A micro-motion adjusting device applied to a robot joint

Abstract

The application discloses a micro-motion adjusting device applied to a robot joint, which comprises a micro-motion ball, a plurality of recesses are uniformly distributed on the surface of the micro-motion ball, and the recesses are semicircular; a shell cover is arranged on the micro-motion ball; a driving assembly is arranged on the shell and used for cooperating with the recesses to drive the micro-motion ball to rotate in the shell; the shell serves as a mounting base, the inside of the shell can accommodate the micro-motion ball, through cooperation of the driving assembly and the recesses, arbitrary freedom rotation of the micro-motion ball can be realized, the micro-motion ball can be connected with an external structure, through rotation of the micro-motion ball, rotation of the external structure can be realized, the joint micro-motion of the robot can be realized, the precision during work of the robot can be adjusted, and the precision in industrial manufacturing is improved.

Description

Technical Field

[0001] This disclosure relates to the field of robotics technology, and more specifically to a device for micro-motion adjustment of robot joints. Background Technology

[0002] As a prominent representative of modern technology, robots are rapidly integrating into every corner of human society, finding increasingly widespread applications across various industries, particularly in machinery and aerospace. Traditionally, robots are installed and fixed in specific locations, with pre-designed workflows to repeatedly perform specific tasks. However, with the expanding applications of robots, traditional industrial robots often need to perform not only specific tasks but also other multi-dimensional movements. These multi-dimensional movements require drive joints to propel the robot.

[0003] Most existing robot joints use gear transmission or hydraulic drive structures, which can meet basic motion requirements, but have obvious defects in micro-motion control. Based on the increasingly high precision requirements in industrial manufacturing, it is necessary to perform micro-motion control on robot joints to achieve micro-motion adjustment and ensure manufacturing accuracy. Utility Model Content

[0004] In view of the above-mentioned defects or deficiencies in the prior art, it is desirable to provide a device for micro-motion adjustment of robot joints.

[0005] This application provides a device for fine-motion adjustment of robot joints, comprising: A micro-moving sphere, wherein several depressions are evenly distributed on the surface of the micro-moving sphere, and the depressions are semi-circular; A housing, which is fitted over the micro-moving sphere; A drive assembly is disposed on the housing and is used to engage with the recess to drive the micro-moving ball to rotate within the housing.

[0006] According to the technical solution provided in the embodiments of this application, the shell covers at least 1 / 2 of the area of ​​the micro-moving sphere.

[0007] According to the technical solution provided in the embodiments of this application, the driving component includes: A first drive group, the first drive group including a plurality of first drive members disposed along a first plane; The second drive group includes a plurality of first drive members disposed along a second plane; The third drive group includes a plurality of first drive members arranged along a third plane; The first plane is perpendicular to the second plane and also perpendicular to the third plane, and the second plane is perpendicular to the third plane.

[0008] According to the technical solution provided in the embodiments of this application, the plurality of first driving elements of the first driving group correspond to the 1 / 4 diameter position, the axis position, the 3 / 4 diameter position and the edge position of the plurality of recesses that are sequentially distributed along the first plane on the micro-moving sphere; The plurality of first driving elements in the second driving group correspond to the 1 / 4 diameter position, the axial position, the 3 / 4 diameter position and the edge position of the plurality of recesses that are sequentially distributed along the second plane on the micro-moving sphere; The plurality of first driving elements in the third driving group correspond to the 1 / 4 diameter position, the axial position, the 3 / 4 diameter position and the edge position of the plurality of recesses that are sequentially distributed along the third plane on the micro-moving sphere.

[0009] According to the technical solution provided in the embodiments of this application, any two of the first drive group, the second drive group and the third drive group share a first drive member corresponding to the recessed axis position, and the first drive members corresponding to the recessed axis position in the first drive group, the second drive group and the third drive group are located on the same plane.

[0010] According to the technical solution provided in the embodiments of this application, the first drive group, the second drive group and the third drive group each include a second drive member corresponding to the axis of the micro-moving ball, a third drive member forming a first preset angle with the second drive member and a tenth drive member forming a second preset angle with the second drive member; the openings of the first preset angle and the second preset angle face opposite directions.

