Under-actuated manipulator with thumb device

Abstract

The invention relates to the technical field of robot bionic actuators, in particular to an under-actuated manipulator with a thumb device, which comprises a hand plate structure and the thumb device. The thumb device comprises a thumb mechanism, a thumb flexion and extension mechanism and a rotating mechanism; the thumb mechanism comprises a thumb connecting seat and a plurality of thumb joints; the thumb bending and stretching mechanism is arranged on the hand plate structure, the thumb bending and stretching mechanism is in transmission connection with the multiple thumb joints and used for driving the multiple thumb joints to be unfolded or bent, and the rotating mechanism is movably connected to the hand plate structure and the thumb mechanism and used for driving the thumb mechanism to rotate relative to the hand plate structure. According to the under-actuated mechanical arm with the thumb device, independent driving of the rotating mechanism and the thumb bending and stretching mechanism is achieved, the complex situation that in traditional design, a single driving source needs to give consideration to thumb bending and stretching and rotating actions is avoided, and the structure of the driving mechanism is effectively simplified.

Description

Technical Field

[0001] This application relates to the field of bionic actuator technology, and more particularly to an underactuated manipulator with a thumb device. Background Technology

[0002] In existing bionic end effectors for robots, especially in the design of multi-DOF dexterous hands, the thumb, as a key grasping component, directly affects the gripping ability and dexterity of the robotic hand due to its degrees of freedom of motion and control method. Traditional robotic hands typically require multiple drive sources to achieve flexion-extension and rotational movements separately, or a single drive source to control both movements simultaneously. While these designs improve the dexterity of the robotic hand, they often result in complex structures and cumbersome drive mechanisms. Summary of the Invention

[0003] In view of this, this application provides an underactuated manipulator with a thumb device to solve the problem of complex thumb drive structure in traditional manipulators.

[0004] The first aspect of this application provides an underactuated manipulator with a thumb device, comprising:

[0005] Hand-made structure; and

[0006] A thumb device includes a thumb mechanism, a thumb flexion and extension mechanism, and a rotation mechanism. The thumb mechanism includes a thumb connector and multiple thumb joints, which are movably connected, and the thumb joints located at the ends are connected to the thumb connector.

[0007] The thumb flexion and extension mechanism is disposed on the hand plate structure, and the thumb flexion and extension mechanism is respectively driven to multiple thumb joints. The thumb flexion and extension mechanism is used to drive the multiple thumb joints to unfold or bend. The rotation mechanism is respectively movably connected to the hand plate structure and the thumb mechanism, and the rotation mechanism is used to drive the thumb mechanism to rotate relative to the hand plate structure.

[0008] In one possible implementation, a plurality of the thumb joints are rotatably connected by thumb joints, and the thumb flexion-extension mechanism includes a thumb drive rope and a thumb flexion-extension assembly, the thumb flexion-extension assembly being disposed on the hand plate structure and being tractively connected to the thumb drive rope, one end of the thumb drive rope being connected to at least one of the thumb joints of the thumb mechanism away from the hand plate structure.

[0009] In a possible implementation, the thumb flexion and extension assembly includes a thumb flexion and extension motor, a thumb flexion and extension sleeve, and a thumb flexion and extension guide wheel, the thumb flexion and extension motor is connected to the hand plate structure, the thumb flexion and extension sleeve is threadedly connected to the thumb flexion and extension motor, and the thumb flexion and extension motor is configured to drive the thumb flexion and extension sleeve to move relative to the hand plate structure, and the thumb flexion and extension guide wheel is rotatably connected to the hand plate structure, and the thumb driving rope is at least partially wound around the thumb flexion and extension guide wheel.

[0010] In a possible implementation, the plurality of thumb joints are rotatably connected through thumb joint bearings, and the thumb mechanism further includes a thumb pulley coaxially arranged with the thumb joint bearings, and the thumb driving rope is at least partially abuts the outer wall of the thumb pulley.

[0011] In a possible implementation, the number of the thumb pulleys is two, and the two thumb pulleys are coaxially arranged, and the opposite ends of the thumb driving rope are wound around the two thumb pulleys, respectively.

[0012] Or, the thumb pulley is provided with a first thumb sliding groove and a second thumb sliding groove, the opposite ends of the thumb driving rope are connected to the thumb joints, and the thumb driving rope is wound around the first thumb sliding groove and the second thumb sliding groove, respectively.

[0013] In a possible implementation, the thumb flexion and extension mechanism further includes a thumb flexion and extension sleeve, the thumb flexion and extension sleeve is connected to the hand plate structure, and the thumb driving rope is movably arranged in the thumb flexion and extension sleeve.

[0014] In a possible implementation, the rotation mechanism includes a rotation seat and a rotation assembly, one end of the thumb mechanism is connected to the rotation seat, the rotation seat is rotatably connected to the hand plate structure, the rotation assembly is arranged on the hand plate structure, and the rotation assembly is configured to drive the rotation seat to rotate relative to the hand plate structure.

[0015] In a possible implementation, the rotation assembly includes a rotation motor, a rotation sleeve, and a thumb driving link, the rotation motor is arranged on the hand plate structure, the rotation motor is connected to the hand plate structure, the rotation sleeve is threadedly connected to the rotation motor, and the rotation motor is configured to drive the rotation sleeve to move relative to the hand plate structure, and the thumb driving link is rotatably connected to the rotation seat and the rotation sleeve, respectively.

