Robot wrist mechanism with suction cup

Abstract

The invention discloses a robot wrist mechanism with a suction cup, and aims to improve the transmission precision of a robot wrist, realize lightweight and integrated design and reasonably solve the wiring problem of a joint motor and a suction cup gas circuit. The mechanism is composed of three parts, wherein a first joint assembly part adopts gear transmission and is provided with a limiting mechanism to prevent excessive rotation; the second joint assembly part realizes stable rotation through bevel gear transmission, and is provided with a flexible collision block for angle limitation; and the third joint assembly part realizes free rotation and gas circuit connection of the sucker, and cooperatively moves with the second joint assembly part through bevel gear transmission. The device has the advantages of being simple in structure, convenient to install, high in adaptability, easy to overhaul and the like, and is suitable for various industrial automation scenes.

Description

Technical Field

[0001] The invention relates to the technical field of multi-freedom robots, in particular to a robot wrist mechanism with a suction cup. Background Art

[0002] With the vigorous development of computer and electronic information technology, robots with multiple degrees of freedom are increasingly being used by people. Among them, the robot wrist is an important part of the robot, and its integrated lightweight design is of great significance to the overall robot. Generally, the design of the robot wrist is relatively complex. It needs to go through multiple transmissions from the prime mover to the actuator. The transmission chain is long, which introduces more mechanical transmission errors, increases the difficulty of the controller to effectively control it, and reduces the accuracy of motion control. At the same time, since the robot wrist has more degrees of freedom in a relatively limited space, the limit design of each joint and the routing design of the joint motor are also important components that need to be considered in the design of the robot wrist. At the same time, how to reduce the production cost of this type of mechanism and achieve the predetermined demand at a lower cost is also the main design key of the robot wrist joint. Therefore, how to reasonably design the transmission mechanism, design the limit mechanism of each joint, consider the routing problem of the joint motor, and the air pipe layout problem of the air path, so that the overall mechanism of the robot wrist has the characteristics of integrated lightweight, has great practical significance for the research and development of actual robots.

[0003] In order to further realize the lightweight design of the robot wrist joint while achieving the predetermined function and reduce the processing cost, researchers have carried out research on the mechanics and equipment of the robot wrist mechanism. There are also relevant literature reports. However, these designs also have disadvantages such as complex design, high cost of processed parts, and long transmission chain. It is difficult to achieve lightweight and cheap, and this problem needs to be solved urgently. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings and deficiencies of the prior art and to provide a robot wrist mechanism with a built-in suction cup. While improving the transmission accuracy of the robot wrist, the present invention strives to achieve a lightweight and integrated design of the wrist mechanism and reasonably handles the problems of joint motor placement and power transmission.

[0005] To achieve the above object, the technical solution provided by the present invention is as follows: A robot wrist mechanism with a built-in suction cup, comprising a first joint assembly part with limited movement based on gear transmission, a second joint assembly part with limited movement based on bevel gear transmission, and a third joint assembly part that rotates freely without limitation; there is one first joint assembly part, which is configured with a motor, there is one second joint assembly part, which is configured with two motors and is installed on the first joint assembly part by screws; there is one third joint assembly part, which is connected to the end of the suction cup and is installed on the second joint assembly part by screws and a vertical plate connector; when the first joint assembly part is fixed, the second joint assembly part can perform servo rotation with limitation around the first joint axis of the wrist under the drive of the motor of the first joint assembly part, and the third joint assembly part can rotate through the differential rotation of the two motors of the second joint assembly part, so as to realize the change of the posture of the suction cup in space, and further realize the adsorption of the suction cup to objects at any angle.

