Wrist assembly, robot arm and robot
By using a series of wrist rotation joint modules and transmission linkage structures, the design of the humanoid robot wrist assembly is simplified, costs are reduced, and the accuracy and flexibility of motion control are improved, solving the problems of complex structure and difficult decoupling in existing technologies.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-18
- Publication Date
- 2026-04-03
AI Technical Summary
Existing humanoid robot wrist components are complex in structure, costly, and difficult to decouple in motion.
The first wrist rotation joint module and transmission linkage structure are connected in series. The first wrist rotation output component drives the transmission linkage to rotate the hand, which simplifies the structure of the wrist assembly and achieves precise control of the hand through independent rotation output component and linkage.
The wrist assembly features a simple and low-cost structure, and its motion decoupling is easy, thus improving the control accuracy and flexibility of wrist movements.
Smart Images
Figure CN224074403U_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the field of humanoid robots, specifically involving wrist components, robotic arms, and robots. Background Technology
[0002] Humanoid robots are an important development direction in robotics. In the field of humanoid robots, robots should have a configuration similar to humans in order to imitate and learn human operating experience.
[0003] Currently, humanoid robotic arms are mainly of the fully serial rotary joint type, and on this basis, a parallel linear mechanism is used at the wrist joint to generate wrist movements. However, the parallel linear mechanism at the wrist joint increases the structural complexity, costs, and makes it difficult to decouple the movements. Utility Model Content
[0004] This application provides a wrist assembly, a robotic arm, and a robot to solve the technical problems of complex wrist assembly structure, high cost, and difficulty in motion decoupling.
[0005] To solve the above-mentioned technical problems, one technical solution adopted in this application is: a wrist assembly, comprising at least a first wrist rotation joint module and a hand connected in series, for driving the hand to rotate around a first rotation axis; the first wrist rotation joint module includes: a first wrist rotation output component; two transmission links, one end of each of the two transmission links being rotatably connected to the rotation output end of the first wrist rotation output component, and the other end being used to drive the hand to rotate; wherein, the rotation of the rotation output end of the first wrist rotation output component can drive the two transmission links to swing, thereby driving the hand to rotate around the first rotation axis.
[0006] According to one embodiment of this application, the first wrist rotation joint module further includes a wrist rotation output flange, which is fixedly connected to the rotation output end of the first wrist rotation output component. The rotation output axis of the first wrist rotation output component is arranged parallel to the first rotation axis. One end of the transmission link is rotatably connected to the wrist rotation output flange, and the two transmission links are distributed on both sides of the wrist rotation output flange on the rotation axis of the first wrist rotation output component.
[0007] According to one embodiment of this application, the first rotation axis and the second rotation axis are arranged perpendicularly to each other in opposite planes.
[0008] According to one embodiment of this application, the first wrist rotation joint module includes a first wrist fixing shell, and the first wrist rotation output component is fixedly disposed in the first wrist fixing shell; the first wrist fixing shell surrounds both sides of the second wrist rotation joint module in the direction of the first rotation axis and is rotatably connected to the second wrist rotation joint module, and the two transmission connecting rods pass through the first wrist fixing shell and are rotatably connected to the second wrist rotation joint module.
[0009] According to one embodiment of this application, the second wrist rotation joint module includes a second wrist fixing shell and a second wrist rotation output component, the second wrist rotation output component being fixedly disposed inside the second wrist fixing shell; the hand includes a hand body and a hand support, the hand body being fixed to the hand support, and the hand support being fixed to the rotation output end of the second wrist rotation output component on one side in the direction of the second rotation axis, and rotatably supported on the second wrist fixing shell on the other side.
[0010] To solve the above-mentioned technical problems, another technical solution adopted in this application is: a robotic arm, including a shoulder assembly, an elbow assembly and a wrist assembly that are rotated and connected in sequence, wherein the wrist assembly adopts the wrist assembly described above.
[0011] According to one embodiment of this application, the shoulder assembly includes: a first rotary joint module; a second rotary joint module fixedly connected to the rotation output end of the first rotary joint module; and a third rotary joint module fixedly connected to the rotation output end of the second rotary joint module, the rotation output end of the third rotary joint module being connected to the elbow assembly; wherein the rotation output axes of the first rotary joint module and the second rotary joint module intersect, and the rotation output axes of the second rotary joint module and the third rotary joint module intersect.
[0012] According to one embodiment of this application, the second rotary joint module includes a second fixed shell and a second rotary output member. The second fixed shell is clamped and fixed to the outer periphery of the second rotary output member and is fixed to the end of the second rotary output member by fasteners. The second fixed shell is also clamped and fixed to the rotary output end of the first rotary joint module.
[0013] According to one embodiment of this application, the third rotary joint module includes a third fixed shell and a third rotary output component. The third fixed shell is clamped and fixed to the outer periphery of the third rotary output component and is fixed to the end of the third rotary output component by fasteners. The third fixed shell is also clamped and disposed at both ends in the direction of the rotation axis of the second rotary joint module, and one side of the third fixed shell is fixed to the rotation output end of the second rotary joint module, while the other side is rotatably supported by the second rotary joint module.
[0014] According to one embodiment of this application, the arm-elbow assembly includes: a fourth rotary joint module fixedly connected to the end rotation output terminal of the shoulder assembly; and a fifth rotary joint module fixedly connected to the rotation output terminal of the fourth rotary joint module, wherein the rotation output terminal of the fifth rotary joint module is connected to the first wrist rotary joint module; wherein the rotation output axes of the fourth rotary joint module and the end rotation output terminal of the shoulder assembly intersect, the rotation output axes of the fourth rotary joint module and the fifth rotary joint module intersect, and the rotation output axis of the fifth rotary joint module and the first wrist rotary joint module intersect.
[0015] According to one embodiment of this application, the fourth rotary joint module includes a fourth fixed shell and a fourth rotary output component. The fourth fixed shell is clamped and fixed to the outer periphery of the fourth rotary output component and to the end of the fourth rotary output component by fasteners. The fourth fixed shell is also clamped and fixed to the rotation output end of the third rotary joint module.
