device; when the two telescopic shafts move at unequal speeds in the same or opposite directions, for example, when the two telescopic shafts extend simultaneously but at different speeds, that is, at different distances, the first connector not only rotates around the first pivot but also around the second pivot, achieving a combined up-and-down flipping and forward and backward swinging movement. Since the first and second connectors are rotatably connected via the second pivot, and the second connector is rotatably connected to the base via the first pivot, and the center point of the first pivot does not coincide with the center point of the second pivot, meaning the first and second pivots are independent, the gripping device can move independently in two directions. For example, when the gripping device swings back and forth around the second pivot, it is not constrained by the first pivot, allowing the wrist structure to provide a larger range of motion, maximizing the range of motion of the gripping device, and providing more possibilities for the application of robotic arms. Attached Figure Description
[0031] Figure 1 This is a schematic diagram of a wrist structure with a gripping device connected to it, which is flipped up and down according to an embodiment of this application.
[0032] Figure 2 for Figure 1 The diagram shows the wrist structure swinging back and forth.
[0033] Figure 3 for Figure 1 The diagram shows the structure of the wrist.
[0034] Figure 4 for Figure 3 The diagram shows a partial exploded view of the wrist structure.
[0035] Figure 5 for Figure 3 The diagram shows a partial exploded view of the wrist structure.
[0036] Reference numerals: 100, base; 110, end plate; 120, support plate; 121, first connecting end; 122, connecting joint; 200, driving component; 210, telescopic shaft; 300, first connecting component; 310, second rotating shaft; 311, second main shaft; 312, second locking component; 313, second bearing; 320, rotating head component; 330, fourth rotating shaft; 340, fourth bearing; 400, second connecting component; 410 420. First rotating hole; 430. Second connecting end; 500. Second rotating hole; 510. First rotating shaft; 511. First limiting part; 520. First locking element; 530. First bearing; 610. Connecting element; 611. Third rotating hole; 612. Clearance space; 620. Third rotating shaft; 621. Third main shaft; 622. Third locking element; 623. Third bearing; 1000. Gripping device. Detailed Implementation
[0037] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.
[0038] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application 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, and therefore should not be construed as a limitation of this application.
[0039] In addition, the terms "first", "second", and the like, if any, are used herein for descriptive purposes only and should not be construed as indicating or implying relative importance or identifying the number of the indicated technical features. Therefore, a feature defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, if the term "a plurality of" appears, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise explicitly specified and limited.
[0040] In the present application, unless otherwise explicitly specified and limited, if the terms "mounting", "connecting", "connecting", "fixing" and the like appear, these terms should be interpreted broadly. For example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.
[0041] In the present application, unless otherwise explicitly specified and limited, if the first feature is described as "on" or "under" the second feature, etc., it can mean that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the second feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the second feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.
[0042] It should be noted that if an element is referred to as "fixed to" or "provided on" another element, it can be directly on another element or there can be a middle element. If an element is considered to be "connected" to another element, it can be directly connected to another element or there can be a middle element. If present, the terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used in the present application are for illustrative purposes only and do not represent the only implementation.
[0043] In the related art, the gripping device of the mechanical arm can rotate relative to the base around two rotation axes, the two rotation axes are cross-distributed, and the center points of the two rotation axes coincide. The present inventors have found that the rotation of the gripping device around the two rotation axes will affect each other, when the gripping device rotates around one of the rotation axes, it will be constrained by the other rotation axis, so that its movement angle is limited.
[0044] Based on this, one embodiment of this application provides a wrist structure that can solve the above-mentioned technical problems. The wrist structure provided by one embodiment of this application will now be described in detail with reference to the accompanying drawings.
[0045] See Figure 3 As shown, one embodiment of this application provides a wrist structure for a robotic arm. The wrist structure includes a base 100, two drive members 200, a first connector 300, and a second connector 400. The base 100 is used to connect to a joint module (not shown) of the robotic arm, which can drive the entire wrist structure to rotate. The first connector 300 is used to connect to a gripping device, which can be a hand or a gripper, etc. The two drive members 200 are spaced apart along a first direction and are both connected to the base 100, that is, the first direction is the distribution direction of the two drive members 200. The drive member 200 has a telescopic shaft 210, which can extend and retract along a third direction, that is, the third direction is the extension and retraction direction of the telescopic shaft 210. The first connector 300 is rotatably connected to one end of the base 100 and is arranged along the third direction with the base 100. The two ends of the first connector 300 along the first direction are respectively rotatably connected to the two telescopic shafts 210. This rotatable connection can be a single-degree-of-freedom rotatable connection or a multi-degree-of-freedom rotatable connection.
