Wrist joint mechanism and robot

Abstract

A wrist joint mechanism (150) and a robot (500). The wrist joint mechanism (150) comprises: a framework (10); a rotating shaft assembly (50), the rotating shaft assembly (50) comprising a palm connector (60) and a first rotating shaft (53), wherein the first rotating shaft (53) is rotatably connected to the framework (10), the palm connector (60) is rotatably connected to the first rotating shaft (53), the first rotating shaft (53) can rotate around a first axis, and the palm connector (60) can rotate around a second axis, with the first axis and the second axis being perpendicular to each other; and an electric motor (40) disposed on the framework (10), the electric motor (40) being movably connected to the palm connector (60) and configured to drive the palm connector (60) to move around the first axis and the second axis. The wrist joint mechanism with the structure enables the simplification of the assembly process and the reduction in occupied space.

Description

Wrist joint mechanism and robot

[0001] Priority information

[0002] This application claims priority and benefits to patent application No. 202411933545.8, filed with the China National Intellectual Property Administration on December 25, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of robotics, specifically to a wrist joint mechanism and a robot. Background Technology

[0004] In related technologies, humanoid robots need to achieve a human-like configuration and flexibility to perform the same tasks as humans. For the wrist joint of a humanoid arm, it needs to achieve rotational freedom for both the hand and the arm. Currently, the drive structures that propel the relative rotation of the hand and arm suffer from numerous components, leading to complex assembly and large space requirements. Summary of the Invention

[0005] This application provides a wrist joint mechanism and a robot to solve at least one of the aforementioned technical problems.

[0006] This application discloses a wrist joint mechanism for a robot. The wrist joint mechanism includes:

[0007] skeleton;

[0008] A pivot assembly, comprising a palm connector and a first pivot, the first pivot being rotatably connected to the skeleton, the palm connector being rotatably connected to the first pivot, the first pivot being rotatable about a first axis, the palm connector being rotatable about a second axis, the first axis being perpendicular to the second axis;

[0009] The motor is mounted on the frame and is movably connected to the palm connector. The motor is used to drive the palm connector to move around the first axis and the second axis.

[0010] In the aforementioned wrist joint mechanism, the palm connector is rotatably connected to the first rotating shaft, and the motor is movably connected to the palm connector. Thus, the motor can drive the palm connector to move around the first axis and the second axis, realizing two-dimensional movement of the palm, which simplifies the assembly process and reduces the space occupied to a certain extent.

[0011] In some embodiments, the pivot assembly includes a second pivot perpendicularly connected to the first pivot, and the palm connector is rotatably connected to the second pivot, the palm connector being rotatable about the second pivot.

[0012] In the aforementioned wrist joint mechanism, the palm connector can move around the first axis and the second axis, thereby enabling the palm to achieve flexible two-dimensional movement.

[0013] In some embodiments, the pivot assembly includes a rotating member connected to the palm connector, the rotating member including a spherical portion, and the wrist joint mechanism including a push rod, one end of which is connected to the motor, and the other end having a first mounting hole, the shape of which is adapted to the shape of the spherical portion, the spherical portion being rotatably fitted into the first mounting hole.

[0014] The wrist joint mechanism described above allows for flexible movement of the hand connector, which improves the flexibility and accuracy of rotation to a certain extent.

[0015] In some embodiments, the wrist joint mechanism includes two motors, and the palm connector has a rotating member at each end along the first axis, with each motor connected to a corresponding rotating member via a push rod.

[0016] In the aforementioned wrist joint mechanism, the parallel connection of two motors enables the wrist joint mechanism to achieve twice the load, which to a certain extent improves the smoothness and accuracy of the wrist joint mechanism's movement.

[0017] In some embodiments, the two motors are arranged sequentially along the length of the frame.

[0018] In the aforementioned wrist joint mechanism, the space occupied by the motor can be reduced, making the entire wrist joint mechanism more compact.

[0019] In some embodiments, the wrist joint mechanism includes a push plate and a ball joint. The push plate is connected to the motor. The push plate has a second mounting hole, the shape of which is adapted to the shape of the ball joint. The ball joint is rotatably fitted into the second mounting hole. One end of the push rod is connected to the motor through the ball joint.

[0020] In the aforementioned wrist joint mechanism, the push plate can drive the push rod to move, which improves the flexibility and accuracy of the movement to a certain extent.

[0021] In some embodiments, the wrist joint mechanism includes a linkage structure connected to the ball joint and the motor, and the linkage structure, the frame, and the pivot assembly form a four-bar linkage structure.

[0022] In the aforementioned wrist joint mechanism, the four-bar linkage can transmit power and maintain the stability of the wrist joint mechanism.

