A flexible buffer type mechanical arm wrist part carrying structure with steering overload protection

Abstract

The application discloses a flexible buffering type mechanical arm wrist carrying structure with steering overload protection, which comprises a mechanical arm main body seat, a driving assembly connected with the execution end of the mechanical arm main body seat, and an overload protection transmission module connected with the execution end of the driving assembly. The overload protection transmission module comprises a driving bevel gear, a driven bevel gear and a friction protection mechanism. A multidirectional transmission module is connected with the execution end of the driven bevel gear. The flexible buffering transmission assembly and the carrying clamp are further included. The application forms a double safety system by integrating the flexible buffering transmission assembly and the overload protection transmission module at the wrist of the mechanical arm. The resettable rigid torque limiting is realized by the friction protection mechanism between the bevel gears. The multidirectional transmission module is used to expand the flexibility of the clamp under the buffering protection, so that the impact absorption, overload skidding, compact transmission and multi-degree-of-freedom adaptation are realized simultaneously.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically to a flexible buffer robotic arm wrist handling structure with steering overload protection. Background Technology

[0002] The wrist of a robotic arm serves as a crucial connection between the end effector (such as a gripper) and the main joint. The quality of its structural design directly impacts handling accuracy, operational safety, and equipment lifespan. Existing robotic arm handling structures commonly suffer from the following technical problems: First, when the handling gripper grabs, releases, or accidentally collides with workpieces and obstacles at high speed, the instantaneous impact force and high-frequency vibration generated will be directly transmitted to the reducer, servo motor and joint structure of the robotic arm through the rigid transmission chain. Long-term use or occasional collisions can easily lead to a decrease in joint precision, gear wear and even damage to drive components, which seriously affects the reliability of the equipment. Second, transmission components are easily damaged under overload. To address this, some robotic arms have safety protection components in their transmission chains. However, these often use one-time protection devices such as shear pins or fracture couplings. When an overload occurs, the protection components are damaged and need to be replaced, which not only increases maintenance costs but also causes the production line to be interrupted for a long time. In addition, such protection devices have a slow response speed. Third, it is difficult to balance power transmission and flexibility. The wrist of the robotic arm has limited space. Traditional designs often sacrifice end-effector flexibility while ensuring transmission rigidity and compactness, or weaken protection functions while pursuing multiple degrees of freedom. Therefore, a flexible buffer robotic arm wrist handling structure with steering overload protection is proposed. Summary of the Invention

[0003] The purpose of this invention is to provide a flexible buffer robotic arm wrist handling structure with steering overload protection. This robotic arm wrist handling structure forms a dual safety system by integrating an elastic buffer transmission component and an overload protection transmission module in the robotic arm wrist. It utilizes a friction protection mechanism between bevel gears to achieve a resettable rigid torque limiting mechanism, and cooperates with a multi-directional transmission module to expand the gripping flexibility under the premise of buffer protection, thereby simultaneously achieving impact absorption, overload slippage, compact transmission, and multi-degree-of-freedom adaptation.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a flexible buffer robotic arm wrist handling structure with steering overload protection, comprising: a robotic arm main body base, and a drive assembly connected to the execution end of the robotic arm main body base, wherein the execution end of the drive assembly is connected to an overload protection transmission module; the overload protection transmission module includes a driving bevel gear, a driven bevel gear, and a friction protection mechanism, wherein the friction protection mechanism is driven between the driving bevel gear and the driven bevel gear; and a multi-directional transmission module connected to the execution end of the driven bevel gear; further comprising an flexible buffer transmission assembly connected to the execution end of the multi-directional transmission module, wherein the end of the flexible buffer transmission assembly is connected to a handling gripper, wherein when the handling gripper is driven to work and a collision occurs, the flexible buffer transmission assembly is used to absorb the impact kinetic energy during the handling process; if the working torque exceeds a set threshold, the overload protection transmission module causes friction slippage to protect the robotic arm.

[0005] Preferably, the active bevel gear includes a rectangular frame, inside which a rotatable first shaft is horizontally mounted, and mounting members are fixed to both ends of the first shaft; a first bevel gear is sleeved on the outer periphery of the first shaft and placed between the two mounting members; it also includes a first motor disposed on the rear side of the rectangular frame, and the output shaft of the first motor is fixed to the first shaft through a coupling.

[0006] Preferably, the friction protection mechanism includes a first spring and a friction plate sleeved on the outer periphery of the first rotating shaft, wherein the first spring is disposed between one of the first rotating shafts and the first bevel gear and presses the first bevel gear against the other mounting component, and the friction plate is connected between the first bevel gear and the other first rotating shaft.

[0007] Preferably, the driven bevel gear includes a second rotating shaft rotatably mounted on one side of the rectangular frame, wherein a second bevel gear fixed at one end of the second rotating shaft meshes with a first bevel gear, and the other end of the second rotating shaft is assembled with a multi-directional transmission module.

