Fabricated simulation robot hand and foot joint structure

Abstract

The utility model relates to the technical field of simulation robots, and discloses an assembly type simulation robot hand and foot joint structure which comprises an upper joint seat, a left rotating shaft is rotatably connected to the interior of the upper joint seat, and a left baffle, a supporting rod, a trigger rod and a telescopic spring rod are rotatably connected to the surface of the left rotating shaft. The mechanical arm is reasonable in structure, the butt joint rod drives the supply structure to move backwards at the same time by pushing the trigger rod backwards, the effect that lubricating oil can be supplied to the hand and foot joints of the robot under the condition that the hand and foot joints of the robot are not detached, and simulation is prevented from being affected by clamping is achieved; due to the fact that the outer portion of the joint is coated with elastic silica gel, the elasticity of the elastic silica gel enables the left baffle to reset, the situation that the simulation performance of the robot is reduced due to the fact that a trigger rod protrudes is avoided, and a first limiting structure is fixed into different threaded holes by fixing a spring and rotating a first bolt; the problem that the steering angle of the hand and foot joints of the simulation robot cannot be adjusted is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of simulation robots, in particular to an assembled simulation robot hand and foot joint structure. Background Art

[0002] Simulated robots are intelligent robots that look and function like humans. They use images to express the relationship between technology and identity, and pursue a high degree of simulation with humans. Not only can the facial features and limbs be highly simulated, but even the movements and shapes of the human body can be indistinguishable from those of real people.

[0003] The simulated robot hand and foot joint structure that can be adjusted at multiple angles disclosed in the Chinese utility model patent application disclosure CN218776627U, although the device is provided with an adjustment ring between the connection between the cross coupling and the mounting sleeve hole, by controlling the layout of a plurality of adjustment protrusions inside the adjustment ring, the rotation range of the cross coupling between the first joint mounting seat and the second joint mounting seat can be controlled, so that the simulated robot hand and foot joints can adjust the rotatable angle range at will, thereby improving the versatility of the simulated robot hand and foot joints, but the existing device does not solve the problem that the robot hand and foot joints become stuck after being used for a period of time, affecting the simulation effect of the robot, and the surface of the robot joints is not convenient for applying lubricating oil to the joints of the hands and feet because the joints are coated with elastic silicone of skin-like material on the outside, and the steering angle of the simulated robot hand and foot joints cannot be adjusted. Therefore, we propose a new device to solve the above problems. Utility Model Content

[0004] 1. Technical issues to be resolved

[0005] In view of the deficiencies in the prior art, the utility model provides an assembled simulation robot hand and foot joint structure, which solves the problem that the robot's hand and foot joints are prone to jamming after use, affecting the robot's simulation effect, and the joint surfaces are not convenient for applying lubricating oil due to the coating of elastic silicone.

[0006] (II) Technical solution

[0007] To achieve the above objectives, the utility model is implemented through the following technical solutions: an assembled simulation robot hand and foot joint structure, comprising an upper joint seat, the upper joint seat is rotatably connected with a left rotating shaft, the surface of the left rotating shaft is rotatably connected with a left baffle, the upper joint seat is slidably connected with a support rod, the surface of the support rod is slidably connected with a trigger rod, the trigger rod is fixedly connected with a telescopic spring rod, the upper joint seat is rotatably connected with a right rotating shaft, the surface of the right rotating shaft is rotatably connected with a right baffle, the upper surface of the upper joint seat is fixedly connected with a slide seat, the slide seat is fixedly connected with a fixing rod, the surface of the fixing rod is sleeved with a fixing spring, the surface of the fixing rod is slidably connected with a docking rod, one side of the docking rod is plugged with an auxiliary spring rod, one end of the auxiliary spring rod is plugged with a supply structure, the upper surface of the upper joint seat is fixedly connected with a shaft seat, the shaft seat is rotatably connected with a supply gear, and the upper surface of the shaft seat is clamped with a lubrication structure.

[0008] Optionally, a trigger shaft is provided inside the left baffle and the right baffle.

