CN115284326A

CN115284326A - Multi-degree-of-freedom wrist joint, manipulator and robot

Info

Publication number: CN115284326A
Application number: CN202211024595.5A
Authority: CN
Inventors: 姜峣; 丹尼; 田向宇; 李铁民
Original assignee: Tsinghua University
Current assignee: Tsinghua University
Priority date: 2022-08-25
Filing date: 2022-08-25
Publication date: 2022-11-04

Abstract

A multi-degree-of-freedom wrist joint, a manipulator, and a robot are provided. The multi-degree-of-freedom wrist joint comprises: the mounting seat is provided with a mounting area; the base body is provided with two groups of first winding grooves, the base body is positioned in the mounting area and can be rotatably arranged on the mounting seat, each group of first winding grooves is arranged along the rotating direction of the base body, and the two groups of first winding grooves are sequentially arranged in the direction of the rotating axis of the base body; the mounting piece is provided with two groups of second winding grooves and can be rotatably arranged on the base body, each group of second winding grooves are arranged along the rotating direction of the mounting piece, and the two groups of second winding grooves are sequentially arranged in the direction of the rotating axis of the mounting piece; wherein the axis of rotation of the mount intersects the axis of rotation of the base. The multi-degree-of-freedom wrist joint has the advantages of simple structure, low terminal inertia and high flexibility.

Description

Multi-degree-of-freedom wrist joint, manipulator and robot

Technical Field

The present invention relates to artificial intelligence technology, and is especially one kind of multi-freedom wrist joint, manipulator and robot.

Background

In order to perform various complex tasks, the artificial limb or the bionic mechanical arm needs to be provided with a multi-degree-of-freedom wrist joint. When the object is grabbed, the wrist joint can flexibly adjust the posture angle of the wrist joint according to actual requirements.

The wrist joint needs to move in three degrees of freedom to mimic the human wrist. However, adding a wrist joint with three degrees of freedom to a wrist portion of a robot arm often causes great difficulty in design, and has the problems of limited movement range of the wrist joint, very large volume and the like, and usually, the positions of joint axes with respective degrees of freedom need to be compromised, which also causes that most wrist joints can only realize two-degree-of-freedom motion in a very limited range, and the two-degree-of-freedom wrist joint has the problems of complex structure and incapability of better completing tasks required to be executed by the wrist joint.

In addition, the wrist joint needs to be provided with a driving element on each joint shaft, so that the weight of the wrist joint and the complexity of a transmission structure are increased rapidly, and even if the wrist joint moves under a small load, the wrist joint needs large driving capability due to large weight, so that high torque load and high movement speed are realized, and small volume, weight and inertia are kept.

Disclosure of Invention

In order to solve at least one of the above technical problems, the present application provides a multi-degree-of-freedom wrist joint having a simpler structure.

The application also provides a manipulator and a robot.

The multi-degree-of-freedom wrist joint provided by the embodiment of the invention comprises: the mounting seat is provided with a mounting area; the base body is provided with two groups of first winding grooves, is positioned in the mounting area and is rotatably arranged on the mounting seat, each group of first winding grooves is arranged along the rotation direction of the base body, and the two groups of first winding grooves are sequentially arranged in the direction of the rotation axis of the base body; the mounting piece is provided with two groups of second winding grooves and can be rotatably arranged on the base body, each group of second winding grooves are arranged along the rotating direction of the mounting piece, and the two groups of second winding grooves are sequentially arranged in the direction of the rotating axis of the mounting piece; wherein the axis of rotation of the mount intersects the axis of rotation of the base.

In an exemplary embodiment, in the direction of the axis of rotation of the base: the two groups of second winding grooves are positioned between the two groups of first winding grooves.

In an exemplary embodiment, the base body is further provided with two sets of third winding grooves, and the two sets of third winding grooves correspond to the two sets of first winding grooves in a one-to-one manner.

In an exemplary embodiment, in the direction in which the axis of rotation of the base lies: the two groups of second winding grooves are located between the two groups of first winding grooves, and the two groups of second winding grooves are also located between the two groups of third winding grooves.

In an exemplary embodiment, the multi-degree of freedom wrist joint further comprises: a first rope driving mechanism, wherein a first rope is wound on one of the two groups of first winding grooves and one of the two groups of second winding grooves; and a second rope driving mechanism, wherein a second rope is wound on the other of the two groups of first winding grooves and the other of the two groups of second winding grooves; wherein the first and second rope drive mechanisms are arranged to drive the base and the mounting member together to rotate about the axis of rotation of the base and to hold the mounting member stationary relative to the base, and the first and second rope drive mechanisms are further arranged to drive the mounting member to rotate about its axis of rotation and to hold the base stationary relative to the mount.

