CN115284327A - Multi-degree-of-freedom wrist joint, manipulator and robot - Google Patents

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

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CN115284327A
CN115284327A CN202211024623.3A CN202211024623A CN115284327A CN 115284327 A CN115284327 A CN 115284327A CN 202211024623 A CN202211024623 A CN 202211024623A CN 115284327 A CN115284327 A CN 115284327A
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arc
rope
pulley assemblies
shaped guide
guide rail
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CN115284327B (en
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姜峣
丹尼
田向宇
李铁民
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Tsinghua University
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00Joints
    • B25J17/02Wrist joints
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons

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  • Mechanical Engineering (AREA)
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Abstract

一种多自由度腕关节、机械手和机器人。多自由度腕关节包括:中心件,设有两个第一安装轴和两个第二安装轴,两个第一安装轴均设有第一滑轮组件,两个第二安装轴均设有第二滑轮组件,中心件的轴向两端均设有第三滑轮组件;两个导轨座,均设有第一弧形轨道和第二弧形轨道;两个第一弧形导轨,分别设于两个第一弧形轨道,每个第一弧形导轨的两端分别铰接于两个第一安装轴,两个第一滑轮组件分别固接于两个第一弧形导轨的端部;和两个第二弧形导轨,分别设于两个第二弧形轨道,每个第二弧形导轨的两端分别铰接于两个第二安装轴,两个第二滑轮组件分别固接于两个第二弧形导轨的端部。该腕关节采用绳索驱动,其末端惯量低、柔顺性高和响应速度块。

Figure 202211024623

A multi-DOF wrist joint, manipulator and robot. The multi-degree-of-freedom wrist joint includes: a center piece with two first installation shafts and two second installation shafts, both of the two first installation shafts are provided with a first pulley assembly, and both of the two second installation shafts are provided with a first pulley assembly. Two pulley assemblies, both axial ends of the central piece are provided with a third pulley assembly; two guide rail seats are provided with a first arc track and a second arc track; the two first arc guide rails are respectively arranged in two first arc-shaped rails, the two ends of each first arc-shaped guide rail are respectively hinged to the two first installation shafts, and the two first pulley assemblies are respectively fixed to the ends of the two first arc-shaped guide rails; and The two second arc-shaped guide rails are respectively arranged on the two second arc-shaped rails, the two ends of each second arc-shaped guide rail are respectively hinged to the two second installation shafts, and the two second pulley assemblies are respectively fixed to the two second arc-shaped guide rails. end of a second arc-shaped guide rail. The wrist joint is driven by a rope with low end inertia, high compliance and responsive speed mass.

Figure 202211024623

Description

一种多自由度腕关节、机械手和机器人A multi-degree-of-freedom wrist joint, manipulator and robot

技术领域technical field

本文涉及人工智能技术领域,尤指一种多自由度腕关节、机械手和机器人。This paper relates to the field of artificial intelligence technology, especially a multi-degree-of-freedom wrist joint, manipulator and robot.

背景技术Background technique

假肢或仿生机械手臂为了执行各种复杂任务,需要配备一个多自由度的腕关节。在抓取物体时,腕关节能够根据实际需求灵活调整自身的姿态角度。In order to perform various complex tasks, prosthetic or bionic robotic arms need to be equipped with a multi-degree-of-freedom wrist joint. When grasping an object, the wrist joint can flexibly adjust its posture angle according to actual needs.

腕关节需要在三自由度空间中运动以模仿人类的腕部。然而,在机械臂的腕部加入三个自由度的腕关节往往会在设计上带来较大的困难,存在腕关节活动范围受限,体积非常臃肿等的问题,通常需要在各自由度的关节轴位置做出妥协,这也导致大多数腕关节仅能在十分有限的范围内实现两自由度运动,这种两自由度的腕关节存在结构复杂,无法更好地完成其所需执行的任务的问题。The wrist joint needs to move in a three-degree-of-freedom space to mimic the human wrist. However, adding a three-degree-of-freedom wrist joint to the wrist of the robotic arm often brings great difficulties in design. There are problems such as limited range of motion of the wrist joint and very bulky volume. The position of the joint axis is compromised, which also leads to the fact that most wrist joints can only realize two-degree-of-freedom movements within a very limited range. This two-degree-of-freedom wrist joint has a complex structure and cannot better perform what it needs to perform. task problem.

另外,腕关节需要在每个关节轴上安装驱动元件,造成腕关节的重量以及传动结构复杂程度激增,导致腕关节即使在很小的负载下运动,也会因为自身较大的重量而需要较大的驱动能力,实现高扭矩负载、高运动速度,保持较小的体积、重量和惯量无法同时满足。In addition, the wrist joint needs to install a driving element on each joint axis, resulting in a sharp increase in the weight of the wrist joint and the complexity of the transmission structure. Even if the wrist joint moves under a small load, it needs to be relatively heavy due to its own large weight. Large driving capacity, high torque load, high motion speed, keeping small size, weight and inertia cannot be satisfied at the same time.

发明内容Contents of the invention

为解决上述技术问题中的至少之一,本申请提供了一种多自由度腕关节,其结构更简单。In order to solve at least one of the above technical problems, the present application provides a multi-degree-of-freedom wrist joint with a simpler structure.

本申请还提供了一种机械手和机器人。The present application also provides a manipulator and a robot.

本发明实施例提供的多自由度腕关节,包括:中心件,沿周向间隔交替设有两个第一安装轴和两个第二安装轴,两个所述第一安装轴均可转动地套设有第一滑轮组件,两个所述第二安装轴均可转动地套设有第二滑轮组件,所述中心件的轴向两端均可转动地设有第三滑轮组件;两个导轨座,所述中心件位于两个所述导轨座之间,每个所述导轨座上均设有相交的第一弧形轨道和第二弧形轨道;两个第一弧形导轨,分别可移动地设于两个所述第一弧形轨道上,每个所述第一弧形导轨的两端分别铰接在两个所述第一安装轴上,两个所述第一滑轮组件分别固定连接于两个所述第一弧形导轨的端部;和两个第二弧形导轨,分别可移动地设于两个所述第二弧形轨道上,每个所述第二弧形导轨的两端分别铰接在两个所述第二安装轴上,两个所述第二滑轮组件分别固定连接于两个所述第二弧形导轨的端部。The multi-degree-of-freedom wrist joint provided by the embodiment of the present invention includes: a central part, two first installation shafts and two second installation shafts are arranged alternately along the circumferential interval, and the two first installation shafts can be rotatable The first pulley assembly is sheathed, the second pulley assembly is rotatably sleeved on the two second installation shafts, and the third pulley assembly is rotatably provided at both axial ends of the central piece; The guide rail seat, the central piece is located between the two guide rail seats, and each of the guide rail seats is provided with intersecting first arc-shaped tracks and second arc-shaped tracks; the two first arc-shaped guide rails are respectively It is movably arranged on the two first arc-shaped rails, the two ends of each of the first arc-shaped guide rails are respectively hinged on the two first installation shafts, and the two first pulley assemblies are respectively fixedly connected to the ends of the two first arc-shaped guide rails; and two second arc-shaped guide rails, respectively movably arranged on the two second arc-shaped rails, each of the second arc-shaped Both ends of the guide rail are respectively hinged on the two second installation shafts, and the two second pulley assemblies are respectively fixedly connected to the ends of the two second arc-shaped guide rails.

在一些示例性实施例中,每个所述导轨座沿周向间隔交替设有两个第四滑轮组件和两个第五滑轮组件,四个所述第四滑轮组件两两对应位于两个所述第一弧形导轨的外侧,四个所述第五滑轮组件两两对应位于两个所述第二弧形导轨的外侧。In some exemplary embodiments, two fourth pulley assemblies and two fifth pulley assemblies are arranged alternately at intervals along the circumferential direction of each of the guide rail seats, and the four fourth pulley assemblies are located in two pairs of the two corresponding pulley assemblies. The four fifth pulley assemblies are located on the outside of the two second arc guide rails correspondingly.

在一些示例性实施例中,两个所述第一安装轴的端部均设有第一穿线结构,两个所述第二安装轴的端部均设有第二穿线结构。In some exemplary embodiments, both ends of the two first installation shafts are provided with a first threading structure, and ends of the two second installation shafts are both provided with a second threading structure.

在一些示例性实施例中,所述多自由度腕关节还包括:两个第一安装架,位于两个所述第一弧形导轨的外侧、并分别固定连接在两个所述第一弧形导轨的端部,两个所述第一穿线结构分别位于两个所述第一安装架上。In some exemplary embodiments, the multi-degree-of-freedom wrist joint further includes: two first mounting brackets, located on the outer sides of the two first arc-shaped guide rails, and fixedly connected to the two first arc-shaped guide rails respectively. The two first threading structures are located on the two first mounting frames respectively.

