23992 results about "Bevel gear" patented technology

A surgical instrument particularly suited to endoscopic articulates an end effector by including an end effector having a geared articulation mechanism that converts rotational motion from a handle portion. A hollow articulation drive tube transfers the rotation motion in some versions to a spear gear, bevel gear or snaggle tooth gear articulation mechanism. Alternatively, one or more threaded drive rod offset from a longitudinal axis engages a worm gear or flex-neck articulation mechanism.

A transmission for a marine propulsion system uses a cone clutch in such a way that, when in a forward gear position, torque is transmitted from an input shaft, or driving shaft, to an output shaft, or driven shaft, solely through the cone clutch. When in forward gear position, driving torque between the driving and driven shafts is not transmitted through any gear teeth. When in reverse gear position, torque is transmitted through an assembly of the bevel gears.

A surgical instrument particularly suited to endoscopic articulates an end effector by including an end effector having a geared articulation mechanism that converts rotational motion from a handle portion. A hollow articulation drive tube transfers the rotation motion in some versions to a spear gear, bevel gear or snaggle tooth gear articulation mechanism. Alternatively, one or more threaded drive rod offset from a longitudinal axis engages a worm gear or flex-neck articulation mechanism.

An aircraft including an airframe having a fuselage which extends longitudinally, and having fixed wings including a main wing, a horizontal tail wing and a vertical tail wing. A propeller-rotor torque transmission has a bevel gear which transmits the rotation of an input shaft simultaneously to a propeller shaft and to a rotor shaft. An engine gearbox supplies the above-mentioned input shaft with rotationalal motive power. The aircraft further includes a propeller collective pitch controller, a rotor collective pitch controller, an engine power controller which controls the output of the above-mentioned engine gearbox for the purpose of changing the rotational speed of the input shaft, and a flight control system having a directional (yaw) control system which controls the flight direction of the aircraft by controlling the positions of the above-mentioned control surfaces.

The invention relates to an external skeleton assisting robot, in particular to a portable energy-storage type external skeleton assisting robot. The problems that an existing lower limb external skeleton assisting robot worn on the human body is poor in assisting effect so that the loading capacity of the human body can be reduced, the wearing comfort for the human body is poor, the universality is poor, and the field environmental suitability is poor are solved. The portable energy-storage type external skeleton assisting robot comprises the upper body back, the left leg and the right leg, and the left leg and the right leg respectively comprise a hip driving system, a thigh driving system and a shank wearing system. A hip joint energy-storage mechanism comprises a connecting base, a stretching rod, a second spring and a stopping sheet, and a first bevel gear is meshed with a second bevel gear. Each hip driving system comprises a second motor with a coder, a second reducer, a third bevel gear, a fourth bevel gear, a thigh connecting rod, a knee joint support, a knee joint connecting plate, an angle sensor, a series connection elastic combination body, a knee joint gearbox body, a knee joint shaft and an end cover. The portable energy-storage type external skeleton assisting robot is suitable for being worn outdoors for walking assisting.

An orientation preserving angular swivel joint suitable for mechanical robotic arms and in particular snake robots, the joint comprising two members and an angular bevel gear train that connects the two members of the joint. The gear train allows an actuator to be positioned along the axis of the joint while transferring forces to the periphery of the mechanism, thus creating a high mechanical advantage proportional to the radius of the robot. The gear train is capable of transferring rotational motion between the two members with a constant ratio. Relative rotation between two bays of the joint does not take place, thereby preventing electrical wires running through the body of the snake from being twisted, and thus avoiding failure.

The invention provides a power supply equipment interface device using bevel gear transmission. The power supply equipment interface device comprises a jack base device (9) and a plug device (8). The plug device (8) is used for being plugged in the cavity of the jack base device (9) and the tail end of the plug device (8) is provided with a connecting notch (82) used for being connected with a connecting protrusion (92) in the cavity so that electrical connection is realized. The jack base device (9) comprises an end part wall (91), a transverse side wall (99) and a base body (98) opposite to the end part wall (91) so that the cavity is formed through enclosing. The right end of the connecting protrusion (92) is provided with a transmission block (99) which is connected with the base body (98) via elastic electric connectors (981, 982). The plug device (8) is provided with a positioning protrusion (81) used for being connected with the external side of the end part wall (91). The cavity is internally provided with a guiding sleeve (7) which is fixedly connected with the internal side of the end part wall (91) and the base body (98). The guiding sleeve (7) is provided with two opposite guiding slots which transversely extend in a diameter direction.