[0016] In a possible implementation, the underactuated robot with a thumb device further includes a finger segment sensor, the finger segment sensor is arranged on the thumb mechanism, and the finger segment sensor is configured to acquire a pressure signal between the thumb mechanism and an external object.

[0017] In a possible implementation manner, the underactuated manipulator with the thumb device further comprises a plurality of finger devices, and the plurality of finger devices are movably connected to the hand plate structure respectively.

[0018] By implementing the embodiment of the present application, the following beneficial effects are achieved:

[0019] In the underactuated manipulator with the thumb device, the rotation mechanism and the thumb flexion and extension mechanism are independently driven, avoiding the complex situation that a single driving source needs to consider the thumb flexion and extension and rotation in the traditional design, and effectively simplifying the structure of the driving mechanism.

[0020] Through the independent driving of the rotation mechanism on the thumb mechanism, the thumb can be flexibly rotated relative to the hand plate structure; at the same time, the thumb flexion and extension mechanism is drivingly connected to a plurality of thumb joints, and the expansion and bending of each joint of the thumb can be accurately controlled, thereby realizing effective release and stable grasping of the object. The design not only reduces the structural complexity of the manipulator and improves the reliability of the mechanism, but also fully utilizes the freedom degree of the thumb, thereby improving the grasping flexibility and adaptability of the manipulator as a whole. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description can also be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0022] Figure 1 A perspective view of the underactuated manipulator with the thumb device in the embodiment of the present application is shown;

[0023] Figure 2 A structural schematic view of the thumb device in the embodiment of the present application is shown;

[0024] Figure 3 A schematic view of the internal structure of the thumb mechanism in the embodiment of the present application is shown;

[0025] Figure 4 A motion schematic view of the thumb device in the embodiment of the present application is shown;

[0026] Figure 5 A partial structural schematic view of the underactuated manipulator with the thumb device in the embodiment of the present application is shown;

[0027] Figure 6 A perspective view of the hand plate structure in the embodiment of the present application is shown.

[0028] Reference signs:

[0029] 10. Underactuated manipulator with thumb device;

[0030] 100. Hand plate structure; 110. Thumb mounting hole; 121. First thumb motor hole; 122. Second thumb motor hole; 130. Thumb flexion and extension anchor block; 131. Thumb flexion and extension guide hole; 140. Thumb flexion and extension drive seat;

[0031] 200. Thumb device; 210. Thumb mechanism; 211. Thumb connecting seat; 212. Thumb joint; 2121. Thumb joint bearing; 213. Thumb pulley; 2131. First thumb sliding groove; 2132. Second thumb sliding groove; 220. Thumb flexion and extension mechanism; 221. Thumb drive rope; 222. Thumb flexion and extension assembly; 2221. Thumb flexion and extension motor; 2222. Thumb flexion and extension sleeve; 22221. Thumb flexion and extension adapter seat; 2223. Thumb flexion and extension guide wheel; 223. Thumb flexion and extension sleeve pipe; 230. Rotation mechanism; 231. Rotation seat; 232. Rotation assembly; 2321. Rotation motor; 2322. Rotation sleeve; 23221. Rotation hinge; 2323. Thumb drive connecting rod;

[0032] 300. Finger segment sensor;

[0033] 400. Finger device. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0035] In the design of existing robot bionic end effector, especially multi-degree-of-freedom dexterous hand, the thumb as a key gripping component, its movement degree of freedom and control mode directly affect the grasping ability and flexibility of the manipulator. The thumb in the traditional manipulator usually needs multiple driving sources to realize flexion and rotation actions respectively, or adopts a single driving source to control the two movement modes at the same time. These designs, while improving the flexibility of the manipulator, often lead to complex structure and cumbersome driving mechanism.

[0036] Based on this, referring to Figures 1 to 6As shown, the embodiment of the present application provides an underactuated robot hand 10 with a thumb device, which comprises a hand plate structure 100 and a thumb device 200; the thumb device 200 comprises a thumb mechanism 210, a thumb flexion mechanism 220 and a rotation mechanism 230; the thumb mechanism 210 comprises a thumb connecting seat 211 and a plurality of thumb joints 212, the plurality of thumb joints 212 are movably connected, and the thumb joint 212 at the end is connected to the thumb connecting seat 211; the thumb flexion mechanism 220 is arranged on the hand plate structure 100, and the thumb flexion mechanism 220 is respectively drivingly connected to the plurality of thumb joints 212, the thumb flexion mechanism 220 is used to drive the plurality of thumb joints 212 to spread or bend, and the rotation mechanism 230 is movably connected to the hand plate structure 100 and the thumb mechanism 210 respectively, and the rotation mechanism 230 is used to drive the thumb mechanism 210 to rotate relative to the hand plate structure 100.

[0037] In the underactuated robot hand 10 with the thumb device in the embodiment, the rotation mechanism 230 and the thumb flexion mechanism 220 realize independent driving of both, avoiding the complex situation that a single driving source needs to consider thumb flexion and rotation in the traditional design, and effectively simplifying the structure of the driving mechanism.

