Robot with embedded exoskeleton joints

Abstract

The utility model discloses a robot with embedded exoskeleton joints. The robot comprises a first metal connecting plate and a second metal connecting plate, the left side of the connecting mechanism is fixedly connected with the right side of the first metal connecting plate, the connecting mechanism comprises a fixing plate, a fixing sleeve plate, a circular inserting block and a metal joint control plate, the fixing sleeve plate is movably connected to the surface of the fixing plate, and the circular inserting block is movably connected to an inner cavity of the fixing sleeve plate. The screw, the threaded groove, the metal joint control plate, the bearing plate, the rectangular plate, the inner insertion plate, the inner insertion groove, the circular insertion block, the hexagonal plate and the inner hexagonal groove are matched for use, the screw is screwed to move leftwards to be away from the threaded groove, and then the metal joint control plate is moved rightwards to drive the bearing plate, the rectangular plate and the inner insertion plate to move along with the screw; and an inner inserting plate moves rightwards to move out of an inner inserting groove, meanwhile, a circular inserting block and a hexagonal plate move rightwards to move out of an inner hexagonal groove, and the practicability of the skeleton joint robot is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of skeleton joint robots, in particular to a robot with an embedded exoskeleton joint. Background Art

[0002] The robot skeleton joint is a form of transmission suitable for operation close to the body. It has an elbow joint like a human hand, can achieve multiple degrees of freedom, is relatively flexible in movement, and is suitable for working in narrow spaces. The joint is driven by a motor to achieve automated angle adjustment, fine-tuning worm gears or gear transmissions, and unlimited angle adjustment, and can be either electrically or manually controlled.

[0003] Patent Publication No.: CN105877973B, the present invention discloses a hip joint structure of a wearable exoskeleton robot, including a driving mechanism, a hip joint seat, a front and rear swing block, a left and right swing block, and a thigh support rod fixed at the lower end of the left and right swing blocks, which are connected in sequence. The driving mechanism includes a motor, a screw connected to the rotating shaft of the motor, a slider inserted on the screw and matched with the screw thread, and a connecting rod hinged to the slider; the hip joint seat is hollow, the motor is fixed to the upper end of the hip joint seat, the screw, the slider and the connecting rod are located in the hip joint seat; the two parts of the upper end of the front and rear swing blocks are respectively hinged to the lower end of the hip joint seat and the free end of the connecting rod, and the lower end of the front and rear swing blocks is hinged to the left and right swing blocks; the motor drives the slider to reciprocate on the screw, and the connecting rod is driven by the slider to push the front and rear swing blocks to rotate in the front and rear direction relative to the hip joint seat; the left and right swing blocks can rotate in the left and right direction relative to the front and rear swing blocks. The hip joint structure of the present invention is easy to wear, and the driving method occupies a small volume and is light and reliable.

[0004] However, during the use of the skeletal joint robot in the comparative case, no reinforcement device was set when the skeletal joints were fixed, and it was not convenient to disassemble and install. When a single part was bent or multiple parts were damaged, it could not be replaced in time, which reduced the practicality of the skeletal joint robot. Therefore, a robot with embedded exoskeleton joints was proposed to address the above problems. Utility Model Content

[0005] In order to solve the problems raised in the above-mentioned background technology, the purpose of the utility model is to provide a robot with embedded exoskeleton joints, which has the advantages of reinforced joint connections and easy disassembly and assembly of joint points. It solves the problem that no reinforcement device is set when the bone joints are fixed in the comparative case, and it is also not convenient to disassemble and install, and a single part cannot be replaced in time when multiple parts are damaged.