A PTO apparatus for a gas turbine engine having first and second drive shafts includes a first ring gear for being coupled to the first drive shaft and a first bevel gear engaged with the first drive gear and coupled to a PTO shaft. A second ring gear is provided for being coupled to the second drive shaft. A second bevel gear is engaged with the second drive gear and coupled to the PTO shaft through a one-way clutch. A method of operating a gas turbine engine includes operatively coupling a PTO shaft to first and second drive shafts and providing a starting torque to the first and second drive shafts through the PTO shaft. After the engine is started, power is transferred from the first drive shaft to the PTO shaft; and the second shaft is decoupled from the PTO shaft.

An articulated finger unit has a two-jointed structure comprising a joint portion on a finger base side, a finger base portion, a joint portion on a fingertip side, and a fingertip portion; the joint portion on the finger base side has a drive-side bevel gear fixed to a rotational output shaft of an actuator, a driven-side bevel gear coaxially fixed to a joint portion that is perpendicular to the rotational output shaft, and a connecting member wherein an annular boss is fixed to the driven-side bevel gear and wherein a tip portion extends in a fork shape; and a cover on the finger base side is connected to the connecting member. A rotation of the rotational output shaft is converted to rotational movement of the joint shaft by way of a pair of bevel gears, and the connecting member fixed to the joint shaft turns right and left at an angle of 90° or more about the joint shaft. The finger unit suitable for use in a robot hand that moves at high speed and with precision can be realized.

The invention discloses an intelligent electronic door lock, which consists of two parts, namely an external lock and an internal lock, and is characterized in that: an electronic key / intelligent card induction zone, a light-emitting diode (LED) lamp and a key zone are sequentially arranged on the external lock from top to bottom; the electronic key / intelligent card induction zone, the LED lamp, the key zone and an emergency external power supply jack are connected with a control device of the internal lock through data lines; the internal lock comprises an internal lock shell and a transmission device, a driving device and a control system which are arranged in the internal lock shell; the transmission device comprises a sliding groove, a limiting groove, a position induction block and abolt which are integrated, and a positioning hole, a shifting rod and an umbrella-shaped tooth which are integrated; the driving device comprises a motor fixed in the internal lock shell and a bevel gear arranged on an output shaft of the motor; and the control system comprises a printed circuit board (PCB), an inductor and set keys.

The invention relates to a four-leg robot mechanism based on a bionic design. The four-leg robot mechanism consists of a body frame and four legs. The body frame consists of a front plate and a rear plate, two sides of the body frame are provided with flexible handles, and the robot mechanism is convenient to convey; each leg comprises a hip, a huckle, a knee and a crural part; the hip realizes two freedom degrees by adopting a differential bevel gear; the hip and the huckle are connected by an expansion sleeve to realize fast and convenient assembly and disassembly; the bevel gear drive motion is adopted by the knee; the crural part comprises a large cylinder, a small cylinder, a conical spring and a force sensor; and the large cylinder and the small cylinder are connected through the conical spring, so that the external impact force generated in the walking process of the robot can be buffered, the force sensor on a sole can acquire ground acting force, and the external environment can be conveniently sensed in real time and the robot can be subjected to balanced control conveniently. Through the bionic design idea, a spinal cord and a flexible foot mechanism of the robot are stimulated and designed, the flexibility of the robot movement is improved, the impact of the ground to the robot is reduced, and the robot mechanism has a compact structure and is convenient to install.

Motion-converter apparatus for converting bidirectional rotary movements to unidirectional rotary movements includes: an input shaft for inputting the bidirectional rotary movements; an output shaft for outputting the unidirectional rotary movements, the output shaft having a longitudinal axis perpendicular to the longitudinal axis of the input shaft; a drive bevel gear coaxial with, and driven bidirectionally by, the input shaft; a pair of driven bevel gears coaxial with the output shaft and meshing with the drive bevel gear on opposite sides of the axis of the drive bevel gear so as to be driven bidirectionally thereby but in opposite directions with respect to the output shaft; and a pair of one-way clutches coupling the driven bevel gears to the output shaft such that both one-way clutches are effective to drive the output shaft only in one direction. Various applications of such apparatus are also described, including wave and tide motors, wind turbines and bidirectional-movement measuring devices.