[0038] Through the separate driving of the rotation mechanism 230 to the thumb mechanism 210, the thumb can realize flexible rotation relative to the hand plate structure 100; at the same time, the thumb flexion mechanism 220 is respectively drivingly connected to the plurality of thumb joints 212, which can accurately control the spreading and bending of each joint of the thumb, and then realize effective release and stable grasping of the object. The design not only reduces the structural complexity of the robot hand, improves the reliability of the mechanism, but also makes the freedom of motion of the thumb fully play, thereby improving the grasping flexibility and adaptability of the whole robot hand.

[0039] In an embodiment, the plurality of thumb joints 212 form a multi-joint thumb structure through rotary connection, specifically comprising a first thumb joint, a second thumb joint and a third thumb joint, wherein the third thumb joint is connected with the thumb connecting seat 211, constituting a basic support component of the thumb mechanism 210. The thumb flexion mechanism 220 comprises a thumb driving rope 221 and a thumb flexion assembly 222, the thumb flexion assembly 222 is arranged on the hand plate structure 100, and drives the movement of the thumb driving rope 221 through driving connection.

[0040] One end of the thumb driving rope 221 is connected to the first thumb joint far from the hand plate structure 100, and the other end is also connected to the other side of the first thumb joint. The thumb driving rope 221 is arranged around the second thumb joint and the third thumb joint, and the two connection points are located on the opposite sides of the rotation axis of the thumb joint 212. This design makes the first thumb joint drive the thumb driving rope 221 to be tight or loose when the thumb flexion and extension assembly 222 drives the thumb driving rope 221 to move in the forward or reverse direction, and then realizes the synchronous driving of multiple thumb joints 212 through the path of the thumb driving rope 221 around the second thumb joint and the third thumb joint.

[0041] Specifically, referring to the arrangement position shown in the figure, Figure 4 When the thumb driving rope 221 on the current side (i.e. the direction of the thumb mechanism 210 towards the object to be gripped, i.e. the right side in the figure) is driven to move in the X direction, the first thumb joint is forced to produce flexion movement in the Y direction, and the second thumb joint and the third thumb joint around which the thumb driving rope 221 passes also produce corresponding flexion and extension movements, thereby realizing the closing and gripping action of the thumb. Conversely, when the thumb driving rope 221 moves in the reverse direction of the X direction (i.e. the thumb driving rope 221 on the back side moves in the reverse direction of the X direction), each thumb joint 212 returns to the extended state, realizing the release of the gripped object. This structure uses the arrangement path of the thumb driving rope 221 to effectively transmit a single driving force to multiple joints, achieving multi-degree-of-freedom flexion and extension movement control, avoiding the complexity of setting a driving source for each joint, and simplifying the mechanical structure and control system.

[0042] It should be noted that the two connection points of the thumb driving rope 221 are located on the opposite sides of the rotation axis of the thumb joint 212, which helps to ensure the stability of the driving rope during joint rotation and avoid the driving rope from falling off or slipping unexpectedly. This design improves the reliability and durability of the transmission, which is suitable for long-term repeated motion of the mechanical hand.

[0043] The number of thumb joints 212 can be specifically set to three, but can also be adjusted to two or four or more according to actual application requirements. The arrangement of multiple joints helps to improve the flexibility and gripping accuracy of the thumb, but at the same time increases the control complexity and driving burden. In the design of three joints, the first thumb joint, the second thumb joint and the third thumb joint are connected in turn to form a reasonable mechanical structure, so that the thumb can complete more natural and flexible flexion and extension movements to adapt to the grasping requirements of objects of different shapes and sizes.

[0044] Specifically, the thumb flexion and extension assembly 222 specifically includes a thumb flexion and extension motor 2221, a thumb flexion and extension sleeve 2222, and a thumb flexion and extension guide wheel 2223. The overall structure design is compact and clear in function, which is suitable for application on the hand plate structure 100 of the mechanical hand with limited space, and improves the integration and transmission efficiency of the structure.

[0045] The thumb flexion motor 2221 is fixedly connected to the hand plate structure 100, and the output end is provided with a threaded part which is arranged in the thumb flexion sleeve 2222 and is engaged with the internal thread of the thumb flexion sleeve 2222 to achieve transmission connection. When the thumb flexion motor 2221 is started, the threaded part rotates with the motor shaft, driving the thumb flexion sleeve 2222 to move linearly along the threaded direction. The linear motion drives the thumb driving rope 221 through the connection of one end of the thumb driving rope 221, and the thumb driving rope 221 is tensioned or relaxed, thereby controlling the multiple thumb joints 212 of the thumb mechanism 210 to perform flexion and extension actions, completing the gripping or releasing function.

[0046] The thumb driving rope 221 is at least partially arranged on the thumb flexion guide wheel 2223 which is rotatably connected to the hand plate structure 100 and can freely rotate relative to the hand plate structure 100. The guide wheel 2223 is preferably provided with a guide groove for accommodating the thumb driving rope 221, ensuring that the thumb driving rope 221 maintains a stable path during arrangement, avoiding deviation or falling of the thumb driving rope 221, and improving the stability and durability of transmission. The design of the guide groove can also reduce the friction loss between the thumb driving rope 221 and the thumb flexion guide wheel 2223, prolonging the service life of the thumb device 200.