[0006] Further, the first joint assembly portion includes a first joint base fixing plate, a first joint bearing cover plate, a first joint ribbed bearing, a thrust needle bearing, a first joint aluminum hollow shaft, a first joint spacer one, a first joint spacer two, a first joint large gear, a first joint small gear, a rigid aluminum coupling, a first joint drive motor, a first joint flexible collision block, and a first joint limit printing block;Among them, there are hole positions on the first joint base fixing plate for installing the first joint edge bearing and screws. The first joint edge bearing is embedded in the bearing fixing hole position on the first joint base fixing plate. The edge of the first joint edge bearing contacts the upper surface of the first joint base fixing plate. The center large hole of the first joint bearing cover is concentric with the first joint edge bearing. The first joint bearing cover covers the upper surface of the first joint edge bearing. The lower surface of the first joint bearing cover contacts the upper surface of the first joint base fixing plate. There are a plurality of uniformly distributed screw holes on the first joint bearing cover, which are respectively concentric with the screw holes on the first joint base fixing plate. The first joint bearing cover is fixed on the first joint base fixing plate by screws and nuts. The first joint edge bearing is fixed on the first joint base fixing plate by the mutual fixing method of the first joint bearing cover and the first joint base fixing plate. There are output shaft installation hole positions and screw fixing hole positions for the first joint drive motor on the first joint bearing cover. There are threaded blind holes on the first joint drive motor. The output shaft of the first joint drive motor is concentric with the motor shaft installation hole position on the first joint bearing cover. The first joint drive motor is fixed on the first joint bearing cover by screws passing through the screw fixing hole positions on the first joint bearing cover. There are a plurality of fixing hole positions for the first joint limit printing block on the first joint base fixing plate. The upper surface of the first joint limit printing block contacts the lower surface of the first joint base fixing plate and is fixed on the first joint base fixing plate by screws and nuts. The thrust needle roller bearing is concentric with the first joint aluminum hollow shaft. The upper surface of the thrust needle roller bearing contacts the lower surface of the first step on the first joint aluminum hollow shaft. The lower surface of the thrust needle roller bearing contacts the upper surface of the first joint bearing cover. The center hole of the first joint gasket 1 is concentric with the first joint aluminum hollow shaft. The upper surface of the first joint gasket 1 contacts the lower surface of the inner ring of the first joint edge bearing. Its lower surface and the lower surface of the first joint aluminum hollow shaft together contact the upper surface of the first joint large gear. The lower surface of the first joint large gear contacts the upper surface of the first joint gasket 2. The rigid aluminum coupling is installed on the output shaft of the first joint drive motor. The lower surface of the rigid aluminum coupling contacts the upper surface of the first joint small gear and is fixed together with the first joint small gear by screws. The first joint small gear meshes with the first joint large gear and is connected to the output shaft of the first joint drive motor through the rigid aluminum coupling, realizing the control of the first joint drive motor for the rotation of the first joint of the wrist. The first joint flexible collision block is installed on the second joint assembly part, used to limit the rotation angle of the second joint assembly part and other components installed on the second joint assembly part relative to the axis of the first joint aluminum hollow shaft.;

[0007] Furthermore, the second joint assembly part includes a second joint base fixing plate, a second joint rear plate, a second joint reinforcement steel column and two assembly units installed symmetrically on the left and right, each assembly unit includes a second joint side plate, an aluminum vertical adapter, a second joint motor fixing plate, a second joint aluminum motor sleeve, a second joint driven side plate, a second joint bearing gasket, a second joint limiting bearing cover plate, a second joint flexible collision block, a second joint drive motor, a small bevel gear and a second joint retaining side bearing; wherein, there are mortise and tenon female openings on the left and right sides of the second joint base fixing plate, which cooperate with the mortise and tenon male openings of the second joint side plates of the two sets of assembly units, and there are mortise and tenon male openings on the second joint base fixing plate and the second joint side plates that are compatible with the aluminum vertical adapter The matching holes are used to connect and fix the second joint base fixing plate and the second joint side plate through screws and aluminum vertical adapters. One side surface of the second joint side plate contacts with the side without countersunk holes of the second joint motor fixing plate. There are evenly distributed rivet installation holes on the second joint side plate and the second shutdown motor fixing plate. After aligning the holes, the second joint side plate and the second joint motor fixing plate are connected and fixed through rivets. The center hole of the second joint motor fixing plate is concentric with the second joint drive motor, the second joint aluminum motor sleeve, the second joint driven side plate, the second joint bearing gasket and the second joint retaining side bearing. The side surface of the output shaft of the second joint drive motor contacts with the inner side surface of the second joint aluminum motor sleeve. The side surface of the inner ring with the rib on the right side of the second joint rib bearing contacts with the ring surface of the second joint aluminum motor sleeve, one side of the second joint bearing gasket ring contacts with the side surface of the inner ring without the rib on the left side of the second joint rib bearing, and the left side of the second joint aluminum motor sleeve contacts with the second joint motor fixing plate, and finally the second joint motor fixing plate, the second joint aluminum motor sleeve and the second joint drive motor are fixed by screws, while ensuring that the second joint rib bearing is fixed in the direction of the motor axis by the second joint bearing gasket ring, one side of the driven side plate of the second joint motor fits with the inner side surface of the rib side outer ring of the second joint rib bearing, and the outer side surface of the rib outer ring of the second joint rib bearing contacts with the second joint limiting bearing cover plate, and is fixed by rivets. The two are connected to ensure that the outer ring of the second joint guard side bearing is clamped between the two, so that the second joint driven side plate and the second joint bearing limit cover plate can rotate around the output shaft of the second joint drive motor. There is a mortise and tenon structure and a steel column mounting hole on the rear side of the second joint side plate. The second joint reinforcement steel column and the second joint rear plate are installed between the second joint side plates on the left and right sides through an aluminum vertical adapter and screws to ensure the stability of the overall assembly of the second joint. The second joint flexible collision block is installed on the second joint side plate by screws to achieve the limitation of the second joint. The small bevel gear is installed on the output shaft of the second joint drive motor, and the output shaft is clamped by screws to achieve motor control synchronous rotation.

