Wrist structure, mechanical arm and robot

Abstract

The utility model relates to a wrist structure, a mechanical arm and a robot, the wrist structure comprises a first rotating shaft, a first connecting piece, two telescopic driving pieces and adapters correspondingly connected with the telescopic driving pieces, the adapters are provided with clamping holes connected to ball bearings in a sleeving mode, and the central axes of the telescopic driving pieces are not perpendicular to the axes of the clamping holes. Through the telescopic action of the two telescopic driving pieces, the left-right swing action of the end effector connected with the second connecting piece can be achieved. Due to the fact that the central axis of the telescopic driving part is not perpendicular to the axis of the clamping hole, used for being connected with the ball bearing in the sleeving mode, in the adapter, the time point when the adapter part on the side interferes is effectively delayed, and then the end effector can reach or approach the limit angle of the end effector in the swinging process no matter the end effector swings leftwards or rightwards. The swing angle of the wrist structure is maximized, the use adaptability of the wrist structure is improved, and more possibilities are provided for application scenes of the wrist structure.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to wrist structures, robotic arms, and robots. Background Technology

[0002] In the field of robotics, robots with robotic arms, such as humanoid robots or wheeled robots, can achieve flexible operation of end effectors in three-dimensional space through the wrist structure on the robotic arm.

[0003] In related technologies, the wrist structure uses ball bearings as the joint kinematic pair. To ensure the aesthetics of the wrist structure, the wrist width is smaller than the elbow width. Therefore, when the wrist structure swings left and right to the theoretical limit angle of the ball bearing, the actual swing angle of one side of the ball bearing is greater than the theoretical limit angle, meaning that the ball bearing on that side actually interferes with the wrist structure. Consequently, existing wrist structures cannot rotate to the theoretical limit angle of the ball bearing, resulting in a smaller left and right swing angle and affecting the adaptability of the wrist structure in use. Utility Model Content

[0004] Therefore, it is necessary to provide a wrist structure that addresses the limitation of the swing angle in existing wrist structures.

[0005] A wrist structure comprising:

[0006] The base includes a first end and a second end arranged along a first direction;

[0007] First pivot;

[0008] A first connecting member is rotatably connected to a first end of the base via a first rotating shaft; ball bearings are respectively provided at both ends of the first connecting member along a second direction.

[0009] Two telescopic drive assemblies, each including a telescopic drive component and an adapter connected to the telescopic drive component, the two telescopic drive assemblies being spaced apart on both sides of the base along a second direction; the adapter is configured with a snap-fit ​​hole for fitting into the ball bearing;

[0010] In at least one telescopic drive assembly, the central axis of the telescopic drive member is not perpendicular to the axis of the snap-fit ​​hole.

[0011] In one embodiment, the adapter includes a first adapter portion and a second adapter portion, the first adapter portion being provided with the snap-fit ​​hole, and the end of the second adapter portion away from the first adapter portion being connected to the telescopic drive member.

[0012] Wherein, the first adapter is offset outward toward the extension direction of the second adapter, so that the central axis of the corresponding telescopic drive is not perpendicular to the axis of the snap-fit ​​hole.

[0013] And / or, the extension direction of the central axis of the telescopic drive intersects the center of the ball bearing.

[0014] In one embodiment, the angle between the extending direction of the first adapter and the extending direction of the second adapter is in the range of 2 degrees to 5 degrees.

[0015] In one embodiment, the axis of the first rotating shaft is perpendicular to the axis of the ball bearing;

[0016] And / or, the wrist structure further includes a second connector, wherein the first pivot is disposed on the second connector.

[0017] In one embodiment, the second connector is further provided with a second rotating shaft, and the second connector is rotatably connected to the first end of the base via the second rotating shaft.

[0018] In one embodiment, the second rotating shaft and the first rotating shaft are arranged perpendicularly and do not intersect, and the axis of the second rotating shaft is parallel to the axis of the ball bearing;

[0019] And / or, the base includes a first tie rod and a second tie rod, the first tie rod and the second tie rod being distributed on both sides of the telescopic drive member along a third direction.

[0020] In one embodiment, at least one of the first connector and the second connector is provided with a first rotating hole, and at least the other is connected to the first rotating shaft passing through the first rotating hole;

[0021] And / or, at least one of the first connector and the base is provided with a second rotating hole, and at least the other is connected to a second rotating shaft passing through the second rotating hole.