[0008] Preferably, the multi-directional transmission module includes a connector fixed perpendicularly to the second rotating shaft, a U-shaped frame fixed to the front end of the connector, and a first connecting shaft and a second connecting shaft installed at opposite ends of the U-shaped frame; a three-way pipe built into the U-shaped frame, wherein the two ends of the three-way pipe at the horizontal end are rotatably installed opposite ends of the first connecting shaft and the second connecting shaft, and a support shaft is rotatably installed at one end of the three-way pipe at the vertical end, and a first transmission gear is fixed on the support shaft; and second transmission gears symmetrically fixed at opposite ends of the first connecting shaft and the second connecting shaft, and the two second transmission gears mesh with the first transmission gear; transmission wheels are also fixed at opposite ends of the first connecting shaft and the second connecting shaft; second motors are symmetrically arranged inside the U-shaped frame, and each second motor is fixed with a drive wheel through a coupling at its output end, and a transmission belt is sleeved between each drive wheel and a transmission wheel distributed on the same side.

[0009] Preferably, the elastic buffer transmission assembly includes a slide rail slider assembly, a crank connecting rod assembly, and an eccentric drive mechanism. The crank connecting rod assembly is disposed between the slide rail slider assembly and the eccentric drive mechanism and uses the power provided by the eccentric drive mechanism to drive the extension and retraction of the handling gripper connected to the slide rail slider assembly, while absorbing the impact kinetic energy during the handling process. The slide rail slider assembly includes an extension frame fixed to the end of the support shaft away from the T-tube, an L-shaped frame mounted on the extension frame, a slide rail body fixed to the horizontal section of the L-shaped frame, and a slider body internally disposed in the slide rail body. One end of the slider body extends forward to assemble with the handling gripper, and the other end is fixed to a support rod, on which a first U-shaped frame is fixed.

[0010] Preferably, the crank-connecting rod assembly includes a crank body rotatably mounted to a first flange via a first pin, a second flange rotatably mounted to one end of the crank body via a second pin, and a third pin at the other end; a smooth rod fixed to the second flange, a sliding sleeve movably sleeved on the outer periphery of the smooth rod; and a second double connecting rod and a first double connecting rod rotatably mounted sequentially from the inside to the outside on the sliding sleeve, with the ends of the second double connecting rod and the first double connecting rod away from the sliding sleeve respectively rotatably mounted to an eccentric drive mechanism and a third pin; an external thread provided at the end of the smooth rod away from the second flange, and a threaded sleeve threadedly connected to the external thread, with a second spring provided on the outer periphery of the smooth rod between the threaded sleeve and the sliding sleeve.

[0011] Preferably, the eccentric drive mechanism includes a third rotating shaft rotatably mounted on the horizontal section of the L-shaped frame, an eccentric wheel eccentrically fixed to the third rotating shaft, and a transmission sleeve sleeved on the outer circumference of the eccentric wheel. A first protrusion on one side of the transmission sleeve is rotatably mounted to a second pin, and a second protrusion on the other side is rotatably mounted to a second double connecting rod. A third motor is also provided on the horizontal section of the L-shaped frame, and the output end of the third motor is fixed to the third rotating shaft via a coupling.

[0012] Preferably, the drive assembly includes a drive motor connected to the execution end of the robotic arm main body. The output shaft of the drive motor is connected to a mounting shaft via a coupling, and two mounting strips are connected to the mounting shaft. A center wheel is rotatably mounted on the middle of the two mounting strips via a first coupling, and side wheels are rotatably mounted on both ends of the two mounting strips via a second coupling. The two side wheels are positioned at both ends of the center wheel and mesh with it. A bearing sleeve is fixed to the housing of the drive motor and placed on the outer periphery of the output shaft of the drive motor. A mounting bracket is rotatably mounted on the front end of the bearing sleeve, and an internal gear is fixed on the mounting bracket. The internal gear is positioned on the outer periphery of the two side wheels and meshes with them. An assembly piece is also fixed to the front side of the internal gear, and an assembly frame is provided on the assembly piece. The assembly also includes a locking block assembly. When the working torque of the handling gripper is within the normal range, the drive motor drives the internal gear and its active bevel gear to rotate normally. When the working torque of the handling gripper exceeds a set threshold, the internal gear is passively locked, while the center wheel and the two side wheels rotate freely with the drive motor to protect the drive motor.

[0013] Preferably, the locking block assembly includes a column fixed to the outer wall of the bearing sleeve, a horizontal plate fixed to the end of the column, and a fixed clamping block fixed to the bottom of the front end of the horizontal plate; the column is also provided with an electric telescopic rod corresponding to the bottom of the horizontal plate, and a movable clamping block is fixed to the telescopic end of the electric telescopic rod. When the working torque of the handling clamp exceeds a set threshold, the electric telescopic rod extends and causes the movable clamping block and the fixed clamping block to act on both sides of the internal gear to lock the internal gear.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention integrates an elastic buffer transmission component and an overload protection transmission module at the wrist of a robotic arm, forming a dual safety system of "flexible buffering + rigid torque limiting". When a slight collision or vibration occurs during handling, the elastic buffer component absorbs the impact kinetic energy first, preventing the rigid impact from being transmitted to the main body of the robotic arm. When the working torque or external force exceeds a set threshold, the friction protection mechanism in the overload protection transmission module automatically slips, cutting off the power transmission. The two work together to ensure the stability of normal operation and fundamentally prevent structural damage to the joints and drive components of the robotic arm caused by collisions, jamming, or overload. With the multi-directional transmission module located between the overload protection module and the elastic buffer component, the direction of power transmission can be changed or multi-degree-of-freedom output can be achieved, giving the handling gripper more flexible posture adjustment capabilities. This design expands the working space and angle adaptability of the robotic arm end effector without sacrificing safety protection performance. Attached Figure Description

