A robot spherical joint structure

Abstract

This utility model discloses a robot ball joint structure, including a joint seat, a spherical seat, connecting blocks, rotating shafts, an adjusting assembly, and bolts. Two rotating shafts are installed on both sides of the spherical seat, and the rotating shafts are rotatably installed on the connecting blocks. The two connecting blocks are connected to the joint seat. An adjusting assembly is provided between the connecting blocks and the joint seat. The bolt passes through the connecting blocks and the adjusting assembly in sequence and connects to the joint seat. The adjusting assembly includes an upper wedge block, a lower wedge block, and an adjusting screw. The upper and lower wedge blocks are respectively installed at both ends of the adjusting screw and are threadedly connected to the adjusting screw. By rotating the adjusting screw, the upper and lower wedge blocks are moved closer or further apart to increase or decrease the distance between the joint seat and the spherical seat. The adjusting assembly precisely controls the distance between the joint seat and the spherical seat, effectively addressing wear clearance changes caused by long-term use and improving adjustment accuracy and clearance control stability.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a ball joint structure for robots. Background Technology

[0002] In the field of biomimetic robots and high-precision industrial robotic arms, ball joints, as the core components of multi-degree-of-freedom motion mechanisms, directly affect the motion accuracy and reliability of the overall equipment due to their dynamic stability.

[0003] Traditional ball joint adjustment methods primarily rely on directly adjusting the fixed position of the ball joint support to control clearance. However, this method has significant drawbacks in practical applications. Firstly, with prolonged use, wear is inevitable, and the resulting clearance changes cannot be effectively addressed by traditional methods, especially during complex movements such as hip joint rotation. Secondly, traditional adjustment methods struggle to meet high-precision requirements, and clearance control is unstable, prone to deviations, and affects normal joint movement and function. Furthermore, traditional ball joint structures are complex to install and disassemble, resulting in high maintenance costs and hindering rapid adjustment and precise control. Therefore, existing technologies urgently need improvement to address these issues. Utility Model Content

[0004] In response to the problems raised in the background art, the purpose of this utility model is to propose a robot ball joint structure that solves the problems of inconvenient operation and insufficient adjustment accuracy in the prior art when adjusting the joint gap.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] A robot ball joint structure includes a joint seat, a ball seat, two connecting blocks, two rotating shafts, two adjusting components, and several bolts, wherein the joint seat and the ball seat are connected by a transmission.

[0007] The two rotating shafts are respectively installed on both sides of the spherical seat, and the axes of the two rotating shafts are coaxially arranged. The two rotating shafts are respectively rotatably installed on the two connecting blocks, and the two connecting blocks are installed and connected to the joint seat.

[0008] The adjusting assembly is provided between the connecting block and the joint seat, and the bolt passes through the connecting block and the adjusting assembly in sequence to connect with the joint seat;

[0009] The adjustment assembly includes an upper wedge block, a lower wedge block, and an adjusting screw. The upper wedge block and the lower wedge block are respectively installed at the upper and lower ends of the adjusting screw. The upper wedge block and the lower wedge block are threadedly connected to the adjusting screw. By rotating the adjusting screw, the upper wedge block and the lower wedge block are moved closer to each other or further apart, thereby increasing or decreasing the distance between the joint seat and the ball seat.

[0010] Preferably, the wide bottom of the upper wedge is located at the top, and the wide bottom of the lower wedge is located at the bottom. The upper wedge and the lower wedge are arranged symmetrically from top to bottom, and the upper and lower ends of the adjusting screw are threadedly connected to the narrow top of the upper wedge and the narrow top of the lower wedge, respectively.

[0011] The upper inclined surface of the upper wedge block is in contact with the upper part of the rear end face of the connecting block, and the lower inclined surface of the lower wedge block is in contact with the lower part of the rear end face of the connecting block.

[0012] Preferably, the inclination angle of the upper inclined surface and the lower inclined surface relative to the vertical plane is in the range of 4°-10°.