[0022] In one embodiment, the end of the telescopic drive member away from the adapter is rotatably connected to the second end of the base.

[0023] A robotic arm includes a wrist structure as described above, a joint module connected to a second end of the base, and an end effector connected to a second connector, wherein the joint module is used to drive the wrist structure to rotate.

[0024] A robot, including the robotic arm described above.

[0025] In existing technologies, when the end effector swings to its limit angle to either side (left or right), the ball bearing on that side and the adapter connected to the ball bearing reach the limit angle first. Specifically, the adapter component on that side (the support shaft between the adapter and the ball bearing) interferes earlier than on the other side, thus hindering the end effector from swinging to its limit position. To address this issue, this application optimizes the axial angle design of the telescopic drive assembly on the left and / or right sides, ensuring that the central axis of the corresponding telescopic drive component is not perpendicular to the axis of the locking hole. This effectively delays the time point when the adapter component on that side interferes, allowing the end effector to reach or approach its limit angle during swinging, regardless of whether it swings to the left or right. This maximizes the swing angle of the wrist structure, improves its usability, and provides more possibilities for its application scenarios. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of a wrist structure in a non-swinging state according to an embodiment of this application.

[0027] Figure 2 for Figure 1 The diagram shows the wrist structure in a left-right swinging state.

[0028] Figure 3 for Figure 1 The diagram shows the wrist structure in an up-and-down flipped state.

[0029] Figure 4 for Figure 1 The image shows a top view of the wrist structure in a non-swinging state.

[0030] Figure 5 for Figure 1 The wrist structure shown is in a bottom view in a non-swinging state.

[0031] Figure 6 for Figure 5 A simplified diagram of the adapter in the wrist structure shown.

[0032] Reference numerals: 10, end effector; 100, base; 110, end plate; 120, first tie rod; 130, second tie rod; 200, telescopic drive; 210, telescopic shaft; 220, adapter; 221, opening slot; 222, first adapter; 2221, snap-fit ​​hole; 223, second adapter; 2231, connecting hole; 310, first connector; 320, second connector; 410, second rotating shaft; 420, first rotating shaft; 510, ball bearing; 610, support shaft. Detailed Implementation

[0033] 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.

[0034] 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.

[0035] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0036] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0037] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0038] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0039] In related technologies, wrist structures use ball bearings as joint kinematic pairs. The inventors of this application discovered that in existing wrist structures, to ensure aesthetics, the wrist width is smaller than the elbow width. Correspondingly, the central axis of the telescopic drive is perpendicular to the outer ring axis of the ball bearing. Therefore, when the wrist structure swings left and right to the theoretical limit swing angle of the ball bearing, the actual swing angle of one side of the ball bearing is greater than the theoretical limit, meaning that the ball bearing adapter on that side actually interferes with the wrist structure. Understandably, an excessively large swing angle reduces the thickness of the ball bearing, thus affecting its axial load capacity. For example, if the limit swing angle of the ball bearing is 35 degrees, if the central axis of the telescopic drive is perpendicular to the outer ring axis of the ball bearing, the swing angle of one side of the ball bearing will be greater than 35 degrees, while the swing angle of the other side will be less than 35 degrees. This deviates from the reasonable operating range of the ball bearing, so the wrist structure cannot actually rotate to its limit swing angle. In other words, when the end effector in the existing technology swings to its limit angle in either direction (left or right), the adapter and ball bearing on that side will reach the limit angle first. Specifically, the adapter component on that side (the support shaft between the adapter and the ball bearing) will interfere earlier than on the other side, thus preventing the end effector from swinging to its limit position. As a result, the existing wrist structure cannot rotate to the theoretical limit swing angle of the ball bearing, resulting in a smaller left and right swing angle of the wrist structure and affecting its usability.

[0040] 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.

[0041] See Figures 1 to 3 as well as Figure 6 As shown, an embodiment of this application provides a wrist structure including a base 100, a first rotating shaft 420, a first connecting member 310, and two telescopic drive assemblies. The base 100 includes a first end and a second end arranged along a first direction. The first end is rotatably connected to the first connecting member 310 via the first rotating shaft 420, meaning the first connecting member 310 can rotate relative to the first end of the base 100 around the first rotating shaft 420. The second end is used to connect to a joint module (not shown) of a robotic arm, which can drive the entire wrist structure to rotate. The first connecting member 310 is used to connect to an end effector 10, which can be a dexterous hand or a gripper, for example, a dexterous hand can be a five-finger dexterous hand or a three-finger dexterous hand.

