CN211163993U

CN211163993U - Robot finger joint

Info

Publication number: CN211163993U
Application number: CN201922063410.1U
Authority: CN
Inventors: 王浩然; 郑畅; 徐文坦; 李文政; 张晓帆; 冯润飞; 杜豪威
Original assignee: Zhengzhou Institute of Finance and Economics
Current assignee: Zhengzhou Institute of Finance and Economics
Priority date: 2019-11-26
Filing date: 2019-11-26
Publication date: 2020-08-04
Anticipated expiration: 2029-11-26

Abstract

The utility model discloses a robot finger joint, including the robot palm, the palm finger joint department of robot palm is fixed with the joint cover, the inside grafting of joint cover has the joint pole, the one end that the joint cover was kept away from to the joint pole is connected with the phalanx, be connected with the joint pole through the joint cover between phalanx and the phalanx, the jack has been seted up on the surface of joint cover, the joint pole includes the stopper of dead lever and ball shape, the surface and the integrative setting of dead lever of stopper, the one end that the stopper was kept away from to the dead lever is fixed with the phalanx, many spouts have been seted up along its diametric (al) in the surface of stopper, the jack flushes with the tip of the palm joint of robot palm and phalanx, the joint cover is kept away from one side of jack and has been seted up the line hole, the dead lever is. Through the cooperation of above each device use, can make the robot finger joint dismantle easy to assemble more to can promote the efficiency of overhauing the robot finger joint.

Description

Robot finger joint

Technical Field

The utility model relates to a robot joint correlation technique field specifically is a robot finger joint.

Background

Along with the improvement of scientific and technical level, the application of robot is more extensive, the robot is when bringing better life experience for the user, it is also crucial to carry out the work of overhauing to the robot, the robot palm is as the mechanical organ most commonly used, the probability of breaking down is often higher, however the mode that current robot finger joint adopted joint and screw is mostly fixed, so that the maintenance of robot finger joint is comparatively troublesome, can't promote the efficiency of overhauing, so an easy to assemble dismantlement convenient to overhaul's robot finger joint of urgent need.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a robot finger joint to solve the inconvenient problem of installing and dismantling of the current robot finger joint who proposes in the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: the robot finger joint comprises a robot palm, wherein a joint sleeve is fixed at a metacarpophalangeal joint of the robot palm, a joint rod is inserted into the joint sleeve, one end, far away from the joint sleeve, of the joint rod is connected with a finger bone, and the finger bone are connected through the joint sleeve and the joint rod.

Preferably, the joint sleeve is spherical, the surface of the joint sleeve is provided with a jack, and the joint sleeve is made of any one of ceramic and titanium alloy.

Preferably, the joint rod comprises a fixed rod and a spherical limiting block, the outer surface of the limiting block and the fixed rod are integrally arranged, and one end, far away from the limiting block, of the fixed rod is fixed with the phalanx.

Preferably, the limiting block is made of titanium-nickel alloy, a plurality of sliding grooves are formed in the surface of the limiting block along the diameter direction of the limiting block, the circumference of each sliding groove is one third of the maximum circumference of the surface of the limiting block, and the sliding grooves are symmetrical with respect to the diameter of the limiting block.

Preferably, the jack is flush with the palm joint of the robot palm and the end part of the phalanx, and one side of the joint sleeve, which is far away from the jack, is provided with a wire hole for wiring.

Preferably, the fixing rod is a hollow cylinder, and the limiting block is provided with a through hole matched with the fixing rod in a penetrating manner.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the utility model discloses, through the grafting between articulated arm and the joint cover, can make robot palm and phalanx and indicate that be connected between bone and the phalanx convenient and fast more, promoted the efficiency that the robot indicates that the joint overhauls to simple structure can reduce mechanical design's complexity.

2. The utility model discloses, through line hole and the through-hole that hollow dead lever and joint cover and stopper were seted up, can make robot palm and indicate bone and indicate that walking between the bone is more convenient, and can implement certain guard action to the circuit.

Drawings

Fig. 1 is a schematic structural diagram of a robot palm according to an embodiment of the present invention;

fig. 2 is a schematic structural view of a joint rod according to an embodiment of the present invention.

In the figure: 1. a robot palm; 2. a joint sleeve; 21. a wire hole; 3. a joint bar; 4. a phalanx; 5. a jack; 6. fixing the rod; 7. a limiting block; 71. a chute; 72. and a through hole.

Detailed Description

In order to enable the finger joint of the robot to be more convenient to mount and dismount and improve the efficiency of overhauling the finger joint of the robot, the finger joint of the robot is particularly provided. The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Example 1

Referring to fig. 1-2, the present embodiment provides a robot finger joint, including a robot palm 1, a joint sleeve 2 is fixed at a metacarpophalangeal joint of the robot palm 1, a joint rod 3 is inserted into the joint sleeve 2, a phalange 4 is connected to one end of the joint rod 3 away from the joint sleeve 2, and the phalange 4 is connected to the joint rod 3 through the joint sleeve 2.