[0013] Preferably, the upper inclined surface, the lower inclined surface, and the rear end face of the connecting block are provided with recessed textures.

[0014] Preferably, the adjusting screw has an adjusting part in the middle, and the adjusting part is located between the upper wedge block and the lower wedge block.

[0015] Preferably, the connecting block is provided with a shaft mounting hole and two bolt holes. The shaft mounting hole extends through the connecting block from left to right, and the bolt holes extend through the connecting block from front to back. The two bolt holes are arranged parallel to each other on the upper and lower sides of the shaft mounting hole, and the shaft mounting hole and the two bolt holes do not interfere with each other.

[0016] The rotating shaft is rotatably mounted in the shaft mounting hole, and one end of the rotating shaft is connected to the spherical seat;

[0017] The joint seat is provided with a plurality of threaded holes, which are corresponding to the bolt holes. The bolt passes through the bolt holes and the adjusting assembly in sequence and is connected to the threaded holes.

[0018] Preferably, the upper wedge block and the lower wedge block are respectively provided with through holes extending from front to back, the through holes extending in the vertical direction, and the through holes are for the bolt to pass through.

[0019] Preferably, it further includes positioning pins on both sides, the positioning pins being disposed between the connecting block and the joint seat;

[0020] The positioning pin on one side passes through the upper wedge block of the gap adjustment assembly on that side, and the positioning pin on the other side passes through the lower wedge block of the gap adjustment assembly on that side.

[0021] Preferably, the upper wedge block and the lower wedge block are provided with through positioning pin holes, which extend vertically.

[0022] Compared with the prior art, one of the above technical solutions has the following beneficial effects:

[0023] By precisely controlling the distance between the joint seat and the ball seat through the gap adjustment component, the wear gap changes caused by long-term use can be effectively addressed, significantly improving adjustment accuracy and gap control stability. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of one embodiment of the present invention;

[0025] Figure 2 This is an exploded view of one embodiment of the present invention;

[0026] Figure 3 This is an exploded view of another embodiment of the present invention;

[0027] Figure 4 This is a comparison diagram of the gap adjustment component of this utility model in two different states;

[0028] Figure 5 yes Figure 4 Enlarged diagram of point A in the middle.

[0029] The components include: joint seat 1, threaded hole 101, ball seat 2, connecting block 3, shaft mounting hole 301, bolt hole 302, rotating shaft core 4, adjusting assembly 5, upper wedge block 51, upper inclined surface 511, lower wedge block 52, lower inclined surface 521, adjusting screw 53, adjusting part 531, through hole 501, positioning pin hole 502, bolt 6, and positioning pin 7. Detailed Implementation

[0030] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0031] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model 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. Therefore, they should not be construed as limitations on this utility model.

[0032] Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first," "second," and "third" may explicitly or implicitly include one or more of that feature.

[0033] It should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0034] The following is in conjunction with the appendix Figures 1 to 5 The technical solution of this utility model will be further illustrated through specific implementation methods.

[0035] A robot ball joint structure includes a joint seat 1, a ball seat 2, two connecting blocks 3, two rotating shaft cores 4, two adjusting components 5, and several bolts 6, wherein the joint seat 1 and the ball seat 2 are connected by transmission.

[0036] The two rotating shaft cores 4 are respectively installed on both sides of the spherical seat 2. The axes of the two rotating shaft cores 4 are coaxially arranged. The two rotating shaft cores 4 are respectively rotatably installed on the two connecting blocks 3. The two connecting blocks 3 are installed and connected to the joint seat 1.

