Mechanical arm with composite structure wrist joint

Abstract

The application discloses a kind of mechanical arm of composite structure wrist joint, it is related to mechanical arm equipment technical field, including wrist joint including rotating mechanism, attitude adjusting mechanism, end flange and connecting mechanism.The rotating mechanism in the application is used to carry out rotating motion adjustment to end flange, attitude adjusting mechanism is used to carry out multi-angle attitude adjustment work to end flange, connecting mechanism is carried out series-parallel adjustment processing between harmonic reducer and rotating mechanism and attitude adjusting mechanism, can realize the series connection and parallel connection work of end flange rotating adjustment and attitude adjustment, can realize the wrist joint structure design of composite linkage;Parallel connection design in connecting mechanism is used to improve the overall stiffness and carrying capacity of system, and series connection rotating design is used to expand the range of motion, realize large-angle continuous rotation;Such hybrid structure has the advantages of parallel connection design high stiffness, error not easy to accumulate, and the characteristics of series connection design simple structure, large working space.

Description

Technical Field

[0001] This invention relates to the field of robotic arm equipment technology, specifically to a robotic arm employing a composite wrist joint structure. Background Technology

[0002] A robotic arm is a complex system characterized by high precision, multiple inputs and multiple outputs, high nonlinearity, and strong coupling. Due to its unique operational flexibility, it has been widely used in fields such as industrial assembly and safety and explosion protection. As robotics technology develops towards higher precision, higher rigidity, and higher flexibility, traditional serial wrist joints are gradually being limited in terms of load-bearing capacity, error accumulation, and dynamic stability.

[0003] The wrist joint of existing robotic arms can generally only rotate along one axis to adjust the rotation angle. When other angles need to be adjusted, they can only be adjusted by linkage with other positions of the robotic arm, and cannot be adjusted by the wrist joint alone.

[0004] For example, the aforementioned problem exists in patent (CN224509740U); it describes "a six-degree-of-freedom rotating humanoid robotic arm, including a shoulder joint, an elbow joint, and a wrist joint, wherein: the shoulder joint is connected to the elbow joint through the upper arm, the elbow joint is connected to the wrist joint through the forearm, and the wrist joint is connected to an end effector; each joint realizes two degrees of freedom of rotational motion, and the rotation axes of the two degrees of freedom are perpendicular to each other. The six-degree-of-freedom rotating humanoid robotic arm of this invention achieves flexible movement in all directions and at multiple angles through the dual-motor drive design of the shoulder joint, elbow joint, and wrist joint, and can simulate most of the movements of the human arm, adapting to various complex working environments. It has high flexibility." However, the wrist joint of the robotic arm in the aforementioned patent can only rotate along one axis to adjust the rotation angle. When other angles need to be adjusted, it can only be adjusted by linkage through other positions of the robotic arm, and cannot perform multi-angle adjustments solely through the wrist joint.

[0005] To address the issue that the wrist joint of the aforementioned robotic arm can generally only rotate along one axis to adjust the rotation angle, and when other angles need to be adjusted, it can only be adjusted by linkage through other positions of the robotic arm, rather than by using only the wrist joint for multi-angle adjustment, we propose a robotic arm that uses a composite wrist joint structure. Summary of the Invention

[0006] The purpose of this invention is to provide a robotic arm employing a composite wrist joint to solve the problems mentioned in the background art.

[0007] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a robotic arm with a composite wrist joint, comprising a robotic arm, wherein a wrist joint is provided at the front end of the robotic arm, the wrist joint comprising a rotation mechanism, an attitude adjustment mechanism and an end flange, wherein the rotation mechanism and the attitude adjustment mechanism are respectively connected to the output end of a harmonic reducer through a connecting mechanism, the rotation mechanism comprising three mounting seats, each of the three mounting seats being movably connected to the outer wall of the end flange through a connecting arm, wherein the two ends of the connecting arm are respectively connected to the mounting seats and the end flange through a damping shaft, and the attitude adjustment mechanism comprising three support arms, each of the three support arms being movably connected to the bottom of the outer wall of the end flange.