[0047] The two ends of the thumb driving rope 221 are respectively connected to the first thumb joint, and the two ends are symmetrically arranged on the opposite sides of the rotation axis of the thumb joint 212. When the thumb flexion sleeve 2222 moves linearly, the tension of the driving rope 221 changes, thereby driving the first thumb joint to produce flexion and extension movement, and then driving the second thumb joint and the third thumb joint to produce corresponding actions through the arrangement path of the driving rope 221, realizing the overall flexion and extension of the thumb.

[0048] The advantages of this structure are: the linear transmission mode driven by the thread can accurately control the displacement of the thumb driving rope 221, realize fine control of the thumb joint 212, and the gripping action is more accurate; the transmission connection between the thumb flexion sleeve 2222 and the threaded part is compact, saving space, and suitable for the limited installation space of the mechanical hand hand plate structure 100; the rotation of the thumb flexion guide wheel 2223 and the design of the guide groove ensure the stable operation of the thumb driving rope 221, reduce the failure probability, and are conducive to long-term reliable use; the entire thumb driving rope 221 system is driven by a single thumb flexion motor 2221, realizing an underactuated structure, simplifying the driving mechanism of the mechanical hand, and reducing the manufacturing and maintenance costs.

[0049] In an embodiment, the outer part of the thumb flexion and extension sleeve 2222 is provided with a thumb flexion and extension adapter 22221, which is used to connect the thumb driving rope 221, realizing the transmission connection between the thumb flexion and extension sleeve 2222 and the thumb driving rope 221. The thumb flexion and extension adapter 22221 is preferably combined with the thumb flexion and extension sleeve 2222 in a detachable connection manner, such as through threaded connection, buckle structure or pin connection, etc.

[0050] The detachable connection design has many advantages. First, it is convenient for maintenance and replacement of the thumb driving rope 221 or the thumb flexion and extension sleeve 2222. When the thumb driving rope 221 is worn or broken, the thumb flexion and extension adapter 22221 can be quickly disassembled, making it convenient to replace the driving rope and reducing maintenance time and cost. Second, this design is beneficial to the flexibility of assembly and debugging, facilitating the adjustment and optimization of the transmission connection, and improving the overall assembly efficiency and accuracy of the robot hand.

[0051] In specific implementation, the structure of the thumb flexion and extension adapter 22221 can be optimized according to the convenience of disassembly and assembly and the firmness of connection. For example, when using threaded connection, the adapter 22221 can be designed with internal threads on the outside, and the sleeve 2222 can be designed with corresponding external threads to realize screw-in connection. When using buckle or pin structure, a quick locking mechanism can be designed to facilitate users to disassemble and assemble without special tools. The selection of different connection methods can be flexibly determined according to the actual use environment, disassembly and assembly frequency, and mechanical requirements.

[0052] Further, the plurality of thumb joints 212 of the thumb mechanism 210 are rotationally connected through thumb joint bearings 2121, ensuring that the joints can smoothly complete the flexion and extension action. The thumb mechanism 210 is also provided with a thumb pulley 213, which is coaxially arranged with the thumb joint bearing 2121, i.e. the rotation axis of the thumb pulley 213 coincides with the rotation axis of the thumb joint bearing 2121, thereby realizing compact configuration of the mechanism and saving space.

[0053] The thumb driving rope 221 at least partially abuts against the outer wall of the thumb pulley 213, forming a pulley and rope cooperation structure. This structure effectively limits and guides the movement range of the thumb driving rope 221 through the thumb pulley 213, so that the thumb driving rope 221 moves stably along the predetermined trajectory during the thumb flexion and extension process, preventing the thumb driving rope 221 from deviating, disengaging or excessively relaxing due to force changes or mechanical interference.

[0054] The implementation of the limiting and guiding function helps to ensure the transmission stability and action accuracy of the thumb device 200 in continuous and repeated motion, and reduces the risk of mechanical jamming or failure of the thumb driving rope 221 caused by abnormal position. Especially when the thumb joint 212 moves quickly or frequently, the constraint effect of the thumb pulley 213 on the thumb driving rope 221 can effectively reduce wear and mechanical fatigue, and improve the service life and reliability of the system.

[0055] In specific implementation, the outer wall of the thumb pulley 213 can be designed with a guide groove suitable for the thumb driving rope 221, further enhancing the fixing and guiding effect of the driving rope. The width and depth of the guide groove can be matched according to the diameter of the thumb driving rope 221, for example, the width of the guide groove can be 1.1 to 1.5 times the diameter of the driving rope, to ensure that the driving rope has enough space to move during pulley rotation, and is not easy to fall off.

[0056] Specifically, the hand plate structure 100 also includes a thumb flexion and extension anchor block 130 and a thumb flexion and extension driving seat 140, which play a key guiding and driving force transmission role in the motion control of the thumb mechanism 210.

[0057] Specifically, the thumb flexion and extension anchor block 130 is provided with a thumb flexion and extension guide hole 131, and the thumb driving rope 221 is arranged in the guide hole 131. The guide hole 131 accurately guides the thumb driving rope 221, so that the thumb driving rope 221 can smoothly slide along the predetermined path during flexion and extension movement, preventing the thumb driving rope 221 from deviating, winding or detaching due to force changes or movement deviations. The guiding of the thumb driving rope 221 by the thumb flexion and extension anchor block 130 can effectively ensure the stability and reliability of the flexion and extension action of the thumb mechanism 210.