[0009] Optionally, the supply structure and the supply gear are adapted to each other.

[0010] Optionally, the number of the supply gears is two, and the two supply gears are respectively located in two holes of the shaft seat.

[0011] Optionally, a hose is plugged into one end of the lubrication structure, and a nozzle is plugged into the other end of the hose.

[0012] Optionally, the upper joint seat is rotatably connected to a driving shaft inside, the driving shaft is rotatably connected to a lower joint seat on a surface, and a protrusion is provided on one side of the lower joint seat.

[0013] Optionally, a bolt penetrates the internal thread of the lower joint seat, and a surface thread of the bolt penetrates a limiting structure.

[0014] Optionally, a cover plate is rotatably connected to the surface of the left shaft, and a docking structure is fixedly connected to the upper surface of the cover plate.

[0015] In summary, the technical effects and advantages of the utility model are:

[0016] 1. The utility model has a reasonable structure. By pushing the trigger rod backward, the docking rod drives the supply structure to move backward at the same time, thereby solving the problem that the joints of the robot's hands and feet are stuck after being used for a period of time, affecting the simulation effect of the robot, and the surface of the robot's joints is not convenient for applying lubricating oil to the joints of its hands and feet because the joints are coated with elastic silicone of skin-like material on the outside. Lubricating oil can be supplied to the joints of the robot's hands and feet without disassembling the joints of the robot's hands and feet to avoid affecting the simulation effect due to stuck, which greatly reduces the damage to the joints of the robot. The auxiliary spring rod can avoid driving the supply gear to rotate in the opposite direction when the supply structure is reset. After the lubricating oil is supplied, the elastic silicone of skin-like material is coated on the outside of the joint, which will reset the left baffle and the right baffle. At the same time, during the resetting process, the left baffle pulls the left rotating shaft to reset the support rod. During the resetting process of the support rod, the telescopic spring rod pushes the trigger rod to reset, thereby avoiding the protrusion of the trigger rod and thus causing the simulation of the robot to decrease.

[0017] 2. In the utility model, the docking rod is reset by fixing the spring, and the first limiting structure is fixed inside different threaded holes by the first rotating bolt, thereby solving the problem that the steering angle at the joints of the hands and feet of the simulation robot cannot be adjusted, and the limiting structure can be installed and fixed in advance according to the situation, so that the steering angle at the joint can be limited and adjusted, which greatly enhances the adjustability of the joint. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the structure of the utility model;

[0019] Figure 2 This is an exploded schematic diagram of the upper joint seat structure of the utility model;

[0020] Figure 3 This is an exploded schematic diagram of the docking rod structure of the utility model;

[0021] Figure 4 This is an exploded schematic diagram of the axle seat structure of the utility model;

[0022] Figure 5 It is an exploded schematic diagram of the lower joint seat structure of the utility model.

[0023] In the figure: 1. upper joint seat; 2. left rotating shaft; 3. left baffle; 4. support rod; 5. trigger rod; 6. telescopic spring rod; 7. right rotating shaft; 8. right baffle; 9. slide seat; 10. fixing rod; 11. fixing spring; 12. docking rod; 13. auxiliary spring rod; 14. supply structure; 15. shaft seat; 16. supply gear; 17. lubrication structure; 18. hose; 19. nozzle; 20. driving shaft; 21. lower joint seat; 22. bolt; 23. limiting structure; 24. cover plate; 25. docking structure. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0025] Example: Reference Figure 1-Figure 5 The illustrated assembled simulation robot hand and foot joint structure comprises an upper joint seat 1, wherein the upper joint seat 1 is internally rotatably connected with a left rotating shaft 2, the surface of the left rotating shaft 2 is rotatably connected with a left baffle 3, the upper joint seat 1 is internally slidably connected with a support rod 4, the surface of the support rod 4 is slidably connected with a trigger rod 5, the interior of the trigger rod 5 is fixedly connected with a telescopic spring rod 6, the upper joint seat 1 is internally rotatably connected with a right rotating shaft 7, the surface of the right rotating shaft 7 is rotatably connected with a right baffle 8, the upper surface of the upper joint seat 1 is fixedly connected with a slide seat 9, the interior of the slide seat 9 is fixedly connected with a fixing rod 10, the surface of the fixing rod 10 is sleeved with a fixing spring 11, the surface of the fixing rod 10 is slidably connected with a docking rod 12, one side of the docking rod 12 is plugged with an auxiliary spring rod 13, one end of the auxiliary spring rod 13 is plugged with a supply structure 14, the upper surface of the upper joint seat 1 is fixedly connected with a shaft seat 15, the interior of the shaft seat 15 is rotatably connected with a supply gear 16, and the upper surface of the shaft seat 15 is clamped with a lubrication structure 17.

