A robot joint micro-translation mechanism

Abstract

The utility model provides a kind of robot joint micro translation mechanism, it is related to robot joint micro translation technical field, including fixed frame and movable frame, the fixed frame and movable frame are respectively set on joint one and joint two, driving assembly is provided on the fixed frame, fine adjustment assembly is provided on the movable frame, third through-hole is opened on the movable frame, the driving assembly includes motor, the output end of the motor is fixedly connected with hinged shaft, limit block is fixedly sheathed on the hinged shaft, the limit block is slidably connected in third through-hole, limit block one end is fixedly connected on fine adjustment assembly, the present application is by using electromagnetic drive mode, by the reverse driving action of electromagnetic block attraction electromagnetic seat, the accurate displacement of movable frame is realized, micron level correction is carried out to the position of end effector, eliminates cumulative error, ensure that operating point and target position are completely consistent, greatly improve the success rate of precision work.

Description

Technical Field

[0001] This utility model relates to the field of robot joint micro-translation technology, and more specifically, to a robot joint micro-translation mechanism. Background Technology

[0002] In the field of modern robotics, robot joints, as the core structure connecting various limb components, directly determine the robot's operational capabilities through their motion precision and flexibility.

[0003] For example, the robot joint and robot disclosed in patent CN221716967U include a joint shell, a drive component, a pulley assembly, a reducer, and a torque output component. The drive component, pulley assembly, reducer, and torque output component are sequentially connected for transmission. The drive component, pulley assembly, and reducer are all mounted on and within the joint shell. The joint shell includes a mounting plate. The drive component is mounted on a first side of the mounting plate, and its power output end passes through the mounting plate to a second side. The pulley assembly is mounted on the second side of the mounting plate, and the torque output component is located on the first side. This utility model provides a robot joint and robot that utilizes the joint shell as the housing and support frame for the servo motor, eliminating the need for a separate housing and support frame for the servo motor. This improves structural utilization, removes redundant materials, reduces the weight of the robot joint, decreases its rotational inertia, and correspondingly reduces the driving force required by the robot. Traditional robot joints primarily use rotational motion for adjustment, achieving end effector position adjustment through motor-driven joint rotation.

[0004] However, in high-precision operations such as electronic component assembly and precision welding, even if the joint rotation angle is controlled by a precision servo motor, it is still difficult to avoid the influence of machining errors, assembly gaps and minor disturbances in the external environment. These factors can cause micron-level deviations between the end effector and the target position. Traditional joints lack effective micro-adjustment methods, and this slight deviation often causes problems such as component damage and substandard welding, which seriously affects the reliability of the operation. Utility Model Content

[0005] The main objective of this invention is to provide a robot joint micro-translation mechanism that can effectively solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0007] A robot joint micro-translation mechanism includes a fixed frame and a movable frame, which are respectively mounted on joint one and joint two. The fixed frame is provided with a drive component, and the movable frame is provided with a fine-tuning component. The movable frame has a third through hole. The drive component includes a motor, and the output end of the motor is fixedly connected to a hinge shaft. A limiting block is fixedly sleeved on the hinge shaft. The limiting block is slidably connected in the third through hole, and one end of the limiting block is fixedly connected to the fine-tuning component.

[0008] Preferably, the motor is fixedly installed inside the joint, a limiting bushing is fixedly sleeved in the middle of the hinge shaft, and outer baffles are provided on both sides of the limiting bushing.

[0009] Preferably, an inner baffle is fixedly connected to the side of the outer baffle away from the limiting bushing, and the inner baffle is fixedly connected to the side wall of the movable frame.

[0010] Preferably, the outer baffle and the inner baffle are respectively provided with a second through hole and a first through hole, the second through hole being smaller than the first through hole, and the limiting block, the first through hole and the second through hole are both through the hinge shaft at both ends.

[0011] Preferably, a limiting groove is provided on both sides of the movable frame, and one end of the limiting groove is connected to the third through hole.

