CN-121973272-A - Triaxial rope wrist joint driving structure based on ball cage universal joint and humanoid robot

CN121973272ACN 121973272 ACN121973272 ACN 121973272ACN-121973272-A

Abstract

The invention discloses a triaxial rope wrist joint structure based on a ball cage universal joint and a humanoid robot, which comprise a base support unit, a rope elbow rotation deflection unit, an elbow rotation power source, a deflection power source and a bending and stretching power source, wherein an upper rope elbow rotation component and a lower rope elbow rotation component of the rope elbow rotation unit are respectively and movably arranged on the base support unit, the upper rope elbow rotation component and the lower rope elbow rotation component are connected through the ball cage universal joint, the elbow rotation power source is connected with an elbow rotation rope of the lower rope elbow rotation component, the rope elbow rotation deflection unit is movably arranged on the base support unit and is positioned outside the upper rope elbow rotation component, the deflection power source is connected with a deflection rope of the rope elbow rotation deflection unit, and the bending and stretching power source is connected with a bending and stretching rope of the rope elbow rotation deflection unit. The invention is designed based on the ball cage universal joint with a short axial dimension, has compact structure, realizes rope drive decoupling and has complete three-degree-of-freedom motion function.

Inventors

XIA YULEI
ZHONG YONG

Assignees

超级机器人研究院(黄埔)
华南理工大学

Dates

Publication Date: 20260505
Application Date: 20260309

Claims (10)

