A robotic wrist and method of assembling the same

Abstract

The application relates to a robot wrist and an assembling method thereof, wherein the robot wrist comprises a fixed seat and a mounting frame connected to the fixed seat; a main drive module and a driven drive module are arranged on the mounting frame, the driven drive module is connected with an output flange capable of outputting left and right yaw actions; the main drive module is in transmission connection with the driven drive module through a belt transmission assembly, so that the main drive module can drive the driven drive module to perform up and down pitching actions on the mounting frame; an idler wheel capable of moving up and down is connected to the mounting frame, the idler wheel can press at least part of a transmission belt downward; and a falling weight is detachably hung on the idler wheel, so as to adjust the tension degree of the transmission belt by using the gravity of the falling weight.

Description

Technical Field

[0001] This application relates to the field of industrial robot technology, and more specifically, to a robot wrist and its assembly method. Background Technology

[0002] A robot's wrist, similar to a human's, has two degrees of freedom: pitch (up and down), or the first joint, and yaw (left and right), or the second joint. These are typically driven by two separate actuators. Common robot wrist designs include the following two types: The technical solutions disclosed in publication numbers CN119388477A and CN119610202A are characterized by using a parallelogram-shaped linkage to drive the first joint, while the second joint adopts a module-direct-connected output flange. Since the angle between two adjacent linkages in the parallelogram cannot be zero or 180 degrees, the rotation angle of the first joint is limited to less than 180 degrees.

[0003] The technical solution disclosed in CN119057832A uses two linear modules to achieve two degrees of freedom at the end through a push-pull method. Similarly, the angle that can be achieved by the push-pull is also limited to within 180 degrees.

[0004] The technical solution disclosed in publication number CN217943345U is a different design, in which the first joint adopts synchronous belt drive and the second joint adopts the form of joint module direct connection to output flange.

[0005] The use of synchronous belt drive improves the problem of angles less than 180 degrees, but the synchronous belt assembly requires tension adjustment. The patented design uses screw tightening to drive the first drive motor, which has two problems: The first screw needs to be tightened while checking whether the tension is within the target value, and a specific tension testing tool is required. It usually requires multiple tightening and measurement, which is inconvenient.

[0006] The position of the second drive motor is not fixed. As the belt tightens, the drive motor moves backward, but the position of the backward movement is not fixed because the center of gravity of each robot's wrist is different, resulting in poor consistency. This will affect the robot's servo control. Summary of the Invention

[0007] The purpose of this application is to provide a robot wrist and its assembly method, which enables the first joint to rotate more than 180° while ensuring the position of the drive motor and the center of gravity of each robot wrist are fixed. By utilizing constant gravity to adjust tension, professional and expensive tension testing equipment is eliminated, while achieving fast and highly consistent tension adjustment.

[0008] To achieve the above objectives, in a first aspect, the present invention provides a robot wrist, comprising: a fixed base and a mounting bracket, wherein the mounting bracket is connected to the fixed base; The mounting bracket is equipped with an active drive module and a driven drive module. The driven drive module is connected to an output flange that can output left and right yaw movements. The active drive module is connected to the driven drive module via a belt drive assembly, enabling the active drive module to drive the driven drive module to perform up-and-down pitching motions on the mounting frame. The mounting bracket is connected to an idler pulley that can move up and down, and the idler pulley can press down on at least a portion of the drive belt; It also includes a drop weight, which is detachably attached to the idler pulley and used to adjust the tension of the drive belt by using the weight of the drop weight.

[0009] In an optional embodiment, the mounting frame is a cantilever frame connected to the fixed base, including fixed flanges and auxiliary support flanges located on the front and rear sides, and the active drive module and the driven drive module are installed between the fixed flanges and the auxiliary support flanges.

[0010] In an optional embodiment, the active drive module includes an active output shaft, the driven drive module includes a driven output shaft, and the active output shaft and the driven output shaft are arranged perpendicularly. The belt drive assembly includes a driving pulley, a driven pulley, and the drive belt, wherein the driving pulley is connected to the driving output shaft; The driven module includes a driven module housing, on which a pitch roller is provided, and the driven pulley is connected to the pitch roller located on the transmission side.

[0011] In an optional embodiment, the pitch roller is disposed on the front and rear sides of the driven module housing, and the extending direction of the pitch roller is perpendicular to the extending direction of the driven output shaft.

