Wrist joint device and robot

Abstract

This utility model discloses a wrist joint device and robot, relating to the field of robotics. The wrist joint device includes a support, a universal joint, and two drive units. Both drive units drive the universal joint to rotate. One of the drive units is connected to a first swing arm assembly, which is rotatably connected to one end of the universal joint. The other drive unit is connected to a second swing arm assembly, which is rotatably connected to the other end of the universal joint. The rotation of the first and second swing arm assemblies drives the universal joint to have a swinging state and a flipping state. In the swinging state, the first and second swing arm assemblies rotate in different directions; in the flipping state, the first and second swing arm assemblies rotate in the same direction. The wrist joint device and robot proposed in this utility model have a simple structure and are conducive to miniaturization design.

Description

Technical Field

[0001] This utility model relates to the field of robot joint technology, and in particular to a wrist joint device and robot. Background Technology

[0002] The robot wrist joint is a crucial component of a robot, responsible for controlling the posture and position of the robot's end effector. Wrist design is paramount in robotic hand design. Current wrist joint designs often employ overly complex drive and transmission mechanisms, resulting in large volumes and bulky structures, hindering miniaturization. Furthermore, this complexity increases the risk of interference between components and makes it difficult to ensure adequate workspace. Utility Model Content

[0003] The main purpose of this invention is to provide a wrist joint device that addresses the problem that current wrist joint drive and transmission mechanisms are too complex, occupy a large volume, and are difficult to miniaturize.

[0004] To achieve the above objectives, the wrist joint device proposed in this utility model includes:

[0005] support;

[0006] A universal joint, rotatably connected to the bracket; and

[0007] Two drive units are arranged side by side on the bracket. Both drive units are used to drive the universal joint to rotate. One of the drive units is connected to a first swing arm assembly, which is rotatably connected to one end of the universal joint. The other drive unit is connected to a second swing arm assembly, which is rotatably connected to the other end of the universal joint. The rotation of the first and second swing arm assemblies drives the universal joint to have a swing state and a flip state. In the swing state, the first and second swing arm assemblies rotate in different directions. In the flip state, the first and second swing arm assemblies rotate in the same direction. The first and second swing arm assemblies are correspondingly connected to opposite ends of the universal joint in the swing plane.

[0008] In one embodiment, the drive unit includes a power component and a transmission assembly. The bracket is provided with a clearance space. Two power components are arranged side by side in the clearance space. One of the two power components and two transmission assemblies is fixedly connected to the first swing arm assembly and the other is fixedly connected to the second swing arm assembly. The power component is driven to drive the transmission assembly and drives the transmission assembly to rotate, thereby causing the first swing arm assembly and the second swing arm assembly to rotate.

[0009] In one embodiment, the transmission assembly includes a helical gear and a worm gear meshing with each other, the power component is connected to the worm gear and drives the worm gear to rotate, the helical gear is connected to a drive shaft, one of the two drive shafts is connected to the first swing arm assembly and the other is connected to the second swing arm assembly.

[0010] In one embodiment, the transmission assembly further includes a housing with a cavity, the worm gear being disposed within the cavity, and the housing also having a notch through which the teeth of the helical gear extend into the cavity and mesh with the worm gear.

[0011] In one embodiment, the bracket has two mounting cavities inside, and the two transmission components are respectively disposed in the corresponding mounting cavities, with the drive unit extending at least partially out of the mounting cavities.

[0012] In one embodiment, the bracket includes a body, a first side cover, and a second side cover. The body has a first groove on each side, and the first and second side covers have a second groove. One first groove cooperates with a corresponding second groove to form a mounting cavity, and another first groove cooperates with another corresponding second groove to form another mounting cavity. The first and second side covers have clearance openings, and the drive unit extends out of the mounting cavity through the clearance openings.

[0013] In one embodiment, the first swing arm assembly includes a first swing arm body, a first connector, and a first universal joint. One end of the first swing arm body is connected to the corresponding drive unit, and the other end is rotatably connected to the first connector. The first connector is rotatably connected to the first universal joint, and the first universal joint is also rotatably connected to one end of the universal joint.