在一些示例性实施例中,所述多自由度腕关节还包括:两个第二安装架,位于两个所述第二弧形导轨的外侧、并分别固定连接在两个所述第二弧形导轨的端部,两个所述第二穿线结构分别位于两个所述第二安装架上。In some exemplary embodiments, the multi-degree-of-freedom wrist joint further includes: two second mounting brackets, located on the outer sides of the two second arc-shaped guide rails, and fixedly connected to the two second arc-shaped guide rails respectively. The two second threading structures are located on the two second mounting frames respectively.

在一些示例性实施例中,所述多自由度腕关节还包括:第一绳索驱动机构,其第一绳索绕设于位于两个所述导轨座一侧的两个所述第四滑轮组件和一个所述第一穿线结构上;和第二绳索驱动机构,其第二绳索绕设于位于两个所述导轨座另一侧的两个所述第四滑轮组件和一个所述第一穿线结构上;其中,所述第一绳索驱动机构和所述第二绳索驱动机构用于驱动两个所述导轨座带着两个所述第二弧形导轨绕所述第二安装轴相对相向摆动或相对背向摆动。In some exemplary embodiments, the multi-degree-of-freedom wrist joint further includes: a first rope driving mechanism, the first rope of which is wound around the two fourth pulley assemblies and the two fourth pulley assemblies on one side of the two rail seats. One of the first threading structures; and a second rope drive mechanism, the second rope of which is wound around the two fourth pulley assemblies and one of the first threading structures located on the other side of the two guide rail seats above; wherein, the first rope driving mechanism and the second rope driving mechanism are used to drive the two guide rail seats with the two second arc-shaped guide rails to swing relative to each other around the second installation shaft or relative back swing.

在一些示例性实施例中,所述多自由度腕关节还包括:第三绳索驱动机构,其第三绳索绕设于位于两个所述导轨座一侧的两个所述第五滑轮组件和一个所述第二穿线结构上;和第四绳索驱动机构,其第四绳索绕设于位于两个所述导轨座另一侧的两个所述第五滑轮组件和一个所述第二穿线结构上;其中,所述第三绳索驱动机构和所述第四绳索驱动机构用于驱动两个所述导轨座带着两个所述第一弧形导轨绕所述第一安装轴相对相向摆动或相对背向摆动。In some exemplary embodiments, the multi-degree-of-freedom wrist joint further includes: a third rope driving mechanism, the third rope of which is wound around the two fifth pulley assemblies and the fifth pulley assembly on one side of the two rail seats. On one of the second threading structures; and a fourth rope driving mechanism, the fourth rope of which is wound around the two fifth pulley assemblies and one of the second threading structures located on the other side of the two guide rail seats above; wherein, the third rope driving mechanism and the fourth rope driving mechanism are used to drive the two guide rail seats with the two first arc-shaped guide rails to swing relative to each other around the first installation shaft or relative back swing.

在一些示例性实施例中,所述多自由度腕关节还包括:第五绳索,绕设于两个所述第一滑轮组件和两个所述第三滑轮组件中的之一上,并设置成控制两个所述第一弧形导轨绕所述第一安装轴同步相向摆动或同步背向摆动。In some exemplary embodiments, the multi-degree-of-freedom wrist joint further includes: a fifth rope wound on one of the two first pulley assemblies and the two third pulley assemblies, and set to control the two first arc-shaped guide rails to swing synchronously towards each other or to swing backward synchronously around the first installation axis.

在一些示例性实施例中,所述多自由度腕关节还包括:第六绳索,绕设于两个所述第二滑轮组件和两个所述第三滑轮组件中的另一上,并设置成控制两个所述第二弧形导轨绕所述第二安装轴同步相向摆动或同步背向摆动。In some exemplary embodiments, the multi-degree-of-freedom wrist joint further includes: a sixth rope wound on the other of the two second pulley assemblies and the two third pulley assemblies, and set to control the two second arc-shaped guide rails to swing synchronously towards each other or synchronously swing backward around the second installation axis.

在一些示例性实施例中,所述第五绳索包括第一子绳和第二子绳,所述第一子绳绕设于两个所述第一滑轮组件中的之一和两个所述第三滑轮组件中的之一上,所述第二子绳绕设于两个所述第一滑轮组件中的另一和两个所述第三滑轮组件中的之一上。In some exemplary embodiments, the fifth rope includes a first sub-rope and a second sub-rope, and the first sub-rope is wound around one of the two first pulley assemblies and two of the first pulley assemblies. On one of the third pulley assemblies, the second sub-rope is wound on the other of the two first pulley assemblies and one of the two third pulley assemblies.

在一些示例性实施例中,所述第六绳索包括第三子绳和第四子绳,所述第三子绳绕设于两个所述第二滑轮组件中的之一和两个所述第三滑轮组件中的另一上,所述第四子绳绕设于两个所述第二滑轮组件中的另一和两个所述第三滑轮组件中的另一上。In some exemplary embodiments, the sixth rope includes a third sub-rope and a fourth sub-rope, and the third sub-rope is wound around one of the two second pulley assemblies and two of the second pulley assemblies. On the other of the third pulley assemblies, the fourth sub-rope is wound on the other of the two second pulley assemblies and the other of the two third pulley assemblies.

在一些示例性实施例中,两个所述第一安装轴的第一轴线共线,两个第二安装轴的第二轴线共线,两个所述第三滑轮组件的第三轴线共线,且所述第一轴线、所述第二轴线和所述第三轴线垂直相交于一点。In some exemplary embodiments, the first axes of the two first installation shafts are collinear, the second axes of the two second installation shafts are collinear, and the third axes of the two third pulley assemblies are collinear , and the first axis, the second axis and the third axis perpendicularly intersect at a point.

在一些示例性实施例中,所述第一弧形导轨为半圆弧导轨,所述第一弧形导轨的轴线与所述第二轴线重合;所述第二弧形导轨为半圆弧导轨,所述第二弧形导轨的轴线与所述第一轴线重合。In some exemplary embodiments, the first arc-shaped guide rail is a semi-circular arc guide rail, the axis of the first arc-shaped guide rail coincides with the second axis; the second arc-shaped guide rail is a semi-circular arc guide rail , the axis of the second arc-shaped guide rail coincides with the first axis.

本发明实施例提出的机械手,包括上述任一实施例所述的多自由度腕关节。The manipulator provided by the embodiments of the present invention includes the multi-degree-of-freedom wrist joint described in any of the above embodiments.

本发明实施例提出的机器人,包括上述任一实施例所述的机械手。The robot provided by the embodiments of the present invention includes the manipulator described in any of the above embodiments.

本发明实施例提出的多自由度腕关节,使第五绳索绕设于两个第一滑轮组件和两个第三滑轮组件中的之一上,控制导轨座带着两个第一弧形导轨绕第一安装轴反向摆动,并通过第五绳索、两个第三滑轮组件中的之一和两个第一滑轮组件的配合结构控制两个第一弧形导轨绕第一安装轴同步反向摆动,实现两个第一弧形导轨同步动作,其响应速度显著得到提升,即响应速度大约提升了两倍;使第六绳索绕设于两个所述第二滑轮组件和两个所述第三滑轮组件中的另一上,控制导轨座带着两个第二弧形导轨绕第二安装轴反向摆动,并通过第六绳索、两个所述第三滑轮组件中的另一和两个所述第二滑轮组件的配合结构控制两个第二弧形导轨绕第二安装轴同步反向摆动,实现两个第二弧形导轨同步动作,其响应速度显著得到提升,即响应速度大约提升了两倍;该多自由度腕关节采用绳索驱动的方式,不仅结构简单,而且具备低末端惯量、高柔顺性和高响应速度的优点。In the multi-degree-of-freedom wrist joint proposed by the embodiment of the present invention, the fifth rope is wound on one of the two first pulley assemblies and the two third pulley assemblies, and the control rail seat carries two first arc-shaped guide rails Swing in reverse around the first installation axis, and control the two first arc-shaped guide rails to synchronously reverse around the first installation axis through the cooperation structure of the fifth rope, one of the two third pulley assemblies and the two first pulley assemblies. To swing to realize the synchronous action of the two first arc-shaped guide rails, and its response speed is significantly improved, that is, the response speed is approximately doubled; the sixth rope is wound around the two second pulley assemblies and the two On the other of the third pulley assembly, the control guide rail seat is with the two second arc-shaped guide rails to swing in reverse around the second installation shaft, and through the sixth rope, the other of the two third pulley assemblies and The cooperation structure of the two second pulley assemblies controls the synchronous reverse swing of the two second arc-shaped guide rails around the second installation axis, realizing the synchronous action of the two second arc-shaped guide rails, and its response speed is significantly improved, that is, the response speed The improvement is about twice; the multi-degree-of-freedom wrist joint adopts a rope-driven method, which not only has a simple structure, but also has the advantages of low end inertia, high compliance and high response speed.

本申请的其它特征和优点将在随后的说明书中阐述,并且,部分地从说明书中变得显而易见,或者通过实施本申请而了解。本申请的其他优点可通过在说明书以及附图中所描述的方案来实现和获得。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 practice of the application. Other advantages of the present application can be realized and obtained through the schemes described in the specification and drawings.

