A wrist structure for a humanoid robot

Abstract

The application discloses a wrist structure for a humanoid robot, comprising: a forearm, one end of the forearm being connected with an arm of the humanoid robot; a connecting joint, rotatably arranged at the other end of the forearm and capable of rotating around a first axis; and a mechanical hand, comprising a palm assembly and a mounting piece, the mounting piece being rotatably arranged at the connecting joint and capable of rotating around a second axis, the second axis being perpendicular to a plane where a palm center of the palm assembly is located, the first axis being perpendicular to the second axis, and the first axis being parallel to a finger arrangement direction of the palm assembly. The application provides a wrist structure for a humanoid robot, so as to solve the technical problem that the wrist structure of the existing humanoid robot is poor in flexibility and affects the operation efficiency of the humanoid robot.

Description

Technical Field

[0001] This application belongs to the field of humanoid robot technology, specifically relating to a wrist structure for a humanoid robot. Background Technology

[0002] Humanoid robots, as intelligent equipment integrating mechanical design, intelligent control, and sensing technologies, have been widely used in various fields such as industrial production, becoming a core carrier for improving production efficiency and optimizing service experience. The arm, as a key actuator of the humanoid robot, is the core medium for realizing human-machine interaction and task execution. Current humanoid robot arms adopt a series-link structure design, with the core configuration being: multiple links connected in series, adjacent links linked by rotary joints, each joint equipped with a drive component. Attitude adjustment is achieved through the coordinated rotation of multiple joints to meet basic multi-directional movement requirements. However, the existing drive and adjustment structure of humanoid robot arms still has significant drawbacks. Currently, the attitude adjustment of the arm relies on link transmission or gear meshing mechanisms. The movement of the arm body triggers the linkage or gears, thereby driving the arm to complete attitude changes. This results in the arm only being able to rotate around a single axis or swing in a single direction; that is, the arm's attitude adjustment is dependent on the arm's movement, achieving only single-degree-of-freedom adjustment and unable to independently complete flexible attitude switching in multiple directions and angles. When faced with targets of different orientations and shapes, the robotic arm cannot quickly adjust to the optimal grasping or operating posture. It has to rely on the arm to repeatedly adjust its overall position to compensate for the lack of freedom. This not only leads to cumbersome operation steps and slow response, but also greatly limits the accuracy and coverage of the movements. The robotic arm's flexibility is limited, which seriously affects the operating efficiency of humanoid robots. Utility Model Content

[0003] This application provides a wrist structure for humanoid robots to solve the technical problem that the wrist structure of existing humanoid robots has poor flexibility, which affects the operating efficiency of humanoid robots.

[0004] The technical solution adopted in this application is as follows: A wrist structure for a humanoid robot, comprising: The forearm, one end of which is connected to the humanoid robot's upper arm; The connecting joint is rotatably mounted on the other end of the forearm and can rotate around a first axis; A robotic hand includes a palm assembly and a mounting component. The mounting component is rotatably mounted on a connecting joint and is capable of rotating about a second axis. The second axis is perpendicular to the plane of the palm of the palm assembly. A first axis is perpendicular to the second axis and parallel to the direction of the fingers of the palm assembly.

[0005] The wrist structure of a humanoid robot in this application also includes the following additional technical features: The forearm includes a positioning section and a mounting section connected to the upper arm. One end of the positioning section is connected to the mounting section, and the other end extends toward the side away from the upper arm. The positioning section is equipped with a drive mechanism for driving the connecting joint to rotate.

[0006] The positioning section is provided with two support members, which are arranged opposite each other along the first axis. The two ends of the connecting joint are rotatably connected to the two support members respectively.

[0007] The positioning section is also provided with an installation cavity and a clearance hole. The clearance hole is connected to the installation cavity and faces the connecting joint. The driving mechanism includes a first driving member and a connecting rod disposed in the installation cavity. One end of the connecting rod is connected to the first driving member for transmission, and the other end passes through the clearance hole and is rotatably connected to the connecting joint. The first driving member drives the connecting joint to rotate through the connecting rod.