[0012] Preferably, the fine-tuning component includes an L-shaped plate, which is slidably connected in a limiting groove. One end of the L-shaped plate is fixedly connected to a limiting block, and electromagnetic blocks are fixedly connected to both sides of the L-shaped plate.

[0013] Preferably, the electromagnetic block is slidably connected inside the sleeve, the sleeve is fixedly installed on the side wall of the movable frame, and an electromagnetic base is fixedly installed inside the sleeve.

[0014] Preferably, controllers are fixedly connected to both sides of the movable frame, and the controllers are electrically connected to the electromagnetic base.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] (1) When micro-translation is required, the electromagnetic seat on one side is activated by the controller, so that the electromagnetic block and the electromagnetic seat generate an attraction. Since the L-shaped plate and the electromagnetic block are fixed, the electromagnetic seat drives the sleeve and the movable frame to move towards the L-shaped plate, so as to realize the translation of the movable frame relative to the fixed frame, and then drive the joint two to complete the micro-translation adjustment.

[0017] (2) By adopting an electromagnetic drive method, the electromagnetic block attracts the reverse drive action of the electromagnetic seat to achieve precise displacement of the movable frame, and the position of the end effector is corrected at the micron level to eliminate accumulated errors, ensuring that the operation point and the target position are completely matched, greatly improving the success rate of precision operation, adjusting response speed is fast and precision is high. The fixed structure of the sleeve and the electromagnetic seat ensures that the driving force is directly applied to the movable frame, reducing force transmission loss and improving fine adjustment efficiency. Attached Figure Description

[0018] Figure 1 This is a three-dimensional schematic diagram of the overall structure of this utility model;

[0019] Figure 2 This is a three-dimensional schematic diagram of a partial structure of this utility model;

[0020] Figure 3 This is a three-dimensional schematic diagram of a partial cross-sectional structure of the present invention;

[0021] Figure 4 This utility model Figure 3 Enlarged view of the structure at point A in the middle;

[0022] Figure 5 This is a three-dimensional schematic diagram of the limiting block part of the present invention;

[0023] Figure 6 This is a partial exploded view of the structure of this utility model.

[0024] In the diagram: 1. Joint 1; 2. Fine-tuning component; 21. L-shaped plate; 22. Electromagnetic block; 23. Sleeve; 24. Controller; 25. Electromagnetic base; 3. Drive component; 31. Motor; 32. Hinge shaft; 33. Limiting bushing; 34. Outer baffle; 35. Inner baffle; 36. Limiting block; 37. First through hole; 38. Second through hole; 4. Joint 2; 5. Fixing frame; 6. Movable frame; 61. Limiting groove; 62. Third through hole. Detailed Implementation

[0025] The technical solutions of this utility model will be clearly and completely described below with reference to the embodiments of this utility model. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this utility model.

[0026] like Figure 1 , Figure 2 , Figure 4As shown in the figure, this utility model embodiment proposes a robot joint micro-translation mechanism, including a fixed frame 5 and a movable frame 6. The fixed frame 5 and the movable frame 6 are respectively disposed on joint 1 and joint 2 4. The fixed frame 5 is provided with a drive component 3, and the movable frame 6 is provided with a fine adjustment component 2. The movable frame 6 has a third through hole 62. The drive component 3 includes a motor 31. The output end of the motor 31 is fixedly connected to a hinge shaft 32. A limiting block 36 is fixedly sleeved on the hinge shaft 32. The limiting block 36 is slidably connected in the third through hole 62. One end of the limiting block 36 is fixedly connected to the fine adjustment component 2.

[0027] The fixed frame 5 and the movable frame 6 are respectively connected to joint 1 and joint 4. The overall position of joint 1 and fixed frame 5 is fixed. The movable frame 6 and fixed frame 5 are fixed or moved relative to each other through electromagnetic blocks 22 and electromagnetic seats 25 on both sides. In the drive assembly 3, the motor 31 drives the hinge shaft 32 to rotate, which drives the limit block 36 and the fine adjustment assembly 2 to rotate synchronously, thereby realizing the joint rotation. When micro-translation is required, the movable frame 6 is driven to move relative to the fixed frame 5 through the fine adjustment assembly 2, thereby realizing the micro-translation of joint 4.

