Exoskeleton robot joint structure

Abstract

The utility model discloses an exoskeleton robot joint structure which comprises a connecting arm and a pneumatic finger, one end of the pneumatic finger is rotatably connected with the inside of one end of the connecting arm through a connecting shaft and a bearing, and one side of the pneumatic finger is rotatably sleeved on the outer side of one end of the connecting arm through an outer support cylinder and a rotary support. One end of the pneumatic finger is rotatably connected with the interior of one end of the connecting arm through a connecting shaft and a bearing, a motor is in transmission connection between the connecting arm and the outer supporting cylinder through a gear set, and a rotary positioning mechanism is further arranged between the rotary support and the connecting arm. And one side of the pneumatic finger is further rotationally arranged on the outer side of one end of the connecting arm in a sleeving mode through an outer supporting cylinder and a rotary support, the structural strength of joint connection formed by the connecting arm and the pneumatic finger is improved, the stability of the rotary connecting structure of the connecting arm and the pneumatic finger is improved, and the transverse grabbing bearing capacity of the arm is high.

Description

Technical Field

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

[0002] Exoskeleton robotics integrates sensing, control, information fusion, and mobile computing to provide a wearable mechanical mechanism for the operator. The structural design of the exoskeleton joints is a crucial component of the overall design. The joints connecting the arm and pneumatic fingers are crucial to the arm's ability to grasp and bear weight.

[0003] In the prior art, application number 202122105221.3 is an exoskeleton robot joint structure that utilizes a cycloidal pinwheel transmission. The joint structure includes a power mechanism and a fixed arm mechanism connected in sequence. The fixed arm, motor and rotating arm are tightly connected and a connecting part is provided between them, which reduces the axial size of the structure, strengthens the stability between the structures and achieves high integration. At the same time, a cycloidal pinwheel mechanism is used for transmission, which has high transmission efficiency and a large transmission ratio range, making the entire joint structure simple and operating smoothly. However, the connection structure connecting the arm and the pneumatic finger to form a joint is generally strong, which makes the arm's lateral grasping and bearing capacity weak. Utility Model Content

[0004] The purpose of the utility model is to provide an exoskeleton robot joint structure to solve the problem in the prior art that the connection structure connecting the arm and the pneumatic fingers to form a joint is generally strong, resulting in a weak lateral grasping load-bearing capacity of the arm.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an exoskeleton robot joint structure, comprising a connecting arm and a pneumatic finger, one end of the pneumatic finger being internally connected to one end of the connecting arm for rotation via a connecting shaft and a bearing, one side of the pneumatic finger being rotatably sleeved on the outside of one end of the connecting arm via an external support tube and a rotating support, an electric motor being connected between the connecting arm and the external support tube via a gear set, and a rotating positioning mechanism being provided between the rotating support and the connecting arm.

[0006] Furthermore, the rotating support adopts an annular seat, and the outer diameter of the rotating support is the same as the outer diameter of the outer support tube.

[0007] Furthermore, the gear set includes a driven ring gear arranged on the inner side of the outer support cylinder, and one end of the motor is transmission-connected to a driving gear meshing with the driven ring gear.

[0008] Furthermore, a limiting sliding groove is provided between the rotating support and the connecting arm, and a plurality of balls are provided in the limiting sliding groove.

[0009] Furthermore, the rotation positioning mechanism includes a first positioning tooth arranged on one side of the rotating support, a cylinder is fixedly provided on the outside of the connecting arm, a second positioning tooth is provided at one end of the cylinder through a positioning pressure plate, and the second positioning tooth is meshed with the first positioning tooth.

[0010] Furthermore, the second positioning tooth and the first positioning tooth are both annular tooth plates, the positioning pressure plate is configured as an annular plate, and the positioning pressure plate is slidably sleeved on the outside of the connecting arm.

