Wrist mechanism for a mechanical arm

A wrist mechanism for a mechanical arm, the wrist mechanism comprising:

• a housing unit;
• a first rotation unit including a first motor that is disposed in the housing unit, a first rotating shaft that is connected to the first motor, and a first encoder, the first motor being operable to drive the first rotating shaft to rotate about a first axis, the first encoder measuring an angle of rotation of the first rotating shaft, and controlling the first motor via closed-loop control;
• a second rotation unit disposed on the first rotating shaft and co-rotatable with the first rotating shaft about the first axis, the second rotation unit including a second motor and a work platform that is connected to the second motor, the second motor being operable to drive the work platform to rotate about a second axis that is orthogonal to the first axis;
• and
• a first brake unit including a first brake pad that is connected to the first rotating shaft, and a first brake plate that is operable to move relative to the first brake pad along the first axis, when the first brake plate is urged to move along the first axis to abut against the first brake pad, the rotation of the first rotating shaft being stopped;
• wherein the first brake unit further includes a first coil that is located at one side of the first brake plate opposite to the first brake pad, and a plurality of first resilient members that resiliently push the first brake plate toward the first brake pad, when the first coil is energized, the first coil attracting the first brake plate such that the first brake plate is urged to move away from the first brake pad and compresses the first resilient members, when the first coil is de-energized, the first brake plate being pushed by the first resilient members to move toward the first brake pad along the first axis such that the first brake plate abuts against the first brake pad;
• and
• wherein the first brake unit further includes a first mounting seat that is fixedly connected to the housing unit, a first securing plate that is spaced apart from the first mounting seat along the first axis and that is fixedly connected to the first mounting seat, and a plurality of first guiding rods each of which is disposed between and abuts against the first mounting seat and the first securing plate, the first mounting seat accommodating the first coil and the first resilient members, the first brake pad being located between the first securing plate and the first brake plate, and being spaced apart from the first securing plate, the first brake plate having a plurality of first grooves, the first guiding rods respectively extending through the first grooves.

A wrist mechanism for a mechanical arm, the wrist mechanism comprising:

• a housing unit;
• a first rotation unit including a first motor that is disposed in the housing unit, a first rotating shaft that is connected to the first motor, and a first encoder, the first motor being operable to drive the first rotating shaft to rotate about a first axis, the first encoder measuring an angle of rotation of the first rotating shaft, and controlling the first motor via closed-loop control;
• a second rotation unit disposed on the first rotating shaft and co-rotatable with the first rotating shaft about the first axis, the second rotation unit including a second motor and a work platform that is connected to the second motor, the second motor being operable to drive the work platform to rotate about a second axis that is orthogonal to the first axis;
• and
• a first brake unit including a first brake pad that is connected to the first rotating shaft, and a first brake plate that is operable to move relative to the first brake pad along the first axis, when the first brake plate is urged to move along the first axis to abut against the first brake pad, the rotation of the first rotating shaft being stopped;
• wherein the housing unit includes a base seat, a first side seat that is mounted to the base seat, and a second side seat that is mounted to the base seat and that is spaced apart from the first side seat, the first motor being disposed on the first side seat, the first rotating shaft extending through the first side seat and the second side seat along the first axis, the first encoder being connected to the first rotating shaft and being located in the second side seat.