[0016] According to one embodiment of this application, the fifth rotary joint module includes a fifth fixed shell and a fifth rotary output component. The fifth fixed shell is clamped and fixed to the outer periphery of the fifth rotary output component and is fixed to the end of the fifth rotary output component by fasteners. The fifth fixed shell is axially fixed to the rotary output end of the fourth rotary joint module. The first wrist rotary joint module is radially fixed to the rotary output end of the fifth rotary output component.
[0017] According to one embodiment of this application, at least one rotary joint module has a limit structure at its rotation output end to restrict the rotation of the rotation output end within a predetermined range.
[0018] According to one embodiment of this application, the robotic arm uses a hollow internal wiring method for wiring.
[0019] To solve the above-mentioned technical problems, another technical solution adopted in this application is: a robot, which adopts the above-mentioned wrist component or the above-mentioned robot arm.
[0020] The beneficial effects of this application are as follows: The rotation of the first wrist rotation output component of the wrist assembly in this application can cause a change in the end positions of the two transmission links, thereby causing the hand to rotate in the direction of the first rotation axis. The first wrist rotation joint module only requires the first rotation output component in conjunction with the transmission links to achieve hand rotation. The structure is simple, the rotation output component technology is more universal and mature, and the overall size is small and the cost is low. Furthermore, the rotation drive scheme of a single first rotation output component in conjunction with the transmission links is simple and precise to control, requiring no coupling of different drive mechanisms, making it easier to decouple the wrist assembly's movements. Attached Figure Description
[0021] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein:
[0022] Figure 1 This is a schematic diagram of the overall structure of a robotic arm provided in one embodiment of this application;
[0023] Figure 2 This is an exploded structural diagram of a robotic arm provided in one embodiment of this application;
[0024] Figure 3 This is a top view of a wrist assembly provided in an embodiment of this application;
[0025] Figure 4 This is an exploded structural diagram of a first wrist rotation joint module provided in an embodiment of this application;
[0026] Figure 5 This is an exploded structural diagram of a second wrist rotation joint module provided in an embodiment of this application;
[0027] Figure 6 This is an exploded structural diagram of a second rotary joint module provided in an embodiment of this application. Detailed Implementation
[0028] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, it should be noted that, for ease of description, only the parts relevant to this application are shown in the accompanying drawings, not the entire structure. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this application.
[0029] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.
[0030] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.
[0031] Reference Figures 1-6 This application provides a wrist assembly 300, a robotic arm 10, and a robot. Figure 1 This is a schematic diagram of the overall structure of a robotic arm provided in one embodiment of this application; Figure 2 This is an exploded structural diagram of a robotic arm provided in one embodiment of this application; Figure 3 This is a top view of a wrist assembly provided in an embodiment of this application; Figure 4 This is an exploded structural diagram of a first wrist rotation joint module provided in an embodiment of this application; Figure 5 This is an exploded structural diagram of a second wrist rotation joint module provided in an embodiment of this application; Figure 6 This is an exploded structural diagram of a second rotary joint module provided in an embodiment of this application.
[0032] One embodiment of this application provides a robotic arm 10. The robotic arm 10 includes a shoulder assembly 100, an elbow assembly 200, and a wrist assembly 300 that rotate sequentially in series. The rotational series connection of these components simulates the structure and function of a human arm. The shoulder assembly 100 is located at the upper end of the entire robotic arm 10 and, through rotational series connection, mimics movements such as shoulder rotation, eversion and adduction, and shoulder twisting. The elbow assembly 200 is rotated in series with the shoulder assembly 100, mimicking the movement of the human elbow joint to achieve flexion and extension of the elbow assembly 200, as well as driving the wrist assembly 300 to twist, enabling the robotic arm 10 to perform more precise and complex operations. The wrist assembly 300 is located at the end of the entire robotic arm 10 and, by simulating the abduction, adduction, flexion, and extension movements of the human wrist, achieves precise hand movements, giving the robotic arm 10 high-precision operational capabilities. Furthermore, the robotic arm 10 of this application, employing a rotationally series-connected shoulder assembly 100, elbow assembly 200, and wrist assembly 300, has a simple structure, is easy to control, and reduces usage costs.
[0033] The inventors of this application have discovered through long-term research that some robotic arms, in order to mimic human wrist rotation, especially abduction and adduction movements, require two parallel linear mechanisms to couple and drive the wrist joint rotation. This results in a complex structure, difficulty in decoupling, and high cost. This application provides a wrist assembly 300 that solves the technical problem of the complex structure of the wrist assembly 300.
[0034] The structure of the wrist assembly 300 in this application will be described below with reference to the embodiments:
[0035] In some embodiments, the wrist assembly 300 includes a first wrist rotation joint module 6 and a hand 8 connected in series. The first wrist rotation joint module 6 is used to drive the hand 8 to rotate about a first rotation axis X1. The first wrist rotation joint module 6 includes a first wrist rotation output member J6 and two transmission links 66. One end of each of the two transmission links 66 is rotatably connected to the rotation output end of the first wrist rotation output member J6, and the other end is used to drive the hand 8 to rotate. Wherein, the rotation of the rotation output end of the first wrist rotation output member J6 can drive the two transmission links 66 to swing, thereby driving the hand 8 to rotate about the first rotation axis X1.
[0036] As can be seen from the above structure, the rotation of the output end of the first wrist rotation output component J6 can cause a change in the end position of the two transmission links 66, thereby causing the hand 8 to rotate in the direction of the first rotation axis X1. The first wrist rotation joint module 6 only requires the first rotation output component J1 in conjunction with the transmission links 66 to realize the rotation of the hand 8. The structure is simple, the rotation output component technology is more universal and mature, the overall size is small and the cost is low; moreover, the rotation drive scheme of one first rotation output component J1 in conjunction with the transmission links 66 is simple and precise to control, without the need for coupling of different drive mechanisms, and the decoupling of the wrist component 300 movement is easier.
[0037] It is understood that in some specific embodiments, the four hinged ends of the two transmission links 66 form a parallelogram. The first wrist rotation output component J6 drives the two transmission links 66 to swing, thereby causing the parallelogram to deform, which in turn causes the hand 8 to rotate around the first rotation axis X1.