The joint sleeve 2 is spherical, the surface of the joint sleeve 2 is provided with an insertion hole 5, and the joint sleeve 2 can be made of any one of ceramics and titanium alloy.

The joint rod 3 comprises a fixed rod 6 and a spherical limiting block 7, the outer surface of the limiting block 7 and the fixed rod 6 are integrally arranged, and one end, far away from the limiting block 7, of the fixed rod 6 is fixed with the phalanx 4.

The limiting block 7 is made of titanium-nickel alloy, a plurality of sliding grooves 71 are formed in the surface of the limiting block 7 along the diameter direction of the limiting block, the circumference of each sliding groove 71 is one third of the maximum circumference of the surface of the limiting block 7, and the sliding grooves 71 are symmetrical with respect to the diameter of the limiting block 7.

The jack 5 is flush with the palm joint of the robot palm 1 and the end part of the phalange 4, and one side of the joint sleeve 2 far away from the jack 5 is provided with a line hole 21 for routing.

The fixed rod 6 is a hollow cylinder, and the limiting block 7 is provided with a through hole 72 matched with the fixed rod 6 in a penetrating mode.

In this embodiment, when the combination installation is performed, the joint sleeve 2 is placed in the metacarpophalangeal joint of the robot palm 1 and fixed, then one end of the fixing rod 6 is fixed with the phalanx 4, one end of the fixing rod 6, far away from the phalanx 4, is communicated with the through hole 72 of the limiting block 7, the fixing rod 6 is fixed with the limiting block 7, then the phalanx 4 is held by hand, and one end of the fixing rod, provided with the limiting block 7, is inserted into the joint sleeve 2, in the insertion process, the inner wall of the insertion hole 5 exerts pressure on the outer wall of the limiting block 7, so that the limiting block 7 is extruded and extended along the direction of the sliding groove 71, and after the limiting block 7 enters the joint sleeve 2, the outer wall of the limiting block 7 is attached to the inner wall of the.

The connection process between the phalanges 4 and the phalanges 4 is the same as above, when the wire arrangement is carried out, the wire is led out from the inside of the robot palm 1, penetrates out of the wire hole 21 of the joint sleeve 2, enters the inside of the limiting block 7 from the through hole 72, and then enters the inside of the phalanges 4 through the through hole 72 and the fixing rod 6.

Through the cooperation of above each device use, can make the robot finger joint dismantle easy to assemble more to can promote the efficiency of overhauing the robot finger joint.

Example 2

Referring to fig. 2, a further improvement is made on the basis of embodiment 1: the line hole 21 that is used for walking the line is offered to one side that jack 5 was kept away from to joint cover 2, dead lever 6 is the hollow cylinder size, stopper 7 run through be provided with dead lever 6 assorted through-hole 72, through hollow dead lever 6 and joint cover 2 and stopper 7 set up line hole 21 and through-hole 72, can make robot palm 1 and indicate bone 4 and indicate that the line between bone 4 is more convenient, and can implement certain guard action to the line.

In the description of the present application, it should be noted that the terms "vertical", "upper", "lower", "horizontal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present application.

In the description of the present application, it should be further noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may include, for example, a fixed connection, a detachable connection, an integral connection, a mechanical connection, an electrical connection, a direct connection, a connection through an intermediate medium, and a connection between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to specific circumstances.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a robot finger joint, includes robot palm (1), its characterized in that: the joint sleeve (2) is fixed at the metacarpophalangeal joint of the robot palm (1), the joint rod (3) is inserted into the joint sleeve (2), one end, far away from the joint sleeve (2), of the joint rod (3) is connected with a phalanx (4), and the phalanx (4) is connected with the joint rod (3) through the joint sleeve (2).

2. The robot finger joint according to claim 1, characterized in that: the joint sleeve (2) is spherical, the surface of the joint sleeve (2) is provided with an insertion hole (5), and the joint sleeve (2) can be made of any one of ceramic and titanium alloy.

3. The robot finger joint according to claim 1, characterized in that: the joint rod (3) comprises a fixed rod (6) and a spherical limiting block (7), the outer surface of the limiting block (7) and the fixed rod (6) are integrally arranged, and one end, far away from the limiting block (7), of the fixed rod (6) is fixed with the phalanx (4).

4. The robot finger joint according to claim 3, characterized in that: the limiting block (7) is made of titanium-nickel alloy, a plurality of sliding grooves (71) are formed in the surface of the limiting block (7) along the diameter direction of the limiting block, the circumference of each sliding groove (71) is one third of the maximum circumference of the surface of the limiting block (7), and the sliding grooves (71) are symmetrical with respect to the diameter of the limiting block (7).

5. The robot finger joint according to claim 2, characterized in that: the insertion hole (5) is flush with the palm joint of the robot palm (1) and the end part of the phalanx (4), and one side, far away from the insertion hole (5), of the joint sleeve (2) is provided with a line hole (21) for wiring.

6. The robot finger joint according to claim 3, characterized in that: the fixing rod (6) is a hollow cylinder, and the limiting block (7) penetrates through a through hole (72) matched with the fixing rod (6).