[0015] Figure 1 This is a first-view three-dimensional structural diagram of the present invention; Figure 2 This is a second-view three-dimensional structural diagram of the present invention; Figure 3 This is a schematic diagram of the third-view three-dimensional structure of the present invention; Figure 4 This is a schematic diagram of the fourth-view three-dimensional structure of the present invention; Figure 5 This is a schematic diagram of the fifth perspective three-dimensional structure of the present invention; Figure 6 This is a schematic diagram of the sixth-view three-dimensional structure of the present invention; Figure 7 for Figure 2 Enlarged structural diagram at point E; Figure 8 for Figure 6 Enlarged structural diagram at point J; Figure 9 for Figure 1 Enlarged structural diagram at point B; Figure 10 Figure 3 Enlarged structural diagram at point C; Figure 11 for Figure 1 Enlarged structural diagram at point A in the middle; Figure 12 for Figure 2 Enlarged structural diagram at point F; Figure 13 for Figure 3 Enlarged structural diagram at point D.

[0016] In the picture: 01. Main body of the robotic arm; 03. Drive motor; 031. Mounting shaft; 032. Mounting strip; 033. Center wheel; 034. Side wheel; 035. Bearing sleeve; 036. Mounting bracket; 037. Internal gear; 038. Column; 039. Horizontal plate; 0310. Fixed clamping block; 0311. Electric telescopic rod; 0312. Movable clamping block; 04. Assemble the matching parts; 05. Assemble the rack; 06. Rectangular frame; 061. First rotating shaft; 062. Mounting component; 063. Friction plate; 064. First bevel gear; 065. First spring; 066. Second rotating shaft; 067. Second bevel gear; 068. First motor; 07. Connector; 071. U-shaped frame; 072. First connecting shaft; 073. T-shaped pipe; 074. Support shaft; 075. First transmission gear; 076. Second connecting shaft; 077. Second transmission gear; 078. Second motor; 079. Drive wheel; 0710. Transmission belt; 08. Extension frame; 09. L-shaped frame; 091. Slide rail body; 092. Slider body; 093. Support arm; 094. Support rod; 095. First U-shaped frame; 096. Crank body; 097. Second pin; 098. Second U-shaped frame; 099. Smooth rod; 0910. Sliding sleeve; 0911. External thread; 0912. Threaded sleeve; 0913. Second spring; 0914. First double connecting rod; 0916. Third rotating shaft; 0917. Eccentric wheel; 0918. Transmission sleeve; 0919. Second double connecting rod; 0920. Third motor; 10. Hands caught while handling. Detailed Implementation

[0017] In the description of this invention, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this invention and 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, and therefore should not be construed as a limitation of this invention. The various embodiments of this invention are described in detail below with reference to the accompanying drawings.

[0018] Example 1 Please see Figures 1 to 13 The present invention preferably provides the following technical solution: a flexible buffer robotic arm wrist handling structure with steering overload protection, comprising: a robotic arm main body 01, and a drive assembly connected to the execution end of the robotic arm main body 01, wherein the execution end of the drive assembly is connected to an overload protection transmission module; the overload protection transmission module includes an active bevel gear, a driven bevel gear, and a friction protection mechanism, wherein the friction protection mechanism is driven between the active bevel gear and the driven bevel gear; and a multi-directional transmission module connected to the execution end of the driven bevel gear; further comprising an flexible buffer transmission assembly connected to the execution end of the multi-directional transmission module, wherein the end of the flexible buffer transmission assembly is connected to a handling gripper 10, wherein when the handling gripper 10 is driven to work and a collision occurs, the flexible buffer transmission assembly is used to absorb the impact kinetic energy during the handling process; if the working torque exceeds a set threshold, the overload protection transmission module causes friction slippage to protect the robotic arm.

[0019] like Figure 1 , 2As shown in Figures 3, 4, 5, and 6, firstly, this structure integrates an elastic buffer transmission component and an overload protection transmission module at the wrist of the robotic arm, forming a dual safety system of "flexible buffer + rigid torque limiting". When a slight collision or vibration occurs during handling, the elastic buffer component absorbs the impact kinetic energy first, preventing the rigid impact from being transmitted to the main body of the robotic arm. When the working torque or external force exceeds the set threshold, the friction protection mechanism in the overload protection transmission module automatically slips and cuts off the power transmission. The two work together to ensure the stability of normal operation and fundamentally prevent structural damage to the joints and drive components of the robotic arm caused by collision, jamming, or overload.