[0042] Among them, the first connecting member 310 is provided with ball bearings 510 at both ends along the second direction. The ball bearings 510 are used to connect with the telescopic drive assembly so that the first connecting member 310 can be rotated by the telescopic movement of the telescopic drive assembly, thereby driving the end effector 10 to swing.

[0043] Two telescopic drive assemblies are spaced apart on both sides of the base 100 along a second direction, and each telescopic drive assembly includes a telescopic drive member 200 and an adapter 220 connected to the telescopic drive member 200; the adapter 220 is configured with a snap-fit ​​hole 2221 for fitting into the ball bearing 510; the telescopic drive member 200 drives the first connecting member 310 to rotate around the first rotating shaft 420 through the adapter 220; wherein, the central axis of at least one telescopic drive member 200 is not perpendicular to the axis of the corresponding snap-fit ​​hole, and the central axis of the telescopic drive member 200 may refer to the central axis of the telescopic shaft of the telescopic drive member 200. Figure 1 As shown, arrow X indicates the first direction, which is the telescopic direction of the telescopic drive member 200. Arrow Y indicates the second direction, which is the distribution direction of the two telescopic drive members 200. The first rotating shaft 420 extends along a third direction, and any two of the first, second, and third directions intersect, as shown below. Figure 1 As shown, when the wrist structure is in a non-swinging state, the third direction is the vertical direction, which is indicated by arrow Z in the figure.

[0044] In this case, the central axis of at least one telescopic drive member 200 is not perpendicular to the axis of the corresponding snap-fit ​​hole. This can be either the central axis of one side of the telescopic drive member 200 is not perpendicular to the axis of the corresponding snap-fit ​​hole, or the central axes of both sides of the telescopic drive member 200 are not perpendicular to the axis of the corresponding snap-fit ​​hole.

[0045] For example, the adapter 220 can be partially offset to achieve the non-perpendicularity of the two axes, such as by offsetting the part of the adapter 220 that connects to the ball bearing 510; alternatively, the adapter 220 can be completely offset to achieve the non-perpendicularity of the two axes, for example, by offsetting the entire adapter 220 from the telescopic drive component 200. The ball bearing 510 can also be made into an ellipsoidal structure so that there is an angular deviation when the adapter 220 and the ball bearing 510 are assembled.

[0046] It should be noted that the left and right swing mentioned in this application is based on the following perspective: with the first direction X as the reference axis, the first end of the base 100 is in front of the viewpoint, and the second end of the base 100 is behind the viewpoint.

[0047] Specifically, by using two telescopic drive members 200 to drive the corresponding telescopic shafts 210 to extend and retract, the end effector 10 connected to the first connecting member 310 can achieve a swinging motion. (See attached...) Figure 2 In the illustrated embodiment, when the telescopic shafts 210 on both sides 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 connecting member 310 rotates relative to the base 100 around the first rotating shaft 420, thereby realizing the left and right swing of the end effector 10. Here, the end effector is taken as... Figure 2 Taking the dexterous hand shown as an example, the right telescopic shaft 210 is the telescopic shaft 210 away from the dexterous hand's thumb, and the left telescopic shaft 210 is the telescopic shaft 210 close to the dexterous hand's thumb. When the right telescopic shaft 210 extends and the left telescopic shaft 210 retracts, the end effector 10 deflects to the left. When the left telescopic shaft 210 extends and the right telescopic shaft 210 retracts, the end effector 10 deflects to the right.

