Robot finger joint

Abstract

The utility model discloses a robot finger joint which comprises a robot finger joint body, hand back wearing sleeves are arranged on the two sides of the robot finger joint body, a thumb joint is arranged on one side of the robot finger joint body, and the thumb joint is hinged to the hand back wearing sleeves through first fixing hinges. A first phalanx sleeve, a second phalanx sleeve and a fingertip sleeve are sequentially arranged at the front end of the robot finger joint body, and the first phalanx sleeve, the second phalanx sleeve and the fingertip sleeve are connected with the hand back wearing sleeve through joint bending driving modules. The positioning retainers are additionally arranged at the positions of the joints, the guiding sliding blocks are arranged in the positioning retainers, the structure can play a role in supporting and positioning the joints, the tracks of the guiding sliding blocks are set along the bending curvature of the fingers, the guiding sliding blocks and the joint bending driving module work at the same frequency, the bending positions are not prone to dislocation, and the bending accuracy is improved. Therefore, the service life of the joint is prolonged.

Description

Technical Field

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

[0002] Robot is the common name for automatic control machines, which include all machines that simulate human behavior or thoughts and simulate other organisms. In a narrow sense, there are many classifications and controversies about the definition of robots. Some computer programs are even called robots. In contemporary industry, robots refer to man-made machine devices that can perform tasks automatically to replace or assist human work. The ideal high-simulation robot is the product of advanced integrated cybernetics, mechatronics, computers and artificial intelligence, materials science and bionics.

[0003] There are still certain deficiencies in the use of robot finger joints in the existing technology. In rehabilitation medicine, finger robots are usually used for rehabilitation training. Since they need to be worn on the hands, the finger bones are processed relatively thin. As a result, when the finger robots are used, during the bending and gripping process, the joints have no supporting structure, resulting in greater joint wear and dislocation of the finger bone sleeves, affecting the training effect. Utility Model Content

[0004] The purpose of the present utility model is to provide a robot finger joint to solve the problem raised in the above background technology that in rehabilitation medicine, finger robots are usually used for rehabilitation training. Since they need to be worn on the hands, the finger bone parts are processed relatively thin, resulting in the finger robot being used. During the bending and gripping process, the position of the joint has no supporting structure, resulting in greater joint wear and dislocation of the finger bone sleeve, which affects the effect of training.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: A robot finger joint, comprising a robot finger joint main body, back-of-hand wearing sleeves are provided on both sides of the robot finger joint main body, a thumb joint is provided on one side of the robot finger joint main body, and the thumb joint and the back-of-hand wearing sleeve are hingedly connected by a first fixed hinge, the front end of the robot finger joint main body is provided with a first phalange sleeve, a second phalange sleeve and a fingertip sleeve in sequence, and the first phalange sleeve, the second phalange sleeve and the fingertip sleeve are all connected to the back-of-hand wearing sleeve through a joint bending drive module, the interior of the first phalange sleeve, the second phalange sleeve and the fingertip sleeve are provided with an insulating wear-resistant pad, the top of the first phalange sleeve is provided with an external positioning retaining frame, the top of the second phalange sleeve is provided with an internal positioning retaining frame, the top surface of the back-of-hand wearing sleeve is provided with a finger joint strengthening support mechanism, the upper and lower positions of the interior of the finger joint strengthening support mechanism are respectively provided with a reset spring and a fixed telescopic plate, one end of the fixed telescopic plate is provided with a rear support rod, and the rear end of the top surface of the first phalange sleeve is provided with a front support rod.

[0006] In a further embodiment, the bottom surfaces of the first phalanx sleeve and the second phalanx sleeve are both provided with elastic straps, and the cross-sections of the first phalanx sleeve and the second phalanx sleeve are both set as U-shaped structures.

[0007] In a further embodiment, the inner positioning retainer and the outer positioning retainer are slidably connected via a guide slider and a guide slot, and the outer shapes of the inner positioning retainer and the outer positioning retainer are both set to a semicircular structure.

[0008] In a further embodiment, the rear support rod is hingedly connected to the front support rod via a second fixed hinge, and the rear support rod is slidingly connected to the finger joint reinforcement support mechanism via a fixed telescopic plate.

[0009] In a further embodiment, a telescopic sleeve is provided inside the reset spring, a telescopic rod is provided inside the telescopic sleeve, the telescopic sleeve is connected to the finger joint reinforcement support mechanism by inlaying, and one end of the telescopic rod is connected to the reset spring by welding.

[0010] In a further embodiment, the bottom surface of the return spring is connected to the fixed telescopic plate by welding, and the rear support rod and the fixed telescopic plate are configured as an integral structure.