[0023] In some embodiments, the four-bar linkage is a parallelogram linkage structure.

[0024] In the aforementioned wrist joint mechanism, the center distance forms a parallelogram structure, making the control logic of the wrist joint mechanism simple and reliable.

[0025] In some embodiments, the linkage structure includes a first link and a second link that are rotatably connected to each other, the first link being rotatably connected to the spherical portion, and the second link being connected to the output shaft of the motor.

[0026] The aforementioned wrist joint mechanism can achieve a variety of complex motion trajectories, providing a certain degree of high motion stability and accuracy.

[0027] In some embodiments, the wrist joint mechanism includes a forearm interface and a palm interface, the forearm interface and the pivot assembly being respectively located at both ends of the skeleton along the length direction, and the palm interface being connected to the palm connector.

[0028] In the aforementioned wrist joint mechanism, the flexible movement of the wrist joint mechanism in three-dimensional space can be achieved through the coordinated work of the forearm interface, the pivot assembly, the palm connector, and the palm interface.

[0029] In some embodiments, the wrist joint mechanism includes a circuit board electrically connected to the motor, and the circuit board and the motor are respectively located on two sides perpendicular to the length direction of the skeleton.

[0030] The aforementioned wrist joint mechanism can effectively utilize the space of the wrist joint mechanism and avoid mutual interference between components.

[0031] The robot provided in this application includes the wrist joint mechanism of any of the above embodiments.

[0032] In the robot described above, the hand connector is rotatably connected to the first rotating shaft, and the motor is movably connected to the hand connector. Thus, the motor can drive the hand connector to move around the first axis and the second axis, realizing two-dimensional movement of the robot's hand. This simplifies the assembly process to a certain extent and reduces the space occupied.

[0033] Additional aspects and advantages of the embodiments of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0034] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, wherein:

[0035] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, wherein:

[0036] Figure 1 is a schematic diagram of the structure of the robot according to an embodiment of this application;

[0037] Figure 2 is a structural schematic diagram of the wrist joint mechanism according to an embodiment of this application;

[0038] Figure 3 is a cross-sectional schematic diagram of the wrist joint mechanism according to an embodiment of this application;

[0039] Figure 4 is a side view of the wrist joint mechanism according to an embodiment of this application;

[0040] Figure 5 is another side view of the wrist joint mechanism according to an embodiment of this application;

[0041] Figure 6 is an exploded view of the wrist joint mechanism according to an embodiment of this application;

[0042] Figure 7 is a structural schematic diagram of the rotating shaft assembly according to an embodiment of this application;

[0043] Figure 8 is a top view of the rotating shaft assembly according to an embodiment of this application;

[0044] Figure 9 is an exploded view of the rotating shaft assembly according to an embodiment of this application;

[0045] Figure 10 is a schematic diagram of the linkage structure according to an embodiment of this application;

[0046] Figure 11 is an exploded view of the linkage structure according to an embodiment of this application.

[0047] Explanation of key component reference numerals: Frame - 10, Third mounting hole - 13, Fourth mounting hole - 16, First mounting sleeve - 19, Screw hole - 21, First mounting hole - 24, Second mounting hole 28, Motor mounting part - 30, First mounting part - 30a, Second mounting part - 30b, Motor - 40, First motor - 40a, Second motor - 40b; Shaft assembly - 50, First shaft - 53, First cylindrical step - 53a, Second shaft - 56, Sleeve - 59, Fixing part - 59a Sleeve assembly - 59b, second cylindrical step - 59c, hand connector - 60, second mounting cylinder - 60a, third cylindrical step - 60b, hand interface - 63, forearm interface - 66, transmission component - 70, spherical part - 72, screw post - 74, first ball bearing - 76, spherical part - 80, second ball bearing - 82, transmission post - 84, first bearing - 86, second bearing - 88, push plate - 90, push rod - 95, first push rod - 95a, second push rod - 95b, linkage structure - 100, first link - 100a, second link - 100b; circuit board - 110, wrist joint mechanism - 150, robotic arm - 160, dexterous hand - 170, base - 180, radar window - 183, radar - 186, body - 190, head support assembly - 195, head - 200, robot - 500. Detailed Implementation

[0048] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0049] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used 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 on this application. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0050] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. They can refer to a mechanical connection or an electrical connection. They can refer to a direct connection or an indirect connection through an intermediate medium, and they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0051] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0052] This disclosure provides many different embodiments or examples for implementing different structures of this application. To simplify the disclosure, specific examples of components and arrangements are described herein. Of course, these are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, various specific examples of processes and materials are provided in this application, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0053] Please refer to Figures 2 to 6. An embodiment of this application provides a wrist joint mechanism 150 for use in a robot 500. The wrist joint mechanism 150 includes a frame 10, a pivot assembly 50, and a motor 40. The pivot assembly 50 includes a hand connector 60 and a first pivot 53. The first pivot 53 is rotatably connected to the frame 10, and the hand connector 60 is rotatably connected to the first pivot 53. The first pivot 53 can rotate about a first axis L1, and the hand connector 60 can rotate about a second axis L2. The first axis L1 and the second axis L2 are perpendicular to each other. The motor 40 is mounted on the frame 10 and is movably connected to the hand connector 60. The motor 40 drives the hand connector 60 to move about the first axis L1 and the second axis L2.