[0008] Furthermore, the attitude adjustment mechanism also includes a support cylinder, on the top of the outer wall of the support cylinder, a support sleeve is rotatably fitted, an annular guide rail is provided on the outer side of the support sleeve, the support sleeve is fixedly connected to the mounting base, a guide sleeve is provided on the top of the outer wall of the support cylinder above the support sleeve, a support plate is provided on the top of the support sleeve, a guide plate is provided on the center of the top of the support cylinder above the support plate, a guide piece is provided on the top of the guide sleeve above the support plate, a ball joint connecting base is provided at the bottom of the support arm, an arc-shaped guide channel matching the ball joint connecting base is provided between the guide plate and the guide piece, a ball joint connecting top seat is provided on the top of the support arm, the ball joint connecting top seat is fixedly connected to the end flange, and the support cylinder is connected to the output end of the harmonic reducer through a connecting mechanism.

[0009] Furthermore, the ball joint connecting base is provided with a guide block at the bottom, and the support plate is provided with a guide groove at the top that matches the guide block. The guide groove is a straight structure, and the two ends of the three guide grooves are respectively distributed in an equilateral triangle.

[0010] Furthermore, the arc angle of the arc-shaped guide channel is greater than 60 degrees and less than 120 degrees.

[0011] Furthermore, the top and bottom of the inner side of the mounting base are respectively provided with sliding blocks that match the annular guide rail. The inner wall of the sliding block is provided with a number of first rollers that rotate inside the annular guide rail, and the inner wall of the sliding block is provided with a number of second rollers that rotate outside the annular guide rail.

[0012] Furthermore, the first roller and the second roller are both inclinedly disposed inside the sliding block, and the distance between two adjacent first rollers is smaller than the distance between two adjacent second rollers.

[0013] Furthermore, the connecting mechanism includes a connecting plate, and a linear drive component is vertically provided at the top center of the outer wall of the connecting plate. The output end of the linear drive component is rotatably connected to the connecting plate. The linear drive component is fixedly connected to the support cylinder. Several first and second inserts are provided on the top of the connecting plate outside the linear drive component. A first slot matching the first insert is provided at the bottom of the support cylinder. A second slot matching the second insert is provided at the bottom of the mounting base.

[0014] Furthermore, the bottom of the connecting plate is provided with several third insert rods, and the output end of the harmonic reducer is provided with a third slot that matches the third insert rods.

[0015] Furthermore, the length of the first insertion rod is greater than the length of the second insertion rod, and the length of the third insertion rod is greater than the length of the first insertion rod.

[0016] Furthermore, the three support arms are arranged in an equilateral triangle, the three mounting bases are arranged in an equilateral triangle, and the three support arms and the three mounting bases are staggered.

[0017] Compared with the prior art, the beneficial effects achieved by the present invention are: This invention features a wrist joint comprising a rotation mechanism, a posture adjustment mechanism, an end flange, and a connecting mechanism. The rotation mechanism adjusts the rotation of the end flange, while the posture adjustment mechanism adjusts its posture at multiple angles. The connecting mechanism, through a series-parallel connection between the harmonic reducer, the rotation mechanism, and the posture adjustment mechanism, enables both series and parallel adjustments of the end flange's rotation and posture, achieving a composite linkage wrist joint structure. The posture adjustment mechanism includes three support arms that provide three-point support to the end flange within three mounting bases. These three support arms and three connecting arms allow for the adjustment of the end flange's position. The double triangular support system effectively ensures the safety and stability of the end flange after adjustment. The arc-shaped guide channel rotates in a circular motion above the support plate. During this rotation, the arc-shaped guide channel guides the ball joint base at the bottom of the support arm, causing it to shift and the tilt angle of the support arm to change. This allows for angle adjustment of the end flange. As the arc-shaped guide channel rotates, it alternately adjusts the displacement of the ball joint bases at the bottom of three different support arms, enabling multi-position adjustment of the end flange.