[0008] The first driving component includes a drive shaft and a turntable connected to the drive shaft. A connecting rod is rotatably connected to the turntable, and the connection position between the connecting rod and the turntable is located at the eccentric position of the turntable.

[0009] The end of the connecting rod that is rotatably connected to the connecting joint is located near the support.

[0010] The connecting joint includes two assembly ends and two component assembly ends. The two assembly ends are arranged opposite each other along the first axis and are rotatably connected to two support members respectively. Along the axis of the forearm, the two component assembly ends are located on the left and right sides of the assembly end, respectively, and one of the component assembly ends is rotatably connected to the mounting part.

[0011] The mounting component includes a first connecting segment and a second connecting segment. The first connecting segment is rotatably connected to the assembly end of the component. One end of the second connecting segment is connected to the first connecting segment, and the other end is bent and extended toward the side away from the forearm and toward the axis closer to the forearm. The end of the second connecting segment is provided with a mounting base that is connected to the palm assembly. The mounting base is spaced apart from the connecting joint.

[0012] The mounting base is located on the side of the connecting joint away from the forearm, and the axis of the mounting base is collinear with the positioning axis of the connecting joint.

[0013] The connecting joint is provided with a receiving cavity, and a second driving member is provided inside the receiving cavity. The output end of the second driving member is connected to the first connecting section.

[0014] Due to the adoption of the above technical solution, the beneficial effects achieved by this application are as follows: 1. This application involves a forearm connected to the upper arm at one end and a connecting joint at the other end. The forearm provides an adjustment base for the connecting joint and the robotic hand, capable of bearing the weight and operational load of both. The connecting joint is rotatably connected to the forearm, and the mounting component is rotatably mounted on the connecting joint. This allows the connecting joint to act as the direct carrier of the robotic hand, enabling it to rotate around a first axis. Furthermore, by rotating the mounting component, the rotation of the hand assembly around a second axis can be further adjusted, providing the robotic hand with two independent and perpendicular rotational dimensions. The first axis is parallel to the finger arrangement direction of the hand assembly. When the connecting joint rotates around the first axis, the movement of the hand assembly corresponds to the adduction or abduction of the human wrist. Adjusting the rotation of the mounting component allows the hand assembly to rotate up and down based on adduction or abduction movements, enabling precise adjustment of the hand assembly's posture and improving wrist dexterity. Moreover, by using a connecting joint to achieve adjustment of two degrees of freedom for the hand assembly, the design of the wrist structure is simplified, resulting in a more compact layout.

[0015] 2. As a preferred embodiment of this application, the forearm is designed with a positioning section and an installation section, and the functional areas of the forearm are divided accordingly. The installation section focuses on the stable connection with the upper arm, undertaking the force transmission and posture support between the forearm and the upper arm. The positioning section is specifically designed to support the drive mechanism and drive the connecting joint to rotate, thereby improving the long-term reliability of the overall structure. The positioning section extends away from the side of the upper arm, reserving an independent installation space for the drive mechanism, effectively avoiding collisions or interference between the upper arm and the drive components, ensuring the compatibility of the upper arm, forearm, and connecting joint during multi-degree-of-freedom movements, and expanding the overall range of motion of the wrist structure.

[0016] Furthermore, the two support members form a symmetrical support from both ends of the connecting joint, precisely defining the installation position of the connecting joint along the first axis, effectively suppressing radial movement and offset during joint rotation, and allowing for more precise control of the joint's rotation angle around the first axis. Simultaneously, the two opposing support members form a stable support structure, significantly increasing the upper limit of the wrist structure's load-bearing capacity.