[0058] The material and structure design of the thumb flexion and extension anchor block 130 should have sufficient strength and wear resistance to adapt to the friction and tension generated by the thumb driving rope 221 in high frequency motion, and can be made of metal material or high strength engineering plastic. The size of the guide hole 131 should be reasonably designed according to the diameter of the thumb driving rope 221, for example, the diameter of the guide hole can be 1.1 to 1.5 times the diameter of the thumb driving rope 221, to ensure that the rope can pass smoothly, and not to produce too much shaking space, reducing wear and movement error.

[0059] On the other hand, the thumb flexion and extension guide wheel 2223 is rotatably connected with the thumb driving seat 140, constituting another important component for tensioning and guiding the thumb driving rope 221. The arrangement of the thumb flexion and extension guide wheel 2223 helps to change the transmission direction of the thumb driving rope 221, reduce the friction resistance when the rope contacts with the structure, and improve the transmission efficiency. The rotatable connection of the guide wheel with the thumb driving seat 140 ensures that the guide wheel can rotate flexibly during the thumb flexion and extension movement, reduces the wear and fatigue of the driving rope 221, and prolongs the service life of the overall driving system.

[0060] In an embodiment, the number of thumb pulleys 213 is two, and the two thumb pulleys 213 are coaxially arranged, and the opposite ends of the thumb driving rope 221 are wound around the two thumb pulleys 213 respectively. Specifically, the two thumb pulleys 213 are coaxially arranged to realize the consistency of the central axis, ensure the fixed and close relative position between the pulleys, and facilitate the stable winding of the thumb driving rope 221 and the control of the transmission path.

[0061] By arranging two thumb pulleys 213 to cooperate with the two ends of the thumb driving rope 221 respectively, the two sections of the thumb driving rope 221 can be precisely positioned and tensioned respectively. Such a structure forms a differential rope loop, that is, the two sections of the driving rope are wound around the two pulleys respectively, which can ensure that the thumb driving rope 221 always maintains an appropriate tensioning state when the thumb mechanism 210 performs the unfolding (releasing the object) or bending (grabbing the object) movement. The maintenance of the tensioning state plays an important role in avoiding the relaxation and slipping of the driving rope and prolonging the service life, and helps to make the action of the thumb mechanism 210 responsive and accurate.

[0062] In addition, the two thumb pulleys 213 can rotate around the same central axis as independent rotating components, avoiding the motion interference between each other. This design enables the two pulleys to independently adjust the rotation angle when the length of the thumb driving rope 221 changes due to different actions of the thumb mechanism 210, smoothly adapts to the dynamic changes of the rope, reduces mechanical friction and wear, and improves the stability and reliability of the overall transmission system.

[0063] Specifically, the number of pulleys can also be two, three or more according to the specific mechanical structure and motion requirements, and the arrangement of multiple thumb pulleys 213 helps to further refine the tensioning and guiding of the rope, and improve the durability and stability of the motion of the system.

[0064] In another embodiment, the first thumb sliding groove 2131 and the second thumb sliding groove 2132 are formed on the thumb pulley 213, and the opposite ends of the thumb driving rope 221 are respectively connected to the thumb joint 212 and wound around the first thumb sliding groove 2131 and the second thumb sliding groove 2132. This design effectively realizes the separate guidance of the two ends of the thumb driving rope 221 by providing two independent sliding grooves on the same thumb pulley 213.

[0065] Specifically, the first thumb sliding groove 2131 and the second thumb sliding groove 2132 are arranged so that the opposite ends of the thumb driving rope 221 can be wound around along different trajectories, avoiding mutual interference and entanglement of the two ends of the rope, and ensuring smooth movement of the driving rope. The two ends of the thumb driving rope 221 are respectively connected to the thumb joint 212, so that the flexion and extension movements of the thumb mechanism 210 can be effectively transmitted and controlled through the tensioning and relaxation of the rope.

[0066] In this embodiment, the single thumb pulley 213 cooperates with the two ends of the thumb driving rope 221 through two sliding grooves, which also realizes the tensioning function of the driving rope. Compared with the aforementioned two coaxial pulleys 213 design, this single pulley 213 design is more compact in structure, reduces the assembly complexity and space occupation, and is conducive to the miniaturization and light weight of the overall hand plate structure 100.

[0067] In addition, the size and shape of the first thumb sliding groove 2131 and the second thumb sliding groove 2132 can be reasonably designed according to the diameter and movement trajectory of the thumb driving rope 221, for example, the sliding groove width can be 1.2 to 1.5 times the diameter of the thumb driving rope 221, which ensures that the rope can smoothly enter and stably run, while preventing excessive swinging or falling off of the rope.

[0068] This design realizes the positioning and tensioning of the two ends of the driving rope through a single thumb pulley 213, which can maintain the appropriate tension of the thumb driving rope 221 during the unfolding and bending movements, and ensure the accuracy and response speed of the thumb mechanism 210 movement. Moreover, reducing the number of pulleys helps to reduce mechanical wear points and simplify maintenance work.