[0054] In the wrist joint mechanism 150 described above, the palm connector 60 is rotatably connected to the first rotating shaft 53, and the motor 40 is movably connected to the palm connector 60. Thus, the motor 40 can drive the palm connector 60 to move around the first axis L1 and the second axis L2, realizing two-dimensional movement of the palm, which simplifies the assembly process to a certain extent and reduces the space occupied.

[0055] Specifically, robot 500 is a machine device capable of automatically performing tasks. Optionally, referring to Figure 1, robot 500 can be a humanoid robot 500. The body structure of robot 500 consists of components including but not limited to a head 200, torso, limbs, and various sensors and actuators. These components are connected by joint mechanisms to form a complete and coordinated robot 500 as a whole.

[0056] In related technologies, the core of humanoid robot development lies in simulating and realizing the human body structure to achieve similar flexibility, thereby enabling the robot to smoothly perform the same or similar work tasks as humans. For the arm portion of a humanoid robot, the wrist joint design is particularly critical, as it directly determines the precision and dexterity of the robot's hand operations. To achieve smooth rotation of the palm and arm in two degrees of freedom—that is, to enable both wrist pitch (up and down swinging) and palm yaw (left and right swinging)—the wrist joint design must be extremely intricate and efficient. However, current drive structures for the relative rotation of the palm and arm in humanoid robots generally suffer from an excessive number of parts and a relatively large space occupied by the entire drive structure, thus affecting the accuracy and stability of the humanoid robot when performing delicate operations.

[0057] In the embodiments of this application, referring to Figures 2 and 3, the first axis L1 is the central axis of the first rotating shaft 53 and extends along the front-back direction, and the second axis L2 is perpendicular to the first axis L1 and extends along the left-right direction.

[0058] For ease of explanation, the following description uses the left wrist joint mechanism 150 of the robot 500 in Figure 1 as an example. Referring to Figures 2 to 6, the wrist joint mechanism 150 of the robot 500 includes a frame 10, which supports the weight of the entire wrist joint mechanism 150 and bears the operational load from the outside. A first mounting cylinder 19 is provided on the frame 10, and a first rotating shaft 53 passes through the first mounting cylinder 19 and is rotatably connected to the frame 10. The rotating shaft assembly 50 includes two second bearings 88, which are disposed inside the first mounting cylinder 19. The two ends of the first rotating shaft 53 are provided with first cylindrical steps 53a, and the two second bearings 88 respectively abut against the step surfaces of the first cylindrical steps 53a. Thus, the inner surface of the first mounting cylinder 19 cooperates with the outer surface of the two second bearings 88, and the outer surface of the first rotating shaft 53 cooperates with the inner surface of the two second bearings 88, so that the first rotating shaft 53 can rotate around the second axis L2 under the constraint of the two second bearings 88.

[0059] The hand connector 60 is rotatably connected to the frame 10. Optionally, the hand connector 60 is used to connect to the hand of the robot 500, so that when the wrist joint mechanism 150 is working, it can drive the hand to perform movements including but not limited to pitch and yaw through the hand connector 60. The hand connector 60 can rotate about the second axis L2, and the hand connector 60 is rotatably connected to the first rotating shaft 53 through the frame 10. The motor 40 is rotatably connected to the hand connector 60 through the frame 10. The motor 40 can drive the hand connector 60 to drive the first rotating shaft 53 to rotate about the first axis L1, and the motor 40 can also drive the hand connector 60 to rotate about the second axis L2. Thus, two-dimensional movement of the hand can be realized.

[0060] In some embodiments, the pivot assembly 50 includes a second pivot 56, which is perpendicularly connected to the first pivot 53, and a palm connector 60 is rotatably connected to the second pivot 56, and the palm connector 60 is capable of rotating along the second pivot 56.

[0061] In this way, the palm connector 60 can move around the first axis L1 and the second axis L2, thereby enabling the palm to achieve flexible two-dimensional movement.

