A robot wrist joint structure

Abstract

The utility model discloses a kind of robot wrist joint structures, including rotatable bottom plate, the side of adapter shaft is provided with the first drive mechanism for driving bottom plate rotation, the side of support rod is provided with the second drive mechanism for driving sliding table along first screw rod movement, the side of sliding table is provided with wrist movable frame, the side of sliding table is provided with the third drive mechanism for driving wrist movable frame to rotate with sliding table as center, the side of wrist movable frame is provided with the fourth drive mechanism for driving two clamping plates simultaneous movement, workpiece is clamped in the utility model and fixed on wrist movable frame, after that, wrist movable frame can drive workpiece along first screw rod movement, and can drive workpiece to rotate with first screw rod as center, simultaneously by the mode that bottom plate rotates, wrist movable frame can be driven radial rotation, to improve the range of adjustable angle after workpiece clamping.

Description

Technical Field

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

[0002] A robot is an intelligent device that integrates technologies such as cybernetics, mechatronics, computer science, materials science, and bionics. It can execute preset programs, respond to human commands, or make autonomous decisions based on artificial intelligence. Its core task is to assist or replace humans in performing dangerous, repetitive, or high-precision tasks. The robot's wrist joint is a core component that connects the arm to the end effector (such as a gripper or welding torch), and it is responsible for accurately adjusting the end effector's posture after positioning to achieve complex operations.

[0003] Chinese patent CN211842070U discloses a freely rotating robot wrist. Through the arrangement of a worm gear, worm wheel, motor, active helical gear, flat key and driven helical gear, the robot wrist can achieve high precision in raising and lowering and facilitate free turning.

[0004] In the above scheme, the height of the top plate is adjusted by raising and lowering the worm gear, and the tilt angle of the top plate is adjusted by two cylinders, thereby adjusting the workpiece clamping angle. However, due to the rigidity constraint of the cylinder stroke and the interference of the piston rod lateral force, the adjustable angle range after the workpiece is clamped is limited, and there is a problem that the movement space of the robot wrist joint is limited after the clamping plate clamps the workpiece. Therefore, a robot wrist joint structure is proposed to solve the above problems. Utility Model Content

[0005] The purpose of this utility model is to provide a robot wrist joint structure to solve the problem in the background art where the movement space of the robot wrist joint is limited after the workpiece is clamped by the clamping plate. The technical solution of this utility model provides a solution that is significantly different from the prior art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: A robotic wrist joint structure includes a rotatable base plate. Support rods and a connecting shaft are respectively provided on both sides of the base plate. A first drive mechanism for driving the base plate to rotate is provided on one side of the connecting shaft. A first lead screw and a slide are provided between the two support rods. The slide is threadedly connected to the first lead screw. A second drive mechanism for driving the slide to move along the first lead screw is provided on the side of the support rod. A wrist movable frame is provided on one side of the slide. A third drive mechanism for driving the wrist movable frame to rotate around the slide is provided on the side of the slide. A clamping plate is provided at one end of the wrist movable frame. A fourth drive mechanism for driving the two clamping plates to move simultaneously is provided on the side of the wrist movable frame.

[0007] Preferably, the adapter shaft is located inside the robot link and is connected to the robot link bearing. The first drive mechanism includes a first motor, a drive gear, and a driven gear. The first motor is fixed to the side of the robot link, the drive gear is connected to the first motor shaft, the drive gear and the driven gear mesh, and the driven gear is mounted on the adapter shaft.

[0008] Preferably, the second drive mechanism includes a second motor, a first driving bevel gear and a first driven bevel gear, and a guide post. The second motor is fixed to the side of the support rod. The first driving bevel gear is connected to the shaft of the second motor. The first driving bevel gear and the first driven bevel gear mesh. One end of the first lead screw is connected to the shaft of the first driven bevel gear. The two ends of the guide post are respectively connected to the two support rods. The side of the slide is slidably connected to the guide post.

[0009] Preferably, the wrist movable frame has an inverted U-shaped structure, and both ends of the wrist movable frame are provided with collars. The two collars are respectively connected to the bearings at both ends of the slide table, and one end of each collar is provided with a transmission gear.