[0020] Secondly, in the rigid torque limiting section, this device adopts a friction protection mechanism between the driving bevel gear and the driven bevel gear. On the one hand, it replaces the traditional shear pin or fracture protection element. When the overload is eliminated, the friction mechanism can automatically or manually restore the transmission capacity without replacing parts, which significantly reduces maintenance costs and downtime. On the other hand, the friction slippage has the characteristic of fast response speed. In other aspects, because the driving bevel gear and the driven bevel gear form a right angle transmission, the structure is compact and suitable for the limited installation space of the robotic arm wrist. At the same time, the bevel gear transmission has high efficiency and smooth meshing. With the friction protection mechanism, it can not only ensure the power output accuracy under normal working conditions, but also reliably slip under overload to avoid damage to the gear tooth surface. In the flexible buffer section, the handling gripper 10 is connected to the multi-directional transmission module via an elastic buffer transmission component. During gripping, releasing, or accidental collisions, this component can effectively absorb high-frequency vibrations and instantaneous impact forces, avoiding rigid transmission that could lead to gripper deformation, workpiece surface damage, or positioning deviation. It is especially suitable for precision parts and high-speed gripping and releasing scenarios, improving handling quality and equipment reliability.

[0021] Furthermore, the multi-directional transmission module is located between the overload protection module and the elastic buffer component, which can change the direction of power transmission or realize multi-degree-of-freedom output, giving the handling gripper 10 more flexible posture adjustment capabilities. This design expands the working space and angle adaptability of the robotic arm end effector without sacrificing safety protection performance, and is suitable for complex assembly lines or unstructured environments.

[0022] Finally, by placing the protection mechanism in the wrist power transmission chain, it is possible to effectively prevent damage to expensive core components such as reducers and servo motors due to end-of-life collisions or overloads. At the same time, in human-machine collaboration scenarios, the elastic buffer and overload slippage characteristics can also reduce the risk of injury to operators from accidental collisions, which complies with industrial safety standards.

[0023] Example 2 In another embodiment of the present invention, the active bevel gear includes a rectangular frame 06, a rotatable first shaft 061 is horizontally mounted inside the rectangular frame 06, and mounting members 062 are fixed to both ends of the first shaft 061; a first bevel gear 064 is sleeved on the outer periphery of the first shaft 061 and placed between the two mounting members 062; and a first motor 068 is also provided on the rear side of the rectangular frame 06, and the output shaft of the first motor 068 is fixed to the first shaft 061 by a coupling.

[0024] Furthermore, the friction protection mechanism includes a first spring 065 and a friction plate 063 sleeved on the outer periphery of the first rotating shaft 061. The first spring 065 is disposed between one of the first rotating shafts 061 and the first bevel gear 064 and presses the first bevel gear 064 against the other mounting member 062. The friction plate 063 is connected between the first bevel gear 064 and the other first rotating shaft 061.

[0025] Furthermore, the driven bevel gear includes a second rotating shaft 066 rotatably mounted on one side of the rectangular frame 06, and a second bevel gear 067 fixed at one end of the second rotating shaft 066 meshes with a first bevel gear 064, and its other end is assembled with a multi-directional transmission module.

[0026] like Figure 8 As shown, in this embodiment, the first rotating shaft 061 has mounting parts 062 fixed at both ends and rotates under the power provided by the first motor 068. A first spring 065, a first bevel gear 064, and a friction plate 063 are sequentially mounted from front to back within the shaft. The friction plate 063 is positioned between the first bevel gear 064 and... Figure 8 The first spring 065 presses the first bevel gear 064 against the right-side mounting piece 062, while the first bevel gear 064 meshes with the second bevel gear 067 at the end of the second rotating shaft 066. When the working torque of the handling gripper 10 is within the normal range, under the action of the first motor 068, as... Figure 6 , 8 As shown, the first rotating shaft 061 can drive the first spring 065, the first bevel gear 064 and the friction plate 063 that are attached to it in sequence to rotate with the two mounting parts 062, thereby realizing the adjustment of the pitch angle of the second rotating shaft 066 and the multi-directional transmission module thereon; When the working torque of the handling gripper 10 exceeds the set threshold, not only will the handling gripper 10 and the multi-directional transmission module be overloaded, but the second rotating shaft 066 and the second bevel gear 067 will also be overloaded. Figure 8 In case of overload seizure, the overload force of the second bevel gear 067 will be greater than the driving force of the friction plate 063 to drive the first bevel gear 064 to rotate. In this case, the second bevel gear 067 and the first bevel gear 064 will remain stationary, while the friction plate 063 will slip due to friction. Here, the first motor 068 achieves overload protection by rotating freely.

