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

Abstract

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.

Description

A multi-degree-of-freedom wrist joint, manipulator and robot

technical field

This paper relates to the field of artificial intelligence technology, especially a multi-degree-of-freedom wrist joint, manipulator and robot.

Background technique

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.

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.

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.

Contents of the invention

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.

The present application also provides a manipulator and a robot.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

The robot provided by the embodiments of the present invention includes the manipulator described in any of the above embodiments.

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.

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.

Description of drawings

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.

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;

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;

Fig. 3 is a partial schematic diagram of the decomposition structure of the multi-degree-of-freedom wrist joint shown in Fig. 1;

Fig. 4 to Fig. 6 are the local structural schematic diagrams of multi-degree-of-freedom wrist joint shown in Fig. 1;

Fig. 7 is a schematic diagram of the local structure of the multi-degree-of-freedom wrist joint shown in Fig. 2 .

Wherein, the corresponding relationship between reference numerals and component names in Fig. 1 to Fig. 7 is:

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.

Detailed ways

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.

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.

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.

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.

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.

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 .

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.

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 .

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 .

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.

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.

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.

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.

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.

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.

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.

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.

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 .

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).

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).

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 .

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

The robot has all the advantages of the manipulator provided by any of the above-mentioned embodiments, which will not be repeated here.

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.

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.

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.

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. A wrist joint with multiple degrees of freedom, comprising: 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; 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; 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 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. 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. 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. The multi-degree-of-freedom wrist joint according to claim 3, further comprising: 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 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. The multi-degree-of-freedom wrist joint according to claim 3, further comprising: 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 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; 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. The multi-degree-of-freedom wrist joint according to claim 3, further comprising: 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 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; 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. The multi-degree-of-freedom wrist joint according to any one of claims 1 to 6, further comprising: 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; 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. The multi-degree-of-freedom wrist joint according to claim 7, characterized in that, 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; 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. The multi-degree-of-freedom wrist joint according to any one of claims 1 to 6, characterized in that, 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; 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. A manipulator, characterized by comprising the multi-degree-of-freedom wrist joint according to any one of claims 1 to 9. 11. A robot, characterized in that it comprises the manipulator according to claim 10.

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