CN209793783U - Wrist structure and robot - Google Patents
Wrist structure and robot Download PDFInfo
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- CN209793783U CN209793783U CN201920534587.2U CN201920534587U CN209793783U CN 209793783 U CN209793783 U CN 209793783U CN 201920534587 U CN201920534587 U CN 201920534587U CN 209793783 U CN209793783 U CN 209793783U
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Abstract
The utility model discloses a wrist structure and robot, the wrist structure includes: the device comprises a palm base used for mounting a palm, a wrist base, a first linear driver, a second linear driver and a movement mechanism arranged on the palm base and the wrist base; the first linear driver and the second linear driver are rotatably arranged on the wrist base around the crossed X axis and Y axis, and a first output shaft of the first linear driver and a second output shaft of the second linear driver are rotatably arranged on the palm base; the first linear driver and the second linear driver drive the palm to pitch around a first rotating shaft of the motion mechanism and drive the palm to swing around a second rotating shaft of the motion mechanism, and the second rotating shaft is rotatably arranged in the palm base. The wrist structure shortens the distance between the swing axis of the palm and the palm, reduces the difference between the wrist structure and the movement track of the wrist of the human body, and improves the human-imitating effect.
Description
Technical Field
the utility model relates to a robotechnology field, more specifically say, relate to a wrist structure and robot.
Background
The palm of the robot is connected to the arm through the wrist, and the wrist needs to meet the activities of two degrees of freedom of pitching and swinging. At present, the movement of the wrist is realized by adopting a rotating motor and a corresponding mechanical mechanism. Because the rotating motor and the corresponding mechanical mechanism occupy larger space, the rotating motor is usually arranged on the arm, so that the movable axis of the palm is far away from the palm, the difference between the movable axis of the palm and the movement track of the wrist of a human body is far, and the human imitation effect is poor.
In summary, the problem to be solved by those skilled in the art needs to be solved how to provide a wrist structure to reduce the difference between the wrist structure and the motion trajectory of the human wrist and improve the human-simulated effect.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a wrist structure to reduce the gap with human wrist movement track, improve imitative people's effect. Another object of the present invention is to provide a robot having the above wrist structure.
In order to achieve the above object, the present invention provides the following technical solutions:
a wrist structure comprising: the device comprises a palm base used for mounting a palm, a wrist base, a first linear driver, a second linear driver and a movement mechanism arranged on the palm base and the wrist base;
Wherein the first linear driver and the second linear driver are both rotatably arranged on the wrist base around intersecting X-axis and Y-axis, and a first output shaft of the first linear driver and a second output shaft of the second linear driver are both rotatably arranged on the palm base;
The first linear driver and the second linear driver drive the palm to pitch around a first rotating shaft of the moving mechanism, the first linear driver and the second linear driver drive the palm to swing around a second rotating shaft of the moving mechanism, and the second rotating shaft is rotatably arranged in the palm base.
Preferably, the first pivot axis is located within the palm base.
Preferably, the first linear driver and the second linear driver are arranged in the same and equal height, when the first linear driver and the second linear driver move synchronously, the palm is driven to pitch around the first rotating shaft, and when the first linear driver and the second linear driver do not move synchronously, the palm is driven to swing around the second rotating shaft.
Preferably, the first linear actuator and the second linear actuator synchronously extend to drive the palm to pitch forwards, and the first linear actuator and the second linear actuator synchronously retract to drive the palm to pitch backwards.
Preferably, the movement mechanism comprises:
The spindle is a cross spindle, one shaft of the spindle is the first rotating shaft, and the other shaft of the spindle is the second rotating shaft;
The first swing rod and the second swing rod are arranged in a crossed mode;
The bottom ends of the first swing rod and the second swing rod are rotatably arranged on the wrist base, the top end of the first swing rod is rotatably arranged on the first rotating shaft, and the top end of the second swing rod is rotatably arranged on the second rotating shaft.
preferably, the number of the first swing rods is two, the first swing rods are arranged in parallel, the number of the second swing rods is one, and the second swing rods are located between the two first swing rods;
Or the number of the second swing rods is two, the second swing rods are arranged in parallel, the number of the first swing rods is one, and the first swing rods are located between the two second swing rods.
Preferably, a connecting shaft is arranged on the palm base, and the first output shaft and the second output shaft are both rotatably arranged on the connecting shaft.
Preferably, the movement mechanism comprises: the wrist fixing device comprises a gear seat fixed on the wrist base, a first gear rotatably arranged on the gear seat, and a second gear meshed with the first gear;
The second gear is rotatably arranged on the first rotating shaft, and the first rotating shaft is rotatably arranged on the gear seat through a connecting rod; the second rotating shaft is fixed on the second gear.