[0027] Example 3 In another embodiment of the present invention, the multi-directional transmission module includes a connector 07 vertically fixed to the second rotating shaft 066, a U-shaped frame 071 fixed to the front end of the connector 07, and a first connecting shaft 072 and a second connecting shaft 076 arranged opposite to each other at both ends of the U-shaped frame 071; and a three-way pipe 073 built into the U-shaped frame 071, wherein the two ends of the three-way pipe 073 at the horizontal end are rotatably mounted opposite to the ends of the first connecting shaft 072 and the second connecting shaft 076, and a support shaft 074 is rotatably mounted at one end of the three-way pipe 073 at the vertical end, and a first transmission shaft is fixed on the support shaft 074. The first connecting shaft 072 has a drive gear 075; and a second transmission gear 077 is symmetrically fixed at the opposite ends of the first connecting shaft 072 and the second connecting shaft 076, and the two second transmission gears 077 mesh with the first transmission gear 075; the opposite ends of the first connecting shaft 072 and the second connecting shaft 076 are also fixed with transmission wheels; the U-shaped frame 071 is symmetrically arranged with second motors 078 inside, and each second motor 078 is fixed with a drive wheel 079 through a coupling at its output end, and a transmission belt 0710 is sleeved between each drive wheel 079 and the transmission wheels distributed on the same side.

[0028] According to the descriptions in Examples 2, 4, and 5, as follows: Figure 1 , 3 As shown, the drive component can drive the overload protection transmission module and its components to rotate left and right, while the overload protection transmission module can drive the multi-directional transmission module and its components to rotate forward and backward. The multi-directional transmission module can drive the elastic buffer transmission component and the handling gripper to rotate in multiple directions. The elastic buffer transmission assembly can also drive the handling gripper 10 at its actuator to extend and retract back and forth to meet different requirements of handling operations. Among them, such as Figure 1 , 3 As shown in Figures 9 and 10, the first connecting shaft 072 and the second connecting shaft 076, where the multi-directional transmission module is located, are rotatably mounted on the ends of the U-shaped frame 071 and are relatively distributed. The three-way pipe 073, which is sleeved between the first connecting shaft 072 and the second connecting shaft 076, has a support shaft 074 rotatably mounted on its vertical section. The first transmission gear 075 fixed on the support shaft 074 meshes with the second transmission gear 077 fixed on the first connecting shaft 072 and the second connecting shaft 076. At the same time, the first connecting shaft 072 and the second connecting shaft 076 are connected to the two second motors 078 through drive wheels 079, transmission wheels, and transmission belts 0710. Therefore, when it is necessary to adjust the angle of the elastic buffer transmission component connected to the support shaft 074, this application has two implementation methods. One implementation: When the two second motors 078 are operated synchronously and in the same direction, the first transmission gear 075, which meshes with the two second transmission gears 077, remains stationary, while the three-way pipe 073 pitches back and forth about the first connecting shaft 072 and the second connecting shaft 076, so as to realize the elastic buffer transmission component and the handling gripper 10 to rotate back and forth. Another implementation: When the two second motors 078 are operated synchronously and in opposite directions, the first transmission gear 075, which meshes with the two second transmission gears 077, rotates, and the support shaft 074 drives the elastic buffer transmission component and the handling gripper 10 connected to it to rotate left and right.

[0029] Example 4 In another embodiment of the present invention, the elastic buffer transmission assembly includes a slide rail slider assembly, a crank connecting rod assembly, and an eccentric drive mechanism. The crank connecting rod assembly is disposed between the slide rail slider assembly and the eccentric drive mechanism and uses the power provided by the eccentric drive mechanism to drive the transport gripper 10 connected to the slide rail slider assembly to extend and retract, while absorbing the impact kinetic energy during the transport process. The slide rail slider assembly includes an extension frame 08 fixed to the end of the support shaft 074 away from the three-way pipe 073, an L-shaped frame 09 mounted on the extension frame 08, a slide rail body 091 fixed to the horizontal section of the L-shaped frame 09, and a slider body 092 disposed inside the slide rail body 091. One end of the slider body 092 extends forward and is assembled with the transport gripper 10, and the other end is fixed to the rear with a support rod 094. A first U-shaped frame 095 is fixed on the support rod 094.

[0030] Furthermore, the crank-connecting rod assembly includes a crank body 096 rotatably mounted to a first flange 095 via a first pin, a second flange 098 rotatably mounted to one end of the crank body 096 via a second pin 097, and a third pin at the other end; a smooth rod 099 fixed to the second flange 098, a sliding sleeve 0910 movably sleeved on the outer periphery of the smooth rod 099, and a second double connecting rod 099 rotatably mounted on the sliding sleeve 0910 from the inside out. 919, the first double connecting rod 0914, and the ends of the second double connecting rod 0919 and the first double connecting rod 0914 away from the sliding sleeve 0910 are respectively rotatably mounted to the eccentric drive mechanism and the third pin; an external thread 0911 is provided on the end of the smooth rod 099 away from the second U-shaped frame 098, and a threaded sleeve 0912 is threadedly connected to the external thread 0911, and a second spring 0913 is provided on the outer periphery of the smooth rod 099 between the threaded sleeve 0912 and the sliding sleeve 0910.