[0006] To achieve the above object, the utility model provides the following technical solution: a robot with an embedded exoskeleton joint, comprising:

[0007] a first metal connecting plate;

[0008] A connecting mechanism, wherein the left side of the connecting mechanism is fixedly connected to the right side of the first metal connecting plate, the connecting mechanism comprises a fixing plate, a fixing sleeve plate, a circular plug block and a metal joint control plate, the surface of the fixing plate is movably connected to the fixing sleeve plate, the inner cavity of the fixing sleeve plate is movably connected to the circular plug block, the left side of the circular plug block is in contact with the right side of the fixing plate, and the right side of the circular plug block penetrates the right side of the fixing sleeve plate and is fixedly connected to the metal joint control plate;

[0009] A movable mechanism, the left side of the movable mechanism and the right side of the metal joint control plate are fixedly connected, the movable mechanism includes a first joint movable plate, a second joint movable plate and a second metal connecting plate, the right side of the first joint movable plate is movably connected to the second joint movable plate through a rotating shaft, and the right side of the second joint movable plate is fixedly connected to the second metal connecting plate.

[0010] As a preferred embodiment of the present invention, the inner cavity of the fixing plate is provided with an inner hexagonal groove, and a hexagonal plate is fixedly connected to the left side of the circular plug and at a position corresponding to the inner hexagonal groove.

[0011] As a preferred embodiment of the utility model, the top and bottom of the left side of the metal joint control plate are fixedly connected with a receiving plate, the left side of the receiving plate is fixedly connected with a rectangular plate, the left side of the rectangular plate is fixedly connected with an inner plug-in plate, and the left side of the inner plug-in plate passes through the first metal connecting plate.

[0012] As a preferred embodiment of the present invention, inner slots are provided at the top and bottom of the inner cavity of the first metal connecting plate and at positions corresponding to the inner plug-in plates, and the inner slots are used in conjunction with the first metal connecting plate.

[0013] As a preferred embodiment of the present invention, the inner cavity of the rectangular plate is movably connected with a screw, and the left side of the screw penetrates to the left side of the first metal connecting plate.

[0014] As a preferred embodiment of the utility model, the inner cavities of the first metal connecting plate and the rectangular plate and the positions corresponding to the screws are provided with thread grooves, and the thread grooves are used in conjunction with the first metal connecting plate and the rectangular plate.

[0015] Compared with the prior art, the beneficial effects of the utility model are as follows:

[0016] 1. The utility model cooperates with screws, thread grooves, metal joint control plates, receiving plates, rectangular plates, inner plug plates, inner slots, round plug blocks, hexagonal plates and inner hexagonal slots in use. The screws are turned to move the screws to the left away from the thread grooves, and then the metal joint control plates are moved to the right to drive the receiving plates, rectangular plates and inner plug plates to follow the movements. The inner plug plate moves to the right to move out of the inner slots, and at the same time, the round plug blocks and the hexagonal plates move to the right to move out of the inner hexagonal slots, thereby improving the practicality of the skeletal joint robot.

[0017] 2. The utility model can assist the work of the fixing plate by providing the inner hexagonal groove and the hexagonal plate, thereby avoiding slight shaking that may occur when the round insert enters the fixing sleeve. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0019] Figure 2 For this utility model Figure 1 Schematic diagram of the three-dimensional explosion structure of the metal joint control panel;

[0020] Figure 3 For this utility model Figure 1 Schematic diagram of the three-dimensional explosion structure of the first metal connecting plate;

[0021] Figure 4 For this utility model Figure 1 Schematic diagram of the three-dimensional explosion structure of the second metal connecting plate;

[0022] Figure 5 For this utility model Figure 2 Schematic diagram of the three-dimensional structure of the medium rectangular plate.