[0014] The second swing arm assembly includes a second swing arm body, a second connector, and a second universal joint. One end of the second swing arm body is connected to the corresponding drive unit, and the other end is rotatably connected to the second connector. The second connector is rotatably connected to the second universal joint, and the second universal joint is also rotatably connected to the end of the universal joint away from the first universal joint.

[0015] In one embodiment, the first universal joint component includes a first body, a first pivot, and a second pivot. The extension directions of the first pivot and the second pivot are perpendicular to each other. The first pivot is connected to the first connector and the first body, and the second pivot is connected to the first body and the universal joint.

[0016] The second universal joint component includes a second body, a third pivot, and a fourth pivot. The extension directions of the third pivot and the fourth pivot are perpendicular to each other. The third pivot connects the second connector and the second body, and the fourth pivot connects the second body and the universal joint.

[0017] In one embodiment, the wrist joint device further includes a first main shaft and a second main shaft, the first main shaft and the second main shaft being perpendicular to each other, and the second main shaft also having a connecting hole, the first main shaft also being disposed through the connecting hole, the first main shaft being rotatably connected to the universal joint, and the second main shaft being rotatably connected to the bracket. In the flipped state, the universal joint is rotated around the axis of the first main shaft as its rotation center line, and in the swinging state, the universal joint is rotated around the axis of the second main shaft as its rotation center line.

[0018] This invention also proposes a robot, including the wrist joint device as described above.

[0019] This invention employs two drive units arranged side-by-side on a support frame, allowing each end of the universal joint to be controlled by a separate drive unit. The drive units extend along the support frame, and the universal joint swings or flips due to the rotation of the first and second swing arm assemblies. Specifically, one drive unit drives the first swing arm assembly to rotate, causing one end of the universal joint to be pushed out or retracted. Similarly, the other drive unit drives the second swing arm assembly to rotate, causing the other end of the universal joint to be pushed out or retracted. Thus, when the drive units drive the first and second swing arm assemblies to rotate in the same direction, the universal joint flips vertically. When the drive units drive the first and second swing arm assemblies to rotate in opposite directions, one end of the universal joint is pushed out and rotates away from the drive unit, while the other end is retracted and rotates towards the drive unit, thereby achieving left-right swinging of the universal joint. Since each end of the universal joint is controlled by a separate drive unit, interference is avoided, the structure is simple, and it facilitates miniaturization. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0021] Figure 1 A schematic diagram of an embodiment of the wrist joint device provided by this utility model;

[0022] Figure 2A schematic diagram of the wrist joint device in the swinging state according to Embodiment 1 of this utility model;

[0023] Figure 3 A schematic diagram of the wrist joint device in the flipped state according to Embodiment 1 of this utility model;

[0024] Figure 4 An exploded structural diagram of an embodiment of the wrist joint device provided by this utility model;

[0025] Figure 5 Another exploded structural diagram of an embodiment of the wrist joint device provided by this utility model;

[0026] Figure 6 A schematic diagram of the drive unit of the wrist joint device embodiment provided by this utility model.

[0027] Explanation of icon numbers:

[0028] 100, bracket; 110, body; 111, first groove; 120, first side cover; 130, second side cover; 140, second groove; 150, clearance opening; 160, connecting plate;

[0029] 200. Universal joint; 210. Connecting part; 220. Connecting lug;

[0030] 300. Drive unit; 310. Power component; 320. Transmission assembly; 321. Worm gear; 322. Helical gear; 323. Drive shaft; 324. Housing; 325. Notch; 330. Reduction assembly; 331. First planetary disk; 332. Second planetary disk; 333. Protective shell;

[0031] 400. First swing arm assembly; 410. First swing arm body; 420. First connector; 430. First universal joint; 431. First main body; 432. First pivot; 433. Second pivot;

[0032] 500. Second swing arm assembly; 510. Second swing arm body; 520. Second connector; 530. Second universal joint; 531. Second main body; 532. Third pivot; 533. Fourth pivot;

[0033] 600. First spindle; 610. Limiting ring;

[0034] 700, Second spindle; 710, Connecting hole.