[0031] Furthermore, the eccentric drive mechanism includes a third rotating shaft 0916 rotatably mounted on the horizontal section of the L-shaped frame 09, an eccentric wheel 0917 eccentrically fixed to the third rotating shaft 0916, and a transmission sleeve 0918 sleeved on the outer circumference of the eccentric wheel 0917. A first protrusion on one side of the transmission sleeve 0918 is rotatably mounted to a second pin 097, and a second protrusion on the other side is rotatably mounted to a second double connecting rod 0919. A third motor 0920 is also provided on the horizontal section of the L-shaped frame 09, and the output end of the third motor 0920 is fixed to the third rotating shaft 0916 through a coupling.

[0032] like Figure 1 , 2 As shown in Figures 3, 11, 12, and 13, the crank body 096, where the crank-connecting rod assembly is located, has its corner rotatably mounted to the first flange 095, where the slide rail slider assembly is located, via a first pin. One end of the crank body 096 is rotatably mounted to a second flange 098 via a second pin 097. The smooth rod 099, fixed to the second flange 098, has a sliding sleeve 0910 fitted on it. This sleeve connects not only to the crank body 096 via a first double connecting rod 0914, but also to a second double connecting rod 0919 connected to the second protrusion on the transmission sleeve 0918, where the eccentric drive mechanism is located. The transmission sleeve 0918 is fitted around the eccentric wheel 0917. Figure 12 As shown, when the third motor 0920 drives the eccentric wheel 0917 to rotate eccentrically, the transmission sleeve 0918 of the eccentric rotation can adaptively drive the slider body 092 to extend and retract inside the slide rail body 091, thereby realizing the forward extension and backward retraction process of the handling gripper 10. Because the sliding sleeve 0910 is connected to the second spring 0913, when the support arm 093 drives the handling gripper 10 to extend forward to grab, retract to release, or when a collision occurs, the sliding sleeve 0910 adapts to the action of the transmission of each structure, and with the action of the second spring 0913, absorbs the impact kinetic energy during the handling process.

[0033] Example 5 In another embodiment of the present invention, the drive assembly includes a drive motor 03 connected to the execution end of the robotic arm main body 01. The output shaft of the drive motor 03 is connected to a mounting shaft 031 via a coupling, and two mounting strips 032 connected to the mounting shaft 031. A center wheel 033 is rotatably mounted on the middle of the two mounting strips 032 via a first coupling, and side wheels 034 are rotatably mounted on both ends of the two mounting strips 032 via a second coupling. The two side wheels 034 are located at both ends of the center wheel 033 and mesh with it. A bearing sleeve 035 is fixed to the housing of the drive motor 03 and placed on the outer periphery of the output shaft of the drive motor 03. A mounting bracket is rotatably mounted on the front end of the bearing sleeve 035. The assembly includes a mounting bracket 036 and an internal gear 037 fixed on the mounting bracket 036. The internal gear 037 is positioned on the outer periphery of the two side wheels 034 and meshes with them. A mounting set 04 is also fixed to the front side of the internal gear 037, and a mounting bracket 05 is provided on the mounting set 04. The assembly also includes a locking block assembly. When the working torque of the handling gripper 10 is within the normal range, the drive motor 03 drives the internal gear 037 and its active bevel gear to rotate normally. When the working torque of the handling gripper 10 exceeds the set threshold, the internal gear 037 is passively locked, while the center wheel 033 and the two side wheels 034 rotate freely with the drive motor 03 to protect the drive motor 03.

[0034] Furthermore, the locking block assembly includes a column 038 fixed to the outer wall of the bearing sleeve 035, a horizontal plate 039 fixed to the end of the column 038, and a fixed clamping block 0310 fixed to the bottom of the front end of the horizontal plate 039; the column 038 is also provided with an electric telescopic rod 0311 corresponding to the bottom of the horizontal plate 039, and a movable clamping block 0312 is fixed to the telescopic end of the electric telescopic rod 0311. When the working torque of the handling clamp 10 exceeds the set threshold, the electric telescopic rod 0311 extends and causes the movable clamping block 0312 and the fixed clamping block 0310 to act on both sides of the internal gear 037 to lock the internal gear 037.

[0035] like Figure 2 , 4As shown in Figures 5 and 7, the output shaft of the drive motor 03 is connected to two mounting strips 032. A central wheel 033 is rotatably mounted on the middle part of the strip via a first coupling shaft, and side wheels 034 are rotatably mounted on both ends of the central wheel 033 via a second coupling shaft. The two side wheels 034 are positioned at both ends of the central wheel 033 and mesh with it. The bearing sleeve 035, which is fixed to the housing of the drive motor 03 and sleeved on the outer circumference of the output shaft, has an internal gear 037 fixed on its front end mounted on a mounting bracket 036. The internal gear 037 is positioned on the outer circumference of the two side wheels 034 and meshes with them. At the same time, the internal gear 037 is fixed to the rectangular frame 06 where the drive bevel gear is located via the mounting set 04 and the mounting bracket 05. Therefore, when the drive motor 03 is running, the two side wheels 034, which rotate with the drive motor 03, mesh with the internal gear 037 and the central wheel 033, thereby realizing the rotation process of the central wheel 033 and the internal gear 037, and thus realizing the rotational movement of the mounting set 04, the mounting bracket 05, and the drive bevel gear. When the working torque of the handling gripper 10 exceeds the set threshold, the built-in microcontroller drives the electric telescopic rod 0311 to extend. At this time, the movable clamping block 0312 and the fixed clamping block 0310 can clamp the internal gear 037. Then, the two side wheels 034 that follow the drive motor 03 rotate along the internal gear 037, effectively reducing the risk of damaging the drive motor 03 due to device overload. It is worth noting that the aforementioned central wheel 033, two side wheels 034, and internal gear 037 transmission is a planetary gear set, a common structure in mechanical equipment. It is a mature technology that is widely used in automobiles and other equipment. In this embodiment, this principle is used to effectively protect the drive motor 03 under overload conditions of the robotic arm handling structure.

