Mechanical arm assembly capable of flexibly clamping workpiece
By improving the wrist joint structure of the robotic arm, the wrist joint, which is formed by casting and sandblasted and aged, is rotatably connected to the forearm rod. A drive gear set is installed in the mechanical space, which solves the problem of uneven clamping and shaking caused by insufficient wrist rigidity and achieves a more stable and flexible clamping effect.
Patent Information
- Application Number
- CN202520421840.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-11
- Publication Date
- 2026-02-17
- Estimated Expiration
- 2035-03-11
AI Technical Summary
The wrist structure of existing robotic arms has insufficient rigidity when performing flexible gripping, resulting in uneven gripping force and vibration.
The wrist joint is rotatably connected to the forearm straight rod. It is cast and sandblasted and aged. The drive gear set is installed in the mechanical space to increase the freedom and rigidity of the wrist joint. The design of the forearm connection end and the gripper connection end enhances the structural stability.
It improves the structural strength and working stability of the wrist joint, reduces shaking during clamping, and ensures uniform and stable clamping force.
Smart Images
Figure CN223918007U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to an improvement in the component structure of a robotic arm, specifically a robotic arm component capable of flexibly clamping workpieces. Background Technology
[0002] A robotic arm is an automated mechanical device that can perform high-precision work. Through multiple rotating joints, it can achieve multi-dimensional movement and steering. Its main supporting arms are the upper arm and the forearm. The joint structure of the forearm and wrist is mainly used to achieve the function of fine movements. Flexible gripping is a function required for gripping vulnerable parts in production. In addition to the adjustable gripping force of the gripping part, flexible gripping also requires the wrist structure to have good degrees of freedom and rigidity. The wrist has many degrees of freedom of movement, but its rigidity is usually relatively weak in the overall structure. During the implementation of flexible gripping, there will be a shaking problem, which affects the maintenance of the gripping force. Therefore, the wrist structure needs to be improved. Utility Model Content
[0003] The purpose of this invention is to overcome the above-mentioned deficiencies in the prior art and to provide a robotic arm assembly that can flexibly clamp workpieces.
[0004] The technical solution adopted by this utility model to solve the above problems is as follows: a wrist joint and a forearm straight rod are rotatably connected. The wrist joint includes a joint body, a forearm connecting end, a gripper connecting end, and a mounting end. The forearm connecting end is disposed on the joint body and protrudes outward. The gripper connecting end and the forearm connecting end are arranged perpendicularly to each other in space. The gripper connecting end is formed on the joint body, and a mounting end is provided at the opposite rear end of the gripper connecting end. A mechanical space is formed in the middle of the joint body, and a drive gear set is disposed in the mechanical space. The drive gear set is installed into the mechanical space through the mounting end. The forearm connecting end and the gripper connecting end of the wrist joint are located in different spatial directions, resulting in different degrees of freedom. Therefore, the flexibility of operation is better. The joint body has good self-strength, which can reduce the vibration generated during operation, which is conducive to maintaining the stability of clamping and avoiding the problem of uneven clamping force caused by shaking during the clamping process.
[0005] Furthermore, the forearm straight rod is a straight tube structure, with one end forming a forearm connecting end and the other end forming a wrist joint connecting end. The forearm connecting end connects to the forearm body, and the wrist joint connecting end connects to the wrist joint. The interior of the forearm straight rod is formed as a hollow structure, and a connecting seat is formed on the exterior of the forearm straight rod. The forearm straight rod is a radial extension of the forearm structure, which can extend the wrist structure forward by a certain distance. While ensuring its own strength, it can increase the range of motion and increase the flexibility of the wrist joint.
[0006] Furthermore, the wrist joint is integrally cast, and its surface undergoes sandblasting and aging treatment. The gripper connection end and the mounting end are coaxially aligned. The end faces of the forearm connection end, gripper connection end, and mounting end are all formed with flat edge surfaces, and all edge surfaces are perpendicular to their respective axes. The wrist joint is integrally cast, resulting in good structural strength. The surface aging treatment reduces product stress. The flat edge surfaces facilitate axial component installation. The structural center of gravity and the working center of gravity are located at the same point, maintaining self-balance and reducing structural offset vibration during operation.
[0007] Furthermore, the forearm connecting end is formed into a stepped fixing surface. A toothed ring fixing position is recessed on the inner ring of its outer end face, and an internal toothed ring is provided on the toothed ring fixing position. The internal toothed ring meshes with the drive gear set. A limit groove is also provided on the outer end face of the forearm connecting end. The stepped fixing surface can have a drive toothed ring inside and a fixing ring on the outside, serving as a rotation guide and providing better axial stability during rotational operation.
[0008] Furthermore, the mounting end has an open port communicating with the mechanical space. The diameter of the open port is larger than the outer diameter of the drive gear set. A fixed end face is formed on the edge of the open end face. An end cover is fitted to the mounting end to seal and fix the mechanical space. The open port facilitates the installation of the drive gear set into the mechanical space, and the edge is sealed and fixed at the rear, resulting in a stable and reliable overall structure.
[0009] Compared with the prior art, this utility model has the following advantages and effects: This design is a structural improvement of the joint component of a robotic arm, mainly the structural improvement of the wrist joint, which can effectively improve the structural strength of the wrist joint itself, stabilize the overall center of gravity of the structure, enable stable and continuous operation, reduce work vibration, and adapt to the work requirements of flexible clamping. Attached Figure Description
[0010] Figure 1 This is a schematic diagram of the wrist joint and the forearm straight bar.
[0011] Figure 2 This is a schematic diagram of the wrist joint.
