A mechanical bionic hand and its thumb module

Abstract

The present invention discloses a mechanical bionic hand and a thumb module thereof, wherein the thumb module comprises a thumb mechanism, a thumb driving unit, and an integral rotating transmission mechanism; the thumb mechanism comprises a distal thumb joint, a distal thumb joint, and a proximal thumb joint shell, wherein the distal thumb joint and the proximal thumb joint shell are connected via the distal thumb joint; the thumb mechanism comprises a distal thumb joint rotating bending transmission mechanism, wherein the thumb driving unit is connected to the distal thumb joint via the distal thumb joint rotating bending transmission mechanism, and drives the distal thumb joint to rotate, thereby bending the thumb; the thumb driving unit is connected to the proximal thumb joint shell via the integral rotating transmission mechanism, and drives the thumb mechanism to rotate as a whole. The mechanical bionic hand and the thumb module thereof proposed by the present invention are light and convenient, and have an excellent user experience: the thumb structure adopts a differential coupling mechanism, which greatly reduces the weight of a traditional bionic manipulator, gets rid of the bulky characteristics of a rigid manipulator, and brings a better user experience.

Description

Technical Field

[0001] The invention belongs to the technical field of medical rehabilitation and relates to a bionic hand, in particular to a mechanical bionic hand. Background Art

[0002] Bionic hands are the main means to solve the problem of patients taking care of themselves after amputation. They are still a relatively new and popular product. There are varying types of products on the market, and there are no clear requirements and standards for such products in the industry.

[0003] Existing bionic hand products have rich design concepts. Flexible mechanisms and rigid mechanisms can be seen everywhere in the market, with obvious advantages and disadvantages. The service life of flexible mechanisms is limited, and the wear of driving ropes is the primary problem in the development and market expansion of such products. The bionic hands with rigid connecting rods as the motion mechanism have problems such as large mass, slow and insensitive movement, poor and inconvenient user experience, etc., which are also limitations encountered in the promotion of such products in the market.

[0004] In view of this, there is an urgent need to design a bionic hand structure to overcome the above-mentioned defects of the existing bionic hand structure. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a mechanical bionic hand that is light, convenient and has an excellent user experience: the bionic hand adopts a differential coupling mechanism, which greatly reduces the weight of traditional bionic manipulators, gets rid of the bulky characteristics of rigid manipulators, and brings a better user experience.

[0006] In addition, the present invention also provides a thumb module of a mechanical bionic hand, which is light, convenient and has an excellent user experience: the bionic hand adopts a differential coupling mechanism, which greatly reduces the weight of the traditional bionic manipulator, gets rid of the bulky characteristics of the rigid manipulator, and brings a better user experience.

[0007] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0008] A mechanical bionic hand, comprising two first modular fingers, two first modular finger driving mechanisms, a second modular finger, a second modular finger driving mechanism, a thumb mechanism, and a thumb planetary gear transmission mechanism;

[0009] The first modular finger 1 includes one modular finger, and the second modular finger includes two modular fingers; the two first modular fingers are used to simulate the index finger and the middle finger respectively, the second modular finger is used to simulate the ring finger and the little finger, and the thumb mechanism is used to simulate the thumb;

[0010] Each first modular finger driving mechanism is connected to the corresponding first modular finger to drive the first modular finger to move; the second modular finger driving mechanism is connected to the second modular finger to drive the second modular finger to move; the thumb driving mechanism is connected to the thumb mechanism through the thumb planetary gear transmission mechanism to drive the thumb mechanism to move;

[0011] The thumb mechanism includes a distal thumb joint, a distal thumb joint, a middle portion of a thumb rotating motor base, a side plate of a thumb rotating motor base, a proximal thumb joint housing, a motor fixing belt, a first bevel gear, and a transmission sheet;

[0012] The thumb planetary gear transmission mechanism includes a second bevel gear, a third bevel gear, a first bearing, a second bearing, a planetary gear of a planetary gear mechanism, a variable diameter shaft, a rotating sheet, an axial fixing member, a sun gear of a planetary gear mechanism, and an axial fixing member;

[0013] The thumb drive mechanism includes a micro reduction motor;

[0014] The micro reduction motor is fixed to the middle part of the thumb base through a motor fixing belt, one end of the micro reduction motor is connected to a first bevel gear, and the first bevel gear is meshed with a second bevel gear; the second bevel gear is installed on the first D-shaped shaft and fits together with the transmission sheet; the rotation of the bevel gear can drive the first D-shaped shaft to rotate, and then drive the transmission sheet to rotate;