附图说明Description of drawings

附图用来提供对本申请技术方案的理解,并且构成说明书的一部分,与本申请的实施例一起用于解释本申请的技术方案,并不构成对本申请技术方案的限制。The accompanying drawings are used to provide an understanding of the technical solution of the present application, and constitute a part of the description, and are used together with the embodiments of the present application to explain the technical solution of the present application, and do not constitute a limitation to the technical solution of the present application.

图1为本发明一实施例所述的多自由度腕关节的立体结构示意图;Fig. 1 is a three-dimensional structural schematic diagram of a multi-degree-of-freedom wrist joint according to an embodiment of the present invention;

图2为本发明另一实施例所述的多自由度腕关节的立体结构示意图;Fig. 2 is a three-dimensional structural schematic diagram of a multi-degree-of-freedom wrist joint according to another embodiment of the present invention;

图3为图1所示多自由度腕关节的分解结构局部示意图;Fig. 3 is a partial schematic diagram of the decomposition structure of the multi-degree-of-freedom wrist joint shown in Fig. 1;

图4至图6为图1所示多自由度腕关节的局部结构示意图;Fig. 4 to Fig. 6 are the local structural schematic diagrams of multi-degree-of-freedom wrist joint shown in Fig. 1;

图7为图2所示多自由度腕关节的局部结构示意图。Fig. 7 is a schematic diagram of the local structure of the multi-degree-of-freedom wrist joint shown in Fig. 2 .

其中,图1至图7中附图标记与部件名称之间的对应关系为:Wherein, the corresponding relationship between reference numerals and component names in Fig. 1 to Fig. 7 is:

100中心件,110第一安装轴,111第一滑轮组件,120第二安装轴,121第二滑轮组件,130第三滑轮组件,200导轨座,210第一弧形轨道,220第二弧形轨道,230第四滑轮组件,240第五滑轮组件,310第一弧形导轨,320第二弧形导轨,410第一子绳,420第二子绳,430第三子绳,440第四子绳,510第一绳索驱动机构,520第二绳索驱动机构,530第三绳索驱动机构,540第四绳索驱动机构,610第一安装架,611第一穿线结构,620第二安装架,621第二穿线结构,710第一滚动轴承,720第二滚动轴。100 center piece, 110 first installation shaft, 111 first pulley assembly, 120 second installation shaft, 121 second pulley assembly, 130 third pulley assembly, 200 rail seat, 210 first arc track, 220 second arc Track, 230 the fourth pulley assembly, 240 the fifth pulley assembly, 310 the first arc guide rail, 320 the second arc guide rail, 410 the first sub-rope, 420 the second sub-rope, 430 the third sub-rope, 440 the fourth sub-rope Rope, 510 the first rope driving mechanism, 520 the second rope driving mechanism, 530 the third rope driving mechanism, 540 the fourth rope driving mechanism, 610 the first mounting frame, 611 the first threading structure, 620 the second mounting frame, 621 the first Two threading structures, 710 first rolling bearing, 720 second rolling shaft.

具体实施方式Detailed ways

下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本发明的一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

需要说明,本发明实施例中所有方向性指示(诸如上、下、左、右、前、后……)仅用于解释在某一特定姿态(如附图所示)下各部件之间的相对位置关系、运动情况等,如果该特定姿态发生改变时,则该方向性指示也相应地随之改变。It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relationship between the components in a certain posture (as shown in the accompanying drawings). Relative positional relationship, movement conditions, etc., if the specific posture changes, the directional indication will also change accordingly.

另外,在本发明中如涉及“第一”、“第二”等的描述仅用于描述目的,而不能理解为指示或暗示其相对重要性或者隐含指明所指示的技术特征的数量。由此,限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一种该特征。在本发明的描述中,“多个”的含义是至少两个,例如两个,三个等,除非另有明确具体的限定。In addition, in the present invention, descriptions such as "first", "second" and so on are used for description purposes only, and should not be understood as indicating or implying their relative importance or implicitly indicating the quantity of indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

在本发明中,除非另有明确的规定和限定,术语“连接”、“固定”等应做广义理解,例如,“固定”可以是固定连接,也可以是可拆卸连接,或成一体;可以是机械连接,也可以是电连接;“连接”可以是直接相连,也可以通过中间媒介间接相连,可以是两个元件内部的连通或两个元件的相互作用关系,除非另有明确的限定。对于本领域的普通技术人员而言,可以根据具体情况理解上述术语在本发明中的具体含义。In the present invention, unless otherwise specified and limited, the terms "connection" and "fixation" should be understood in a broad sense, for example, "fixation" can be a fixed connection, a detachable connection, or an integral body; It may be a mechanical connection or an electrical connection; "connection" may be a direct connection or an indirect connection through an intermediary, and may be an internal communication between two elements or an interaction relationship between two elements, unless otherwise clearly defined. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

另外,本发明各个实施例之间的技术方案可以相互结合,但是必须是以本领域普通技术人员能够实现为基础,当技术方案的结合出现相互矛盾或无法实现时应当认为这种技术方案的结合不存在,也不在本发明要求的保护范围之内。In addition, the technical solutions of the various embodiments of the present invention can be combined with each other, but it must be based on the realization of those skilled in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered as a combination of technical solutions. Does not exist, nor is it within the scope of protection required by the present invention.

本发明实施例提供的多自由度腕关节,如图1至图7所示,包括:中心件100,沿周向间隔交替设有两个第一安装轴110和两个第二安装轴120,两个第一安装轴110均可转动地套设有第一滑轮组件111,两个第二安装轴120均可转动地套设有第二滑轮组件121,中心件100的轴向两端均可转动地设有第三滑轮组件130;两个导轨座200,中心件100位于两个导轨座200之间,每个导轨座200上均设有相交的第一弧形轨道210和第二弧形轨道220;两个第一弧形导轨310,分别可移动地设于两个第一弧形轨道210上,每个第一弧形导轨310的两端分别铰接在两个第一安装轴110上,两个第一滑轮组件111分别固定连接于两个第一弧形导轨310的端部,两个第一弧形导轨310的凹曲面均朝向中心件100;和两个第二弧形导轨320,分别可移动地设于两个第二弧形轨道220上,每个第二弧形导轨320的两端分别铰接在两个第二安装轴120上,两个第二滑轮组件121分别固定连接于两个第二弧形导轨320的端部,两个第二弧形导轨320的凹曲面均朝向中心件100。The multi-degree-of-freedom wrist joint provided by the embodiment of the present invention, as shown in FIGS. 1 to 7 , includes: a central member 100, which is alternately provided with two first installation shafts 110 and two second installation shafts 120 along the circumferential interval, The two first installation shafts 110 are rotatably sleeved with a first pulley assembly 111 , and the two second installation shafts 120 are rotatably sleeved with a second pulley assembly 121 , and both axial ends of the central piece 100 can be A third pulley assembly 130 is rotatably provided; two guide rail seats 200, the central piece 100 is located between the two guide rail seats 200, and each guide rail seat 200 is provided with intersecting first arc-shaped tracks 210 and second arc-shaped tracks Track 220; two first arc-shaped guide rails 310, which are respectively movably arranged on the two first arc-shaped rails 210, and the two ends of each first arc-shaped guide rail 310 are respectively hinged on the two first installation shafts 110 , the two first pulley assemblies 111 are respectively fixedly connected to the ends of the two first arc-shaped guide rails 310, the concave surfaces of the two first arc-shaped guide rails 310 are all facing the center piece 100; and the two second arc-shaped guide rails 320 , respectively movably arranged on the two second arc-shaped rails 220, the two ends of each second arc-shaped guide rail 320 are respectively hinged on the two second installation shafts 120, and the two second pulley assemblies 121 are respectively fixedly connected At the ends of the two second arc-shaped guide rails 320 , the concave surfaces of the two second arc-shaped guide rails 320 are both facing the center piece 100 .

该多自由度腕关节,如图2、图4和图7所示,使第五绳索绕设于两个第一滑轮组件111和两个第三滑轮组件130中的之一上,控制导轨座200带着两个第一弧形导轨310绕第一安装轴110反向摆动,并通过第五绳索、两个第三滑轮组件130中的之一和两个第一滑轮组件111的配合结构控制两个第一弧形导轨310绕第一安装轴110同步反向摆动,实现两个第一弧形导轨310同步动作,其响应速度显著得到提升,即响应速度大约提升了两倍;使第六绳索绕设于两个所述第二滑轮组件121和两个所述第三滑轮组件130中的另一上,控制导轨座200带着两个第二弧形导轨320绕第二安装轴120反向摆动,并通过第六绳索、两个所述第三滑轮组件130中的另一和两个所述第二滑轮组件121的配合结构控制两个第二弧形导轨320绕第二安装轴120同步反向摆动,实现两个第二弧形导轨320同步动作,其响应速度显著得到提升,即响应速度大约提升了两倍;该多自由度腕关节采用绳索驱动的方式,不仅结构简单,而且具备低末端惯量、高柔顺性和高响应速度的优点。This multi-degree-of-freedom wrist joint, as shown in Fig. 2, Fig. 4 and Fig. 7, makes the fifth rope wind around on one of the two first pulley assemblies 111 and the two third pulley assemblies 130, and controls the rail seat The 200 swings in reverse around the first installation shaft 110 with the two first arc-shaped guide rails 310, and is controlled by the matching structure of the fifth rope, one of the two third pulley assemblies 130, and the two first pulley assemblies 111. The two first arc-shaped guide rails 310 synchronously and reversely swing around the first installation shaft 110 to realize the synchronous action of the two first arc-shaped guide rails 310, and the response speed is significantly improved, that is, the response speed is approximately doubled; the sixth The rope is wound on the other of the two second pulley assemblies 121 and the two third pulley assemblies 130, and the control guide rail seat 200 rotates around the second installation shaft 120 with the two second arc guide rails 320. to swing, and control the two second arc-shaped guide rails 320 around the second installation shaft 120 through the sixth rope, the other of the two third pulley assemblies 130 and the matching structure of the two second pulley assemblies 121 The synchronous reverse swing realizes the synchronous action of the two second arc-shaped guide rails 320, and its response speed is significantly improved, that is, the response speed is approximately doubled; the multi-degree-of-freedom wrist joint is driven by a rope, which is not only simple in structure, but also It has the advantages of low end inertia, high compliance and high response speed.