[0048] Combination Figures 1 to 3 as well as Figure 6 As shown, in this embodiment, the central axes of the two telescopic drive members 200 (i.e., the central axes of the two telescopic shafts 210) are not perpendicular to the axes of the corresponding snap-fit ​​holes 2221, as... Figure 6As shown, the central axis A1 of the telescopic drive member 200 and the axis A2 of the snap-fit ​​hole 2221 are indicated by dashed lines. In this embodiment, since the central axis A1 of the telescopic shaft 210 and the axis A2 of the snap-fit ​​hole 2221 are not perpendicular, that is, the part of the adapter 220 used to connect with the ball bearing 510 is offset outward relative to the telescopic drive member 200 in a direction away from the first rotating shaft 420, the time point at which the support shaft 610 of the ball bearing 510 on this side interferes with the adapter 220 on this side is effectively delayed. That is, the first connector 310 and the ball bearing 510 can continue to swing, so that the end effector 10 connected to the first connector 310 can continue to swing. Regardless of whether the wrist mechanism swings to the left or right, it can reach or approach the limit angle of the ball bearing 510. This maximizes the swing angle of the wrist structure, improves the adaptability of the wrist structure, and provides more possibilities for the application scenarios of the wrist structure.

[0049] In other embodiments, only the portion of the left adapter 220 used to connect with the ball bearing 510 may be offset outward relative to the telescopic drive member 200 in a direction away from the first rotating shaft 420, i.e., offset to the left. This maximizes the swing angle when the wrist mechanism swings to the left. In another embodiment, only the portion of the right adapter 220 used to connect with the ball bearing 510 may be offset outward relative to the telescopic drive member 200 in a direction away from the first rotating shaft 420, i.e., offset to the right. This maximizes the swing angle when the wrist mechanism swings to the right.

[0050] See Figures 1 to 3 as well as Figure 6 As shown, in one embodiment, the adapter 220 includes a first adapter portion 222 and a second adapter portion 223. The first adapter portion 222 is provided with a snap-fit ​​hole 2221. One end of the second adapter portion 223, away from the first adapter portion 222, is connected to the telescopic drive member 200. The first adapter portion 222 is offset outwards in the extending direction of the second adapter portion 223 (i.e., the first adapter portion 222 is offset outwards in a direction away from the first rotating shaft 420), so that the central axis of the telescopic shaft 210 is not perpendicular to the axis of the snap-fit ​​hole 2221 on the corresponding side. Understandably, the second adapter portion 223 of the adapter 220 is provided with a connection hole 2231 for connecting the telescopic drive member 200. This connection hole 2231 is used to detachably connect the telescopic shaft 210 to the adapter 220, such as through a thread on the connection hole 2231. Thus, the central axis of the telescopic drive component 200 is not perpendicular to the axis of the corresponding snap-fit ​​hole, which can also mean that the axis of the connecting hole 2231 provided on the adapter 220 is not perpendicular to the axis of the corresponding snap-fit ​​hole 2221.

[0051] In some embodiments, the angle between the extending direction of the first adapter 222 and the extending direction of the second adapter 223 is in the range of 2 degrees to 5 degrees. Figure 6 It can be seen that the extension direction of the first adapter 222 is not collinear with the extension direction of the second adapter 223, that is, the first adapter 222 has a certain offset angle relative to the second adapter 223. By reasonably adjusting the offset angle, the time point at which the support shaft 610 of the ball bearing 510 interferes with the adapter 220 is delayed, allowing the first connector 310 and the ball bearing 510 to continue swinging. This allows the end effector 10 connected to the first connector 310 to continue swinging, reaching or approaching the limit angle of the ball bearing 510 regardless of whether the wrist mechanism swings to the left or right. This maximizes the swing angle of the wrist structure, improves the adaptability of the wrist structure, and provides more possibilities for the application scenarios of the wrist structure.

[0052] See Figures 1 to 3 As shown, in one embodiment, the angle between the extending direction of the first adapter 222 and the extending direction of the second adapter 223 is 2.8 degrees. In some embodiments, taking the first adapter 222 offset relative to the second adapter 223 as an example, when the limit swing angle of the ball bearing 510 in the wrist structure is determined, the offset angle of the first adapter 222 can be determined by modeling with 3D software such as SolidWorks. This offset angle is the angle between the extending direction of the first adapter 222 and the extending direction of the second adapter 223. Specifically, by using 3D modeling, the wrist structure is made to swing to the limit swing angle. Without considering interference, the swing angles corresponding to the two ball bearings 510 are measured. Based on the swing angles of the two ball bearings 510, the offset angle of the first adapter 222 can be determined. For example, the limit swing angle of the ball bearing 510 is 35 degrees. By using three-dimensional modeling to make the wrist structure swing to 35 degrees, the swing angle of the two ball bearings 510 can be measured, the difference between the swing angles of the two ball bearings 510 can be calculated, and the difference can be divided by two to obtain the offset angle of the first adapter 222. After the first adapter 222 is offset by this angle, the swing angle of the two ball bearings 510 corresponding to the wrist structure swinging to 35 degrees can be measured again by modeling. If the swing angle of one of the ball bearings 510 exceeds 35 degrees, the new difference between the swing angles of the two ball bearings 510 is calculated and a new offset angle is determined until the swing angle of the two ball bearings 510 is equal to 35 degrees.

