CN215618180U - High-simulation robot joint assembly - Google Patents

Abstract

The utility model discloses a high simulation robot joint component which can be used as a finger joint of a robot bionic hand, and comprises two joints which are connected together, wherein a two-degree-of-freedom ball shaft is connected between the two joints, the two-degree-of-freedom ball shaft comprises a socket ball, the left side and the right side of the socket ball are respectively and fixedly connected with a fixed shaft, the upper side and the lower side of the socket ball are respectively and fixedly connected with a limiting shaft, the fixed shaft is vertical to the limiting shaft, a limiting ring is sleeved on the socket ball, a limiting hole for the limiting shaft to insert is formed in the radial direction of the limiting ring, ball socket holes are respectively formed in two sides of one joint, the socket ball is clamped between the two ball socket holes and is in rotating fit with the ball socket holes, the fixed shaft on the socket ball penetrates through the ball socket holes to be fixedly connected with the other joint, and the limiting ring is rotatably installed in the joint with the ball socket holes. The joint is bent and swung through the two-degree-of-freedom spherical shaft, and when the finger joint is used as a finger joint, the finger moves flexibly.

Description

High-simulation robot joint assembly

Technical Field

The utility model relates to a high-fidelity robot joint assembly which can be used as a finger joint of a bionic hand of a robot and belongs to the technical field of robots.

Background

The bionic hand is a novel mechanical hand device developed in the mechanical automatic production process, and the bionic hand has the advantages of simple holding and pinching grasping, basic tactile feedback and the like at present, but cannot realize more complex and fine bionic actions.

The bionic hand is a structure simulating a human hand and is provided with a plurality of fingers, each finger is provided with a plurality of joints so as to simulate the holding and pinching grasping actions of the human hand, however, in the bionic hand in the prior art, the joints are hinged through rotating shafts, the joints of the fingers realize rotating bending through the rotating shafts, and the rotating shafts are connected in a mode that only one degree of freedom exists between the joints. Because the root of the finger of a person can not only be bent up and down but also can swing left and right, the root of the finger of the bionic hand in the prior art lacks the degree of freedom for realizing the left and right swinging, and the finger action is not flexible and the fineness is poor, so the finger is not flexible enough when in use.

Disclosure of Invention

The utility model aims to provide a high-fidelity robot joint assembly which can be used as a finger joint of a bionic hand of a robot and can solve the technical problem that the finger movement is not flexible due to the fact that the finger joint of the bionic hand in the prior art is lack of the degree of freedom for realizing left-right swinging.

The utility model adopts the following technical scheme: the utility model provides a high simulation robot joint subassembly, it is including two joints that link together, be connected with two degree of freedom ball axles between two joints, two degree of freedom ball axles include the nest ball, the left and right sides difference fixedly connected with fixed axles of nest ball, the upper and lower both sides difference fixedly connected with restriction axle of nest ball, the fixed axle is perpendicular with the restriction axle, the cover is equipped with the restriction ring on the nest ball, supply restriction axle male restriction hole radially to have seted up of restriction ring, the ball nest hole has been seted up respectively to the both sides of a joint, the nest ball presss from both sides between two ball nest holes and with ball socket hole normal running fit, the fixed axle on the nest ball passes ball nest hole and another joint fixed connection, restriction nest ring rotates to be installed in the joint of seting up the ball hole.

Each joint is composed of a left part and a right part which are butted together.

The inner side surfaces of the left part and the right part of each joint are provided with stay wire guide grooves.

The restraining ring is sandwiched between the left and right portions of the joint having the ball and socket openings.

The axes of the limiting shaft and the fixing shaft pass through the spherical center of the socket ball, and the limiting ring and the socket ball are arranged concentrically.

The nest ball is a steel ball, and the limiting ring is a plastic ring.

The two joints are finger joints.

The utility model has the beneficial effects that: the utility model is provided with a two-freedom-degree ball shaft, a socket ball can rotate in a ball socket hole, and a limiting ring limits the rotation of the socket ball, so that the socket ball can drive a corresponding joint to bend when rotating around a fixed shaft in the ball socket hole axially, the socket ball can drive the corresponding joint to swing towards two sides when rotating around the limiting shaft in the ball socket hole, namely, the joint fixedly connected with the fixed shaft can enable the joint to have two-direction freedom degrees through the two-freedom-degree ball shaft, one freedom degree enables the joint to bend, the other freedom degree enables the joint to rotate, when the joint is used as a finger joint, the root of a finger can be bent and swung, the finger can flexibly move, and the real movement condition of a human hand can be better simulated.

Preferably, when the joint is driven to move by the pull wire, the pull wire guide groove can guide the pull wire, so that the pull wire is prevented from knotting and winding.