导轨座200带着两个第一弧形导轨310绕第一安装轴110反向摆动:可以是,导轨座200带着两个第一弧形导轨310绕第一安装轴110相向摆动;或者可以是,导轨座200带着两个第一弧形导轨310绕第一安装轴110背向摆动。The rail base 200 swings in opposite directions around the first installation axis 110 with the two first arc-shaped guide rails 310 : it may be that the guide rail base 200 swings toward each other around the first installation axis 110 with the two first arc-shaped guide rails 310 ; or it may be Yes, the guide rail base 200 swings back around the first installation axis 110 with the two first arc-shaped guide rails 310 .

导轨座200带着两个第二弧形导轨320绕第二安装轴120反向摆动:可以是,导轨座200带着两个第二弧形导轨320绕第二安装轴120相向摆动;或者可以是,导轨座200带着两个第二弧形导轨320绕第二安装轴120背向摆动。The rail base 200 swings in opposite directions around the second installation axis 120 with two second arc-shaped guide rails 320 : it may be that the guide rail base 200 swings toward each other around the second installation axis 120 with two second arc-shaped guide rails 320 ; or it may be Yes, the guide rail base 200 swings back around the second installation axis 120 with the two second arc-shaped guide rails 320 .

如图3所示,两个第一安装轴110位于第一构件,两个第二安装轴120位于第二构件,第一构件在第二构件上插装好之后,通过周向均布的四个螺钉将第一构件和第二构件固定在一起。As shown in Figure 3, the two first installation shafts 110 are located on the first member, and the two second installation shafts 120 are located on the second member. After the first member is inserted on the second member, four screws uniformly distributed in the circumferential direction Secure the first member and the second member together.

在一些示例中,如图1、图2、图4和图5所示,两个第一安装轴110的第一轴线a共线(则两个第一弧形导轨310形成第一个转动自由度),两个第二安装轴120的第二轴线b共线(则两个第二弧形导轨320形成第二个转动自由度),两个第三滑轮组件130的第三轴线共线,且第一轴线a、第二轴线b和第三轴线垂直相交于一点,这样腕关节在工作空间内不存在奇异点,可以实现工作范围内任意姿态角度的连续运动,不存在腕关节在某些角度的运动中卡死的问题,能够更好地完成其所需执行的任务。两个第一安装轴110间隔180度,两个第二安装轴120间隔180度,相邻的第一安装轴110和第二安装轴120间隔90度。In some examples, as shown in Fig. 1, Fig. 2, Fig. 4 and Fig. 5, the first axes a of the two first mounting shafts 110 are collinear (then the two first arc-shaped guide rails 310 form the first rotationally free degrees), the second axes b of the two second mounting shafts 120 are collinear (then the two second arc guide rails 320 form the second rotational degree of freedom), the third axes of the two third pulley assemblies 130 are collinear, And the first axis a, the second axis b and the third axis are vertically intersected at one point, so that there is no singular point in the wrist joint in the working space, and continuous motion at any attitude angle within the working range can be realized, and there is no wrist joint in some The problem of getting stuck in the movement of the angle can better complete the tasks it needs to perform. Two first installation axes 110 are separated by 180 degrees, two second installation axes 120 are separated by 180 degrees, and adjacent first installation axes 110 and second installation axes 120 are separated by 90 degrees.

在一些示例中,如图1、图2、图4和图5所示,第一弧形导轨310为半圆弧导轨,第一弧形导轨310的轴线与第二轴线b重合;第二弧形导轨320为半圆弧导轨,第二弧形导轨320的轴线与第一轴线a重合;第一弧形导轨310和第二弧形导轨320为异面垂直相交。In some examples, as shown in Figure 1, Figure 2, Figure 4 and Figure 5, the first arc guide rail 310 is a semi-circular arc guide rail, the axis of the first arc guide rail 310 coincides with the second axis b; the second arc guide rail 310 coincides with the second axis b; The arc-shaped guide rail 320 is a semi-circular arc guide rail, and the axis of the second arc-shaped guide rail 320 coincides with the first axis a; the first arc-shaped guide rail 310 and the second arc-shaped guide rail 320 are vertically intersected by different planes.

在一些示例性实施例中,如图2和图4所示,多自由度腕关节还包括:第五绳索,绕设于两个第三滑轮组件130中的之一和两个第一滑轮组件111上,第五绳索、两个第三滑轮组件130中的之一和两个第一滑轮组件111的配合结构控制两个第一弧形导轨310绕第一安装轴110同步相向摆动或同步背向摆动。In some exemplary embodiments, as shown in FIG. 2 and FIG. 4 , the multi-DOF wrist joint further includes: a fifth rope wound around one of the two third pulley assemblies 130 and the two first pulley assemblies 111, the matching structure of the fifth rope, one of the two third pulley assemblies 130 and the two first pulley assemblies 111 controls the two first arc-shaped guide rails 310 to swing toward each other synchronously around the first installation shaft 110 or back to swing.

在一些实施例中,如图2和图4所示,第五绳索包括第一子绳410和第二子绳420,第一子绳410绕设于两个第一滑轮组件111中的之一和两个第三滑轮组件130中的之一上,第二子绳420绕设于两个第一滑轮组件111中的另一和两个第三滑轮组件130中的之一上(结合图7进行理解),并避免第一子绳410和第二子绳420相互缠绕。第一子绳410和第二子绳420在两个第三滑轮组件130中的之一上的绕绳方向相同,第一子绳410和第二子绳420在两个第一滑轮组件111上的绕绳方向相反。这样,导轨座200带着两个第一弧形导轨310绕第一安装轴110反向摆动时,就能够实现第五绳索、两个第三滑轮组件130中的之一和两个第一滑轮组件111的配合结构控制两个第一弧形导轨310绕第一安装轴110同步反向摆动(即:同步相向摆动或同步背向摆动)。可以是,第一子绳410的两端分别固定在其绕设的第一滑轮组件111和第三滑轮组件130上;或者可以是,第一子绳410的两端相连接;可以是,第二子绳420的两端分别固定在其绕设的第一滑轮组件111和第三滑轮组件130上;或者可以是,第二子绳420的两端相连接;以上均可实现本申请的目的,其宗旨未脱离本发明的设计思想,在此不再赘述,均应属于本申请的保护范围内。In some embodiments, as shown in FIG. 2 and FIG. 4 , the fifth rope includes a first sub-rope 410 and a second sub-rope 420 , and the first sub-rope 410 is wound around one of the two first pulley assemblies 111 and one of the two third pulley assemblies 130, the second subrope 420 is wound around the other of the two first pulley assemblies 111 and one of the two third pulley assemblies 130 (in conjunction with Fig. 7 understanding), and avoid the first sub-rope 410 and the second sub-rope 420 being entangled with each other. The winding direction of the first sub-rope 410 and the second sub-rope 420 on one of the two third pulley assemblies 130 is the same, and the first sub-rope 410 and the second sub-rope 420 are on the two first pulley assemblies 111 The winding direction of the rope is opposite. In this way, when the rail base 200 swings reversely around the first installation shaft 110 with the two first arc-shaped guide rails 310, the fifth rope, one of the two third pulley assemblies 130 and the two first pulley blocks can be realized. The matching structure of the component 111 controls the two first arc-shaped guide rails 310 to swing synchronously and reversely around the first installation axis 110 (ie: synchronously swing towards each other or swing backward synchronously). It can be that the two ends of the first sub-rope 410 are respectively fixed on the first pulley assembly 111 and the third pulley assembly 130 around which it is wound; or it can be that the two ends of the first sub-rope 410 are connected; it can be that the second The two ends of the second sub-rope 420 are respectively fixed on the first pulley assembly 111 and the third pulley assembly 130 around which it is wound; or it may be that the two ends of the second sub-rope 420 are connected; all of the above can achieve the purpose of this application , and its purpose does not depart from the design idea of the present invention, so it will not be repeated here, and all should belong to the protection scope of the present application.