[0038] Specifically, the first rotation axis X1 can be the rotation axis of the hand 8's abduction and adduction movements. The first wrist rotation output component J6 drives the connecting rod to realize the abduction and adduction of the hand 8. The overall configuration of the first wrist rotation joint module 6 is closer to human movement, while improving the control precision of wrist movements.
[0039] Of course, in other embodiments, by adjusting the connection position of the transmission link 66, the first rotation axis X1 can also be the rotation axis of the bending and stretching action of the hand 8.
[0040] Furthermore, the rotation output axis of the first wrist rotation output component J6 is arranged parallel to the first rotation axis X1. The first wrist rotation joint module 6 also includes a wrist rotation output flange 62. The wrist rotation output flange 62 is fixedly connected to the rotation output end of the first wrist rotation output component J6. One end of the transmission link 66, which is rotatably connected to the rotation output end of the first wrist rotation output component J6, is rotatably connected to the wrist rotation output flange 62. That is, the transmission link 66 achieves rotational connection with the rotation output end of the first wrist rotation output component J6 through rotational connection with the wrist rotation output flange 62. By setting the wrist rotation output flange 62, the installation of the transmission link 66 is facilitated, and the structure is more reasonable. In addition, the two transmission links 66 are distributed on both sides of the rotation axis of the first wrist rotation output component J6 on the wrist rotation output flange 62, which is beneficial for the first wrist rotation output component J6 to control the two transmission links 66.
[0041] In some embodiments, the wrist assembly 300 further includes a second wrist rotation joint module 7 for driving the hand 8 to rotate about a second rotation axis X2. The second wrist rotation joint module 7 is rotatably disposed on the first wrist rotation joint module 6 about a first rotation axis X1, and the other ends of the two transmission links 66 are respectively rotatably disposed on the second wrist rotation joint module 7. The second wrist rotation joint module 7 includes a second wrist rotation output component J7 for driving the hand 8 to rotate about the second rotation axis X2, wherein the first rotation axis X1 and the second rotation axis X2 intersect or are disposed on opposite sides.
[0042] Since the second wrist rotation joint module 7 is rotatably mounted on the first wrist rotation joint module 6 around the first rotation axis X1, and the hand 8 is mounted on the second wrist rotation joint module 7, the first wrist rotation joint module 6 can drive the second wrist rotation joint module 7 and the hand 8 to rotate together around the first rotation axis X1. Furthermore, the second wrist rotation joint module 7 can drive the hand 8 to rotate around the second rotation axis X2, thereby enabling the hand 8 to move in two degrees of freedom.
[0043] In some embodiments, the first rotation axis X1 and the second rotation axis X2 can be arranged to intersect, so as to realize the movement of the hand 8 in two degrees of freedom. Specifically, the first rotation axis X1 and the second rotation axis X2 can be arranged perpendicular to each other, which is closer to the configuration of the human wrist, so as to facilitate the imitation and learning of the operating experience of the human arm.
[0044] In some other embodiments, since the rotational outputs of the second rotary output member J2 and the first rotary output member J1 are independent of each other, the first rotation axis X1 and the second rotation axis X2 can be arranged in opposite directions. Because the first rotation axis X1 and the second rotation axis X2 are arranged in opposite directions, the hand 8 can not only achieve movement in two degrees of freedom, but also achieve a larger range of motion for the wrist assembly 300 through offsetting. Specifically, the first rotation axis X1 and the second rotation axis X2 are arranged perpendicularly to each other in opposite directions, which is closer to the configuration of a human wrist, making it easier to imitate and learn from the operational experience of the human arm.
[0045] It should be noted that the non-coplanar setting means that the first rotation axis X1 and the second rotation axis X2 are not coplanar (not parallel and not directly intersecting), but can intersect after translation. It can also be understood as the first rotation axis X1 intersecting the second rotation axis X2 in space at different angles.
[0046] Specifically, the first rotation axis X1 is the rotation axis for the abduction and adduction movements of the hand 8; the second rotation axis X2 is the rotation axis for the flexion and extension movements of the hand 8. The two rotation axes are reasonably set, and by setting the first rotation joint module 1 and the second rotation joint module 2, movement in two degrees of freedom of the wrist assembly 300 can be achieved. Of course, in other embodiments, after adaptive adjustments, the first rotation axis X1 can be the rotation axis for the flexion and extension movements of the hand 8; and the second rotation axis X2 can be the rotation axis for the abduction and adduction movements of the hand 8.
[0047] In some embodiments, the first wrist rotation joint module 6 includes a first wrist fixing shell 60, and a first wrist rotation output member J6 is fixedly disposed within the first wrist fixing shell 60. The first wrist fixing shell 60 is fixedly connected to the end output end of the arm-elbow assembly 200, and the arm-elbow assembly 200 can drive the wrist assembly 300 to achieve a twisting motion. Therefore, the wrist assembly 300 can achieve movement in three degrees of freedom: abduction and adduction, flexion and extension, and twisting.
[0048] The first wrist fixing shell 60 surrounds both sides of the second wrist rotation joint module 7 along the first rotation axis X1 and is rotatably connected to the second wrist rotation joint module 7. The rotatable connection between the second wrist rotation joint module 7 and the first wrist fixing shell 60 has higher stability and reliability.
[0049] Two transmission links 66 extend out of the first wrist fixing shell 60 and are rotatably connected to the second wrist rotation joint module 7. The first wrist fixing shell 60 has a clearance groove large enough for the transmission links 66 to pass through and swing.
[0050] In some embodiments, the second wrist rotation joint module 7 includes a second wrist fixing shell 70 and a second wrist rotation output component J7, the second wrist rotation output component J7 being fixedly disposed within the second wrist fixing shell 70. The second wrist fixing shell 70 is rotatably connected to the first wrist fixing shell 60 about a first rotation axis X1. Two transmission linkages 66 are rotatably connected to the second wrist fixing shell 70 to drive the second wrist rotation joint module 7 to rotate.