[0037] The adjusting component 5 is provided between the connecting block 3 and the joint seat 1, and the bolt 6 passes through the connecting block 3 and the adjusting component 5 in sequence to connect with the joint seat 1;

[0038] The adjusting assembly 5 includes an upper wedge block 51, a lower wedge block 52, and an adjusting screw 53. The upper wedge block 51 and the lower wedge block 52 are respectively installed at the upper and lower ends of the adjusting screw 53. The upper wedge block 51 and the lower wedge block 52 are threadedly connected to the adjusting screw 53. By rotating the adjusting screw 53, the upper wedge block 51 and the lower wedge block 52 are moved closer or further apart to increase or decrease the distance between the joint seat 1 and the ball seat 2.

[0039] This invention achieves dynamic adjustment of the gap between the joint seat 1 and the spherical seat 2 through the synergistic action of multiple structural components. The transmission connection between the joint seat 1 and the spherical seat 2 ensures the stability of power transmission; two rotating shafts 4 are coaxially arranged on both sides of the spherical seat 2, allowing the connecting block 3 to rotate around the same axis, eliminating motion interference caused by axial deviation; the connecting block 3 is connected to the joint seat 1 via an adjusting assembly 5 and bolts 6. The adjusting assembly 5, as an intermediate adjustment unit, adjusts the vertical distance between its upper wedge block 51 and lower wedge block 52 to adjust the horizontal distance between the joint seat 1 and the spherical seat 2, thereby compensating for gap changes caused by wear during the transmission connection between the joint seat 1 and the spherical seat 2; the bolts 6 pass through the connecting block 3 and the adjusting assembly 5 and connect to the joint seat 1, fixing the structural position and providing support and guidance for the adjusting assembly 5 during adjustment. The cooperative design of the adjusting assembly 5 and the rotating shafts 4 allows for gap adjustment without disassembling the entire structure of the ball joint; precise adjustment can be achieved by directly operating the adjusting assembly 5, solving the problems of low precision and poor stability in traditional adjustment methods.

[0040] Specifically, the joint seat 1 and the ball seat 2 are connected by a transmission, forming an important component of the ball joint structure. The joint seat 1 and the ball seat 2 are connected by connecting blocks 3 on both sides of the ball seat 2. A drive component installed inside the joint seat 1 drives the ball seat 2 to rotate around the pivot 4. The coaxial arrangement of the two pivots 4 eliminates axial deviation caused by the swinging of the connecting blocks 3. When the joint seat 1 and the ball seat 2 need to compensate for joint clearance, the vertical displacement between the upper wedge block 51 and the lower wedge block 52, caused by operating the adjusting screw 53 of the clearance adjustment component 5, is used to adjust the clearance 'a'. By moving the ball seat 2 towards the joint seat 1, the clearance 'a' is adjusted by a distance to fill the gap between the transmission components of the joint seat and the ball seat. The clearance adjustment process is then completed by tightening the locking bolt 6. This structure maintains transmission accuracy while integrating clearance compensation and power transmission functions through mechanical linkage.

[0041] Furthermore, the wide bottom of the upper wedge block 51 is located at the top, and the wide bottom of the lower wedge block 52 is located at the bottom. The upper wedge block 51 and the lower wedge block 52 are arranged symmetrically from top to bottom. The upper and lower ends of the adjusting screw 53 are threadedly connected to the narrow top of the upper wedge block 51 and the narrow top of the lower wedge block 52, respectively.

[0042] The upper inclined surface 511 of the upper wedge block 51 is attached to the upper part of the rear end face of the connecting block 3, and the lower inclined surface 521 of the lower wedge block 52 is attached to the lower part of the rear end face of the connecting block 3.