[0017] 3. In a preferred embodiment of this application, the clearance hole is oriented towards the connecting joint, and the connecting rod passes through the clearance hole and is rotatably connected to the connecting joint, thereby shortening the power transmission distance of the first driving member and improving the power transmission efficiency. Simultaneously, it allows the first driving member to drive the rotation of the connecting joint more quickly, significantly improving the response speed of the wrist adjustment structure.

[0018] Furthermore, by setting the connection position of the connecting rod and the turntable to be located at the eccentric position of the turntable, when the drive shaft drives the turntable to rotate, the circumferential motion at the eccentric position is converted into the rotation of the connecting joint around the first axis through the connecting rod, which simplifies the structure of the drive mechanism. The first drive component can be completely built into the mounting cavity without occupying additional mounting space, further realizing the compact layout of the wrist structure.

[0019] 4. In a preferred embodiment of this application, the end of the connecting rod that is rotatably connected to the connecting joint is positioned close to the support member, which significantly shortens the distance between the point of application of power and the fulcrum, reducing elastic deformation or warping of the connecting joint due to force. At the same time, it concentrates the force on the connecting joint in the support area, significantly improving the overall load-bearing capacity of the connecting joint and increasing the upper limit of the load-bearing capacity of the wrist structure.

[0020] 5. In a preferred embodiment of this application, two assembly ends are arranged opposite each other along the first axis. The assembly ends support the rotation of the connecting joint around the first axis. The two component assembly ends are positioned on the left and right sides of the assembly end along the axis of the forearm, with one of them rotatably connected to the mounting component. This ensures that the rotation of the connecting joint and the rotation of the mounting component do not interfere with each other, guaranteeing accurate and reliable rotation precision. Simultaneously, by positioning the component assembly ends on the left and right sides of the assembly end along the forearm axis, the second axis and the first axis form a perpendicular and staggered spatial layout. This avoids collisions between the mounting component and the assembly end, support component, or forearm positioning segment when the connecting joint rotates around the first axis, improving the stability of the wrist structure's operation.

[0021] Furthermore, the second connecting segment bends and extends toward the axis away from the forearm and close to the forearm. It is set at a relative interval with the mounting base and the connecting joint, which reserves independent space for the movement adjustment of the palm assembly. At the same time, it can also make the installation position of the palm assembly deviate from the intersection area of ​​the first axis and the second axis, reduce the spatial conflict when the connecting joint swings around the first axis and the mounting part rotates around the second axis, and significantly expand the posture adjustment range of the robot.

[0022] 6. In a preferred embodiment of this application, by setting the axis of the mounting base to be collinear with the positioning axis of the connecting joint, the gravity and reaction force generated by the hand assembly grasping the load are directly transmitted to the connecting joint along the coaxial direction, and then transmitted to the forearm through the support member. This effectively avoids lateral torque caused by eccentric loads, significantly reduces bending deformation and torsional stress of the mounting member and connecting joint, and reduces posture deviation caused by force offset.

[0023] 7. In a preferred embodiment of this application, the second drive component is built into the receiving cavity of the connecting joint, and its output end is connected to the first connecting segment. This shortens the power transmission path, enabling the second drive component to directly drive the rotation of the mounting component, making the rotation of the palm assembly around the second axis more precise and responsive. The second drive component is located within the receiving cavity of the connecting joint, eliminating the need for an additional independent drive bracket or extended transmission structure. This highly integrates the driving function with the support and connection functions of the connecting joint, significantly reducing the overall volume and weight of the wrist structure, avoiding structural redundancy caused by external drives, and improving overall movement flexibility. Attached Figure Description

[0024] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a front view of the wrist structure according to one embodiment of this application; Figure 2 This is a left view of the wrist structure according to one embodiment of this application; Figure 3 This is a right view of the wrist structure according to one embodiment of this application; Figure 4 This is a schematic diagram of the internal structure of the forearm according to one embodiment of this application; Figure 5 This is a schematic diagram of the installation of the second driving component and the mounting component according to one embodiment of this application.