[0046] For example in Figure 3 In the view shown, the two telescopic shafts 210 are located on the front and rear sides of the first connector 300, respectively, and the first connector 300 and the base 100 are located on the upper and lower sides of the second connector 400, respectively. Figure 3 The first, second, and third directions are indicated by arrows, and any two of these directions are perpendicular to each other. (See also...) Figure 4 As shown, the second connecting member 400 is rotatably connected to the base 100 via the first rotating shaft 500, and the first connecting member 300 is rotatably connected to the second connecting member 400 via the second rotating shaft 310. Two driving members 200 move along a third direction via corresponding telescopic shafts 210, thereby driving the first connecting member 300 to rotate around the first rotating shaft 500 or the second rotating shaft 310. The axial direction of the first rotating shaft 500 is parallel to a first direction, and the axial direction of the second rotating shaft 310 is parallel to a second direction. The center point of the first rotating shaft 500 and the center point of the second rotating shaft 310 do not coincide; the center point is the intersection of the geometric center line of the corresponding rotating shaft, i.e., the central axis and the central cross-section. The center point of the first rotating shaft 500 can be located above or below the center point of the second rotating shaft 310. That is, the first connecting member 300 can be connected above or below the second connecting member 400.
[0047] Specifically, through the telescopic action of the two telescopic shafts 210, the overturning action and / or the swinging action of the grabbing device 1000 connected with the first connecting member 300 can be realized. Figure 1 In the embodiment shown, when the two telescopic shafts 210 make equal-speed motion in the same direction, that is, simultaneously elongate or simultaneously shorten by the same distance, the first connecting member 300 and the second connecting member 400 rotate synchronously about the first rotation shaft 500 relative to the base 100, realizing the up-down overturning of the grabbing device 1000; wherein, when the two telescopic shafts 210 simultaneously elongate, the grabbing device 1000 is overturned downward by the first connecting member 300, and when the two telescopic shafts 210 simultaneously shorten, the grabbing device 1000 is overturned upward by the first connecting member 300.
[0048] In the embodiment shown, when the two telescopic shafts 210 make equal-speed motion in the same direction, that is, simultaneously elongate or simultaneously shorten by the same distance, the first connecting member 300 and the second connecting member 400 rotate synchronously about the first rotation shaft 500 relative to the base 100, realizing the up-down overturning of the grabbing device 1000; wherein, when the two telescopic shafts 210 simultaneously elongate, the grabbing device 1000 is overturned downward by the first connecting member 300, and when the two telescopic shafts 210 simultaneously shorten, the grabbing device 1000 is overturned upward by the first connecting member 300. Figure 2 In the embodiment shown, when the two telescopic shafts 210 make equal-speed motion in the same direction, that is, simultaneously elongate or simultaneously shorten by the same distance, the first connecting member 300 and the second connecting member 400 rotate synchronously about the first rotation shaft 500 relative to the base 100, realizing the up-down overturning of the grabbing device 1000; wherein, when the two telescopic shafts 210 simultaneously elongate, the grabbing device 1000 is overturned downward by the first connecting member 300, and when the two telescopic shafts 210 simultaneously shorten, the grabbing device 1000 is overturned upward by the first connecting member 300. Figure 2 In the embodiment shown, when the two telescopic shafts 210 make equal-speed motion in the same direction, that is, simultaneously elongate or simultaneously shorten by the same distance, the first connecting member 300 and the second connecting member 400 rotate synchronously about the first rotation shaft 500 relative to the base 100, realizing the up-down overturning of the grabbing device 1000; wherein, when the two telescopic shafts 210 simultaneously elongate, the grabbing device 1000 is overturned downward by the first connecting member 300, and when the two telescopic shafts 210 simultaneously shorten, the grabbing device 1000 is overturned upward by the first connecting member 300. Figure 2 In the embodiment shown, when the two telescopic shafts 210 make equal-speed motion in the same direction, that is, simultaneously elongate or simultaneously shorten by the same distance, the first connecting member 300 and the second connecting member 400 rotate synchronously about the first rotation shaft 500 relative to the base 100, realizing the up-down overturning of the grabbing device 1000; wherein, when the two telescopic shafts 210 simultaneously elongate, the grabbing device 1000 is overturned downward by the first connecting member 300, and when the two telescopic shafts 210 simultaneously shorten, the grabbing device 1000 is overturned upward by the first connecting member 300.