[0015] The transmission sheet is arranged close to the outer shell of the proximal knuckle of the thumb, and the rotation of the transmission sheet can push the outer shell of the proximal knuckle of the thumb, thereby pushing the rotation of the distal joint of the thumb, and driving the distal knuckle of the thumb connected to the distal joint of the thumb to rotate;

[0016] The second bevel gear is meshed with the third bevel gear to drive the third bevel gear to rotate, and the third bevel gear is installed on the second D-shaped shaft, and then drives the planetary gear to rotate through the second D-shaped shaft. The first bearing and the second bearing are respectively provided on both sides of the gear to enhance the stability of its movement and limit its axial displacement. The second D-shaped shaft is designed to be a variable diameter type, so the axial displacement of one end is limited, and the other end is limited by an axial fixing piece. The planetary gear is meshed with the sun gear fixed on the palm. Different from the planetary gear, the third D-shaped shaft of the sun gear is designed to be non-rotatable, and the shaft hole of its mounting base is also D-shaped, while the shaft hole of the mounting base of the planetary gear is circular; therefore, the sun gear does not move, and moves in a circle around the sun gear under the restriction of the rotating sheet;

[0017] The bending movement and rotational movement of the thumb mechanism are coupled, and the degree of bending is in a set proportion to the rotation angle, and when the micro reduction motor rotates, the bending direction of the thumb mechanism and the rotation direction of the thumb are both the same positive process or the same negative process; here, the natural extension of the thumb mechanism is used as the initial state of the bending movement, the thumb mechanism is placed on the side of the hand as the initial state of the thumb rotational movement, the process of the thumb mechanism from extension to complete bending is used as the positive direction, and the process of the thumb mechanism moving from the side of the hand to perpendicular to the hand is used as the positive process of the rotational movement.

[0018] A thumb module of a mechanical bionic hand, comprising a thumb mechanism, a thumb drive unit, and a thumb planetary gear transmission mechanism;

[0019] The thumb mechanism includes a distal thumb joint, a distal thumb joint, a middle portion of a thumb rotating motor base, a side plate of a thumb rotating motor base, a proximal thumb joint housing, a motor fixing belt, a first bevel gear, and a transmission sheet;

[0020] The thumb planetary gear transmission mechanism includes a second bevel gear, a third bevel gear, a first bearing, a second bearing, a planetary gear of a planetary gear mechanism, a variable diameter shaft, a rotating sheet, an axial fixing member, a sun gear of a planetary gear mechanism, and an axial fixing member;

[0021] The thumb drive unit includes a micro reduction motor;

[0022] The micro reduction motor is fixed to the middle part of the thumb base through a motor fixing belt, one end of the micro reduction motor is connected to a first bevel gear, and the first bevel gear is meshed with a second bevel gear; the bevel gear is installed on the first D-shaped shaft and fits together with the transmission sheet; the rotation of the second bevel gear can drive the first D-shaped shaft to rotate, and then drive the transmission sheet to rotate;

[0023] The transmission sheet is arranged close to the outer shell of the proximal knuckle of the thumb, and the rotation of the transmission sheet can push the outer shell of the proximal knuckle of the thumb, thereby pushing the rotation of the distal joint of the thumb, and driving the distal knuckle of the thumb connected to the distal joint of the thumb to rotate;

[0024] The second bevel gear is meshed with the third bevel gear to drive the third bevel gear to rotate, and the third bevel gear is installed on the second D-shaped shaft, and then drives the planetary gear to rotate through the second D-shaped shaft. The first bearing and the second bearing are respectively provided on both sides of the gear to enhance the stability of its movement and limit its axial displacement. The second D-shaped shaft is designed to be a variable diameter type, so the axial displacement of one end is limited, and the other end is limited by an axial fixing piece. The planetary gear is meshed with the sun gear fixed on the palm. Different from the planetary gear, the third D-shaped shaft of the sun gear is designed to be non-rotatable, and the shaft hole of its mounting base is also D-shaped, while the shaft hole of the mounting base of the planetary gear is circular; therefore, the sun gear does not move, and moves in a circle around the sun gear under the restriction of the rotating sheet;

[0025] The bending movement and rotational movement of the thumb mechanism are coupled, and the degree of bending is in a set proportion to the rotation angle, and when the micro reduction motor rotates, the bending direction of the thumb mechanism and the rotation direction of the thumb are both the same positive process or the same negative process; here, the natural extension of the thumb mechanism is used as the initial state of the bending movement, the thumb mechanism is placed on the side of the hand as the initial state of the thumb rotational movement, the process of the thumb mechanism from extension to complete bending is used as the positive direction, and the process of the thumb mechanism moving from the side of the hand to perpendicular to the hand is used as the positive process of the rotational movement.