[0025] List of components and reference numerals: 1. Forearm; 11. Positioning section; 111. Support component; 112. Mounting cavity; 113. Clearance hole; 12. Mounting section; 2. Connecting joint; 21. Receiving cavity; 22. Assembly end; 23. Component assembly end; 3. Robotic arm; 31. Hand assembly; 311. Palm; 312. Fingers; 32. Mounting component; 321. First connecting section; 322. Second connecting section; 323. Mounting base; 4. Drive mechanism; 41. First drive component; 411. Drive shaft; 412. Turntable; 413. Positioning hole; 414. Fastener; 42. Connecting rod; 421. Guide hole; 5. Second drive unit. Detailed Implementation

[0026] To more clearly illustrate the overall concept of this application, a detailed explanation is provided below with reference to the accompanying drawings.

[0027] Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of this application is not limited to the specific embodiments disclosed below. It should be noted that, unless otherwise specified, the embodiments of this application and the features thereof can be combined with each other.

[0028] Furthermore, it should be understood in the description of this application that the terms "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0029] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0030] In this application, unless otherwise expressly specified and limited, the "above" or "below" of the second feature can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. In the description of this specification, references to terms such as "an embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described can be combined in any suitable manner in one or more embodiments or examples.

[0031] like Figure 1 , Figure 2 , Figure 3 As shown, a wrist structure for a humanoid robot includes: a forearm 1, one end of which is connected to the upper arm of the humanoid robot; The connecting joint 2 is rotatably mounted on the other end of the forearm 1 and can rotate around the first axis; The robotic arm 3 includes a palm assembly 31 and a mounting member 32. The mounting member 32 is rotatably mounted on the connecting joint 2 and can rotate about a second axis. The second axis is perpendicular to the plane where the palm 311 of the palm assembly 31 is located. The first axis is perpendicular to the second axis and parallel to the arrangement direction of the fingers 312 of the palm assembly 31.

[0032] This application features a forearm 1 connected to the upper arm at one end and a connecting joint 2 at the other end. The forearm 1 provides an adjustment base for the connecting joint 2 and the robotic hand 3, capable of bearing the weight and operational load of the connecting joint 2 and the robotic hand 3. The connecting joint 2 is rotatably connected to the forearm 1, and the mounting component 32 is rotatably mounted on the connecting joint 2, making the connecting joint 2 the direct carrier of the robotic hand 3. It can carry the robotic hand 3 to rotate around a first axis, and further adjust the rotation of the palm assembly 31 around a second axis by rotating the mounting component 32, providing the robotic hand 3 with two independent and perpendicular rotational dimensions. The first axis is parallel to the arrangement direction of the fingers 312 of the palm assembly 31. When the connecting joint 2 rotates around the first axis, the movement of the palm assembly 31 can correspond to the adduction or abduction of the human wrist, thereby adjusting the rotation of the mounting component 32. This allows the palm assembly 31 to rotate up and down based on the adduction or abduction movements, enabling precise adjustment of the posture of the palm assembly 31 and improving the operational flexibility of the wrist. Furthermore, by setting the connecting joint 2 to achieve the adjustment of two degrees of freedom of the palm component 31, the design of the wrist structure is simplified, making the layout of the wrist structure more compact.

[0033] The first axis is Figure 1 The horizontal direction in the middle, the second axis is Figure 2 The horizontal direction in the middle.

[0034] As a preferred embodiment of this application, such as Figure 2 , Figure 5 As shown, the forearm 1 includes a positioning section 11 and a mounting section 12 connected to the upper arm. One end of the positioning section 11 is connected to the mounting section 12, and the other end extends toward the side away from the upper arm. The positioning section 11 is provided with a drive mechanism 4 for driving the connecting joint 2 to rotate.