[0049] When the two telescopic shafts 210 make same-direction or reverse-direction unequal-speed motion, for example, the two telescopic shafts 210 simultaneously elongate but at different speeds, that is, by different distances, the first connecting member 300 not only rotates about the first rotation shaft 500 but also rotates about the second rotation shaft 310, realizing the combined motion of the up-down overturning and the front-back swinging of the grabbing device 1000.
[0050] Since the first connecting member 300 and the second connecting member 400 are rotationally connected through the second rotation shaft 310, the second connecting member 400 is rotationally connected with the base 100 through the first rotation shaft 500, and the center point of the first rotation shaft 500 and the center point of the second rotation shaft 310 do not coincide, that is, the first rotation shaft 500 and the second rotation shaft 310 are independent of each other, so that the grabbing device 1000 can move independently in two directions, for example, when the grabbing device 1000 swings forward and backward about the second rotation shaft 310, it is not restricted by the first rotation shaft 500, so that the wrist structure can provide a larger motion angle, realizing the maximization of the motion range of the grabbing device 1000, providing more possibilities for the application of the mechanical arm. In an embodiment, the driving member 200 can be a servo cylinder. In other embodiments, the driving member can also be an electric push rod, a telescopic air cylinder or a lead screw motor, etc.
[0051] As shown in Figure 3 one embodiment, the base 100 comprises an end plate 110 and a support plate 120, the end plate 110 is used to connect a joint module (not shown) of a robot arm at one end away from the support plate 120, the joint module is capable of driving the whole wrist structure to rotate, and the support plate 120 is used to be rotatably connected with the second connecting member 400 at one end away from the end plate 110. In one embodiment, the end plate 110 is in the shape of a circular ring, and a plurality of threaded holes are formed on the end plate 110 in the circumferential direction. The threaded holes of the end plate 110 and the joint module are sequentially penetrated by fasteners such as bolts to realize the connection of the end plate 110 and the joint module. The driving member 200 is rotatably connected at one end of the support plate 120 close to the end plate 110. In some embodiments, the one end of the support plate 120 close to the end plate 110 is provided with a connecting joint 122, and the driving member 200 is rotatably connected with the connecting joint 122, for example, the two are rotatably connected through a pin shaft. Through such a design, the driving member 200 can realize the overturning action and / or the swinging action of the grabbing device 1000 connected with the first connecting member 300 through the telescopic operation of the telescopic shaft 210.
[0052] Referring to Figures 3 to 4 one of the embodiments, at least one of the second connecting member 400 and the base 100 is provided with a first rotation hole 410, and at least the other is provided with a first rotation shaft 500 penetrating the first rotation hole 410. For example, in the embodiment shown in Figure 4 the base 100 and the second connecting member 400 are both provided with a first rotation hole 410, and the first rotation shaft 500 penetrates the first rotation holes 410 of the base 100 and the second connecting member 400 in sequence. In this way, the rotation of the second connecting member 400 relative to the base 100 around the first rotation shaft 500 is realized.
[0053] In other embodiments, the first rotation hole can also be formed on the base, and the first rotation shaft extending in the first direction can be formed on the second connecting member and penetrate the first rotation hole in the axial direction of the first rotation shaft to realize the rotation connection of the base and the second connecting member. In another embodiment, the first rotation hole can also be formed on the second connecting member, and the first rotation shaft can be formed on the base and penetrate the first rotation hole in the axial direction of the first rotation shaft to realize the rotation connection of the base and the second connecting member.