Preferably, an axis of one of the first rotating shaft and the second rotating shaft intersects with an axis of the palm base.
preferably, the X axis and the Y axis are perpendicular, and the rotation axes of the first output shaft and the second output shaft are parallel to the Y axis.
Preferably, the first linear driver is rotatably arranged on the wrist base around an X axis and a Y axis through a cross shaft, or the first linear driver is rotatably arranged on the wrist base around the X axis and the Y axis through a ball hinge;
The second linear driver is rotatably arranged on the wrist base around an X axis and a Y axis through a cross shaft, or the second linear driver is rotatably arranged on the wrist base around the X axis and the Y axis through a ball hinge.
preferably, an X shaft of the cross shafts is rotatably arranged on the wrist base, a mounting seat is fixed on the X shaft, and a Y shaft of the cross shafts is rotatably arranged on the mounting seat;
wherein the axis of the X-axis is the X-axis, and the axis of the Y-axis is the Y-axis.
Preferably, the ball hinge includes: the wrist fixing device comprises a wrist base, a ball head and a limiting structure, wherein the wrist base is fixed on the wrist base and provided with a spherical groove; the Z axis is collinear with the center line of the spherical groove in the depth direction, the Z axis, the X axis and the Y axis are vertically intersected in pairs, and the intersection point passes through the spherical center of the ball head.
Preferably, the limit structure includes: the limiting piece is arranged on the base and is used for limiting the limiting piece to rotate around the Z axis through the limiting groove;
The ball head is rotatably arranged on the limiting piece, or the ball head is fixedly connected with the limiting piece;
The spacing groove has the confession the locating part winds the rotatory space of stepping down of Y axis, the X axis with the axis collineation of locating part.
preferably, the base comprises at least two sub-seats fixedly connected with each other, and the structure arranged on the base in the limiting structure is formed by butt joint of at least two sub-seats.
preferably, the first linear actuator and the second linear actuator are integrated with force sensors for sensing tension and pressure.
Based on the wrist structure that above-mentioned provided, the utility model also provides a robot, this robot includes the wrist structure, the wrist structure is above-mentioned arbitrary wrist structure.
the utility model provides a wrist structure selects first linear actuator and second linear actuator as drive arrangement, and first linear actuator and second linear actuator all can rotationally set up on the wrist base around crossing X axis and Y axis, and the first output shaft of first linear actuator and the second output shaft of second linear actuator all can rotationally set up on the palm base, has effectively guaranteed normal drive; meanwhile, the movement mechanism is arranged on the wrist base and the palm base, and the first rotating shaft and the second rotating shaft of the movement mechanism are both arranged in the palm base, so that the first linear driver and the second linear driver drive the palm to pitch around the first rotating shaft of the movement mechanism, and the first linear driver and the second linear driver drive the palm to swing around the second rotating shaft of the movement mechanism.
The utility model provides an among the wrist structure, the palm sways around first pivot every single move and around the second pivot, and the activity axis of palm is the axis of first pivot and second pivot promptly, because the second pivot rotationally sets up in the palm base, then compares prior art, has effectively shortened the distance of the axis of swaying of palm and palm, has reduced the difference of this wrist structure and human wrist movement track, has improved imitative people effect.
meanwhile, the wrist structure provided by the utility model can realize the maximization of the effective load by adopting the first linear driver and the second linear driver as the driving devices; meanwhile, the space occupation is small, the rated load is large, self-locking can be achieved, and the reliability is high.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
fig. 1 is an exploded view of a wrist structure according to an embodiment of the present invention;
FIG. 2 is an exploded view of the wrist structure of FIG. 1 in a reclined position;
FIG. 3 is an exploded view of the wrist structure of FIG. 1 bent forward;
FIG. 4 is an exploded view of the wrist structure of FIG. 1 swung to the right;
FIG. 5 is an exploded view of the wrist structure of FIG. 1 swung to the left;
Fig. 6 is an exploded view of another wrist structure provided by an embodiment of the present invention;
FIG. 7 is an exploded view of the wrist structure of FIG. 6 shown reclined;
FIG. 8 is an exploded view of the wrist structure of FIG. 6 shown bent forward;
FIG. 9 is an exploded view of the wrist structure of FIG. 6 swung to the right;
FIG. 10 is an exploded view of the wrist structure of FIG. 6 swung to the left;
fig. 11 is a schematic diagram of an installation of a first linear actuator in a wrist structure according to an embodiment of the present invention;
FIG. 12 is a schematic view of another installation of a first linear actuator in a wrist structure according to an embodiment of the present invention;
Fig. 13 is an exploded view of the structure shown in fig. 12.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
As shown in fig. 1-10, the wrist structure provided by the embodiment of the present invention includes: a palm base 12 for mounting a palm 13, a wrist base 1, a first linear actuator 4, a second linear actuator 5, and a motion mechanism provided on the palm base 12 and the wrist base 1.
the first linear driver 4 and the second linear driver 5 are rotatably disposed on the wrist base 1 about intersecting X and Y axes, and the first output shaft 18 of the first linear driver 4 and the second output shaft 19 of the second linear driver 5 are rotatably disposed on the palm base 12.