在一些示例性实施例中,如图2、图4和图7所示,多自由度腕关节还包括:第六绳索,绕设于两个第三滑轮组件130中的另一和两个第二滑轮组件121上,第六绳索、两个第三滑轮组件130中的另一和两个第二滑轮组件121的配合结构控制两个第二弧形导轨320绕第二安装轴120同步相向摆动或同步背向摆动。In some exemplary embodiments, as shown in FIG. 2 , FIG. 4 and FIG. 7 , the multi-degree-of-freedom wrist joint further includes: a sixth rope wound around the other of the two third pulley assemblies 130 and the two third pulley assemblies 130 On the second pulley assembly 121, the coordination structure of the sixth rope, the other of the two third pulley assemblies 130 and the two second pulley assemblies 121 controls the two second arc-shaped guide rails 320 to swing toward each other synchronously around the second installation shaft 120 Or synchronized backward swing.

在一些实施例中,如图2、图4和图7所示,第六绳索包括第三子绳430和第四子绳440,第三子绳430绕设于两个第二滑轮组件121中的之一和两个第三滑轮组件130中的另一上,第四子绳440绕设于两个第二滑轮组件121中的另一和两个第三滑轮组件130中的另一上。第三子绳430和第四子绳440在两个第三滑轮组件130中的另一上的绕绳方向相同,第三子绳430和第四子绳440在两个第二滑轮组件121上的绕绳方向相反。这样,导轨座200带着两个第二弧形导轨320绕第二安装轴120反向摆动时,就能够实现第六绳索、两个第三滑轮组件130中的另一和两个第二滑轮组件121的配合结构控制两个第二弧形导轨320绕第二安装轴120同步反向摆动(即:同步相向摆动或同步背向摆动)。可以是,第三子绳430的两端分别固定在其绕设的第二滑轮组件121和第三滑轮组件130上;或者可以是,第三子绳430的两端相连接;可以是,第四子绳440的两端分别固定在其绕设的第二滑轮组件121和第三滑轮组件130上;或者可以是,第四子绳440的两端相连接;以上均可实现本申请的目的,其宗旨未脱离本发明的设计思想,在此不再赘述,均应属于本申请的保护范围内。In some embodiments, as shown in FIG. 2 , FIG. 4 and FIG. 7 , the sixth rope includes a third sub-rope 430 and a fourth sub-rope 440 , and the third sub-rope 430 is wound in two second pulley assemblies 121 One of the second pulley assemblies 121 and the other of the two third pulley assemblies 130 , the fourth sub-rope 440 is wound on the other of the two second pulley assemblies 121 and the other of the two third pulley assemblies 130 . The third sub-rope 430 and the fourth sub-rope 440 have the same winding direction on the other of the two third pulley assemblies 130, and the third sub-rope 430 and the fourth sub-rope 440 are on the two second pulley assemblies 121 The winding direction of the rope is opposite. In this way, when the rail base 200 swings reversely around the second installation shaft 120 with the two second arc guide rails 320, the sixth rope, the other of the two third pulley assemblies 130 and the two second pulley groups can be realized. The matching structure of the member 121 controls the two second arc-shaped guide rails 320 to swing synchronously and reversely around the second installation shaft 120 (ie: synchronously swing towards each other or swing backward synchronously). It can be that the two ends of the third sub-rope 430 are respectively fixed on the second pulley assembly 121 and the third pulley assembly 130 around which it is wound; or it can be that the two ends of the third sub-rope 430 are connected; it can be that the second The two ends of the four sub-ropes 440 are respectively fixed on the second pulley assembly 121 and the third pulley assembly 130 around which they are wound; or it may be that the two ends of the fourth sub-rope 440 are connected; all of the above can achieve the purpose of this application , and its purpose does not depart from the design idea of the present invention, so it will not be repeated here, and all should belong to the protection scope of the present application.

在一些实施例中,每个第三滑轮组件130上设有两组轮槽(图中未示出)。第一子绳410、第二子绳420、第三子绳430和第四子绳440一一对应绕设在四组轮槽内,更容易避免第一子绳410和第二子绳420相互缠绕以及第三子绳430和第四子绳440相互缠绕。In some embodiments, each third pulley assembly 130 is provided with two sets of wheel grooves (not shown in the figure). The first sub-rope 410, the second sub-rope 420, the third sub-rope 430, and the fourth sub-rope 440 are wound in four groups of wheel grooves one by one, so that it is easier to prevent the first sub-rope 410 and the second sub-rope 420 from interacting with each other. Winding and the third sub-string 430 and the fourth sub-string 440 are intertwined.

在一些示例性实施例中,如图1和图2所示,每个导轨座200沿周向间隔均布交替设有两个第四滑轮组件230和两个第五滑轮组件240,四个第四滑轮组件230两两对应位于两个第一弧形导轨310的外侧,四个第五滑轮组件240两两对应位于两个第二弧形导轨320的外侧。In some exemplary embodiments, as shown in FIG. 1 and FIG. 2 , each guide rail seat 200 is alternately provided with two fourth pulley assemblies 230 and two fifth pulley assemblies 240 at regular intervals along the circumferential direction, and four fourth pulley assemblies 240 Two of the four pulley assemblies 230 are located on the outer sides of the two first arc-shaped guide rails 310 , and two of the four fifth pulley assemblies 240 are located on the outer sides of the two second arc-shaped guide rails 320 .

如图2所示,使第一绳索驱动机构510的第一绳索绕设于位于两个导轨座200一侧的两个第四滑轮组件230上,使第二绳索驱动机构520的第二绳索绕设于位于两个导轨座200另一侧的两个第四滑轮组件230上。控制第一绳索驱动机构510拉动第一绳索,控制第二绳索驱动机构520释放第二绳索,再配合第五绳索、两个第三滑轮组件130中的之一和两个第一滑轮组件111的配合结构控制两个第一弧形导轨310绕第一安装轴110同步反向摆动,可以实现两个第一弧形导轨310同步相向运动(或同步背向运动);控制第一绳索驱动机构510释放第一绳索,控制第二绳索驱动机构520拉动第二绳索,再配合第五绳索、两个第三滑轮组件130中的之一和两个第一滑轮组件111的配合结构控制两个第一弧形导轨310绕第一安装轴110同步反向摆动,可以实现两个第一弧形导轨310同步背向运动(或同步相向运动)。As shown in Figure 2, the first rope of the first rope driving mechanism 510 is wound on the two fourth pulley assemblies 230 on one side of the two guide rail seats 200, and the second rope of the second rope driving mechanism 520 is wound around It is arranged on the two fourth pulley assemblies 230 located on the other side of the two rail bases 200 . Control the first rope driving mechanism 510 to pull the first rope, control the second rope driving mechanism 520 to release the second rope, and cooperate with the fifth rope, one of the two third pulley assemblies 130 and the two first pulley assemblies 111 The cooperative structure controls the two first arc-shaped guide rails 310 to swing synchronously and reversely around the first installation shaft 110, so that the two first arc-shaped guide rails 310 can move synchronously toward each other (or synchronously move backwards); control the first rope drive mechanism 510 Release the first rope, control the second rope driving mechanism 520 to pull the second rope, and cooperate with the fifth rope, one of the two third pulley assemblies 130 and the matching structure of the two first pulley assemblies 111 to control the two first pulley assemblies 111. The arc-shaped guide rails 310 swing synchronously and reversely around the first installation shaft 110 , so that the two first arc-shaped guide rails 310 can move backward synchronously (or move toward each other synchronously).

如图2所示,使使第三绳索驱动机构530的第三绳索绕设于位于两个导轨座200一侧的两个第五滑轮组件240上,使第四绳索驱动机构540的第四绳索绕设于位于两个导轨座200另一侧的两个第五滑轮组件240上。控制第三绳索驱动机构530拉动第三绳索,控制第四绳索驱动机构540释放第四绳索,再配合第六绳索、两个第三滑轮组件130中的另一和两个第二滑轮组件121的配合结构控制两个第二弧形导轨320绕第二安装轴120同步反向摆动,可以实现两个第二弧形导轨320同步相向运动(或同步背向运动);控制第三绳索驱动机构530释放第三绳索,控制第四绳索驱动机构540拉动第四绳索,再配合第六绳索、两个第三滑轮组件130中的另一和两个第二滑轮组件121的配合结构控制两个第二弧形导轨320绕第二安装轴120同步反向摆动,可以实现两个第二弧形导轨320同步背向运动(或同步相向运动)。As shown in Figure 2, the third rope of the third rope driving mechanism 530 is wound around the two fifth pulley assemblies 240 on one side of the two guide rail seats 200, and the fourth rope of the fourth rope driving mechanism 540 Winding on the two fifth pulley assemblies 240 located on the other side of the two rail bases 200 . Control the third rope driving mechanism 530 to pull the third rope, control the fourth rope driving mechanism 540 to release the fourth rope, and cooperate with the sixth rope, the other of the two third pulley assemblies 130 and the two second pulley assemblies 121 The cooperative structure controls the two second arc-shaped guide rails 320 to swing synchronously and reversely around the second installation shaft 120, so that the two second arc-shaped guide rails 320 can move synchronously toward each other (or synchronously move backwards); control the third rope drive mechanism 530 Release the third rope, control the fourth rope driving mechanism 540 to pull the fourth rope, and then cooperate with the sixth rope, the other of the two third pulley assemblies 130 and the matching structure of the two second pulley assemblies 121 to control the two second pulley assemblies 121. The arc-shaped guide rails 320 swing synchronously and reversely around the second installation shaft 120 , so that the two second arc-shaped guide rails 320 can move backward synchronously (or move toward each other synchronously).