1. The triaxial rope driven wrist joint structure based on the ball cage universal joint is characterized by comprising a base bracket unit, a rope driven elbow rotation unit, a rope driven elbow deflection unit, an elbow rotation force source, a deflection power source and a bending and stretching power source; the rope-driven elbow rotating unit comprises an upper rope-driven elbow rotating component and a lower rope-driven elbow rotating component, the upper rope-driven elbow rotating component and the lower rope-driven elbow rotating component are respectively and movably arranged on a base support unit, the upper rope-driven elbow rotating component and the lower rope-driven elbow rotating component are connected through a ball cage universal joint, an elbow rotating winch of the elbow-driven power source is connected with an elbow rotating rope of the lower rope-driven elbow rotating component, the elbow rotating winch is driven to rotate by an elbow rotating power source, the lower rope-driven elbow rotating component and the upper rope-driven elbow rotating component are driven to rotate at the same speed, elbow rotating motion of a wrist joint structure is achieved, the rope-driven elbow bending unit is movably arranged on the base support unit and located outside the upper rope-driven elbow rotating component, the rope-driven elbow rotating component comprises a deflection rope and a bending rope, a sliding chute for sliding the upper rope-driven elbow rotating component is formed on the rope rotating component, the deflection winch of the deflection power source is connected with the rope of the rope-driven elbow bending unit, the deflection winch is driven by the deflection power source to rotate, the upper rope-driven elbow rotating component is driven by the deflection winch to rotate by the deflection power source, the upper rope-driven elbow bending component is driven by the wrist bending power source to rotate at the same speed, the elbow rotating motion of the upper rope-driven elbow bending component is achieved, and the wrist bending joint is driven to rotate by the wrist bending motion of the upper rope, and the bending unit is driven to rotate, and the wrist bending motion of the bending unit is driven by the bending motion, and the bending unit.
2. The triaxial rope wrist joint structure based on the ball cage universal joint is characterized in that the base support unit comprises a base, two side plates, a first transverse support plate, a second transverse support plate, a cross slide block and an auxiliary support, four mounting holes are formed in the periphery of the top of the base, the four mounting holes are respectively used for mounting the front mounting hole and the rear mounting hole of the cross slide block, a left mounting hole and a right mounting hole used for mounting the rope deflection unit, the left side plate and the right side plate of the base are connected through the first transverse support plate, the two side plates are symmetrically arranged at the bottoms of the left side and the right side of the base and are connected through the second transverse support plate, the cross slide block comprises an annular main body and two connecting rods symmetrically arranged at the front side and the rear side of the annular main body, the two connecting rods are rotatably mounted in the front mounting hole and the rear mounting hole of the base through rolling bearings, the auxiliary support is of an upward-protruding semi-annular structure and is arranged above the annular main body, the left side and the right side of the auxiliary support is fixedly connected with the left side and the right side of the annular main body, and the auxiliary support can synchronously rotate along with the cross slide block.
3. The three-axis rope wrist joint structure based on the ball-and-socket universal joint is characterized in that the upper rope elbow-driving assembly comprises an output rotating shaft and an output rotating disc, the output rotating shaft is rotatably connected with an auxiliary support of a base support unit through a rolling bearing, the bottom of the output rotating shaft is connected with the top of the lower rope elbow-driving assembly through the ball-and-socket universal joint, the top of the output rotating shaft penetrates through a sliding groove of a rope elbow-driving unit, and the output rotating disc is arranged on the top of the output rotating shaft.
4. The three-axis rope wrist joint structure based on the ball-and-socket universal joint of claim 3, wherein the outer peripheral surface of the output rotating shaft is provided with a nylon shaft sleeve for preventing abrasion.
5. The three-axis rope wrist joint structure based on the ball cage universal joint is characterized in that the lower rope elbow rotation assembly comprises a central shaft, a rope winch, elbow rotation ropes and two fixed pulleys, the top of the central shaft is connected with the bottom of an output rotating shaft through the ball cage universal joint, the upper portion of the central shaft is rotatably connected with a base of a base support unit through a rolling bearing, an inner hexagonal hole used for being connected with the central shaft is formed in the center of the rope winch, an outer hexagonal shaft section used for being matched with the inner hexagonal hole is arranged in the middle of the central shaft, the rope winch is connected with the outer hexagonal shaft section of the central shaft through the inner hexagonal hole and is axially locked through nuts, the two fixed pulleys are rotatably arranged on the left side and the right side of the front end of a first transverse support plate of the base support unit respectively and are located obliquely below the rope winch, the middle point of the elbow rotation ropes is fixed on the rope winch through rope buckles, two ends of the elbow rotation ropes are respectively wound around the two fixed pulleys and are further connected with an elbow winch of an elbow rotation force source, and the elbow rotation force source drives the rope winch, the elbow rotation shaft, the central shaft, the elbow rotation shaft, the output rotating shaft, the ball cage universal joint and the output wrist joint structure are synchronously rotated.
6. The triaxial rope wrist joint structure based on the ball-and-socket joint according to claim 1, wherein: the rope-driven deflection unit comprises an inner wheel assembly, an outer wheel assembly, deflection ropes, a first deflection pulley block, a second deflection rope, a second rope, The inner wheel assembly is arranged at the outer side of the cross slide block of the base support unit and the outer side of the auxiliary support, the front side and the rear side of the inner wheel assembly are respectively and rotatably connected with two connecting rods of the cross slide block of the base support unit through rolling bearings, the outer wheel assembly is arranged at the outer side of the inner wheel assembly, the left side and the right side of the outer wheel assembly are respectively and rotatably connected with a left mounting hole and a right mounting hole of a base of the base support unit through rolling bearings, the rotation axes of the inner wheel assembly and the outer wheel assembly are mutually orthogonal, sliding grooves for moving an upper rope elbow driving rotating assembly are formed on the inner wheel assembly and the outer wheel assembly, wherein the sliding grooves comprise an inner wheel upper sliding groove, An inner wheel lower chute, An outer wheel upper chute and an outer wheel lower chute; the inner wheel upper chute and the inner wheel lower chute are respectively positioned on the inner wheel assembly, and the connecting lines of the two end points of the inner wheel upper chute and the connecting lines of the two end points of the inner wheel lower chute are mutually orthogonal in space; the upper outer runner and the lower outer runner are respectively arranged on the outer runner assembly, the connecting lines of the two end points of the upper outer runner and the two end points of the lower outer runner are mutually orthogonal in space, the connecting lines of the two end points of the upper outer runner and the two end points of the upper inner runner are mutually orthogonal, the output rotating shaft of the upper rope-driven elbow rotating assembly can slide along the