Robot joint

Abstract

The utility model provides a robot joint, which relates to the technical field of robot joints and comprises a palm mechanism, the palm mechanism comprises a shell, an adjuster is arranged at one end of the shell, a butt joint ring is arranged at one end of the adjuster, a thumb knot is arranged on one side of the shell, a butt joint device is arranged on the thumb knot, and the butt joint ring is connected with the butt joint device. And butt joint devices are arranged in the butt joint ring and the butt joint devices. According to the utility model, the arm elbow of the robot is in butt joint with the shell, so that the control equipment of the shell is started to control and manage the regulator and the thumb knot, and when a worker only needs to adjust the robot, the finger mechanism can be controlled and adjusted through the butt joint ring of the regulator and the butt joint device of the thumb knot; in this way, the finger mechanism can be controlled and adjusted through a limiting stopper, an adjusting ring and a transfer device in the finger mechanism, so that joints of the robot are more humanoid, and the practicability of the robot in the actual using process is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robot joints, in particular to a robot joint. Background Art

[0002] Robot joints refer to structures that connect two or more parts of a robot's body, allowing the robot to move and deform at these joints. Joints are usually composed of shafts and connectors that connect two parts. By controlling the movement of the joints, various movements and postures of the robot can be achieved. Common robot joints include hand joints, revolute joints, ball joints, sliding joints, etc.

[0003] However, in the prior art, existing robot joints are usually connected by various connectors and transmission devices. These connectors and transmission devices can enable the robot hand joints to achieve movements such as rotation, bending and extension. However, this connection method may cause some connectors and transmission devices to be loose or worn, resulting in reduced accuracy and stability of the robot hand joints, so the practicality of such robot hand joints in actual use is reduced. Therefore, we provide a robot joint. Utility Model Content

[0004] The purpose of the utility model is to solve the shortcomings in the prior art and provide a robot joint.

[0005] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a robot joint, comprising: a palm mechanism, the palm mechanism comprising a shell, an adjuster is arranged at one end of the shell, a docking ring is arranged at one end of the adjuster, a thumb knot is arranged on one side of the shell, a docking device is arranged on the thumb knot, a docking device is arranged in both the docking ring and the docking device, a finger mechanism is arranged in both the docking device and the docking ring, the finger mechanism comprises a limiter, an adjustment ring is arranged at one end of the limiter, a connecting ring is arranged on the outer surface of the adjustment ring, a finger joint device is arranged at one end of the connecting ring, a transfer device is arranged at one end of the finger joint device away from the connecting ring, and a finger is arranged at one end of the transfer device.

[0006] As a preferred embodiment, a connecting mechanism is provided at one end of the shell away from the regulator, and the connecting mechanism includes a docking plate, a docking sleeve is provided at one end of the docking plate, an adjustment ring is provided in the docking sleeve, a sleeve is provided on one side of the adjustment ring, and a connector is provided in the sleeve.

[0007] As a preferred embodiment, the two ends of the docking plate are respectively docked on the outer shell and the docking sleeve, the outer surface of the adjustment ring is nested in the inner surface of the docking sleeve, the adjustment ring is docked in the sleeve, and one end of the connector is docked at the end of the sleeve away from the adjustment ring.

[0008] As a preferred embodiment, both ends of the adjuster are limited in the housing for rotational adjustment, one side of the docking ring is docked with one side of the adjuster, and the thumb knot is docked with one side of the housing.

[0009] As a preferred implementation, one end of the docking device is docked on the thumb knot, and the limiter is docked on the connecting ring.

[0010] As a preferred embodiment, two ends of the knuckle device are respectively docked on the connecting ring and the transfer device, and one end of the finger is docked on an end of the transfer device away from the knuckle device.

[0011] Compared with the prior art, the advantages and positive effects of the utility model are:

[0012] The utility model docks the robot's elbow on the shell, thereby starting the control device of the shell to control and manage the adjuster and the thumb knot. When the staff only needs to adjust it, the finger mechanism can be controlled and adjusted through the docking ring of the adjuster and the docking device of the thumb knot. In this way, the finger mechanism can be controlled and adjusted through the limiter, adjustment ring and transfer device in the finger mechanism, which can make the robot's joints more humanoid, thereby improving its practicality in actual use. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 The present invention is a schematic structural diagram of a robot joint provided by the utility model.