In an exemplary embodiment, the first end of the first cord and the first end of the second cord are located on one side of the base, and the second end of the first cord and the second end of the second cord are located on the other side of the base; the first cord is oriented from its first end to its second end, the second cord is oriented from its first end to its second end: the winding direction of the first rope in one of the two groups of first winding grooves is the same as the winding direction of the second rope in the other of the two groups of first winding grooves; the winding direction of the first rope in one of the two groups of second winding grooves is opposite to the winding direction of the second rope in the other of the two groups of second winding grooves.

In an exemplary embodiment, the multi-degree of freedom wrist joint further comprises: a first rope driving mechanism, wherein a first rope is sequentially wound on one of the two groups of first winding grooves, one of the two groups of second winding grooves and one of the two groups of third winding grooves; the second rope is sequentially wound on the other of the two groups of first winding grooves, the other of the two groups of second winding grooves and the other of the two groups of third winding grooves; wherein the first and second rope drive mechanisms are arranged to drive the base and the mounting member together to rotate about the axis of rotation of the base and to hold the mounting member stationary relative to the base, and the first and second rope drive mechanisms are further arranged to drive the mounting member to rotate about its axis of rotation and to hold the base stationary relative to the mount.

In an exemplary embodiment, the first end of the first cord and the first end of the second cord are located on one side of the base, and the second end of the first cord and the second end of the second cord are located on the other side of the base; the first cord is oriented from its first end to its second end, the second cord is oriented from its first end to its second end: the winding direction of the first rope in one of the two groups of first winding grooves is the same as the winding direction of the second rope in the other of the two groups of first winding grooves, the winding direction of the first rope in one of the two groups of first winding grooves is the same as the winding direction of the first rope in one of the two groups of third winding grooves, and the winding direction of the second rope in the other of the two groups of first winding grooves is the same as the winding direction of the second rope in the other of the two groups of third winding grooves; the winding direction of the first rope in one of the two groups of second winding grooves is opposite to the winding direction of the second rope in the other of the two groups of second winding grooves.

In an exemplary embodiment, the mount includes: the base is provided with an arc-shaped track, is positioned on one side of the base body, which is back to the mounting piece, and is spaced from the base body; the arc-shaped guide rail is movably arranged on the arc-shaped track, the mounting area is formed between two end parts of the arc-shaped guide rail, and the base body is rotatably arranged on the end part of the arc-shaped track; wherein the rotation axis of the arc-shaped guide rail and the rotation axis of the mounting part are perpendicularly intersected with the rotation axis of the base body at a point.

In an exemplary embodiment, the multi-degree of freedom wrist joint further comprises: the base is provided with two groups of second pulleys, a third rope of the third rope driving mechanism is wound on one of the two groups of first pulleys and one of the two groups of second pulleys, and a fourth rope of the fourth rope driving mechanism is wound on the other of the two groups of first pulleys and the other of the two groups of second pulleys.

The manipulator provided by the embodiment of the invention comprises the multi-degree-of-freedom wrist joint in any one of the embodiments.

The robot provided by the embodiment of the invention comprises the manipulator in any embodiment.

According to the multi-degree-of-freedom wrist joint provided by the embodiment of the invention, the first rope is wound on one of the two groups of first winding grooves and one of the two groups of second winding grooves, the second rope is wound on the other of the two groups of first winding grooves and the other of the two groups of second winding grooves, the base body and the mounting piece rotate together around the rotation axis of the base body and keep the mounting piece static relative to the base body by controlling the first rope and the second rope, so that one degree of freedom of the multi-degree-of-freedom wrist joint is realized, the mounting piece rotates around the rotation axis of the mounting piece by controlling the first rope and the second rope and keeps the base body static relative to the mounting base, and the other degree of freedom of the multi-degree-of freedom wrist joint is realized; the multi-degree-of-freedom wrist joint has the advantages of simple structure, low terminal inertia and high flexibility.

Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the application. Other advantages of the present application may be realized and attained by the instrumentalities and combinations particularly pointed out in the specification and the drawings.

Drawings

The drawings are intended to provide an understanding of the present disclosure, and are to be considered as forming a part of the specification, and are to be used together with the embodiments of the present disclosure to explain the present disclosure without limiting the present disclosure.