[0062] Specifically, referring to Figures 7 to 9, the rotating shaft assembly 50 includes a sleeve 59, on which a fixing part 59a and a fitting part 59b are provided, which are perpendicular to each other. The second rotating shaft 56 is fixedly connected to the fixing part 59a, and the first rotating shaft 53 can pass through the fitting part 59b, so that the first rotating shaft 53 is perpendicularly connected to the second rotating shaft 56. When the second rotating shaft 56 rotates around the second axis L2, it can drive the first rotating shaft 53 to rotate together around the second axis L2.

[0063] The palm connector 60 is provided with a second mounting sleeve 60a, and a second rotating shaft 56 passes through the second mounting sleeve 60a and is rotatably connected to the palm connector 60. The rotating shaft assembly 50 includes two first bearings 86, which are disposed inside the second mounting sleeve 60a. The fixing part 59a of the sleeve 59 is provided with a second cylindrical step 59c, and one first bearing 86 abuts against the step surface of the second cylindrical step 59c. The second mounting sleeve 60a is provided with a third cylindrical step 60b, and another first bearing 86 abuts against the step surface of the third cylindrical step 60b. Thus, the inner surface of the second mounting sleeve 60a cooperates with the outer surfaces of the two first bearings 86, and the outer surface of the second rotating shaft 56 cooperates with the inner surfaces of the two first bearings 86, so that the palm connector 60 can rotate around the second axis L2 under the constraint of the two first bearings 86.

[0064] In some embodiments, the pivot assembly 50 includes a rotating member connected to the palm connector 60, the rotating member including a spherical portion 72, and the wrist joint mechanism 150 including a push rod 95, one end of which is connected to the motor 40, and the other end is provided with a first mounting hole 24, the shape of the first mounting hole 24 being adapted to the shape of the spherical portion 72, and the spherical portion 72 being rotatably fitted into the first mounting hole 24.

[0065] In this way, the flexible movement of the palm connector 60 can be achieved, which improves the flexibility and accuracy of the wrist joint mechanism 150 to a certain extent.

[0066] Specifically, referring to Figures 6 to 9, the rotating component includes a spherical portion 72 and a screw post 74. The transmission component 70 is fixedly connected to the palm connector 60 via the screw post 74 and the screw hole 21 provided on the palm connector 60. Referring to Figures 10 and 11, one end of the push rod 95 has a third mounting hole 13 for accommodating the first ball bearing 74. The shape of the first ball bearing 74 matches the shape of the third mounting hole 13, and the first ball bearing 74 is fixedly connected to the third mounting hole 13. The first ball bearing 74 has a first mounting hole 24, the shape of which matches the shape of the spherical portion 72. The spherical portion 72 is rotatably embedded in the first mounting hole 24, so that the spherical portion 72 and the first ball bearing 74 form rolling contact. Therefore, the push rod 95 is rotatably connected to the palm connector 60, and the power of the push rod 95 can be transmitted to the palm connector 60 through the transmission component 70, thereby realizing the flexible movement of the palm connector 60. The outer surface of the spherical part 72 mates with the inner surface of the first ball bearing 74, and the inner surface of the first mounting hole 24 mates with the outer surface of the first ball bearing 74, which can reduce friction and wear and improve the flexibility and accuracy of rotation to a certain extent.

[0067] It is understood that in other embodiments, one end of the push rod 95 is directly provided with a first mounting hole 24 that matches the shape of the spherical part 72, and the spherical part 72 is rotatably embedded in the first mounting hole 24, so that the push rod 95 is rotatably connected to the palm connector 60.

[0068] Referring to Figure 3, the rotating shaft assembly 50 includes two transmission components 70. These two transmission components 70 are fixedly connected to the palm connector 60 via screw posts 74 and screw holes 21. The two transmission components 70 are coaxially arranged, allowing them to be rotatably connected perpendicularly to the second rotating shaft 56. The second rotating shaft 56 is perpendicular to the first rotating shaft 53, and the lower ends of the second rotating shaft 56 and the first rotating shaft 53 are rotatably connected. Therefore, the two transmission components 70, the second rotating shaft 56, and the first rotating shaft 53 can form an "I"-shaped structure, making the power transmission path clearer and enabling rotational freedom in two vertical directions. This also provides a certain degree of structural stability to the wrist joint mechanism 150.

[0069] In some embodiments, the wrist joint mechanism 150 includes two motors 40, and the palm connector 60 is provided with a rotating member 70 at each end around the first axis L1. Each motor 40 is connected to a corresponding rotating member 70 through a push rod 95.

[0070] Thus, the parallel connection of the two motors 40 enables the wrist joint mechanism 150 to achieve twice the load, which to a certain extent improves the smoothness and accuracy of the wrist joint mechanism 150's movement.