The first linear driver 4 and the second linear driver 5 drive the palm 13 to pitch around a first rotating shaft 14 of the motion mechanism, and the first linear driver 4 and the second linear driver 5 drive the palm 13 to swing around a second rotating shaft 15 of the motion mechanism, wherein the second rotating shaft 15 is rotatably arranged in the palm base 12.
It should be noted that the axis of the first rotating shaft 14 and the axis of the second rotating shaft 15 have an included angle therebetween, and the included angle is greater than zero and not greater than 90 °. The first rotating shaft 14 is fixedly arranged along the axial direction thereof, and the second rotating shaft 15 is fixedly arranged along the axial direction thereof. The X-axis and the Y-axis have an included angle therebetween that is greater than zero degrees and no greater than 90 degrees.
The wrist structure selects the first linear driver 4 and the second linear driver 5 as driving devices, the first linear driver 4 and the second linear driver 5 are both rotatably arranged on the wrist base 1 around the crossed X axis and Y axis, and the first output shaft 18 of the first linear driver 4 and the second output shaft 19 of the second linear driver 5 are both rotatably arranged on the palm base 12, so that normal driving is effectively ensured; meanwhile, by arranging the movement mechanism on the wrist base 1 and the palm base 12 and arranging both the first rotating shaft 14 and the second rotating shaft 15 of the movement mechanism in the palm base 12, the first linear driver 4 and the second linear driver 5 drive the palm 13 to pitch around the first rotating shaft 14 of the movement mechanism, and the first linear driver 4 and the second linear driver 5 drive the palm 13 to swing around the second rotating shaft 15 of the movement mechanism.
The embodiment of the utility model provides an among the wrist structure, palm 13 sways around first pivot 14 every single move and around second pivot 15, and the activity axis of palm 13 is the axis of first pivot 14 and second pivot 15 promptly, because second pivot 15 rotationally sets up in palm base 12, then compare prior art, has effectively shortened the distance of the axis of swaying of palm 13 and palm 13, has reduced the gap of this wrist structure and human wrist movement track, has improved imitative people's effect.
Meanwhile, the wrist structure provided by the embodiment of the invention can realize the maximization of the effective load by adopting the first linear driver 4 and the second linear driver 5 as the driving devices; meanwhile, the space occupation is small, the rated load is large, self-locking can be achieved, and the reliability is high.
in the above-described wrist structure, the first linear actuator 4 and the second linear actuator 5 may be the same or different, and may be disposed at equal heights or at unequal heights. In order to facilitate driving, it is preferable that the first linear actuator 4 and the second linear actuator 5 are identical and are disposed at the same height. At this time, the rotational axis of the first output shaft 18 and the rotational axis of the second output shaft 19 are collinear. On the basis, when the first linear driver 4 and the second linear driver 5 move synchronously, the palm 13 is driven to pitch around the first rotating shaft 14, and when the first linear driver 4 and the second linear driver 5 do not move synchronously, the palm 13 is driven to swing around the second rotating shaft 15.
The first linear driver 4 and the second linear driver 5 move synchronously, which means that the first linear driver 4 and the second linear driver 5 extend out and retract simultaneously, and the extending speed and the retracting speed are the same; the first linear driver 4 and the second linear driver 5 do not move synchronously, which means that the first linear driver 4 and the second linear driver 5 extend out successively and retract successively, or one of the first linear driver 4 and the second linear driver 5 retracts and the other extends out, and the extending speed and the retracting speed can be the same or different.