[0026] A thumb module of a mechanical bionic hand, comprising a thumb mechanism, a thumb drive unit, and an overall rotation transmission mechanism;

[0027] The thumb mechanism comprises a distal thumb knuckle, a distal thumb joint, and a proximal thumb knuckle shell, wherein the distal thumb knuckle and the proximal thumb knuckle shell are connected via the distal thumb joint;

[0028] The thumb mechanism includes a distal knuckle rotation and bending transmission mechanism; the thumb drive unit is connected to the distal joint of the thumb through the distal knuckle rotation and bending transmission mechanism, and can drive the rotation of the distal knuckle of the thumb to bend the thumb;

[0029] The thumb driving unit is connected to the thumb proximal knuckle shell via the integral rotation transmission mechanism to drive the thumb mechanism to rotate as a whole.

[0030] As an embodiment of the present invention, the distal phalanx rotation and bending transmission mechanism is a differential coupling mechanism, and the thumb drive unit is connected to the thumb mechanism through the differential coupling mechanism to drive the rotation of the distal phalanx of the thumb, so that the thumb is bent;

[0031] The thumb mechanism also includes a thumb rotating motor base, a thumb proximal knuckle housing, a motor fixing belt, a first bevel gear, and a transmission sheet;

[0032] The differential coupling mechanism is a mechanism for bending the thumb, and refers to most of the parts of the thumb mechanism except the distal knuckle of the thumb and the fixing belt, including the distal joint of the thumb, the middle part of the base of the thumb rotating motor, the housing of the proximal knuckle of the thumb, the thumb rotating motor, the first bevel gear, and the transmission sheet;

[0033] The thumb drive unit is fixed to the middle part of the thumb base through a motor fixing belt, one end of the thumb drive unit is connected to a first bevel gear, and the first bevel gear is meshed with a second bevel gear; the bevel gear is installed on the first D-shaped shaft and fits together with the transmission sheet; the rotation of the bevel gear can drive the first D-shaped shaft to rotate, and then drive the transmission sheet to rotate;

[0034] The transmission sheet is arranged close to the thumb proximal knuckle shell, and the rotation of the transmission sheet can push the thumb proximal knuckle shell, thereby pushing the rotation of the thumb distal joint, and driving the thumb distal knuckle connected to the thumb distal joint to rotate.

[0035] As an embodiment of the present invention, the integral rotation transmission mechanism includes a planetary gear transmission mechanism; the planetary gear transmission mechanism includes a second bevel gear, a third bevel gear, a first bearing, a second bearing, a planetary gear, a variable diameter shaft, a rotating sheet, an axial fixing member, a sun gear of the planetary gear mechanism, and an axial fixing member;

[0036] The second bevel gear is meshed with the third bevel gear to drive the third bevel gear to rotate, and the third bevel gear is installed on the second D-shaped shaft, and then drives the planetary gear to rotate through the second D-shaped shaft. The first bearing and the second bearing are respectively provided on both sides of the gear to enhance the stability of its movement and limit its axial displacement. The second D-shaped shaft is designed to be a variable diameter type, so the axial displacement of one end is limited, and the other end is limited by an axial fixing piece. The planetary gear is meshed with the sun gear fixed on the palm. Different from the planetary gear, the third D-shaped shaft of the sun gear is designed to be non-rotatable, and the shaft hole of its mounting base is also D-shaped, while the shaft hole of the mounting base of the planetary gear is circular; therefore, the sun gear does not move, and moves in a circle around the sun gear under the restriction of the rotating sheet;

[0037] The differential coupling mechanism is based on the middle part of the base of the immovable thumb rotating motor, and the thumb driving unit drives the first bevel gear, and then the first bevel gear meshes with the second bevel gear, driving the transmission sheet fixed to the bevel gear, thereby driving the thumb proximal knuckle shell to push the joint forward, so as to bend the finger;

[0038] The bending movement and rotational movement of the thumb mechanism are coupled, and the degree of bending is in a set proportion to the angle of rotation. When the micro reduction motor rotates, the bending direction of the thumb mechanism and the rotation direction of the thumb are both the same positive process or the same negative process. Here, the natural extension of the thumb is used as the initial state of the bending movement, the thumb mechanism is placed on the side of the hand as the initial state of the rotational movement of the thumb mechanism, the process of the thumb mechanism from extension to complete bending is used as the positive direction, and the process of the thumb mechanism moving from the side of the hand to perpendicular to the hand is used as the positive process of the rotational movement.