[0043] The adjusting assembly 5 achieves bidirectional synchronous adjustment through the threaded engagement of symmetrically arranged upper wedge blocks 51 and lower wedge blocks 52 with the adjusting screw 53. The upper wedge blocks 51 and lower wedge blocks 52 are two metal blocks with inclined surfaces, forming a height difference between their wide bottom and narrow top. This difference can be achieved using trapezoidal cross-section blocks, with the orientation of the wide bottom (upward or downward) determining the direction of the inclined surface contact. The adjusting screw 53 is a rod-shaped component with bidirectional threads, specifically consisting of two sections with opposite thread directions connected to the upper and lower wedge blocks respectively. Rotation drives the two wedge blocks to move synchronously in opposite directions. The upper inclined surface 511 and the lower inclined surface 521 contact the rear end face of the connecting block 3 respectively. Specifically, they can be machined into flat or textured contact surfaces. The inclined surface displacement of the wedge block converts the rotational motion of the adjusting screw 53 into the displacement of the wedge block in the vertical direction. The symmetrical movement of the upper wedge block 51 and the lower wedge block 52 adjusts the horizontal distance between the connecting block 3 and the joint seat 1. After the connecting block 3 (spherical seat 2) is moved to fill the horizontal distance, the gap change caused by the transmission wear between the spherical seat 2 and the joint seat 1 can be compensated, thereby accurately adjusting the distance between the joint seat 1 and the spherical seat 2.

[0044] Furthermore, the inclination angles of the upper inclined surface 511 and the lower inclined surface 521 relative to the vertical plane range from 4° to 10°.

[0045] The upper inclined surface 511 refers to the inclined surface located where the upper wedge block 51 of the gap adjusting assembly contacts the rear end face of the connecting block 3. Specifically, it can be achieved by machining a plane with a specific angle, and its inclination angle is designed to form an angle of 4° to 10° with the vertical plane. The lower inclined surface 521 refers to the inclined surface located where the lower wedge block 52 of the gap adjusting assembly contacts the rear end face of the connecting block 3. Specifically, it can be achieved by machining in a manner symmetrical to the upper inclined surface, and its inclination angle range is consistent with that of the upper inclined surface.

[0046] Specifically, by controlling the inclination angles of the upper inclined surface 511 and the lower inclined surface 521 between 4° and 10°, this angle range ensures that the displacement of the wedge block along the inclined surface direction is balanced with the axial displacement of the adjusting screw 53 when the adjusting screw 53 drives the wedge block to move. When the adjusting screw 53 rotates, the movement resistance of the upper wedge block 51 and the lower wedge block 52 along the inclined surface is controlled within the allowable range, avoiding both wedge block movement jamming due to excessively small angles and reduced displacement amplification effect due to excessively large angles. This angle range also optimizes the stress distribution in the inclined surface contact area, making the normal pressure on the contact surface uniform during adjustment, thereby reducing local wear. Preferably, when the inclination angle is set to 6°, micron-level gap adjustment can be achieved by rotating the adjusting screw 53, while avoiding the self-locking effect caused by excessively small angles. It is worth noting that the inclination angles of the upper and lower inclined surfaces of the rear end face of the connecting block 3 are consistent with the angles of the corresponding contacting upper inclined surface 511 and lower inclined surface 521.

[0047] Furthermore, the upper inclined surface 511, the lower inclined surface 521, and the rear end face of the connecting block 3 are provided with recessed textures.

[0048] The recessed texture refers to regular or irregular groove-like patterns formed on the contact surface. It can be achieved through knurling, chemical etching, or mechanical milling, with a depth of 0.1mm–0.5mm and a width of 0.2mm–1mm. The recessed texture increases the roughness of the contact surface, creating a micro-interlocking structure between the adjusting component 5 and the connecting block 3. Specifically, the recessed texture on the rear end face of the connecting block 3 complements the recessed texture on the upper and lower inclined surfaces of the adjusting component 5, increasing the effective friction area of ​​the contact surface and resisting the tangential force generated during joint movement.

[0049] Furthermore, the adjusting screw 53 has an adjusting part 531 in the middle, which is located between the upper wedge block 51 and the lower wedge block 52.

[0050] The adjusting section 531 refers to the thickened or irregularly shaped structure in the middle section of the adjusting screw 53. Specifically, it can be implemented using a hexagonal prism, a knurled cylinder, or a hollowed-out cylinder. Its function is to provide a force fulcrum for rotational operation. The position of the adjusting section 531 is limited to the neutral area between the upper wedge block 51 and the lower wedge block 52. Specifically, this can be achieved by controlling the axial length of the threaded engagement. Its function is to ensure that the rotational driving force acts symmetrically on the upper and lower wedge blocks, avoiding deflection caused by unilateral force.