[0051] The hand 8 includes a hand body 82 and a hand support 81. The hand body 82 is fixed to the hand support 81. The hand support 81 is fixed to the rotation output end of the second wrist rotation output component J7 on one side along the second rotation axis X2, and rotatably supported on the second wrist fixing shell 70 on the other side. The hand support 81 and the second wrist rotation joint module 7 form a double support structure, which can improve the connection stability between the second wrist rotation joint module 7 and the hand support 81, and improve the reliability of the second wrist rotation joint module 7 in driving the rotation of the hand support 81.
[0052] Specifically, the first wrist rotation output component J6 and the second wrist rotation output component J7 are motors.
[0053] In one specific embodiment, the first wrist fixing shell 60 includes a first fixing frame 63, which extends through both sides. A first wrist rotation output component J6 is fixed inside the first fixing frame 63, and a wrist rotation output flange 62 is fixed to the rotation output end of the first wrist rotation output component J6. The first wrist fixing shell 60 also includes two first decorative covers 61. The two first decorative covers 61 are respectively fixed to both ends of the first fixing frame 63, improving the structural stability and aesthetics of the first wrist fixing shell 60 and preventing foreign objects from entering.
[0054] Furthermore, the second wrist fixing housing 70 includes a second fixing frame 74 and a second wrist rotation output component J7, which is fixed inside the second fixing frame 74. A first fixing frame 63 surrounds both sides of the second fixing frame 74 along the first rotation axis X1. The second fixing frame 74 is rotatably connected to the first fixing frame 63 via two hollow support shafts 72a and two bearings 73a around the first rotation axis X1. Specifically, the inner ring of the bearing 73a is fixed to the hollow support shaft 72, the outer ring of the bearing 73a is fixed to the second fixing housing 20, and the hollow support shaft 72a is fixed to the first fixing frame 63. The bearing 73a is axially limited on the second fixing frame 74 by a bearing end cap 71.
[0055] One end of each of the two transmission links 66 is rotatably connected to the wrist-rotating output flange 62 on both sides of its rotation output axis via rotating pins 67a, with the rotating pins 67a fixed to the wrist-rotating output flange 62. The other ends of each of the two transmission links 66 are rotatably connected to the second fixed frame 74 via rotating pins 67b. The rotating pins 67b are fixed to the second fixed frame 74, and the line connecting the two ends of the transmission links 66 rotatably connected to the second fixed frame 74 passes through the first rotation axis X1. The transmission links 66 and the transmission pins 67a are rotatably connected by bearings 68.
[0056] Specifically, the transmission pin 67a and the rotating pin 67b are fixed to the inner ring of the bearing 68, and the transmission connecting rod 66 is fixed to the outer ring of the bearing 68.
[0057] The second wrist fixing shell 70 also includes a second cover 76. The second cover 76 covers one end of the second fixing frame 74 that is opposite to the rotating output end of the second wrist rotating output member J7.
[0058] The hand support 81 is fixed to the rotation output end of the second wrist rotation output component J7 on one side along the second rotation axis X2, and rotatably supported on the second cover 76 on the other side by a hollow support shaft 72b and a bearing 73b. Specifically, the inner ring of the bearing 73b is fixed to the hollow support shaft 72b, the outer ring of the bearing 73b is fixed to the second cover 76, and the hollow support shaft 72b is fixed to the hand support 81. The bearing 73b is axially limited to the second cover 76 by the bearing end cap 71b.
[0059] Specifically, the hand body 82 and the hand support 81 are fixed together by screws or other fasteners.
[0060] In some embodiments, the rotation output end of the second wrist rotation joint module 7 is provided with a limit structure to restrict the rotation output end from rotating within a predetermined range, thereby restricting the hand 8 from rotating within the predetermined range.
[0061] Specifically, the hand support 81 is the first limiting part, and the second wrist fixing shell 70 is correspondingly provided with a second limiting part 742. The second limiting part 742 is located on the rotation path of the first limiting part to restrict the rotation of the hand support 81 within a predetermined range. When the hand support 81 rotates relative to the second wrist fixing shell 70 until the first limiting part and the second limiting part 742 abut, the output end of the second wrist rotation joint module 7 can no longer rotate.
[0062] By setting the above-mentioned limiting structure, the rotation output end of the second wrist rotation joint module 7 can only move within the designed range, which has the function of preventing complete rotation and avoiding damage to internal parts and circuits caused by unexpected excessive rotation, thus improving the reliability and safety of the module. In addition, the limiting structure can establish a motion reference point, which serves as a positioning function.
[0063] In some embodiments, the rotation output end of the second wrist rotation joint module 7 may also be provided with a relevant limiting structure. The setting method and principle of the limiting structure are similar and will not be described in detail here.
[0064] The structure of the shoulder assembly 100 will be described below with reference to the embodiments:
[0065] In some embodiments, the shoulder assembly 100 includes a first rotary joint module 1, a second rotary joint module 2, and a third rotary joint module 3 arranged in series. The second rotary joint module 2 is fixedly connected to the rotation output end of the first rotary joint module 1. The third rotary joint module 3 is fixedly connected to the rotation output end of the second rotary joint module 2. The elbow assembly 200 is fixedly connected to the rotation output end of the third rotary joint module 3. The rotation output axes of the first rotary joint module 1 and the second rotary joint module 2 intersect, and the rotation output axes of the second rotary joint module 2 and the third rotary joint module 3 intersect.
[0066] By setting up three rotary joint modules connected in series, the shoulder assembly 100 can achieve movement in three degrees of freedom. The shoulder assembly 100 can simulate multi-directional rotation of the human shoulder, realizing shoulder rotation, eversion and adduction, and twisting movements, thus improving the flexibility and applicability of the shoulder assembly 100. By adjusting the rotation angle and speed of each rotary joint module, complex and precise shoulder movements can be achieved, thereby meeting different work requirements.
[0067] Specifically, the rotation output axes of the first rotary joint module 1 and the second rotary joint module 2 are perpendicular to each other, and the rotation output axes of the second rotary joint module 2 and the third rotary joint module 3 are perpendicular to each other. Setting the rotation output axes of adjacent rotary joint modules to be perpendicular to each other makes the coordination between the rotary joint modules more reasonable and has a configuration close to that of the human arm, so as to facilitate the imitation and learning of the operating experience of the human arm.