[0008] Furthermore, the third joint assembly part includes a third joint base fixing plate, a third joint bearing cover plate, a third joint ribbed bearing, a third joint printing pad, a third joint suction cup rotating fitting, a large bevel gear, a rotating pneumatic interface, a suction cup, and a vertical plate connector; wherein, the third joint ribbed bearing is concentric with the central hole of the third joint base fixing plate, and its rib sinks into the cavity of the third joint base fixing plate. One side surface of the third joint bearing cover plate contacts the outer side surface of the third joint base fixing plate, and the two are tightly connected by rivets to fix the third joint ribbed bearing in the cavity. The third joint suction cup rotating fitting is a disc structure with a circular boss. Multiple threaded through holes are provided on the disc. The outer side of the disc is defined as the large circle end face, and the boss end face is defined as the small circle end face. The boss part of the third joint suction cup rotating fitting is embedded in the third joint ribbed bearing. The inner side of the disc contacts one side surface of the third joint printing pad, and the other side surface of the third joint printing pad contacts the large bevel gear. The third joint suction cup rotating fitting, the third joint printing pad, and the large bevel gear are fixed on the inner bushing of the third joint ribbed bearing by screwing the threaded through holes on the disc with screws. The large bevel gear is located between the small bevel gears of the two assembly units and meshes with the small bevel gears of the two assembly units respectively. The rotating pneumatic interface is directly connected to the small circle end face of the third joint suction cup rotating fitting through its own pipe thread. The suction cup is connected to the large circle end face of the third joint suction cup rotating fitting by screws. There are mortise and tenon female openings and hole positions for installing the vertical plate connector on the left and right symmetric second joint driven side plates in the second joint assembly part. At the same time, corresponding mortise and tenon male openings exist on the third joint base fixing plate. The third joint base fixing plate and the left and right symmetric second joint driven side plates in the second joint assembly part are tightly connected by the vertical plate connector and bolts, so as to realize the meshing of the small bevel gear and the large bevel gear, and further realize the rotation of the third joint assembly part around the axis of the second joint driving motor and the rotation of the suction cup around the axis of the third joint suction cup rotating fitting.

[0009] Furthermore, the upper surface of the second joint base fixing plate contacts the lower surface of the first joint gasket two. Since there are evenly distributed threaded holes on the first joint aluminum hollow shaft and evenly distributed screw holes on the first joint large gear, the first joint gasket two, and the second joint base fixing plate, the second joint base fixing plate, the first joint aluminum hollow shaft, the first joint gasket two, the first joint gasket two, and the first joint large gear are fastened together by screws, so as to realize the connection between the first joint assembly part and the second joint assembly part, and further ensure that the second joint assembly part can rotate along the axis of the first joint of the wrist.

[0010] Furthermore, there are mounting hole positions for the first joint flexible collision block on the second joint base fixing plate. The first joint flexible collision block is fixed on the second joint base fixing plate by screws, so as to realize the angle limitation of the rotation of the second joint assembly part and other components mounted on the second joint assembly part relative to the axis of the first joint aluminum hollow shaft.

[0011] Furthermore, it also includes three motor protection housings, which are respectively held tightly on the three motors. Each motor protection housing includes a front plastic part for joint motor protection, a rear plastic part for joint motor protection and an upper plastic part for joint motor protection. Among them, there are two corresponding hole positions on the front plastic part for joint motor protection and the rear plastic part for joint motor protection. The front plastic part for joint motor protection and the rear plastic part for joint motor protection are combined by screws and nuts and held tightly on the corresponding motor. The upper plastic part for joint motor protection also has corresponding hole positions and is fixed on the combined front plastic part for joint motor protection and rear plastic part for joint motor protection by screws and nuts, so as to realize the protection of the motor rotor.

[0012] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0013] 1. The structure of this mechanism is simple and reliable, the interchangeability of parts is high, and it is convenient to manufacture.

[0014] 2. This mechanism is easy to install, the overall structure is compact, and the adaptability is strong.

[0015] 3. This mechanism adopts a non-fully enclosed design, which is convenient for maintenance and replacement.

[0016] 4. The overall cost of this mechanism is low, and it is assembled with sheet metal parts and standard parts.

[0017] 5. This mechanism is designed with lightweight, has a short transmission chain and responds quickly.

[0018] In short, the purpose of the present invention is to improve the transmission accuracy of the robot wrist, while realizing lightweight and integrated design, and reasonably solving the wiring problem of the joint motor and the suction cup air circuit. The mechanism of the present invention consists of three parts: the first joint assembly part adopts gear transmission and is equipped with a limit mechanism to prevent excessive rotation; the second joint assembly part realizes stable rotation through bevel gear transmission and is provided with a flexible collision block for angle limitation; the third joint assembly part realizes the free rotation and air circuit connection of the suction cup and moves in coordination with the second joint assembly part through bevel gear transmission. The present invention has the advantages of simple structure, easy installation, strong adaptability, easy maintenance, etc., and is applicable to a variety of industrial automation scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is one of the assembly schematic diagrams of the robot wrist mechanism.

[0020] Figure 2 It is the second assembly schematic diagram of the robot wrist mechanism.

[0021] Figure 3 It is the third assembly schematic diagram of the robot wrist mechanism.

[0022] Figure 4 It is the fourth assembly schematic diagram of the robot wrist mechanism.

[0023] Figure 5 It is the exploded view of the first joint assembly part.

[0024] Figure 6 It is the exploded view of the second joint assembly part.