[0026] As a preferred implementation in this embodiment, Figure 1-Figure 4As shown, the upper joint seat 1 is internally rotatably connected with a left rotating shaft 2, the surface of the left rotating shaft 2 is rotatably connected with a left baffle 3, the upper joint seat 1 is internally slidably connected with a support rod 4, the surface of the support rod 4 is slidably connected with a trigger rod 5, the interior of the trigger rod 5 is fixedly connected with a telescopic spring rod 6, the upper joint seat 1 is internally rotatably connected with a right rotating shaft 7, the surface of the right rotating shaft 7 is rotatably connected with a right baffle 8, the upper surface of the upper joint seat 1 is fixedly connected with a slide seat 9, the interior of the slide seat 9 is fixedly connected with a fixing rod 10, the surface of the fixing rod 10 is sleeved with a fixing spring 11, the surface of the fixing rod 10 is slidably connected with a docking rod 12, one side of the docking rod 12 is plugged with an auxiliary spring rod 13, one end of the auxiliary spring rod 13 is plugged with a supply structure 14, the upper surface of the upper joint seat 1 is fixed A shaft seat 15 is connected, and a supply gear 16 is connected to the shaft seat 15 for internal rotation. A lubrication structure 17 is clamped on the upper surface of the shaft seat 15. A trigger shaft is provided inside the left baffle 3 and the right baffle 8. The supply structure 14 and the supply gear 16 are adapted to each other. There are two supply gears 16, and the two supply gears 16 are respectively located in the two holes of the shaft seat 15. A hose 18 is plugged into one end of the lubrication structure 17, and a nozzle 19 is plugged into the other end of the hose 18. During use, by pushing the left side of the left baffle 3 and the right baffle 8 to the right, the trigger shaft is rotated to make the left shaft 2 and the right shaft 7 drive the left side of the left baffle 3 and the right baffle 8 to move to the right, and at the same time, the left baffle 3 is separated from the right side of the right baffle 8. It is worth noting that a clamping seat is provided on one side of the left shaft 2. A support rod 4 is inserted inside the card seat, and the left rotating shaft 2 moves to the right, so that the support rod 4 is driven to move to the right at the same time, until the inclined surface of the trigger rod 5 contacts the inclined surface of the docking rod 12, and the trigger rod 5 continues to move along the inclined surface of the docking rod 12, and when it moves to be parallel to the docking rod 12, the trigger rod 5 is extended from the inside of the left baffle 3, and the operator pushes the trigger rod 5 backward to make the docking rod 12 drive the supply structure 14 to move backward at the same time, so that the supply structure 14 touches the first supply gear 16, so that the first supply gear 16 rotates slightly, and the rotation of the first supply gear 16 drives the second supply gear 16 to rotate in the opposite direction, so that the lubrication structure 17 can be squeezed, and the lubricating oil inside the squeezed lubrication structure 17 can be discharged through the hose 18 and the nozzle 19. Lubricating oil is supplied to the joint connection, which solves the problem that the robot's simulation effect is affected by the jamming of the joints of the robot's hands and feet after being used for a period of time, and the problem that it is inconvenient to apply lubricating oil to the joints of the hands and feet because the joints are coated with elastic silicone of skin-like material on the outside. Lubricating oil can be supplied to the joints of the hands and feet of the robot without disassembling the joints of the hands and feet of the robot to avoid the jamming affecting the simulation effect, which greatly reduces the damage to the joints of the robot. The auxiliary spring rod 13 can prevent the supply structure 14 from driving the supply gear 16 to rotate in the opposite direction when resetting. After the lubricating oil is supplied, the elastic silicone of skin-like material coated on the outside of the joint will reset the left baffle 3 and the right baffle 8 due to its elasticity. At the same time, the left baffle 3 pulls the left rotating shaft 2 during the resetting process.The support rod 4 is reset. During the reset process of the support rod 4, the telescopic spring rod 6 pushes the trigger rod 5 to reset, thereby preventing the trigger rod 5 from protruding and causing the simulation of the robot to decrease. The docking rod 12 is reset by fixing the spring 11.