Fig. 1 is a schematic perspective view illustrating an example of a multi-degree-of-freedom wrist joint according to a first embodiment of the present invention;

FIG. 2 is an exploded view of the multiple degree of freedom wrist joint shown in FIG. 1;

FIG. 3 is a schematic perspective view of another example of a multi-degree-of-freedom wrist joint according to one embodiment of the present invention;

FIG. 4 is an exploded view of the mounting block of FIG. 1, with the second pulley not shown;

FIG. 5 is a schematic perspective view of an exemplary multi-degree-of-freedom wrist joint according to a second embodiment of the present invention;

fig. 6 is a schematic perspective view illustrating another example of a multi-degree-of-freedom wrist joint according to a second embodiment of the present invention.

Wherein, the correspondence between the reference numbers and the part names in fig. 1 to 6 is:

100 mount, 110 mount, 120 base, 130 arc guide, 131 first pulley, 140 positioning bearing, 150 mounting bearing, 160 pulley mount, 200 base, 210 first winding slot, 220 third winding slot, 300 mount, 310 second winding slot, 410 first cord, 420 second cord, 430 third cord, 440 fourth cord.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.

It should be noted that all the directional indicators (such as upper, lower, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the motion situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, descriptions such as "first", "second", etc. in the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise explicitly stated or limited, the terms "connected", "fixed", and the like are to be understood broadly, for example, "fixed" may be fixedly connected, may be detachably connected, or may be integrated; can be mechanically or electrically connected; "coupled" may be direct or indirect through an intermediary, and may be internal to two elements or an interaction of two elements unless otherwise specifically limited. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

Example one

As shown in fig. 1 to 4, a multi-degree-of-freedom wrist joint provided in an embodiment of the present invention includes: the mounting structure comprises a mounting seat 100, wherein a mounting area 110 is arranged on the mounting seat 100; the base body 200 is provided with two groups of first winding grooves 210, the base body 200 is positioned in the mounting area 110 and can be rotatably arranged on the mounting seat 100, each group of first winding grooves 210 are arranged along the rotating direction of the base body 200, and the two groups of first winding grooves 210 are sequentially arranged in the direction of the rotating axis of the base body 200; and a mounting member 300 provided with two sets of second winding grooves 310, rotatably provided on the base 200, each set of second winding grooves 310 being arranged along a rotation direction of the mounting member 300, the two sets of second winding grooves 310 being sequentially provided in a direction in which a rotation axis of the mounting member 300 is located; wherein the axis of rotation y of the mount 300 intersects the axis of rotation x of the base 200.

A first rope 410 wound around one of the two first winding grooves 210 and one of the two second winding grooves 310, a second rope 420 wound around the other of the two first winding grooves 210 and the other of the two second winding grooves 310, one degree of freedom of the multi-degree-of-freedom wrist joint being realized by controlling the first rope 410 and the second rope 420 such that the base 200 and the mounting member 300 rotate together about the rotational axis of the base 200 and the mounting member 300 is held stationary with respect to the base 200, and the other degree of freedom of the multi-degree-of-freedom wrist joint being realized by controlling the first rope 410 and the second rope 420 such that the mounting member 300 rotates about the rotational axis thereof and the base 200 is held stationary with respect to the mounting base 100; the multi-degree-of-freedom wrist joint has the advantages of simple structure, low terminal inertia and high flexibility.

It is possible that the rotational axis y of the mount 300 is arranged to perpendicularly intersect the rotational axis x of the base 200.

In an exemplary embodiment, as shown in FIG. 1, in the direction of the axis of rotation of the substrate 200: the two sets of second winding slots 310 are disposed between the two sets of first winding slots 210, the first rope 410 is wound around one of the two sets of first winding slots 210 and one of the two sets of second winding slots 310, and the second rope 420 is wound around the other of the two sets of first winding slots 210 and the other of the two sets of second winding slots 310, so that the first rope 410 and the second rope 420 are prevented from being wound around each other during driving.

In one example, as shown in fig. 3, the multi-degree-of-freedom wrist joint further includes: a first rope driving mechanism, wherein a first rope 410 of the first rope driving mechanism is wound on one of the two groups of first winding grooves 210 and one of the two groups of second winding grooves 310; and a second rope driving mechanism having a second rope 420 wound around the other of the two sets of first winding grooves 210 and the other of the two sets of second winding grooves 310.