[0010] Preferably, the third drive mechanism includes a third motor, a pulley assembly, a rotating shaft, and drive gears. The third motor is connected to the rotating shaft via the pulley assembly. The two drive gears are respectively connected to both ends of the rotating shaft and mesh with two transmission gears. The pulley assembly consists of a driving pulley and a driven pulley connected by a belt. The third motor is connected to the driving pulley shaft, and the driven pulley is mounted on the rotating shaft.

[0011] Preferably, both clamps are provided with sliders at their lower ends. The fourth drive mechanism includes a fourth motor, a second driving bevel gear, a second driven bevel gear, and a second lead screw. The fourth motor is fixed to the side of the wrist movable frame. The fourth motor is connected to the shaft of the second driving bevel gear. The second driving bevel gear and the second driven bevel gear mesh. The second driven bevel gear is connected to one end of the second lead screw.

[0012] Preferably, the second lead screw is a bidirectional lead screw, with left-hand threaded wall and right-hand threaded wall respectively provided at both ends of the second lead screw, and two sliders respectively installed on the left-hand threaded wall and right-hand threaded wall.

[0013] Compared with the prior art, the beneficial effects of this utility model are: In this invention, the wrist-mounted movable frame is mounted on a slide. After the fourth motor controls the two clamping plates to hold the workpiece, the third motor can control the wrist-mounted movable frame to rotate around the slide. Since the slide maintains a safe distance from the base plate through the support rod, the base plate will not interfere with the rotation of the wrist-mounted movable frame, thereby increasing the movable space of the wrist-mounted movable frame. At the same time, the second motor drives the first lead screw to rotate, which can drive the wrist-mounted movable frame to move along the first lead screw. And the first motor drives the base plate to rotate, which can drive the wrist-mounted movable frame to rotate around the robot link, thereby increasing the range of adjustable angles after the workpiece is clamped. Attached Figure Description

[0014] Figure 1 A schematic diagram of the main structure of the robot's wrist joint; Figure 2 This is a schematic diagram of the wrist joint structure of a robot. Figure 3 This is a schematic diagram of the base plate in the robot's wrist joint structure.

[0015] In the diagram: 1. Base plate; 101. Support rod; 102. Adapter shaft; 2. First motor; 201. Driving gear; 202. Driven gear; 3. First lead screw; 301. Second motor; 302. First driving bevel gear; 303. First driven bevel gear; 4. Slide table; 401. Guide column; 5. Wrist movement frame; 501. Collar; 502. Transmission gear; 6. Third motor; 601. Pulley assembly; 602. Rotating shaft; 603. Power gear; 7. Clamping plate; 701. Slider; 8. Fourth motor; 801. Second driving bevel gear; 802. Second driven bevel gear; 803. Second lead screw; 9. Robot linkage. Detailed Implementation

[0016] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, 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, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0017] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection 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.

[0018] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0019] Please see Figure 1-3 In this utility model, a robot wrist joint structure includes a rotatable base plate 1. Support rods 101 and adapter shafts 102 are respectively provided on both sides of the base plate 1. A first motor 2 is provided on one side of the adapter shaft 102. A first lead screw 3 and a slide 4 are provided between the two support rods 101. The slide 4 is threadedly connected to the first lead screw 3. A second motor 301 is provided on the side of the support rods 101. A wrist movement frame 5 is provided on one side of the slide 4. A third motor 6 is provided on the side of the slide 4. A clamping plate 7 is provided at one end of the wrist movement frame 5. A fourth motor 8 is provided on the side of the wrist movement frame 5.

[0020] Example 1: Please refer to Figure 1-3 In this embodiment of the present invention, a robot wrist joint structure is provided. The adapter shaft 102 is located inside the robot link 9 and is connected to the robot link 9 bearing. The first motor 2 is fixed on the side of the robot link 9. The drive gear 201 is connected to the shaft of the first motor 2. The drive gear 201 and the driven gear 202 mesh. The driven gear 202 is mounted on the adapter shaft 102. The drive gear 201 and the driven gear 202 are provided with a first protective shell. The first motor 2 drives the drive gear 201 and the driven gear 202 to rotate in sequence. The driven gear 202 drives the adapter shaft 102 to rotate inside the robot link 9, thereby driving the base plate 1 to rotate.