[0068] In some embodiments, the first rotary joint module 1 includes a first base 11 and a first rotary output member J1. The first rotary output member J1 is fixedly disposed in the first base 11, and the rotation output end of the first rotary output member J1 is located on the side of the first base 11 facing the second rotary joint module 2.
[0069] Specifically, the first base 11 is used to fix the robot arm 10 as a whole and bear the weight of the whole machine. The first output end of the first rotary output component J1 may be provided with a first output flange for docking with the second rotary joint module 2. The first output flange can increase the connection area between the rotary output end of the first rotary output component J1 and the second rotary joint module 2, distribute the load, and improve the torsional strength.
[0070] In some embodiments, the second rotary joint module 2 includes a second fixed housing 20 and a second rotary output member J2. The second fixed housing 20 is clamped and fixed to the outer periphery of the second rotary output member J2 and to the end of the second rotary output member J2 by fasteners. The multiple fixing methods, including clamping and end-face fixing, improve the installation reliability of the second fixed housing 20 and the second rotary output member J2, evenly distribute pressure, reduce stress concentration, and increase load capacity. Furthermore, the clamping method allows for a tighter contact between the second rotary output member J2 and the second fixed housing 20, resulting in a larger contact area and improving structural heat dissipation.
[0071] Furthermore, the second fixed housing 20 is also clamped and fixed to the rotating output end of the first rotary joint module 1, that is, clamped and fixed to the rotating output end of the first rotary output component J1. This increases the contact area and bonding force between the second fixed housing 20 and the rotating output end of the first rotary joint module 1, ensuring the stability and reliability of the entire shoulder assembly 100. Specifically, the second fixed housing 20 can be clamped and fixed to the outer periphery of the first output flange of the first rotary output component J1.
[0072] The rotating output end of the second rotating output component J2 may be provided with a second output flange 23 for docking with the third rotating joint module 3. The second output flange 23 can increase the connection area between the rotating output end of the second rotating output component J2 and the third rotating joint module 3, distribute the load, and improve the structural strength.
[0073] In some embodiments, the third rotary joint module 3 includes a third fixed housing 30 and a third rotary output component J3. The third fixed housing 30 is clamped and fixed to the outer periphery of the third rotary output component J3 and is also fixed to the end of the third rotary output component J3 by fasteners. The multiple fixing methods, including clamping and end-face fixing, can improve the installation reliability of the third fixed housing 30 and the third rotary output component J3, evenly distribute pressure, reduce stress concentration, and improve load capacity. Furthermore, the clamping method allows for a tighter contact and a larger contact area between the third rotary output component J3 and the third fixed housing 30, which is beneficial for structural heat dissipation.
[0074] Furthermore, the third fixing shell 30 is also clamped at both ends along the rotation axis of the second rotary joint module 2. One side of the third fixing shell 30 is fixed to the rotation output end of the second rotary joint module 2, and the other side of the third fixing shell 30 is rotatably supported by the second rotary joint module 2. The second fixing shell 20 and the second rotary joint module 2 form a double support structure, which can improve the connection stability and rotational reliability between the second rotary joint module 2 and the third rotary joint module 3.
[0075] The rotating output end of the third rotating output component J3 may be provided with a third output flange 33 for docking with the elbow assembly 200. The third output flange 33 can increase the connection area between the rotating output end of the third rotating output component J3 and the elbow assembly 200, distribute the load, and improve the structural strength.
[0076] Specifically, the first rotary output component J1, the second rotary output component J2, and the third rotary output component J3 are motors.
[0077] In one specific embodiment, the second fixing shell 20 includes two second sub-fixing shells 21 and two second clamping rings 22. The two second sub-fixing shells 21 are radially clamped and fixed to the outer periphery of the second rotary output member J2. The two second sub-fixing shells 21 can be tightened and fixed relative to each other by screws, and the end faces of the two second sub-fixing shells 21 and the end faces of the second rotary output member J2 are further fixed by screws.
[0078] Two second clamping rings 22 are radially clamped and fixed to the outer periphery of the rotating output end of the first output component J1. Specifically, the two second clamping rings 22 can be clamped and fixed to the first output flange. The two second clamping rings 22 can be disposed on one of the second sub-fixed housings 21, or the two second clamping rings 22 can be disposed on two separate second sub-fixed housings 21. The second clamping rings 22 can be interconnected with the second sub-fixed housings 21 or integrally formed; no limitation is imposed here.
[0079] The second fixed housing 20 also includes a second end cap 24. The second end cap 24 is fixed to one end of the two second sub-fixed housings 21 away from the rotating output end of the first rotating output component J1. The second end cap 24 and the two second sub-fixed housings 21 fit tightly together to form a stable structure of the second fixed housing 20, which improves the aesthetics of the second rotating joint module 2 and prevents foreign objects from entering.
[0080] The third fixed housing 30 includes two third sub-fixed housings 32, which are radially engaged and fixed to the outer periphery of the third rotary output component J3. The two third sub-fixed housings 32 can be tightened and fixed relative to each other by screws, and the end faces of the two third sub-fixed housings 32 and the end face of the third rotary output component J3 are further fixed by screws.
[0081] Furthermore, two third sub-fixed housings 32 are distributed along the rotational output axis of the second rotary joint module 2. One third sub-fixed housing 32 is fixedly connected to the second output flange 23 of the second rotary joint module 2, and the other third sub-fixed housing 32 is rotatably supported by the second rotary joint module 2. The second rotary joint module 2 also includes an end hollow support shaft 25 and an end bearing 26. The outer ring of the end bearing 26 is fixed to the second end cover 24, and the inner ring of the end bearing 26 is fixed to the end hollow support shaft 25. The end hollow support shaft 25 extends out of the second end cover 24 and is fixed to the third rotary joint module 3. Through the above structure, the third sub-fixed housing 32 not only achieves clamping fixation with the third rotary output component J3, but also achieves a double support structure with the second rotary joint module 2.
[0082] Furthermore, the third fixed shell 30 also includes two third decorative covers 31, which are respectively placed on the outside of the two third sub-fixed shells 32 to cover the double support structure of the third sub-fixed shell 32 and the second rotary joint module 2, thus serving to improve aesthetics, prevent dust, and protect the internal structure.