[0018] This invention employs a composite structure combining parallel and series connections, achieving attitude adjustment through the synergistic action of multiple branches. The parallel design in the linkage mechanism enhances the overall system stiffness and load-bearing capacity, while the series rotation design expands the range of motion, enabling continuous rotation at large angles. This hybrid structure combines the advantages of high stiffness and low error accumulation inherent in parallel designs with the simplicity and large workspace of series designs, making it significant for modern robot end-effector design. From a structural layout perspective, the wrist joint utilizes a symmetrically distributed multi-drive design. By uniformly arranging drive units, the system achieves optimal performance under stress and motion. Maintaining good symmetry during the process reduces structural off-center loading and improves motion stability. Simultaneously, by rationally arranging the drive unit on the periphery of the structure, the inertia of moving parts is effectively reduced, improving the system's dynamic response capability. The robotic arm wrist joint adopts a three-degree-of-freedom composite structure design, consisting of a bottom rotating mechanism and an upper parallel attitude adjustment mechanism, enabling the end effector to adjust its attitude in all directions. Specifically, the bottom uses a rotating mechanism as the main rotation structure to achieve stable 360° continuous rotational motion, which, in conjunction with the harmonic reducer 6, achieves high-precision angle control, providing the basic rotational degree of freedom for the entire wrist joint. Attached Figure Description

[0019] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the wrist joint structure of the present invention; Figure 3 This is a schematic diagram of the posture adjustment mechanism and the connecting mechanism of the present invention; Figure 4 This is a schematic diagram of the connection mechanism and attitude adjustment mechanism of the present invention without the ring guide rail; Figure 5 This is a schematic diagram of the posture adjustment mechanism of the present invention without the ring guide rail; Figure 6 This is a schematic diagram of the structure of the guide disc and guide plate of the present invention; Figure 7 This is a schematic diagram of the guide groove of the present invention; Figure 8 This is a schematic diagram of the support arm of the present invention; Figure 9 This is a schematic diagram of the connecting mechanism of the present invention; Figure 10 This is a schematic diagram of the rotating mechanism and the end flange of the present invention; Figure 11This is a schematic diagram of the mounting base of the present invention; In the diagram: 1. Robotic arm; 2. Wrist joint; 3. Rotation mechanism; 301. Mounting base; 302. Connecting arm; 303. Damping shaft; 304. Sliding block; 305. First roller; 306. Second roller; 4. Attitude adjustment mechanism; 401. Support arm; 402. Support cylinder; 403. Support sleeve; 404. Circular guide rail; 405. Guide sleeve; 406. Support plate; 407. Guide plate; 408. Guide piece; 409. Ball joint connection base; 410. Ball joint connection top seat; 411. Guide block; 412. Guide groove; 5. Connection mechanism; 501. Connecting plate; 502. Linear drive assembly; 503. First insert rod; 504. Second insert rod; 505. Third insert rod; 6. Harmonic reducer; 7. End flange. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Example