[0028] like Figure 1 - Figure 6 As shown, the motor 31 is fixedly installed inside the joint 1. A limiting bushing 33 is fixedly sleeved in the middle of the hinge shaft 32. An outer baffle 34 is provided on both sides of the limiting bushing 33. An inner baffle 35 is fixedly connected to the side of the outer baffle 34 away from the limiting bushing 33. The inner baffle 35 is fixedly connected to the side wall of the movable frame 6. A second through hole 38 and a first through hole 37 are respectively opened in the outer baffle 34 and the inner baffle 35. The size of the second through hole 38 is smaller than that of the first through hole 37. The limiting block 36, the first through hole 37 and the second through hole 38 are both passed through the hinge shaft 32 at both ends.

[0029] Motor 31 drives hinge shaft 32 to rotate, hinge shaft 32 drives limit block 36 to rotate synchronously, limit bushing 33 restricts the movement of movable frame 6, ensuring that movable frame 6 slides parallel to the inner wall of fixed frame 5. Outer baffle 34 and inner baffle 35 form a stepped limit structure through second through hole 38 and first through hole 37, further constraining the displacement of limit block 36, thereby ensuring and improving the stability of movable plate movement process.

[0030] like Figure 3 - Figure 6 As shown, limit grooves 61 are provided on both sides of the movable frame 6, and one end of the limit groove 61 is connected to the third through hole 62.

[0031] The limiting groove 61 is connected to the third through hole 62. The L-shaped plate 21 is slidably connected in the limiting groove 61. Since the L-shaped plate 21, the limiting block 36, and the electromagnetic block 22 are fixed in position, the limiting groove 61 plays a guiding role when the movable frame 6 moves, ensuring that the movable frame 6 moves along the length direction of the L-shaped plate 21 and avoiding the movable frame 6 from deviating from the preset trajectory.

[0032] like Figure 1 , Figure 2 , Figure 4 - Figure 6 As shown, the fine-tuning component 2 includes an L-shaped plate 21, which is slidably connected to the limiting groove 61. One end of the L-shaped plate 21 is fixedly connected to the limiting block 36. Electromagnetic blocks 22 are fixedly connected to both sides of the L-shaped plate 21. The electromagnetic blocks 22 are slidably connected to the sleeve 23. The sleeve 23 is fixedly installed on the side wall of the movable frame 6. An electromagnetic base 25 is fixedly installed inside the sleeve 23. Controllers 24 are fixedly connected to both sides of the movable frame 6. The controllers 24 are electrically connected to the electromagnetic base 25.

[0033] L-shaped plate 21 is fixedly connected to limit block 36 and electromagnetic block 22, and its position remains unchanged with the fixed frame 5. Sleeve 23 is fixedly installed on the side wall of movable frame 6, and electromagnetic seat 25 is fixed inside sleeve 23. When micro-translation is required, controller 24 activates one side electromagnetic seat 25, so that electromagnetic block 22 and electromagnetic seat 25 generate an attraction. Since the L-shaped plate 21 and electromagnetic block 22 are fixed in position, electromagnetic seat 25 drives sleeve 23 and movable frame 6 to move towards L-shaped plate 21, realizing translation of movable frame 6 relative to fixed frame 5, thereby driving joint 2 4 to complete micro-translation adjustment.

[0034] Using an electromagnetic drive, the electromagnetic block 22 attracts the electromagnetic base 25 to reverse the drive action, thereby achieving precise displacement of the movable frame 6. The position of the end effector is corrected at the micrometer level, eliminating accumulated errors and ensuring that the operation point and the target position are perfectly matched, which greatly improves the success rate of precision operations. The adjustment response speed is fast and the accuracy is high. The fixed structure of the sleeve 23 and the electromagnetic base 25 ensures that the driving force acts directly on the movable frame 6, reducing force transmission loss and improving fine-tuning efficiency.

