Robotic wrist and robotic device

Abstract

The utility model provides a kind of mechanical wrist and mechanical equipment.Mechanical wrist includes: support platform, support platform is two, two support platforms are spaced apart, and the end of one of support platform away from another support platform is used to connect robot hand;Telescopic push rod, telescopic push rod is set between two support platforms, one end of telescopic push rod is connected with one of support platform, the other end of telescopic push rod is connected with another support platform, and at least one end of telescopic push rod is connected with support platform by universal joint;Wherein, telescopic push rod movement drives the movement of support platform connected with robot hand, to make robot hand movement.Universal joint can allow two components to rotate freely in multiple directions, can overcome the angle range limit of traditional ball head scheme, allow mechanical wrist to realize greater angle range, increase the movement range of mechanical wrist, solve the technical problem that the movement range of mechanical wrist in prior art is small.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm design and manufacturing technology, specifically to a robotic wrist and a mechanical device. Background Technology

[0002] In existing technologies, the design of robotic wrists typically relies on traditional ball joints or multi-link mechanisms to achieve multi-axial rotational and translational movements. However, the maximum angle range of ball joint solutions is limited, restricting the flexibility and range of motion of the robotic hand, making it inadequate for performing certain tasks requiring large-scale rotation.

[0003] No effective solution has yet been proposed to address the aforementioned technical issues. Utility Model Content

[0004] The main objective of this invention is to provide a mechanical wrist and mechanical device to solve the problem of limited range of motion in existing mechanical wrists.

[0005] To achieve the above objectives, according to one aspect of the present invention, a robotic wrist is provided, comprising: two support platforms spaced apart, wherein one end of one support platform away from the other is used to connect to a robotic arm; and a telescopic push rod disposed between the two support platforms, one end of the telescopic push rod being connected to one support platform and the other end being connected to the other support platform, wherein at least one end of the telescopic push rod is connected to the support platform via a universal joint; wherein, movement of the telescopic push rod drives movement of the support platform connected to the robotic arm, thereby causing the robotic arm to move.

[0006] Furthermore, both ends of the telescopic push rod are connected to the support platform via universal joints.

[0007] Furthermore, there are multiple telescopic push rods, which are evenly spaced along the circumference of the support platform.

[0008] Furthermore, there are three telescopic push rods.

[0009] Furthermore, the telescopic push rod is positioned close to the edge of the support platform.

[0010] Furthermore, the two support platforms include a first platform and a second platform. A robotic arm is provided on the side of the first platform away from the second platform. The radial dimension of the second platform is larger than that of the first platform.

[0011] Furthermore, the robotic wrist also includes a support rod, which is positioned between two support platforms. One end of the support rod is connected to the support platform on which the robotic arm is mounted via a universal joint, and the other end of the support rod is fixedly connected to the other support platform.

[0012] Furthermore, when the robot arm is in the default state, the central axis of the robot arm, the central axes of the two support platforms, and the central axis of the support rod are set to coincide. When the telescopic push rod is in the initial state, the robot arm is in the default state.

[0013] According to another aspect of the present invention, a mechanical device is provided, the mechanical device including a mechanical wrist, the mechanical wrist being the aforementioned mechanical wrist.

[0014] By applying the technical solution of this utility model, the universal joint allows two components to rotate freely in multiple directions. At least one end of the telescopic push rod is connected to the support platform through the universal joint, which can overcome the angle range limitation of the traditional ball joint solution and allow the robotic wrist to achieve a larger angle range in the roll, pitch and yaw directions, thereby increasing the range of motion of the robotic wrist and solving the technical problem of small range of motion of the robotic wrist in the prior art. Attached Figure Description

[0015] The accompanying drawings, which form part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an undue limitation of the present invention. In the drawings:

[0016] Figure 1 A schematic diagram of the structure of a first embodiment of the mechanical wrist according to the present invention is shown;

[0017] Figure 2 A schematic diagram of the structure of a second embodiment of the mechanical wrist according to the present invention is shown;

[0018] Figure 3 A schematic diagram of the structure of a third embodiment of the mechanical wrist according to the present invention is shown;

[0019] Figure 4 A schematic diagram of the structure of a fourth embodiment of the mechanical wrist according to the present invention is shown;

[0020] Figure 5 A structural schematic diagram of a fifth embodiment of the mechanical wrist according to the present invention is shown.