[0021] Please see Figures 1-10This invention provides a technical solution: a robotic arm employing a composite wrist joint, comprising a robotic arm 1, wherein a wrist joint 2 is provided at the front end of the robotic arm 1, the wrist joint 2 comprising a rotation mechanism 3, an attitude adjustment mechanism 4, and an end flange 7, wherein the rotation mechanism 3 and the attitude adjustment mechanism 4 are respectively connected to the output end of a harmonic reducer 6 via a connecting mechanism 5, the rotation mechanism 3 comprising three mounting seats 301, each of the three mounting seats 301 being movably connected to the outer wall of the end flange 7 via a connecting arm 302, wherein the two ends of the connecting arm 302 are respectively connected to the mounting seats 301 and the end flange 7 via a damping shaft 303, and the attitude adjustment mechanism 4 comprising three support arms 401, each of the three support arms 401 being respectively connected to the end flange 7. The bottom of the outer wall is movable; the attitude adjustment mechanism 4 also includes a support cylinder 402, on the top of the outer wall of the support cylinder 402, a support sleeve 403 is rotatably sleeved, an annular guide rail 404 is provided on the outer side of the support sleeve 403, the support sleeve 403 is fixedly connected to the mounting base 301, a guide sleeve 405 is provided on the top of the outer wall of the support cylinder 402 above the support sleeve 403, a support plate 406 is provided on the top of the support sleeve 403, a guide plate 407 is provided at the top center of the support cylinder 402 above the support plate 406, a guide piece 408 is provided on the top of the guide sleeve 405 above the support plate 406, a ball joint connecting base 409 is provided at the bottom of the support arm 401, and a space is provided between the guide plate 407 and the guide piece 408. The support arm 401 has an arc-shaped guide channel that matches the ball joint connecting base 409. A ball joint connecting top seat 410 is provided at the top of the support arm 401, and the ball joint connecting top seat 410 is fixedly connected to the end flange 7. The support cylinder 402 is connected to the output end of the harmonic reducer 6 via a connecting mechanism 5. A guide block 411 is provided at the bottom of the ball joint connecting base 409, and a guide groove 412 matching the guide block 411 is provided at the top of the support plate 406. The guide groove 412 has a straight structure, and the two ends of the three guide grooves 412 are respectively distributed in an equilateral triangle. The connecting mechanism 5 includes a connecting plate 501, and a linear drive assembly 502 is vertically provided at the top center of the outer wall of the connecting plate 501. The output end of the linear drive assembly 502 is connected to the connecting plate 501. The connecting disc 501 is rotatably connected, and the linear drive assembly 502 is fixedly connected to the support cylinder 402. The top of the connecting disc 501 is provided with several first insert rods 503 and second insert rods 504 on the outside of the linear drive assembly 502. The bottom of the support cylinder 402 is provided with a first slot that matches the first insert rod 503, and the bottom of the mounting base 301 is provided with a second slot that matches the second insert rod 504. The bottom of the connecting disc 501 is provided with several third insert rods 505, and the output end of the harmonic reducer 6 is provided with a third slot that matches the third insert rod 505. The three support arms 401 are arranged in an equilateral triangle, and the three mounting bases 301 are arranged in an equilateral triangle. The three support arms 401 and the three mounting bases 301 are staggered.

[0022] In one embodiment, the arc angle of the arc guide channel is greater than 60 degrees and less than 120 degrees. By limiting the arc angle of the arc guide channel, it can be effectively ensured that only one ball joint connecting base 409 of the support arm 401 is located inside the arc guide channel at any given time. At the same time, it can also be ensured that the ball joint connecting bases 409 of the three support arms 401 are not located inside the arc guide channel at the same time. In this case, it is ensured that the end flange 7 is parallel to the annular guide rail 404 and the support plate 406.

[0023] In one embodiment, the length of the first insert rod 503 is greater than the length of the second insert rod 504, ensuring that when the second insert rod 504 is completely pulled out from the inside of the second slot at the bottom of the mounting base 301, the first insert rod 503 remains inside the first slot at the bottom of the support cylinder 402; the length of the third insert rod 505 is greater than the length of the first insert rod 503, ensuring that when the first insert rod 503 and the second insert rod 504 are adjusted for extension and retraction, the third insert rod 505 is always inside the third slot at the output end of the harmonic reducer 6, ensuring that the output end of the harmonic reducer 6 adjusts the rotational movement of the support cylinder 402 and the mounting base 301.