The invention belongs to the technical field of robots, and relates to a crawler-type pipeline robot with active adaptation and self-adaptation functions. A series combination mechanism, which is composed of a screw mechanism, a rocker slider mechanism and a parallelogram mechanism and driven by a stepper motor, is utilized to actively adapt to different pipeline diameters and keep a certain pressure between the crawler and pipeline inner wall. A set of butterfly springs arranged between the screw nut and slider are stressed to generate deformation to automatically adapt to the working conditions of pipeline joints, uneven-surface partial obstacles and the like in the pipeline. Three servomotors drive three sets of synchronous belt wheels to rotate through the transmission of a bevel gear and a cylindrical gear, thereby driving the three bifacial synchronous notched belts used as pipeline robot crawlers to move, and implementing the running function of the pipeline robot. The crawler-type pipeline robot has the simple structure, high operation and running safety, high environmental adaptability and wide application range, is convenient to use, and can work in pipelines with different diameters.

The invention relates to an engineering oil pipe paint spraying device, in particular to an engineering oil pipe surface paint spraying device. According to the technical problem to be solved, the engineering oil pipe surface paint spraying device does not need assistance of manual labor, and is good in automatic performance, high in maneuverability, high in working efficiency, convenient to operate and capable of uniformly spraying paint to the surface of an engineering oil pipe. To solve the technical problem, the engineering oil pipe surface paint spraying device comprises a left support, a right support, a material collecting frame, a top plate, a sliding block, a sliding rail, a hollow pipe, a spraying head, an air cylinder, a hairbrush, a first motor, a first rotating shaft, a first bevel gear and the like. The left support and the right support are vertically arranged in a bilateral symmetry manner. The material collecting frame is arranged below the position between the left support and the right support. According to the engineering oil pipe surface paint spraying device, in the process of spraying the paint to the surface of the engineering oil pipe, while the engineering oil pipe rotates, the spraying head sprays the paint.

The invention discloses a square tube multiple face synchronous derusting machine. The derusting machine comprises an inverted-U-shaped rack and is characterized in that an upper motor is fixed to the middle of the upper wall of the inverted-U-shaped rack, and an upper horizontal rotating wire brush is fixed to the lower end of a shaft sleeve of a motor spindle, a fixed belt wheel at the upper end of the spindle is connected with driven shafts outside the left wall and the right wall of the inverted-U-shaped rack for transmission, and the middle of the driven shaft on the left and the middle of the driven shaft on the right are respectively meshed with a shaft end bevel gear of a transverse rotating shaft for transmission through a bevel gear; each transverse rotating shaft is provided with a transverse shaft sleeve connected with the transverse rotating shaft in a matched mode through a spline, and an upper perpendicular face rotating wire brush is fixed to the inner end of each transverse shaft sleeve; idler wheels are arranged at the bottom end of the inverted-U-shaped rack; synchronous rotation of the horizontal rotating wire brush and the perpendicular face rotating wire brushes is achieved through one motor, and thus the upper surface and the two side faces of a square tube can be polished and derusted synchronously. Thus, dust on the surface of the square tube can be cleared away fast with the derusting machine, energy is saved, labor efficiency can be improved, and the using effect of the square tube is improved.

The invention discloses an efficient agricultural fertilizer stirring and crushing device. A feeding inlet is fixedly connected to the upper end of a device body, movable partition plates are arranged at the lower end of the feeding inlet and hinged to the device body, the middle of the lower portion of each movable partition plate is hinged to the upper end of a supporting rod, the lower end of each supporting rod is hinged to a threaded sliding block, a two-way threaded rod is connected to the threaded sliding blocks in a threaded and sleeved manner, and the left end of the threaded sliding block is fixedly connected with a semicircular gear; and the upper end and the lower end of each semicircular gear are each intermittently meshed with a pinion, the pinions at the upper ends are rotationally connected with the device body, the pinions at the lower ends are fixedly connected with a driven shaft, the left end of each pinion is fixedly connected with a big gear wheel, and the left end of the driven shaft is fixedly connected with a second bevel gear. According to the efficient agricultural fertilizer stirring and crushing device, a bevel gear set is used for driving the semicircular gears to rotate positively or negatively, and then the two-way threaded rod is driven to rotate positively or negatively along with the semicircular gears; and the two-way threaded rod drives the threaded sliding blocks to move left and right to control intermittent feeding of the movable partition plates at the same time of driving a stirring roller to achieve stirring crushing. The device is simple and practical in structure, and the crushing and stirring efficiency of fertilizers are greatly improved.