specifically, with respect to facing the center of the hand, as shown in fig. 4, when the second output shaft 19 of the second linear actuator 5 located on the right side is pulled back, the first output shaft 18 of the first linear actuator 4 located on the left side is extended, and the pulling back distance of the second output shaft 19 is equal to the extending distance of the first output shaft 18, the palm 13 swings to the right; as shown in fig. 5, when the first output shaft 18 of the first linear actuator 4 on the left side is pulled back, the second output shaft 19 of the second linear actuator 5 on the right side is extended, and the pulling back distance of the first output shaft 18 is equal to the extending distance of the second output shaft 19, the palm 13 swings to the left; as shown in fig. 9, when the first output shaft 18 of the first linear actuator 4 on the right side is pulled back and the second output shaft 19 of the second linear actuator 5 on the left side is extended, and the pulling back distance of the first output shaft 18 is equal to the extending distance of the second output shaft 19, the palm 13 swings to the right; as shown in fig. 10, when the second output shaft 19 of the second linear actuator 5 on the left side is pulled back, the first output shaft 18 of the first linear actuator 4 on the right side is extended, and the pulling back distance of the second output shaft 19 is equal to the extending distance of the first output shaft 18, the palm 13 swings to the left.
When the moving distances of the first output shaft 18 and the second output shaft 19 are unequal, for example, the extending distance of the first output shaft 18 and the retracting distance of the second output shaft 19 are unequal, the retracting distance of the first output shaft 18 and the extending distance of the second output shaft 19 are unequal, the retracting distance of the first output shaft 18 and the second output shaft 19 is unequal, or the extending distances of the first output shaft 18 and the second output shaft 19 are unequal, the palm 13 can realize the movement with two degrees of freedom of pitch and roll.
for convenience of arrangement, the first linear actuator 4 and the second linear actuator 5 synchronously extend to drive the palm 13 to pitch forwards, and the first linear actuator 4 and the second linear actuator 5 synchronously retract to drive the palm 13 to pitch backwards.
It is understood that forward pointing means pointing to the side toward which the palm of the hand is facing; leaning back means leaning back toward the back of the hand.
Of course, the moving mechanism may be designed appropriately, and the relative positions of the first linear actuator 4, the second linear actuator 5 and the moving mechanism may be adjusted, and the first linear actuator 4 and the second linear actuator 5 may be selected to drive the palm 13 to lean backward when being synchronously extended, and the first linear actuator 4 and the second linear actuator 5 may be synchronously retracted to drive the palm 13 to bow forward, which is not limited to the above embodiments.
In the wrist structure, the specific structure of the motion mechanism can be designed according to actual requirements.
Preferably, as shown in fig. 1 to 5, the movement mechanism includes: a cross main shaft 11, and a first swing rod 9 and a second swing rod 10 which are arranged in a crossed manner; wherein, one shaft of the main shaft 11 is a first rotating shaft 14, and the other shaft of the main shaft 11 is a second rotating shaft 15; the bottom ends of the first swing link 9 and the second swing link 10 are both rotatably arranged on the wrist base 1, the top end of the first swing link 9 is rotatably arranged on the first rotating shaft 14, and the top end of the second swing link 10 is rotatably arranged on the second rotating shaft 15.
In the above structure, the first swing link 9 and the second swing link 10 may be selectively located between the first linear driver 4 and the second linear driver 5, or the first swing link 9 and the second swing link 10 may be selectively located outside the first linear driver 4 and the second linear driver 5.
in the wrist structure, the main shaft 11, the first swing link 9 and the second swing link 10 form a cross-coupled swing link assembly, so that the amplification of a swing angle when a linear stroke is converted into a swing is realized, namely, the swing stroke of the palm 13 is increased in the limited stroke of the first linear driver 4 and the second linear driver 5, and the maximization of the swing stroke can be realized.
In order to ensure that the palm 13 is driven to bend forwards when the first linear driver 4 and the second linear driver 5 synchronously extend and the palm 13 is driven to bend backwards when the first linear driver 4 and the second linear driver 5 synchronously retract, the rotation axis of the first output shaft 18 is positioned between the rotation axis of the bottom end of the first swing link 9 and the rotation axis of the bottom end of the second swing link 10. The rotating axis of the top end of the second swing rod 10 and the rotating axis of the top end of the first swing rod 9 are both positioned on the inner side of the rotating axis of the first output shaft 18, and the rotating axis of the first output shaft 18, the rotating axis of the top end of the second swing rod 10 and the rotating axis of the top end of the first swing rod 9 are distributed in sequence.
It should be understood that the inner side of the rotation axis of the first output shaft 18 refers to the side of the rotation axis of the first output shaft 18 facing toward the palm. When the first linear driver 4 and the second linear driver 5 extend synchronously to drive the palm 13 to tilt backwards, and when the first linear driver 4 and the second linear driver 5 retract synchronously to drive the palm 13 to tilt forwards, the rotation axis of the top end of the second swing link 10 and the rotation axis of the top end of the first swing link 9 are both located outside the rotation axis of the first output shaft 18, and the rotation axis of the first output shaft 18, the rotation axis of the top end of the second swing link 10 and the rotation axis of the top end of the first swing link 9 are distributed in sequence.