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

[0012] 1. In this utility model, a positioning holder is added at the position of the joint, and a guide slider is provided inside the positioning holder. This structure can support and position the joint, and set the trajectory of the guide slider along the curvature of the finger, so that it works at the same frequency as the joint bending drive module, making the bending position less likely to be dislocated, thereby extending the service life of the joint, and the stability of the joint bending, and making it easier to operate. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic structural diagram of a robot finger joint according to the present invention;

[0014] Figure 2 It is a top view of the first phalanx sleeve and the second phalanx sleeve of the utility model;

[0015] Figure 3 This is a schematic diagram of the internal structure of the first phalanx sleeve and the second phalanx sleeve of the present invention;

[0016] Figure 4 This is a schematic diagram of the internal structure of the finger joint reinforcement support mechanism of the present invention.

[0017] In the figure: 1. Robot finger joint body; 2. Finger joint reinforcement support mechanism; 3. First fixed hinge; 4. Thumb joint; 5. Back of hand wearing cover; 6. Rear support rod; 7. Second fixed hinge; 8. Front support rod; 9. Guide slider; 10. Guide slide; 11. External positioning holder; 12. Internal positioning holder; 13. First phalanx cover; 14. Second phalanx cover; 15. Joint bending drive module; 16. Fingertip cover; 17. Return spring; 18. Fixed telescopic plate; 19. Insulating wear-resistant pad; 20. Telescopic cover; 21. Telescopic rod; 22. Elastic strap. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0019] See also Figure 1-4 , the utility model provides an embodiment: a robot finger joint, including a robot finger joint main body 1, two sides of the robot finger joint main body 1 are provided with back-of-hand wearing sleeves 5, one side of the robot finger joint main body 1 is provided with a thumb joint 4, and the thumb joint 4 is hingedly connected to the back-of-hand wearing sleeve 5 through a first fixed hinge 3, the front end of the robot finger joint main body 1 is provided with a first phalangeal sleeve 13, a second phalangeal sleeve 14 and a fingertip sleeve 16 in sequence, and the first phalangeal sleeve 13, the second phalangeal sleeve 14 and the fingertip sleeve 16 are connected to the back-of-hand wearing sleeve 5 through a joint bending drive module 15, the interior of the first phalangeal sleeve 13, the second phalangeal sleeve 14 and the fingertip sleeve 16 are provided with an insulating wear-resistant pad 19, the top of the first phalangeal sleeve 13 is provided with an outer positioning holder 11, the top of the second phalangeal sleeve 14 is provided with an inner positioning holder 12, the top surface of the back-of-hand wearing sleeve 5 is provided with a finger joint strengthening support mechanism 2, the finger joint strengthening support The upper and lower positions inside the mechanism 2 are respectively provided with a return spring 17 and a fixed telescopic plate 18, one end of the fixed telescopic plate 18 is provided with a rear support rod 6, and the rear end of the top surface of the first phalanx sleeve 13 is provided with a front support rod 8; the first fixed hinge 3 is used to adjust the vertical rotation of the thumb joint 4, the first phalanx sleeve 13, the second phalanx sleeve 14 and the fingertip sleeve 16 are used to combine and wear each segment of the finger, the joint bending drive module 15 is used to adjust the joint bending, the insulating wear-resistant pad 19 is used to increase the internal wear resistance of the first phalanx sleeve 13, the second phalanx sleeve 14 and the fingertip sleeve 16, the external positioning holder 11 is combined with the internal positioning holder 12 to support and position the joint position between the first phalanx sleeve 13 and the second phalanx sleeve 14, the back of the hand wearing sleeve 5 is used to wear the robot finger joint body 1, and the return spring 17 is used to reset the extended position of the fixed telescopic plate 18.

[0020] The bottom surfaces of the first phalanx sleeve 13 and the second phalanx sleeve 14 are both provided with elastic straps 22, and the cross-sections of the first phalanx sleeve 13 and the second phalanx sleeve 14 are both set to a U-shaped structure; the elastic straps 22 are used to fasten the first phalanx sleeve 13 and the second phalanx sleeve 14 to the fingers.

[0021] The inner positioning retainer 12 and the outer positioning retainer 11 are slidably connected to each other through the guide slider 9 and the guide slot 10, and the outer shapes of the inner positioning retainer 12 and the outer positioning retainer 11 are both set to semicircular structures, and the guide slider 9 is used to guide and position the moving position between the inner positioning retainer 12 and the outer positioning retainer 11.

[0022] The rear support rod 6 and the front support rod 8 are hingedly connected by a second fixed hinge 7, and the rear support rod 6 and the finger joint reinforcement support mechanism 2 are slidingly connected by a fixed telescopic plate 18. The second fixed hinge 7 can enable the rear support rod 6 and the front support rod 8 to move in coordination.