The first rope driving mechanism and the second rope driving mechanism are arranged to drive the base 200 and the mounting member 300 to rotate together around the rotation axis of the base 200 and keep the mounting member 300 static relative to the base 200 by driving the first rope 410 and the second rope 420, so that one degree of freedom of the multi-degree-of-freedom wrist joint is realized; the first and second cable drive mechanisms are further configured to effect rotation of the drive mount 300 about its axis of rotation and to maintain the base 200 stationary relative to the mount 100 by driving the first and

second cables

410, 420 to effect another degree of freedom of the multi-degree of freedom wrist joint.

In one embodiment, as shown in fig. 3, the first end a of the first cord 410 and the first end c of the second cord 420 both exit from one side of the base 200 and are perpendicular to one side of the base 200. The second end b of the first rope 410 is led out from the other side of the base 200 and is perpendicular to the other side of the base 200 after sequentially passing around one of the two first winding grooves 210 and one of the two second winding grooves 310 from one side of the base 200; the second end d of the second rope 420 is sequentially passed around the other of the two first winding grooves 210 and the other of the two second winding grooves 310 from one side of the base 200, and then is drawn out from the other side of the base 200 to be perpendicular to the other side of the base 200. Wherein, the first rope 410 is wound in the same direction from the first end to the second end thereof, the second rope 420 is wound in the same direction from the first end to the second end thereof, and the winding direction of the first rope 410 in one of the two groups of first winding slots 210 is the same as the winding direction of the second rope 420 in the other of the two groups of first winding slots 210; the direction of winding of the first cord 410 in one of the two sets of second winding slots 310 is opposite to the direction of winding of the second cord 420 in the other of the two sets of second winding slots 310. From the first end a of the first rope 410 to the second end b of the first rope 410, the first winding groove 210 corresponding to the first rope 410 is reversely wound, and the second winding groove 310 corresponding to the first rope 410 is reversely wound; from the first end c of the second cord 420 to the second end d of the second cord 420, the first winding slot 210 corresponding to the second cord 420 is reverse wound and the second winding slot 310 corresponding to the second cord 420 is forward wound.

Pulling the first end a of the first rope 410 and the first end c of the second rope 420, the first rope 410 and the second rope 420 driving the base 200 and the mounting member 300 to rotate together in the forward direction around the rotation axis of the base 200, the mounting member 300 being stationary relative to the base 200, the mounting member 300 not rotating around its rotation axis; pulling the second end b of the first cord 410 and the second end d of the second cord 420, the first cord 410 and the second cord 420 will drive the base 200 and the mounting member 300 together to rotate in opposite directions about the rotational axis of the base 200, the mounting member 300 is stationary with respect to the base 200, and the mounting member 300 will not rotate about its rotational axis. In the theoretical state of the action process: the first rope 410 does not slide with respect to the corresponding first winding groove 210, and the second rope 420 does not slide with respect to the corresponding first winding groove 210, at this time, the forces of the first rope 410 and the second rope 420 driving the base 200 are the same, and the rotation directions of the base 200 are the same, so that the base 200 can rotate in the forward direction or in the reverse direction around the rotation axis thereof; the first cord 410 slides relative to the corresponding second winding slot 310 and the second cord 420 slides relative to the corresponding second winding slot 310, at this time, the first cord 410 and the second cord 420 drive the mounting member 300 with the same force and the opposite rotation direction of the driving mounting member 300, so that the mounting member 300 does not rotate about its rotation axis; in summary, the first cord 410 and the second cord 420 can drive the base 200 and the mount 300 together in a forward or reverse direction about the rotational axis of the base 200.

Pulling the first end a of the first rope 410 and the second end d of the second rope 420, the first rope 410 and the second rope 420 driving the mounting member 300 to rotate in the forward direction around the rotation axis, the base 200 being stationary relative to the mounting base 100, the base 200 not carrying the mounting member 300 to rotate around the rotation axis of the base 200; pulling on the second end b of the first cord 410 and the first end c of the second cord 420, the first cord 410 and the second cord 420 will drive the mounting element 300 in a reverse rotation about its axis of rotation, the base 200 is stationary relative to the mounting base 100, and the base 200 will not rotate with the mounting element 300 about the axis of rotation of the base 200. In the theoretical state of the action process: the first cord 410 slides relative to the corresponding first winding slot 210, and the second cord 420 slides relative to the corresponding first winding slot 210, and at this time, the first cord 410 and the second cord 420 have the same force for driving the base 200 and the rotation directions of the base 200 are opposite, so that the base 200 does not rotate around the rotation axis; the first cord 410 does not slide with respect to the corresponding second winding slot 310, and the second cord 420 does not slide with respect to the corresponding second winding slot 310, and at this time, the first cord 410 and the second cord 420 have the same force for driving the mounting member 300 and the same rotation direction for driving the mounting member 300, so that the mounting member 300 can rotate in the forward direction or in the reverse direction around the rotation axis thereof; in summary, the first and

second cables

410, 420 can collectively drive the mount 300 in either a forward or reverse rotation about its axis of rotation.