[0083] In some embodiments, a first limiting portion 28 is fixedly disposed on the rotation output end of the second rotary output member J2, and a second limiting portion 27 is fixedly disposed on the second fixed housing 20. The second limiting portion 27 is located on the rotation path of the first limiting portion 28 to restrict the rotation of the rotation output end of the second rotary output member J2 within a predetermined range. When the rotation output end of the second rotary output member J2 rotates relative to the second fixed housing 20 until the first limiting portion 28 and the second limiting portion 27 abut against each other, the output end of the second rotary output member J2 cannot continue to rotate.
[0084] By setting the above-mentioned limiting structure, the rotation output end of the second rotary output component J2 can only move within the designed range, which has the function of preventing complete rotation and avoiding damage to internal parts and circuits caused by unexpected excessive rotation, thereby improving the reliability and safety of the module. In addition, the limiting structure can establish a motion reference point, which serves as a positioning function.
[0085] Specifically, the first limiting part 28 may be a protrusion provided on the outer edge of the second output flange 23 of the second rotating output member J2; the second limiting part 27 may be a protrusion correspondingly provided on the inner side of the peripheral wall of the second fixed shell 20.
[0086] In addition to the aforementioned limiting structure on the second rotary joint module 2, the first rotary joint module 1 and the third rotary joint module 3 can also be equipped with relevant limiting structures. The setting method and principle of the limiting structures are similar, and will not be elaborated here.
[0087] The structure of the elbow assembly 200 is described below with reference to the embodiments:
[0088] In some embodiments, the elbow assembly 200 includes a fourth rotary joint module 4 and a fifth rotary joint module 5 arranged in series. The fourth rotary joint module 4 is fixedly connected to the end rotation output end of the shoulder assembly 100, i.e., the rotation output end of the third rotary joint module 3. The fifth rotary joint module 5 is fixedly connected to the rotation output end of the fourth rotary joint module 4, and the rotation output end of the fifth rotary joint module 5 is connected to the first wrist rotary joint module 6. The rotation output axes of the fourth rotary joint module 4 and the end rotation output end of the shoulder assembly 100 intersect, the rotation output axes of the fourth rotary joint module 4 and the fifth rotary joint module 5 intersect, and the rotation output axes of the fifth rotary joint module 5 and the first wrist rotary joint module 6 intersect.
[0089] By setting up the fourth rotational joint module 4 and the fifth rotational joint module 5, the upper and lower arm bones and elbow joint of the human arm can be imitated. The rotation of the fourth rotational joint module 4 driven by the third rotational joint module 3 can achieve a twisting movement similar to that of the human shoulder; the rotation of the fifth rotational joint module 5 driven by the fourth rotational joint module 4 can imitate a rotation similar to that of the human elbow joint, thereby achieving a flexion and extension movement similar to that of the human upper and lower arm; the rotation of the first wrist rotational joint module 6 driven by the fifth rotational joint module 5 can cause the wrist component 300 to twist, thereby achieving a twisting movement similar to that of the human wrist.
[0090] Specifically, the rotation output axes of the fourth rotary joint module 4 and the shoulder assembly 100 are perpendicular to each other; the rotation output axes of the fourth rotary joint module 4 and the fifth rotary joint module 5 are perpendicular to each other; and the rotation output axes of the fifth rotary joint module 5 and the first wrist rotary joint module 6 are perpendicular to each other. Setting the rotation output axes of adjacent rotary joint modules to be perpendicular to each other makes the coordination between the rotary joint modules more reasonable and provides a configuration closer to the human arm, facilitating the imitation and learning of human arm operating experience.
[0091] In some embodiments, the fourth rotary joint module 4 includes a fourth fixed housing 40 and a fourth rotary output member J4. The fourth fixed housing 40 is clamped and fixed to the outer periphery of the fourth rotary output member J4 and to the end of the fourth rotary output member J4 by fasteners. The combination of clamping and end-face fixing improves the installation reliability of the fourth fixed housing 40 and the fourth rotary output member J4, evenly distributes pressure, reduces stress concentration, and increases load capacity. Furthermore, the clamping method allows for tighter contact and a larger contact area between the fourth rotary output member J4 and the fourth fixed housing 40, which is beneficial for structural heat dissipation.
[0092] Furthermore, the fourth fixed housing 40 is also clamped and fixed to the rotating output end of the third rotary joint module 3, that is, clamped and fixed to the rotating output end of the third rotary output component J3. This increases the contact area and bonding force between the fourth fixed housing 40 and the rotating output end of the third rotary joint module 3, ensuring structural connection stability and rotational reliability. Specifically, the fourth fixed housing 40 can clamp and fix to the outer periphery of the third output flange 33 of the third rotary output component J3.
[0093] Since the fourth rotary joint module 4 has a relatively lower load compared to the shoulder rotary joint module, the output end of the fourth rotary output component J4 does not need to be equipped with an output flange, thereby reducing the overall structural volume and lowering structural costs. Of course, in other embodiments, the output end of the fourth rotary output component J4 can also be equipped with an output flange to improve structural strength; this is not limited here.
[0094] In some embodiments, the fifth rotary joint module 5 includes a fifth fixed housing 50 and a fifth rotary output component J5. The fifth fixed housing 50 is clamped and fixed to the outer periphery of the fifth rotary output component J5 and to the end of the fifth rotary output component J5 by fasteners. The multiple fixing methods, including clamping and end-face fixing, improve the installation reliability of the fifth fixed housing 50 and the fifth rotary output component J5, evenly distribute pressure, reduce stress concentration, and increase load capacity. Furthermore, the clamping method allows for tighter contact and a larger contact area between the fifth rotary output component J5 and the fifth fixed housing 50, which is beneficial for structural heat dissipation.
[0095] Furthermore, the fifth fixed housing 50 is also axially fixed to the rotation output end of the fourth rotary joint module 4, that is, axially fixed to the rotation output end of the fourth rotary output component J4. By directly axially fixing the fifth fixed housing 50 to the rotation output end of the fourth rotary output component J4, the load requirements of the fifth rotary joint module 5 are met, while the number of structures and structural costs are reduced, installation procedures are reduced, and the difficulty of fixing the fifth fixed housing 50 and the fourth rotary output component J4 is reduced.