[0035] The working principle of this robot joint micro-translation mechanism:

[0036] In use, the hinge shaft 32 is driven to rotate by the motor 31, which drives the limit block 36 to rotate synchronously. The limit block 36 is fixedly connected to the L-shaped plate 21, which transmits the rotational motion to the fine-tuning component 2 without affecting the translation, thus realizing the joint rotation. When a micro-translation is required, the controller 24 activates the target side electromagnetic seat 25, and an attraction is generated between the electromagnetic block 22 and the electromagnetic seat 25. Since the L-shaped plate 21 and the electromagnetic block 22 are fixed, the electromagnetic seat 25 drives the sleeve 23 and the movable frame 6 to move closer to the L-shaped plate 21, so that the movable frame 6 translates relative to the fixed frame 5, and finally realizes the micro-translation adjustment of the second joint 4. The rotation limit of the drive component 3 and the electromagnetic drive of the fine-tuning component 2 work together to ensure that the micro-translation of the second joint 4 is precise and controllable.

[0037] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating this utility model, and are not intended to limit the implementation of this utility model. For those skilled in the art, other variations or modifications can be made based on the above description. It is impossible to exhaustively list all the implementation methods here. Any obvious variations or modifications derived from the technical solutions of this utility model are still within the protection scope of this utility model.

Claims

1. A robot joint micro-translation mechanism, comprising a fixed frame (5) and a movable frame (6), wherein the fixed frame (5) and the movable frame (6) are respectively disposed on joint one (1) and joint two (4), characterized in that: The fixed frame (5) is provided with a drive assembly (3), the movable frame (6) is provided with a fine adjustment assembly (2), the movable frame (6) is provided with a third through hole (62), the drive assembly (3) includes a motor (31), the output end of the motor (31) is fixedly connected to a hinge shaft (32), a limiting block (36) is fixedly sleeved on the hinge shaft (32), the limiting block (36) is slidably connected in the third through hole (62), and one end of the limiting block (36) is fixedly connected to the fine adjustment assembly (2).

2. The robot joint micro-translation mechanism according to claim 1, characterized in that: The motor (31) is fixedly installed in the joint (1), and a limiting bushing (33) is fixedly sleeved in the middle of the hinge shaft (32). Both sides of the limiting bushing (33) are provided with outer baffles (34).

3. The robot joint micro-translation mechanism according to claim 2, characterized in that: An inner baffle (35) is fixedly connected to the side of the outer baffle (34) away from the limiting bushing (33), and the inner baffle (35) is fixedly connected to the side wall of the movable frame (6).

4. The robot joint micro-translation mechanism according to claim 3, characterized in that: The outer baffle (34) and the inner baffle (35) are respectively provided with a second through hole (38) and a first through hole (37). The second through hole (38) is smaller than the first through hole (37). The hinge shaft (32) passes through the limiting block (36), the first through hole (37) and the second through hole (38) at both ends.

5. A robot joint micro-translation mechanism according to claim 1, characterized in that: The movable frame (6) has limit grooves (61) on both sides, and one end of the limit groove (61) is connected to the third through hole (62).

6. A robot joint micro-translation mechanism according to claim 5, characterized in that: The fine-tuning component (2) includes an L-shaped plate (21), which is slidably connected in a limiting groove (61). One end of the L-shaped plate (21) is fixedly connected to a limiting block (36), and electromagnetic blocks (22) are fixedly connected to both sides of the L-shaped plate (21).

7. A robot joint micro-translation mechanism according to claim 6, characterized in that: The electromagnetic block (22) is slidably connected inside the sleeve (23), the sleeve (23) is fixedly installed on the side wall of the movable frame (6), and an electromagnetic seat (25) is fixedly installed inside the sleeve (23).

8. A robot joint micro-translation mechanism according to claim 7, characterized in that: The movable frame (6) is fixedly connected to a controller (24) on both sides, and the controller (24) is electrically connected to the electromagnetic base (25).

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