In an exemplary embodiment, as shown in fig. 1 to 4, the mount 100 includes: the base 120 provided with the arc-shaped track is positioned on one side of the base 200, which is back to the mounting piece 300, and is spaced from the base 200; the arc-shaped guide rail 130 is movably arranged on the arc-shaped track, two end parts of the arc-shaped guide rail 130 are positioned outside the base 120, an installation area 110 is formed between the two end parts of the arc-shaped guide rail 130, the base body 200 is rotatably arranged at the end parts of the arc-shaped track, and the arc-shaped guide rail 130 and the arc-shaped track form another degree of freedom of the multi-degree-of-freedom wrist joint; the rotation axis z of the arc-shaped guide rail 130, the rotation axis y of the mounting part 300 and the rotation axis x of the base body 200 are arranged to be vertically intersected at one point, so that the wrist joint has no singular point in a working space, the problem that the wrist joint is blocked in movement at certain angles does not exist, continuous movement of the wrist joint at any posture angle in a working range can be realized, and tasks required to be executed can be better completed.

In order to ensure the structural strength of the wrist joint, as shown in fig. 1 to 3, the arc guide 130 is a semi-circular arc guide, pulley bases 160 are disposed at two ends of the semi-circular arc guide, the pulley bases 160 are provided with first pulleys 131 and mounting bearings 150, and the base 200 is rotatably connected to the two mounting bearings 150 mounted on the two pulley bases 160.

Alternatively, as shown in fig. 3, the first pulley 131 and the second pulley are located radially inside the arc guide 130; alternatively, the first and second pulleys may be located radially outward of the arcuate guide rails (not shown in the figures); the objectives of the present application can be achieved without departing from the design concept of the present invention, and therefore, the present application shall not be repeated herein and shall fall within the protection scope of the present application.

In one embodiment, as shown in fig. 2 and 4, the base 120 is provided with a plurality of positioning bearings 140, and the plurality of positioning bearings 140 are respectively located at both sides of the arc-shaped guide rail 130 and form an arc-shaped track. The plurality of positioning bearings 140 is at least three.

In one example, as shown in fig. 3, the multi-degree-of-freedom wrist joint further includes: the two ends of the arc-shaped guide rail 130 are respectively provided with a first pulley 131, the base 120 is provided with two groups of second pulleys, a third rope 430 of the third rope driving mechanism is wound on one of the two groups of first pulleys 131 and one of the two groups of second pulleys, and a fourth rope 440 of the fourth rope driving mechanism is wound on the other one of the two groups of first pulleys 131 and the other one of the two groups of second pulleys. Third rope 430 is tightened and fourth rope 440 is released, the distance between first pulley 131 and the second pulley driven by third rope 430 decreases, the distance between first pulley 131 and the second pulley driven by fourth rope 440 increases, and arc guide 130 performs forward rotation around its rotation axis; third rope 430 is released and fourth rope 440 is tightened, the distance between first pulley 131 and the second pulley driven by third rope 430 increases and the distance between first pulley 131 and the second pulley driven by fourth rope 440 decreases, as arcuate guide 130 counter-rotates about its axis of rotation.

Example two

The difference between this embodiment and the first embodiment is that, as shown in fig. 5 and 6, the base 200 is further provided with two sets of third winding grooves 220, and the two sets of third winding grooves 220 correspond to the two sets of first winding grooves 210 one to one.

A first rope 410 is sequentially wound on one of the two groups of first winding grooves 210, one of the two groups of second winding grooves 310 and one of the two groups of third winding grooves 220, a second rope 420 is sequentially wound on the other of the two groups of first winding grooves 210, the other of the two groups of second winding grooves 310 and the other of the two groups of third winding grooves 220, the base 200 and the mounting member 300 are enabled to rotate around the rotation axis of the base 200 together and the mounting member 300 is kept static relative to the base 200 by controlling the third rope 430 and the fourth rope 440, one degree of freedom of the multi-degree-of-freedom wrist joint is realized, and the mounting member 300 is enabled to rotate around the rotation axis thereof and the base 200 is kept static relative to the mounting base 100 by controlling the third rope 430 and the fourth rope 440, and the other degree of freedom of the multi-degree-of freedom wrist joint is realized; the multi-degree-of-freedom wrist joint has the advantages of low terminal inertia and high flexibility, and the control difficulty is lower.