[0071] Specifically, referring to Figures 2 to 6, the wrist joint mechanism 150 includes two motors 40, each of which is connected to a rotating component via a push rod 95. The transmission component 70 is connected to the rotating shaft assembly 50, so that the two motors 40 are connected in parallel and can simultaneously drive the rotating shaft assembly 50 to move. After the motors 40 are energized, the power output by the motors 40 is transmitted to the rotating component through the push rod 95, pushing the rotating component to rotate around the first axis L1, thereby driving the palm connector 60 to perform pitch movement.

[0072] The parallel connection of two motors 40 allows them to share the load of the wrist joint mechanism 150. Under the same operating conditions, each motor 40 only needs to provide half the power required for a single motor 40 to achieve the same motion effect. Therefore, the burden on the wrist joint mechanism 150 is reduced, improving its reliability and durability to some extent. When the wrist joint mechanism 150 requires greater force output, the two motors 40 can work together, combining their power to achieve twice the load capacity of a single motor 40. The parallel connection of the two motors 40 allows the wrist joint mechanism 150 to withstand twice the load. Simultaneously, the parallel connection of the two motors 40 reduces vibration and noise generated by the wrist joint mechanism 150 during operation, improving the smoothness and precision of its movement to some extent.

[0073] It is understood that the robot 500 includes a controller, which is electrically connected to two motors 40. The controller can control a single motor 40 to work, or it can control the two motors 40 to work together. The working mode of the motors 40 can be specifically defined according to the actual situation, and this application does not make specific limitations in this regard.

[0074] In some embodiments, the two motors 40 are arranged sequentially along the length of the frame 10.

[0075] This reduces the space occupied by the motor 40, making the entire wrist joint mechanism 150 more compact.

[0076] Specifically, referring to Figure 6, the length direction of the frame 10 is vertical. The frame 10 is provided with a motor 40 mounting portion 30, which includes a first mounting portion 30a and a second mounting portion 30b. The first mounting portion 30a is located at the end of the frame 10 near the palm interface 63 and above the palm interface 63, while the second mounting portion 30b is located on the frame 10 above the first mounting portion 30a. Optionally, the motor 40 mounting portion 30 and the frame 10 can be integrally formed.

[0077] The motor 40 includes a first motor 40a and a second motor 40b. The first motor 40a is fixedly connected to the first mounting part 30a, and the second motor 40b is fixedly connected to the second mounting part 30b. The shape of the motor mounting part 30 is adapted to the shape of the motor 40. Therefore, the space occupied by the motor 40 can be reduced while achieving twice the load, making the entire wrist joint mechanism 150 more compact.

[0078] Each motor 40 is connected to the rotating shaft assembly 50 via a push rod 95. The push rod 95 includes a first push rod 95a and a second push rod 95b, where the length of the first push rod 95a is shorter than the length of the second push rod 95b. The first motor 40a is movably connected to the rotating shaft assembly 50 via the first push rod 95a, and the second motor 40b is movably connected to the rotating shaft assembly 50 via the second push rod 95b. When both motors 40 operate simultaneously, they can drive the rotating shaft assembly 50 to move via their respective push rods 95. Due to the different lengths of the push rods 95, the resulting displacement and leverage effect are also different, thus allowing the palm interface 63 to perform movements including but not limited to pitch and yaw under the coordinated action of the two motors 40.

[0079] In some embodiments, the wrist joint mechanism 150 includes a push plate 90 and a ball-shaped member 80. The push plate 90 is connected to the motor 40 and has a second mounting hole 28. The shape of the second mounting hole 28 is adapted to the shape of the ball-shaped member 80. The ball-shaped member 80 is rotatably fitted into the second mounting hole 28 and is connected to one end of the push rod 95.

[0080] In this way, the push plate 90 can drive the push rod 95 to move, which improves the flexibility and accuracy of the movement to a certain extent.

[0081] Specifically, referring to Figures 2 to 5, the push plate 90 is fixedly connected to the output shaft of the motor 40. When the motor 40 is energized, the output shaft of the motor 40 rotates, driving the push plate 90 to rotate. Referring to Figures 10 and 11, the push plate 90 is provided with a fourth mounting hole 16 for accommodating the second ball bearing 82. The shape of the second ball bearing 82 is adapted to the shape of the fourth mounting hole 16, and the second ball bearing 82 is fixedly connected to the fourth mounting hole 16. The second ball bearing 82 is provided with a second mounting hole 28, the shape of which is adapted to the shape of the spherical member 80. The spherical member 80 is rotatably embedded in the second mounting hole 28, so that the spherical member 80 and the second ball bearing 82 form rolling contact. One end of the push rod 95 is connected to a post 84, through which the spherical member 80 can pass and is fixedly connected, thereby allowing the push plate 90 and the push rod 95 to be rotatably connected. The power generated by the motor 40 can be transmitted to the push rod 95 through the push plate 90 and the ball joint 80, so that the push plate 90 can drive the push rod 95 to move when it rotates. The outer surface of the ball joint 80 cooperates with the inner surface of the second ball bearing 82, and the inner surface of the third mounting hole 13 cooperates with the outer surface of the second ball bearing 82. This can reduce friction and wear, and improve the flexibility and accuracy of rotation to a certain extent.