在一些实施例中,如图1至图4和图6所示,使两个第一安装轴110的端部均设有第一穿线结构611,两个第二安装轴120的端部均设有第二穿线结构621。In some embodiments, as shown in FIG. 1 to FIG. 4 and FIG. 6, the ends of the two first installation shafts 110 are provided with a first threading structure 611, and the ends of the two second installation shafts 120 are provided with There is a second threading structure 621 .

如图2所示,第一绳索驱动机构510的第一绳索绕设于位于两个导轨座200一侧的两个第四滑轮组件230和一个第一穿线结构611上;如图2所示,第二绳索驱动机构520的第二绳索绕设于位于两个导轨座200另一侧的两个第四滑轮组件230和一个第一穿线结构611上;第一穿线结构611用于保证第一绳索、第二绳索和第四滑轮组件230之间的传动连接可靠性和动作可靠性。可以是,第一穿线结构611设置为穿线孔或穿线槽等。As shown in Figure 2, the first rope of the first rope driving mechanism 510 is wound on two fourth pulley assemblies 230 and a first threading structure 611 on one side of the two guide rail seats 200; as shown in Figure 2, The second rope of the second rope driving mechanism 520 is wound on two fourth pulley assemblies 230 and a first threading structure 611 on the other side of the two guide rail seats 200; the first threading structure 611 is used to ensure that the first rope 1. The transmission connection reliability and action reliability between the second rope and the fourth pulley assembly 230 . It may be that the first threading structure 611 is configured as a threading hole or a threading groove or the like.

如图2所示,第三绳索驱动机构530的第三绳索绕设于位于两个导轨座200一侧的两个第五滑轮组件240和一个第二穿线结构621上;如图2所示,第四绳索驱动机构540的第四绳索绕设于位于两个导轨座200另一侧的两个第五滑轮组件240和一个第二穿线结构621上;第二穿线结构621用于保证第三绳索、第四绳索和第五滑轮组件240之间的传动连接可靠性和动作可靠性。可以是,第二穿线结构621设置为穿线孔或穿线槽等。As shown in Figure 2, the third rope of the third rope driving mechanism 530 is wound on two fifth pulley assemblies 240 and a second threading structure 621 on one side of the two guide rail seats 200; as shown in Figure 2, The fourth rope of the fourth rope driving mechanism 540 is wound on two fifth pulley assemblies 240 and a second threading structure 621 on the other side of the two guide rail seats 200; the second threading structure 621 is used to ensure that the third rope 1. The transmission connection reliability and action reliability between the fourth rope and the fifth pulley assembly 240 . It may be that the second threading structure 621 is configured as a threading hole or a threading groove or the like.

在一些实施例中,如图1至图4和图6所示,多自由度腕关节还包括:两个第一安装架610,位于两个第一弧形导轨310的外侧、并分别固定连接在两个第一弧形导轨310的端部(即一个第一安装架610固定在一个第一弧形导轨310的一端部,另一个第一安装架610固定在另一个第一弧形导轨310的另一端部),两个第一穿线结构611分别位于两个第一安装架610上。In some embodiments, as shown in Fig. 1 to Fig. 4 and Fig. 6, the multi-degree-of-freedom wrist joint further includes: two first mounting brackets 610, located on the outer sides of the two first arc-shaped guide rails 310, and fixedly connected respectively At the ends of the two first arc-shaped guide rails 310 (that is, a first mounting bracket 610 is fixed on an end of a first arc-shaped guide rail 310, and another first mounting bracket 610 is fixed on another first arc-shaped guide rail 310 the other end), the two first threading structures 611 are located on the two first mounting frames 610 respectively.

当然也可以是,两个第一安装架610固定在其中一个第一弧形导轨310的两端部,也可实现本申请的目的,其宗旨未脱离本发明的设计思想,在此不再赘述,也应属于本申请的保护范围内。Of course, it is also possible that the two first mounting brackets 610 are fixed at both ends of one of the first arc-shaped guide rails 310, which can also achieve the purpose of this application. , should also belong to the protection scope of the present application.

在一些实施例中,如图1、图2和图4所示,多自由度腕关节还包括:两个第二安装架620,位于两个第二弧形导轨320的外侧、并分别固定连接在两个第二弧形导轨320的端部(即一个第二安装架620固定在一个第二弧形导轨320的一端部,另一个第二安装架620固定在另一个第二弧形导轨320的另一端部),两个第二穿线结构621分别位于两个第二安装架620上。In some embodiments, as shown in FIG. 1 , FIG. 2 and FIG. 4 , the multi-degree-of-freedom wrist joint further includes: two second mounting brackets 620 located on the outer sides of the two second arc-shaped guide rails 320 and fixedly connected respectively At the ends of the two second arc guide rails 320 (that is, a second mounting bracket 620 is fixed on an end of a second arc guide rail 320, and another second mounting bracket 620 is fixed on another second arc guide rail 320 the other end), the two second threading structures 621 are located on the two second mounting frames 620 respectively.

当然也可以是,两个第二安装架620固定在其中一个第二弧形导轨320的两端部,也可实现本申请的目的,其宗旨未脱离本发明的设计思想,在此不再赘述,也应属于本申请的保护范围内。Of course, it is also possible that the two second mounting brackets 620 are fixed at both ends of one of the second arc-shaped guide rails 320, which can also achieve the purpose of this application, and its purpose does not depart from the design idea of the present invention, so it will not be repeated here. , should also belong to the protection scope of the present application.

在一些实施例中,如图2所示,多自由度腕关节还包括:第一绳索驱动机构510,其第一绳索绕设于位于两个导轨座200一侧的两个第四滑轮组件230和一个第一穿线结构611上;和第二绳索驱动机构520,其第二绳索绕设于位于两个导轨座200另一侧的两个第四滑轮组件230和一个第一穿线结构611上;第一绳索驱动机构510和第二绳索驱动机构520用于驱动两个导轨座200带着两个第二弧形导轨320绕第二安装轴120相对相向摆动或相对背向摆动。In some embodiments, as shown in FIG. 2 , the multi-degree-of-freedom wrist joint further includes: a first rope driving mechanism 510 , the first rope of which is wound around two fourth pulley assemblies 230 on one side of the two guide rail seats 200 and a first threading structure 611; and a second rope drive mechanism 520, the second rope of which is wound on two fourth pulley assemblies 230 and a first threading structure 611 located on the other side of the two guide rail seats 200; The first rope driving mechanism 510 and the second rope driving mechanism 520 are used to drive the two guide rail bases 200 to drive the two second arc-shaped guide rails 320 to swing relative to each other around the second installation axis 120 or relative to each other.

在一些实施例中,如图2所示,多自由度腕关节还包括:第三绳索驱动机构530,其第三绳索绕设于位于两个导轨座200一侧的两个第五滑轮组件240和一个第二穿线结构621上;和第四绳索驱动机构540,其第四绳索绕设于位于两个导轨座200另一侧的两个第五滑轮组件240和一个第二穿线结构621上;第三绳索驱动机构530和第四绳索驱动机构540用于驱动两个导轨座200带着两个第一弧形导轨310绕第一安装轴110相对相向摆动或相对背向摆动。In some embodiments, as shown in FIG. 2 , the multi-DOF wrist joint further includes: a third rope driving mechanism 530 , the third rope of which is wound around two fifth pulley assemblies 240 located on one side of the two guide rail seats 200 and a second threading structure 621; and a fourth rope drive mechanism 540, the fourth rope of which is wound around two fifth pulley assemblies 240 and a second threading structure 621 on the other side of the two guide rail seats 200; The third rope driving mechanism 530 and the fourth rope driving mechanism 540 are used to drive the two guide rail bases 200 to drive the two first arc-shaped guide rails 310 to swing relative to each other around the first installation axis 110 or relative to each other.

该多自由度腕关节采用绳索驱动的方式,不仅结构简单,而且在工作空间内不存在奇异点,可以实现工作范围内任意姿态角度的连续运动,不存在腕关节在某些角度的运动中卡死的问题,能够更好地完成其所需执行的任务,具备低末端惯量、高柔顺性和高响应速度的优点。The multi-degree-of-freedom wrist joint adopts a rope-driven method, which is not only simple in structure, but also has no singularity in the working space, and can realize continuous movement at any attitude angle within the working range, and there is no wrist joint stuck in the movement of certain angles. It can better complete the tasks it needs to perform, and has the advantages of low end inertia, high compliance and high response speed.