[0021] The above figures include the following reference numerals:

[0022] 10. Support platform; 11. First platform; 12. Second platform;

[0023] 20. Robotic arm;

[0024] 30. Telescopic push rod;

[0025] 40. Universal joint;

[0026] 50. Support rod. Detailed Implementation

[0027] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0028] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0029] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0030] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of this application is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art. In the drawings, for clarity, the thickness of layers and regions may be exaggerated, and the same reference numerals are used to denote the same devices, and therefore their description will be omitted.

[0031] In existing technologies, robotic wrist designs typically rely on traditional ball joints or multi-link mechanisms to achieve multi-axial rotational and translational movements. However, this design has several significant limitations that hinder the application of robotic wrists in precise and complex environments. First, the ball joint design has a limited maximum angle range, restricting the flexibility and range of motion of the robotic hand, making it inadequate for tasks requiring large rotations. Second, traditional designs often require a large push rod force to drive the robotic wrist's movements, which not only increases energy consumption but also necessitates relatively large push rods to withstand the required force, leading to an increase in forearm size and reducing the robotic hand's portability and precision manipulation capabilities. Furthermore, a large forearm can cause motion interference in confined spaces, further limiting its effective working range.

[0032] The following are explanations of some of the terms mentioned in this plan:

[0033] Pitch: Pitch motion refers to the rotation of an object around its own lateral axis (usually the X-axis). In the scenario of a mechanical wrist swinging up and down, pitch motion is usually the wrist bending upward or downward, similar to the nodding motion of a human hand or head.

[0034] Roll: Rolling motion refers to rotation about an object's longitudinal axis (usually the Z-axis). In the application of mechanical wrists, rolling motion allows the wrist to rotate in the forward and backward direction, similar to the rotation of the entire hand around the axis of the fist when it is clenched, enabling actions such as twisting and tightening screws.

[0035] Yaw: Yaw motion refers to rotation about an object's vertical axis (usually the Y-axis). In a robotic wrist, yaw motion allows the wrist to rotate left and right, similar to the left and right rotation of a human hand at the wrist, enabling actions such as pointing and following.

[0036] Combination Figures 1 to 5 As shown, according to a specific embodiment of this application, a mechanical wrist is provided.

[0037] Specifically, the robotic wrist includes a support platform 10 and a telescopic push rod 30. There are two support platforms 10, which are spaced apart. The end of one support platform 10 away from the other support platform 10 is used to connect to the robotic arm 20. The telescopic push rod 30 is disposed between the two support platforms 10. One end of the telescopic push rod 30 is connected to one support platform 10, and the other end of the telescopic push rod 30 is connected to the other support platform 10. At least one end of the telescopic push rod 30 is connected to the support platform 10 through a universal joint 40. The movement of the telescopic push rod 30 drives the support platform 10 connected to the robotic arm 20 to move, thereby causing the robotic arm 20 to move.

[0038] By applying the technical solution of this embodiment, the universal joint 40 can allow two components to rotate freely in multiple directions. At least one end of the telescopic push rod 30 is connected to the support platform 10 through the universal joint 40, which can overcome the angle range limitation of the traditional ball joint solution and allow the robotic wrist to achieve a larger angle range in the roll, pitch and yaw directions, thereby increasing the range of motion of the robotic wrist and solving the technical problem of small range of motion of the robotic wrist in the prior art.

[0039] It should be understood that when the telescopic push rod 30 moves to drive the support platform 10 connected to the robot arm 20, the movement of the telescopic push rod 30 can be either telescopic or rotational.