[0012] In an optional embodiment, the pitch roller located on the front side passes through the mounting hole of the fixed flange and is connected to the driven pulley; The auxiliary support flange is provided with mounting holes, and the pitch roller shaft located on the rear side is connected in the mounting holes; Bearings are respectively provided between the pitch roller shaft and the mounting holes of the fixed flange and the auxiliary support flange.

[0013] In an optional embodiment, the drive belt is coiled between the driving pulley and the driven pulley, and the idler pulley is disposed in the coiling space of the drive belt and overlaps and presses down on the drive belt.

[0014] In an optional embodiment, the fixed flange is provided with a pair of elongated holes, and the idler wheel includes a pressure roller, a baffle and a fastening screw arranged in sequence from front to back. The baffle is located on the rear side of the fixed flange, and the screw of the fastening screw passes through the baffle and the elongated hole from back to front and is screwed to the pressure roller.

[0015] In an optional embodiment, the pressure roller includes a wheel body and a mounting shaft located inside the wheel body, and a free-spinning bearing is provided between the wheel body and the mounting shaft; The falling weight includes a weight body and a connecting rod with a hook, the connecting rod being hooked onto a screw between the wheel and the fixed flange.

[0016] In an optional embodiment, the output flange includes a connecting flange and a yaw flange of integral structure, an L-shaped bending plate is provided between the connecting flange and the yaw flange, the connecting flange is connected to the driven output shaft, and an actuation mechanism is externally connected to the yaw flange.

[0017] Secondly, the present invention provides a method for assembling a robot wrist, which is performed using the robot wrist described in any of the foregoing embodiments, and includes the following steps: The active drive module and the driven drive module are mounted on the mounting bracket, and the belt drive assembly and idler pulley are connected between the active drive module and the driven drive module to keep the drive belt slack. A weight is attached to the idler pulley, and as the idler pulley falls, it presses down on the drive belt, providing a constant downward force to the idler pulley and a constant tension to the drive belt. Secure the idler wheel to the mounting bracket to complete the assembly of the robot wrist.

[0018] By setting a belt drive assembly between the active drive module and the driven drive module, the driven drive module can output pitch motion under the drive of the active drive module through the transmission of the belt, thereby ensuring the range of motion of the driven drive module and outputting pitch motion with a larger pitch angle.

[0019] By connecting an idler wheel that can move up and down on the mounting bracket and pressing down on the drive belt, the tension of the drive belt can be adjusted without changing the position of the joint module or the drive motor, thus reducing the impact of wrist center of gravity changes on servo control.

[0020] Based on the premise that the positions of the joint module and the drive motor remain unchanged, by attaching a weight to the idler pulley, a constant downward force can be provided to the transmission belt. The tension of the transmission belt can be adjusted in one go without the need for external professional equipment, and the tension adjustment can be fast and highly consistent.

[0021] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the split structure of the robot wrist in this application; Figure 2 This is a schematic diagram of the overall structure of the robot wrist in this application; Figure 3 This is a schematic diagram showing the attachment status of the falling weight. Figure 4 This is a schematic diagram of the structure of the falling heavy block.

[0024] icon: 1-Fixed base; 2-Mounting bracket; 21-Fixing flange; 211-Elongated hole; 22-Auxiliary support flange; 3-Active drive module; 31-Active output shaft; 4-Driven drive module; 41-Driven module housing; 42-Pitch roller shaft; 43-Bearing; 5-Output flange; 51-Connecting flange; 52-Yaw flange; 6-Belt drive assembly; 61-Driving pulley; 62-Driven pulley; 63-Drive belt; 7-Idler wheel; 71-Pressure wheel; 711-Wheel body; 712-Mounting shaft; 713-Free-spinning bearing; 72-Screw; 73-Baffle; 74-Fasting screw; 8-The falling weight; 81-The weight itself; 82-The connecting rod; 821-The hook. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0026] In the description of this application, it should be noted that the terms "inner" and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. They are used only for the convenience of describing this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0027] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "setup" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0028] Combination Figures 1-4 The robot wrist and its assembly method of the present invention will be described in detail below. In this embodiment, the robot wrist is mainly used at the end effector of an industrial robot to realize the movement of the actuator in two degrees of freedom: pitch (first joint) and yaw (second joint).

[0029] This invention effectively solves the problems mentioned in the background art, such as limited pitch angle, inconvenient adjustment of synchronous belt tension, and poor servo control consistency caused by the non-fixed position of the drive motor, by using belt drive and gravity tensioning mechanism.