[0035] By designing the forearm 1 into a positioning section 11 and a mounting section 12, the functional zones of the forearm 1 are divided. The mounting section 12 focuses on the stable connection with the upper arm, undertaking the force transmission and posture support between the forearm 1 and the upper arm. The positioning section 11 is specifically designed to support the drive mechanism 4 and drive the connecting joint 2 to rotate, thus improving the long-term reliability of the overall structure. The positioning section 11 extends away from the side of the upper arm, reserving an independent installation space for the drive mechanism 4, effectively avoiding collisions or interference between the upper arm and the drive components, ensuring the compatibility of the upper arm, forearm 1, and connecting joint 2 in multi-degree-of-freedom movements, and expanding the overall range of motion of the wrist structure.

[0036] Furthermore, the positioning section 11 and the mounting section 12 are integrally formed. Those skilled in the art will understand that the positioning end can also be detachably mounted on the mounting section 12.

[0037] As a preferred embodiment of the implementation method, such as Figure 2 As shown, the positioning section 11 is provided with two support members 111, which are arranged opposite to each other along the first axis. The two ends of the connecting joint 2 are rotatably connected to the two support members 111 respectively.

[0038] Two support members 111 form symmetrical supports from both ends of the connecting joint 2, precisely defining the installation position of the connecting joint 2 along the first axis, effectively suppressing radial movement and offset during the rotation of the connecting joint 2, and allowing for more precise control of the rotation angle of the connecting joint 2 around the first axis. At the same time, the two oppositely arranged support members 111 form a stable support structure, significantly improving the upper limit of the load-bearing capacity of the wrist structure.

[0039] As a preferred specific example under Embodiment 1, such as Figure 3 , Figure 4 , Figure 5 As shown, the positioning section 11 also has a mounting cavity 112 and a clearance hole 113. The clearance hole 113 communicates with the mounting cavity 112 and faces the connecting joint 2. The driving mechanism 4 includes a first driving member 41 disposed in the mounting cavity 112 and a connecting rod 42. One end of the connecting rod 42 is connected to the first driving member 41, and the other end passes through the clearance hole 113 and is rotatably connected to the connecting joint 2. The first driving member 41 drives the connecting joint 2 to rotate through the connecting rod 42. The connecting rod 42 passes through the clearance hole 113 and is rotatably connected to the connecting joint 2, shortening the power transmission distance of the first driving member 41 and improving the power transmission efficiency. At the same time, it also allows the first driving member 41 to drive the rotation of the connecting joint 2 more quickly, significantly improving the response speed of the wrist adjustment structure.

[0040] As a preferred example under specific example 1, such as Figure 4 , Figure 5 As shown, the first driving component 41 includes a drive shaft 411 and a turntable 412 connected to the drive shaft 411. A connecting rod 42 is rotatably connected to the turntable 412, and the connection position between the connecting rod 42 and the turntable 412 is located at an eccentric position of the turntable 412. By setting the connection position between the connecting rod 42 and the turntable 412 to be at an eccentric position of the turntable 412, when the drive shaft 411 drives the turntable 412 to rotate, the circumferential motion at the eccentric position is converted into the rotation of the connecting joint 2 around the first axis through the connecting rod 42. This simplifies the structure of the driving mechanism 4, and the first driving component 41 can be completely built into the mounting cavity 112 without occupying additional mounting space, further realizing a compact layout of the wrist structure.

[0041] Furthermore, such as Figure 4As shown, the turntable 412 is provided with a plurality of positioning holes 413 at intervals around the axis of the drive shaft 411. The connecting rod 42 is provided with a guide hole 421 at one end connected to the turntable 412. The first drive component 41 also includes a fastener 414, which is detachably provided in the positioning hole 413. The fastener 414 is installed in the positioning hole 413, and the guide hole 421 is fitted with the fastener 414 to realize the connection between the connecting rod 42 and the turntable 412. By providing the positioning hole 413 and the fastener 414, the installation and maintenance of the connecting rod 42 are facilitated.