[0027] like Figure 5 As shown, in this embodiment, the upper joint seat 1 is internally rotatably connected with a driving shaft 20, and the surface of the driving shaft 20 is rotatably connected with a lower joint seat 21. A convex block is provided on one side of the lower joint seat 21, and a bolt 22 is penetrated through the internal thread of the lower joint seat 21. The surface thread of the bolt 22 penetrates the limiting structure 23. The surface of the left shaft 2 is rotatably connected with a cover plate 24, and the upper surface of the cover plate 24 is fixedly connected with a docking structure 25. During use, it is worth noting that a plurality of threaded holes are provided on one side of the driving shaft 20. By rotating the first bolt 22, the first limiting structure 23 is fixed in different threaded holes, and by rotating the second bolt 22, the second limiting structure 23 is fixed in different threaded holes. The steering angle at the robot joint can be adjusted to a suitable position according to different situations. After fixing, the convex block provided on one side of the driving shaft 20 will be intercepted by the limiting structure 23 when it rotates, which solves the problem that the steering angle at the joint of the simulated robot's hands and feet cannot be adjusted, and the limiting structure 23 can be installed and fixed in advance according to the situation, so that the steering angle at the joint can be limited and adjusted, which greatly enhances the adjustability of the joint.

[0028] How this utility works:

[0029] During use, the left side of the left baffle plate 3 and the right baffle plate 8 are pushed to the right, so that the trigger shaft rotates to make the left shaft 2 and the right shaft 7 drive the left side of the left baffle plate 3 and the right baffle plate 8 to move to the right, and at the same time, the left baffle plate 3 is separated from the right side of the right baffle plate 8, and the left shaft 2 moves to the right, so that it drives the support rod 4 to move to the right at the same time, until the inclined surface of the trigger rod 5 contacts the inclined surface of the docking rod 12, and the trigger rod 5 continues to move along the inclined surface of the docking rod 12 until it is parallel to the docking rod 12, so that the trigger rod 5 extends out from the inside of the left baffle plate 3, and the operator pushes the trigger rod 5 backward to make the docking rod 12 drive the supply structure 14 to move backward at the same time, so that the supply structure The feeding structure 14 touches the first supply gear 16, causing the first supply gear 16 to rotate slightly. The rotation of the first supply gear 16 drives the second supply gear 16 to rotate in the opposite direction, so as to squeeze the lubricating structure 17. The lubricating oil inside the squeezed lubricating structure 17 can be supplied to the joint connection through the hose 18 and the nozzle 19, thereby solving the problem that the joints of the robot's hands and feet become stuck after being used for a period of time, affecting the simulation effect of the robot, and the surface of the robot's joints is not convenient for applying lubricating oil to the joints of its hands and feet because the joints are coated with elastic silicone of skin-like material, so as to achieve the problem that the robot can be lubricated without disassembling the joints of the robot's hands and feet. In this case, lubricating oil is supplied to the joints of its hands and feet to avoid jamming and affecting the simulation effect, which greatly reduces the damage to the joints of the robot. The auxiliary spring rod 13 can prevent the supply structure 14 from driving the supply gear 16 to rotate in the opposite direction when resetting. After the lubricating oil is supplied, the elastic silicone of skin-like material is coated on the outside of the joint, and its elasticity will cause the left baffle 3 and the right baffle 8 to reset. At the same time, during the resetting process, the left baffle 3 pulls the left rotating shaft 2 to reset the support rod 4. During the resetting process of the support rod 4, the telescopic spring rod 6 pushes the trigger rod 5 to reset, which avoids the protrusion of the trigger rod 5 and causes the simulation of the robot to decrease. The docking rod 11 is fixed to 12 reset, by fixing the first limiting structure 23 in different threaded holes through the first rotating bolt 22, and by fixing the second limiting structure 23 in different threaded holes through the second rotating bolt 22, the steering angle at the robot joint can be adjusted to a suitable position according to different situations. After fixation, the protrusion provided on one side of the driving shaft 20 will be intercepted by the limiting structure 23 when it rotates, which solves the problem that the steering angle at the joints of the simulated robot's hands and feet cannot be adjusted, and achieves the effect that the limiting structure 23 can be installed and fixed in advance according to the situation, and the steering angle at the joint can be limited and adjusted, which greatly enhances the adjustability of the joint.