[0024] Working principle of the invention: Refer to the instruction manual appendix Figures 1-10 This invention, by setting a wrist joint 2 including a rotation mechanism 3, a posture adjustment mechanism 4, an end flange 7, and a connecting mechanism 5, allows the wrist joint 2 to perform adjustment movements at the front end of the robotic arm 1. The rotation mechanism 3 in the wrist joint 2 is used to adjust the rotation of the end flange 7, and the posture adjustment mechanism 4 is used to adjust the posture of the end flange 7 at multiple angles. The end flange 7 is used to fix the wrist joint 2 to the end effector of the robotic arm 1. The connecting mechanism 5 performs series and parallel adjustment between the harmonic reducer 6, the rotation mechanism 3, and the posture adjustment mechanism 4, enabling series and parallel operation of the rotation and posture adjustment of the end flange 7, and achieving a composite linkage wrist joint 2 structure design. The three mounting seats 301 in the rotation mechanism 3 form an equilateral triangle structure, which can effectively ensure the end effector's rotation. The end flange 7 has a three-point rotational support structure to ensure the adjustment of the rotational movement of the end flange 7. The mounting base 301 supports the end flange 7 through the connecting arm 302, and also ensures that the end flange 7 rotates with the mounting base 301. The damping shafts 303 at both ends of the connecting arm 302 ensure the stability and safety of the connection support of the connecting arm 302 to the end flange 7, and at the same time ensure that the connecting arm 302 can provide stable support for the end flange 7 at multiple angles. The three support arms 401 in the attitude adjustment mechanism 4 provide three-point support for the end flange 7 inside the three mounting bases 301. The three support arms 401 and the three connecting arms 302 can realize the inner and outer double triangular support for the end flange 7, which can effectively ensure the safety and stability of the end flange 7 after adjustment. In the attitude adjustment mechanism 4, the support cylinder 402 supports the support sleeve 403. The support sleeve 403 is fixedly connected to the sliding block 304 of the mounting base 301. The mounting base 301 provides limiting support for the support sleeve 403, preventing it from rotating with the support cylinder 402. The support sleeve 403 provides fixed support for the support plate 406. The support cylinder 402 can drive the guide plate 407, guide sleeve 405, and guide plate 408 to rotate, causing the arc-shaped guide channel to rotate circumferentially above the support plate 406. During the circular rotation of the arc-shaped guide channel, the arc-shaped guide channel can guide the ball joint base 409 at the bottom of the support arm 401, causing the ball joint base 409 at the bottom of the support arm 401 to move and the tilt angle of the support arm 401 to change. This can realize the angle adjustment of the end flange 7. As the arc-shaped guide channel rotates, it alternately adjusts the displacement of the ball joint base 409 at the bottom of three different support arms 401, thus realizing the multi-position adjustment of the end flange 7. The guide groove 412 on the top of the support plate 406 guides the ball joint base 409 through the guide block 411, so that the ball joint base 409 will only move in a straight line along the guide groove 412 under the guidance of the guide block 411 and the guide groove 412. This design can firstly prevent the ball joint base 409 from rotating with the arc-shaped guide pipe. When the arc-shaped guide pipe guides the displacement adjustment of one ball joint base 409, the positions of the other two ball joint bases 409 do not change. Only this one ball joint base 409 moves in a straight line along the guide groove 412, ensuring the safety and stability of the end flange 7 during the attitude adjustment process. In the connecting mechanism 5, the connecting disc 501 supports the first insert rod 503, the second insert rod 504, and the third insert rod 505. The linear drive assembly 502 adjusts the linear displacement of the connecting disc 501, thereby adjusting the linear displacement of the first insert rod 503, the second insert rod 504, and the third insert rod 505. Adjusting the extension of the linear drive assembly 502 can push the connecting disc 501 to move away from the support cylinder 402, causing the first insert rod 503, the second insert rod 504, and the third insert rod 505 to move away from the support cylinder 402. As the support cylinder 402 moves in the direction, the second insertion rod 504 is pulled out from the inside of the second slot of the mounting base 301. At this time, the first insertion rod 503 is still inside the first slot, and the third insertion rod 505 is still inside the third slot. At this time, the rotation of the harmonic reducer 6 can drive the support cylinder 402 to rotate through the connecting mechanism 5. The support cylinder 402 drives the guide plate 407 to rotate, which can realize the attitude adjustment of the end flange 7. Using the harmonic reducer 6 as the drive for attitude adjustment can effectively improve the accuracy of attitude adjustment of the end flange 7. When the linear drive assembly 502 retracts, it drives the connecting plate 501 to move closer to the support cylinder 402. The first insertion rod 503, the second insertion rod 504, and the third insertion rod 505 all move away from the support cylinder 402. The second insertion rod 504 re-inserts into the second slot of the mounting base 301. At this time, the first insertion rod 503 is still inside the first slot, and the third