[0042] As a preferred example 2 under specific example 1, such as Figure 3 As shown, the end of the connecting rod 42 that is rotatably connected to the connecting joint 2 is positioned close to the support member 111. Positioning the connecting rod 42 close to the support member 111 significantly shortens the distance between the point of application of force and the fulcrum, reducing elastic deformation or warping of the connecting joint 2 under stress. Simultaneously, it concentrates the force on the connecting joint 2 in the support area, significantly improving the overall load-bearing capacity of the connecting joint 2 and raising the upper limit of the wrist structure's load-bearing capacity.

[0043] As a preferred specific example 2 under embodiment 1, such as Figure 2 As shown, the connecting joint 2 includes two assembly ends 22 and two component assembly ends 23. The two assembly ends 22 are arranged opposite each other along the first axis and are rotatably connected to the two support members 111 respectively; along the axial direction of the forearm 1 ( Figure 2 In the vertical direction of the forearm 1, two component assembly ends 23 are located on the left and right sides of the assembly end 22, respectively. One of the component assembly ends 23 is rotatably connected to the mounting part 32. The two assembly ends 22 are arranged opposite each other along the first axis. The assembly end 22 provides support for the rotation of the connecting joint 2 around the first axis. The two component assembly ends 23 are placed on the left and right sides of the assembly end 22 along the axis of the forearm 1, with one of them rotatably connected to the mounting part 32. This ensures that the rotation of the connecting joint 2 and the rotation of the mounting part 32 do not interfere with each other, ensuring accurate and reliable rotation. At the same time, by setting the component assembly ends 23 on the left and right sides of the assembly end 22 along the axis of the forearm 1, the second axis and the first axis are arranged perpendicularly and staggered in space. This avoids collisions between the mounting part 32 and the assembly end 22, the support part 111, or the positioning section 11 of the forearm 1 when the connecting joint 2 rotates around the first axis, improving the stability of the wrist structure operation.

[0044] As a preferred example 1 under specific example 2, such as Figure 2 , Figure 5As shown, the mounting component 32 includes a first connecting segment 321 and a second connecting segment 322. The first connecting segment 321 is rotatably connected to the component assembly end 23. One end of the second connecting segment 322 is connected to the first connecting segment 321, and the other end extends in a direction away from the forearm 1 and towards the axis closer to the forearm 1. The end of the second connecting segment 322 is provided with a mounting base 323 that connects to the palm assembly 31. The mounting base 323 is spaced apart from the connecting joint 2. The second connecting segment 322 extends in a direction away from the forearm 1 and towards the axis closer to the forearm 1. The spaced arrangement of the mounting base 323 and the connecting joint 2 provides independent space for the movement adjustment of the palm assembly 31. At the same time, it can also make the installation position of the palm assembly 31 deviate from the intersection area of ​​the first axis and the second axis, reduce the spatial conflict when the connecting joint 2 swings around the first axis and the mounting component 32 rotates around the second axis, and significantly expand the posture adjustment range of the robot 3.

[0045] Furthermore, such as Figure 2 As shown, the mounting base 323 is located on the side of the connecting joint 2 away from the forearm 1, and the axis of the mounting base 323 is collinear with the positioning axis of the connecting joint 2. By setting the axis of the mounting base 323 to be collinear with the positioning axis of the connecting joint 2, the gravity and reaction force generated by the hand assembly 31 grasping the load are directly transmitted to the connecting joint 2 along the coaxial direction, and then transmitted to the forearm 1 through the support member 111. This effectively avoids the lateral moment caused by eccentric loads, significantly reduces the bending deformation and torsional stress of the mounting member 32 and the connecting joint 2, and reduces the posture deviation caused by force offset. The positioning axis of the connecting joint 22 is... Figure 2 The vertical axis in.