[0054] Referring to Figures 3 to 4 one of the embodiments, one of the second connecting member 400 and the base 100 is provided with a first connecting end 121, and the other is provided with two second connecting ends 420 spaced apart in the first direction, and the first connecting end 121 penetrates between the two second connecting ends 420; the first connecting end 121 and the two second connecting ends 420 are both provided with a first rotation hole 410. For example, in the embodiment shown in Figure 4In the shown embodiment, the second connecting member 400 is configured with two second connecting ends 420, and the base 100 is configured with the first connecting end 121 which is arranged between the two second connecting ends 420, that is, the second connecting member 400 is in a U shape, and the base 100 is clamped in the clamping space formed by the two second connecting ends 420 of the second connecting member 400.
[0055] In other embodiments, the base can also be configured with two second connecting ends, the base is in a U shape, and the second connecting member is configured with the first connecting end at one end thereof which faces the base, so that the second connecting member is partially arranged in the base. By configuring the first rotation hole on the first connecting end and the second connecting end, and arranging the first rotation shaft in the first rotation hole, the rotation connection between the second connecting member and the base is achieved.
[0056] Referring to Figure 4 As shown, in one of the embodiments, the first rotation shaft 500 is configured with the first limiting portion 511 which is used to abut against the second connecting end 420. It can be understood that the outer diameter of the first limiting portion 511 is greater than the hole diameter of the first rotation hole 410 which is opened in the second connecting end 420, so that the first limiting portion 511 can limit the axial displacement between the first rotation shaft 500 and the second connecting member 400, and improve the rotation reliability between the second connecting member 400 and the base 100.
[0057] Referring to Figure 4 As shown, in some embodiments, the first rotation shaft 500 is sleeved with the first bearing 530, and the first bearing 530 is clamped to the second connecting end 420. On the one hand, the rotation connection between the second connecting member 400 and the first rotation shaft 500 is achieved by the first bearing 530, and on the other hand, the first bearing 530 can isolate the second connecting member 400 and the first rotation shaft 500, reduce the friction force between them, and improve the rotation stability of the second connecting member 400, while unnecessary vibration and noise can be reduced. In some embodiments, the first bearing 530 can be a flange ball bearing.
[0058] Referring to Figure 4As shown, in some embodiments, the first rotating shaft 500 includes a first main shaft 510 passing through the first rotating hole 410 and a first locking member 520 detachably connected to the first main shaft 510, the first locking member 520 directly or indirectly abutting against the second connecting end 420. By decomposing the first rotating shaft 500 into the first main shaft 510 and the first locking member 520 which are detachably connected, the first main shaft 510 and the first locking member 520 can be assembled from two sides of the base 100 respectively. Meanwhile, the first locking member 520 and the first main shaft 510 are abutted against the second connecting end 420, and the axial displacement between the first rotating shaft 500 and the second connecting member 400 can be limited. In some embodiments, the first connecting end 420 is connected with the aforementioned first bearing 530, and the first locking member 520 passes through the first bearing 530 and the first main shaft 510 in sequence to axially lock the first bearing 530 and the first main shaft 510. In some embodiments, the first locking member 520 can be a screw.
[0059] As shown, Figure 3 and Figure 4 As shown, in one of the embodiments, one of the first connecting member 300 and the second connecting member 400 is configured with the second rotating hole 430, and the other is configured with the second rotating shaft 310 passing through the second rotating hole 430. By the cooperation of the second rotating shaft 310 and the second rotating hole 430, the rotating connection of the first connecting member 300 and the second connecting member 400 is realized. For example, in the embodiment shown, Figure 4 As shown, in one of the embodiments, one of the first connecting member 300 and the second connecting member 400 is configured with the second rotating hole 430, and the other is configured with the second rotating shaft 310 passing through the second rotating hole 430. By the cooperation of the second rotating shaft 310 and the second rotating hole 430, the rotating connection of the first connecting member 300 and the second connecting member 400 is realized. For example, in the embodiment shown,
[0060] In other embodiments, the second connecting member 400 is configured with the first rotating hole 410 and the second rotating hole 430, and by concentrating the first rotating hole 410 and the second rotating hole 430 on the same part, the overall machining efficiency can be improved.