[0053] In some embodiments, the extension direction of the central axis of the telescopic shaft 210 intersects the center of the ball bearing 510. This arrangement prevents the telescopic drive member 200 from being subjected to bending moment, i.e., prevents the telescopic drive member 200 from bending. In some embodiments, the axis of the first rotating shaft 420 is perpendicular to the axis of the ball bearing 510, and the first rotating shaft 420 is configured such that the first connecting member 310 can swing back and forth between the ball bearings 510 on the left and right sides.

[0054] like Figure 1 and Figure 2 As shown, the wrist structure also includes a second connector 320 connected to the first end of the base 100, and a first rotating shaft 420 is disposed on the second connector 320. The first connector 310 is rotatably connected to the second connector 320 via the first rotating shaft 420, that is, rotatably connected to the base 100.

[0055] In some embodiments, the second connector 320 is further provided with a second rotating shaft 410, and the second connector 320 is rotatably connected to the first end of the base 100 via the second rotating shaft 410. In this way, the telescopic drive member 200 can drive the first connector 310 to rotate around the second rotating shaft 410.

[0056] exist Figure 3 In the illustrated embodiment, when the telescopic shafts 210 on both sides move at the same speed in the same direction, that is, when they extend or shorten by the same distance simultaneously, the first connector 310 and the second connector 320 rotate synchronously around the second rotating shaft 410 relative to the base 100, thereby realizing the up-and-down flipping of the end effector 10. Specifically, when the telescopic shafts 210 on both sides extend simultaneously, the first connector 310 drives the end effector 10 to flip downward; when the telescopic shafts 210 on both sides shorten simultaneously, the first connector 310 drives the end effector 10 to flip upward.

[0057] When the telescopic shafts 210 on both sides move in the same direction or in opposite directions at different speeds, for example, when the telescopic shafts 210 on both sides extend at the same time, but at different speeds or different distances, the first connecting member 310 not only rotates around the second rotating shaft 410, but also rotates around the first rotating shaft 420, realizing the combined motion of the end effector 10 flipping up and down and swinging left and right.

[0058] In other embodiments, when the wrist structure is provided with only the first pivot 420, the second connector 320 can also be integrally formed with the base 100, thereby reducing the assembly structure and improving the structural stability.

[0059] See Figures 1 to 3As shown, in one embodiment, the adapter 220 is provided with an opening slot 221 with the opening facing inward. The adapter 220 is approximately C-shaped or bow-shaped, that is, the adapter 220 is provided with clearance space to form an installation space, which facilitates the connection operation between the adapter 220 and the telescopic shaft 210. For example, the two are connected by fasteners such as nuts, and the nuts are located in the clearance space.

[0060] See Figures 1 to 3 As shown, in one embodiment, the second rotating shaft 410 and the first rotating shaft 420 are arranged perpendicularly and do not intersect, with the axis of the second rotating shaft 410 parallel to the axis of the ball bearing 510. That is, the center point of the second rotating shaft 410 does not coincide with the center point of the first rotating shaft 420; the center point is the intersection of the geometric center line of the corresponding shaft, i.e., the central axis and the central cross-section. Along the first direction of the telescopic shaft 210, the center point of the second rotating shaft 410 can be located to the left or to the right of the center point of the first rotating shaft 420.

[0061] Since the first connector 310 and the second connector 320 are rotatably connected via the first pivot 420, and the second connector 320 is rotatably connected to the base 100 via the second pivot 410, and the center point of the second pivot 410 does not coincide with the center point of the first pivot 420, meaning the second pivot 410 and the first pivot 420 are independent, the end effector 10 can move independently in two directions. For example, when the end effector 10 swings left and right around the first pivot 420, it is not constrained by the second pivot 410, allowing the wrist structure to provide a larger range of motion and maximizing the range of motion of the end effector 10, thus providing more possibilities for the application of robotic arms. On the other hand, when the second pivot 410 and the first pivot 420 do not intersect, i.e., they are offset, the installation space of the pivots can be increased, allowing for the selection of larger first pivot 420 and / or second pivot 410, resulting in better force and load distribution on the wrist structure.