[0025] Figure 7 It is the exploded view of the third joint assembly part. Specific embodiments

[0026] The present invention will be further described in detail below in conjunction with the embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0027] As Figures 1 to 7 shown, this embodiment discloses a robot wrist mechanism with a built-in suction cup, which includes a first joint assembly part 1 with limited position based on gear transmission, a second joint assembly part 2 with limited position based on bevel gear transmission, and a third joint assembly part 3 that rotates freely without limitation; there is one first joint assembly part 1, and it is configured with one motor, there is one second joint assembly part 2, which is configured with two motors and is installed on the first joint assembly part 1 by screws; there is one third joint assembly part 3, which is connected to the end of the suction cup and is installed on the second joint assembly part 2 by screws and a vertical plate connector; when the first joint assembly part 1 is fixed, the second joint assembly part 2 can make a servo rotation with limited position around the first joint axis of the wrist under the drive of the motor of the first joint assembly part 1, and the third joint assembly part 3 can rotate through the differential rotation of the two motors of the second joint assembly part 2, so as to realize the change of the posture of the suction cup in space, and further realize the adsorption of the suction cup on objects with any posture in space.

[0028] Specifically, the first joint assembly part 1 includes a first joint base fixing plate 101, a first joint bearing cover plate 102, a first joint ribbed bearing 103, a thrust needle roller bearing 104, a first joint aluminum hollow shaft 105, a first joint gasket one 106, a first joint gasket two 107, a first joint large gear 108, a first joint small gear 109, a rigid aluminum coupling 110, a first joint drive motor 111, a first joint flexible collision block 112, and a first joint limit printing block 113; among them, there are hole positions on the first joint base fixing plate 101 for installing the first joint ribbed bearing 103 and for screw installation. The first joint ribbed bearing 103 is embedded in the bearing fixing hole position on the first joint base fixing plate 101. The rib of the first joint ribbed bearing 103 contacts the upper surface of the first joint base fixing plate 101. The central large hole of the first joint bearing cover plate 102 is concentric with the first joint ribbed bearing 103. The first joint bearing cover plate 102 covers the upper surface of the first joint ribbed bearing 103. The lower surface of the first joint bearing cover plate 102 contacts the upper surface of the first joint base fixing plate 101. There are a plurality of evenly distributed screw holes on the first joint bearing cover plate 102, which are respectively concentric with the screw holes on the first joint base fixing plate 101. The first joint bearing cover plate 102 is fixed on the first joint base fixing plate 101 by screws and nuts. The first joint ribbed bearing 103 is fixed on the first joint base fixing plate 102 by the mutual fixing method of the first joint bearing cover plate 102 and the first joint base fixing plate 101. There are output shaft installation hole positions and screw fixing hole positions for fixing the first joint drive motor 111 on the first joint bearing cover plate 102. There are threaded blind holes on the first joint drive motor 111. The output shaft of the first joint drive motor 111 is concentric with the motor shaft installation hole position on the first joint bearing cover plate 102. The first joint drive motor 111 is fixed on the first joint bearing cover plate 102 by screws passing through the screw fixing hole positions on the first joint bearing cover plate 102. There are a plurality of fixing hole positions for the first joint limit printing block 113 on the first joint base fixing plate 101. The upper surface of the first joint limit printing block 113 contacts the lower surface of the first joint base fixing plate 101 and is fixed on the first joint base fixing plate 101 by screws and nuts. The thrust needle roller bearing 104 is concentric with the first joint aluminum hollow shaft 105. The upper surface of the thrust needle roller bearing 104 contacts the lower surface of the first step on the first joint aluminum hollow shaft 105. The lower surface of the thrust needle roller bearing 104 contacts the upper surface of the first joint bearing cover plate 102. The central hole of the first joint gasket one 106 is concentric with the first joint aluminum hollow shaft 105. The upper surface of the first joint gasket one 106 contacts the lower inner surface of the first joint ribbed bearing 103. Its lower surface and the lower surface of the first joint aluminum hollow shaft 105 together contact the upper surface of the first joint large gear 108.The lower surface of the first joint large gear 108 is in contact with the upper surface of the first joint gasket two 107. The rigid aluminum coupling 110 is installed on the output shaft of the first joint drive motor 111. The lower surface of the rigid aluminum coupling 110 is in contact with the upper surface of the first joint pinion 109, and the rigid aluminum coupling 110 and the first joint pinion 109 are fixed together by screws. The first joint pinion 109 meshes with the first joint large gear 108 and is connected to the output shaft of the first joint drive motor 111 through the rigid aluminum coupling 110, realizing the control of the first joint drive motor 111 for the rotation of the first joint of the wrist. The first joint flexible collision block 112 is installed on the second joint assembly part and is used to limit the rotation angle of the second joint assembly part 2 and other components installed on the second joint assembly part 2 relative to the axis of the first joint aluminum hollow shaft 105.,