[0021] The second motor 301 is fixed to the side of the support rod 101. The first driving bevel gear 302 is connected to the shaft of the second motor 301. The first driving bevel gear 302 and the first driven bevel gear 303 mesh. One end of the first lead screw 3 is connected to the shaft of the first driven bevel gear 303. The two ends of the guide post 401 are respectively connected to the two support rods 101. The side of the slide table 4 is slidably connected to the guide post 401. The first driving bevel gear 302 and the first driven bevel gear 303 are externally arranged... There is a second protective shell. The second motor 301 drives the first active bevel gear 302 and the first driven bevel gear 303 to rotate in sequence. The first driven bevel gear 303 then drives the first lead screw 3 to rotate, thereby controlling the slide table 4 to move on the first lead screw 3. The guide column 401 prevents the slide table 4 from rotating. Both ends of the first lead screw 3 are protected by retractable corrugated dust covers. One end of the corrugated dust cover is connected to the movable frame 5, and the other end of the corrugated dust cover is connected to the support rod 101.

[0022] The wrist movement frame 5 has an inverted U-shaped structure. Both ends of the wrist movement frame 5 are provided with collars 501. The two collars 501 are respectively connected to the bearings at both ends of the slide table 4. One end of each of the two collars 501 is provided with a transmission gear 502.

[0023] The third motor 6 is connected to the rotating shaft 602 via a pulley assembly 601. Two power gears 603 are connected to both ends of the rotating shaft 602, and the two power gears 603 mesh with two transmission gears 502. The pulley assembly 601 consists of a driving gear and a driven gear connected by a belt. The third motor 6 is connected to the driving gear shaft, and the driven gear is mounted on the rotating shaft 602. A third protective housing is provided outside the power gears 603 and the transmission gears 502. The third protective housing is mounted on the movable frame 5. The third motor 6 drives the rotating shaft 602, the power gears 603 and the transmission gears 502 to rotate sequentially via the pulley assembly 601. The transmission gears 502 then drive the wrist movable frame 5 to rotate around the slide table 4.

[0024] The fourth motor 8 is fixed to the side of the wrist movement frame 5. The fourth motor 8 is connected to the shaft of the second driving bevel gear 801. The second driving bevel gear 801 and the second driven bevel gear 802 mesh. The second driven bevel gear 802 is connected to one end of the second lead screw 803. The second lead screw 803 is a bidirectional lead screw. The two ends of the second lead screw 803 are respectively provided with left-hand threaded walls and right-hand threaded walls. The lower end sliders 701 of the two clamping plates 7 are respectively installed on the left-hand threaded walls and right-hand threaded walls. The second driving bevel gear 801 and the second driven bevel gear 802 are provided with a fourth protective cover. The fourth motor 8 drives the second driving bevel gear 801 and the second driven bevel gear 802 to rotate in sequence. The second driven bevel gear 802 then drives the second lead screw 803 to rotate, thereby controlling the two clamping plates 7 to move closer or further apart. The second lead screw 803 is protected by a retractable corrugated dust cover.

[0025] After the fourth motor 8 controls the two clamping plates 7 to clamp the workpiece, the third motor 6 can control the wrist movable frame 5 to rotate around the slide table 4. Since the slide table 4 maintains a safe distance from the base plate 1 through the support rod 101, the base plate 1 will not interfere with the rotation of the wrist movable frame 5, thereby increasing the movable space of the wrist movable frame 5. At the same time, the second motor 301 drives the first lead screw 3 to rotate, which can drive the wrist movable frame 5 to move along the first lead screw 3. And the first motor 2 drives the base plate 1 to rotate, which can drive the wrist movable frame 5 to rotate around the robot link 9, thereby increasing the range of adjustable angles after the workpiece is clamped.

[0026] When the base plate 1 is rotated to a vertical or horizontal state, the first lead screw 3 is in the same state as the base plate 1, so that the first lead screw 3 can drive the wrist movable frame 5 to change its position in the vertical or horizontal direction. Compared with the method of the robot directly controlling the movement of the wrist movable frame 5, the accuracy of the position of the wrist movable frame 5 within the length range of the first lead screw 3 is improved.