[0051] Specifically, when the adjusting part 531 is clamped by the rotating tool, the rotation of the adjusting screw 53 drives the upper wedge block 51 and the lower wedge block 52 to move synchronously in opposite directions through the bidirectional thread structure. Since the adjusting part 531 is located between the two wedge blocks, the axial force generated by the rotation is evenly distributed to the upper and lower sides, so that the movement trajectory of the wedge blocks remains linear. With this structure, there is no need to repeatedly correct the angle of the adjusting screw 53 during the gap adjustment process. The input force of the adjustment action is directly converted into the equidistant displacement of the wedge blocks, thereby eliminating the wedge block jamming or gap rebound phenomenon caused by force eccentricity.

[0052] The accompanying drawing illustrates the structure of the adjustment section 531 according to one embodiment. By inserting a screwdriver or thin rod into the hollowed-out portion of the adjustment section and rotating it, the adjustment screw 53 can be rotated.

[0053] Furthermore, the connecting block 3 is provided with a shaft mounting hole 301 and two bolt holes 302. The shaft mounting hole 301 extends through the left and right sides of the connecting block 3, and the bolt holes 302 extend through the front and back sides of the connecting block 3. The two bolt holes 302 are arranged parallel to each other on the upper and lower sides of the shaft mounting hole 301, and the shaft mounting hole 301 and the two bolt holes 302 do not interfere with each other.

[0054] The rotating shaft core 4 is rotatably mounted in the shaft mounting hole 301, and one end of the rotating shaft core 4 is connected to the spherical seat 2;

[0055] The joint seat 1 is provided with a plurality of threaded holes 101, the threaded holes 101 being correspondingly provided with bolt holes 302, and the bolt 6 passing through the bolt holes 302 and the adjusting assembly 5 in sequence to engage with the threaded holes 101.

[0056] The shaft mounting hole 301 refers to a through-hole structure that runs along the transverse axis of the connecting block 3. It can be implemented using a cylindrical hole structure to accommodate the rotating shaft core 4 and provide it with circumferential rotational freedom. Its diameter can be set slightly larger than the outer diameter of the rotating shaft core 4 to form a clearance fit. The bolt hole 302 refers to a through-hole extending along the front-rear direction of the connecting block 3. It can be implemented using a stepped hole structure, for example, a smooth hole section at the front and a threaded section at the rear. It guides the bolt 6 through and restricts its offset. "No interference" means that the shaft mounting hole 301 and the bolt hole 302 form independent, non-intersecting channels in their spatial layout, avoiding contact between the inner walls of the channels that could lead to assembly interference. The threaded hole 101 refers to a threaded structure provided on the front end face of the joint seat 1. It can be implemented using a blind hole or a through hole form, and is used to form a threaded fastening connection with the bolt 6.

[0057] Specifically, the shaft mounting hole 301 is arranged through the transverse axis of the connecting block 3, forming the mounting reference for the rotating shaft core 4. A rolling bearing or sliding bushing can be installed on the inner wall of the hole to reduce frictional resistance. Two bolt holes 302 are distributed parallel to each other on the upper and lower sides of the shaft mounting hole 301, and can be arranged symmetrically. When the rotating shaft core 4 is inserted into the shaft mounting hole 301, its end is fixedly connected to the ball seat 2 via a flange or snap ring, forming an axial constraint for the rotating pair. The bolt 6 passes through the bolt hole 302 and then through the through hole of the clearance adjustment assembly 5, finally screwing into the threaded hole 101 of the joint seat 1, rigidly connecting the connecting block 3 and the joint seat 1 through preload. When the clearance adjustment assembly 5 adjusts the clearance, the symmetrical support structure formed by the upper and lower bolt holes 302 can maintain the force balance of the connecting block 3, avoiding tilting or deflection caused by unilateral force.