[0023] A telescopic sleeve 20 is provided inside the return spring 17, and a telescopic rod 21 is provided inside the telescopic sleeve 20. The telescopic sleeve 20 is connected to the finger joint reinforcement support mechanism 2 by inlaying, and one end of the telescopic rod 21 is connected to the return spring 17 by welding. The telescopic rod 21 is used to locate the contracted position of the return spring 17; the bottom surface of the return spring 17 is connected to the fixed telescopic plate 18 by welding, and the rear support rod 6 and the fixed telescopic plate 18 are set as an integral structure, and the welding connection is used to increase the firmness of the installation of the bottom surface of the return spring 17 and the fixed telescopic plate 18.

[0024] Working principle: When in use, the robot finger joint body 1 is worn on the hand through the back of the hand wearing cover 5, the fingers are passed through the elastic strap 22, the first phalanx cover 13 and the second phalanx cover 14 are fixed on the fingers, and then the fingertips are inserted into the fingertip cover 16. The wearing is completed, and the joint bending drive module 15 provides power to make the first phalanx cover 13, the second phalanx cover 14, the fingertip cover 16 and the thumb joint 4 bend and train. At the same time, the joints at the first phalanx cover 13 and the second phalanx cover 14 are supported and positioned by the external positioning holder 11 and the internal positioning holder 12 to make the bending operation more stable. The bending position between the first phalanx cover 13 and the back of the hand wearing cover 5 can be supported and positioned by the cooperation between the rear support rod 6 and the front support rod 8.

[0025] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the present invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be encompassed within the present invention. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. A robot finger joint, comprising a robot finger joint body (1), characterized in that: The robot finger joint body (1) is provided with back-of-hand wearing sleeves (5) on both sides, the robot finger joint body (1) is provided with a thumb joint (4) on one side, and the thumb joint (4) and the back-of-hand wearing sleeve (5) are hingedly connected via a first fixed hinge (3), the front end of the robot finger joint body (1) is provided with a first phalangeal sleeve (13), a second phalangeal sleeve (14) and a fingertip sleeve (16) in sequence, and the first phalangeal sleeve (13), the second phalangeal sleeve (14) and the fingertip sleeve (16) are all connected to the back-of-hand wearing sleeve (5) via a joint bending drive module (15), the first phalangeal sleeve (13), the second phalangeal sleeve (14) and the fingertip sleeve (16) are hingedly connected via a first fixed hinge (3), and the front end of the robot finger joint body (1) is provided with a first phalangeal sleeve (13), a second phalangeal sleeve (14) and a fingertip sleeve (16) in sequence, and the first phalangeal sleeve (13), the second phalangeal sleeve (14) and the fingertip sleeve (16) are all connected to the back-of-hand wearing sleeve (5) via a joint bending drive module (15), and the first phalangeal sleeve (13), the second phalangeal sleeve (14) and the fingertip sleeve (16) are hingedly connected via a first fixed hinge (3), and the thumb joint (4) and the back-of-hand wearing sleeve (5 ... The interior of the second phalanx sleeve (14) and the fingertip sleeve (16) is provided with an insulating wear-resistant pad (19), the top of the first phalanx sleeve (13) is provided with an external positioning holder (11), the top of the second phalanx sleeve (14) is provided with an internal positioning holder (12), the top surface of the back-of-hand sleeve (5) is provided with a finger joint reinforcement support mechanism (2), the upper and lower positions of the interior of the finger joint reinforcement support mechanism (2) are respectively provided with a reset spring (17) and a fixed telescopic plate (18), one end of the fixed telescopic plate (18) is provided with a rear support rod (6), and the rear end of the top surface of the first phalanx sleeve (13) is provided with a front support rod (8).

2. A robot finger joint according to claim 1, characterized in that: The bottom surfaces of the first phalanx sleeve (13) and the second phalanx sleeve (14) are both provided with elastic bands (22), and the cross-sections of the first phalanx sleeve (13) and the second phalanx sleeve (14) are both configured as U-shaped structures.

3. The robot finger joint according to claim 1, characterized in that: The inner positioning retainer (12) and the outer positioning retainer (11) are slidably connected via a guide slider (9) and a guide slot (10), and the outer shapes of the inner positioning retainer (12) and the outer positioning retainer (11) are both semicircular structures.

4. The robot finger joint according to claim 1, characterized in that: The rear support rod (6) and the front support rod (8) are hingedly connected via a second fixed hinge (7), and the rear support rod (6) and the finger joint reinforcement support mechanism (2) are slidingly connected via a fixed telescopic plate (18).

5. The robot finger joint according to claim 1, characterized in that: A telescopic sleeve (20) is provided inside the reset spring (17), a telescopic rod (21) is provided inside the telescopic sleeve (20), the telescopic sleeve (20) is connected to the finger joint reinforcement support mechanism (2) by embedding, and one end of the telescopic rod (21) is connected to the reset spring (17) by welding.

6. The robot finger joint according to claim 1, characterized in that: The bottom surface of the return spring (17) is connected to the fixed telescopic plate (18) by welding, and the rear support rod (6) and the fixed telescopic plate (18) are set as an integrated structure.

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