[0061] As shown, Figure 4 As shown, in some embodiments, the outer surface of the second connecting member 400 corresponding to the second rotating hole 430 is arc-shaped. For example, in the embodiment shown, Figure 4In the shown embodiment, the curvature of the outer surface of the second connecting member 400 corresponding to the second rotating hole 430 gradually decreases from top to bottom, that is, the curvature of the outer surface of the second connecting member 400 gradually decreases in the direction in which the second rotating hole 430 extends along the second direction to the first rotating hole 410. By designing the outer surface of the second connecting member 400 as a curved surface, interference between components can be avoided, further increasing the movement space of the wrist structure. By designing the curvature of the outer surface of the second connecting member 400 corresponding to the second rotating hole 430 to change, interference between components can be avoided while ensuring that the second connecting member 400 has sufficient structural strength.
[0062] Referring to Figure 3 and Figure 4 In one of the embodiments, the second rotating shaft 310 is sleeved with a second bearing 313, and the second bearing 313 is clamped to the hole wall of the second rotating hole 430. By sleeving the second bearing 313 on the second rotating shaft 310, the friction between the second rotating shaft 310 and the second connecting member 400 can be reduced, and the rotation stability of the first connecting member 300 can be improved, while unnecessary vibration and noise can be reduced.
[0063] Referring to Figure 3 and Figure 4 In one embodiment, the second rotating shaft 310 includes a second main shaft 311 penetrating the second rotating hole 430 and a second locking member 312 detachably connected to the second main shaft 311, and the second locking member 312 abuts against the second connecting member 400 or the first connecting member 300. For example, in the embodiment shown in Figure 4 In the shown embodiment, the second main shaft 311 is configured to the first connecting member 300, the second rotating hole 430 is configured to the second connecting member 400, the second locking member 312 is connected to one end of the second main shaft 311 away from the first connecting member 300, and abuts against the second connecting member 400. By dividing the second rotating shaft 310 into the second main shaft 311 and the second locking member 312 that are detachably connected, the first connecting member 300 and the second connecting member 400 are facilitated to be assembled. At the same time, the second locking member 312 and the second main shaft 311 abut on the second connecting member 400, which can also limit the axial displacement between the second rotating shaft 310 and the second connecting member 400. In one embodiment, the second locking member 312 can be a screw.
[0064] Referring to Figure 3 and Figure 5 In one of the embodiments, the wrist structure further includes a joint member 610 and a third rotating shaft 620 extending in the second direction, one end of the joint member 610 is sleeved on the telescopic shaft 210, and the other end of the joint member 610 is rotationally connected to the first connecting member 300 through the third rotating shaft 620. For example, in the embodiment shown in Figure 5In the shown embodiment, the joint member 610 is approximately a C-shaped structure or an arcuate structure, such that an accommodation space 612 is arranged on the inner side of the joint member 610 to form a mounting space, facilitating the connecting operation of the joint member 610 and the telescopic shaft, for example, the two are connected by a nut or other fastener, and the nut is located in the accommodation space 612, and the third rotating shaft 620 is directly or indirectly connected to the joint member 610 and the first connecting member 300, realizing the rotating connection of the two, to adapt to the telescopic action of the telescopic shaft 210.
[0065] Referring to Figure 3 and Figure 5 In one of the embodiments, the first connecting member 300 is connected with a rotating head member 320 at both ends in the first direction; at least one of the rotating head member 320 and the joint member 610 is configured with a third rotating hole 611, and the other is connected with a third rotating shaft 620 penetrating the third rotating hole 611. For example, in Figure 5 In the shown embodiment, the rotating head member 320 and the joint member 610 are both configured with the third rotating hole 611, the joint member 610 is clamped in the clamping space of the rotating head member 320, and the third rotating shaft 620 penetrates the third rotating holes 611 of the rotating head member 320 and the joint member 610 in sequence.
[0066] In other embodiments, the joint member can be configured with the third rotating hole, and the rotating head member can be configured with the third rotating shaft extending in the second direction, the third rotating shaft penetrating the third rotating hole in the axial direction of the third rotating shaft, to realize the rotating connection of the joint member and the rotating head member. In another embodiment, the rotating head member can be configured with the third rotating hole, and the joint member can be configured with the third rotating shaft.
[0067] Referring to Figure 3 and Figure 5 In one of the embodiments, the third rotating shaft 620 is sleeved with a third bearing 623, and the third bearing 623 is clamped to the hole wall of the third rotating hole 611. By arranging the third bearing 623, the contact wear between the third rotating shaft 620 and the joint member 610 is reduced, and unnecessary vibration and noise can also be reduced.