It should be understood that the outside of the rotation axis of the first output shaft 18 refers to the side of the rotation axis of the first output shaft 18 facing toward the back of the hand.
For convenience of installation, two first swing links 9 are preferably arranged in parallel, one second swing link 10 is preferably arranged, and the second swing link 10 is located between the two first swing links 9, as shown in fig. 1 to 5. Of course, two second swing links 10 are also selected and arranged in parallel, one first swing link 9 is also selected, and the first swing link 9 is located between the two second swing links 10.
In practical applications, the first swing link 9 and the second swing link 10 may be selected to be one, and are not limited to the above embodiment.
In order to ensure that the rotation axis of the first output shaft 18 and the rotation axis of the second output shaft 19 are collinear, the palm base 12 is provided with a connecting shaft 8, and the first output shaft 18 and the second output shaft 19 are both rotatably arranged on the connecting shaft 8.
To facilitate the securing of the rotational arrangement, the first output shaft 18 is rotatably arranged on the connecting shaft 8 via the first bearing 6, and the second output shaft 19 is rotatably arranged on the connecting shaft 8 via the second bearing 7. Of course, other ways to achieve the rotational arrangement are also possible, and not limited to this.
In the above structure, the axis of the connecting shaft 8 is the rotation axis of the first output shaft 18 and also the rotation axis of the second output shaft 19.
of course, the first output shaft 18 and the second output shaft 19 may be alternatively provided on different shafts, and are not limited to the above-described embodiment.
In the wrist structure, the motion mechanism can be selected to be other structures. Preferably, as shown in fig. 6 to 10, the movement mechanism includes: a gear seat 20 fixed on the wrist base 1, a first gear 21 rotatably provided on the gear seat 20, and a second gear 23 engaged with the first gear 21.
The second rotating shaft 15 is fixed to a second gear 23, and the second gear 23 is rotatably provided on the first rotating shaft 14.
The first rotating shaft 14 may be rotatably disposed on the palm base 12, or may be disposed in other manners. In order to avoid the influence on the mounting of the first drive shaft 18 and the second drive shaft 19, and to simplify the mounting, it is preferable that the first rotating shaft 14 is rotatably provided on the gear seat 20 via a connecting rod 22. Specifically, one end of the connecting rod 22 is rotatably disposed on the gear seat 20, the other end of the connecting rod 22 is fixed on the first rotating shaft 14, and the first rotating shaft 14 penetrates through the second gear 23.
To facilitate mounting of the exercise mechanism, it is preferred that palm base 12 be provided with a first shaft on which first drive shaft 18 is rotatably provided and a second shaft on which second drive shaft 19 is rotatably provided.
In order to ensure that the palm 13 is driven to pitch forward when the first linear driver 4 and the second linear driver 5 are synchronously extended and the palm 13 is driven to pitch backward when the first linear driver 4 and the second linear driver 5 are synchronously retracted, the rotation axis of the first output shaft 18 is lower than the first rotating shaft 14 and the second rotating shaft 15. The first rotary shaft 14 is located inside the rotational axis of the first output shaft 18. It should be understood that the inner side of the rotation axis of the first output shaft 18 refers to the side of the rotation axis of the first output shaft 18 facing toward the palm.
When the palm 13 is driven to lean backward when the first linear actuator 4 and the second linear actuator 5 are synchronously extended and the palm 13 is driven to pitch forward when the first linear actuator 4 and the second linear actuator 5 are synchronously retracted, the first rotating shaft 14 is located outside the rotating axis of the first output shaft 18. It should be understood that the outside of the rotation axis of the first output shaft 18 refers to the side of the rotation axis of the first output shaft 18 facing toward the back of the hand.
preferably, an axis of one of the first rotating shaft 14 and the second rotating shaft 15 intersects with an axis of the palm base 12. Therefore, the wrist structure of the human body is more conformed, and the human imitation effect is better. Further, the axis of one of the first rotating shaft 14 and the second rotating shaft 15 described above perpendicularly intersects the axis of the palm base 12.