[0011] Compared with the prior art, the beneficial effects of the present invention are:

[0012] 1. In the present invention, one end of the pneumatic finger is internally connected to one end of the connecting arm for rotation through a connecting shaft and a bearing, and one side of the pneumatic finger is also rotatably sleeved on the outside of one end of the connecting arm through an outer support tube and a rotating support, thereby improving the structural strength of the joint connection between the connecting arm and the pneumatic finger, and increasing the stability of the rotational connection structure between the connecting arm and the pneumatic finger, so that the arm has a stronger lateral grasping and load-bearing capacity.

[0013] 2. The utility model is also provided with a rotation positioning mechanism between the rotating support and the connecting arm. The rotation positioning mechanism includes a first positioning tooth arranged on one side of the rotating support, a cylinder is fixedly provided on the outside of the connecting arm, and a second positioning tooth is provided at one end of the cylinder through a positioning pressure plate, and the second positioning tooth and the first positioning tooth are meshed and connected, so that the second positioning tooth on one side of the positioning pressure plate is driven by the cylinder to mesh with the first positioning tooth on the outside of the rotating support, thereby being able to lock one side of the rotationally adjusted pneumatic finger, which is beneficial to improving the stability of the pneumatic finger in rotating and grasping objects.

[0014] 3. In the present invention, the second positioning tooth and the first positioning tooth are both annular tooth plates, the positioning pressure plate is set as an annular plate, and the positioning pressure plate sliding sleeve is set on the outside of the connecting arm, so that the pneumatic finger rotated to any angle can be locked, and the locking efficiency is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0016] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0017] Figure 2 This is a main cross-sectional view of the connection structure of the connecting arm and the pneumatic finger of the utility model;

[0018] Figure 3 This is a schematic diagram of the positioning pressure plate structure of the present utility model.

[0019] In the figure: 1. Pneumatic finger; 2. Connecting arm; 3. Outer support cylinder; 4. Positioning pressure plate; 5. Rotating support; 6. Cylinder; 7. Second positioning tooth; 8. First positioning tooth; 9. Bearing; 10. Ball; 11. Limiting slide; 12. Motor; 13. Driving gear; 14. Driven gear ring; 15. Connecting shaft. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0021] See also Figure 1 , Figure 2 , Figure 3 In an embodiment of the present invention, an exoskeleton robot joint structure includes a connecting arm 2 and a pneumatic finger 1. One end of the pneumatic finger 1 is internally connected to the connecting arm 2 through a connecting shaft 15 and a bearing 9. One side of the pneumatic finger 1 is also rotatably sleeved on the outside of one end of the connecting arm 2 through an outer support tube 3 and a rotating support 5. The rotating support 5 adopts an annular seat, and the outer diameter of the rotating support 5 is the same as the outer diameter of the outer support tube 3, which improves the structural strength of the joint connection between the connecting arm 2 and the pneumatic finger 1, increases the stability of the rotating connection structure between the connecting arm 2 and the pneumatic finger 1, and makes the arm have a strong lateral grasping load-bearing capacity. In addition, a limiting slide groove 11 is provided between the rotating support 5 and the connecting arm 2, and a plurality of balls 10 are provided in the limiting slide groove 11, which is convenient for improving the stability of the rotating connection between the rotating support 5 and the connecting arm 2.

[0022] like Figure 2 As shown, in order to rotate and adjust the pneumatic finger 1, an electric motor 12 is connected between the connecting arm 2 and the outer support tube 3 through a gear set. The gear set includes a driven ring gear 14 arranged on the inner side of the outer support tube 3. One end of the motor 12 is connected to a driving gear 13 meshing with the driven ring gear 14, so that the pneumatic finger 1 can be driven to rotate and adjust through the motor 12 and the gear set, and the adjustment is convenient and quick.