[0023] In the figure: 1. first metal connecting plate; 2. connecting mechanism; 201. fixing plate; 202. fixing sleeve plate; 203. round plug-in block; 204. metal joint control plate; 3. movable mechanism; 301. first joint movable plate; 302. second joint movable plate; 303. second metal connecting plate; 4. inner hexagonal groove; 5. hexagonal plate; 6. receiving plate; 7. rectangular plate; 8. inner plug-in plate; 9. inner slot; 10. screw; 11. threaded groove. 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] like Figures 1 to 5 As shown, the utility model provides a robot with an embedded exoskeleton joint, comprising:

[0026] A first metal connecting plate 1;

[0027] The connecting mechanism 2, the left side of the connecting mechanism 2 is fixedly connected to the right side of the first metal connecting plate 1, the connecting mechanism 2 comprises a fixing plate 201, a fixing sleeve plate 202, a circular plug block 203 and a metal joint control plate 204, the surface of the fixing plate 201 is movably connected to the fixing sleeve plate 202, the inner cavity of the fixing sleeve plate 202 is movably connected to the circular plug block 203, the left side of the circular plug block 203 is in contact with the right side of the fixing plate 201, and the right side of the circular plug block 203 penetrates the right side of the fixing sleeve plate 202 and is fixedly connected to the metal joint control plate 204;

[0028] The movable mechanism 3, the left side of the movable mechanism 3 and the right side of the metal joint control plate 204 are fixedly connected, the movable mechanism 3 includes a first joint movable plate 301, a second joint movable plate 302 and a second metal connecting plate 303, the right side of the first joint movable plate 301 is movably connected to the second joint movable plate 302 through a rotating shaft, and the right side of the second joint movable plate 302 is fixedly connected to the second metal connecting plate 303.

[0029] refer to Figure 2 The inner cavity of the fixing plate 201 is provided with an inner hexagonal groove 4 , and a hexagonal plate 5 is fixedly connected to the left side of the circular plug block 203 and at a position corresponding to the inner hexagonal groove 4 .

[0030] As a technical optimization solution of the utility model, the setting of the inner hexagonal groove 4 and the hexagonal plate 5 can assist the work of the fixing plate 201 and avoid slight shaking when the circular plug block 203 enters the fixing sleeve plate 202.

[0031] refer to Figure 2 The top and bottom of the left side of the metal joint control plate 204 are fixedly connected with a receiving plate 6, the left side of the receiving plate 6 is fixedly connected with a rectangular plate 7, the left side of the rectangular plate 7 is fixedly connected with an inner plug-in plate 8, and the left side of the inner plug-in plate 8 passes through the first metal connecting plate 1.

[0032] As a technical optimization solution of the utility model, the setting of the receiving plate 6, the rectangular plate 7 and the inner insert plate 8 can assist the metal joint control plate 204 to work, thereby avoiding the metal joint control plate 204 being unable to be fixed.

[0033] refer to Figure 3 Inner slots 9 are provided at the top and bottom of the inner cavity of the first metal connecting plate 1 and at positions corresponding to the inner plug-in plate 8 , and the inner slots 9 are used in conjunction with the first metal connecting plate 1 .

[0034] As a technical optimization solution of the present invention, the setting of the inner slot 9 can assist the first metal connecting plate 1 in working, thereby preventing the inner plug-in plate 8 from being unable to be inserted into the first metal connecting plate 1 .

[0035] refer to Figure 2The inner cavity of the rectangular plate 7 is movably connected with a screw 10 , and the left side of the screw 10 penetrates to the left side of the first metal connecting plate 1 .

[0036] As a technical optimization solution of the utility model, the setting of the screw 10 can assist the rectangular plate 7 to work, thereby avoiding the rectangular plate 7 being unable to be fixed on the right side of the first metal connecting plate 1.

[0037] refer to Figure 3 The inner cavities of the first metal connecting plate 1 and the rectangular plate 7 and the positions corresponding to the screws 10 are provided with thread grooves 11 , and the thread grooves 11 are used in conjunction with the first metal connecting plate 1 and the rectangular plate 7 .

[0038] As a technical optimization solution of the present invention, the provision of the thread groove 11 can assist the first metal connecting plate 1 in working, thereby preventing the screw 10 from being unable to perform the fixing work.