[0035] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0036] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0037] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0038] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0039] In current wrist joint designs, some solutions employ overly complex drive and transmission mechanisms, resulting in large volumes and bulky structures that hinder miniaturization. Furthermore, the complexity of the structure increases the risk of interference between components, making it difficult to guarantee sufficient working space.

[0040] This utility model proposes a wrist joint device.

[0041] Please see Figures 1 to 3As shown, in one embodiment of this utility model, the wrist joint device includes: a support 100, a universal joint 200, and two drive units 300 arranged side by side on the support 100. The universal joint 200 is rotatably connected to the support 100. Both drive units 300 are used to drive the universal joint 200 to rotate. One of the drive units 300 is connected to a first swing arm assembly 400, which is rotatably connected to one end of the universal joint 200. The other drive unit 300 is connected to a second swing arm assembly 500. The second swing arm assembly 500 is rotatably connected to the other end of the universal joint 200. The first swing arm assembly 400 and the second swing arm assembly 500 rotate to drive the universal joint 200 to have a swing state and a flip state. In the swing state, the first swing arm assembly 400 and the second swing arm assembly 500 rotate in different directions. In the flip state, the first swing arm assembly 400 and the second swing arm assembly 500 rotate in the same direction. The first swing arm assembly 400 and the second swing arm assembly 500 are correspondingly connected to the opposite ends of the universal joint 200 in the swing plane.

[0042] It should be noted that one end of the bracket 100 is used to connect to the universal joint 200, and the other end is used to connect to the arm or other components. Specifically, the bracket 100 is provided with a connecting plate 160, which is used to fix the arm or other structures by bolts. The universal joint 200 is used to connect to the palm, thereby realizing multi-degree-of-freedom rotation of the palm relative to the arm. Of course, the above is only one application scenario of this technical solution, and adaptive changes can be made according to actual needs.

[0043] In this embodiment, two drive units 300 are arranged side by side on the bracket 100 and extend along the bracket 100. The two drive units 300 drive the two ends of the universal joint 200 respectively, so that the universal joint 200 rotates relative to the bracket 100. It can be understood that the rotation point between the universal joint 200 and the bracket 100 is located between the two ends of the universal joint 200, such as the middle position. Of course, the middle position can also be set according to actual needs.

[0044] The first swing arm assembly 400 is connected to the drive unit 300 and is fixedly connected to it. The swing direction is either towards or away from the drive unit 300. The first swing arm unit drives the universal joint 200 to rotate in two rotational planes to achieve swinging and flipping. Understandably, the axes of swinging and flipping are perpendicular to each other. The second swing arm assembly 500 is symmetrically arranged with the first swing arm assembly 400 and is driven to rotate by another drive unit 300. When the first swing arm assembly 400 and the second swing arm assembly 500 swing away from the drive unit 300, they push one end of the universal joint 200 to rotate away from the drive unit 300. The point of rotation is the point of rotation between the universal joint 200 and the bracket 100, thus achieving the flipping of the universal joint 200. (Refer to...) Figure 3 As shown; when the first swing arm assembly 400 swings towards the drive unit 300, one end of the universal joint 200 rotates towards the drive unit 300; when the second swing arm assembly 500 swings away from the drive unit 300, the other end of the universal joint 200 rotates away from the drive unit 300. The point of rotation is another point of rotation between the universal joint 200 and the bracket 100. In this way, the two ends of the universal joint 200 are located on both sides of the plane of rotation, thereby realizing the swing of the universal joint 200. (Refer to...) Figure 2 As shown. The drive unit 300 can be a motor or a drive cylinder, etc., which is not limited here.