Specifically, when the first rotary shaft 14 perpendicularly intersects with the axis of the palm base 12, the first linear actuator 4 and the second linear actuator 5 are respectively arranged on both sides of the first rotary shaft 14; when the second rotary shaft 15 perpendicularly intersects with the axis of the palm base 12, the first linear actuator 4 and the second linear actuator 5 are respectively disposed on both sides of the second rotary shaft 15.
it will be appreciated that the axis of one of the first and second shafts 14, 15 is collinear with the centre line of the palm base 12. The centerline of palm base 12 does not include the axis of palm base 12. Specifically, when palm base 12 is cylindrical, the axis of one of first rotating shaft 14 and second rotating shaft 15 is collinear with the diameter of palm base 12.
to facilitate pitch and roll of the palm 13, it is preferred that the X and Y axes are perpendicular, and the axes of rotation of the first and second output shafts 18, 19 are parallel to the Y axis. Further, the first rotating shaft 14 and the second rotating shaft 15 are vertically arranged, and the first rotating shaft 14 is parallel to the Y axis.
It should be noted that when the first linear actuator 4 and the second linear actuator 5 are not rotated and not tilted, the first output shaft 18 and the second output shaft 19 are perpendicular to the plane of the X axis and the Y axis.
In the above-described wrist structure, there are various structures for realizing that the above-described first linear actuator 4 and second linear actuator 5 are both rotatably provided on the wrist base 1 about intersecting X and Y axes. For example, the first linear actuator 4 is rotatably provided on the wrist base 1 about the X axis and the Y axis by a cross, or the first linear actuator 4 is rotatably provided on the wrist base 1 about the X axis and the Y axis by a ball hinge.
accordingly, the second linear actuator 5 is rotatably provided on the wrist base 1 about the X axis and the Y axis by a cross, or the second linear actuator 5 is rotatably provided on the wrist base 1 about the X axis and the Y axis by a ball hinge.
When a cross shaft is used, as shown in fig. 11, an X-axis of the cross shaft is rotatably provided on the wrist base 1, a mount base is fixed to the X-axis, and a Y-axis of the cross shaft is rotatably provided on the mount base; wherein, the axis of the X-axis is the X-axis, and the axis of the Y-axis is the Y-axis. In this way, the arrangement of the first linear actuator 4 and the second linear actuator 5 is facilitated. Of course, other arrangements of the X-axis and Y-axis of the cross may be selected, and are not limited thereto.
Specifically, with the first linear driver 4, the first X-axis 2 is rotatably disposed on the wrist base 1, the first mount 16 is fixed to the first X-axis 2, and the first Y-axis 24 is rotatably disposed on the first mount 16; the axis of the first X-axis 2 is an X-axis, and the axis of the first Y-axis 24 is a Y-axis. For the second linear driver 5, the second X-axis 3 is rotatably disposed on the wrist base 1, a second mounting seat is fixed on the second X-axis 3, and a second Y-axis is rotatably disposed on the second mounting seat; the axis of the second X-axis 3 is an X-axis, and the axis of the second Y-axis is a Y-axis. In order to facilitate the installation of the cross shaft, the bottom ends of the first driver 4 and the second driver 5 are both fixed with a driver base 17, and the cross shaft is arranged on the driver base 17.
When a ball hinge is used, the ball hinge may be a gimbaled ball structure, but with one more degree of freedom of rotation. In order to avoid the above situation, as shown in fig. 12 and 13, the ball hinge includes: the wrist fixing device comprises a base which is fixed on the wrist base 1 and is provided with a spherical groove, a ball head 28 which is matched with the spherical surface of the spherical groove and can rotate around an X axis and a Y axis, and a limiting structure which limits the rotation of the ball head 28 around a Z axis; wherein the Z axis is collinear with the center line of the spherical groove in the depth direction, the Z axis, the X axis and the Y axis are intersected vertically in pairs, and the intersection point passes through the spherical center of the ball head 28.
It will be appreciated that when the first linear actuator 4 is not rotated, the Z-axis is parallel to the driving direction of the first linear actuator 4.
For the convenience of setting, above-mentioned limit structure includes: the limiting piece 25 is a limiting groove which is arranged on the base and is used for limiting the limiting piece 25 to rotate around the Z axis; the ball 28 is rotatably disposed on the limiting member 25, or the ball 28 is fixedly connected to the limiting member 25.
Specifically, the limiting groove has an abdicating space for the limiting piece 25 to rotate around the Y axis, and the X axis is collinear with the axis of the limiting piece 25; or, the limiting groove has an abdicating space for the limiting piece 25 to rotate around the X axis, and the Y axis is collinear with the axis of the limiting piece 25.
of course, the positions of the limiting member 25 and the limiting groove are also exchanged, that is, the limiting member 25 is disposed on the base, and the limiting groove is disposed on the ball 28, which is not limited to the above-mentioned embodiment.
in order to ensure the stability of the ball 28 during rotation, the limiting members 25 penetrate the ball 28, or the limiting members 25 are disposed on both sides of the ball 28. Of course, the position of the position limiting member 25 can be selected to be only on one side of the ball head 28, and is not limited to the above-mentioned embodiment.