在一些实施例中,如图5所示,每个导轨座200可以通过四个第一滚动轴承710限定出第一弧形轨道210,可以通过四个第二滚动轴承720限定出第二弧形轨道220,此方案第一弧形导轨310沿第一弧形轨道210以滚动摩擦的方式沿周向移动,第二弧形导轨320沿第二弧形轨道220以滚动摩擦的方式沿周向移动。In some embodiments, as shown in FIG. 5 , each guide rail seat 200 can define a first arc-shaped track 210 through four first rolling bearings 710 , and can define a second arc-shaped track 220 through four second rolling bearings 720 In this solution, the first arcuate guide rail 310 moves circumferentially along the first arcuate track 210 in a manner of rolling friction, and the second arcuate guide rail 320 moves circumferentially along the second arcuate track 220 in a manner of rolling friction.

在一些实施例中,如图1至图4所示,第一滑轮组件111和第二滑轮组件121均包括滑轮和连接筒,连接筒和滑轮固定连接、一起转动。第三滑轮组件130、第四滑轮组件230和第五滑轮组件240均包括滑轮。In some embodiments, as shown in FIGS. 1 to 4 , both the first pulley assembly 111 and the second pulley assembly 121 include a pulley and a connecting cylinder, and the connecting cylinder and the pulley are fixedly connected and rotate together. The third pulley assembly 130, the fourth pulley assembly 230, and the fifth pulley assembly 240 each include pulleys.

如图2所示,本发明提供的多自由度腕关节,是一种基于特殊机械结构和对称概念的独特机构,并能够维持对称性。该多自由度腕关节可以在两个维度上旋转,模拟手腕关节,还可以作为连接两个轴的恒定角速度的柔性联轴器使用,可以弯曲到超过90度,甚至可以达到120度。若加上第三个转动自由度,则可模拟球铰机构,实现驱动连杆从任何点沿任意轨迹移动到另一个点而不会出现任何问题。As shown in Fig. 2, the multi-DOF wrist joint provided by the present invention is a unique mechanism based on a special mechanical structure and symmetry concept, and can maintain symmetry. The multi-degree-of-freedom wrist joint can rotate in two dimensions, simulating the wrist joint, and can also be used as a flexible coupling with constant angular velocity connecting two axes, which can be bent to more than 90 degrees, and can even reach 120 degrees. With the addition of a third rotational degree of freedom, a spherical joint mechanism can be simulated to allow the drive link to move from any point to another point along any trajectory without any problems.

本发明实施例提出的机械手(图中未示出),包括上述任一实施例所述的多自由度腕关节。The manipulator (not shown in the figure) proposed by the embodiment of the present invention includes the multi-degree-of-freedom wrist joint described in any of the above embodiments.

该机械手,具备上述任一实施例提供的多自由度腕关节的全部优点,在此不再赘述。The manipulator has all the advantages of the multi-degree-of-freedom wrist joint provided by any one of the above-mentioned embodiments, and will not be repeated here.

本发明实施例提出的机器人(图中未示出),包括上述任一实施例所述的机械手。The robot (not shown in the figure) proposed by the embodiment of the present invention includes the manipulator described in any of the above embodiments.

该机器人,具备上述任一实施例提供的机械手的全部优点,在此不再赘述。The robot has all the advantages of the manipulator provided by any of the above-mentioned embodiments, which will not be repeated here.

综上所述,本发明实施例提出的多自由度腕关节,使第五绳索绕设于两个第一滑轮组件和两个第三滑轮组件中的之一上,控制导轨座带着两个第一弧形导轨绕第一安装轴反向摆动,并通过第五绳索、两个第一滑轮组件和两个第三滑轮组件中的之一的配合结构控制两个第一弧形导轨绕第一安装轴同步反向摆动,实现两个第一弧形导轨同步动作,其响应速度显著得到提升,即响应速度大约提升了两倍;使第六绳索绕设于两个所述第二滑轮组件和两个所述第三滑轮组件中的另一上,控制导轨座带着两个第二弧形导轨绕第二安装轴反向摆动,并通过第六绳索、两个所述第二滑轮组件和两个所述第三滑轮组件中的另一的配合结构控制两个第二弧形导轨绕第二安装轴同步反向摆动,实现两个第二弧形导轨同步动作,其响应速度显著得到提升,即响应速度大约提升了两倍;该多自由度腕关节采用绳索驱动的方式,不仅结构简单,而且具备低末端惯量、高柔顺性和高响应速度的优点。To sum up, in the multi-degree-of-freedom wrist joint proposed by the embodiment of the present invention, the fifth rope is wound on one of the two first pulley assemblies and the two third pulley assemblies, and the control rail seat carries two The first arc-shaped guide rail reversely swings around the first installation shaft, and controls the two first arc-shaped guide rails to rotate around the first installation shaft through the cooperation structure of the fifth rope, two first pulley assemblies and one of the two third pulley assemblies. One installation shaft swings in reverse synchronously to realize the synchronous action of the two first arc-shaped guide rails, and its response speed is significantly improved, that is, the response speed is approximately doubled; the sixth rope is wound around the two second pulley assemblies And on the other of the two third pulley assemblies, the control rail seat takes the two second arc guide rails to swing in reverse around the second installation axis, and passes through the sixth rope, the two second pulley assemblies The cooperation structure with the other of the two third pulley assemblies controls the synchronous reverse swing of the two second arc-shaped guide rails around the second installation axis, realizing the synchronous action of the two second arc-shaped guide rails, and its response speed is significantly improved Lifting, that is, the response speed has been approximately doubled; the multi-degree-of-freedom wrist joint adopts a rope-driven method, which not only has a simple structure, but also has the advantages of low end inertia, high compliance and high response speed.

在本发明实施例的描述中,除非另有明确的规定和限定,术语“连接”、“直接连接”、“间接连接”、“固定连接”、“安装”、“装配”应做广义理解,例如,可以是固定连接,也可以是可拆卸连接,或一体地连接;术语“安装”、“连接”、“固定连接”可以是直接相连,也可以通过中间媒介间接相连,可以是两个元件内部的连通。对于本领域的普通技术人员而言,可以具体情况理解上述术语在本发明中的具体含义。In the description of the embodiments of the present invention, unless otherwise specified and limited, the terms "connection", "direct connection", "indirect connection", "fixed connection", "installation" and "assembly" should be understood in a broad sense, For example, it can be a fixed connection, a detachable connection, or an integral connection; the terms "installation", "connection" and "fixed connection" can be directly connected or indirectly connected through an intermediary, and can be two components. Internal connectivity. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.

虽然本发明所揭露的实施方式如上,但所述的内容仅为便于理解本发明而采用的实施方式,并非用以限定本发明。任何本发明所属领域内的技术人员,在不脱离本发明所揭露的精神和范围的前提下,可以在实施的形式及细节上进行任何的修改与变化,但本发明的专利保护范围,仍须以所附的权利要求书所界定为准。Although the embodiments disclosed in the present invention are as above, the described content is only an embodiment adopted for understanding the present invention, and is not intended to limit the present invention. Anyone skilled in the field of the present invention can make any modifications and changes in the form and details of the implementation without departing from the spirit and scope disclosed by the present invention, but the patent protection scope of the present invention must still be It shall prevail as defined in the appended claims.

以上所述仅为本发明的优选实施例,并非因此限制本发明的专利范围,凡是在本发明的构思下,利用本发明说明书及附图内容所作的等效结构变换,或直接/间接运用在其他相关的技术领域均包括在本发明的专利保护范围内。The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Under the conception of the present invention, the equivalent structural transformation made by using the description of the present invention and the contents of the accompanying drawings, or directly/indirectly used in Other relevant technical fields are included in the patent protection scope of the present invention.