[0040] Specifically, the universal joint 40 can be a double cross-axis universal joint, which consists of two sets of mutually perpendicular shafts. Each set of shafts includes an input fork, an output fork, and a cross shaft. The input fork and the output fork are connected by the cross shaft, allowing for large-angle non-parallel axis rotation between the input fork and the output fork while maintaining smooth force transmission.

[0041] Furthermore, both ends of the telescopic push rod 30 are connected to the support platform 10 via universal joints 40. The double universal joint connection further improves the degree of freedom of movement of the telescopic push rod 30, ensuring that the robot's movement in any direction is smooth and unobstructed, and that the robot can move within a wider range of angles.

[0042] Specifically, there are multiple telescopic push rods 30, which are evenly spaced along the circumference of the support platform 10. By increasing the number of telescopic push rods 30, the load can be distributed, reducing the force requirement of a single telescopic push rod 30, while ensuring the balance and stability of the robot's movement. This results in a faster response speed and more precise operation for the robot.

[0043] When there are multiple telescopic push rods 30, the multiple telescopic push rods 30 are set in parallel. Each movement of the robot hand is driven by multiple telescopic push rods 30 together, so that the force requirement of each telescopic push rod 30 is reduced. The telescopic push rods 30 can be designed to be thinner, thereby making the robot wrist thinner and shorter, enhancing the flexibility and anthropomorphism of the wrist.

[0044] Preferably, there are three telescopic push rods 30. The triangular structure has good stability, which can ensure the structural rigidity and stability of the robot during multi-dimensional movement.

[0045] It should be understood that in practical applications, the telescopic push rod 30 can be adjusted according to actual needs. For example, the telescopic push rod 30 can be set to six or eight to improve the accuracy of wrist movement.

[0046] Preferably, the telescopic push rod 30 is positioned close to the edge of the support platform 10. This arrangement utilizes the lever principle to generate a large torque with a relatively small force on the telescopic push rod 30, thereby achieving efficient rotation of the robot arm, lower energy consumption, and more economical operation.

[0047] Specifically, the two support platforms 10 include a first platform 11 and a second platform 12. A robotic arm 20 is disposed on the side of the first platform 11 away from the second platform 12. The radial dimension of the second platform 12 is larger than that of the first platform 11. The larger radial dimension of the second platform 12 allows it to have a larger support area, enabling it to withstand a larger load and improving the stability of the entire robotic arm. At the same time, the larger second platform 12 provides more internal space, facilitating the installation of components such as the motor, control system, and sensors that drive the telescopic push rod 30.

[0048] Furthermore, the robotic wrist also includes a support rod 50, which is positioned between two support platforms 10. One end of the support rod 50 is connected to the support platform 10 on which the robotic arm 20 is mounted via a universal joint 40, and the other end of the support rod 50 is fixedly connected to the other support platform 10. The support rod 50 increases structural stability and provides assistance during robotic arm movement, resulting in smoother movement and reduced vibration caused by inertia.

[0049] Specifically, such as Figure 1 and Figure 2 As shown, when the robotic arm 20 is in its default state, the central axis of the robotic arm 20, the central axes of the two support platforms 10, and the central axis of the support rod 50 are aligned. Specifically, when the telescopic push rod 30 is in its initial state, the robotic arm 20 is in its default state. This configuration ensures that all components are in their most stable positions when the robotic arm is stationary, which is beneficial for the initiation and control of subsequent movements, resulting in faster start-up response and smoother operation.

[0050] It should be understood that, in combination Figure 1 and Figure 2 As shown, in the default state, the central axis of the robot arm 20 refers to the axis in the y direction.

[0051] In one exemplary embodiment of this application, the mechanical wrist includes a support rod 50 and three parallel telescopic push rods 30. Both ends of the telescopic push rods 30 are provided with universal joints 40. The support rod 50 is fixedly connected to the second platform 12, and the support rod 50 is connected to the first platform 11 through the universal joints 40. Figure 1 and Figure 2 This is a diagram illustrating the default state of a robotic wrist. Figure 3 This is a diagram illustrating the pitch state of a mechanical wrist. Figure 4 This is a schematic diagram of the rolling state of a robotic wrist. Figure 5 This is a schematic diagram of the yaw state of a mechanical wrist.