In an exemplary embodiment, as shown in FIG. 5, in the direction of the axis of rotation of the substrate 200: the two sets of second winding slots 310 are located between the two sets of first winding slots 210, and the two sets of second winding slots 310 are also located between the two sets of third winding slots 220. As shown in fig. 6, the first rope 410 is sequentially wound around one of the two groups of first winding slots 210, one of the two groups of second winding slots 310, and one of the two groups of third winding slots 220, one of the two groups of third winding slots 220 being adjacent to one of the two groups of first winding slots 210; the second rope 420 is wound on the other of the two groups of first winding grooves 210, the other of the two groups of second winding grooves 310 and the other of the two groups of third winding grooves 220 in turn, and the other of the two groups of third winding grooves 220 is adjacent to the other of the two groups of first winding grooves 210; this prevents the first cord 410 and the second cord 420 from being entangled with each other during driving.

In one example, as shown in fig. 6, the multi-degree-of-freedom wrist joint further includes: a first rope driving mechanism, wherein a first rope 410 is sequentially wound on one of the two groups of first winding grooves 210, one of the two groups of second winding grooves 310 and one of the two groups of third winding grooves 220; and a second rope driving mechanism, the second rope 420 of which is sequentially wound on the other of the two groups of first winding grooves 210, the other of the two groups of second winding grooves 310 and the other of the two groups of third winding grooves 220; wherein the first and second rope driving mechanisms are configured to drive the base 200 and the mounting member 300 together to rotate about the rotational axis of the base 200 and to hold the mounting member 300 stationary with respect to the base 200 by driving the first and

second ropes

410 and 420; the first and second cable drive mechanisms are further configured to drive the mount 300 to rotate about its axis of rotation and to hold the base 200 stationary relative to the mount 100 by driving the first and

second cables

410, 420.

In one embodiment, as shown in fig. 6, the first end a of the first cord 410 and the first end c of the second cord 420 are both led out from one side of the base 200 and are perpendicular to one side of the base 200. The second end b of the first rope 410 is led out from the other side of the base 200 and is perpendicular to the other side of the base 200 after sequentially passing around one of the two first winding grooves 210, one of the two second winding grooves 310 and one of the two third winding grooves 220 from one side of the base 200; the second end d of the second rope 420 is drawn out from the other side of the base 200 to be perpendicular to the other side of the base 200 after passing through the other of the two first winding grooves 210, the other of the two second winding grooves 310 and the other of the two third winding grooves 220 in sequence from one side of the base 200. Wherein the first cord 410 is oriented from its first end to its second end, and the second cord 420 is oriented from its first end to its second end: the winding direction of the first rope 410 in one of the two sets of first winding slots 210 is the same as the winding direction of the second rope 420 in the other of the two sets of first winding slots 210, the winding direction of the first rope 410 in one of the two sets of first winding slots 210 is the same as the winding direction of the first rope 410 in one of the two sets of third winding slots 220, and the winding direction of the second rope 420 in the other of the two sets of first winding slots 210 is the same as the winding direction of the second rope 420 in the other of the two sets of third winding slots 220; the direction of winding of the first cord 410 in one of the two sets of second winding slots 310 is opposite to the direction of winding of the second cord 420 in the other of the two sets of second winding slots 310. From the first end a of the first rope 410 to the second end b of the first rope 410, the first winding groove 210 corresponding to the first rope 410 is reversely wound, the second winding groove 310 corresponding to the first rope 410 is reversely wound, and the third winding groove 220 corresponding to the first rope 410 is reversely wound; from the first end c of the second cord 420 to the second end d of the second cord 420, the first winding slot 210 corresponding to the second cord 420 is reverse wound, the second winding slot 310 corresponding to the second cord 420 is forward wound, and the third winding slot 220 corresponding to the second cord 420 is reverse wound.

