Flexible and adjustable robot wrist mechanism

Abstract

The utility model relates to the technical field of robots, in particular to a flexible and adjustable robot wrist mechanism which comprises a robot big arm, the robot big arm comprises a fixing frame, the fixing frame is installed at the top end of the robot big arm, a rotary adjusting mechanism is arranged in the fixing frame, and an installation frame is installed at the top end of the rotary adjusting mechanism. A mounting groove is formed in the mounting frame, a mounting seat is arranged in the mounting groove, a hinge seat is mounted at the top end of the mounting seat, a first arm is hinged to the interior of the hinge seat, and a second arm is hinged to one end of the first arm. According to the utility model, the second gear main body is engaged with the first gear main body, so that the second gear main body can drive the first gear main body and the rotary table main body to rotate simultaneously while rotating, and the rotary table main body is convenient to rotate to drive the mounting groove and the hinge seat to rotate simultaneously in all directions; therefore, the robot arm can be conveniently and flexibly adjusted.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a flexible and adjustable robot wrist mechanism. Background Art

[0002] Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field. They have a certain degree of automation and can rely on their own power and control capabilities to achieve various industrial processing and manufacturing functions. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemicals. The robot wrist refers to the connection of the industrial robot arm, which is a mechanism to adjust the angle of the industrial robot arm.

[0003] Most robot wrist mechanisms currently on the market are not convenient for full 360-degree rotation adjustment of the robot arm when in use, which affects the use effect of the robot arm. At the same time, it is not convenient for operators to disassemble and maintain the robot arm and wrist mechanism, which increases the labor intensity of operators when disassembling the robot arm. Utility Model Content

[0004] The purpose of this section is to summarize some aspects of the embodiments of the utility model and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and utility model name of this application to avoid blurring the purpose of this section, specification abstract and utility model name, and such simplifications or omissions cannot be used to limit the scope of the utility model.

[0005] In view of the fact that most robot wrist mechanisms currently on the market mentioned above or in the prior art are not convenient for rotating and adjusting the robot arm 360 degrees in all directions during use, which affects the use effect of the robot arm. At the same time, it is not convenient for operators to disassemble and maintain the robot arm and the wrist mechanism, which increases the labor intensity of the operators when disassembling the robot arm. Therefore, the present utility model is proposed.

[0006] Therefore, the purpose of the utility model is to provide a flexible and adjustable robot wrist mechanism.

[0007] In order to solve the above technical problems, the utility model provides the following technical solutions: a flexible and adjustable robot wrist mechanism includes a robot arm, which includes a fixed frame, the top of the robot arm is equipped with a fixed frame, and a rotation adjustment mechanism is arranged inside the fixed frame, the top of the rotation adjustment mechanism is equipped with a mounting frame, and a mounting groove is arranged inside the mounting frame, a mounting seat is arranged inside the mounting groove, and an articulated seat is arranged on the top of the mounting seat, a first arm is articulated inside the articulated seat, and a second arm is articulated at one end of the first arm, and the outer wall of the mounting seat is provided with a second threaded hole;

[0008] The rotary adjustment mechanism comprises a turntable body and a driving motor, wherein the turntable body is rotatably mounted on the top of the fixed frame through a bearing, a first gear body is mounted on the bottom of the turntable body, the driving motor is mounted on the bottom of the fixed frame, a driving shaft is mounted on the output end of the driving motor through a coupling, and a second gear body is mounted on the top of the driving shaft;

[0009] The installation and disassembly mechanism includes a fixed sleeve and a sliding rod, wherein the fixed sleeve is installed at the top of the installation frame, a second threaded rod is rotatably installed inside the fixed sleeve through a bearing, and a positioning plate is threadedly connected to the outer wall of the second threaded rod, an extrusion plate is installed at one end of the bottom end of the positioning plate, a fixed plate is installed at one end of the positioning plate, and a through hole is opened inside the fixing plate.

[0010] As a preferred solution of a flexible and adjustable robot wrist mechanism of the utility model, wherein: a first threaded hole is opened inside the installation groove, and the internal thread of the first threaded hole is connected to a first threaded rod, a turntable body is installed at one end of the first threaded rod, and the first threaded rod is threadedly connected to the second threaded hole.

[0011] As a preferred solution of the flexible and adjustable robot wrist mechanism of the utility model, wherein: the second gear body is meshed with the first gear body.

[0012] As a preferred solution of the flexible and adjustable robot wrist mechanism of the utility model, a sliding rod is arranged inside the through hole, and the bottom end of the sliding rod is fixedly connected to the top end of the installation frame.

[0013] As a preferred solution of the flexible and adjustable robot wrist mechanism of the utility model, wherein: a handle body is installed on the top end of the second threaded rod, and a protective cover is installed on the outer wall of the handle body.

[0014] As a preferred solution of the flexible and adjustable robot wrist mechanism of the utility model, the top end of the extrusion plate and the bottom end of the positioning plate are welded integrated structures, and the bottom end of the extrusion plate is installed with anti-slip grooves.

[0015] As a preferred solution of the flexible and adjustable robot wrist mechanism of the utility model, there are two groups of the first threaded rods with the same structure.