[0045] This utility model's technical solution employs two drive units 300 arranged side-by-side on a bracket 100, allowing the universal joint 200 to be controlled at both ends by the two drive units 300 respectively. The drive units 300 extend along the bracket 100, and the universal joint 200 swings or flips due to the rotation of the first swing arm assembly 400 and the second swing arm assembly 500. Specifically, one drive unit 300 drives the first swing arm assembly 400 to rotate, thereby pushing out or retracting one end of the universal joint 200. Similarly, the other drive unit 300 drives the second swing arm assembly 500... When the arm assembly 500 rotates, the other end of the universal joint 200 is pushed out or pulled back. Thus, when the drive unit 300 drives the first swing arm assembly 400 and the second swing arm assembly 500 to rotate in the same direction, the universal joint 200 flips up and down. When the drive unit 300 drives the first swing arm assembly 400 and the second swing arm assembly 500 to rotate in opposite directions, one end of the universal joint 200 is pushed out and rotates away from the drive unit 300, while the other end is retracted and rotates towards the drive unit 300, thereby achieving the left-right swinging motion of the universal joint 200. Since both ends of the universal joint 200 are controlled by separate drive units 300, there is no interference. The structure is simple and conducive to miniaturization design.

[0046] refer to Figures 4 to 6As shown, in one embodiment, the drive unit 300 includes a power component 310 and a transmission component 320. The bracket 100 is provided with a clearance space. Two power components 310 are arranged side by side in the clearance space. One of the two power components 310 and the two transmission components 320 is fixedly connected to the first swing arm assembly 400 and the other is fixedly connected to the second swing arm assembly 500. The power component 310 is driven to drive the transmission component 320 and drives the transmission component 320 to rotate, thereby causing the first swing arm assembly 400 and the second swing arm assembly 500 to rotate.

[0047] In this embodiment, the power component 310 drives the transmission assembly 320 to rotate, thereby causing the first swing arm assembly 400 and the second swing arm assembly 500 to rotate. The bracket 100 has clearance space to accommodate the power component 310, facilitating the miniaturization design of the wrist joint device. The transmission assembly 320 is also connected to a reduction gear assembly 330. The power component 310 is a motor, and the reduction gear assembly 330 can reduce the high-speed rotation of the motor to a suitable speed for the universal joint 200, while correspondingly increasing the output torque, so that the universal joint 200 has sufficient force to complete the corresponding action. (Reference) Figure 6 As shown, the reduction assembly 330 adopts a planetary reduction structure. Specifically, the planetary reduction structure includes a first planetary disk 331, a second planetary disk 332, three first planetary gears (not shown in the figure), three second planetary gears (not shown in the figure), a first sun gear (not shown in the figure), and a second sun gear (not shown in the figure). The first planetary disk 331 has a first output rod and three first input rods on its two sides respectively. The second planetary disk 332 has three second input rods. Each first planetary gear is fitted onto a first input rod, and each second planetary gear is fitted onto a second input rod. The first sun gear is fitted onto the output shaft of the motor and meshes with the three first planetary gears. The second sun gear is fitted onto the first output rod and meshes with the three second planetary gears. The transmission assembly 320 is inserted into the second planetary disk 332. Two-stage reduction is achieved through the meshing of the first sun gear with the three first planetary gears, and the meshing of the second sun gear with the three second planetary gears. This multi-stage reduction structure can achieve a large reduction ratio within a small volume, thereby reducing the high-speed rotation of the motor to a lower speed suitable for the movement of the universal joint 200, while significantly increasing the output torque. In addition, the planetary reduction structure also includes a protective shell 333, which is connected to the motor housing 324. The first planetary disk 331, the second planetary disk 332, three first planetary gears, three second planetary gears, the first sun gear, and the second sun gear are all located inside the protective shell 333.