[0030] The main purpose of the robot wrist and its assembly method in this application is to expand the pitch range of the joint by means of a transmission belt through improvements to the structure and assembly process of the robot wrist, thereby ensuring that the first joint can rotate more than 180°.

[0031] The structural composition of the robot wrist and the connection relationships between different components ensure that the positions of the joint modules and drive motors do not change, thereby ensuring that the center of gravity of the robot wrist does not change and reducing the impact on the robot's servo control.

[0032] Without changing the center of gravity of the robot wrist, by attaching the weighted block to the idler pulley pressing down on the transmission belt, the tension of the transmission belt can be adjusted using the constant weight of the block, ensuring consistent tension adjustment.

[0033] See Figure 1 and combined Figures 2-3 The robot wrist of this invention includes: a fixed base 1 and a mounting frame 2, with the mounting frame 2 connected to the fixed base 1. The fixed base 1 is typically connected to the robot forearm, serving as the mounting base for the wrist, while the mounting frame 2 is connected to the fixed base 1, serving as a support platform for the drive mechanism.

[0034] As the core of the robot's wrist motion output, the drive mechanism specifically includes an active drive module 3 and a driven drive module 4.

[0035] The active drive module 3 mainly controls the driven drive module 4 to perform up and down pitching movements on the mounting frame 2 through the transmission of the belt drive assembly 6, thus completing the pitching function of the first joint.

[0036] The power output end of the driven module 4 is connected to an output flange 5 that can output left and right yaw motion, thus completing the yaw motion function of the second joint.

[0037] The output flange 5 is used to connect external actuators such as grippers and welding torches, and can output left and right yaw motions provided that the driven module 4 can perform pitch motion.

[0038] The mounting bracket 2 in this application is preferably a cantilever bracket connected to the fixed base 1. Its structure includes a fixed flange 21 and an auxiliary support flange 22 located on the front and rear sides. This cantilever design makes the internal space more compact and facilitates the layout of the internal modules. Furthermore, the fixed flange 21 and the auxiliary support flange 22 are separately connected to the front and rear sides of the fixed base 1, which can provide installation space for the drive module between the two flanges, which is conducive to the installation of different drive modules.

[0039] The active drive module 3 and the driven drive module 4 are installed between the fixed flange 21 and the auxiliary support flange 22, so that the drive module is based on the cantilever frame to form a stable drive transmission unit.

[0040] From a more detailed perspective of the split structure, both the fixed flange 21 and the auxiliary support flange 22 are cantilevered plate flange structures with a certain length. The root of the plate flange is installed on the fixed seat 1, and the active drive module 3 is installed on the fixed flange 21 with the module position fixed. The driven drive module 4 is also installed on the fixed flange 21 and the auxiliary support flange 22 with the position unchanged, but it is supported by the bearing 43 and can rotate around the fixed flange 21 and the auxiliary support flange 22.

[0041] A bearing 43 is provided on the auxiliary support flange 22 to assist in supporting the pitch roller shaft 42 of the driven module 4 located on the rear side, so that there is a support relationship on both the front and rear sides of the driven module 4, thereby improving rigidity.

[0042] Based on the transmission angle of the transmission belt 63, in order to adjust the tension of the transmission belt 63, an idler wheel 7 that can move up and down is connected to the mounting bracket 2. This allows the idler wheel 7 to press down on at least a portion of the transmission belt 63. Furthermore, a weight 8 is detachably attached to the idler wheel 7. This allows the idler wheel 7 and the weight 8 to form a gravity tensioning mechanism for quick tension adjustment. In this way, the weight 8 can press down on the transmission belt 63 with its own weight at a constant speed. By using the gravity of the weight 8, the tension of the transmission belt 63 can be adjusted, thereby achieving rapid and constant tension adjustment.

[0043] The active drive module 3 in this application is mainly used to control the pitch movement of the driven drive module 4 as a whole. The active drive module 3 is connected to the driven drive module 4 via a belt drive assembly 6. Specifically, the active drive module 3 includes an active output shaft 31, and the driven drive module 4 includes a driven output shaft (not shown in the figure). Furthermore, the active output shaft 31 and the driven output shaft are arranged perpendicularly in space. This orthogonal layout optimizes the structural space of the wrist, allowing the driven drive module 4 to pitch relative to the active drive module 3 and the mounting bracket 2 under the transmission action of the drive belt 63, making the whole unit more compact.