[0069] Further, the thumb flexion and extension mechanism 220 further comprises a thumb flexion and extension sleeve 223 connected to the hand plate structure 100, and the thumb driving rope 221 is movably arranged in the thumb flexion and extension sleeve 223. By arranging the thumb flexion and extension sleeve 223 in the flexion and extension driving path of the thumb driving rope 221, the length of the thumb driving rope 221 can be effectively maintained constant, preventing the length of the rope from changing due to unstable path during movement, thereby ensuring accurate power transmission of the thumb mechanism 210 during flexion and extension movements.

[0070] In addition, the arrangement of the thumb flexion and extension sleeve 223 can also limit the swing range of the thumb driving rope 221, avoid accidental curling, winding or friction of the driving rope 221 during movement, reduce the risk of rope wear and breakage, and improve the service life and working reliability of the overall device. Especially in repeated actions or complex spatial environments, the protective effect of the sleeve 223 on the driving rope is more obvious.

[0071] The thumb flexion and extension sleeve 223 is preferably made of rigid materials such as metal alloys, stainless steel or engineering plastics (such as polyformaldehyde, nylon, etc.), which can provide stronger mechanical protection for the thumb driving rope 221 and prevent the driving rope from deforming or being damaged when subjected to external pressure or bending. At the same time, the rigid sleeve 223 can maintain a fixed geometric shape and path during installation, ensuring the stability of the thumb driving rope 221 and the smoothness of the movement.

[0072] In specific implementation, the inner diameter of the thumb flexion and extension sleeve 223 should be reasonably designed according to the outer diameter of the thumb driving rope 221, and the inner diameter can be 1.2 to 1.5 times the diameter of the driving rope to ensure that the rope can move freely without jamming. The length of the sleeve is determined according to the structural size and movement range of the thumb mechanism 210 to ensure that the driving rope 221 is within the protection range of the sleeve during the entire flexion and extension process.

[0073] Specifically, the rotating mechanism 230 includes a rotating seat 231 and a rotating assembly 232, one end of the thumb mechanism 210 is connected to the rotating seat 231 through a thumb connecting seat 211, and the rotating seat 231 is rotationally connected to the hand plate structure 100. The rotating assembly 232 is arranged on the hand plate structure 100 and is used to drive the rotating seat 231 to rotate relative to the hand plate structure 100. Through this structure design, the thumb mechanism 210 can realize rotation around the rotating seat 231, thereby realizing the rotation action of the thumb.

[0074] Among them, the connection between the thumb connecting seat 211 and the rotating seat 231 adopts a detachable connection mode such as clamping, insertion, pin connection, etc., which is convenient for disassembly and maintenance. Specifically, the clamping structure can realize quick assembly and disassembly, which is suitable for occasions that need frequent adjustment or maintenance; the insertion structure is simple in structure and low in manufacturing cost, which is suitable for standardized production; the pin connection provides high connection strength and ensures the stability of the connection. The selection of different connection modes can be optimized according to the actual assembly requirements and use environment.

[0075] The rotating seat 231 is installed on the hand plate structure 100 by a rotating connection mode, so that the rotating seat 231 can rotate relative to the hand plate structure 100 around a predetermined axis. The rotating assembly 232 provides power driving for the rotating seat 231, and the specific driving mode can include motor driving, gear transmission, rope pulling and other mechanical driving modes to adapt to different application requirements and structural layouts.

[0076] In addition, the rotation mechanism 230 and the thumb flexion and extension mechanism 220 are driven separately, avoiding motion interference between them. This separate driving mode allows the rotation and flexion and extension actions of the thumb to be controlled independently, reducing the mutual influence between mechanical structures, simplifying the logical design of the control system and the debugging complexity, and improving the stability and response speed of the operation.

[0077] Through the above design, the rotation mechanism 230 can effectively realize the rotation function of the thumb mechanism 210, and in combination with the flexion and extension action of the thumb flexion and extension mechanism 220, it can jointly complete the multi-degree-of-freedom motion of the thumb, meeting the demand of complex actions in the hand plate structure 100. The detachable connection mode of the thumb connecting seat 211 also provides convenience for subsequent maintenance, adjustment and upgrading.

[0078] In an embodiment, the rotation assembly 232 specifically includes a rotation motor 2321, a rotation sleeve 2322, and a thumb driving link 2323. The rotation motor 2321 is installed on the hand plate structure 100 and fixedly connected to the structure, ensuring stable operation of the motor. The rotation motor 2321 is provided with a threaded portion, and the rotation sleeve 2322 is threadedly connected to the threaded portion through an internal thread, so that the motor can drive the rotation sleeve 2322 to move linearly along the threaded axis direction when the motor is driven.

[0079] Through the driving of the rotation motor 2321, the rotation sleeve 2322 moves in a linear direction, thereby driving the thumb driving link 2323 to swing. The two ends of the thumb driving link 2323 are respectively installed on the rotation hinge part 23221 of the rotation sleeve 2322 and the rotation seat 231 through a rotating connection, realizing motion conversion. Specifically, the linear motion of the rotation sleeve 2322 is converted into the rotary motion of the rotation seat 231 relative to the hand plate structure 100 through the thumb driving link 2323. This structure does not need to use a complex mechanical transmission device, simplifying the driving scheme and reducing the manufacturing and maintenance costs.