[0048] In one embodiment, the transmission assembly 320 includes a helical gear 322 and a worm gear 321 that mesh with each other. The power component 310 is connected to the worm gear 321 and drives the worm gear 321 to rotate. The helical gear 322 is connected to a drive shaft 323. One of the two drive shafts 323 is connected to the first swing arm assembly 400 and the other is connected to the second swing arm assembly 500.

[0049] In the specific implementation process, one end of the worm gear 321 is connected to the power component 310. The power component 310 drives the worm gear 321 to rotate, which in turn drives the meshing helical gear 322 to rotate. The rotation of the helical gear 322 further drives the drive shaft 323 to rotate, and finally drives the first swing arm assembly 400 and the second swing arm assembly 500 to rotate through the drive shaft 323. It can be understood that one of the two drive shafts 323 of the two drive units 300 is fixedly connected to the first swing arm assembly 400, driving the first swing arm assembly 400 to rotate, and the other of the two drive shafts 323 is fixedly connected to the second swing arm assembly 500, driving the second swing arm assembly 500 to rotate. In this way, the first swing arm assembly 400 and the second swing arm assembly 500 are provided with driving force by two separate drive units 300, and can be controlled independently to achieve rotation in the same or opposite directions.

[0050] Furthermore, the transmission assembly 320 also includes a housing 324, which has a cavity in which the worm gear 321 is disposed. The housing 324 also has a notch 325 through which the teeth of the helical gear 322 extend into the cavity and mesh with the worm gear 321. The housing 324 protects the worm gear 321, ensuring effective power transmission. The worm gear 321 also rotates relative to the housing 324 via bearings, which also provide support for the worm gear 321. Part of the teeth of the helical gear 322 extend into the cavity through the notch 325 to mesh with the worm gear 321 and transmit power. The size of the notch 325 is adapted to the meshing portion of the helical gear 322 and the worm gear 321.

[0051] refer to Figure 4 and Figure 5 As shown, in one embodiment, the bracket 100 has two mounting cavities inside, and two transmission components 320 are respectively disposed in the corresponding mounting cavities. The drive unit 300 extends at least partially out of the mounting cavity. The transmission components 320 are installed in the mounting cavities, and the outer shell 324 can protect the transmission components 320, ensure effective power transmission, and avoid interference with other components.

[0052] In specific implementation, the bracket 100 includes a body 110, a first side cover 120, and a second side cover 130. The body 110 has first grooves 111 on both sides, and the first and second side covers 120 and 130 have second grooves 140. One first groove 111 and a corresponding second groove 140 cooperate to form a mounting cavity, and another first groove 111 and another corresponding second groove 140 cooperate to form another mounting cavity. The first and second side covers 120 and 130 each have clearance openings 150, through which the drive unit 300 extends out of the mounting cavity. Specifically, the first grooves 111 and 140 cooperate to form a mounting cavity adapted to the transmission assembly 320. The first and second side covers 120 and 130 are fixed to the body 110 with bolts. Lubricant can be filled into the mounting cavity to ensure the transmission efficiency of the transmission assembly 320. The drive shaft 323 rotates relative to the first side cover 120 and the second side cover 130 through bearings. The drive shaft 323 is also provided with bearings on the inner wall of the mounting cavity. The inner wall of the mounting cavity is also used to limit the axial displacement of the bearings and the drive shaft 323, so as to ensure the effectiveness of the transmission assembly 320.

[0053] In one embodiment, the first swing arm assembly 400 includes a first swing arm body 410, a first connector 420, and a first universal joint 430. One end of the first swing arm body 410 is connected to a corresponding drive unit 300, and the other end is rotatably connected to the first connector 420. The first connector 420 is rotatably connected to the first universal joint 430, and the first universal joint 430 is also rotatably connected to one end of the universal joint 200.

[0054] The second swing arm assembly 500 includes a second swing arm body 510, a second connector 520, and a second universal joint 530. One end of the second swing arm body 510 is connected to a corresponding drive unit 300, and the other end is rotatably connected to the second connector 520. The second connector 520 is rotatably connected to the second universal joint 530, and the second universal joint 530 is also rotatably connected to the end of the universal joint 200 away from the first universal joint 430.