[0058] Furthermore, the upper wedge block 51 and the lower wedge block 52 are respectively provided with through holes 501 extending from front to back. The through holes 501 extend vertically and allow the bolt 6 to pass through.

[0059] The through hole 501 refers to a channel structure that penetrates the front and rear surfaces of the wedge block. Specifically, it can be achieved by machining a cylindrical channel into the metal block. This structure provides an unobstructed vertical path for the bolt 6 to pass through. The vertical extension of the through hole 501 ensures the structural effectiveness of the adjustment assembly 5 and provides guidance for the movement of the wedge block during the adjustment of the adjustment assembly 5.

[0060] Specifically, when the upper wedge block 51 and the lower wedge block 52 in the adjusting assembly 5 are displaced relative to each other by the adjusting screw 53, the bolt 6 passes through the through hole 501 and forms a fixed connection with the joint seat 1. The vertical extension of the through hole 501 satisfies the degree of freedom of the wedge block to move in the vertical direction (to achieve the adjusting function). The through-hole 501 allows the bolt 6 to directly pass through the adjusting assembly 5, eliminating the contact friction between the bolt 6 and the side wall of the wedge block.

[0061] Furthermore, it also includes positioning pins 7 on both sides, the positioning pins 7 being located between the connecting block 3 and the joint seat 1;

[0062] The positioning pin 7 on one side passes through the upper wedge block 51 of the gap adjustment assembly 5 on that side, and the positioning pin 7 on the other side passes through the lower wedge block 52 of the gap adjustment assembly 5 on that side.

[0063] The positioning pin 7 refers to the positioning element set between the connecting block 3 and the joint seat 1. It can be implemented by a cylindrical pin or a tapered pin and is used to resist the shear force generated during the transmission connection of the joint structure. Specifically, the positioning pins 7 on both sides are distributed in a centrally symmetrical position on both sides of the adjusting assembly 5. The positioning pin 7 on one side is located in the lower part of the joint structure, specifically passing through the lower wedge block 52, and the positioning pin 7 on the other side is located in the upper part of the joint structure, specifically passing through the upper wedge block 51, forming a symmetrical positioning part, which avoids the problem of asymmetrical stress in the upper and lower parts of the joint structure caused by setting the positioning pins 7 on both sides of the structure in the upper or lower parts.

[0064] Furthermore, the upper wedge block 51 and the lower wedge block 52 are provided with a through-hole locating pin 502, which extends vertically.

[0065] The positioning pin hole 502 refers to a through-hole structure that penetrates the front and rear surfaces of the wedge block, which can be implemented using a cylindrical channel. The vertical extension of the positioning pin hole 502 ensures the structural effectiveness of the adjustment assembly 5 and provides guidance for the movement of the wedge block during the adjustment process.

[0066] Specifically, when the adjusting screw 53 drives the upper wedge block 51 and the lower wedge block 52 to produce relative displacement, the engagement of the positioning pin 7 and the positioning pin hole 502 forms a double limiting mechanism. The vertical extension characteristic of the positioning pin hole 502 satisfies the degree of freedom of the wedge block to move in the vertical direction. The positioning pin 7 and the hole wall of the positioning pin hole 502 can serve as sliding guide surfaces, allowing the wedge block to produce linear displacement only in the vertical direction.

[0067] The technical principles of this utility model have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of this utility model and should not be construed as limiting the scope of protection of this utility model in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of this utility model without any inventive effort, and these embodiments will all fall within the scope of protection of this utility model.