[0062] In one embodiment, the telescopic drive 200 can specifically be a servo electric cylinder. In other embodiments, the drive can also be an electric push rod, a telescopic cylinder, or a lead screw motor, etc.

[0063] See Figures 1 to 3 As shown, in one embodiment, the base 100 includes an end plate 110 for connecting a joint module (not shown) of the robotic arm, which can drive the entire wrist structure to rotate. In one embodiment, the end plate 110 is annular and has multiple threaded holes along its circumference. The connection between the end plate 110 and the joint module is achieved by fasteners such as bolts passing sequentially through the threaded holes of the end plate 110 and the joint module.

[0064] See Figures 1 to 3As shown, in one embodiment, the base 100 further includes a first pull rod 120 and a second pull rod 130 disposed on the end plate 110, the first pull rod 120 and the second pull rod 130 being distributed along a third direction on both sides of the telescopic drive member 200. Figure 1 As shown, arrow Z indicates the third direction. When the wrist structure is in a non-swinging state, the third direction is the axis of the first rotation axis, for example, the third direction is the vertical direction. By distributing the first tie rod 120 and the second tie rod 130 vertically, the force distribution is more uniform and dispersed, which helps to improve the structural strength and load-bearing capacity of the base 100.

[0065] See Figures 1 to 3 As shown, in one embodiment, at least one of the second connector 320 and the first connector 310 is provided with a first rotating hole, and at least the other is connected to a first rotating shaft 420 passing through the first rotating hole. For example, in the embodiment shown in the figures, both the first connector 310 and the second connector 320 are provided with first rotating holes, and the first rotating shaft 420 passes through the first rotating holes of the first connector 310 and the second connector 320 in sequence, thereby realizing the rotation of the first connector 310 relative to the second connector 320 around the first rotating shaft 420. In other embodiments, the second connector 320 may be provided with the first rotating shaft 420, and the first connector 310 may be provided with the first rotating hole through which the first rotating shaft 420 passes. Of course, in other embodiments, the first connector 310 may be provided with the first rotating shaft 420, and the second connector 320 may be provided with the first rotating hole through which the first rotating shaft 420 passes.

[0066] See Figures 1 to 3 As shown, in one embodiment, at least one of the second connector 320 and the base 100 is provided with a second rotating hole, and at least the other is connected to a second rotating shaft 410 passing through the second rotating hole. For example, in the embodiment shown in the figures, both the second pull rod 130 and the second connector 320 in the base 100 are provided with second rotating holes, and the second rotating shaft 410 passes through the second rotating hole of the second pull rod 130 and the second rotating hole of the second connector 320 in sequence. In this way, the second connector 320 and the first connector 310 can rotate relative to the base 100 around the second rotating shaft 410. In other embodiments, the base 100 may be provided with a second rotating hole, and the second connector 320 may be provided with a second rotating shaft 410, with the second rotating shaft 410 passing through the second rotating hole to achieve a rotatable connection between the base 100 and the second connector 320. In another embodiment, the second connector 320 may be provided with a second rotating hole, and the base 100 may be provided with a second rotating shaft 410.

[0067] See Figures 1 to 3As shown, it can be understood that at least one of the first connecting member 310 and the ball bearing 510 is provided with a support hole, and at least the other is connected to a support shaft 610 passing through the support hole. In the embodiment shown in the figures, both the first connecting member 310 and the ball bearing 510 are constructed with support holes, and the support shaft 610 passes through the support holes of the first connecting member 310 and the ball bearing 510 in sequence, thereby achieving the connection between the first connecting member 310 and the ball bearing 510. In other embodiments, the first connecting member 310 may be constructed with a support shaft 610, and the ball bearing 510 may be constructed with a support hole for the support shaft 610 to pass through.

[0068] See Figures 1 to 3 As shown, in one embodiment, the end of the telescopic drive 200 away from the adapter 220, i.e., away from the telescopic shaft 210, is rotatably connected to the second end of the base 100. If the telescopic drive 200 experiences slight misalignment or deflection during operation, this rotatable connection can automatically adjust to accommodate such changes, avoiding additional stress and wear caused by rigid contact. This facilitates the telescopic drive 200 in achieving the flipping and / or swinging motion of the end effector 10 connected to the first connector 310 through the telescopic operation of the telescopic shaft 210.