[0029] Specifically, the second joint assembly part 2 includes a second joint base fixing plate 201, a second joint rear plate 203, second joint reinforcing steel columns 210, and two symmetrically installed assembly units on the left and right. Each assembly unit includes a second joint side plate 202, an aluminum vertical adapter 204, a second joint motor fixing plate 205, a second joint aluminum motor sleeve 206, a second joint driven side plate 207, a second joint bearing spacer ring 208, a second joint limit bearing cover plate 209, a second joint flexible collision block 211, a second joint drive motor 212, a small bevel gear 213, and a second joint edge bearing 214;Among them, there are mortise and tenon female openings on the left and right sides of the second joint base fixing plate 201, which cooperate with the mortise and tenon male openings of the second joint side plates 202 of the two sets of assembly units, and there are holes on the second joint base fixing plate 201 and the second joint side plates 202 that cooperate with the aluminum vertical adapter 204. The second joint base fixing plate 201 and the second joint side plates 202 are connected and fixed by screws and the aluminum vertical adapter 204. The surface of one side of the second joint side plate 202 is in contact with the side of the second joint motor fixing plate 205 without countersunk holes. There are evenly distributed rivet installation holes on the second joint side plate 202 and the second shutdown motor fixing plate 205. After the holes are aligned, the second joint is fixed by rivets The side plate 202 is connected and fixed to the second joint motor fixing plate 205. The center hole of the second joint motor fixing plate 205 is concentric with the second joint drive motor 212, the second joint aluminum motor sleeve 206, the second joint driven side plate 207, the second joint bearing gasket 208 and the second joint flange bearing 214. The side surface of the output shaft of the second joint drive motor 212 contacts the inner side surface of the second joint aluminum motor sleeve 206. The right side surface of the inner ring with flange of the second joint flange bearing 214 contacts the annular surface of the second joint aluminum motor sleeve 206. One side of the second joint bearing gasket 208 contacts the left side surface of the inner ring without flange of the second joint flange bearing 214. The second joint aluminum motor sleeve The left side of 206 contacts with the second joint motor fixing plate 205, and finally the second joint motor fixing plate 205, the second joint aluminum motor sleeve 206 and the second joint drive motor 212 are fixed by screws, and at the same time, the second joint flange bearing 214 is fixed in the direction of the motor axis through the second joint bearing gasket 208, and one side of the second joint motor driven side plate 207 is in contact with the inner side of the flange side outer ring of the second joint flange bearing 214, and the outer side of the flange outer ring of the second joint flange bearing 214 is in contact with the second joint limit bearing cover plate 209, and the two are connected by rivets to ensure that the flange outer ring of the second joint flange bearing 214 is clamped between the two, so that the second joint driven side The plate 207 and the second joint bearing limit cover plate 209 can rotate around the output shaft of the second joint drive motor 212. There are mortise and tenon structures and steel column installation holes on the rear side of the second joint side plate 202. The second joint reinforcement steel column 210 and the second joint rear plate 203 are installed between the second joint side plates 202 on the left and right sides through the aluminum vertical adapter 204 and screws to ensure the stability of the overall assembly of the second joint. The second joint flexible collision block 211 is installed on the second joint side plate 202 by screws to achieve the limit of the second joint. The small bevel gear 213 is installed on the output shaft of the second joint drive motor 212, and the output shaft is tightened by screws to achieve motor control synchronous rotation. ;

[0030] Specifically, the third joint assembly part 3 includes a third joint base fixing plate 301, a third joint bearing cover plate 302, a third joint ribbed bearing 303, a third joint printing pad 304, a third joint suction cup rotating fitting 305, a large bevel gear 306, a rotating pneumatic interface 307, a suction cup 308, and a vertical plate connector 309. Among them, the third joint ribbed bearing 303 is concentric with the central hole of the third joint base fixing plate 301, and its rib sinks into the cavity of the third joint base fixing plate 301. One side surface of the third joint bearing cover plate 302 is in contact with the outer side surface of the third joint base fixing plate 301, and the two are tightly connected by rivets to fix the third joint ribbed bearing 303 in the cavity. The third joint suction cup rotating fitting 305 is a disc structure with a circular boss. A plurality of threaded through holes are provided on the disc. The outer side of the disc is defined as the large circle end face, and the boss end face is defined as the small circle end face. The boss part of the third joint suction cup rotating fitting 305 is embedded in the third joint ribbed bearing 303. The inner side of the disc is in contact with one side surface of the third joint printing pad 304, and at the same time, the other side surface of the third joint printing pad 304 is in contact with the large bevel gear 306. The third joint suction cup rotating fitting 305, the third joint printing pad 304, and the large bevel gear 306 are fixed on the inner bushing of the third joint ribbed bearing 303 by screwing with the threaded through holes on the disc. The large bevel gear 306 is located between the small bevel gears 213 of the two assembly units and meshes with the small bevel gears 213 of the two assembly units respectively. The rotating pneumatic interface 307 is directly connected to the small circle end face of the third joint suction cup rotating fitting 305 through its own pipe thread. The suction cup 308 is connected to the large circle end face of the third joint suction cup rotating fitting 305 by screws. There are mortise and tenon female openings and hole positions for installing the vertical plate connector 309 on the left and right symmetric second joint driven side plates 207 in the second joint assembly part 2. At the same time, there are corresponding mortise and tenon male openings on the third joint base fixing plate 301. The third joint base fixing plate 301 and the left and right symmetric second joint driven side plates 207 in the second joint assembly part 2 are tightly connected by the vertical plate connector 309 and bolts, so as to realize the meshing of the small bevel gear 213 and the large bevel gear 306, and further realize the rotation of the third joint assembly part 3 around the axis of the second joint drive motor 212 and the rotation of the suction cup 308 around the axis of the third joint suction cup rotating fitting 305.