Claims

1. A ball joint structure for a robot, characterized in that: It includes a joint seat (1), a ball seat (2), two connecting blocks (3), two rotating shaft cores (4), two adjusting components (5) and several bolts (6), and the joint seat (1) and the ball seat (2) are connected by transmission. The two rotating shafts (4) are respectively installed on both sides of the spherical seat (2), the two rotating shafts (4) are coaxially arranged, the two rotating shafts (4) are respectively rotatably installed on the two connecting blocks (3), and the two connecting blocks (3) are installed and connected to the joint seat (1); The adjusting assembly (5) is provided between the connecting block (3) and the joint seat (1), and the bolt (6) passes through the connecting block (3) and the adjusting assembly (5) in sequence to connect with the joint seat (1); The adjusting assembly (5) includes an upper wedge block (51), a lower wedge block (52), and an adjusting screw (53). The upper wedge block (51) and the lower wedge block (52) are respectively installed at the upper and lower ends of the adjusting screw (53). The upper wedge block (51) and the lower wedge block (52) are respectively threaded to the adjusting screw (53). By rotating the adjusting screw (53), the upper wedge block (51) and the lower wedge block (52) are brought closer or further apart to increase or decrease the distance between the joint seat (1) and the ball seat (2).

2. The robot ball joint structure according to claim 1, characterized in that: The wide bottom of the upper wedge (51) is located at the top, and the wide bottom of the lower wedge (52) is located at the bottom. The upper wedge (51) and the lower wedge (52) are arranged symmetrically in the upper and lower positions. The upper and lower ends of the adjusting screw (53) are threadedly connected to the narrow top of the upper wedge (51) and the narrow top of the lower wedge (52) respectively. The upper inclined surface (511) of the upper wedge block (51) is attached to the upper part of the rear end face of the connecting block (3), and the lower inclined surface (521) of the lower wedge block (52) is attached to the lower part of the rear end face of the connecting block (3).

3. The robot ball joint structure according to claim 2, characterized in that: The inclination angle of the upper inclined surface (511) and the lower inclined surface (521) relative to the vertical plane is in the range of 4°-10°.

4. The robot ball joint structure according to claim 3, characterized in that: The upper inclined surface (511), the lower inclined surface (521), and the rear end face of the connecting block (3) are provided with recessed textures.

5. A robot ball joint structure according to claim 4, characterized in that: The adjusting screw (53) has an adjusting part (531) in the middle, and the adjusting part (531) is located between the upper wedge block (51) and the lower wedge block (52).

6. A robot ball joint structure according to claim 5, characterized in that: The connecting block (3) is provided with a shaft mounting hole (301) and two bolt holes (302). The shaft mounting hole (301) extends through the connecting block (3) from left to right, and the bolt holes (302) extend through the connecting block (3) from front to back. The two bolt holes (302) are arranged parallel to each other on the upper and lower sides of the shaft mounting hole (301). The shaft mounting hole (301) and the two bolt holes (302) do not interfere with each other. The rotating shaft core (4) is rotatably mounted in the shaft mounting hole (301), and one end of the rotating shaft core (4) is connected to the spherical seat (2); The joint seat (1) is provided with a plurality of threaded holes (101), the threaded holes (101) are correspondingly provided with bolt holes (302), and the bolt (6) passes through the bolt hole (302) and the adjusting assembly (5) in sequence to engage with the threaded hole (101).

7. A robot ball joint structure according to claim 6, characterized in that: The upper wedge block (51) and the lower wedge block (52) are respectively provided with through holes (501) that extend from front to back. The through holes (501) extend in the vertical direction and allow the bolt (6) to pass through.

8. A robot ball joint structure according to claim 7, characterized in that: It also includes positioning pins (7) on both sides, the positioning pins (7) being located between the connecting block (3) and the joint seat (1); The positioning pin (7) on one side passes through the upper wedge block (51) of the gap adjustment assembly (5) on that side, and the positioning pin (7) on the other side passes through the lower wedge block (52) of the gap adjustment assembly (5) on that side.

9. A robot ball joint structure according to claim 8, characterized in that: The upper wedge block (51) and the lower wedge block (52) are provided with a through positioning pin hole (502), which extends vertically.

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