[0039] The working principle and use process of the utility model are as follows: when in use, the user screws the screw 10 to move the screw 10 to the left away from the thread groove 11, and then moves the metal joint control plate 204 to the right to drive the receiving plate 6, the rectangular plate 7 and the inner plug-in plate 8 to move along, and the inner plug-in plate 8 moves to the right to move out of the inner slot 9, while the circular plug-in block 203 and the hexagonal plate 5 move to the right to move out of the inner hexagonal slot 4. When fixing is required, the same principle can be applied vice versa.

[0040] To sum up: the robot with embedded exoskeleton joints, through the coordinated use of the first metal connecting plate 1, the connecting mechanism 2, the fixed plate 201, the fixed sleeve plate 202, the circular plug block 203, the metal joint control plate 204, the movable mechanism 3, the first joint movable plate 301, the second joint movable plate 302, the second metal connecting plate 303, the inner hexagonal groove 4, the hexagonal plate 5, the receiving plate 6, the rectangular plate 7, the inner plug plate 8, the inner slot 9, the screw 10 and the threaded groove 11, solves the problem that no reinforcement device is set when the bone joint is fixed in the comparative case, and it is also inconvenient to disassemble and install, and a single part cannot be replaced in time when a single part is bent or multiple parts are damaged.

[0041] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0042] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot with an embedded exoskeleton joint, characterized in that: include: A first metal connecting plate (1); A connecting mechanism (2), wherein the left side of the connecting mechanism (2) is fixedly connected to the right side of the first metal connecting plate (1), and the connecting mechanism (2) comprises a fixing plate (201), a fixing sleeve plate (202), a circular plug block (203) and a metal joint control plate (204); the surface of the fixing plate (201) is movably connected to the fixing sleeve plate (202), the inner cavity of the fixing sleeve plate (202) is movably connected to the circular plug block (203), the left side of the circular plug block (203) is in contact with the right side of the fixing plate (201), and the right side of the circular plug block (203) penetrates the right side of the fixing sleeve plate (202) and is fixedly connected to the metal joint control plate (204); A movable mechanism (3), the left side of the movable mechanism (3) is fixedly connected to the right side of the metal joint control plate (204), the movable mechanism (3) comprises a first joint movable plate (301), a second joint movable plate (302) and a second metal connecting plate (303), the right side of the first joint movable plate (301) is movably connected to the second joint movable plate (302) via a rotating shaft, and the right side of the second joint movable plate (302) is fixedly connected to the second metal connecting plate (303).

2. The robot with an embedded exoskeleton joint according to claim 1, characterized in that: The inner cavity of the fixing plate (201) is provided with an inner hexagonal groove (4), and a hexagonal plate (5) is fixedly connected to the left side of the circular plug block (203) and at a position corresponding to the inner hexagonal groove (4).

3. The robot with an embedded exoskeleton joint according to claim 1, characterized in that: The top and bottom of the left side of the metal joint control plate (204) are both fixedly connected to a receiving plate (6), the left side of the receiving plate (6) is fixedly connected to a rectangular plate (7), the left side of the rectangular plate (7) is fixedly connected to an inner plug-in plate (8), and the left side of the inner plug-in plate (8) passes through the first metal connecting plate (1).

4. The robot with an embedded exoskeleton joint according to claim 1, characterized in that: Internal slots (9) are provided at the top and bottom of the inner cavity of the first metal connecting plate (1) and at positions corresponding to the inner plug-in plate (8), and the internal slots (9) and the first metal connecting plate (1) are used in conjunction with each other.

5. The robot with an embedded exoskeleton joint according to claim 3, characterized in that: The inner cavity of the rectangular plate (7) is movably connected to a screw (10), and the left side of the screw (10) penetrates to the left side of the first metal connecting plate (1).

6. The robot with an embedded exoskeleton joint according to claim 1, characterized in that: The inner cavities of the first metal connecting plate (1) and the rectangular plate (7) and the positions corresponding to the screws (10) are both provided with thread grooves (11), and the thread grooves (11) are used in conjunction with the first metal connecting plate (1) and the rectangular plate (7).

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