upper outer runner or the upper inner runner, the connecting lines of the two end points of the lower outer runner and the two end points of the lower inner runner are mutually orthogonal, the central shaft of the lower rope-driven elbow rotating assembly penetrates through the lower outer runner and the lower inner runner and extends downwards, the outer runner assembly is respectively provided with a first deflection rope driving groove and a second deflection rope driving groove, the first deflection rope driving groove and the second deflection rope driving groove are symmetrically arranged on the left side and the right side of the lower outer runner, the first deflection pulley block and the second deflection pulley block are symmetrically arranged on the front side and the back side below the outer runner assembly, the first deflection pulley block comprises a first upper deflection pulley and a first lower deflection pulley, the first upper deflection pulley and a second deflection pulley are rotatably arranged between the two first deflection pulley and the second deflection pulley, the central shaft of the lower rope-driven elbow rotating assembly penetrates through the lower outer runner and extends downwards, the upper outer runner is rotatably arranged between the upper deflection pulley and the second deflection pulley, the upper deflection pulley is rotatably arranged between the upper deflection pulley and the lower deflection pulley is rotatably arranged between the deflection pulley and the deflection pulley A second upper deflecting rope, a first lower deflector rope and a second lower deflector rope; the first upper deflection rope and the second upper deflection rope are respectively arranged on the front side and the rear side of the outer wheel assembly and are respectively connected with the outer wheel assembly in an antagonistic driving way; the first upper deflection rope bypasses the first upper deflection pulley, and two ends of the first upper deflection rope extend upwards and are respectively fixed on the tops of the first deflection rope driving groove and the second deflection rope driving groove on the front side; the second upper deflection rope bypasses the second upper deflection pulley, two ends of the second upper deflection rope extend upwards and are respectively fixed at the top of the rear side of the first deflection rope driving groove and the second deflection rope driving groove, one ends of the first lower deflection rope and the second lower deflection rope are respectively fixed on a second transverse supporting plate of the base bracket unit, the other ends of the first lower deflection rope and the second lower deflection pulley bypass the first lower deflection pulley and are respectively connected with a deflection winch of a deflection power source, the deflection winch is driven by the deflection power source to rotate, the output rotating shaft of the upper rope driving elbow rotating assembly is driven to move in an upper inner wheel chute to realize the deflection motion of a wrist joint structure, the inner wheel assembly is respectively provided with a first bending rope driving groove and a second bending rope driving groove, the first bending rope driving groove and the second bending rope driving groove are symmetrically arranged at the front side and the rear side of a lower inner wheel chute, the first bending pulley block and the second bending pulley block are symmetrically arranged at the left side and the right side of the lower part of the assembly, the first bending pulley block comprises a first upper bending pulley and a second bending pulley block and a first lower bending pulley and a second bending pulley block, the first bending pulley block and a second bending pulley block and a first upper bending pulley and a second bending pulley block are arranged between the first upper bending pulley and the first upper pulley and the second bending pulley block and the second upper pulley block and the first lower pulley block and the second upper pulley block and the second lower pulley block are arranged, the second upper bending and stretching pulley and the second lower bending and stretching pulley are rotatably arranged between the two second bending and stretching pulley side plates, and the bending and stretching rope comprises a first upper bending and stretching rope, a second upper bending and stretching rope, A first lower flex cable and a second lower flex cable; the first upper bending and stretching ropes and the second upper bending and stretching ropes are respectively arranged on the left side and the right side of the inner wheel assembly and are respectively connected with the antagonistic driving of the inner wheel assembly, the first upper bending and stretching ropes bypass the first upper bending and stretching pulleys, the two ends of the first upper bending and stretching ropes extend upwards and are respectively fixed on the tops of the left sides of the first bending and stretching rope driving grooves and the second bending and stretching rope driving grooves, the second upper bending and stretching ropes bypass the second upper bending and stretching pulleys, the two ends of the second upper bending and stretching ropes extend upwards and are respectively fixed on the tops of the right sides of the first bending and stretching rope driving grooves and the second bending and stretching rope driving grooves, one ends of the first lower bending and stretching ropes and one end of the second lower bending and stretching ropes are respectively fixed on a second transverse supporting plate of the base support unit, the other ends of the first lower bending and stretching ropes bypass the first lower bending and stretching pulleys and are respectively connected with a bending and stretching winch of the bending and stretching power source, the second bending and stretching winch is driven by the bending and stretching power source to rotate, and the output of the upper rope driving elbow rotating assembly is further driven by the bending and stretching power source to move in the upper sliding grooves, and the upper rotating shaft of the outer wheel driving elbow rotating assembly to achieve wrist bending and stretching movement.
7. The triaxial rope wrist joint structure based on the ball cage universal joint is characterized in that the inner wheel assembly comprises an upper inner wheel and a lower inner wheel, the upper inner wheel and the lower inner wheel are connected through bolts, the left side and the right side of the upper inner wheel are respectively connected with two connecting rods of a cross slide block in a rotating mode through rolling bearings, an upper inner wheel sliding groove and a lower inner wheel sliding groove are respectively formed in the upper inner wheel and the lower inner wheel, the upper parts of the first rope bending and stretching driving groove and the second rope bending and stretching driving groove are arranged on the upper inner wheel, and the lower parts of the first rope bending and stretching driving groove and the second rope bending and stretching driving groove are arranged on the lower inner wheel.
8. The triaxial rope wrist joint structure based on the ball cage universal joint, which is disclosed in claim 6, is characterized in that the outer wheel assembly comprises an upper outer wheel and a lower outer wheel, the upper outer wheel and the lower outer wheel are connected through bolts, the front side and the rear side of the upper outer wheel are respectively in rotary connection with a left mounting hole and a right mounting hole of a base of the base support unit through rolling bearings, an upper outer wheel sliding groove and a lower outer wheel sliding groove are respectively arranged on the upper outer wheel and the lower outer wheel, and the first deflection rope driving groove and the second deflection rope driving groove are respectively arranged on the lower inner wheel.
9. The three-axis rope wrist driving joint structure based on the ball-and-cage universal joint according to claim 1, wherein the elbow rotation power source, the deflection power source and the bending and stretching power source are all motors.
10. A humanoid robot characterized by comprising the triaxial rope wrist-driven joint structure based on the ball-and-cage universal joint according to any one of claims 1 to 9.