[0011] According to the technical solution provided in the embodiments of this application, the driving component includes: The fourth drive group includes a fourth drive member along the first axis and a fifth drive member for driving the micro-moving ball to rotate about the first axis; The fifth drive group includes a sixth drive member along the second axis and a seventh drive member for driving the micro-moving ball to rotate about the second axis; The sixth drive group includes an eighth drive member along the third axis and a ninth drive member for driving the micro-moving ball to rotate about the third axis; The first axis is perpendicular to the second axis and also perpendicular to the third axis, and the second axis is perpendicular to the third axis.

[0012] According to the technical solution provided in the embodiments of this application, a mounting block is provided on the housing, and the fifth driving member, the seventh driving member and the ninth driving member are all disposed on the mounting block.

[0013] According to the technical solution provided in the embodiments of this application, the driving assembly further includes three ring frames rotatably disposed on the housing and coaxial with the fifth driving member, the seventh driving member and the ninth driving member respectively. The ring frames are circumferentially distributed with a plurality of movable holes, and extrusion balls adapted to the recess are movably disposed in the movable holes.

[0014] According to the technical solution provided in the embodiments of this application, the driving ends of the fifth driving member, the seventh driving member and the ninth driving member are all coaxially fixedly connected to the extrusion member. The extrusion member is provided with a plurality of extrusion grooves in the circumferential direction corresponding to the plurality of extrusion balls. The side of the extrusion member away from the mounting block is provided with a guide surface for driving the extrusion balls away from the axis of the ring frame.

[0015] In summary, this technical solution specifically discloses a micro-motion adjustment device for robot joints, including a micro-motion ball with a number of semi-circular depressions evenly distributed on its surface; a housing is disposed on the micro-motion ball; and a drive component is disposed on the housing for engaging with the depressions to drive the micro-motion ball to rotate within the housing. The shell serves as the mounting base, and its interior can accommodate a micro-moving ball. Through the cooperation of the drive component and the recess, the micro-moving ball can rotate with any degree of freedom. The micro-moving ball can be connected to the external structure, and by rotating the micro-moving ball, the rotation of the external structure can be driven. This enables micro-movement of the robot's joints, allowing for the adjustment of the robot's working precision and improving the accuracy in industrial manufacturing. Attached Figure Description

[0016] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a schematic diagram of a device for fine-motion adjustment of robot joints.

[0017] Figure 2 This is a schematic diagram showing the first driving component corresponding to the recess.

[0018] Figure 3 A schematic diagram of four primary driving components driving the micro-moving ball to rotate.

[0019] Figure 4 This is a schematic diagram of the shell of the frame structure.

[0020] Figure 5 This is a schematic diagram of the mounting block.

[0021] Figure 6This is a schematic diagram showing the extruded ball inside the ring frame.

[0022] Figure 7 This is a schematic diagram showing the extruded ball outside the ring frame.

[0023] Labels in the diagram: 1. Micro-moving ball; 2. Shell; 3. First driving component; 4. Second driving component; 5. Third driving component; 6. Tenth driving component; 7. Fourth driving component; 8. Fifth driving component; 9. Sixth driving component; 10. Seventh driving component; 11. Eighth driving component; 12. Ninth driving component; 13. Mounting block; 14. Ring frame; 15. Extrusion ball; 16. Extrusion component; 17. Extrusion groove. Detailed Implementation

[0024] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the relevant utility model and not intended to limit the scope of the utility model. Furthermore, it should be noted that, for ease of description, only the parts relevant to the utility model are shown in the accompanying drawings.

[0025] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0026] Please refer to Figure 1 A device for micro-motion adjustment of robot joints, comprising: Micro-moving sphere 1, the surface of micro-moving sphere 1 has several depressions evenly distributed, the depressions are semi-circular; Shell 2, which covers the micro-moving sphere 1; A drive assembly is mounted on the housing 2 and is used to engage with the recess to drive the micro-moving ball 1 to rotate within the housing 2.

[0027] Specifically, the surface of the micro-moving sphere 1 is evenly distributed with several semi-circular depressions. The shell 2 covers the micro-moving sphere 1, and the driving component is set on the shell 2. The driving end of the driving component acts on the depressions to realize the rotation of the micro-moving sphere 1 with any degree of freedom. It can be rotation or reciprocating motion at any angle.

[0028] In practical applications, the micro-motion ball 1 is connected to an external structure, which can be the robotic arm of a robot. The micro-motion ball 1 is driven to rotate inside the shell 2 by a drive component, thereby achieving the purpose of adjusting the motion accuracy of the robotic arm.