A Pelton type turbine is mounted in a riser of a pop-up sprinkler for rotation about a horizontal axis and drives a central bevel pinion gear through a gear train reduction. Upper and lower bevel gears supported on a vertical drive shaft are simultaneously driven in opposite directions by the central bevel pinion gear. A clutch slides up and down along the drive shaft to engage radially extending teeth formed on its upper and lower sides with complementary teeth formed on the upper and lower bevel gears. One end of a yoke is coupled to the clutch and the other end is moved vertically by an over-center mechanism to shift the direction of rotation of a nozzle turret connected to the upper end of the drive shaft. The over-center mechanism is tripped back and forth by a shift disc engaged by a pair of tabs of a turret coupling assembly.

The invention discloses a lifting spraying agricultural irrigator which comprises a base, a water tank, a water spraying tank, a motor and a pump, wherein the left side of the base is fixedly connected with a push handle; through slots which are downwards opened are symmetrically arranged on two sides of the bottom of the base; lifting devices are fixed at the middle positions at the tops of the through slots; the output ends of the lifting devices are fixedly connected with connection plates; two sides of each connection plate are connected with wheels in a rotatable manner; the motor is arranged in the base; the output end of the motor is connected with a rotating shaft; the rotating shaft extends into the water tank, and stirring blades are arranged on a shaft body extending into the water tank; the water spraying tank is located on the right side of the water tank; the water spraying tank is fixedly connected with the base; a second belt wheel, a first bevel gear, a second bevel gear, a cam and a movable block are arranged in the water spraying tank; the movable block is communicated with a spraying nozzle. By the design of the lifting wheels, the whole device is convenient to move, and the service lives of the wheels are prolonged; meanwhile, the spraying nozzle can move up and down in a reciprocating manner, so that the spraying range is enlarged.

The invention discloses a five-degree-of-freedom electric manipulator, which consists of a lower base plate, a base upright post, an upper base plate, a friction wheel motor, a friction wheel motor bracket, a friction wheel, a friction disc, a coder, a coder bracket, a rotary base, a belt pulley motor, a mechanical big arm, a counterweight disc, a big arm keel, a big arm belt pulley, a small arm belt pulley, a belt, a big arm rotating motor, a mechanical small arm, a small arm keel, a paw swinging motor, a paw swinging motor bracket, a big bevel gear, a small bevel gear, a paw rotating motor bracket, a paw rotating motor, a paw opening and closing motor, a paw opening and closing motor bracket, a paw, a paw opening and closing nut, a screw, a left rotary base guard plate and a right rotary base guard plate. The electric manipulator has simple structure, is convenient to operate, and can realize multiple motion forms.

The invention discloses an all-round automatic transport vehicle that can realize the automated process of picking up goods and loading goods in a narrow space. The omnidirectional automatic transport vehicle includes an omnidirectional motion mechanism, a lifting mechanism, a telescopic mechanism and a control system; the omnidirectional motion mechanism is composed of four omnidirectional Mecanum wheels; the lifting mechanism is composed of a bevel gear mechanism, a ball screw pair and a scissor mechanism Composition; the telescopic mechanism consists of electric push rods, roller slides and connecting rod support structures. The control system drives the mecanum wheel to realize the forward and backward movement, left and right movement, diagonal movement and zero-radius turning of the transport vehicle; the movement of the bevel gear transmission mechanism makes the scissors move to realize the lifting and lowering of the platform; the electric push rod moves to make the platform extend and retract.

The invention relates to an aileron rotary folding and unfolding type flapping wing device, which includes aileron rotary folding and unfolding type flapping wings and a related drive device, wherein the wings are divided into main wings and ailerons along the wingspan direction, exterior edges of the main wings and exterior edges of the ailerons which are connected via butt hinge can relatively rotate on the wings plane with the butt hinge as an axis, and the aileron plane can be folded under the main wings plane, the drive device comprises a main wings drive device and an aileron drive device which are driven to be connected via a main drive shaft, the main wings drive device is positioned in the head section, and composed of two symmetrical crank rocker mechanisms which respectively drive the left wing and the right wing, and the aileron drive device is positioned in the middle-rear portion of the wings chordwise direction. The aileron rotary folding and unfolding type flapping wing device employs a bevel gear pair to realize rotation shaft changes, thereby multi-degree-of-freedom motion can be driven by single power, approximately saving one main drive shaft and related motors, and greatly reducing weight.