To the concrete shape of locating part 25, can select according to actual need, for example locating part 25 is the column, the embodiment of the utility model does not limit to this.
In order to facilitate the installation of the ball head 28, the base comprises at least two sub-seats which are fixedly connected, and the structure arranged on the base in the limiting structure is formed by butt joint of at least two sub-seats. Specifically, when the limiting groove in the limiting structure is arranged on the base, the limiting groove is formed by butting at least two sub-seats.
the number of the sub-seats can be selected according to actual needs. In order to reduce the number of parts, two sub-seats are preferably selected, namely a first sub-seat 26 and a second sub-seat 27, and the limiting groove is formed by butting the first sub-seat 26 and the second sub-seat 27.
specifically, the butting direction of the first sub-seat 26 and the second sub-seat 27 is selected according to actual needs, for example, the Y axis and the axis of the limiting member 25 are collinear, and the first sub-seat 26 and the second sub-seat 27 are selected to be butted along the X axis or the Z axis; alternatively, the X-axis and the axis of the stop 25 are collinear, and the first sub-mount 26 and the second sub-mount 27 are selected to abut along the Y-axis or the Z-axis.
For the convenience of installation and disassembly, it is preferable that two adjacent sub-seats are detachably and fixedly connected, for example, the two adjacent sub-seats are detachably and fixedly connected through a threaded connector.
in order to further optimize the above technical solution, the first linear actuator 4 and the second linear actuator 5 are integrated with a force sensor for sensing a pulling force and a pressing force. Thus, the load sensing in the pitching and yawing directions of the palm 13 is realized, and the accurate measurement of the hand load can be realized.
the type of the first linear actuator 4 and the second linear actuator 5 is selected according to the actual requirements. For example, the first linear actuator 4 is a cylinder, a shape memory alloy linear actuator module, an artificial muscle linear actuator module, an electromagnet linear actuator module, or the like; the second linear driver 5 is a cylinder, a shape memory alloy linear driving module, an artificial muscle linear driving module, an electromagnet linear driving module or the like. The embodiment of the present invention does not limit the types of the first linear actuator 4 and the second linear actuator 5.
Based on the wrist structure that above-mentioned embodiment provided, the embodiment of the utility model provides a robot is still provided, this robot includes the wrist structure, this wrist structure is above-mentioned embodiment the wrist structure.
since the wrist structure has the technical effects and the robot comprises the wrist structure, the robot also has corresponding technical effects, which is not described herein again.
the previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (17)
1. a wrist structure, comprising: the wrist training device comprises a palm base (12) for mounting a palm (13), a wrist base (1), a first linear driver (4), a second linear driver (5) and a movement mechanism arranged on the palm base (12) and the wrist base (1);
Wherein the first linear driver (4) and the second linear driver (5) are both rotatably arranged on the wrist base (1) around intersecting X-axis and Y-axis, and a first output shaft (18) of the first linear driver (4) and a second output shaft (19) of the second linear driver (5) are both rotatably arranged on the palm base (12);
The first linear driver (4) and the second linear driver (5) drive the palm (13) to pitch around a first rotating shaft (14) of the moving mechanism, the first linear driver (4) and the second linear driver (5) drive the palm (13) to swing around a second rotating shaft (15) of the moving mechanism, wherein the second rotating shaft (15) is rotatably arranged in the palm base (12).
2. A wrist structure according to claim 1, characterized in that the first axis of rotation (14) is located in the palm base (12).
3. A wrist structure according to claim 1,
The first linear driver (4) and the second linear driver (5) are identical and are arranged at the same height,
when the first linear driver (4) and the second linear driver (5) move synchronously, the palm (13) is driven to pitch around the first rotating shaft (14),
When the first linear driver (4) and the second linear driver (5) do not synchronously move, the palm (13) is driven to swing around the second rotating shaft (15).
4. A wrist structure according to claim 3,
The first linear driver (4) and the second linear driver (5) drive the palm (13) to bow forwards when synchronously extending, and the first linear driver (4) and the second linear driver (5) drive the palm (13) to lean backwards when synchronously retracting.
5. A wrist structure according to claim 3, characterized in that the movement mechanism comprises:
The device comprises a cross-shaped main shaft (11), wherein one shaft of the main shaft (11) is the first rotating shaft (14), and the other shaft of the main shaft (11) is the second rotating shaft (15);
a first swing rod (9) and a second swing rod (10) which are arranged in a crossed manner;
the bottom ends of the first swing rod (9) and the second swing rod (10) are rotatably arranged on the wrist base (1), the top end of the first swing rod (9) is rotatably arranged on a first rotating shaft (14), and the top end of the second swing rod (10) is rotatably arranged on a second rotating shaft (15).