[0044] With the above configuration, the power output of the active output shaft 31 can be directly applied to the entire driven drive module 4, while the power output of the driven output shaft can be directly applied to the output flange 5 for left and right yaw.

[0045] From the perspective of achieving the above two dimensions of action, the belt drive assembly 6 includes a driving pulley 61, a driven pulley 62, and a drive belt 63. The driving pulley 61 is connected to the driving output shaft 31. The driven drive module 4 includes a driven module housing 41. Pitch rollers 42 are provided on both the front and rear sides of the driven module housing 41. The pitch rollers 42 are connected to the side walls of the driven module housing 41. The driven pulley 62 is connected to the pitch rollers 42 located on the drive side (front side). The drive belt 63 is coiled between the driving pulley 61 and the driven pulley 62.

[0046] When the active drive module 3 is working, the active pulley 61 drives the driven pulley 62 to rotate through the transmission belt 63. Combined with the connection between the driven pulley 62 and the pitch roller shaft 42 on the driven module housing 41, the driven pulley 62 can drive the entire driven drive module 4 during rotation. More specifically, it drives the entire driven module housing 41 to pitch up and down around the axis of the pitch roller shaft 42.

[0047] The idler pulley 7 is located between the driving pulley 61 and the driven pulley 62 and is connected to the fixed flange 21. Essentially, the idler pulley 7 is also a synchronous pulley and includes a bearing. It can rotate around itself. The idler pulley 7 presses down on the transmission belt 63 to provide tension to the transmission belt 63.

[0048] The belt drive system described above, compared to the parallelogram linkage 82 or push-pull module in the prior art, can achieve a pitch rotation angle of more than 180°, significantly expanding the robot's working range.

[0049] To ensure that the driven module 4 can stably perform up and down pitching movements on the mounting bracket 2, and to facilitate the connection and installation of the driven module housing 41 on the mounting bracket 2, the pitch roller 42 is arranged on the front and rear sides of the driven module housing 41, and its extension direction is perpendicular to the extension direction of the driven output shaft.

[0050] The pitch roller 42 is set up mainly to realize its own pitching motion, and the orthogonal layout of the pitch roller 42 and the driven output shaft can reduce the mutual influence between the pitching motion and the yaw motion directly output by the driven drive module 4.

[0051] From the perspective of installation, and also considering the smooth operation of the driven module housing 41, the pitch roller 42 located on the front side passes through the mounting hole of the fixed flange 21 and is connected to the driven pulley 62, while the pitch roller 42 located on the rear side is connected to the mounting hole of the auxiliary support flange 22.

[0052] Furthermore, bearings 43 are respectively provided between the pitch roller shaft 42 and the mounting holes of the fixed flange 21 and the auxiliary support flange 22. With this arrangement, the driven module housing 41 can be driven directly by the driven pulley 62 to pitch up and down relative to the mounting frame 2 formed by the fixed flange 21 and the auxiliary support flange 22, ensuring the smoothness and accuracy of the pitching up and down movement.

[0053] From the output angle of the left and right yaw action, this action is directly controlled by the driven module 4. The output flange 5 includes a connecting flange 51 and a yaw flange 52 with an integral structure. The connecting flange 51 and the yaw flange 52 are integrally connected by an L-shaped bending plate.

[0054] Preferably, the connecting flange 51 is connected to the driven output shaft, and after bending outward and upward, the yaw flange 52 is connected to the external clamps, welding guns and other action actuators. This arrangement helps to provide better operating space and action execution posture for the actuators.

[0055] Existing technologies use screw tightening to adjust the tension of the synchronous belt, which is inconvenient to operate and results in the drive motor position not being fixed. This application provides a gravity tensioning mechanism, mainly including an idler wheel 7 and a falling weight 8.

[0056] The idler pulley 7 is connected to the mounting bracket 2 in a way that allows it to move up and down, and it presses down on at least a portion of the drive belt 63.

[0057] Specifically, the drive belt 63 is coiled between the driving pulley 61 and the driven pulley 62 to form a coiled space, and the idler pulley 7 is placed in the formed coiled space and overlaps and presses down on the drive belt 63.

[0058] More specifically, the idler wheel 7 can move up and down under the combined action of the drive belt 63 and the weight 8. Especially after the weight 8 is attached, the idler wheel 7 can move down under the weight of the weight 8, thereby adjusting the tension by pressing down the drive belt 63.