The invention discloses an efficient damping device for mechanical equipment. The efficient damping device comprises a base, a mounting seat for mounting the mechanical equipment and a damping mechanism, wherein the mounting seat is arranged above the base; the damping mechanism is connected between the mounting seat and the base and comprises a telescopic rod, a first spring, a worm, a worm wheelring, a first connecting rod, an adjusting rod, a plurality of cylinder blocks, an adjusting plate, a second spring, a piston, a piston rod, a movable block and a second connecting rod; air sacs aremounted on the upper surface, on one side of each of the cylinder blocks, of the base; and a mounting mechanism is arranged on the mounting seat and comprises a first stepping motor, a first bevel gear, a second bevel gear and a clamping positioning block. The efficient damping device is provided with the damping mechanism to realize efficient damping and adjust the initial compression amount andthe buffering strength of the second spring so as to be adapted to different buffering demands of mechanical equipment with different weight; the air sacs are arranged to improve the buffering effect;and the mounting mechanism is arranged to quickly clamp and position the mechanical equipment.

The invention provides an underactuated lower limb assistance exoskeleton robot based on a rope-pulley mechanism, and relates to an underactuated lower limb assistance exoskeleton robot. The robot aims to solve the problems that a prior active joint-driving exoskeleton has large self-mass, large drive energy consumption, and a passive joint exoskeleton cannot provide effective assistance. The robot comprises a harness device, a drive control power system, two thigh bar devices, two leg bar devices, two ankle devices, two drive devices and two strings; wherein each drive device includes a motor shell bracket, a first motor shell, a waist frame, a planetary reducer, a second motor shell, a servo motor, a third motor shell, a hip joint spline shaft, a drive pulley, an elastic actuator, a first shaft sleeve, a small bevel gear, a large bevel gear, a second shaft sleeve, a fourth motor shell, a fifth motor shell, a sixth motor shell, a fixing plate and two first bearing end covers with bearings. The underactuated lower limb assistance exoskeleton robot based on the rope-pulley mechanism is used for the field of assistance exoskeleton robots.

The invention provides a water plant reaping and harvesting ship which comprises a hull, a water plant cutting device, a water plant conveying device, a water plant collecting device, auxiliary collecting devices and a power device. The water plant conveying device is arranged on an installing frame of the bow in an inclined mode, the lowest end of the water plant conveying device is connected with the water plant cutting device, and the water plant collecting device is arranged at one side of the highest end. The water plant cutting device comprises a bevel gear drive mechanism, a slider-crank mechanism and a cutter reciprocating mechanism. The water plant conveying device comprises a chain plate, a chain wheel, a chain, and a water plant leakage preventing mechanism arranged on the chain plate. The water plant collecting device comprises a collecting hopper, a collecting box, a guide rail, and a collecting platform arranged on the stern. The auxiliary collecting devices are profiling variable wing eccentric collecting wheels or collecting plates arranged on the bow. The water plant reaping and harvesting ship integrates water plant cutting, conveying and collecting, all the devices are convenient to combine, and easy to disassemble, replace and maintain, connection in the whole harvesting process is close, the mechanical degree is high, and the reaping efficiency is far higher than that of manual salvage.

The invention relates to an intelligent mechanical arm of a punch press. In the invention, a horizontal movement mechanism of the mechanical arm is transmitted by adopting a stepper motor and a linear ball screw; a mechanical arm rolling-over mechanism is transmitted by adopting a stepper motor and a gear, connected by a rolling-over spindle and rolled over by a driving arm, and the driving arm is provided with the mechanical horizontal movement mechanism which rolls over together; the mechanical horizontal movement mechanism is transmitted by adopting a servo motor and a planetary reducer; an executing end rotating movement mechanism is transmitted by a stepper motor and a synchronizing wheel, an executing part is a vacuum sucking disc, and the executing end rotating movement mechanism is arranged on the arm of the horizontal movement mechanism; a vertical movement mechanism is transmitted by adopting a stepper motor, a pair of bevel gears, a ball screw and a screw nut sleeve; and the horizontal movement mechanism, the rolling movement mechanism and the executing end rotating movement mechanism are all arranged on the screw nut sleeve of the vertical movement mechanism. The invention adopts a servo system in the aspect of electrical control to ensure that the running speed of the machine is improved, electricity is saved, and the effects of energy saving and environmental protection are achieved.