[0023] like Figure 1 and Figure 2As shown, in order to improve the stability of the pneumatic finger 1 in rotating and grasping objects, a rotation positioning mechanism is also provided between the rotating support 5 and the connecting arm 2, and the rotation positioning mechanism includes a first positioning tooth 8 arranged on one side of the rotating support 5, and a cylinder 6 is fixedly provided on the outside of the connecting arm 2. A second positioning tooth 7 is provided at one end of the cylinder 6 through the positioning pressure plate 4, and the second positioning tooth 7 and the first positioning tooth 8 are meshed and connected, so that the second positioning tooth 7 on one side of the positioning pressure plate 4 is driven by the cylinder 6 to mesh with the first positioning tooth 8 on the outside of the rotating support 5, thereby being able to lock one side of the rotationally adjusted pneumatic finger 1, which is beneficial to improving the stability of the pneumatic finger 1 in rotating and grasping objects.

[0024] like Figure 2 and Figure 3 As shown, the second positioning tooth 7 and the first positioning tooth 8 are both annular tooth plates, the positioning pressure plate 4 is set as an annular plate, and the positioning pressure plate 4 is slidably sleeved on the outside of the connecting arm 2, so that the pneumatic finger 1 rotated to any angle can be locked, and the locking efficiency is high.

[0025] The working principle and usage process of the present invention are as follows: when in use, since one end of the pneumatic finger 1 is internally connected to one end of the connecting arm 2 through the connecting shaft 15 and the bearing 9, one side of the pneumatic finger 1 is also rotatably sleeved on the outside of one end of the connecting arm 2 through the outer support tube 3 and the rotating support 5, thereby improving the structural strength of the joint connection between the connecting arm 2 and the pneumatic finger 1, and increasing the stability of the rotating connection structure between the connecting arm 2 and the pneumatic finger 1, so that the arm has a stronger horizontal grasping load-bearing capacity, and a rotating positioning mechanism is also provided between the rotating support 5 and the connecting arm 2, which can lock one side of the rotationally adjusted pneumatic finger 1, which is beneficial to improving the stability of the pneumatic finger 1 in rotating grasping objects.

[0026] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein with equivalents. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. An exoskeleton robot joint structure, comprising a connecting arm (2) and a pneumatic finger (1), characterized in that: One end of the pneumatic finger (1) is internally rotatably connected to one end of the connecting arm (2) through a connecting shaft (15) and a bearing (9); one side of the pneumatic finger (1) is also rotatably sleeved on the outside of one end of the connecting arm (2) through an outer support tube (3) and a rotating support (5); an electric motor (12) is connected between the connecting arm (2) and the outer support tube (3) through a gear train; and a rotating positioning mechanism is also provided between the rotating support (5) and the connecting arm (2).

2. The exoskeleton robot joint structure according to claim 1, characterized in that: The rotating support (5) is an annular seat, and the outer diameter of the rotating support (5) is the same as the outer diameter of the outer support cylinder (3).

3. The exoskeleton robot joint structure according to claim 2, characterized in that: The gear set comprises a driven gear ring (14) arranged inside the outer support cylinder (3); one end of the motor (12) is drivingly connected to a driving gear (13) meshing with the driven gear ring (14).

4. The exoskeleton robot joint structure according to claim 1, characterized in that: A limiting sliding groove (11) is provided between the rotating support (5) and the connecting arm (2), and a plurality of balls (10) are provided in the limiting sliding groove (11).

5. The exoskeleton robot joint structure according to claim 1, characterized in that: The rotary positioning mechanism comprises a first positioning tooth (8) arranged on one side of the rotary support (5); a cylinder (6) is fixedly provided on the outside of the connecting arm (2); a second positioning tooth (7) is provided at one end of the cylinder (6) via a positioning pressure plate (4); and the second positioning tooth (7) is meshedly connected with the first positioning tooth (8).

6. The exoskeleton robot joint structure according to claim 5, characterized in that: The second positioning tooth (7) and the first positioning tooth (8) are both annular tooth plates, the positioning pressure plate (4) is configured as an annular plate, and the positioning pressure plate (4) is slidably sleeved on the outside of the connecting arm (2).

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