[0016] The flexible and adjustable robot wrist mechanism of the utility model has the following beneficial effects:

[0017] 1. The utility model first starts the driving motor to drive the driving shaft and the second gear body to rotate, and the second gear body is meshed with the first gear body, so that the second gear body can drive the first gear body and the turntable body to rotate at the same time, so that the turntable body is rotated to drive the installation slot and the hinge seat to rotate in all directions at the same time, so that the robot arm can be conveniently and flexibly adjusted;

[0018] 2. The utility model firstly connects the second threaded rod with the positioning plate through a threaded connection, and cooperates with the through hole and the sliding rod, so that the operator can drive the second threaded rod to rotate by rotating the handle body, so that the second threaded rod can be rotated to drive the positioning plate to rise and fall on the outer wall of the second threaded rod, thereby driving the extrusion plate to position and fix the mounting seat through the lifting of the positioning plate, so that the operator can disassemble and maintain the mounting seat by rotating the handle body, which is convenient for the operator to operate. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the following briefly introduces the drawings required for the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0020] Figure 1 It is a schematic diagram of the main assembly structure of a flexible and adjustable robot wrist mechanism;

[0021] Figure 2 It is a schematic diagram of the main structure of a flexible and adjustable robot wrist mechanism;

[0022] Figure 3 It is a schematic diagram of the installation and disassembly mechanism structure of a flexible and adjustable robot wrist mechanism;

[0023] Figure 4 The figure is a schematic diagram of the structure of a rotation adjustment mechanism of a flexible and adjustable robot wrist mechanism.

[0024] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0025] 1. Robot arm; 101. Fixed frame; 102. Mounting frame; 103. Mounting slot; 104. First threaded hole; 105. First threaded rod; 106. Turntable body; 107. Mounting seat; 1071. Second threaded hole; 108. Articulated seat; 109. First arm; 1010. Second arm;

[0026] 2. Rotation adjustment mechanism; 201. Turntable body; 202. First gear body; 203. Driving motor; 204. Driving shaft; 205. Second gear body;

[0027] 3. Installation and disassembly mechanism; 301. Fixed sleeve; 302. Positioning plate; 303. Second threaded rod; 304. Handle body; 305. Extrusion plate; 306. Fixed plate; 307. Through hole; 308. Sliding rod. DETAILED DESCRIPTION

[0028] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0029] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0030] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0031] Example 1: Reference Figures 1 to 4, which is the first embodiment of the utility model, and this embodiment provides a flexible and adjustable robot wrist mechanism, which can realize that most robot wrist mechanisms currently on the market are not convenient for the robot arm to be rotated 360 degrees in all directions during use, thereby affecting the use effect of the robot arm, and at the same time, it is not convenient for operators to disassemble and maintain the robot arm and the wrist mechanism, thereby increasing the labor intensity of operators when disassembling the robot arm. The robot arm 1 includes a fixed frame 101, the top of the robot arm 1 is equipped with the fixed frame 101, and the interior of the fixed frame 101 is provided with a rotation adjustment mechanism 2, and the top of the rotation adjustment mechanism 2 is equipped with a mounting frame 1 02, and the installation frame 102 is provided with an installation groove 103 inside, the installation groove 103 is provided with a mounting seat 107 inside, and a hinge seat 108 is installed on the top of the mounting seat 107, a first arm 109 is hinged inside the hinge seat 108, and one end of the first arm 109 is hinged to the second arm 1010, the outer wall of the mounting seat 107 is provided with a second threaded hole 1071, the installation groove 103 is provided with a first threaded hole 104 inside, and the first threaded hole 104 is threadedly connected with a first threaded rod 105 inside, a turntable body 106 is installed at one end of the first threaded rod 105, the first threaded rod 105 is threadedly connected with the second threaded hole 1071, and there are two groups of first threaded rods 105 with the same structure;

[0032] The rotary adjustment mechanism 2 includes a turntable body 201 and a drive motor 203. The turntable body 201 is rotatably mounted on the top of the fixed frame 101 through a bearing. The bottom end of the turntable body 201 is equipped with a first gear body 202. The drive motor 203 is installed at the bottom end inside the fixed frame 101. The output end of the drive motor 203 is equipped with a drive shaft 204 through a coupling, and the top end of the drive shaft 204 is equipped with a second gear body 205, and the second gear body 205 is meshed with the first gear body 202.

[0033] The specific working principle is that when the robot wrist needs to be flexibly adjusted, first start the drive motor 203 to drive the drive shaft 204 and the second gear body 205 to rotate, and the second gear body 205 is engaged with the first gear body 202, so that the second gear body 205 can drive the first gear body 202 and the turntable body 201 to rotate at the same time, so that the turntable body 201 can be rotated to drive the installation slot 103 and the articulated seat 108 to rotate in all directions at the same time, so that the robot arm can be conveniently and flexibly adjusted.