[0027] The working principle of this utility model is as follows: the first motor 2 drives the adapter shaft 102 to rotate inside the robot link 9, thereby driving the base plate 1 to rotate; the second motor 301 controls the slide table 4 to move on the first lead screw 3; the third motor 6 can control the wrist movable frame 5 to rotate around the slide table 4; and the fourth motor 8 is used to control the two clamping plates 7 to move closer or further apart, thereby improving the range of adjustable angles after the workpiece is clamped by the clamping plates 7.

[0028] 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 illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0029] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider 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 wrist joint structure, comprising a rotatable base plate (1), characterized in that; The base plate (1) is provided with a support rod (101) and a transition shaft (102) on both sides respectively. A first drive mechanism for driving the base plate (1) to rotate is provided on one side of the transition shaft (102). A first lead screw (3) and a slide (4) are provided between the two support rods (101). The slide (4) is threadedly connected to the first lead screw (3). A second drive mechanism for driving the slide (4) to move along the first lead screw (3) is provided on the side of the support rod (101). A wrist movable frame (5) is provided on one side of the slide (4). A third drive mechanism for driving the wrist movable frame (5) to rotate around the slide (4) is provided on the side of the slide (4). A clamping plate (7) is provided at one end of the wrist movable frame (5). A fourth drive mechanism for driving the two clamping plates (7) to move simultaneously is provided on the side of the wrist movable frame (5).

2. The robot wrist joint structure according to claim 1, characterized in that: The adapter shaft (102) is located inside the robot link (9). The adapter shaft (102) is connected to the robot link (9) bearing. The first drive mechanism includes a first motor (2), a drive gear (201) and a driven gear (202). The first motor (2) is fixed on the side of the robot link (9). The drive gear (201) is connected to the shaft of the first motor (2). The drive gear (201) and the driven gear (202) mesh. The driven gear (202) is mounted on the adapter shaft (102).

3. The robot wrist joint structure according to claim 1, characterized in that: The second drive mechanism includes a second motor (301), a first driving bevel gear (302) and a first driven bevel gear (303), and a guide post (401). The second motor (301) is fixed to the side of the support rod (101). The first driving bevel gear (302) is connected to the shaft of the second motor (301). The first driving bevel gear (302) and the first driven bevel gear (303) mesh. One end of the first lead screw (3) is connected to the shaft of the first driven bevel gear (303). Both ends of the guide post (401) are connected to the two support rods (101) respectively. The side of the slide (4) is slidably connected to the guide post (401).

4. The robot wrist joint structure according to claim 1, characterized in that: The wrist movement frame (5) has an inverted U-shaped structure. Both ends of the wrist movement frame (5) are provided with collars (501). The two collars (501) are respectively connected to the bearings at both ends of the slide (4). One end of each collar (501) is provided with a transmission gear (502).

5. The robot wrist joint structure according to claim 1, characterized in that: The third drive mechanism includes a third motor (6), a pulley assembly (601), a rotating shaft (602), and a power gear (603). The third motor (6) is connected to the rotating shaft (602) through the pulley assembly (601). The two power gears (603) are respectively connected to the two ends of the rotating shaft (602) and respectively mesh with the two transmission gears (502). The pulley assembly (601) consists of a drive wheel and a driven wheel connected by a belt. The third motor (6) is connected to the drive wheel shaft, and the driven wheel is mounted on the rotating shaft (602).

6. The robot wrist joint structure according to claim 1, characterized in that: Both clamps (7) are provided with sliders (701) at their lower ends. The fourth drive mechanism includes a fourth motor (8), a second active bevel gear (801), a second driven bevel gear (802), and a second lead screw (803). The fourth motor (8) is fixed to the side of the wrist movement frame (5). The fourth motor (8) is connected to the shaft of the second active bevel gear (801). The second active bevel gear (801) meshes with the second driven bevel gear (802). The second driven bevel gear (802) is connected to one end of the second lead screw (803).

7. The robot wrist joint structure according to claim 6, characterized in that: The second lead screw (803) is a bidirectional lead screw. The two ends of the second lead screw (803) are respectively provided with a left-hand threaded wall and a right-hand threaded wall, and the two sliders (701) are respectively installed on the left-hand threaded wall and the right-hand threaded wall.

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