[0036] In this invention, unless otherwise explicitly specified and limited, the terms “installation,” “connection,” “linking,” “fixing,” etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part. There are various ways to install detachably, such as by using a plug-in and snap-fit ​​method, or by using a bolt connection, etc.

[0037] The above embodiments, which describe the specific features of the present invention, are only used to further illustrate the present invention and should not be construed as limiting the scope of protection of the present invention. Any non-essential improvements and adjustments made to the present invention by those skilled in the art based on the above description of the invention shall fall within the scope of protection of the present invention.

Claims

1. A flexible buffer robotic arm wrist handling structure with steering overload protection, characterized in that... The system includes: a robotic arm main body (01) and a drive assembly connected to the execution end of the robotic arm main body (01), wherein the execution end of the drive assembly is connected to an overload protection transmission module; The overload protection transmission module includes a driving bevel gear, a driven bevel gear, and a friction protection mechanism, wherein the friction protection mechanism is driven between the driving bevel gear and the driven bevel gear. And a multi-directional transmission module connected to the driven bevel gear actuator; It also includes an elastic buffer transmission component connected to the execution end of the multi-directional transmission module. The end of the elastic buffer transmission component is connected to a handling gripper (10). When the handling gripper (10) is driven to work and a collision occurs, the elastic buffer transmission component is used to absorb the impact kinetic energy during the handling process. If the working torque exceeds the set threshold, the overload protection transmission module will cause friction slippage to protect the robotic arm.

2. The elastic buffer robotic arm wrist handling structure with steering overload protection according to claim 1, characterized in that: The active bevel gear includes a rectangular frame (06), inside which a rotatable first shaft (061) is horizontally mounted, and mounting parts (062) are fixed to both ends of the first shaft (061). And a first bevel gear (064) sleeved on the outer periphery of the first rotating shaft (061) and placed between the two mounting parts (062); It also includes a first motor (068) disposed on the rear side of the rectangular frame (06), and the output shaft of the first motor (068) is fixed to the first rotating shaft (061) by a coupling.

3. The elastic buffer robotic arm wrist handling structure with steering overload protection according to claim 2, characterized in that: The friction protection mechanism includes a first spring (065) and a friction plate (063) sleeved on the outer periphery of the first rotating shaft (061). The first spring (065) is disposed between one of the first rotating shafts (061) and the first bevel gear (064) and presses the first bevel gear (064) against the other mounting part (062). The friction plate (063) is connected between the first bevel gear (064) and the other first rotating shaft (061).

4. The elastic buffer robotic arm wrist handling structure with steering overload protection according to claim 2, characterized in that: The driven bevel gear includes a second rotating shaft (066) rotatably mounted on one side of the rectangular frame (06), and a second bevel gear (067) fixed at one end of the second rotating shaft (066) meshes with a first bevel gear (064), and its other end is assembled with a multi-directional transmission module.

5. The elastic buffer robotic arm wrist handling structure with steering overload protection according to claim 4, characterized in that: The multi-directional transmission module includes a connector (07) that is perpendicularly fixed to the second rotating shaft (066). A U-shaped frame (071) is fixed to the front end of the connector (07). A first connecting shaft (072) and a second connecting shaft (076) that are relatively distributed are installed at both ends of the U-shaped frame (071). And a three-way pipe (073) built into the U-shaped frame (071), wherein the two ends of the three-way pipe (073) are rotatably installed opposite to the first connecting shaft (072) and the second connecting shaft (076) at the horizontal end, and a support shaft (074) is rotatably installed at one end of the vertical section, and a first transmission gear (075) is fixed on the support shaft (074). And a second transmission gear (077) symmetrically fixed at the opposite ends of the first connecting shaft (072) and the second connecting shaft (076), and the two second transmission gears (077) mesh with the first transmission gear (075); The first connecting shaft (072) and the second connecting shaft (076) are respectively fixed with transmission wheels at their opposite ends; The U-shaped frame (071) is symmetrically equipped with a second motor (078). Each second motor (078) is fixed with a drive wheel (079) through a coupling at its output end. Each drive wheel (079) is fitted with a transmission belt (0710) between itself and a transmission wheel distributed on the same side.