[0096] Furthermore, the first wrist rotation joint module 6 is radially fixed to the rotation output end of the fifth rotation output component J5. Since the load on the wrist assembly 300 is relatively small, it can be directly radially fixed to the rotation output end of the fifth rotation output component J5, which satisfies the load requirements of the wrist assembly 300, reduces the number of structures and structural costs, and reduces installation steps.
[0097] In one specific embodiment, the fourth fixing housing 40 includes two fourth sub-fixing housings 41 and two fourth clamping rings 42. The two fourth sub-fixing housings 41 are radially clamped and fixed to the outer periphery of the fourth rotary output member J4. The two fourth sub-fixing housings 41 can be tightened and fixed relative to each other by screws, and the end faces of the two fourth sub-fixing housings 41 and the end faces of the fourth rotary output member J4 are further fixed by screws.
[0098] Two fourth clamping rings 42 are radially clamped and fixed to the outer periphery of the rotating output end of the third output component J3. Specifically, the two fourth clamping rings 42 can be clamped and fixed to the third output flange 33. Two second clamping rings 22 are respectively disposed on two second sub-fixed shells 21. The second clamping rings 22 can be connected to the second sub-fixed shells 21 or integrally formed, which is not limited here.
[0099] Furthermore, the fourth fixed housing 40 also includes a fourth end cap 43. The fourth end cap 43 is fixed to the end of the two fourth sub-fixed housings 41 away from the rotation output end of the fourth rotary output member J4. The fourth end cap 43 and the two fourth sub-fixed housings 41 fit tightly together to form a stable structure of the fourth fixed housing 40, improving the aesthetics of the fourth rotary joint module 4 and preventing foreign objects from entering.
[0100] The fifth fixed housing 50 includes a fifth sub-fixed housing 51a and a fifth sub-fixed housing 51b. The fifth sub-fixed housings 51a and 51b are radially fitted and fixed to the outer periphery of the fifth rotary output component J5. The fifth sub-fixed housings 51a and 51b can be tightened and fixed relative to each other by screws. The end faces of the fifth sub-fixed housings 51a and 51b and the end face of the fifth rotary output component J5 are further fixed by screws.
[0101] Furthermore, the fifth sub-fixed housing 51a extends toward the rotation output end of the fourth rotary output member J4 relative to the fifth sub-fixed housing 51b, so as to be fixed to the rotation output end of the fourth rotary output member J4 along the axial direction of the fourth rotary output member J4 by screws.
[0102] Furthermore, the fifth fixed housing 50 also includes a fifth decorative cover 52a and a fifth decorative cover 52b. The fifth decorative cover 52a is fixed to the side of the fifth sub-fixed housing 51a facing away from the fifth sub-fixed housing 51b, serving to enhance aesthetics, prevent dust, and protect the internal structure. The fifth decorative cover 52b is fixed to the end of the fifth sub-fixed housing 51a and the fifth sub-fixed housing 51b away from the rotating output end of the fifth rotating output component J5, improving the structural stability and aesthetics of the fifth fixed housing 50 and preventing foreign objects from entering.
[0103] Furthermore, the first wrist fixing shell 60 is radially fixed to the outer periphery of the fifth rotating output component J5 by screws.
[0104] In some embodiments, limit structures are respectively provided between the fixed shell and the rotation output end of the fourth rotary joint module 4 and the fifth rotary joint module 5 to restrict the rotation output end of the rotary output component from rotating within a predetermined range, thereby preventing complete rotation and providing positioning. The specific arrangement of the limit structures can be referred to the limit structures on the second rotary joint module 2, and will not be repeated here.
[0105] In some embodiments, the robotic arm 10 employs a hollow internal wiring scheme. This not only prevents the internal wiring from contacting the external environment, reducing damage and malfunctions, but also improves the overall aesthetics. Specifically, the rotation output components of each rotary joint module have axial hollow holes for the wiring to pass through.
[0106] In summary, the first wrist rotation joint module 6 of the wrist assembly 300 in one embodiment of this application only requires the first rotation output component J1 to cooperate with the transmission link 66 to realize the rotation of the hand 8. The structure is simple, the rotation output component technology is more universal and mature, the overall size is small and the cost is low. Furthermore, the rotation drive scheme of one first rotation output component J1 and transmission link 66 is simple and precise to control, without the need for coupling of different drive mechanisms, and the movement decoupling of the wrist assembly 300 is easier.
[0107] The robotic arm 10 in one embodiment of this application includes seven rotary joint modules, enabling movement in seven degrees of freedom. Driven by the respective rotary output components, it can mimic movements such as shoulder rotation, eversion and adduction, shoulder twisting, elbow flexion and extension, wrist twisting, abduction and adduction, and flexion and extension, similar to those of a human arm.
[0108] Using multiple fixing methods, including clamping and end-face fixing, in combination with end-face fixing at the various high-load rotary joint modules near the shoulder can improve the structural reliability of the rotary joint module and facilitate heat dissipation.
[0109] Meanwhile, the robot arm 10 uses clamping, axial direct fixation, or radial fixation methods between different rotary joint modules according to their load requirements, which satisfies the structural load while reducing its structural complexity.
[0110] Furthermore, the robotic arm 10 in one embodiment of this application adopts a hollow internal wiring scheme. This not only avoids contact between the internal wiring and the external environment, reducing damage and malfunctions, but also improves the overall aesthetics.
[0111] Another embodiment of this application provides a robot, which includes the wrist assembly 300 of any of the above embodiments, or the robot arm 10 of any of the above embodiments.
[0112] It should be noted that the terms "horizontal" and "vertical" do not imply that the components must be absolutely horizontal or vertical, but rather that they can be slightly tilted. Similarly, the terms "parallel" and "perpendicular" do not imply that the components are absolutely parallel or perpendicular, but rather that they can have a certain angular deviation. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but rather that it can be slightly tilted. In addition, the orientations or positional relationships indicated by terms such as "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise" are based on the orientations or positional relationships shown in the accompanying drawings, or the orientations or positional relationships that are commonly used when the product of this application is in use. They are only for the purpose of describing the embodiments of 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. Therefore, they should not be construed as limitations on this application.