[0039] As an embodiment of the present invention, the distal phalanx rotation and bending transmission mechanism is a differential coupling mechanism, and the thumb drive unit is connected to the thumb mechanism via the differential coupling mechanism to drive the rotation of the distal phalanx of the thumb to bend the thumb.

[0040] As an implementation mode of the present invention, the thumb drive unit includes a micro reduction motor.

[0041] As an implementation mode of the present invention, the thumb driving unit drives the thumb mechanism to perform bending motion while rotating through a differential coupling mechanism.

[0042] As an embodiment of the present invention, the thumb mechanism includes a first bevel gear, and the differential coupling mechanism includes a second bevel gear, a third bevel gear, a planetary gear, and a sun gear;

[0043] The first bevel gear is meshed with the second bevel gear, and the second bevel gear is meshed with the third bevel gear; the third bevel gear can drive the planetary gear to rotate; the planetary gear is meshed with the sun gear.

[0044] As an embodiment of the present invention, the bionic thumb adopts a differential coupling mechanism, using a micro reduction motor to drive the first bevel gear to rotate, thereby transmitting torque to drive the bending of the distal phalanx of the thumb, and then driving the overall rotation of the thumb through the third bevel gear.

[0045] As an implementation mode of the present invention, the thumb of the bionic hand adopts a differential coupling mechanism to drive the bending of the thumb, adopts a planetary gear mechanism to drive the rotation of the thumb, and the transmission mechanism is the meshing of bevel gears.

[0046] As an embodiment of the present invention, the thumb mechanism further includes a thumb rotating motor base, a thumb proximal knuckle housing, a motor fixing belt, a first bevel gear, and a transmission sheet;

[0047] The thumb planetary gear transmission mechanism includes a second bevel gear, a third bevel gear, a first bearing, a second bearing, a planetary gear, a variable diameter shaft, a rotating sheet, an axial fixing piece, a sun gear of a planetary gear mechanism, and an axial fixing piece;

[0048] The thumb drive unit is fixed to the middle part of the thumb base through a motor fixing belt, one end of the thumb drive unit is connected to a first bevel gear, and the first bevel gear is meshed with a second bevel gear; the first bevel gear is installed on the first D-shaped shaft and fits together with the transmission sheet; the rotation of the bevel gear can drive the first D-shaped shaft to rotate, and then drive the transmission sheet to rotate;

[0049] The transmission sheet is arranged close to the outer shell of the proximal knuckle of the thumb, and the rotation of the transmission sheet can push the outer shell of the proximal knuckle of the thumb, thereby pushing the rotation of the distal joint of the thumb, and driving the distal knuckle of the thumb connected to the distal joint of the thumb to rotate;

[0050] The second bevel gear is meshed with the third bevel gear to drive the third bevel gear to rotate, and the third bevel gear is installed on the second D-shaped shaft, and then drives the planetary gear to rotate through the second D-shaped shaft. The first bearing and the second bearing are respectively provided on both sides of the gear to enhance the stability of its movement and limit its axial displacement. The second D-shaped shaft is designed to be a variable diameter type, so the axial displacement of one end is limited, and the other end is limited by an axial fixing piece. The planetary gear is meshed with the sun gear fixed on the palm. Different from the planetary gear, the third D-shaped shaft of the sun gear is designed to be non-rotatable, and the shaft hole of its mounting base is also D-shaped, while the shaft hole of the mounting base of the planetary gear is circular; therefore, the sun gear does not move, and moves in a circle around the sun gear under the restriction of the rotating sheet;

[0051] The bending movement and rotational movement of the thumb mechanism are linked, and the degree of bending is in a set proportion to the angle of rotation. When the micro reduction motor rotates, the bending direction of the thumb mechanism and the rotation direction of the thumb are both the same positive process or the same negative process. Here, the natural extension of the thumb is used as the initial state of the bending movement, the thumb mechanism is placed on the side of the hand as the initial state of the rotational movement of the thumb mechanism, the process of the thumb mechanism from extension to complete bending is used as the positive direction, and the process of the thumb mechanism moving from the side of the hand to perpendicular to the hand is used as the positive process of the rotational movement.

[0052] The bionic thumb adopts a differential coupling mechanism, uses a micro reduction motor to drive the bevel gear to rotate, and transmits torque to drive the bending of the distal phalanx of the thumb, and then drives the overall rotation of the thumb through the third bevel gear.

[0053] The thumb of the bionic hand adopts a differential coupling mechanism to drive the thumb to bend, adopts a planetary gear mechanism to drive the thumb to rotate, and the transmission mechanism is the meshing of bevel gears.