[0029] Furthermore, the shell 2 covers at least half of the area of ​​the micro-moving sphere 1.

[0030] Specifically, the shell 2 covers at least 1 / 2 of the area of ​​the micro-moving sphere 1. The shell 2 can be a hemispherical structure with a cavity that can accommodate the micro-moving sphere 1. Alternatively, the shell 2 can be a frame structure with a triangular frame corresponding to 1 / 8 of the area of ​​the micro-moving sphere 1. An opening on one side of the triangular frame can form a clearance area to allow the external structure connected to the micro-moving sphere 1, such as a robotic arm, to pass through when the micro-moving sphere 1 rotates, so that the robotic arm can achieve a larger angle of rotation.

[0031] It should be noted that when the shell 2 is a hemispherical structure, it covers at least 1 / 2 of the micro-moving sphere 1. When the shell 2 is a frame structure, it can cover 1 / 2 of the micro-moving sphere 1, or it can be designed to cover 1 / 4 of the micro-moving sphere 1, without specific limitations.

[0032] Furthermore, the driving components include: The first drive group includes a plurality of first drive members 3 arranged along a first plane; The second drive group includes a plurality of first drive members 3 arranged along the second plane; The third drive group includes a plurality of first drive elements 3 arranged along the third plane; The first plane is perpendicular to the second plane and also perpendicular to the third plane, and the second plane is perpendicular to the third plane.

[0033] Specifically, the intersection of the first plane, the second plane, and the third plane is the axis center of the micro-moving ball 1. The first plane can be regarded as the xy plane, the second plane as the xz plane, and the third plane as the yz plane. The first drive group, the second drive group, and the third drive group can drive the micro-moving ball 1 to rotate around the z-axis, y-axis, and x-axis, respectively. The first driving member 3 can be an electric telescopic member. The first driving member 3 has a driving end. When the first driving member 3 is energized, its driving end can extend into the recess.

[0034] Furthermore, such as Figure 2 As shown, the multiple first driving elements 3 of the first driving group correspond to the 1 / 4 diameter position, the axis position, the 3 / 4 diameter position and the edge diameter position of the multiple recesses distributed sequentially along the first plane on the micro-moving ball 1. The multiple first driving elements 3 of the second driving group correspond to the 1 / 4 diameter position, the axis position, the 3 / 4 diameter position and the edge diameter position of the multiple recesses distributed sequentially along the second plane on the micro-moving ball 1. The multiple first driving elements 3 of the third driving group correspond to the 1 / 4 diameter position, the axis position, the 3 / 4 diameter position and the edge diameter position of the multiple recesses distributed sequentially along the third plane on the micro-moving ball 1.

[0035] Specifically, the first drive group, the second drive group and the third drive group each have four first drive members 3. The four first drive members 3 are distributed sequentially along the circumference of the micro-moving ball 1, with the drive end facing the axis of the micro-moving ball 1 and corresponding one-to-one with the depression on the surface of the micro-moving ball 1. Among them, the driving ends of the four first driving members 3 of the first driving group, the second driving group and the third driving group correspond to the 1 / 4 diameter position, the axis position, the 3 / 4 diameter position and the edge position of the opposite recess, respectively; Therefore, when the micro-movement ball 1 needs to rotate in a certain direction, taking the activation of the first drive group as an example, in the initial state, such as Figure 3 As shown in Figure A, the first driving element 3 of the first driving group is energized. This first driving element 3 corresponds to a 1 / 4 diameter position of the recess, and its driving end extends, pressing against the recess until the driving end extends into the recess, causing the micro-moving ball 1 to rotate around the z-axis by a certain angle. At this time, the driving end aligns with the axis of the recess (e.g., ...). Figure 3 (B) Due to the rotation of the micro-movement ball 1, the first driving member 3 in the first driving group, which originally corresponded to the center position of the recess, changed to the position corresponding to 3 / 4 of the diameter of the recess; the first driving member 3, which originally corresponded to the position corresponding to 3 / 4 of the diameter of the recess, changed to the position corresponding to the edge of the recess; and the first driving member 3, which originally corresponded to the edge of the recess, changed to the position corresponding to 1 / 4 of the diameter of the next recess. To make the micro-moving ball 1 continue to rotate, the first driving component 3, which corresponds to the current 1 / 4 diameter position of the concave area, needs to be energized and operated cyclically to make the micro-moving ball 1 rotate around the z-axis (e.g., Figure 3 (C, D) To achieve the reversal, the first drive unit 3, which is currently located at the 3 / 4 diameter position of the recess, needs to be energized.