6. A wrist structure according to claim 5,
the two first swing rods (9) are arranged in parallel, the number of the second swing rods (10) is one, and the second swing rods (10) are positioned between the two first swing rods (9);
Or the number of the second swing rods (10) is two, the second swing rods are arranged in parallel, the number of the first swing rods (9) is one, and the first swing rods (9) are located between the two second swing rods (10).
7. A wrist structure according to claim 5, characterized in that a connecting shaft (8) is arranged on the palm rest (12), the first output shaft (18) and the second output shaft (19) both being rotatably arranged on the connecting shaft (8).
8. a wrist structure according to claim 3, characterized in that the movement mechanism comprises: a gear seat (20) fixed on the wrist base (1), a first gear (21) rotatably arranged on the gear seat (20), and a second gear (23) meshed with the first gear (21);
Wherein the second gear (23) is rotatably arranged on the first rotating shaft (14), and the first rotating shaft (14) is rotatably arranged on the gear seat (20) through a connecting rod (22); the second rotating shaft (15) is fixed on the second gear (23).
9. A wrist structure according to claim 1, characterized in that the axis of one of the first and second rotary shafts (14, 15) intersects the axis of the palm base (12).
10. A wrist structure according to claim 1, characterized in that the X-axis and the Y-axis are perpendicular, and the axes of rotation of the first output shaft (18) and the second output shaft (19) are both parallel to the Y-axis.
11. A wrist structure according to claim 10,
The first linear driver (4) is rotatably arranged on the wrist base (1) around an X axis and a Y axis through a cross shaft, or the first linear driver (4) is rotatably arranged on the wrist base (1) around the X axis and the Y axis through a ball hinge;
The second linear driver (5) is rotatably arranged on the wrist base (1) around an X axis and a Y axis through a cross shaft, or the second linear driver (5) is rotatably arranged on the wrist base (1) around the X axis and the Y axis through a ball hinge.
12. A wrist structure according to claim 11, characterized in that the X-axis of the cross-axes is rotatably arranged at the wrist base (1), a mount is fixed to the X-axis, and the Y-axis of the cross-axes is rotatably arranged at the mount;
Wherein the axis of the X-axis is the X-axis, and the axis of the Y-axis is the Y-axis.
13. the wrist structure of claim 11, wherein the ball hinge comprises: the wrist fixing device comprises a wrist base (1), a base, a ball head (28) and a limiting structure, wherein the base is fixed on the wrist base (1) and provided with a spherical groove, the ball head (28) is matched with the spherical surface of the spherical groove and can rotate around the X axis and the Y axis, and the limiting structure is used for limiting the rotation of the ball head (28) around the Z axis; the Z axis is collinear with the center line of the spherical groove in the depth direction, the Z axis, the X axis and the Y axis are vertically intersected in pairs, and the intersection point passes through the spherical center of the ball head (28).
14. a wrist structure according to claim 13, characterized in that the limiting structure comprises: the limiting piece (25) is arranged on the base and is used for limiting the limiting piece (25) to rotate around the Z axis;
The ball head (28) is rotatably arranged on the limiting piece (25), or the ball head (28) is fixedly connected with the limiting piece (25);
The spacing groove has the confession locating part (25) wind the rotatory space of stepping down of Y axis, the X axis with the axis collineation of locating part (25).
15. A wrist structure according to claim 13, wherein the base comprises at least two sub-seats fixedly connected to each other, and the structure of the position limiting structure provided on the base is formed by abutting at least two of the sub-seats.
16. A wrist structure according to any one of claims 1-15, characterized in that the first linear actuator (4) and the second linear actuator (5) are each integrated with a force sensor for sensing tensile and compressive forces.
17. A robot comprising a wrist structure, characterized in that the wrist structure is a wrist structure according to any of claims 1-16.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920534587.2U CN209793783U (en) | 2019-04-18 | 2019-04-18 | Wrist structure and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920534587.2U CN209793783U (en) | 2019-04-18 | 2019-04-18 | Wrist structure and robot |
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| Publication Number | Publication Date |
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| CN209793783U true CN209793783U (en) | 2019-12-17 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111068279A (en) * | 2019-12-24 | 2020-04-28 | 温州医科大学 | Volleyball buckling machine |
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2019
- 2019-04-18 CN CN201920534587.2U patent/CN209793783U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111068279A (en) * | 2019-12-24 | 2020-04-28 | 温州医科大学 | Volleyball buckling machine |
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