insertion rod 505 is still inside the third slot. The rotational motion of the harmonic reducer 6 can then drive the support cylinder 402 and the mounting base 301 through the connecting mechanism 5. The mounting base 301 and the support cylinder 402 rotate simultaneously. The mounting base 301 can drive the support sleeve 403 to rotate, so that the support sleeve 403 and the support cylinder 402 rotate synchronously. At this time, the support arm 401 and the guide plate 407 rotate synchronously. At this time, the support arm 401 and the guide plate 407 do not move relative to each other. Only the overall rotational movement is adjusted, which can realize the rotational movement adjustment of the end flange 7. The harmonic reducer 6 is used as the drive for attitude adjustment, which can effectively improve the accuracy of the rotational adjustment of the end flange 7. This invention employs a composite structure combining parallel and series connections, achieving attitude adjustment through the synergistic action of multiple branches. In the connecting mechanism 5, the parallel design enhances the overall stiffness and load-bearing capacity of the system, while the series rotation design expands the range of motion, enabling continuous rotation at large angles. This hybrid structure combines the advantages of high stiffness and low error accumulation of parallel designs with the simplicity and large workspace of series designs, making it of significant research value in the design of modern robot end effectors. From a structural layout perspective, the wrist joint 2 adopts a symmetrically distributed multi-drive design. By evenly arranging the drive units, the system maintains good symmetry during force application and movement, thereby reducing structural eccentric loads and improving motion stability. At the same time, by rationally arranging the drive units (harmonic reducer 6) on the periphery of the structure, the inertia of the moving parts is effectively reduced, and the dynamic response capability of the system is improved. In terms of technological development trends, this design emphasizes modularity and scalability. By dividing the wrist joint 2 into a rotation mechanism 3 and a posture adjustment mechanism 4, each functional unit is relatively independent, which facilitates later maintenance, upgrades and functional expansion. In addition, the structure reserves sensor and control interfaces, which can support the integration of multiple control strategies and provide a foundation for realizing a high-performance control system. The wrist joint 2 in this invention adopts a hybrid structure to improve overall performance, optimizes force and motion characteristics through symmetrical drive, and enhances system flexibility and scalability through modular design, thereby providing a structural solution with engineering application value for high-performance robot end effectors. The wrist joint 2 of this robotic arm adopts a three-degree-of-freedom composite structure design, consisting of a bottom rotating mechanism 3 and an upper parallel attitude adjustment mechanism 4, which realizes the all-round attitude adjustment capability of the end effector. In terms of specific structure, the bottom rotating mechanism 3 is used as the main rotation structure to achieve stable 360° continuous rotational motion. It works with the harmonic reducer 6 to achieve high-precision angle control, providing the basic rotational degree of freedom for the entire wrist joint 2. In the attitude adjustment mechanism 4, a three-branch symmetrically distributed linkage mechanism is designed (the support arms 401 are distributed in an equilateral triangle). Each support arm 401 consists of a connecting rod, an upper ball joint, and a lower ball joint, which are connected to the end flange 7 and the support plate 406 through a ball joint universal joint connection. The three support arms 401 are evenly distributed at 120°, which gives the system good mechanical symmetry, thereby effectively reducing the structural deformation caused by off-center load. The drive unit adjusts the pitch and roll attitude of the end flange 7 by changing the tilt angle of a single connecting rod, forming motion characteristics similar to a parallel mechanism. From a transmission perspective, each branch of this invention adopts a rigid connecting rod structure, and high-precision bearings or spherical bearings are configured in key rotating parts to reduce friction and clearance and improve repeatability. The overall structure is compact, and the drive unit is arranged below the end flange 7, which effectively avoids interference with the end effector. In terms of kinematic design, this invention can achieve continuous adjustment of the attitude of the end flange 7 by controlling the coordinated movement of the three support arms 401, while maintaining a high degree of motion smoothness. In addition, the bottom rotation adjustment design and the upper attitude adjustment design are connected by a connecting mechanism 5, which allows the control system to handle the two degrees of freedom of rotation and attitude separately, reducing control complexity. The harmonic reducer 6, damping shaft 303, and the mechanical arm 1 in this invention (except for the wrist joint 2 in this invention) can adopt existing mature conventional structural components and conventional control technologies. Their transmission principle, sealing structure, and control method can all adopt existing mature conventional structural components and conventional control technologies. The above content is common knowledge in the field and is not an improvement of this invention. Therefore, it has not been explained in detail. Example