[0068] Referring to Figure 3 and Figure 5 In one of the embodiments, the third rotating shaft 620 includes a third main shaft 621 penetrating the third rotating hole 611 and a third locking member 622 detachably connected to the third main shaft 621, and the third locking member 622 abuts against the rotating head member 320 or the joint member 610. For example, in Figure 5In the shown embodiment, the joint member 610 is clamped in the clamping space formed by the rotating head member 320, and the third locking member 622 abuts against the rotating head member 320. By decomposing the third rotating shaft 620 into the third main shaft 621 and the third locking member 622 which are detachably connected, the third main shaft 621 and the third locking member 622 can be assembled from the two sides of the rotating head member 320, respectively. In an embodiment, the third locking member 622 can be a screw.
[0069] Referring to Figure 5 As shown, in some embodiments, the first connecting member 300 and the rotating head member 320 are rotationally connected, and in some embodiments, at least one of the first connecting member 300 and the rotating head member 320 is configured with a fourth rotating hole (not labeled in the figure), and the other is connected with a fourth rotating shaft 330, and the fourth rotating shaft 330 is inserted into the fourth rotating hole to achieve the rotational connection between the first connecting member 300 and the rotating head member 320. For example, in Figure 5 In the shown embodiment, the first connecting member 300 is provided with the fourth rotating shaft 330, and the rotating head member 320 is configured with the fourth rotating hole. In other embodiments, the rotating head member 320 can be provided with the fourth rotating shaft, and the first connecting member can be provided with the fourth rotating hole. Through the rotational connection between the first connecting member 300 and the rotating head member 320, the first connecting member 300 and the rotating head member 320 have rotational freedom, which helps the first connecting member 300 to drive the grabbing device 1000 to better flip up and down relative to the base 100, such as Figure 1 As shown, the grabbing device 1000 has greater rotational freedom.
[0070] Referring to Figure 5 As shown, in some embodiments, the fourth bearing 340 is connected between the first connecting member 300 and the rotating head member 320. For example, in Figure 5 In the shown embodiment, the first connecting member 300 is provided with the fourth rotating shaft 330, and the rotating head member 320 is configured with the fourth rotating hole, and the fourth rotating shaft 330 is sleeved with the fourth bearing 340, and the fourth bearing 340 is clamped to the hole wall of the fourth rotating hole. By providing the fourth bearing 340, the contact wear between the first connecting member 300 and the rotating head member 320 is reduced, and unnecessary vibration and noise can also be reduced.
[0071] Further, an embodiment of the present application also provides a mechanical arm, which comprises the wrist structure as described above, a joint module connected to the base, and a grabbing device connected to the first connecting member, and the joint module is used to drive the wrist structure to rotate, and the grabbing device can be a hand or a gripper, etc. The mechanical arm includes the wrist structure of any of the above embodiments, so that the grabbing device can move independently in two directions, for example, when the grabbing device swings back and forth around the second rotating shaft, it will not be constrained by the first rotating shaft, so that the mechanical arm can provide a larger operating angle, providing more possibilities for the application of the mechanical arm.
[0072] In another aspect, the present application also provides a robot comprising the robot arm described above. In one embodiment, the robot can be a humanoid robot. In another embodiment, the robot can be a wheeled robot with a robot arm.
[0073] The technical features of the above-described embodiments can be combined in any manner. For the sake of brevity, not all possible combinations are described, however, it is to be understood that any combination of the features is within the scope of the present application.
[0074] The above-described embodiments are merely illustrative of several embodiments of the present application, and the description is relatively specific and detailed, but should not be construed as limiting the scope of the patent application. It should be noted that for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the scope of the present application. Therefore, the scope of the patent of the present application should be subject to the appended claims.
Claims
1. A wrist structure, characterized by, The wrist structure comprises: a base (100); two driving members (200) arranged at intervals along a first direction and connected to the base (100); the driving members (200) have telescopic shafts (210); a first connecting member (300) rotatably connected to one end of the base (100), and the two ends of the first connecting member (300) along the first direction are rotatably connected to the two telescopic shafts (210) respectively; a second connecting member (400) rotatably connected to the base (100) through a first rotating shaft (500), and the first connecting member (300) is rotatably connected to the second connecting member (400) through a second rotating shaft (310); the two driving members (200) are used to drive the first connecting member (300) to rotate around the first rotating shaft (500) and / or the second rotating shaft (310); wherein the center point of the first rotating shaft (500) is not coincident with the center point of the second rotating shaft (310).