[0014] Figure 2 This is a schematic diagram of the palm mechanism structure of a robot joint provided by the utility model.

[0015] Figure 3 The present invention is a schematic diagram of the structure of a finger mechanism of a robot joint provided by the present invention.

[0016] Figure 4 The present invention provides a schematic diagram of the structure of a connecting mechanism of a robot joint.

[0017] Legend:

[0018] 1. Palm mechanism; 11. Housing; 12. Regulator; 13. Docking ring; 14. Thumb knot; 15. Docking device;

[0019] 2. Finger mechanism; 21. Stopper; 22. Adjustment ring; 23. Connecting ring; 24. Knuckle device; 25. Transfer device; 26. Finger;

[0020] 3. Connecting mechanism; 31. Sleeve; 32. Adjusting ring; 33. Docking sleeve; 34. Docking plate; 35. Connector. DETAILED DESCRIPTION

[0021] In order to more clearly illustrate the overall concept of the present invention, a detailed description is given below in combination with the accompanying drawings by way of examples.

[0022] It should be noted that many specific details are set forth in the following description to facilitate a full understanding of the present invention. However, the present invention can also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0023] In addition, in the description of the present invention, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and 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 therefore should not be understood as a limitation on the present invention.

[0024] In the present utility model, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. However, if it is indicated as a direct connection, it means that the two connected bodies are not connected through an intermediate structure, but are connected to form a whole only through a connecting structure. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood according to the specific circumstances.

[0025] In the present utility model, unless otherwise clearly specified and limited, the first feature "above" or "below" the second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in an appropriate manner in any one or more embodiments or examples.

[0026] Example 1

[0027] like Figure 1-3 As shown, the utility model provides a technical solution: a robot joint, comprising: a palm mechanism 1, the palm mechanism 1 comprises a shell 11, one end of the shell 11 is provided with an adjuster 12, one end of the adjuster 12 is provided with a docking ring 13, one side of the shell 11 is provided with a thumb knot 14, a docking device 15 is provided on the thumb knot 14, the docking ring 13 and the docking device 15 are both provided with docking devices 15, the docking device 15 and the docking ring 13 are both provided with finger mechanisms 2, the finger mechanism 2 comprises a limiter 21, one end of the limiter 21 is provided with an adjusting ring 22, and the outer surface of the adjusting ring 22 is provided with a connecting ring 23 A finger joint device 24 is provided at one end of the connecting ring 23, a transfer device 25 is provided at the end of the finger joint device 24 away from the connecting ring 23, a finger 26 is provided at one end of the transfer device 25, both ends of the adjuster 12 are limited in the shell 11 for rotation adjustment, one side of the docking ring 13 is docked at one side of the adjuster 12, the thumb knot 14 is docked at one side of the shell 11, one end of the docking device 15 is docked on the thumb knot 14, the limiter 21 is docked on the connecting ring 23, both ends of the finger joint device 24 are docked on the connecting ring 23 and the transfer device 25 respectively, and one end of the finger 26 is docked at the end of the transfer device 25 away from the finger joint device 24.

[0028] In this embodiment, when the staff uses the joints of the robot to work, the staff can dock the elbow of the robot on the shell 11, thereby starting the control device of the shell 11 to control and manage the adjuster 12 and the thumb knot 14. When the staff only needs to adjust it, the finger mechanism 2 can be controlled and adjusted through the docking ring 13 of the adjuster 12 and the docking device 15 of the thumb knot 14. In this way, the finger mechanism 2 can be controlled and adjusted through the limiter 21, the adjustment ring 22 and the transferor 25 in the finger mechanism 2. This can make the joints of the robot more humanoid, thereby improving its practicality in actual use.