[0025] Please see Figures 1-2 and Figures 10-11The present invention provides a technical solution: a robotic arm with a composite wrist joint, wherein the top and bottom of the inner side of the mounting base 301 are respectively provided with sliding blocks 304 that match the annular guide rail 404, the inner wall of the sliding block 304 is provided with a plurality of first rollers 305 rotatably arranged inside the annular guide rail 404, and the inner wall of the sliding block 304 is provided with a plurality of second rollers 306 rotatably arranged outside the annular guide rail 404; the first rollers 305 and the second rollers 306 are respectively inclinedly arranged inside the sliding block 304, and the distance between two adjacent first rollers 305 is smaller than the distance between two adjacent second rollers 306.

[0026] Working principle of the invention: Refer to the attached diagram in the instruction manual. Figures 1-2 and Figures 10-11 The present invention provides an annular guide rail 404, a sliding block 304, a first roller 305, and a second roller 306. The annular guide rail 404 provides annular guidance and support for the sliding block 304 of the mounting base 301. When the mounting base 301 rotates, the sliding block 304 slides along the annular guide rail 404. The first roller 305 makes rolling contact guidance on the upper and lower sides of the inner ring of the annular guide rail 404, and the second roller 306 makes rolling contact guidance on the upper and lower sides of the outer ring of the annular guide rail 404. The combination of the two can effectively improve the safety and stability of the rotation of the mounting base 301. By designing the first roller 305 and the second roller 306 to be inclinedly disposed inside the sliding block 304, the first roller 305 and the second roller 306 make inclined rolling contact with the annular guide rail 404, which can achieve clamping rolling contact guidance of the annular guide rail 404. This can effectively improve the safety and stability of the sliding block 304 moving in the annular direction along the annular guide rail 404, and effectively prevent the sliding block 304 from falling off the annular guide rail 404. By designing the distance between two adjacent first rollers 305 to be smaller than the distance between two adjacent second rollers 306, the first roller 305 is better adapted to the inner ring structure of the annular guide rail 404, ensuring the safety and stability of the first roller 305 moving along the inner ring of the annular guide rail 404. The second roller 305 is better adapted to the outer ring structure of the annular guide rail 404, ensuring the safety and stability of the first roller 305 moving along the outer ring of the annular guide rail 404.

[0027] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A robotic arm employing a composite wrist joint, comprising a robotic arm (1), characterized in that: The robotic arm (1) has a wrist joint (2) at its front end. The wrist joint (2) includes a rotation mechanism (3), an attitude adjustment mechanism (4), and an end flange (7). The rotation mechanism (3) and the attitude adjustment mechanism (4) are connected to the output end of the harmonic reducer (6) through a connecting mechanism (5). The rotation mechanism (3) includes three mounting seats (301). The three mounting seats (301) are movably connected to the outer wall of the end flange (7) through connecting arms (302). The two ends of the connecting arms (302) are connected to the mounting seats (301) and the end flange (7) through damping shafts (303). The attitude adjustment mechanism (4) includes three support arms (401). The three support arms (401) are movably connected to the bottom of the outer wall of the end flange (7).