[0031] Specifically, the upper surface of the second joint base fixing plate 201 is in contact with the lower surface of the first joint gasket two 106. Since there are evenly distributed threaded holes on the first joint aluminum hollow shaft 105, and there are evenly distributed screw holes on the first joint large gear 108, the first joint gasket two 107 and the second joint base fixing plate 201, the above-mentioned second joint base fixing plate 201, the first joint aluminum hollow shaft 105, the first joint gasket two 106, the first joint gasket two 107 and the first joint large gear 108 are fastened together by screws, so as to realize the connection between the first joint assembly part 1 and the second joint assembly part 2, and further ensure that the second joint assembly part 2 can rotate along the axis of the first joint of the wrist.

[0032] Specifically, there are mounting hole positions for the first joint flexible collision block 112 on the second joint base fixing plate 201. The first joint flexible collision block 112 is fixed on the second joint base fixing plate 112 by screws, so as to realize the angle limitation of the rotation of the second joint assembly part 2 and other components mounted on the second joint assembly part 2 relative to the axis of the first joint aluminum hollow shaft 105.

[0033] Specifically, the motor protection housing 4 includes a front plastic part 401 for joint motor protection, a rear plastic part 402 for joint motor protection and an upper plastic part 403 for joint motor protection; among them, there are two corresponding hole positions on the front plastic part 401 for joint motor protection and the rear plastic part 402 for joint motor protection. The front plastic part 401 for joint motor protection and the rear plastic part 402 for joint motor protection are combined by screws and nuts and held tightly on the corresponding motor. The upper plastic part 403 for joint motor protection also has corresponding hole positions and is fixed on the combined front plastic part 401 for joint motor protection and the rear plastic part 402 for joint motor protection by screws and nuts, so as to realize the protection of the motor rotor.

[0034] The above embodiments are the preferred embodiments of the present invention, but the embodiments of the present invention are not limited by the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention shall be equivalent replacement methods and shall be included in the protection scope of the present invention.

Claims

1. A robot wrist mechanism with a suction cup, characterized in that: The invention comprises a first joint assembly part (1) with limited position based on gear transmission, a second joint assembly part (2) with limited position based on bevel gear transmission, and a third joint assembly part (3) with free rotation without limit. The first joint assembly part (1) has one and is equipped with a motor, the second joint assembly part (2) has one and is equipped with two motors and is mounted on the first joint assembly part (1) by screws. The third joint assembly part (3) has one and is connected to the end of the suction cup and is mounted on the second joint assembly part (2) by screws and a vertical plate connection. When the first joint assembly part (1) is fixed, the second joint assembly part (2) can perform limited servo rotation around the first joint axis of the wrist under the drive of the motor of the first joint assembly part (1), and the third joint assembly part (3) can rotate through the differential rotation of the two motors of the second joint assembly part (2), thereby realizing the change of the posture of the suction cup in space, and further realizing the suction cup for objects with any posture in space.