[0080] The rotation hinge part 23221 is provided on the rotation sleeve 2322, and the thumb driving link 2323 is rotatably connected to the hinge part 23221 and the rotation seat 231, respectively, and the two rotation axes are arranged in parallel. This parallel rotation axis design not only ensures smooth motion transmission, but also makes the combined structure of the thumb device 200 and the hand plate structure 100 more compact, effectively reducing the overall thickness of the underactuated robot hand 10 with the thumb device, and improving the space utilization and appearance integration of the robot hand.

[0081] Through the above design, the rotating assembly 232 is simple and compact in structure, can effectively convert the linear motion of the motor into the rotating motion of the thumb, is suitable for the demand of the underactuated manipulator 10 with the thumb device for the multi-freedom action of the thumb, improves the driving precision and durability of the entire thumb device 200, and simplifies the driving logic of the control system.

[0082] Further, the underactuated manipulator 10 with the thumb device further includes a finger segment sensor 300 arranged on the thumb mechanism 210 and mainly used for acquiring a pressure signal between the thumb mechanism 210 and an external object.

[0083] Specifically, the finger segment sensor 300 can adopt various sensing technologies such as a piezoelectric sensor, a strain gauge, and a force-sensitive resistor (FSR) to realize real-time monitoring of the force condition of the thumb tip. The finger segment sensor 300 can not only detect the pressure signal but also acquire the displacement signal in combination with the mechanical structure design, so as to more comprehensively reflect the mechanical state when the thumb contacts the object.

[0084] The finger segment sensor 300 cooperates with the thumb mechanism 210, is installed at an appropriate position on the surface or inside of the thumb segment, and can accurately perceive the pressure change generated when the thumb contacts the grasped object. When the thumb device 200 grasps the object, the finger segment sensor 300 collects the pressure and displacement data in real time and feeds back the signal to the control module of the underactuated manipulator 10 with the thumb device. The control module adjusts the driving force of the thumb mechanism 210 through a closed-loop control algorithm according to the feedback information of the sensor, realizes fine control of the grasping force, and avoids damage to the object caused by excessive pressure or unstable grasping caused by insufficient pressure.

[0085] Specifically, the number of the finger segment sensor 300 can be one, two or more, which is determined according to the design requirement and grasping precision demand of the thumb mechanism 210. The arrangement of multiple finger segment sensors 300 can realize multi-point pressure detection, improve the resolution and accuracy of pressure sensing, and be beneficial to realize more flexible and stable grasping action. In actual application, the arrangement of multiple sensors can be distributed on different finger segments or different positions of the thumb to obtain more comprehensive mechanical information.

[0086] In an embodiment, the underactuated manipulator 10 with the thumb device further includes multiple finger devices 400, which are respectively installed on the hand plate structure 100 in a movable connection manner, so that the finger devices 400 can realize bending and stretching and other movements relative to the hand plate structure 100. Specifically, the movable connection can adopt various mechanical connection modes such as hinge connection, pin shaft connection or flexible connection to ensure that the finger devices 400 have certain movement freedom and stability and meet the grasping demand in multiple directions.

[0087] By setting multiple finger devices 400 to cooperate with the thumb device 200, when the thumb mechanism 210 and the finger devices 400 simultaneously perform bending actions, the underactuated robot hand 10 with the thumb device can achieve a wrapping grip on the object. The coordinated movement of multiple finger devices 400 can form a grip shape similar to a human hand, improving the adaptability of the hand to objects of different shapes and sizes. Specifically, the number of finger devices 400 can be three, four or more, depending on the design requirements and target application environment of the robot hand. Here is not limited.

[0088] The setting of multiple finger devices 400 can enable the robot hand to form multiple contact points during gripping, enhancing the stability and safety of gripping, and avoiding the object from slipping or being damaged. At the same time, the presence of multiple finger devices 400 can also distribute the gripping pressure, reduce the load of individual fingers, and improve the durability and service life of the robot hand.

[0089] Specifically, the hand plate structure 100 is provided with a thumb mounting hole 110, a first thumb motor hole 121 and a second thumb motor hole 122. The rotating seat 231 is inserted into the thumb mounting hole 110 and is rotationally connected with the hand plate structure 100, realizing the rotational freedom of the rotating seat 231 relative to the hand plate structure 100. This design ensures the stability of the installation of the rotating mechanism 230 and guarantees the smoothness of the rotating action.

[0090] At the same time, the thumb flexion and extension motor 2221 is at least partially inserted into the first thumb motor hole 121, and the rotating motor 2321 is at least partially inserted into the second thumb motor hole 122. By inserting the two motors into the corresponding mounting holes respectively, the positioning and fixation of the motors are realized, avoiding the deviation and looseness during installation, and improving the assembly accuracy and mechanical stability of the overall structure. This arrangement not only facilitates installation and disassembly, but also effectively utilizes the space of the hand plate structure 100, so that the driving components of the rotating mechanism 230 and the thumb flexion and extension mechanism 220 are arranged compactly, reducing the overall thickness of the underactuated robot hand 10 with the thumb device.