2. The wrist structure of claim 1, wherein, At least one of the second connecting member (400) and the base (100) is configured with a first rotating hole (410), and the other is connected with the first rotating shaft (500) penetrating through the first rotating hole (410).
3. The wrist structure of claim 2, wherein, One of the second connecting member (400) and the base (100) is configured with a first connecting end (121), and the other is configured with two second connecting ends (420) arranged at intervals along the first direction, and the first connecting end (121) penetrates between the two second connecting ends (420); the first connecting end (121) and the two second connecting ends (420) are all configured with the first rotating hole (410).
4. The wrist structure of claim 3, wherein, The first rotating shaft (500) is configured with a first limiting portion (511) for abutting against the second connecting end (420); and / or, The first rotating shaft (500) is sleeved with a first bearing (530), and the first bearing (530) is clamped to the second connecting end (420); and / or, The first rotating shaft (500) comprises a first main shaft (510) penetrating through the first rotating hole (410) and a first locking member (520) detachably connected to the first main shaft (510), and the first locking member (520) abuts against the second connecting end (420).
5. Wrist structure according to any of claims 1-4, characterized in that One of the first connecting member (300) and the second connecting member (400) is configured with a second rotating hole (430), and the other is configured with the second rotating shaft (310) penetrating through the second rotating hole (430).
6. The wrist structure of claim 5, wherein, The second rotating shaft (310) is sleeved with a second bearing (313), and the second bearing (313) is clamped to the hole wall of the second rotating hole (430); and / or, The second rotating shaft (310) comprises a second main shaft (311) penetrating through the second rotating hole (430) and a second locking piece (312) detachably connected to the second main shaft (311), and the second locking piece (312) abuts against the second connecting piece (400) or the first connecting piece (300).
7. Wrist structure according to any of claims 1-4, characterized in that The second connecting piece (400) is configured with a first rotating hole (410) and a second rotating hole (430), The outer surface of the second connecting piece (400) corresponding to the second rotating hole (430) is a curved surface; and / or the curvature of the outer surface of the second connecting piece (400) corresponding to the second rotating hole (430) gradually decreases from top to bottom.
8. The wrist structure according to any one of claims 1-4, wherein, The wrist structure further comprises a joint piece (610) and a third rotating shaft (620), one end of the joint piece (610) is sleeved on the telescopic shaft (210), and the other end of the joint piece (610) is rotationally connected to the first connecting piece (300) through the third rotating shaft (620).
9. The wrist structure of claim 8, wherein, The joint piece (610) is provided with a clearance space (612) towards the inner side; and / or the joint piece (610) is a C-shaped structure or an arc-shaped structure.
10. The wrist structure of claim 8, wherein, The first connecting piece (300) is connected with a rotating head piece (320) at both ends in the first direction respectively; At least one of the rotating head piece (320) and the joint piece (610) is configured with a third rotating hole (611), and the other is connected with the third rotating shaft (620) penetrating through the third rotating hole (611).
11. The wrist structure of claim 10, wherein, The third rotating shaft (620) is sleeved with a third bearing (623), and the third bearing (623) is clamped on the hole wall of the third rotating hole (611); and / or, The third rotating shaft (620) comprises a third main shaft (621) penetrating through the third rotating hole (611) and a third locking piece (622) detachably connected to the third main shaft (621), and the third locking piece (622) abuts against the rotating head piece (320) or the joint piece (610); and / or, At least one of the first connecting piece (300) and the rotating head piece (320) is provided with a fourth rotating hole, and the other is connected with a fourth rotating shaft (330) penetrating through the fourth rotating hole; and / or, The first connecting piece (300) and the rotating head piece (320) are connected with a fourth bearing (340).
12. A robot arm, characterized in that The wrist structure, the joint module connected to the base (100) and the grabbing device connected to the first connecting piece (300) are provided, the joint module is used for driving the wrist structure to rotate.
13. A robot, characterized in that The mechanical arm comprises the wrist structure according to any one of claims 1-11. The mechanical arm comprises the wrist structure according to any one of claims 1-11.