[0055] It should be noted that, in the specific implementation process, the first swing arm assembly 400 and the second swing arm assembly 500 are symmetrically installed on both sides of the bracket 100, and are rotatably connected to the opposite ends of the universal joint 200.

[0056] One end of the first swing arm body 410 is fixedly connected to the drive shaft 323 of a drive unit 300 and locked with bolts. The other end of the first swing arm body 410 is rotatably connected to the first connecting member 420, such as by hinge or by using a pivot shaft. The end of the first connecting member 420 facing away from the first connecting member 420 is rotatably connected to the first universal joint member 430. The first universal joint member 430 is rotatably connected to the universal joint 200. The universal joint 200 has a connecting part 210 at each end. The connecting part 210, the first universal joint member 430, and the first connecting member 420 form a universal joint structure, so that the universal joint 200 can rotate in two mutually perpendicular directions relative to the first connecting member 420.

[0057] One end of the second swing arm body 510 is fixedly connected to the drive shaft 323 of another drive unit 300 and locked with bolts. The other end of the second swing arm body 510 is rotatably connected to the second connecting member 520, such as by hinge or by using a pivot shaft. The end of the second connecting member 520 facing away from the second connecting member 520 is rotatably connected to the second universal joint member 530. The second universal joint member 530 is rotatably connected to the universal joint 200. The universal joint 200 has a connecting part 210 at each end. The other connecting part 210, the second universal joint member 530, and the second connecting member 520 form a universal joint structure, so that the universal joint 200 can rotate relative to the second connecting member 520 in two mutually perpendicular directions.

[0058] In the specific implementation process, one drive unit 300 drives the first swing arm body 410 to rotate in the direction of the universal joint 200, and another drive unit 300 drives the second swing arm body 510 to rotate in the direction of the universal joint 200. In this way, the first connector 420 and the first universal joint 430 cooperate to push one end of the universal joint 200, and the second connector 520 and the second universal joint 530 cooperate to push the other end of the universal joint 200. Both ends of the universal joint 200 are pushed in the same direction to drive the universal joint 200 to rotate and achieve up and down flipping. Of course, it can be understood that when the first connector 420 and the first universal joint 430 cooperate and the second connector 520 and the second universal joint 530 cooperate to pull the universal joint 200, the universal joint 200 flips in the opposite direction. One drive unit 300 drives the first swing arm body 410 to rotate in the direction of the universal joint 200 to push one end of the universal joint 200, and another drive unit 300 drives the second swing arm body 510 to rotate in the direction away from the universal joint 200 to pull the other end of the universal joint 200. In this way, the universal joint 200 can be driven to swing left and right.

[0059] In one embodiment, the first universal joint 430 includes a first body 431, a first pivot 432 and a second pivot 433. The extension directions of the first pivot 432 and the second pivot 433 are perpendicular to each other. The first pivot 432 is connected to the first connector 420 and the first body 431 respectively, and the second pivot 433 is connected to the first body 431 and the universal joint 200 respectively.

[0060] Specifically, rotating holes are formed near both ends of the first main body 431, with the axes of the two rotating holes perpendicular to each other. The first rotating shaft 432 is rotatably connected to one of the rotating holes via bearings. The end of the first swing arm body 410 used to connect to the first universal joint 430 has a U-shaped design and is connected to both ends of the first rotating shaft 432 to achieve a rotatable connection between the first swing arm body 410 and the first universal joint 430. Consequently, the universal joint 200 swings left and right around the first rotating shaft 432 as its rotation axis. The second rotating shaft 433 is rotatably connected to the universal joint 200 via bearings. Specifically, the top surface of the universal joint 200 has a U-shaped connecting part 210, and both ends of the second rotating shaft 433 are connected to the connecting part 210. The first main body 431 is rotatably connected to the second rotating shaft 433 via bearings, thereby allowing the universal joint 200 to rotate up and down around the second rotating shaft 433 as its rotation axis.