[0113] It is understood that in this document, "multiple" means at least two, such as two, three, etc., unless otherwise specified. Furthermore, the terms "including" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. The term "and / or" merely describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.
[0114] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.
Claims
1. A wrist assembly, characterized in that, It includes at least a first wrist rotation joint module and a hand connected in series, for driving the hand to rotate about a first rotation axis; the first wrist rotation joint module includes: First wrist rotation output component; Two transmission links, one end of each of the two transmission links is rotatably connected to the rotation output end of the first wrist rotation output component, and the other end is used to drive the hand to rotate; The rotation output end of the first wrist rotation output component rotates, which can drive the two transmission links to swing, thereby causing the hand to rotate around the first rotation axis.
2. The wrist assembly according to claim 1, characterized in that, The first wrist rotation joint module also includes a wrist rotation output flange, which is fixedly connected to the rotation output end of the first wrist rotation output component. The rotation output axis of the first wrist rotation output component is parallel to the first rotation axis. One end of the transmission link is rotatably connected to the wrist rotation output flange, and the two transmission links are distributed on both sides of the wrist rotation output flange on the rotation axis of the first wrist rotation output component.
3. The wrist assembly according to claim 1, characterized in that, The wrist assembly further includes a second wrist rotation joint module for driving the hand to rotate around a second rotation axis. The second wrist rotation joint module is rotatably disposed on the first wrist rotation joint module around the first rotation axis. The other ends of the two transmission links are respectively rotatably disposed on the second wrist rotation joint module. The first rotation axis and the second rotation axis are intersecting or are disposed on opposite sides.
4. The wrist assembly according to claim 3, characterized in that, The first rotation axis and the second rotation axis are arranged perpendicularly to each other in opposite planes.
5. The wrist assembly according to claim 3, characterized in that, The first wrist rotation joint module includes a first wrist fixing shell, and the first wrist rotation output component is fixedly disposed inside the first wrist fixing shell; the first wrist fixing shell surrounds both sides of the second wrist rotation joint module in the direction of the first rotation axis and is rotatably connected to the second wrist rotation joint module, and the two transmission connecting rods pass through the first wrist fixing shell and are rotatably connected to the second wrist rotation joint module.
6. The wrist assembly according to claim 3, characterized in that, The second wrist rotation joint module includes a second wrist fixing shell and a second wrist rotation output component, the second wrist rotation output component being fixedly disposed inside the second wrist fixing shell; the hand includes a hand body and a hand support, the hand body being fixed to the hand support, and the hand support being fixed to the rotation output end of the second wrist rotation output component on one side in the direction of the second rotation axis, and rotatably supported on the second wrist fixing shell on the other side.
7. A robotic arm, characterized in that, It includes a shoulder assembly, an elbow assembly, and a wrist assembly that are rotated in series, wherein the wrist assembly is the wrist assembly described in any one of claims 1-6.
8. The robotic arm according to claim 7, characterized in that, The shoulder assembly includes: First rotary joint module; The second rotary joint module is fixedly connected to the rotation output end of the first rotary joint module; The third rotary joint module is fixedly connected to the rotation output end of the second rotary joint module, and the rotation output end of the third rotary joint module is connected to the elbow assembly. The rotation output axes of the first rotary joint module and the second rotary joint module intersect, and the rotation output axes of the second rotary joint module and the third rotary joint module intersect.
9. The robotic arm according to claim 8, characterized in that, The second rotary joint module includes a second fixed shell and a second rotary output component. The second fixed shell is clamped and fixed to the outer periphery of the second rotary output component and to the end of the second rotary output component by fasteners. The second fixed shell is also clamped and fixed to the rotary output end of the first rotary joint module.
10. The robotic arm according to claim 8, characterized in that, The third rotary joint module includes a third fixed shell and a third rotary output component. The third fixed shell is clamped and fixed to the outer periphery of the third rotary output component and is fixed to the end of the third rotary output component by fasteners. The third fixed shell is also clamped and disposed at both ends in the direction of the rotation axis of the second rotary joint module, and one side of the third fixed shell is fixed to the rotation output end of the second rotary joint module, while the other side is rotatably supported by the second rotary joint module.
11. The robotic arm according to claim 7, characterized in that, The elbow assembly includes: The fourth rotary joint module is fixedly connected to the end rotation output end of the shoulder assembly; The fifth rotary joint module is fixedly connected to the rotation output end of the fourth rotary joint module, and the rotation output end of the fifth rotary joint module is connected to the first wrist rotary joint module. The rotation output axes of the fourth rotary joint module and the end rotation output of the shoulder assembly intersect, the rotation output axes of the fourth rotary joint module and the fifth rotary joint module intersect, and the rotation output axis of the fifth rotary joint module and the first wrist rotary joint module intersect.
12. The robotic arm according to claim 11, characterized in that, The fourth rotary joint module includes a fourth fixed shell and a fourth rotary output component. The fourth fixed shell is clamped and fixed to the outer periphery of the fourth rotary output component and to the end of the fourth rotary output component by fasteners. The fourth fixed shell is also clamped and fixed to the end rotary output end of the shoulder assembly.
13. The robotic arm according to claim 11, characterized in that, The fifth rotary joint module includes a fifth fixed shell and a fifth rotary output component. The fifth fixed shell is clamped and fixed to the outer periphery of the fifth rotary output component and is fixed to the end of the fifth rotary output component by fasteners. The fifth fixed shell is axially fixed to the rotary output end of the fourth rotary joint module. The first wrist rotary joint module is radially fixed to the rotary output end of the fifth rotary output component.
14. The robotic arm according to any one of claims 7-13, characterized in that, At least one rotary joint module has a limit structure at its rotation output end to restrict the rotation of the rotation output end within a predetermined range.
15. The robotic arm according to any one of claims 7-13, characterized in that, The robotic arm uses a hollow internal wiring method for cabling.
16. A robot, characterized in that, The robot employs the wrist assembly of any one of claims 1-6, or the robotic arm of any one of claims 7-15.