[0082] It is understood that in other embodiments, the push plate 90 is directly provided with a second mounting hole 28 that matches the shape of the spherical member 80, and the spherical member 80 is rotatably embedded in the second mounting hole 28, so that the push rod 95 is rotatably connected to the palm connector 60.

[0083] In some embodiments, the wrist joint mechanism 150 includes a linkage structure 100, which is connected to the ball portion 72 and the motor 40. The linkage structure 100, the frame 10, and the pivot assembly 50 form a four-bar linkage structure.

[0084] Thus, the four-bar linkage can transmit power and maintain the stability of the wrist joint mechanism.

[0085] Specifically, referring to Figures 4 and 5, one end of the linkage structure 100 is connected to the spherical portion 72 of the rotating shaft assembly 50, and the other end of the linkage structure 100 is connected to the output shaft of the motor 40, so that the linkage structure 100, the frame 10, and the rotating shaft assembly 50 can form a four-bar linkage structure. The motor 40 provides driving power to the linkage structure 100, and when energized, it drives the linkage structure 100 to move through the rotational motion of the output shaft. The linkage structure 100 transmits the rotational power of the motor 40 to the spherical portion 72 and pushes the spherical portion 72 to move. The movement of the spherical portion 72 is then transmitted to the first rotating shaft 53 and the second rotating shaft 56, thereby driving the palm connector 60 connected to the rotating shaft assembly 50 to move around the first axis L1 and the second axis L2. Therefore, the four-bar linkage structure can transmit power and improves the movement stability and flexibility of the wrist joint mechanism 150 to a certain extent.

[0086] In some embodiments, the four-bar linkage 100 is a parallelogram linkage structure.

[0087] Thus, by forming a parallelogram structure through the center distance, the control logic of the wrist joint mechanism 150 becomes simple and reliable.

[0088] Specifically, referring to Figures 4 and 5, one end of the connecting rod structure 100 is connected to the spherical portion 72 of the rotating shaft assembly 50, and the other end of the connecting rod structure 100 is connected to the output shaft of the motor 40. This creates a parallelogram structure formed by the intersection of the first connecting rod 100a and the second connecting rod 100b, the center of the output shaft of the motor 40, the center of the spherical portion 72, and the center of the first rotating shaft 53. The line segments connecting these points represent the center distances. Both the motor 40 and the first rotating shaft 53 are rotatably connected to the frame 10. During the operation of the wrist joint mechanism 150, the center distance between the center of the output shaft of the motor 40 and the center of the first rotating shaft 53 within the parallelogram structure remains constant. The remaining center distances within the parallelogram structure can be driven by the motor 40. The motor 40 provides driving power to the connecting rod structure 100, and when energized, it drives the connecting rod structure 100 to move through the rotational motion of the output shaft. The linkage structure 100 transmits the rotational power of the motor 40 to the spherical part 72, causing the spherical part 72 to move. The movement of the spherical part 72 is then transmitted to the first rotating shaft 53 and the second rotating shaft 56, thereby driving the parallelogram structure to perform coordinated movement. Therefore, the parallelogram structure formed by the center distance makes the control logic of the wrist joint mechanism 150 simple and reliable, and improves the flexibility of the wrist joint mechanism 150 to a certain extent.

[0089] Referring to Figure 3, the wrist joint mechanism 150 includes two parallelogram linkage structures. The two parallelogram mechanisms enable the flexible movement of the wrist joint mechanism 150, which in turn drives the palm connector 60 to operate in any direction and position to a certain extent.

[0090] In some embodiments, the linkage structure 100 includes a first linkage 100a and a second linkage 100b that are rotatably connected to each other. The first linkage 100a is rotatably connected to the ball portion 72, and the second linkage 100b is connected to the output shaft of the motor 40.

[0091] In this way, a variety of complex motion trajectories can be achieved, providing a certain degree of high motion stability and accuracy.