Claims (11)

1.一种多自由度腕关节,其特征在于,包括:1. A wrist joint with multiple degrees of freedom, comprising: 中心件,沿周向间隔交替设有两个第一安装轴和两个第二安装轴,两个所述第一安装轴均可转动地套设有第一滑轮组件,两个所述第二安装轴均可转动地套设有第二滑轮组件,所述中心件的轴向两端均可转动地设有第三滑轮组件;The central part is alternately provided with two first installation shafts and two second installation shafts along the circumferential interval, the two first installation shafts are rotatably sleeved with the first pulley assembly, and the two second installation shafts are rotatably sleeved. The installation shaft is rotatably sheathed with a second pulley assembly, and both axial ends of the center piece are rotatably provided with a third pulley assembly; 两个导轨座,所述中心件位于两个所述导轨座之间,每个所述导轨座上均设有相交的第一弧形轨道和第二弧形轨道;Two guide rail seats, the central piece is located between the two guide rail seats, each of the guide rail seats is provided with intersecting first arc-shaped tracks and second arc-shaped tracks; 两个第一弧形导轨,分别可移动地设于两个所述第一弧形轨道上,每个所述第一弧形导轨的两端分别铰接在两个所述第一安装轴上,两个所述第一滑轮组件分别固定连接于两个所述第一弧形导轨的端部;和Two first arc-shaped guide rails are respectively movably arranged on the two first arc-shaped rails, and the two ends of each of the first arc-shaped guide rails are respectively hinged on the two first installation shafts, The two first pulley assemblies are respectively fixedly connected to the ends of the two first arc-shaped guide rails; and 两个第二弧形导轨,分别可移动地设于两个所述第二弧形轨道上,每个所述第二弧形导轨的两端分别铰接在两个所述第二安装轴上,两个所述第二滑轮组件分别固定连接于两个所述第二弧形导轨的端部。Two second arc-shaped guide rails are respectively movably arranged on the two second arc-shaped rails, and the two ends of each of the second arc-shaped guide rails are respectively hinged on the two second installation shafts, The two second pulley assemblies are respectively fixedly connected to the ends of the two second arc-shaped guide rails. 2.根据权利要求1所述的多自由度腕关节,其特征在于,每个所述导轨座沿周向间隔交替设有两个第四滑轮组件和两个第五滑轮组件,四个所述第四滑轮组件两两对应位于两个所述第一弧形导轨的外侧,四个所述第五滑轮组件两两对应位于两个所述第二弧形导轨的外侧。2. The multi-degree-of-freedom wrist joint according to claim 1, characterized in that, each of the guide rail seats is alternately provided with two fourth pulley assemblies and two fifth pulley assemblies along the circumferential interval, and the four Two of the fourth pulley assemblies are located on the outside of the two first arc-shaped guide rails, and two of the four fifth pulley assemblies are located on the outside of the two of the second arc-shaped guide rails. 3.根据权利要求2所述的多自由度腕关节,其特征在于,两个所述第一安装轴的端部均设有第一穿线结构,两个所述第二安装轴的端部均设有第二穿线结构。3. The multi-degree-of-freedom wrist joint according to claim 2, wherein the ends of the two first installation shafts are provided with a first threading structure, and the ends of the two second installation shafts are both A second threading structure is provided. 4.根据权利要求3所述的多自由度腕关节,其特征在于,还包括:4. The multi-degree-of-freedom wrist joint according to claim 3, further comprising: 两个第一安装架,位于两个所述第一弧形导轨的外侧、并分别固定连接在两个所述第一弧形导轨的端部,两个所述第一穿线结构分别位于两个所述第一安装架上;和The two first mounting brackets are located on the outer sides of the two first arc-shaped guide rails and are respectively fixedly connected to the ends of the two first arc-shaped guide rails. The two first threading structures are respectively located on the two on said first mounting bracket; and 两个第二安装架,位于两个所述第二弧形导轨的外侧、并分别固定连接在两个所述第二弧形导轨的端部,两个所述第二穿线结构分别位于两个所述第二安装架上。Two second mounting brackets are located on the outer sides of the two second arc-shaped guide rails and are respectively fixedly connected to the ends of the two second arc-shaped guide rails, and the two second threading structures are respectively located on the two on the second mounting bracket. 5.根据权利要求3所述的多自由度腕关节,其特征在于,还包括:5. The multi-degree-of-freedom wrist joint according to claim 3, further comprising: 第一绳索驱动机构,其第一绳索绕设于位于两个所述导轨座一侧的两个所述第四滑轮组件和一个所述第一穿线结构上;和The first rope driving mechanism, the first rope of which is wound on the two fourth pulley assemblies and one of the first threading structures located on one side of the two guide rail seats; and 第二绳索驱动机构,其第二绳索绕设于位于两个所述导轨座另一侧的两个所述第四滑轮组件和一个所述第一穿线结构上;The second rope driving mechanism, the second rope of which is wound on the two fourth pulley assemblies and one of the first threading structures located on the other side of the two guide rail seats; 其中,所述第一绳索驱动机构和所述第二绳索驱动机构用于驱动两个所述导轨座带着两个所述第二弧形导轨绕所述第二安装轴相对相向摆动或相对背向摆动。Wherein, the first rope driving mechanism and the second rope driving mechanism are used to drive the two guide rail seats with the two second arc-shaped guide rails to swing relative to each other around the second installation shaft or relative to each other. to swing. 6.根据权利要求3所述的多自由度腕关节,其特征在于,还包括:6. The multi-degree-of-freedom wrist joint according to claim 3, further comprising: 第三绳索驱动机构,其第三绳索绕设于位于两个所述导轨座一侧的两个所述第五滑轮组件和一个所述第二穿线结构上;和The third rope driving mechanism, the third rope of which is wound on the two fifth pulley assemblies and one of the second threading structures located on one side of the two guide rail seats; and 第四绳索驱动机构,其第四绳索绕设于位于两个所述导轨座另一侧的两个所述第五滑轮组件和一个所述第二穿线结构上;The fourth rope driving mechanism, the fourth rope of which is wound on the two fifth pulley assemblies and one of the second threading structures located on the other side of the two guide rail seats; 其中,所述第三绳索驱动机构和所述第四绳索驱动机构用于驱动两个所述导轨座带着两个所述第一弧形导轨绕所述第一安装轴相对相向摆动或相对背向摆动。Wherein, the third rope driving mechanism and the fourth rope driving mechanism are used to drive the two guide rail seats with the two first arc-shaped guide rails to swing relative to each other around the first installation shaft or relative to each other. to swing. 7.根据权利要求1至6中任一项所述的多自由度腕关节,其特征在于,还包括:7. The multi-degree-of-freedom wrist joint according to any one of claims 1 to 6, further comprising: 第五绳索,绕设于两个所述第一滑轮组件和两个所述第三滑轮组件中的之一上,并设置成控制两个所述第一弧形导轨绕所述第一安装轴同步相向摆动或同步背向摆动;The fifth rope is wound on one of the two first pulley assemblies and the two third pulley assemblies, and is configured to control the two first arc-shaped guide rails around the first installation axis Synchronous swing in opposite direction or reverse swing in synchronization; 第六绳索,绕设于两个所述第二滑轮组件和两个所述第三滑轮组件中的另一上,并设置成控制两个所述第二弧形导轨绕所述第二安装轴同步相向摆动或同步背向摆动。The sixth rope is wound on the other of the two second pulley assemblies and the two third pulley assemblies, and is configured to control the two second arc-shaped guide rails around the second installation axis Synchronized opposite swing or synchronized reverse swing. 8.根据权利要求7所述的多自由度腕关节,其特征在于,8. The multi-degree-of-freedom wrist joint according to claim 7, characterized in that, 所述第五绳索包括第一子绳和第二子绳,所述第一子绳绕设于两个所述第一滑轮组件中的之一和两个所述第三滑轮组件中的之一上,所述第二子绳绕设于两个所述第一滑轮组件中的另一和两个所述第三滑轮组件中的之一上;The fifth rope includes a first sub-rope and a second sub-rope, and the first sub-rope is wound around one of the two first pulley assemblies and one of the two third pulley assemblies On, the second sub-rope is wound on the other of the two first pulley assemblies and one of the two third pulley assemblies; 所述第六绳索包括第三子绳和第四子绳,所述第三子绳绕设于两个所述第二滑轮组件中的之一和两个所述第三滑轮组件中的另一上,所述第四子绳绕设于两个所述第二滑轮组件中的另一和两个所述第三滑轮组件中的另一上。The sixth rope includes a third sub-rope and a fourth sub-rope, and the third sub-rope is wound around one of the two second pulley assemblies and the other of the two third pulley assemblies The fourth sub-rope is wound on the other of the two second pulley assemblies and the other of the two third pulley assemblies. 9.根据权利要求1至6中任一项所述的多自由度腕关节,其特征在于,9. The multi-degree-of-freedom wrist joint according to any one of claims 1 to 6, characterized in that, 两个所述第一安装轴的第一轴线共线,两个第二安装轴的第二轴线共线,两个所述第三滑轮组件的第三轴线共线,且所述第一轴线、所述第二轴线和所述第三轴线垂直相交于一点;The first axes of the two first installation shafts are collinear, the second axes of the two second installation shafts are collinear, the third axes of the two third pulley assemblies are collinear, and the first axes, said second axis and said third axis perpendicularly intersect at a point; 其中:所述第一弧形导轨为半圆弧导轨,所述第一弧形导轨的轴线与所述第二轴线重合;所述第二弧形导轨为半圆弧导轨,所述第二弧形导轨的轴线与所述第一轴线重合。Wherein: the first arc-shaped guide rail is a semi-circular arc guide rail, the axis of the first arc-shaped guide rail coincides with the second axis; the second arc-shaped guide rail is a semi-circular arc guide rail, and the second arc-shaped guide rail is The axis of the shaped guide rail coincides with the first axis. 10.一种机械手,其特征在于,包括如权利要求1至9中任一项所述的多自由度腕关节。10. A manipulator, characterized by comprising the multi-degree-of-freedom wrist joint according to any one of claims 1 to 9. 11.一种机器人,其特征在于,包括如权利要求10所述的机械手。11. A robot, characterized in that it comprises the manipulator according to claim 10.
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