[0036] Furthermore, any two groups in the first drive group, the second drive group, and the third drive group share a first drive member 3 with a corresponding recessed axis position, and the first drive members 3 with corresponding recessed axis positions in the first drive group, the second drive group, and the third drive group are located on the same plane.

[0037] This embodiment applies this design, further adjusting the layout of the first drive group, the second drive group, and the third drive group, so that the first drive group, the second drive group, and the third drive group are integrated on the housing 2, which is more suitable for the narrow space of the robot joint; other embodiments are not limited to this design.

[0038] Furthermore, such as Figure 3As shown, the first drive group, the second drive group and the third drive group each include a second drive member 4 corresponding to the axis of the micro-movement ball 1, a third drive member 5 forming a first preset angle with the second drive member 4 and a tenth drive member 6 forming a second preset angle with the second drive member 4; the openings of the first preset angle and the second preset angle are oriented in opposite directions.

[0039] Specifically, when the housing 2 is a frame structure, the first drive group, the second drive group and the third drive group each include a second drive member 4, a third drive member 5 and a tenth drive member 6. The second drive member 4 of the first drive group, the second drive member 4 of the second drive group and the second drive member 4 of the third drive group are respectively set at the three corners of the triangular frame, and their drive ends are all facing the axis of the micro-moving ball 1. When the first drive group is activated, the second drive member 4 of the second drive group extends into the corresponding recess and is regarded as the pivot of the micro-motion ball 1. Similarly, when the second drive group is activated, the second drive member 4 of the third drive group extends into the corresponding recess and is regarded as the pivot of the micro-motion ball 1. When the third drive group is activated, the second drive member 4 of the first drive group extends into the corresponding recess and is regarded as the pivot of the micro-motion ball 1.

[0040] The first preset angle and the second preset angle are both preferably 45°. The openings of the first preset angle and the second preset angle face opposite directions. The purpose is to enable the micro-moving ball 1 to turn in opposite directions after the third driving member 5 and the tenth driving member 6 are activated respectively.

[0041] Taking the activation of the first drive group as an example, firstly, the second drive component 4 of the second drive group is energized, so that the drive end of the second drive component 4 of the second drive group extends into the recess, serving as the rotation axis of the micro-moving ball to prevent the micro-moving ball 1 from shaking. Then, the third drive component 5 of the first drive group is activated, and its drive end extends into the recess, pushing the micro-moving ball 1 to rotate at a certain angle, and can achieve limit positioning. At this time, the second driving member 4 of the first driving group is eccentrically set with the recess. If the micro-moving ball 1 is to continue to rotate, the driving end of the third driving member 5 of the first driving group is retracted, and the second driving member 4 of the first driving group is activated. Its driving end extends into the recess to squeeze the micro-moving ball 1 and make it rotate further to achieve the limit. If the micro-moving ball 1 needs to continue to rotate, the driving end of the second driving member 4 of the first driving group is retracted, and the third driving member 5 of the first driving group is energized again, so that the driving end of the third driving member 5 extends and pushes the recess to make the micro-moving ball 1 rotate. This cycle is repeated to achieve the continuous rotation of the micro-moving ball 1.

[0042] If the micro-movement ball 1 needs to be reversed, it can be achieved by driving the second driving component 4 and the tenth driving component 6 of the first driving group respectively.

[0043] The second drive component 4, the third drive component 5, and the tenth drive component 6 can all be electrically telescopic components.

[0044] It should be noted that the driving ends of the second driving component 4 and the tenth driving component 6 are provided with a clearance structure on the side near the surface of the micro-moving ball 1, which is used to avoid interference with the recessed edge when the driving end retracts, so that the driving end can retract smoothly.