[0092] Specifically, referring to Figures 4 and 5, optionally, the first connecting rod 100a can be a push rod 95, and the second connecting rod 100b can be a push plate 90. The first connecting rod 100a is fixedly connected to the output shaft of the motor 40. After the motor 40 is energized, the output shaft of the motor 40 rotates and drives the second connecting rod 100b to rotate. One end of the first connecting rod 100a is fixedly connected to the second connecting rod 100b, and the other end is rotatably connected to the spherical part 72. When the second connecting rod 100b rotates, the end of the second connecting rod 100b fixed to the first connecting rod 100a rotates with the first connecting rod 100a. The power generated by the motor 40 is transmitted to the spherical part 72 through the second connecting rod 100b and the first connecting rod 100a, driving the first axis L1 and the second axis L2 to move, thereby realizing the movement of the wrist joint mechanism 150.

[0093] In some embodiments, the wrist joint mechanism 150 includes a forearm interface 66 and a palm interface 63. The forearm interface 66 and the pivot assembly 50 are respectively located at both ends of the skeleton 10 along the length direction, and the palm interface 63 is connected to the palm connector 60.

[0094] Thus, through the coordinated work of the forearm interface 66, the pivot assembly 50, the palm connector 60, and the palm interface 63, the wrist joint mechanism 150 can achieve flexible movement in three-dimensional space.

[0095] Specifically, referring to Figures 2 to 6, the length direction of the skeleton 10 is vertical, and the forearm interface 66 is located at the upper end of the skeleton 10 and is fixedly connected to the skeleton 10 by means including but not limited to bolts, buckles, etc. Optionally, the robot 500 also includes a robotic arm 160, and the forearm interface 66 can be movably connected to the robotic arm 160, so that when the robotic arm 160 moves, it can drive the wrist joint mechanism 150 to move together.

[0096] The pivot assembly 50 is located at the lower end of the frame 10 and is movably connected to the frame 10. The palm interface 63 and the palm connector 60 of the pivot assembly 50 can be fixedly connected by means including but not limited to bolts, clips, welding, etc. Optionally, the robot 500 may include a dexterous hand 170, and the palm interface 63 is fixedly connected to the dexterous hand 170, so that the wrist joint mechanism 150 can drive the dexterous hand 170 to move through the palm interface 63, so that the dexterous hand 170 can achieve movements including but not limited to pitch and yaw. Therefore, through the coordinated work of the forearm interface 66, the pivot assembly 50, the palm connector 60 and the palm interface 63, the wrist joint mechanism 150 can move flexibly in three-dimensional space.

[0097] In some embodiments, the wrist joint mechanism 150 includes a circuit board 110, which is electrically connected to a motor 40. The circuit board 110 and the motor 40 are respectively located on both sides of the vertical length direction of the frame 10.

[0098] In this way, the space of the wrist joint mechanism 150 can be effectively utilized, and mutual interference between components can be avoided.

[0099] Specifically, referring to Figures 2 to 6, the vertical length direction of the frame 10 is the left-right direction. The motor 40 is located in the motor mounting part 30 of the frame 10, and the circuit board 110 is located at the right end of the frame 10, that is, away from the motor mounting part 30 of the frame 10, and is fixedly connected to the frame 10 by means including but not limited to bolts, clips, welding, etc. In this way, the space of the wrist joint mechanism 150 can be effectively utilized, and mutual interference between components can be avoided.

[0100] Optionally, the robot 500 includes a controller, and a circuit board 110 is connected to the controller and the motor 40. The circuit board 110 can receive and process signals from the controller and generate control signals to control the operation of the motor 40, thereby driving the wrist joint mechanism 150 to move.

[0101] It is understood that the circuit board 110 may include, but is not limited to, communication interfaces such as USB and wireless modules, for data transmission and command reception with other systems or controllers.

[0102] The robot 500 provided in this application includes the wrist joint mechanism 150 of any of the above embodiments.

[0103] In the aforementioned robot 500, the palm connector 60 is rotatably connected to the first rotating shaft 53, and the motor 40 is movably connected to the palm connector 60. Thus, the motor 40 can drive the palm connector 60 to move around the first axis L1 and the second axis L2, realizing the two-dimensional movement of the palm of the robot 500, which simplifies the assembly process to a certain extent and reduces the space occupied.

[0104] Specifically, referring to Figure 1, robot 500 can be a humanoid robot 500. Optionally, robot 500 includes a head 200, a head support assembly 195, a body 190, and a base 180. The head 200 of robot 500 is mounted to the body 190 via the head support assembly 195. The body is located above and connected to the base 180, and the base 180 provides support for the body and enables the robot 500 to move.