[0061] The second universal joint 530 is adapted to the second swing arm assembly 500. The second universal joint 530 includes a second body 531, a third pivot 532 and a fourth pivot 533. The extension directions of the third pivot 532 and the fourth pivot 533 are perpendicular to each other. The third pivot 532 is connected to the second connector 520 and the second body 531 respectively, and the fourth pivot 533 is connected to the second body 531 and the universal joint 200 respectively.

[0062] Specifically, the description of the second universal joint 530 can be found in the description of the first universal joint 430 above. The first and third rotating shafts 432 and 532 are parallel to each other, and the second and fourth rotating shafts 433 and 533 are parallel to each other. When the universal joint 200 swings left and right, the first universal joint 430 rotates around the first rotating shaft 432, and the second universal joint 530 rotates around the third rotating shaft 532. When the universal joint 200 flips up and down, it rotates around the second and fourth rotating shafts 433 and 533.

[0063] refer to Figure 1 and Figure 5As shown, in one embodiment, the wrist joint device further includes a first main shaft 600 and a second main shaft 700. The first main shaft 600 and the second main shaft 700 are perpendicular to each other, and the second main shaft 700 is provided with a connecting hole 710. The first main shaft 600 is also disposed through the connecting hole 710, and a limiting ring 610 is provided on the first main shaft 600. Two limiting rings 610 are provided, respectively located on both sides of the second main shaft 700, to limit the displacement of the first main shaft 600 in the axial direction. The first main shaft 600 is rotatably connected to the universal joint 200, and the second main shaft 700 is rotatably connected to the bracket 100. In the flipped state, the universal joint 200 takes the axis of the first main shaft 600 as the rotation center line. In the swinging state, the universal joint 200 takes the axis of the second main shaft 700 as the rotation center line.

[0064] To improve the support stability and strength of the universal joint 200 and adapt to different application scenarios, in this embodiment, the universal joint 200 is also connected to the bracket 100 via a first spindle 600 and a second spindle 700, and rotates relative to the bracket 100. Specifically, two connecting ears 220 are provided below the connection point between the universal joint 200 and the first swing arm assembly 400. The two connecting ears 220 are close to both ends of the universal joint 200, and bearings are provided inside the connecting ears 220. Both ends of the first spindle 600 are rotatably connected to the connecting ears 220 via bearings. A connecting hole 710 is opened at one end of the second spindle 700, through which the first spindle 600 passes. The other end of the second spindle 700 is rotatably connected to the bracket 100 via a bearing. The axis of the second spindle 700 is located between the axes of the first rotating shaft 432 and the third rotating shaft 532. Specifically, the end of the bracket 100 near the universal joint 200 extends toward the universal joint 200 and is used to connect the second spindle 700 to support the universal joint 200. Thus, when the universal joint 200 swings left and right, the second main shaft 700 is the rotation center axis; when the universal joint 200 flips up and down, the first main shaft 600 is the rotation center axis.

[0065] This utility model also proposes a robot including a wrist joint device. The specific structure of the wrist joint device is as described in the above embodiments. Since this robot adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be repeated here. It can be understood that the bracket 100 of the wrist joint device is used to connect the robot's arm or drive arm, etc., and the universal joint 200 of the wrist joint device is used to connect the palm and other structures, so as to realize the left-right swinging and up-down flipping movements of the palm through the wrist joint device, giving the palm multiple degrees of freedom and thus improving the flexibility of the palm.

[0066] The above description is merely an exemplary embodiment of the present utility model and does not limit the scope of protection of the present utility model. Any equivalent structural transformations made based on the inventive concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the scope of protection of the present utility model.