[0069] Furthermore, one embodiment of this application also provides a robotic arm, including the wrist structure as described above, a joint module connected to the second end of the base, and an end effector connected to the first connector. The joint module is used to drive the wrist structure to rotate, and the end effector can be a dexterous hand or a gripper, etc. Because this robotic arm includes the wrist structure of any of the above embodiments, there is no interference between the ball bearing connector and the wrist structure during left and right swinging. This allows the swing angle of the wrist structure to be equal to the limit swing angle of the ball bearing, maximizing the swing angle of the wrist structure, improving its adaptability, and providing more possibilities for its application scenarios.

[0070] On the other hand, this application also provides a robot, including the aforementioned robotic arm. In one embodiment, the robot can be a humanoid robot. In another embodiment, the robot can be a wheeled robot with a robotic arm.

[0071] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0072] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A wrist structure, characterized by, The wrist structure comprises: a base (100) comprising a first end and a second end arranged along a first direction; a first rotating shaft (420); a first connecting piece (310) rotatably connected to the first end of the base (100) through the first rotating shaft (420); the two ends of the first connecting piece (310) along a second direction are respectively provided with ball bearings (510); two telescopic driving assemblies, each of which comprises a telescopic driving piece (200) and an adapter (220) connected to the telescopic driving piece (200); the two telescopic driving assemblies are connected to the two sides of the base (100) along the second direction; the adapter (220) is configured with a clamping hole (2221) sleeved on the ball bearing (510); wherein, in at least one telescopic driving assembly, the central axis of the telescopic driving piece (200) is not perpendicular to the axis of the clamping hole (2221).

2. The wrist structure of claim 1, wherein, The adapter (220) comprises a first adapter part (222) and a second adapter part (223); the first adapter part (222) is provided with the clamping hole (2221); the second adapter part (223) is connected to the telescopic driving piece (200) at one end away from the first adapter part (222); wherein, the first adapter part (222) is biased outward in the extension direction of the second adapter part (223), so that the central axis of the corresponding telescopic driving piece (200) is not perpendicular to the axis of the clamping hole; and / or, the extension direction of the central axis of the telescopic driving piece (200) intersects with the center of the ball bearing (510).

3. The wrist structure of claim 2, wherein, The included angle between the extension direction of the first adapter part (222) and the extension direction of the second adapter part (223) ranges from 2 degrees to 5 degrees.

4. The wrist structure of claim 1, wherein, The axis of the first rotating shaft (420) is perpendicular to the axis of the ball bearing (510); and / or, the wrist structure further comprises a second connecting piece (320), and the first rotating shaft (420) is arranged on the second connecting piece (320).

5. The wrist structure of claim 4, wherein, The second connecting piece (320) is further provided with a second rotating shaft (410), and the second connecting piece (320) is rotatably connected to the first end of the base (100) through the second rotating shaft (410).

6. The wrist structure of claim 5, wherein, The second rotating shaft (410) and the first rotating shaft (420) are arranged perpendicularly and do not intersect; the axis of the second rotating shaft (410) is parallel to the axis of the ball bearing (510); and / or, the base (100) comprises a first pull rod (120) and a second pull rod (130); the first pull rod (120) and the second pull rod (130) are arranged on the two sides of the telescopic driving piece (200) along a third direction.

7. The wrist structure of claim 5, wherein, At least one of the second connecting piece (320) and the first connecting piece (310) is configured with a first rotating hole, and the other is connected with the first rotating shaft (420) penetrating through the first rotating hole. And / or, at least one of the second connecting member (320) and the base (100) is configured with a second rotation hole, and the other is connected with the second rotation shaft (410) penetrating through the second rotation hole.

8. The wrist structure of claim 1, wherein, The telescopic driving member (200) is rotationally connected to the second end of the base (100) at one end away from the adapter (220).

9. A robot arm, characterized in that The wrist structure as claimed in any one of claims 1 to 8, a joint module connected to the second end of the base (100) and an end effector (10) connected to the first connecting member (310), wherein the joint module is used to drive the wrist structure to rotate.

10. A robot, characterized in that The robot arm as claimed in claim 9.

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