[0052] The technical solution of this embodiment has the following beneficial effects:

[0053] 1. With three push rods connected in parallel, the push rod force requirement is smaller, and the push rods can be made thinner, which in turn allows the forearm to be thinner and shorter. All three rotation axes are located at the wrist, making it more human-like.

[0054] 2. By adopting a universal joint solution, the problem of the small angle range of the ball joint solution (usually a maximum of 35°) can be solved, and the angle range of roll and pitch can be made larger, such as ±80°.

[0055] According to another specific embodiment of this application, a mechanical device is provided, which includes a mechanical wrist, the mechanical wrist being the same as that described in the above embodiments. By integrating the mechanical wrist described in the above embodiments, the mechanical device can perform high-precision and high-flexibility operational tasks in various environments.

[0056] Specifically, mechanical equipment can be robots, industrial equipment using robotic arms, etc.

[0057] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0058] In addition to the above, it should be noted that the terms "one embodiment," "another embodiment," and "embodiment" used in this specification refer to specific features, structures, or characteristics described in connection with that embodiment, which are included in at least one embodiment described in the general description of this application. The appearance of the same expression in multiple places in the specification does not necessarily refer to the same embodiment. Furthermore, when a specific feature, structure, or characteristic is described in connection with any embodiment, the intention is to suggest that implementing such a feature, structure, or characteristic in conjunction with other embodiments also falls within the scope of this utility model.

[0059] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0060] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A mechanical wrist, characterized by include: Support platform (10), there are two support platforms (10), the two support platforms (10) are arranged at intervals, and the end of one support platform (10) away from the other support platform (10) is used to connect to the robot arm (20); Telescopic push rod (30), the telescopic push rod (30) is disposed between the two support platforms (10), one end of the telescopic push rod (30) is connected to one of the support platforms (10), the other end of the telescopic push rod (30) is connected to the other support platform (10), and at least one end of the telescopic push rod (30) is connected to the support platform (10) through a universal joint (40); The telescopic push rod (30) moves to drive the support platform (10) connected to the manipulator (20) to move, so that the manipulator (20) moves.

2. The mechanical wrist of claim 1, wherein, Both ends of the telescopic push rod (30) are connected to the support platform (10) via the universal joint (40).

3. The mechanical wrist of claim 2, wherein, There are multiple telescopic push rods (30), and the multiple telescopic push rods (30) are evenly spaced along the circumferential interval of the support platform (10).

4. The mechanical wrist of claim 3, wherein, There are three telescopic push rods (30).

5. The mechanical wrist of any of claims 1-4, wherein, The telescopic push rod (30) is positioned near the edge of the support platform (10).

6. The mechanical wrist of any of claims 1-4, wherein, The two support platforms (10) include a first platform (11) and a second platform (12). The robotic arm (20) is provided on the side of the first platform (11) away from the second platform (12). The radial dimension of the second platform (12) is larger than that of the first platform (11).

7. The mechanical wrist according to any one of claims 1-4, characterized in that, The robotic wrist also includes: A support rod (50) is disposed between two support platforms (10). One end of the support rod (50) is connected to the support platform (10) on which the robot arm (20) is disposed via the universal joint (40), and the other end of the support rod (50) is fixedly connected to the other support platform (10).

8. The mechanical wrist of claim 7, wherein, When the robotic arm (20) is in the default state, the central axis of the robotic arm (20), the central axes of the two support platforms (10) and the central axis of the support rod (50) are set to coincide. When the telescopic push rod (30) is in the initial state, the robotic arm (20) is in the default state.

9. A mechanical device, characterized by The mechanical device includes a mechanical wrist, which is the mechanical wrist according to any one of claims 1-8.

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