Drawings

FIG. 1 is a schematic structural diagram of a high simulation robot joint assembly according to an embodiment of the present invention;

FIG. 2 is a schematic view of the confinement rings of FIG. 1 mounted on a socket ball;

fig. 3 is a schematic diagram of the high simulation robot joint assembly of fig. 1.

In the figure: 1-two-degree-of-freedom spherical shaft, 11-ball socket, 12-fixed shaft, 13-limiting shaft, 2-limiting ring, 3-joint, 31-ball socket hole and 32-stay wire guide groove.

Detailed Description

The utility model is described in detail below with reference to the figures and specific embodiments.

Fig. 1 to 2 show a structure of a high simulation robot joint assembly according to an embodiment of the present invention, the high simulation robot joint assembly according to the embodiment, it is including two joints 3 that link together, be connected with two degree of freedom ball axles 1 between two joints 3, two degree of freedom ball axles 1 include nest ball 11, the left and right sides difference fixedly connected with fixed axle 12 of nest ball 11, the upper and lower both sides difference fixedly connected with restriction axle 13 of nest ball 11, fixed axle 12 is perpendicular with restriction axle 13, the cover is equipped with restriction ring 2 on the nest ball 11, supply restriction axle 2 male restriction hole in the footpath of restriction ring 2 seted up, ball hole 31 has been seted up respectively to the both sides of a joint, nest ball 11 presss from both sides between two ball hole 31 and with ball hole 31 normal running fit, fixed axle 12 on the nest ball 11 passes ball hole 31 and another joint fixed connection, restriction ring 2 rotates to be installed in the joint of seting up ball hole 31.

Each joint 3 is composed of a left part and a right part which are butted together, and the inner side surfaces of the left part and the right part of each joint 3 are provided with a stay wire guide groove 32. The confinement ring 2 is sandwiched between the left and right portions of the joint having the socket hole 31. The axes of the limiting shaft 13 and the fixed shaft 12 both pass through the spherical center of the socket ball, and the limiting ring 3 and the socket ball 11 are arranged concentrically. The nest ball 11 is a steel ball, and the limit ring 3 is a plastic ring.

In this embodiment, the two joints are 3 finger joints, and the fingers can be bent and swung by a two-degree-of-freedom ball shaft. The principle of the two-degree-of-freedom ball shaft is shown in fig. 3, two finger joints of a first section and a second section from left to right in fig. 1 are connected through the two-degree-of-freedom ball shaft 33, the finger joint of the second section has two degrees of freedom to realize rotation in two directions, one degree of freedom enables the joint to be bent, the other degree of freedom enables the joint to swing, so that the root of each finger can swing left and right, the fingers move flexibly, the movement fineness is high, and the real movement condition of the human hand can be better simulated. When the pull wire guide groove is used, the joint can be driven to act through the pull wire, the pull wire can be guided by the pull wire guide groove, and the knotting and winding of the pull wire are prevented.

In other embodiments, the high simulation robot joint assembly of the utility model can also be used on other joints of the robot, such as toe joints, wrist joints and the like.

The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that various changes and modifications may be made without departing from the spirit and scope of the utility model as defined in the appended claims.

Claims (7)

1. The utility model provides a high simulation robot joint subassembly, its includes two joints that link together, its characterized in that: be connected with two degree of freedom ball axles between two joints, two degree of freedom ball axles include the nest ball, the left and right sides difference fixedly connected with fixed axle of nest ball, the upper and lower both sides difference fixedly connected with restriction axle of nest ball, the fixed axle is perpendicular with the restriction axle, the cover is equipped with the restriction ring on the nest ball, the footpath of restriction ring is upwards seted up and is supplied restriction axle male restriction hole, the ball nest hole has been seted up respectively to the both sides of a joint, the nest ball presss from both sides between two ball nest holes and with ball socket hole normal running fit, fixed axle on the nest ball passes ball nest hole and another joint fixed connection, the restriction ring rotates to be installed in the joint of seting up the ball nest hole.

2. The high simulation robot joint assembly of claim 1, wherein: each joint is composed of a left part and a right part which are butted together.

3. The highly simulated robotic joint assembly of claim 2, wherein: the inner side surfaces of the left part and the right part of each joint are provided with stay wire guide grooves.

4. The highly simulated robotic joint assembly of claim 2, wherein: the restraining ring is sandwiched between the left and right portions of the joint having the ball and socket openings.

5. The high simulation robot joint assembly of claim 1, wherein: the axes of the limiting shaft and the fixing shaft pass through the spherical center of the socket ball, and the limiting ring and the socket ball are arranged concentrically.

6. The high simulation robot joint assembly of claim 1, wherein: the nest ball is a steel ball, and the limiting ring is a plastic ring.

7. The high simulation robot joint assembly of claim 1, wherein: the two joints are finger joints.

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