[0046] As a preferred option, such as Figure 2 , Figure 5 As shown, the connecting joint 2 has a receiving cavity 21, and a second driving component 5 is housed within the receiving cavity 21. The output end of the second driving component 5 is connected to the first connecting section 321. The second driving component 5, built into the receiving cavity 21 of the connecting joint 2 and connected to the first connecting section 321, shortens the power transmission path, enabling the second driving component 5 to directly drive the rotation of the mounting component 32. This allows for more precise and rapid rotation of the palm assembly 31 around the second axis. The second driving component 5, located within the receiving cavity 21 of the connecting joint 2, eliminates the need for an additional independent drive bracket or extended transmission structure. This highly integrates the driving function with the support and connection functions of the connecting joint 2, significantly reducing the overall volume and weight of the wrist structure, avoiding structural redundancy caused by external drives, and improving overall movement flexibility.

[0047] For any parts not mentioned in this application, existing technologies may be used or referenced.

[0048] The various embodiments in this specification are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0049] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A wrist structure for a humanoid robot, characterized in that, include: Forearm, one end of which is connected to the upper arm of the humanoid robot; The connecting joint is rotatably mounted on the other end of the forearm and can rotate about a first axis; A robotic hand includes a palm assembly and a mounting component. The mounting component is rotatably disposed on the connecting joint and is capable of rotating about a second axis. The second axis is perpendicular to the plane containing the palm of the palm assembly. The first axis is perpendicular to the second axis and parallel to the finger arrangement direction of the palm assembly.

2. The wrist structure for a humanoid robot according to claim 1, characterized in that, The forearm includes a positioning section and a mounting section connected to the upper arm. One end of the positioning section is connected to the mounting section, and the other end extends toward the side away from the upper arm. The positioning section is provided with a drive mechanism for driving the connecting joint to rotate.

3. The wrist structure for a humanoid robot according to claim 2, characterized in that, The positioning section is provided with two support members, which are arranged opposite to each other along the first axis. The two ends of the connecting joint are rotatably connected to the two support members respectively.

4. The wrist structure for a humanoid robot according to claim 3, characterized in that, The positioning section is also provided with an installation cavity and a clearance hole. The clearance hole communicates with the installation cavity and faces the connecting joint. The driving mechanism includes a first driving member disposed in the installation cavity and a connecting rod. One end of the connecting rod is connected to the first driving member in a transmission manner, and the other end passes through the clearance hole and is rotatably connected to the connecting joint. The first driving member drives the connecting joint to rotate through the connecting rod.

5. A wrist structure for a humanoid robot according to claim 4, characterized in that, The first driving component includes a drive shaft and a turntable connected to the drive shaft. The connecting rod is rotatably connected to the turntable, and the connection position of the connecting rod to the turntable is located at an eccentric position of the turntable.

6. A wrist structure for a humanoid robot according to claim 4, characterized in that, One end of the connecting rod that is rotatably connected to the connecting joint is located near the support member.

7. A wrist structure for a humanoid robot according to claim 3, characterized in that, The connecting joint includes two assembly ends and two component assembly ends. The two assembly ends are arranged opposite to each other along the first axis and are rotatably connected to two support members respectively. Along the axial direction of the forearm, the two component assembly ends are located on the left and right sides of the assembly end, respectively, and one of the component assembly ends is rotatably connected to the mounting component.

8. A wrist structure for a humanoid robot according to claim 7, characterized in that, The mounting component includes a first connecting segment and a second connecting segment. The first connecting segment is rotatably connected to the assembly end of the component. One end of the second connecting segment is connected to the first connecting segment, and the other end extends in a direction away from the forearm and towards the axis of the forearm. The end of the second connecting segment is provided with a mounting base that is connected to the palm assembly. The mounting base is spaced apart from the connecting joint.

9. A wrist structure for a humanoid robot according to claim 8, characterized in that, The mounting base is located on the side of the connecting joint away from the forearm, and the axis of the mounting base is collinear with the positioning axis of the connecting joint.

10. A wrist structure for a humanoid robot according to claim 8, characterized in that, The connecting joint is provided with a receiving cavity, and a second driving member is provided in the receiving cavity. The output end of the second driving member is connected to the first connecting segment.

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