[0029] Example 2

[0030] like Figure 1-4 As shown, a connecting mechanism 3 is provided at one end of the housing 11 away from the regulator 12, and the connecting mechanism 3 includes a docking plate 34, a docking sleeve 33 is provided at one end of the docking plate 34, an adjusting ring 32 is provided in the docking sleeve 33, a sleeve 31 is provided on one side of the adjusting ring 32, a connector 35 is provided in the sleeve 31, two ends of the docking plate 34 are docked on the housing 11 and the docking sleeve 33 respectively, the outer surface of the adjusting ring 32 is nested in the inner surface of the docking sleeve 33, the adjusting ring 32 is docked in the sleeve 31, and one end of the connector 35 is docked at the end of the sleeve 31 away from the adjusting ring 32.

[0031] In this embodiment, in order to facilitate the staff to dock the palm mechanism 1, a connecting mechanism 3 is provided at the end of the shell 11 away from the finger mechanism 2. The staff only needs to dock the robot's elbow and sleeve 31 through the connector 35, which further improves its practicality in actual use.

[0032] Working principle:

[0033] like Figure 1-4 As shown, when the staff uses the joints of the robot to work, they can dock the robot's elbow on the housing 11. This action activates the control device on the housing 11, allowing the staff to control and manage the adjuster 12 and the thumb knot 14. When the staff needs to adjust the robot, they can use the docking ring 13 on the adjuster 12 and the docking device 15 on the thumb knot 14 to control the adjustment of the finger mechanism 2. Through the limiter 21, the adjustment ring 22 and the transfer device 25 in the finger mechanism 2, the staff can accurately control and adjust the finger mechanism 2 to make the joint movement of the robot more human-like.

[0034] In order to facilitate the staff to connect the palm mechanism 1, a connection mechanism 3 is provided at one end of the housing 11 away from the finger mechanism 2. The staff only needs to connect the robot's elbow with the sleeve 31 through the connector 35, which makes the robot more practical in actual operation and further improves the convenience of operation.

[0035] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present invention (including the claims) is limited to these examples. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity.

[0036] The utility model is intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the utility model should be included in the scope of protection of the utility model.

Claims

1. A robot joint, characterized in that: include: A palm mechanism (1), the palm mechanism (1) comprising a housing (11), one end of the housing (11) being provided with an adjuster (12), one end of the adjuster (12) being provided with a docking ring (13), one side of the housing (11) being provided with a thumb knot (14), a docking device (15) being provided on the thumb knot (14), the docking ring (13) and the docking device (15) being provided with a docking device (15), the docking device (15) and the docking ring ( 13) are provided with a finger mechanism (2), the finger mechanism (2) comprises a limiter (21), one end of the limiter (21) is provided with an adjustment ring (22), the outer surface of the adjustment ring (22) is provided with a connecting ring (23), one end of the connecting ring (23) is provided with a finger joint device (24), the end of the finger joint device (24) away from the connecting ring (23) is provided with a transfer device (25), and one end of the transfer device (25) is provided with a finger (26).

2. A robot joint according to claim 1, characterized in that: A connecting mechanism (3) is provided at one end of the housing (11) away from the regulator (12), the connecting mechanism (3) comprising a docking plate (34), a docking sleeve (33) is provided at one end of the docking plate (34), an adjusting ring (32) is provided in the docking sleeve (33), a sleeve (31) is provided on one side of the adjusting ring (32), and a connector (35) is provided in the sleeve (31).

3. A robot joint according to claim 2, characterized in that: The two ends of the docking plate (34) are docked on the outer shell (11) and the docking sleeve (33) respectively, the outer surface of the adjustment ring (32) is nested in the inner surface of the docking sleeve (33), the adjustment ring (32) is docked in the sleeve (31), and one end of the connector (35) is docked at an end of the sleeve (31) away from the adjustment ring (32).

4. A robot joint according to claim 1, characterized in that: Both ends of the adjuster (12) are limited in the housing (11) for rotational adjustment, one side of the docking ring (13) is docked with one side of the adjuster (12), and the thumb knot (14) is docked with one side of the housing (11).

5. A robot joint according to claim 1, characterized in that: One end of the docking device (15) is docked on the thumb knot (14), and the stopper (21) is docked on the connecting ring (23).

6. A robot joint according to claim 1, characterized in that: The two ends of the knuckle device (24) are respectively butted against the connecting ring (23) and the transfer device (25), and one end of the finger (26) is butted against an end of the transfer device (25) away from the knuckle device (24).

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