2. The robot wrist mechanism with a suction cup according to claim 1, characterized in that: The first joint assembly part (1) comprises a first joint base fixing plate (101), a first joint bearing cover plate (102), a first joint retaining edge bearing (103), a thrust needle roller bearing (104), a first joint aluminum hollow shaft (105), a first joint gasket 1 (106), a first joint gasket 2 (107), a first joint large gear (108), a first joint small gear (109), a rigid aluminum coupling (110), a first joint drive motor (111), a first joint flexible collision block (112) and a first joint limit printing block (113); wherein, the first joint base fixing plate (101) has holes for installing the first joint retaining edge bearing (103) and screws, and the first joint The retaining edge bearing (103) is embedded in the bearing fixing hole on the first shutdown base fixing plate (101); the retaining edge of the first joint retaining edge bearing (103) contacts the upper surface of the first joint base fixing plate (101); the central large hole of the first joint bearing cover plate (102) is concentric with the first joint retaining edge bearing (103); the first joint bearing cover plate (102) covers the upper surface of the first joint retaining edge bearing (103); the lower surface of the first joint bearing cover plate (102) contacts the upper surface of the first joint base fixing plate (101); there are multiple evenly distributed screw holes on the first joint bearing cover plate (102), which are respectively concentric with the screw holes on the first joint base fixing plate (101); the first joint bearing cover plate (102) 02) is fixed to the first joint base fixing plate (101) by screws and nuts, and the first joint retaining side bearing (103) is fixed to the first joint base fixing plate (102) by the mutual fixing method of the first joint bearing cover plate (102) and the first joint base fixing plate (101), the first joint bearing cover plate (102) has an output shaft mounting hole and a screw fixing hole used for fixing the first joint drive motor (111), the first joint drive motor (111) has a threaded blind hole, the output shaft of the first joint drive motor (111) is concentric with the motor shaft mounting hole on the first joint bearing cover plate (102), and the first joint is fixed by screws passing through the screw fixing hole on the first joint bearing cover plate (102). The machine driving motor (111) is fixed on the first joint bearing cover plate (102); the first shutdown base fixing plate (101) has a plurality of fixing holes used by the first joint limit printing block (113); the upper surface of the first joint limit printing block (113) contacts the lower surface of the first joint base fixing plate (101) and is fixed to the first joint base fixing plate (101) by means of screws and nuts; the thrust needle roller bearing (104) is concentric with the first joint aluminum hollow shaft (105); the upper surface of the thrust needle roller bearing (104) contacts the lower surface of the first step on the first joint aluminum hollow shaft (105); the lower surface of the thrust needle roller bearing (104) contacts the upper surface of the first joint bearing cover plate (102);The center hole of the first joint gasket 1 (106) is concentric with the first joint aluminum hollow shaft (105); the upper surface of the first joint gasket 1 (106) contacts the lower surface of the inner ring of the first joint retaining edge bearing (103); its lower surface and the lower surface of the first joint aluminum hollow shaft (105) contact the upper surface of the first joint large gear (108); the lower surface of the first joint large gear (108) contacts the upper surface of the first joint gasket 2 (107); the rigid aluminum coupling (110) is installed on the output shaft of the first joint drive motor (111); the lower surface of the rigid aluminum coupling (110) contacts the upper surface of the first joint small gear (109) The rigid aluminum coupling (110) is fixed to the first joint pinion (109) by screws, the first joint pinion (109) is meshed with the first joint gear (108), and then connected to the output shaft of the first joint drive motor (111) through the rigid aluminum coupling (110), so that the first joint drive motor (111) controls the rotation of the first wrist joint, and the first joint flexible collision block (112) is installed on the second joint assembly part, and is used to limit the rotation angle of the second joint assembly part (2) and other components installed on the second joint assembly part (2) relative to the axis of the first joint aluminum hollow shaft (105).

3. The robot wrist mechanism with a suction cup according to claim 2, characterized in that: The second joint assembly part (2) comprises a second joint base fixing plate (201), a second joint rear plate (203), a second joint reinforcement steel column (210) and two assembly units installed symmetrically on the left and right, each assembly unit comprising a second joint side plate (202), an aluminum vertical adapter (204), a second joint motor fixing plate (205), a second joint aluminum motor sleeve (206), a second joint driven side plate (207), a second joint bearing gasket (208), a second joint limit bearing cover plate (209), a second joint flexible collision block (211), a second joint drive motor (212), a small bevel gear (213) and a second joint retaining side bearing (214); wherein the second joint base fixing plate There are mortise and tenon female openings on the left and right sides (201), which cooperate with the mortise and tenon male openings of the second joint side plates (202) of the two sets of assembly units. The second joint base fixing plate (201) and the second joint side plate (202) both have holes that cooperate with the aluminum vertical adapter (204). The second joint base fixing plate (201) and the second joint side plate (202) are connected and fixed by screws and the aluminum vertical adapter (204). The surface of one side of the second joint side plate (202) contacts the side without countersunk holes of the second joint motor fixing plate (205). The second joint side plate (202) and the second shutdown motor fixing plate (205) both have evenly distributed rivet installation holes. After the holes are aligned, the second joint base fixing plate (201) and the second shutdown motor fixing plate (205) are fixed by rivets. The joint side plate (202) is connected and fixed to the second joint motor fixing plate (205); the center hole of the second joint motor fixing plate (205) is concentric with the second joint drive motor (212), the second joint aluminum motor sleeve (206), the second joint driven side plate (207), the second joint bearing gasket (208) and the second joint retaining edge bearing (214); the output shaft side of the second joint drive motor (212) contacts the inner side of the second joint aluminum motor sleeve (206); the right side of the second joint retaining edge bearing (214) with the retaining edge inner ring side contacts the ring surface of the second joint aluminum motor sleeve (206); one side of the second joint bearing gasket (208) contacts the left side of the second joint retaining edge bearing (214); The side surface of the inner ring without a flange is in contact with each other, the left side of the second joint aluminum motor sleeve (206) is in contact with the second joint motor fixing plate (205), and finally the second joint motor fixing plate (205), the second joint aluminum motor sleeve (206) and the second joint drive motor (212) are fixed by screws, and at the same time, the second joint flange bearing (214) is fixed in the direction of the motor axis by the second joint bearing gasket (208), one side of the second joint motor driven side plate (207) is in contact with the inner side surface of the flange side outer ring of the second joint flange bearing (214), and the outer side surface of the flange outer ring of the second joint flange bearing (214) is in contact with the second joint limit bearing cover plate (209), and the two are connected by rivets.Ensure that the outer ring of the second joint retaining bearing (214) is clamped between the two, so that the second joint driven side plate (207) and the second joint bearing limiting cover plate (209) can rotate around the output shaft of the second joint drive motor (212). The rear side of the second joint side plate (202) has a mortise and tenon structure and a steel column installation hole. The second joint reinforcement steel column (210) and the second joint rear plate (203) are installed between the second joint side plates (202) on the left and right sides through an aluminum vertical adapter (204) and screws to ensure the stability of the overall assembly of the second joint. The second joint flexible collision block (211) is installed on the second joint side plate (202) by screws to achieve the limitation of the second joint. The small bevel gear (213) is installed on the output shaft of the second joint drive motor (212). The output shaft is clamped by screws to achieve motor control synchronous rotation.