[0059] In order to enable the idler wheel 7 to be connected vertically, a pair of vertically oriented elongated holes 211 are provided on the fixed flange 21. The structure of the idler wheel 7 includes a pressure wheel 71, a baffle 73 and a fastening screw 74 arranged in sequence from front to back.

[0060] The baffle 73 is located on the rear side of the fixed flange 21. The screw 72 of the fastening screw 74 passes through the baffle 73 and the elongated hole 211 from back to front and is screwed into the pressure roller 71. The back side of the pressure roller 71 is provided with a threaded hole for threaded connection of the end of the screw 72 of the fastening screw 74.

[0061] The weight 8 is detachably attached to the idler wheel 7. Specifically, the pressure wheel 71 includes a wheel body 711 and a mounting shaft 712 located inside the wheel body 711. A free-spinning bearing 713 is provided between the wheel body 711 and the mounting shaft 712 to ensure that the pressure wheel 71 can rotate flexibly.

[0062] The drop weight 8 includes a weight body 81 and a connecting rod 82 with a hook 821. During assembly, the hook 821 of the connecting rod 82 is hooked onto the screw 72 of the fastening screw 74 between the wheel body 711 and the fixed flange 21, which can achieve quick connection and maintain rapid and consistent tension adjustment through the constant self-weight of the drop weight 8, avoiding interference with the consistency of servo control.

[0063] By rotating the fastening screw 74, the idler wheel 7 can be finally locked in the position required for tension adjustment. When the fastening screw 74 is not tightened and the end of the screw 72 is loosely connected to the pressure roller 71, during the process of adjusting the tension of the transmission belt 63, the weight 8 is attached to the screw between the wheel body 711 and the fixed flange 21. Then, when the idler wheel 7 moves down as a whole and the screw reaches the height position of the downward adjustment in the elongated hole 211, the fastening screw 74 is rotated to press the baffle 73 against the back wall of the fixed flange 21 and to lock the screw on the wheel body 711 to complete the locking after the constant weight tension adjustment. Finally, the weight 8 is removed.

[0064] The gravity tensioning mechanism in this application mainly achieves two technical effects: simplified assembly, constant tension, and consistent servo control.

[0065] The assembly process is simplified, ensuring constant tension by eliminating the need for repeated measurements and screw tightening using specialized tension testing tools. Simply attach the weight 8 to the idler pulley 7; the weight itself provides a constant downward force to the idler pulley 7. This constant downward force is directly converted into a constant tension on the drive belt 63. This effectively solves the problems of inconvenient screw adjustment, the need for specialized tools, and repetitive operations, significantly improving assembly efficiency and consistency.

[0066] To ensure consistency in servo control, the initial tension of the drive belt 63 on each robot wrist is highly consistent because the tension is provided by a gravity block of a defined mass, rather than relying on the experience and feel of the assembly worker.

[0067] Meanwhile, the positions of the active drive module 3 and the driven drive module 4 are completely fixed after assembly, preventing uncontrollable displacement due to tensioning operations. This fundamentally solves the problem of poor servo control consistency in robots caused by the non-fixed position of the drive motors, improving the robot's motion accuracy and control stability.

[0068] This application also provides a method for assembling the aforementioned robotic wrist, comprising the following steps: The active drive module 3 and the driven drive module 4 are installed between the fixed flange 21 and the auxiliary support flange 22 of the mounting bracket 2. Then, the active pulley 61, the driven pulley 62, the drive belt 63, and the idler pulley 7 are connected between the active drive module 3 and the driven drive module 4. During this step, the drive belt 63 is kept slack and not tensioned.

[0069] S2: Attach a weight 8 to the idler pulley 7. Under the influence of gravity, the idler pulley 7 will naturally fall, simultaneously pressing down on the drive belt 63. This step utilizes the weight 8 to provide a constant downward force to the idler pulley 7, thereby providing a constant tension to the drive belt 63. The operation is simple and requires no repeated adjustments.

[0070] S3: After the transmission belt 63 is tensioned and stabilized, tighten the fastening screw 74 of the idler wheel 7 to lock the idler wheel 7 onto the mounting bracket 2, thereby completing the assembly of the robot wrist.