6. The elastic buffer robotic arm wrist handling structure with steering overload protection according to claim 5, characterized in that: The elastic buffer transmission assembly includes a slide rail slider assembly, a crank connecting rod assembly and an eccentric drive mechanism. The crank connecting rod assembly is located between the slide rail slider assembly and the eccentric drive mechanism and uses the power provided by the eccentric drive mechanism to drive the transport gripper (10) connected to the slide rail slider assembly to extend and retract, while absorbing the impact kinetic energy during the transport process. The slide rail slider assembly includes an extension frame (08) fixed to the end of the support shaft (074) away from the tee pipe (073), an L-shaped frame (09) mounted on the extension frame (08), and a slide rail body (091) fixed to the horizontal section of the L-shaped frame (09). And a slider body (092) is provided in the slide rail body (091), and one end of the slider body (092) extends forward and is assembled with the handling gripper (10), and the other end is fixed to a support rod (094) at the rear, and a first U-shaped frame (095) is fixed on the support rod (094).

7. The elastic buffer robotic arm wrist handling structure with steering overload protection according to claim 6, characterized in that: The crank connecting rod assembly includes a crank body (096) rotatably mounted to a first shank frame (095) via a first pin, a second shank frame (098) rotatably mounted at one end of the crank body (096) via a second pin (097), and a third pin at the other end. A light rod (099) is fixed on the second U-shaped frame (098). A sliding sleeve (0910) is movably sleeved on the outer periphery of the light rod (099). A second double connecting rod (0919) and a first double connecting rod (0914) are rotatably mounted on the sliding sleeve (0910) from the inside to the outside. The ends of the second double connecting rod (0919) and the first double connecting rod (0914) away from the sliding sleeve (0910) are respectively rotatably mounted to the eccentric drive mechanism and the third pin. An external thread (0911) is provided at the end of the smooth rod (099) away from the second U-shaped frame (098), and a threaded sleeve (0912) is threadedly connected to the external thread (0911), and a second spring (0913) is provided on the outer periphery of the smooth rod (099) between the threaded sleeve (0912) and the sliding sleeve (0910).

8. The elastic buffer robotic arm wrist handling structure with steering overload protection according to claim 7, characterized in that: The eccentric drive mechanism includes a third rotating shaft (0916) rotatably mounted on the horizontal section of the L-shaped frame (09), and an eccentric wheel (0917) eccentrically fixed to the third rotating shaft (0916). And a transmission sleeve (0918) sleeved on the outer periphery of the eccentric wheel (0917), wherein a first protrusion on one side of the transmission sleeve (0918) is rotatably mounted to a second pin (097), and a second protrusion on the other side is rotatably mounted to a second double connecting rod (0919); A third motor (0920) is also provided on the horizontal section of the L-shaped frame (09), and the output end of the third motor (0920) is fixed to the third rotating shaft (0916) through a coupling.

9. The elastic buffer robotic arm wrist handling structure with steering overload protection according to claim 1, characterized in that: The drive assembly includes a drive motor (03) connected to the execution end of the main body (01) of the robotic arm. The output shaft of the drive motor (03) is connected to a mounting shaft (031) via a coupling, and two mounting strips (032) are connected to the mounting shaft (031). A center wheel (033) is rotatably mounted in the middle of the two mounting strips (032) via a first coupling, and side wheels (034) are rotatably mounted at both ends of the two mounting strips (032) via a second coupling. The two side wheels (034) are located at both ends of the center wheel (033) and mesh with it. A bearing sleeve (035) is fixed to the housing of the drive motor (03) and placed on the outer periphery of the output shaft of the drive motor (03). A mounting bracket (036) is rotatably mounted on the front end of the bearing sleeve (035), and an internal gear (037) is fixed on the mounting bracket (036). The internal gear (037) is placed on the outer periphery of two side wheels (034) and meshes with them. The front side of the internal gear (037) is also fixed with a mounting bracket (04), and the mounting bracket (04) is provided with a mounting frame (05). It also includes a locking block assembly. When the working torque of the handling gripper (10) is within the normal range, the drive motor (03) drives the internal gear (037) and its active bevel gear to rotate normally. When the working torque of the handling gripper (10) exceeds the set threshold, the internal gear (037) is passively locked, while the center wheel (033) and the two side wheels (034) rotate freely with the drive motor (03) to protect the drive motor (03).

10. A flexible buffer robotic arm wrist handling structure with steering overload protection according to claim 9, characterized in that: The locking block assembly includes a column (038) fixed to the outer wall of the bearing sleeve (035) and a horizontal plate (039) fixed to the end of the column (038). And a fixing clip (0310) fixed to the bottom of the front end of the horizontal plate (039); The column (038) is also provided with an electric telescopic rod (0311) at the bottom of the horizontal plate (039). The telescopic end of the electric telescopic rod (0311) is fixed with a movable clamping block (0312). When the working torque of the handling clamp (10) exceeds the set threshold, the electric telescopic rod (0311) extends and causes the movable clamping block (0312) and the fixed clamping block (0310) to act on both sides of the internal gear (037) to lock the internal gear (037).

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