[0045] Furthermore, such as Figure 4 As shown, the driving component includes: The fourth drive group includes a fourth drive member 7 along the first axis and a fifth drive member 8 for driving the micro-moving ball 1 to rotate around the first axis; The fifth drive group includes a sixth drive member 9 along the second axis and a seventh drive member 10 for driving the micro-moving ball 1 to rotate around the second axis; The sixth drive group includes an eighth drive member 11 along the third axis and a ninth drive member 12 for driving the micro-moving ball 1 to rotate about the third axis. The first axis is perpendicular to the second axis and also perpendicular to the third axis, and the second axis is perpendicular to the third axis.

[0046] Specifically, in other embodiments, when the housing 2 is a frame structure, the drive assembly includes a fourth drive group, a fifth drive group, and a sixth drive group. The first axis can be the x-axis, the second axis can be the y-axis, and the third axis can be the z-axis. The fourth drive member 7, the sixth drive member 9, and the eighth drive member 11 are located at the three corners of the triangular frame, respectively.

[0047] The fourth driving component 7, the sixth driving component 9, and the eighth driving component 11 can be electric telescopic components, and the fifth driving component 8, the seventh driving component 10, and the ninth driving component 12 can be electric telescopic motors. Specifically, the driving end extends and can rotate after being energized, or it can be a combination structure of electric telescopic components and motors. The electric telescopic component extends to drive the motor to move, and the driving end of the motor can rotate after being energized.

[0048] Furthermore, a mounting block 13 is provided on the housing 2, and the fifth driving member 8, the seventh driving member 10 and the ninth driving member 12 are all provided on the mounting block 13.

[0049] Specifically, the mounting block 13 can be designed as an integral part of the housing 2 and located in the central cavity of the triangular frame. The mounting block 13 can be shaped like an equilateral triangle. The fifth driving member 8, the seventh driving member 10 and the ninth driving member 12 are all mounted on the mounting block 13 and are located on the three sides of the equilateral triangle, respectively.

[0050] Furthermore, the drive assembly also includes three ring frames 14 disposed on the housing 2, which are coaxial with the fifth drive member 8, the seventh drive member 10 and the ninth drive member 12 respectively. The ring frames 14 have multiple movable holes distributed around their circumference, and extrusion balls 15 adapted to the recesses are movably disposed in the movable holes.

[0051] Specifically, the shell 2 has through slots on three sides of the triangular frame. A ring frame 14 is installed in the through slots via a bracket. Multiple movable holes are evenly arranged around the ring frame 14. A compression ball 15 that matches the recess is movably installed in the movable hole. In the initial state, the compression ball 15 is close to the axis of the ring frame 14.

[0052] Furthermore, the driving ends of the fifth driving member 8, the seventh driving member 10 and the ninth driving member 12 are all coaxially fixedly connected to the extrusion member 16. The extrusion member 16 is provided with multiple extrusion grooves 17 corresponding to multiple extrusion balls 15 in the circumferential direction. The side of the extrusion member 16 away from the mounting block 13 is provided with a guide surface that drives the extrusion balls 15 away from the axis of the ring frame 14.

[0053] Specifically, such as Figure 6 and Figure 7 As shown, the extrusion groove 17 and the extrusion ball 15 are adapted to each other, and the number of guide surfaces corresponds to the number of extrusion balls 15. By energizing the fifth drive member 8, the seventh drive member 10 and the ninth drive member 12, their drive ends extend, driving the extrusion member 16 into the ring frame 14. The guide surfaces push the extrusion ball 15 to move in the movable hole, making it away from the axis of the ring frame 14, thereby realizing the cooperation between the extrusion groove 17 and the extrusion ball 15. Then, the drive ends of the fifth drive member 8, the seventh drive member 10 and the ninth drive member 12 rotate, driving the extrusion member 16 to rotate, thereby making the ring frame 14 rotate. Multiple extrusion balls 15 rotate around the axis of the ring frame 14, thereby realizing the sequential entry into the groove and pushing the groove, and finally realizing the rotation of the micro-moving ball 1.

[0054] Working principle: The surface of the micro-moving ball 1 has several evenly distributed depressions, which are semi-circular. The shell 2 covers the micro-moving ball 1. The micro-moving ball 1 can be driven to rotate inside the shell 2 by the drive component. The drive end of the drive component cooperates with the depression. By pushing the depression, the micro-moving ball 1 can rotate freely within the shell 2. The micro-moving ball 1 can be connected to the external structure. By rotating the micro-moving ball 1, the rotation of the external structure can be driven. This can realize the micro-movement of the robot's joints and adjust the precision of the robot during operation to improve the precision in industrial manufacturing.