Pulling the first end a of the first rope 410 and the first end c of the second rope 420, the first rope 410 and the second rope 420 driving the base 200 and the mounting member 300 to rotate together in the forward direction around the rotation axis of the base 200, the mounting member 300 being stationary relative to the base 200, the mounting member 300 not rotating around its rotation axis; pulling the second end b of the first cord 410 and the second end d of the second cord 420, the first cord 410 and the second cord 420 will drive the base 200 and the mounting member 300 together to rotate in opposite directions about the rotational axis of the base 200, the mounting member 300 is stationary with respect to the base 200, and the mounting member 300 will not rotate about its rotational axis. In the theoretical state of the action process: the first rope 410 does not slide relative to the corresponding first winding groove 210, the first rope 410 does not slide relative to the corresponding third winding groove 220, the second rope 420 does not slide relative to the corresponding first winding groove 210, the second rope 420 does not slide relative to the corresponding third winding groove 220, and at the moment, the force for driving the base body 200 by the first rope 410 and the second rope 420 is the same, and the rotation direction for driving the base body 200 is the same, so that the base body 200 can rotate around the rotation axis thereof in the forward direction or in the reverse direction; the first cord 410 slides relative to the corresponding second winding slot 310 and the second cord 420 slides relative to the corresponding second winding slot 310, at this time, the first cord 410 and the second cord 420 drive the mounting member 300 with the same force and the opposite rotation direction of the driving mounting member 300, so that the mounting member 300 does not rotate about its rotation axis; in summary, the first cord 410 and the second cord 420 can drive the base 200 and the mount 300 together in either a forward or reverse direction about the rotational axis of the base 200.

Pulling the first end a of the first rope 410 and the second end d of the second rope 420, the first rope 410 and the second rope 420 driving the mounting member 300 to rotate in the forward direction around the rotation axis, the base 200 being stationary relative to the mounting base 100, the base 200 not carrying the mounting member 300 to rotate around the rotation axis of the base 200; pulling on the second end b of the first cord 410 and the first end c of the second cord 420, the first cord 410 and the second cord 420 will drive the mounting element 300 in a reverse rotation about its axis of rotation, the base 200 is stationary relative to the mounting base 100, and the base 200 will not rotate with the mounting element 300 about the axis of rotation of the base 200. In the theoretical state of the action process: the first rope 410 slides relative to the corresponding first winding groove 210, the first rope 410 slides relative to the corresponding third winding groove 220, the second rope 420 slides relative to the corresponding first winding groove 210, and the second rope 420 slides relative to the corresponding third winding groove 220, at this time, the forces of the first rope 410 and the second rope 420 driving the base 200 are the same, and the rotation directions of the driving base 200 are opposite, so that the base 200 cannot rotate around the rotation axis thereof; the first rope 410 does not slide with respect to the corresponding second winding groove 310, and the second rope 420 does not slide with respect to the corresponding second winding groove 310, at this time, the first rope 410 and the second rope 420 have the same force for driving the mounting member 300 and the same rotation direction for driving the mounting member 300, so that the mounting member 300 can rotate in the forward direction or in the reverse direction around the rotation axis thereof; in summary, the first and

second cables

EXAMPLE III

The manipulator (not shown in the figures) provided by the embodiment of the invention comprises a manipulator main body and the multi-degree-of-freedom wrist joint in the second embodiment, wherein the manipulator main body is fixed on the mounting piece.

The manipulator provided by this embodiment has all the advantages of the multi-degree-of-freedom wrist joint provided by any of the above embodiments, and details are not described herein.

Example four

The robot (not shown in the figures) provided by the embodiment of the invention comprises the manipulator described in any embodiment.

The robot provided by the embodiment has all the advantages of the multi-degree-of-freedom wrist joint provided by any one of the above embodiments, and details are not described herein.

In summary, in the multi-degree-of-freedom wrist joint provided in the embodiments of the present invention, the first rope is wound around one of the two sets of first winding grooves and one of the two sets of second winding grooves, the second rope is wound around the other of the two sets of first winding grooves and the other of the two sets of second winding grooves, the base and the mounting element are rotated together around the rotation axis of the base by controlling the first rope and the second rope, and the mounting element is kept stationary relative to the base, so as to implement one degree of freedom of the multi-degree-of-freedom wrist joint, and the mounting element is rotated around the rotation axis thereof by controlling the first rope and the second rope, and the base is kept stationary relative to the mounting base, so as to implement another degree of freedom of the multi-degree-of freedom wrist joint; the multi-degree-of-freedom wrist joint has the advantages of simple structure, low terminal inertia and high flexibility.

In the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "connected," "directly connected," "indirectly connected," "fixedly connected," "mounted," and "assembled" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; the terms "mounted," "connected," and "fixedly connected" may be directly connected or indirectly connected through intervening media, or may be connected through two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.