[0012] Figure 3 This is a structural diagram of the forearm straight rod.
[0013] Figure 4 This is a cross-sectional structural diagram of the wrist joint.
[0014] In the diagram: 1. Wrist joint, 2. Forearm straight bar, 3. Joint body, 4. Forearm connecting end, 5. Grab connecting end, 6. Mounting end, 7. Mechanical space, 8. Forearm joint connecting end, 9. Wrist joint connecting end, 10. Connecting seat, 11. Gear ring fixing position, 12. Open port. Detailed Implementation
[0015] The present invention will be further described in detail below with reference to the accompanying drawings and through embodiments. The following embodiments are explanations of the present invention, but the present invention is not limited to the following embodiments.
[0016] A robotic arm assembly capable of flexibly clamping workpieces includes a wrist joint 1 rotatably connected to a forearm straight rod 2. The wrist joint 1 includes a joint body 3, a forearm connecting end 4, a gripper connecting end 5, and a mounting end 6. The forearm connecting end 4 is disposed on the joint body 3 and protrudes outward. The gripper connecting end 5 and the forearm connecting end 4 are arranged perpendicularly to each other in space. The gripper connecting end 5 is formed on the joint body 3. The mounting end 6 is disposed at the opposite rear end of the gripper connecting end 5. A mechanical space 7 is formed in the middle of the joint body 3. A drive gear set is disposed in the mechanical space 7 and is installed into the mechanical space 7 through the mounting end 6.
[0017] The forearm straight rod 2 is a straight tube structure. One end is formed as a forearm joint connecting end 8, and the other end is a wrist joint connecting end 9. The forearm joint connecting end 8 is connected to the forearm body, and the wrist joint connecting end 9 is connected to the wrist joint 1. The interior of the forearm straight rod 2 is formed as a hollow structure, and a connecting seat 10 is formed on the exterior of the forearm straight rod 2.
[0018] The wrist joint 1 is integrally cast and its surface is treated with sandblasting and aging. The gripper connecting end 5 and the mounting end 6 are coaxially arranged. The end faces of the forearm connecting end 4, gripper connecting end 5 and mounting end 6 are all formed into flat edge end faces, and all edge end faces are perpendicular to their respective axes.
[0019] The forearm connecting end 4 is formed into a stepped fixing surface. A toothed ring fixing position 11 is recessed on the inner ring of its outer end face. An inner toothed ring is provided on the toothed ring fixing position 11. The inner toothed ring meshes with the drive gear set. A limit groove is also provided on the outer end face of the forearm connecting end 4.
[0020] The mounting end 6 is formed with an open port 12 that communicates with the mechanical space 7. The diameter of the open port 12 is larger than the outer diameter of the drive gear set. The edge of the open end face is formed with a fixed end face. The mounting end 6 is fitted with an end cover to close and fix the mechanical space 7.
[0021] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered exemplary rather than restrictive in all respects. The scope of this invention is defined by the claims rather than the foregoing description, and thus all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.
[0022] Furthermore, it should be understood that although this specification describes the embodiments, not every embodiment contains only one independent technical solution. This description method is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.
Claims
1. A robotic arm assembly capable of flexibly clamping workpieces, characterized in that: The wrist joint (1) is rotatably connected to the forearm straight rod (2). The wrist joint (1) includes a joint body (3), a forearm connecting end (4), a gripper connecting end (5), and a mounting end (6). The forearm connecting end (4) is set on the joint body (3) and protrudes out. The gripper connecting end (5) and the forearm connecting end (4) are arranged perpendicularly to each other in the axial space. The gripper connecting end (5) is formed on the joint body (3). The mounting end (6) is set at the opposite rear end of the gripper connecting end (5). A mechanical space (7) is formed in the middle of the joint body (3). A drive gear set is set in the mechanical space (7). The drive gear set is installed into the mechanical space (7) through the mounting end (6).
2. The robotic arm assembly capable of flexibly clamping a workpiece according to claim 1, characterized in that: The forearm straight rod (2) is a straight tube structure. One end is formed as a forearm joint connecting end (8), and the other end is a wrist joint connecting end (9). The forearm joint connecting end (8) is connected to the forearm body, and the wrist joint connecting end (9) is connected to the wrist joint (1). The interior of the forearm straight rod (2) is formed as a hollow structure, and a connecting seat (10) is formed on the outside of the forearm straight rod (2).
3. The robotic arm assembly capable of flexibly clamping a workpiece according to claim 1, characterized in that: The wrist joint (1) is integrally cast and its surface is treated with sandblasting and aging. The gripper connecting end (5) and the mounting end (6) are coaxially arranged. The end faces of the forearm connecting end (4), gripper connecting end (5) and mounting end (6) are all formed into flat edge end faces, and all edge end faces are perpendicular to their respective axes.
4. The robotic arm assembly capable of flexibly clamping a workpiece according to claim 1, characterized in that: The forearm connecting end (4) is formed into a stepped fixing surface. A toothed ring fixing position (11) is recessed on the inner ring of its outer end face. An inner toothed ring is provided on the toothed ring fixing position (11). The inner toothed ring meshes with the drive gear set. A limit groove is also provided on the outer end face of the forearm connecting end (4).
5. The robotic arm assembly capable of flexibly clamping a workpiece according to claim 1, characterized in that: The mounting end (6) is formed with an open port (12) communicating with the mechanical space (7). The diameter of the open port (12) is larger than the outer diameter of the drive gear set. The edge of the open end face is formed with a fixed end face. The mounting end (6) is fitted with an end cover, which closes and fixes the mechanical space (7).