4. The robot wrist mechanism with a suction cup according to claim 3, characterized in that: The third joint assembly part (3) comprises a third joint base fixing plate (301), a third joint bearing cover plate (302), a third joint retaining edge bearing (303), a third joint printing pad (304), a third joint suction cup rotating hardware (305), a large bevel gear (306), a rotating pneumatic interface (307), a suction cup (308) and a vertical plate connection piece (309); wherein the third joint retaining edge bearing (303) is concentric with the center hole of the third joint base fixing plate (301), and its retaining edge is sunk into the mold cavity of the third joint base fixing plate (301); one side of the third joint bearing cover plate (302) is in contact with the third joint base fixing plate (301); The outer side of the third joint suction cup rotating hardware (305) is in contact with each other, and the two are tightly connected by rivets to achieve the fixation of the third joint retaining edge bearing (303) in the cavity. The third joint suction cup rotating hardware (305) is a disc structure with a circular boss. A plurality of threaded through holes are opened on the disc. The outer side of the disc is defined as a large circular end face, and the boss end face is defined as a small circular end face. The boss portion of the third joint suction cup rotating hardware (305) is embedded in the third joint retaining edge bearing (303). The inner side of the disc is in contact with one side of the third joint printing pad (304). At the same time, the other side of the third joint printing pad (304) is in contact with the large bevel gear (306). The threaded through holes on the disc are connected with screws to make The third joint suction cup rotating hardware (305), the third joint printing pad (304) and the large bevel gear (306) are fixed on the inner bearing bush of the third joint retaining edge bearing (303), the large bevel gear (306) is located between the small bevel gears (213) of the two assembly units, and is respectively meshed with the small bevel gears (213) of the two assembly units, the rotating pneumatic interface (307) is directly connected to the small circular end surface of the third joint suction cup rotating hardware (305) through its own pipe thread, the suction cup (308) is connected to the large circular end surface of the third joint suction cup rotating hardware (305) through screws, and the left-right symmetrical third joint assembly part (2) is provided. There are mortise and tenon female openings and holes for installing the vertical plate connection piece (309) on the second joint driven side plate (207), and corresponding mortise and tenon male openings are provided on the third joint base fixing plate (301). The third joint base fixing plate (301) and the left-right symmetrical second joint driven side plate (207) in the second joint assembly part (2) are fastened with bolts through the vertical plate connection piece (309), thereby realizing the meshing of the small bevel gear (213) and the large bevel gear (306), thereby realizing the rotation of the third joint assembly part (3) around the axis of the second joint drive motor (212) and the rotation of the suction cup (308) around the axis of the third joint suction cup rotating hardware (305).

5. The robot wrist mechanism with a suction cup according to claim 4, characterized in that: The upper surface of the second joint base fixing plate (201) is in contact with the lower surface of the first joint gasket 2 (106). Since the first joint aluminum hollow shaft (105) has evenly distributed threaded holes and the first joint large gear (108), the first joint gasket 2 (107) and the second joint base fixing plate (201) all have evenly distributed screw holes, the second joint base fixing plate (201), the first joint aluminum hollow shaft (105), the first joint gasket 2 (106), the first joint gasket 2 (107) and the first joint large gear (108) are fastened together by screws, thereby realizing the connection between the first joint assembly part (1) and the second joint assembly part (2), thereby ensuring that the second joint assembly part (2) can rotate along the axis of the first joint of the wrist.

6. The robot wrist mechanism with a suction cup according to claim 5, characterized in that: The second joint base fixing plate (201) has a mounting hole for the first joint flexible collision block (112), and the first joint flexible collision block (112) is fixed to the second joint base fixing plate (112) by screws, thereby achieving an angle limit for the second joint assembly part (2) and other components mounted on the second joint assembly part (2) relative to the axis of the first joint aluminum hollow shaft (105).

7. The robot wrist mechanism with a suction cup according to claim 6, characterized in that: It also includes three motor protection shells (4) which are respectively clamped on the three motors, and each motor protection shell (4) includes a joint motor protection front plastic part (401), a joint motor protection rear plastic part (402) and a joint motor protection upper plastic part (403); wherein the joint motor protection front plastic part (401) and the joint motor protection rear plastic part (402) have two corresponding holes, and the joint motor protection front plastic part (401) and the joint motor protection rear plastic part (402) are combined with screws and nuts and clamped on the corresponding motors, and the joint motor protection upper plastic part (403) also has corresponding holes and is fixed to the combined joint motor protection front plastic part (401) and joint motor protection rear plastic part (402) by screws and nuts, thereby protecting the motor rotor.

Images