[0030] The electrical components mentioned in this article are all connected to an external main controller and 220V mains electricity, and the main controller can be a conventional known device for controlling a computer or the like.

[0031] Finally, it should be noted that the above is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present utility model shall be included in the protection scope of the present utility model.

Claims

1. An assembled simulation robot hand and foot joint structure, comprising an upper joint seat (1), characterized in that: The upper joint seat (1) is internally rotatably connected to a left rotating shaft (2), the surface of the left rotating shaft (2) is rotatably connected to a left baffle (3), the upper joint seat (1) is internally slidably connected to a support rod (4), the surface of the support rod (4) is slidably connected to a trigger rod (5), the interior of the trigger rod (5) is fixedly connected to a telescopic spring rod (6), the upper joint seat (1) is internally rotatably connected to a right rotating shaft (7), the surface of the right rotating shaft (7) is rotatably connected to a right baffle (8), the upper surface of the upper joint seat (1) is fixedly connected to a slide seat (9), the slide A fixing rod (10) is fixedly connected inside the seat (9), a fixing spring (11) is sleeved on the surface of the fixing rod (10), a docking rod (12) is slidably connected to the surface of the fixing rod (10), an auxiliary spring rod (13) is inserted on one side of the docking rod (12), a supply structure (14) is inserted on one end of the auxiliary spring rod (13), an axle seat (15) is fixedly connected to the upper surface of the upper joint seat (1), a supply gear (16) is rotatably connected inside the axle seat (15), and a lubrication structure (17) is clamped on the upper surface of the axle seat (15).

2. The assembled simulation robot hand and foot joint structure according to claim 1, characterized in that: A trigger shaft is provided inside the left baffle plate (3) and the right baffle plate (8).

3. The assembled simulation robot hand and foot joint structure according to claim 1 is characterized in that: The supply structure (14) and the supply gear (16) are adapted to each other.

4. The assembled simulation robot hand and foot joint structure according to claim 1, characterized in that: The number of the supply gears (16) is two, and the two supply gears (16) are respectively located in two holes of the shaft seat (15).

5. The assembled simulation robot hand and foot joint structure according to claim 1, characterized in that: A hose (18) is plugged into one end of the lubrication structure (17), and a nozzle (19) is plugged into the other end of the hose (18).

6. The assembled simulation robot hand and foot joint structure according to claim 1, characterized in that: The interior of the upper joint seat (1) is rotatably connected to a driving shaft (20), the surface of the driving shaft (20) is rotatably connected to a lower joint seat (21), and a protrusion is provided on one side of the lower joint seat (21).

7. The assembled simulation robot hand and foot joint structure according to claim 6, characterized in that: A bolt (22) penetrates through the internal thread of the lower joint seat (21), and a surface thread of the bolt (22) penetrates through a limiting structure (23).

8. The assembled simulation robot hand and foot joint structure according to claim 1, characterized in that: The surface of the left rotating shaft (2) is rotatably connected to a cover plate (24), and the upper surface of the cover plate (24) is fixedly connected to a docking structure (25).

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