[0071] In this application, the downward pressure on the transmission belt 63 is constant because the mass of the weight 8 is constant, i.e., gravity is constant. Therefore, the downward force provided by the idler pulley 7 to the transmission belt 63 is also constant, meaning the tension of the synchronous belt is also constant. Thus, the synchronous belt can be quickly stretched to a fixed tension without the aid of measuring equipment. Furthermore, due to the constant force of gravity, only one adjustment is needed, eliminating the need for multiple adjustments. This achieves fast, accurate, and highly consistent tension adjustment. Moreover, since the first drive module remains stationary, and the mass of the wrist remains essentially constant, the impact on drive adjustment is minimized.

[0072] It should be noted that, where there is no conflict, the features in the embodiments of this application can be combined with each other.

[0073] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A robot wrist, characterized in that include: A fixed base and a mounting bracket, wherein the mounting bracket is connected to the fixed base; The mounting bracket is equipped with an active drive module and a driven drive module, and the driven drive module is connected to an output flange capable of outputting yaw action; The active drive module is connected to the driven drive module via a belt drive assembly. The mounting bracket is connected to an idler pulley that can move up and down, and the idler pulley can press down on at least a portion of the drive belt; It also includes a drop weight, which is detachably attached to the idler pulley and used to adjust the tension of the drive belt by using the weight of the drop weight; The active drive module includes an active output shaft, and the driven drive module includes a driven output shaft. The active output shaft and the driven output shaft are arranged perpendicularly. The belt drive assembly includes a driving pulley, a driven pulley, and the drive belt, wherein the driving pulley is connected to the driving output shaft; The driven module includes a driven module housing, on which a pitch roller is provided, and the driven pulley is connected to the pitch roller located on the transmission side; The pitch roller shaft is disposed on the front and rear sides of the driven module housing, and the extension direction of the pitch roller shaft is perpendicular to the extension direction of the driven output shaft, so as to reduce the mutual influence between the pitch roller shaft's up and down pitch movement and the driven drive module's direct output left and right yaw movement. The active drive module is configured to control the driven drive module to perform pitching motion on the mounting frame via the belt drive assembly; the driven drive module is configured to output yaw motion on the left and right while the driven drive module is performing pitching motion.

2. The robot wrist of claim 1, wherein, The mounting frame is a cantilever frame connected to the fixed base, including fixed flanges and auxiliary support flanges located on the front and rear sides, and the active drive module and the driven drive module are installed between the fixed flanges and the auxiliary support flanges.

3. The robotic wrist according to claim 2, characterized in that, The pitch roller shaft located on the front side passes through the mounting hole of the fixed flange and is connected to the driven pulley; The auxiliary support flange is provided with mounting holes, and the pitch roller shaft located on the rear side is connected in the mounting holes; Bearings are respectively provided between the pitch roller shaft and the mounting holes of the fixed flange and the auxiliary support flange.

4. The robotic wrist according to claim 3, characterized in that, The drive belt is coiled between the driving pulley and the driven pulley, and the idler pulley is disposed in the coiling space of the drive belt and overlaps and presses down on the drive belt.

5. The robotic wrist according to claim 4, characterized in that, The fixed flange is provided with a pair of elongated holes. The idler wheel includes a pressure wheel, a baffle and a fastening screw arranged in sequence from front to back. The baffle is located on the rear side of the fixed flange. The screw of the fastening screw passes through the baffle and the elongated hole from back to front and is screwed to the pressure wheel.

6. The robotic wrist according to claim 5, characterized in that, The pressure roller includes a wheel body and a mounting shaft located inside the wheel body, and a free-spinning bearing is provided between the wheel body and the mounting shaft; The falling weight includes a weight body and a connecting rod with a hook, the connecting rod being hooked onto a screw between the wheel and the fixed flange.

7. The robotic wrist according to claim 1, characterized in that, The output flange includes a connecting flange and a yaw flange with an integral structure. An L-shaped bending plate is provided between the connecting flange and the yaw flange. The connecting flange is connected to the driven output shaft, and an actuation mechanism is externally connected to the yaw flange.

8. A robot, characterized in that, Including the robotic wrist as described in any one of claims 1-7.

9. A method for assembling a robot wrist, performed using the robot wrist according to any one of claims 1-7, characterized in that, Includes the following steps: The active drive module and the driven drive module are mounted on the mounting bracket, and the belt drive assembly and idler pulley are connected between the active drive module and the driven drive module to keep the drive belt slack. A weight is attached to the idler pulley, and as the idler pulley falls, it presses down on the drive belt, providing a constant downward force to the idler pulley and a constant tension to the drive belt. Secure the idler wheel to the mounting bracket to complete the assembly of the robot wrist.

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