[0055] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the utility model involved in this application is not limited to the technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A device for fine-motion adjustment of robot joints, characterized in that, include: A micro-moving sphere (1) has several depressions evenly distributed on its surface, and the depressions are semi-circular. A housing (2) is provided on the micro-moving sphere (1); A drive assembly is disposed on the housing (2) and is used to engage with the recess to drive the micro-moving ball (1) to rotate within the housing (2).

2. The micro-motion adjustment device for robot joints according to claim 1, characterized in that, The shell (2) covers at least half of the area of ​​the micro-moving sphere (1).

3. The micro-adjustment device for robot joints according to claim 1, characterized in that, The driving component includes: A first drive group, the first drive group including a plurality of first drive members (3) disposed along a first plane; The second drive group includes a plurality of first drive members (3) arranged along the second plane. The third drive group includes a plurality of first drive elements (3) arranged along the third plane. The first plane is perpendicular to the second plane and also perpendicular to the third plane, and the second plane is perpendicular to the third plane.

4. The micro-motion adjustment device for robot joints according to claim 3, characterized in that, The plurality of first driving elements (3) of the first driving group correspond to the 1 / 4 diameter position, the axial position, the 3 / 4 diameter position and the edge position of the plurality of recesses that are sequentially distributed along the first plane on the micro-moving ball (1); The plurality of first driving elements (3) of the second driving group correspond to the 1 / 4 diameter position, the axial position, the 3 / 4 diameter position and the edge position of the plurality of recesses that are sequentially distributed along the second plane on the micro-moving ball (1); The plurality of first driving elements (3) of the third driving group correspond to the 1 / 4 diameter position, the axial position, the 3 / 4 diameter position and the edge position of the plurality of recesses that are sequentially distributed along the third plane on the micro-moving sphere (1).

5. A micro-adjustment device for robot joints according to claim 4, characterized in that, Any two of the first drive group, the second drive group and the third drive group share a first drive member (3) corresponding to the recessed axis position, and the first drive members (3) corresponding to the recessed axis position in the first drive group, the second drive group and the third drive group are located on the same plane.

6. The micro-adjustment device for robot joints according to claim 3, characterized in that, The first drive group, the second drive group and the third drive group each include a second drive member (4) corresponding to the axis of the micro-moving ball (1), a third drive member (5) forming a first preset angle with the second drive member (4) and a tenth drive member (6) forming a second preset angle with the second drive member (4); the openings of the first preset angle and the second preset angle face opposite directions.

7. The micro-adjustment device for robot joints according to claim 1, characterized in that, The driving component includes: The fourth drive group includes a fourth drive member (7) along the first axis and a fifth drive member (8) for driving the micro-moving ball (1) to rotate about the first axis. The fifth drive group includes a sixth drive member (9) along the second axis and a seventh drive member (10) for driving the micro-moving ball (1) to rotate about the second axis. The sixth drive group includes an eighth drive member (11) along the third axis and a ninth drive member (12) for driving the micro-moving ball (1) to rotate about the third axis. The first axis is perpendicular to the second axis and also perpendicular to the third axis, and the second axis is perpendicular to the third axis.

8. A micro-adjustment device for robot joints according to claim 7, characterized in that, The housing (2) is provided with a mounting block (13), and the fifth driving member (8), the seventh driving member (10) and the ninth driving member (12) are all provided on the mounting block (13).

9. A micro-adjustment device for robot joints according to claim 8, characterized in that, The drive assembly also includes three ring frames (14) rotatably mounted on the housing (2) and coaxial with the fifth drive member (8), the seventh drive member (10) and the ninth drive member (12) respectively. The ring frames (14) are circumferentially distributed with multiple movable holes, and extrusion balls (15) adapted to the recess are movably disposed in the movable holes.

10. A micro-motion adjustment device for robot joints according to claim 9, characterized in that, The driving ends of the fifth driving member (8), the seventh driving member (10) and the ninth driving member (12) are all coaxially fixedly connected to the extrusion member (16). The extrusion member (16) is provided with multiple extrusion grooves (17) in the circumferential direction corresponding to multiple extrusion balls (15). The side of the extrusion member (16) away from the mounting block (13) is provided with a guide surface that drives the extrusion balls (15) away from the axis of the ring frame (14).

Images