The invention discloses a heat dissipation and drying electric cabinet which is convenient for movement and positioning, which comprises a cabinet body, a chute, a support plate, a far-infrared heating plate, and a semiconductor refrigeration sheet; A lifting mechanism fixed on the bottom of the cabinet is installed in the space of the cabinet. The lifting mechanism includes a worm wheel, a worm, a rotating shaft, a fixed rod, a driving bevel gear, a driven bevel gear, a screw, and a screw sleeve. Rollers are installed at the lower end of the screw sleeve. A connecting rod is installed between the sleeves. The invention is simple in structure, easy to use, strong in practicability, safe and reliable, reduces the influence of humidity on the high-voltage switch cabinet, and can effectively reduce the temperature inside the cabinet; by rotating the worm wheel, the contact between the roller and the bottom surface can be indirectly adjusted, so that the cabinet can be conveniently The body is moved and positioned, and the operation is fast and flexible.

Disclosed is a suspending tapered bucket type semisolid metal slurry preparation and conveying apparatus, which belongs to the technique field semisolid metal machining. The apparatus comprises an adjustable speed motor 1, an elevating mechanism 2, an air pipe 3, a connecting device 4, a press-casting machine injection chamber 5, an air port 6, a transmission bevel gear 7, a mandrel 8, a coupling 9, an air pipe 10, a pony ladle 11, an inner tapered bucket 12, an outer tapered bucket 13, a heating and cooling element 14, a flanged disc 15 and the like. When in semisolid metal slurry preparation, according to the shearing deformation principle, the purpose of forming fine and even semisolid metal slurry can be achieved through the intense shearing function when the liquid state metal passes through gaps between the rotating inner tapered bucket and the outer tapered bucket which are inscribed with specific grooves, and the prepared semisolid metal slurry is conveyed to the press-casting machine injection chamber through the connecting device to realize the rheological die-casting molding. The invention has the advantages of: simple and compact equipment structure and light weight; high temperature control precision; convenient and reliable operation, and easy realization from semisolid metal slurry preparation, conveying to die-casting molding; and convenient maintenance and repair and industrialized continuous production.

The present invention discloses a double-output shaft active passive upper and lower limbs rehabilitation training mechanism, including a DC machine and a rack, and the DC machine is disposed on the rack, output shaft of the DC machine is provided with a force sensor with one terminal connecting with output shaft of the DC machine, another terminal of the force sensor is connected with a second shaft, the second shaft is disposed with a upper limbs rehabilitation training mechanism and a first bevel gear that meshing with a second bevel gear, a second straight gear meshing with a first straight gear is disposed on a first shaft connected with the second bevel gear, a lower limbs rehabilitation training mechanical arm is disposed on a third shaft connected with the first straight gear, output shaft of the DC machine is provided with a third straight gear meshing with a fourth straight gear, the fourth straight gear is provided with magneto-rheological damper.

A differential mechanism includes a housing portion having a generally annular wall with a generally annular inner surface. The annular wall defines an open end of the housing portion. The lid is affixed to the open end forming an enclosure with the housing portion. The opposing side bevel gears are in driving engagement with at least one bevel pinion assembly. The bevel pinion assembly includes at least one bevel pinion shaft with opposing axial ends, each supporting a side bevel gear. The bevel pinion assembly and the side bevel gears are disposed within said enclosure. The annular inner surface defines at least two receptors having ingress's, each receptorengaging one axial end of the pinion shaft independently of the lid.

The invention discloses a two-degree-of-freedom robot wrist, which relates to a robot wrist and aims to solve the problems of complex structure, heavy weight, high control difficulty and low integration level existing in the conventional robot wrist. One of two input bases of a torque sensor is connected with a first driven bevel gear of a differential mechanism while the other is sleeved on a driven shaft of the differential mechanism; a support block is arranged on a bracket bottom plate of a support bracket; the differential mechanism is supported by the support block and two support arms of the support bracket; a driving frame is connected with the support bracket through a pre-tightening mechanism; first and second drivers are fixed on the driving frame and have opposite transmission directions; the first and second drivers are in transmission connection with first and second driving half shafts of the differential mechanism through first and second toothed belt transmission mechanisms; first and second position sensors are arranged on the first driving half shaft of the differential mechanism; and a tail end circuit board is fixedly arranged on an output base of the torque sensor. The robot wrist has the advantages of simple structure, light overall weight, easy control, high integration level and wrist pitching and deflection degrees of freedom.