Description

Triaxial rope wrist joint driving structure based on ball cage universal joint and humanoid robot Technical Field The invention relates to the technical field of humanoid robots, in particular to a triaxial rope wrist driving joint structure based on a ball cage universal joint and the humanoid robot. Background The wrist joint mechanism is used as a core component of the humanoid robot, and has a severe requirement on structural light weight and operational flexibility. The rope driving technology has the advantages of light structure, low manufacturing cost and the like, and is often applied to the design of a humanoid robot driving system. At present, the wrist joint structure of the humanoid robot based on the rope driving mode mainly comprises a crossed serial structure and a triaxial wrist joint structure. The three-axis wrist joint structure can realize three flexible motions of the wrist joint through the rope driving mode, and the quaternion wrist joint is taken as a typical three-axis wrist joint structure, can realize flexible motions of the wrist joint in a lightweight mode, but adopts a pair of coupling universal joints to realize the elbow rotation function, and can realize constant-speed elbow rotation transmission, but has larger axial dimension and obvious difference with a real human wrist joint mechanism. In the existing rope-driven wrist joint mechanism, most of crossed serial structures are compact, antagonistic rope-driven transmission is realized through driving compensation control, control is relatively complex, engineering quantity for realizing high-precision driving performance is large, high-rigidity driving is difficult to realize, and an elbow rotation function cannot be realized generally. The wrist joint is used as a key component of the humanoid robot, and the structural compactness and the driving performance of the wrist joint are important. Therefore, the wrist joint structure which has compact design structure and can realize rope-driven decoupling has important significance for the development of the humanoid robot. Disclosure of Invention The invention aims to overcome the defects of the prior art, provides a triaxial rope-driven wrist joint structure based on a ball-and-cage universal joint, is designed based on the ball-and-cage universal joint with a short axial dimension, has a compact structure, can realize rope-driven decoupling, has a complete three-degree-of-freedom motion function, and has the advantages of high driving precision, high reliability and the like. Another object of the present invention is to provide a humanoid robot. The aim of the invention is achieved by the following technical scheme: a triaxial rope wrist joint structure based on a ball cage universal joint comprises a base support unit, a rope elbow rotating force source, a deflection power source and a bending and stretching power source, wherein the rope elbow rotating unit comprises an upper rope elbow rotating assembly and a lower rope elbow rotating assembly, the upper rope elbow rotating assembly and the lower rope elbow rotating assembly are movably arranged on the base support unit respectively, the upper rope elbow rotating assembly and the lower rope elbow rotating assembly are connected through the ball cage universal joint, an elbow winch of the elbow rotating power source is connected with an elbow rotating rope of the lower rope elbow rotating assembly, the elbow rotating power source drives the elbow rotating winch to rotate, the lower rope elbow rotating assembly and the upper rope elbow rotating assembly to rotate at a constant speed, the rope elbow rotating unit is movably arranged on the base support unit and located outside the upper rope elbow rotating assembly, the rope elbow rotating assembly comprises a deflection rope and a bending rope, an upper rope elbow rotating assembly is formed, the upper rope elbow rotating winch is connected with an elbow rotating power source, the upper rope elbow rotating assembly is connected with a bending and stretching power source, and the bending and stretching power source is connected with a bending and the bending and stretching power source. The base support comprises a base, two side plates, a first transverse support plate, a second transverse support plate, a cross slide block and an auxiliary support, wherein four mounting holes are formed in the periphery of the top of the base, the four mounting holes are respectively used for mounting the front mounting hole and the rear mounting hole of the cross slide block, the left mounting hole and the right mounting hole of the rope driving deflection unit, the left side plate and the right side plate of the base are connected through the first transverse support plate, the two side plates are symmetrically arranged at the bottoms of the left side and the right side of the base and are connected through the second transverse support plate, the cross slide block comprises an annular