[0091] In addition, inserting the motor part into the mounting hole helps to reduce the vibration transmission when the robot hand is under stress, improving the stability and service life of the driving system. At the same time, this installation method also facilitates the quick disassembly of the motors by maintenance personnel for repair or replacement, improving the maintenance efficiency of the robot hand.

[0092] In summary, the hand plate structure 100 is provided with a thumb mounting hole 110, a first thumb motor hole 121 and a second thumb motor hole 122, and cooperates with the insertion and installation of the rotating seat 231 and the two motors, realizing the stable positioning and compact arrangement of the thumb device 200, effectively reducing the thickness of the underactuated robot hand 10 with the thumb device, and improving the assembly accuracy and mechanical performance of the structure.

[0093] In the description of the embodiments of the present application, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the embodiments of the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0094] In the description of the embodiments of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0095] In the embodiments of the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can 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. Moreover, the first feature "above", "above" and "above" the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0096] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" and the like 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 present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples without contradiction.

[0097] Finally, it should be noted that the above examples are only used to illustrate the technical solutions of the present application, and are not intended to limit the same; although the present application has been described in detail with reference to the foregoing examples, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An underactuated manipulator having a thumb device, characterized by, Comprise: A hand plate structure; And A thumb device, comprising a thumb mechanism, a thumb flexion mechanism and a rotation mechanism, the thumb mechanism comprising a thumb connecting base and a plurality of thumb joints, the plurality of thumb joints being movably connected, and the thumb joints at the end being connected to the thumb connecting base; The thumb flexion mechanism is arranged on the hand plate structure, and the thumb flexion mechanism is respectively drivingly connected to a plurality of thumb joints, the thumb flexion mechanism is used to drive a plurality of thumb joints to spread or bend, the rotation mechanism is movably connected to the hand plate structure and the thumb mechanism respectively, and the rotation mechanism is used to drive the thumb mechanism to rotate relative to the hand plate structure.

2. The underactuated manipulator with a thumb device according to claim 1, wherein, A plurality of thumb joints are connected by thumb joint rotation, the thumb flexion mechanism comprises a thumb driving rope and a thumb flexion assembly, the thumb flexion assembly is arranged on the hand plate structure, and the thumb flexion assembly is drivingly connected to the thumb driving rope, one end of the thumb driving rope is connected to at least one thumb joint of the thumb mechanism away from the hand plate structure.

3. The underactuated manipulator with a thumb device according to claim 2, wherein, The thumb flexion assembly comprises a thumb flexion motor, a thumb flexion sleeve and a thumb flexion guide wheel, the thumb flexion motor is connected to the hand plate structure, the thumb flexion sleeve is threadedly connected to the thumb flexion motor, and the thumb flexion motor is used to drive the thumb flexion sleeve to move relative to the hand plate structure, the thumb flexion guide wheel is rotatably connected to the hand plate structure, and the thumb driving rope is at least partially arranged on the thumb flexion guide wheel.

4. The underactuated manipulator with a thumb device according to claim 3, wherein, A plurality of thumb joints are connected by thumb joint bearings, the thumb mechanism further comprises a thumb pulley, the thumb pulley is coaxially arranged with the thumb joint bearing, and the thumb driving rope at least partially abuts the outer wall of the thumb pulley.

5. The underactuated manipulator with a thumb device according to claim 4, wherein, The number of the thumb pulleys is two, and the two thumb pulleys are coaxially arranged, and the opposite ends of the thumb driving rope are respectively arranged on the two thumb pulleys; Or, the thumb pulley is provided with a first thumb sliding groove and a second thumb sliding groove, the opposite ends of the thumb driving rope are connected to the thumb joints, and the thumb driving rope is respectively arranged on the first thumb sliding groove and the second thumb sliding groove.

6. The underactuated manipulator with a thumb device according to claim 2, wherein, The thumb flexion mechanism further comprises a thumb flexion sleeve, the thumb flexion sleeve is connected to the hand plate structure, and the thumb driving rope is movably arranged in the thumb flexion sleeve.

7. The underactuated manipulator with a thumb device according to claim 1, wherein, The rotation mechanism comprises a rotation base and a rotation assembly, one end of the thumb mechanism is connected to the rotation base, the rotation base is rotatably connected to the hand plate structure, the rotation assembly is arranged on the hand plate structure, and the rotation assembly is used to drive the rotation base to rotate relative to the hand plate structure.

8. The underactuated manipulator with a thumb device according to claim 7, wherein, The rotation assembly comprises a rotation motor, a rotation sleeve and a thumb driving link, the rotation motor is arranged on the hand plate structure, the rotation motor is connected to the hand plate structure, the rotation sleeve is threadedly connected to the rotation motor, and the rotation motor is used to drive the rotation sleeve to move relative to the hand plate structure, and the thumb driving link is rotatably connected to the rotation base and the rotation sleeve respectively.

9. The underactuated manipulator with a thumb device according to claim 1, wherein, The underactuated robot hand with the thumb device further comprises a finger segment sensor, which is arranged on the thumb mechanism and used to acquire a pressure signal between the thumb mechanism and an external object.

10. The underactuated manipulator with a thumb device according to any one of claims 1-9, wherein, The underactuated robot hand with the thumb device further comprises a plurality of finger devices, which are respectively movably connected to the hand plate structure.

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