Claims

1. A wrist joint device, characterized in that, include: support; A universal joint is rotatably connected to the bracket. as well as Two drive units are arranged side by side on the bracket. Both drive units are used to drive the universal joint to rotate. One of the drive units is connected to a first swing arm assembly, which is rotatably connected to one end of the universal joint. The other drive unit is connected to a second swing arm assembly, which is rotatably connected to the other end of the universal joint. The rotation of the first and second swing arm assemblies drives the universal joint to have a swing state and a flip state. In the swing state, the first and second swing arm assemblies rotate in different directions. In the flip state, the first and second swing arm assemblies rotate in the same direction. The first and second swing arm assemblies are correspondingly connected to opposite ends of the universal joint in the swing plane.

2. The wrist joint device as claimed in claim 1, characterized in that, The drive unit includes a power component and a transmission component. The bracket is provided with a clearance space. Two power components are arranged side by side in the clearance space. One of the two power components and two transmission components is fixedly connected to the first swing arm assembly and the other is fixedly connected to the second swing arm assembly. The power component is driven by the transmission component and drives the transmission component to rotate, thereby causing the first swing arm assembly and the second swing arm assembly to rotate.

3. The wrist joint device as described in claim 2, characterized in that, The transmission assembly includes a helical gear and a worm gear that mesh with each other. The power component is connected to the worm gear and drives the worm gear to rotate. The helical gear is connected to a drive shaft. One of the two drive shafts is connected to the first swing arm assembly and the other is connected to the second swing arm assembly.

4. The wrist joint device as described in claim 3, characterized in that, The transmission assembly also includes a housing with a cavity, the worm gear being disposed within the cavity, and the housing also having a notch through which the teeth of the helical gear extend into the cavity and mesh with the worm gear.

5. The wrist joint device as described in claim 2, characterized in that, The bracket has two mounting cavities inside, and the two transmission components are respectively located in the corresponding mounting cavities. The drive unit extends at least partially out of the mounting cavity.

6. The wrist joint device as described in claim 5, characterized in that, The bracket includes a body, a first side cover, and a second side cover. The body has a first groove on each side, and the first and second side covers have a second groove. One first groove and a corresponding second groove cooperate to form a mounting cavity, and another first groove and another corresponding second groove cooperate to form another mounting cavity. The first and second side covers have clearance openings, and the drive unit extends out of the mounting cavity through the clearance openings.

7. The wrist joint device as claimed in claim 1, characterized in that, The first swing arm assembly includes a first swing arm body, a first connector, and a first universal joint. One end of the first swing arm body is connected to the corresponding drive unit, and the other end is rotatably connected to the first connector. The first connector is rotatably connected to the first universal joint, and the first universal joint is also rotatably connected to one end of the universal joint. The second swing arm assembly includes a second swing arm body, a second connector, and a second universal joint. One end of the second swing arm body is connected to the corresponding drive unit, and the other end is rotatably connected to the second connector. The second connector is rotatably connected to the second universal joint, and the second universal joint is also rotatably connected to the end of the universal joint away from the first universal joint.

8. The wrist joint device as claimed in claim 7, characterized in that, The first universal joint component includes a first body, a first pivot and a second pivot. The extension directions of the first pivot and the second pivot are perpendicular to each other. The first pivot is connected to the first connector and the first body, and the second pivot is connected to the first body and the universal joint. The second universal joint component includes a second body, a third pivot, and a fourth pivot. The extension directions of the third pivot and the fourth pivot are perpendicular to each other. The third pivot connects the second connector and the second body, and the fourth pivot connects the second body and the universal joint.

9. The wrist joint device as claimed in claim 1, characterized in that, The wrist joint device further includes a first main shaft and a second main shaft. The first main shaft and the second main shaft are perpendicular to each other, and the second main shaft is also provided with a connecting hole. The first main shaft is also disposed through the connecting hole. The first main shaft is rotatably connected to the universal joint, and the second main shaft is rotatably connected to the bracket. In the flipped state, the universal joint takes the axis of the first main shaft as the rotation center line. In the swinging state, the universal joint takes the axis of the second main shaft as the rotation center line.

10. A robot, characterized in that, Includes the wrist joint device as described in any one of claims 1-9.

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