[0034] Example 2: Reference Figures 1 to 4, which is the first embodiment of the utility model. This embodiment provides a flexible and adjustable robot wrist mechanism, which can realize most robot wrist mechanisms currently on the market. When in use, it is not convenient to rotate and adjust the robot arm 360 degrees in all directions, which affects the use effect of the robot arm. At the same time, it is not convenient for operators to disassemble and maintain the robot arm and the wrist mechanism, which increases the labor intensity of operators when disassembling the robot arm. The installation and disassembly mechanism 3 includes a fixed sleeve 301 and a sliding rod 308. The fixed sleeve 301 is installed on the top of the installation frame 102. The interior of the fixed sleeve 301 is rotatably installed with a second threaded rod 303 through a bearing, and the outer wall of the second threaded rod 303 is threadedly connected with a positioning plate 302. One end of the bottom end of the positioning plate 302 is installed with an extrusion plate 305, and one end of the positioning plate 302 is installed with a fixed plate 306. The interior of the fixed plate 306 is provided with a through hole 307.

[0035] A sliding rod 308 is provided inside the through hole 307, and the bottom end of the sliding rod 308 is fixedly connected to the top of the mounting frame 102, a handle body 304 is installed at the top of the second threaded rod 303, and a protective cover is installed on the outer wall of the handle body 304, the top of the extrusion plate 305 and the bottom end of the positioning plate 302 are welded integrated structures, and the bottom end of the extrusion plate 305 is installed with anti-slip grooves.

[0036] The specific working principle is that when the mounting base 107 needs to be disassembled and maintained, the second threaded rod 303 is first threadedly connected to the positioning plate 302, and through the cooperation between the through hole 307 and the sliding rod 308, the operator can drive the second threaded rod 303 to rotate by rotating the handle body 304, so that the second threaded rod 303 can be rotated to drive the positioning plate 302 to rise and fall on the outer wall of the second threaded rod 303, so as to drive the extrusion plate 305 to position and fix the mounting base 107 through the lifting of the positioning plate 302, so that the operator can disassemble and maintain the mounting base 107 by rotating the handle body 304, so as to facilitate the operator to operate.

[0037] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A flexible and adjustable robot wrist mechanism, characterized in that: include, A robot arm (1), comprising a fixed frame (101), the top of the robot arm (1) being mounted with the fixed frame (101), the interior of the fixed frame (101) being provided with a rotation adjustment mechanism (2), the top of the rotation adjustment mechanism (2) being mounted with a mounting frame (102), the interior of the mounting frame (102) being provided with a mounting groove (103), the interior of the mounting groove (103) being provided with a mounting seat (107), the top of the mounting seat (107) being mounted with an articulated seat (108), the interior of the articulated seat (108) being articulated with a first arm (109), one end of the first arm (109) being articulated with a second arm (1010), the outer wall of the mounting seat (107) being provided with a second threaded hole (1071); The rotary adjustment mechanism (2) comprises a turntable body (201) and a driving motor (203), wherein the turntable body (201) is rotatably mounted on the top of a fixed frame (101) via a bearing, a first gear body (202) is mounted on the bottom of the turntable body (201), the driving motor (203) is mounted on the bottom of the fixed frame (101), a driving shaft (204) is mounted on the output end of the driving motor (203) via a coupling, and a second gear body (205) is mounted on the top of the driving shaft (204); The mounting and disassembly mechanism (3) comprises a fixed sleeve (301) and a sliding rod (308), wherein the fixed sleeve (301) is mounted on the top of the mounting frame (102), a second threaded rod (303) is rotatably mounted inside the fixed sleeve (301) via a bearing, and a positioning plate (302) is threadedly connected to the outer wall of the second threaded rod (303), an extrusion plate (305) is mounted at one end of the bottom end of the positioning plate (302), a fixed plate (306) is mounted at one end of the positioning plate (302), and a through hole (307) is opened inside the fixed plate (306).

2. A flexible and adjustable robot wrist mechanism as claimed in claim 1, characterized in that: The interior of the installation groove (103) is provided with a first threaded hole (104), and the interior of the first threaded hole (104) is threadedly connected to a first threaded rod (105), one end of the first threaded rod (105) is installed with a turntable body (106), and the first threaded rod (105) is threadedly connected to the second threaded hole (1071).

3. A flexible and adjustable robot wrist mechanism as claimed in claim 1, characterized in that: The second gear body (205) and the first gear body (202) are meshed with each other.

4. A flexible and adjustable robot wrist mechanism as claimed in claim 1, characterized in that: A sliding rod (308) is disposed inside the through hole (307), and the bottom end of the sliding rod (308) is fixedly connected to the top end of the installation frame (102).

5. The flexible and adjustable robot wrist mechanism according to claim 1, characterized in that: A handle body (304) is installed at the top end of the second threaded rod (303), and a protective cover is installed on the outer wall of the handle body (304).

6. A flexible and adjustable robot wrist mechanism as claimed in claim 1, characterized in that: The top end of the extrusion plate (305) and the bottom end of the positioning plate (302) are welded into an integrated structure, and the bottom end of the extrusion plate (305) is provided with anti-slip grooves.

7. A flexible and adjustable robot wrist mechanism as claimed in claim 2, characterized in that: The first threaded rods (105) are of two groups with the same structure.

Images