2. The robotic arm employing a composite wrist joint according to claim 1, characterized in that: The attitude adjustment mechanism (4) further includes a support cylinder (402), a support sleeve (403) is rotatably fitted on the top of the outer wall of the support cylinder (402), an annular guide rail (404) is provided on the outer side of the support sleeve (403), the support sleeve (403) is fixedly connected to the mounting base (301), a guide sleeve (405) is provided on the top of the outer wall of the support cylinder (402) above the support sleeve (403), a support plate (406) is provided on the top of the support sleeve (403), and a guide plate (405) is provided at the center of the top of the support cylinder (402) above the support plate (406). 07), the top of the guide sleeve (405) is provided with a guide plate (408) above the support plate (406), the bottom of the support arm (401) is provided with a ball head connecting base (409), the guide plate (407) and the guide plate (408) are provided with an arc-shaped guide channel that matches the ball head connecting base (409), the top of the support arm (401) is provided with a ball head connecting top seat (410), the ball head connecting top seat (410) is fixedly connected to the end flange (7), and the support cylinder (402) is connected to the output end of the harmonic reducer (6) through the connecting mechanism (5).

3. A robotic arm employing a composite wrist joint according to claim 2, characterized in that: The ball joint connecting base (409) has a guide block (411) at the bottom and a guide groove (412) matching the guide block (411) at the top of the support plate (406). The guide groove (412) is a straight structure and the two ends of the three guide grooves (412) are respectively distributed in an equilateral triangle.

4. A robotic arm employing a composite wrist joint according to claim 2, characterized in that: The arc angle of the arc-shaped guide channel is greater than 60 degrees and less than 120 degrees.

5. A robotic arm employing a composite wrist joint according to claim 2, characterized in that: The mounting base (301) is provided with sliding blocks (304) at the top and bottom of the inner side, which are matched with the annular guide rail (404). The inner wall of the sliding block (304) is provided with a number of first rollers (305) that rotate inside the annular guide rail (404), and the inner wall of the sliding block (304) is provided with a number of second rollers (306) that rotate outside the annular guide rail (404).

6. A robotic arm employing a composite wrist joint according to claim 3, characterized in that: The first roller (305) and the second roller (306) are both inclinedly disposed inside the sliding block (304), and the distance between two adjacent first rollers (305) is smaller than the distance between two adjacent second rollers (306).

7. A robotic arm employing a composite wrist joint according to claim 2, characterized in that: The connecting mechanism (5) includes a connecting plate (501). A linear drive assembly (502) is vertically provided at the top center of the outer wall of the connecting plate (501). The output end of the linear drive assembly (502) is rotatably connected to the connecting plate (501). The linear drive assembly (502) is fixedly connected to the support cylinder (402). Several first inserts (503) and second inserts (504) are provided on the top of the connecting plate (501) outside the linear drive assembly (502). A first slot matching the first insert (503) is opened at the bottom of the support cylinder (402). A second slot matching the second insert (504) is provided at the bottom of the mounting base (301).

8. A robotic arm employing a composite wrist joint according to claim 7, characterized in that: The bottom of the connecting plate (501) is provided with several third inserts (505), and the output end of the harmonic reducer (6) is provided with a third slot that matches the third inserts (505).

9. A robotic arm employing a composite wrist joint according to claim 8, characterized in that: The length of the first insert (503) is greater than the length of the second insert (504), and the length of the third insert (505) is greater than the length of the first insert (503).

10. A robotic arm employing a composite wrist joint according to claim 1, characterized in that: The three support arms (401) are arranged in an equilateral triangle, the three mounting bases (301) are arranged in an equilateral triangle, and the three support arms (401) and the three mounting bases (301) are staggered.

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