Although the embodiments of the present invention have been described above, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A multi-degree-of-freedom wrist joint is characterized by comprising:

the mounting seat is provided with a mounting area;

the base body is provided with two groups of first winding grooves, the base body is positioned in the mounting area and is rotatably arranged on the mounting seat, each group of first winding grooves is arranged along the rotating direction of the base body, and the two groups of first winding grooves are sequentially arranged in the direction of the rotating axis of the base body; and

the mounting piece is provided with two groups of second winding grooves and can be rotatably arranged on the base body, each group of second winding grooves are arranged along the rotating direction of the mounting piece, and the two groups of second winding grooves are sequentially arranged in the direction of the rotating axis of the mounting piece;

wherein the axis of rotation of the mount intersects the axis of rotation of the base.

2. The multiple degree of freedom wrist joint of claim 1, characterized in that in the direction of the axis of rotation of the base: the two groups of second winding grooves are positioned between the two groups of first winding grooves.

3. The multi-degree-of-freedom wrist joint according to claim 1, wherein the base is further provided with two sets of third winding grooves, and the two sets of third winding grooves correspond to the two sets of first winding grooves one to one.

4. The multiple degree of freedom wrist joint of claim 3, characterized in that in the direction of the axis of rotation of the base: the two groups of second winding grooves are positioned between the two groups of first winding grooves, and the two groups of second winding grooves are also positioned between the two groups of third winding grooves.

5. The multi-degree-of-freedom wrist joint according to claim 1 or 2, further comprising:

a first rope driving mechanism, wherein a first rope is wound on one of the two groups of first winding grooves and one of the two groups of second winding grooves; and

a second rope driving mechanism, wherein a second rope is wound on the other of the two groups of first winding grooves and the other of the two groups of second winding grooves;

wherein the first and second rope drive mechanisms are arranged to drive the base and the mounting member together to rotate about the axis of rotation of the base and to hold the mounting member stationary relative to the base, and the first and second rope drive mechanisms are further arranged to drive the mounting member to rotate about its axis of rotation and to hold the base stationary relative to the mount.

6. The multi-degree-of-freedom wrist joint according to claim 5, wherein the first end of the first cable and the first end of the second cable are located on one side of the base, and the second end of the first cable and the second end of the second cable are located on the other side of the base; the first cord from its first end to its second end, the second cord from its first end to its second end:

the winding direction of the first rope in one of the two groups of first winding grooves is the same as the winding direction of the second rope in the other of the two groups of first winding grooves;

the winding direction of the first rope in one of the two groups of second winding grooves is opposite to the winding direction of the second rope in the other of the two groups of second winding grooves.

7. The multi-degree-of-freedom wrist joint according to claim 3 or 4, further comprising:

a first rope driving mechanism, wherein a first rope is sequentially wound on one of the two groups of first winding grooves, one of the two groups of second winding grooves and one of the two groups of third winding grooves; and

a second rope driving mechanism, wherein a second rope is sequentially wound on the other of the two groups of first winding grooves, the other of the two groups of second winding grooves and the other of the two groups of third winding grooves;

8. The multiple degree of freedom wrist joint of claim 7, wherein the first end of the first cable and the first end of the second cable are located on one side of the base, and the second end of the first cable and the second end of the second cable are located on the other side of the base; the first cord is oriented from its first end to its second end, the second cord is oriented from its first end to its second end:

the winding direction of the first rope in one of the two groups of first winding grooves is the same as the winding direction of the second rope in the other of the two groups of first winding grooves, the winding direction of the first rope in one of the two groups of first winding grooves is the same as the winding direction of the first rope in one of the two groups of third winding grooves, and the winding direction of the second rope in the other of the two groups of first winding grooves is the same as the winding direction of the second rope in the other of the two groups of third winding grooves;

9. The multi-degree-of-freedom wrist joint according to any one of claims 1 to 4, wherein the mount includes:

the base is provided with an arc-shaped track, is positioned on one side of the base body, which is back to the mounting piece, and is spaced from the base body; and

the arc-shaped guide rail is movably arranged on the arc-shaped track, the mounting area is formed between two end parts of the arc-shaped guide rail, and the base body is rotatably arranged at the end part of the arc-shaped track;

wherein the rotation axis of the arc-shaped guide rail and the rotation axis of the mounting part are perpendicularly intersected with the rotation axis of the base body at a point.

10. The multiple degree of freedom wrist joint of claim 9, further comprising:

the base is provided with two groups of second pulleys, a third rope of the third rope driving mechanism is wound on one of the two groups of first pulleys and one of the two groups of second pulleys, and a fourth rope of the fourth rope driving mechanism is wound on the other of the two groups of first pulleys and the other of the two groups of second pulleys.

11. A manipulator, comprising a multiple degree of freedom wrist joint according to any one of claims 1 to 10.

12. A robot comprising the manipulator of claim 11.