[0105] Optionally, the robot 500 includes a radar 186 mounted on a base 180. A detection window 183 is provided between the base 180 and the robot body. The detection portion of the radar 186 can detect surrounding objects through the detection window 183, obtaining information including but not limited to position, speed, and obstacles. Simultaneously, the radar 186 can move with the robot 500, thereby achieving dynamic environmental detection and enabling functions including but not limited to obstacle avoidance.

[0106] Optionally, the robot 500 also includes a robotic arm 160, a wrist joint mechanism 150, and a dexterous hand 170. The robotic arm 160 and the wrist joint mechanism 150 are connected via a forearm interface 66, and the wrist joint mechanism 150 and the dexterous hand 170 are connected via a palm interface 63. The controller of the robot 500 issues control commands according to task requirements. These control commands include, but are not limited to, the movement path of the robotic arm 160, the posture adjustment of the wrist joint mechanism 150, and the operation commands of the dexterous hand 170. The robotic arm 160 moves according to the control commands, thereby driving the wrist joint mechanism 150 and the dexterous hand 170 to move. The wrist joint mechanism 150 moves according to the control commands, driving the dexterous hand 170 to perform movements including, but not limited to, pitch and yaw. The dexterous hand 170 performs operations including, but not limited to, picking and grasping, according to the control commands. Therefore, the robotic arm 160, the wrist joint mechanism 150, and the dexterous hand 170 are coordinated and controlled by the controller to simulate human arm movements, enabling the robot 500 to complete relatively complex tasks.

[0107] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with an 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 may be combined in any suitable manner in one or more embodiments or examples.

[0108] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A wrist joint mechanism for a robot, characterized in that, The wrist joint mechanism includes: skeleton; A pivot assembly, comprising a palm connector and a first pivot, the first pivot being rotatably connected to the skeleton, the palm connector being rotatably connected to the first pivot, the first pivot being rotatable about a first axis, the palm connector being rotatable about a second axis, the first axis being perpendicular to the second axis; The motor is mounted on the frame and is movably connected to the palm connector. The motor is used to drive the palm connector to move around the first axis and the second axis.

2. The wrist joint mechanism according to claim 1, characterized in that, The rotating shaft assembly includes a second rotating shaft that is perpendicularly connected to the first rotating shaft. The palm connector is rotatably connected to the second rotating shaft and is capable of rotating around the second rotating shaft.

3. The wrist joint mechanism according to claim 1 or 2, characterized in that, The rotating shaft assembly includes a rotating component connected to the palm connector. The rotating component includes a spherical portion. The wrist joint mechanism includes a push rod. One end of the push rod is connected to the motor, and the other end is provided with a first mounting hole. The shape of the first mounting hole is adapted to the shape of the spherical portion, and the spherical portion is rotatably fitted into the first mounting hole.

4. The wrist joint mechanism according to claim 3, characterized in that, The wrist joint mechanism includes two motors, and the palm connector is provided with a rotating component at each end along the first axis. Each motor is connected to a corresponding rotating component through a push rod.

5. The wrist joint mechanism according to claim 4, characterized in that, The two motors are arranged sequentially along the length of the frame.

6. The wrist joint mechanism according to any one of claims 3-5, characterized in that, The wrist joint mechanism includes a push plate and a ball-shaped component. The push plate is connected to the motor. The push plate has a second mounting hole. The shape of the second mounting hole is adapted to the shape of the ball-shaped component. The ball-shaped component is rotatably embedded in the second mounting hole. One end of the push rod is connected to the motor through the ball-shaped component.

7. The wrist joint mechanism according to any one of claims 3-6, characterized in that, The wrist joint mechanism includes a linkage structure, which is connected to the ball joint and the motor. The linkage structure, the frame, and the rotating shaft assembly constitute a four-bar linkage structure.

8. The wrist joint mechanism according to claim 7, characterized in that, The four-bar linkage is a parallelogram linkage structure.

9. The wrist joint mechanism according to claim 7, characterized in that, The linkage structure includes a first linkage and a second linkage that are rotatably connected to each other. The first linkage is rotatably connected to the spherical part, and the second linkage is connected to the output shaft of the motor.

10. The wrist joint mechanism according to any one of claims 1-9, characterized in that, The wrist joint mechanism includes a forearm interface and a palm interface. The forearm interface and the pivot assembly are respectively located at both ends of the skeleton along the length direction, and the palm interface is connected to the palm connector.

11. The wrist joint mechanism according to any one of claims 1-10, characterized in that, The wrist joint mechanism includes a circuit board, which is electrically connected to the motor. The circuit board and the motor are respectively located on both sides perpendicular to the length direction of the skeleton.

12. A robot, characterized in that, Includes the wrist joint mechanism as described in any one of claims 1-11.

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