[0054] The rotational movement and bending movement of the thumb of the bionic hand are linked, and a more appropriate planetary gear transmission ratio is obtained through strict calculation of the angle and degree of bending, so that this linkage mode can meet most of the needs of daily life.

[0055] The present invention discloses a mechanical bionic hand, which may be an underactuated mechanical bionic hand, where underactuation means that the number of independent actuators in the system is less than the number of degrees of freedom. The bionic hand mainly consists of three parts: a motor, a wrist and a mechanical hand.

[0056] The mechanical bionic hand and thumb module thereof proposed by the present invention have the following beneficial effects:

[0057] 1. Long service life: It continues the durable characteristics of the rigid structure, ensuring the normal operation of the product for a long period of time;

[0058] 2. High practicality: The innovative linkage design allows the thumb to bend while rotating, sacrificing some degrees of freedom, but is sufficient to meet daily essential functions such as spherical grasping, precise grasping, columnar grasping, etc., while the unnecessary side pinching function is abandoned.

[0059] 3. Simple and elegant appearance: The differential coupling mechanism is adopted, so that the micro reduction motor 46 can be placed inside the thumb, making the thumb easy to bend and beautiful in appearance.

[0060] 4. Lightweight and convenient, with excellent experience: The thumb structure also adopts an under-actuated design, which greatly reduces the weight of traditional bionic manipulators, gets rid of the bulky characteristics of rigid manipulators, and brings users a better experience;

[0061] The 5 thumb design adopts a planetary gear mechanism, which allows a motor to control the rotation and bending of the thumb. While meeting the requirement of a more compact structure, it does not give up the active rotation function of the thumb, instead of adopting a passive rotation structure. The designed working mode covers most of the needs of daily life. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 is a schematic cross-sectional structural diagram of a mechanical bionic hand according to an embodiment of the present invention;

[0063] Figure 2 This is a front view of the mechanical bionic hand according to an embodiment of the present invention;

[0064] Figure 3 This is a schematic structural diagram of the thumb portion of the mechanical bionic hand of the present invention;

[0065] Figure 4 Another structural schematic diagram of the thumb part of the mechanical bionic hand of the present invention;

[0066] Figure 5 It is a schematic cross-sectional structure diagram of a modular finger 1 of a bionic hand according to an embodiment of the present invention;

[0067] Figure 6A top view of a modular finger 1 of a bionic hand according to an embodiment of the present invention;

[0068] Figure 7 It is a front view of the modular finger 2 of the bionic hand according to an embodiment of the present invention.

[0069] Figure 8 It is a cross-sectional view of a modular finger 2 of a bionic hand according to an embodiment of the present invention. DETAILED DESCRIPTION

[0070] The preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0071] Embodiment 1

[0072] See also Figures 1 to 8 The present invention discloses a thumb module of a mechanical bionic hand, including a thumb mechanism 4, a thumb driving unit 46, and a thumb planetary gear transmission mechanism 5.

[0073] The thumb mechanism 4 includes a thumb distal knuckle 41 , a thumb distal joint 42 , a thumb rotating motor base middle portion 43 , a thumb rotating motor base side plate 44 , a thumb proximal knuckle housing 45 , a motor fixing belt 47 , a first bevel gear 48 , and a transmission sheet 49 .

[0074] The thumb mechanism 4 includes a differential coupling mechanism, which is a mechanism for bending the thumb, and refers to most of the parts of the thumb mechanism 4 except the distal thumb joint 41 and the fixing belt 47, including the distal thumb joint 42, the middle part of the thumb rotating motor base 43, the proximal thumb joint housing 45, the thumb rotating motor 46, the first bevel gear 48, and the transmission plate 49.

[0075] The thumb drive unit is fixed to the middle part 43 of the thumb base through the motor fixing belt 47. One end of the thumb drive unit 46 is connected to the first bevel gear 48, which is meshed with the second bevel gear 55. The bevel gear 55 is installed on the first D-shaped shaft and fits with the transmission plate 49. The rotation of the bevel gear 55 can drive the first D-shaped shaft to rotate, and then drive the transmission plate 49 to rotate. The transmission plate 49 is arranged close to the thumb proximal knuckle shell 45. The rotation of the transmission plate 49 can push the thumb proximal knuckle shell 45, thereby pushing the rotation of the thumb distal joint 42, and driving the thumb distal knuckle 41 connected to the thumb distal joint 42 to rotate.

[0076] The differential coupling mechanism is based on the middle part 43 of the stationary thumb rotating motor base, and the thumb driving unit drives the first bevel gear 48, and then the first bevel gear 48 is engaged with the second bevel gear 51, driving the transmission plate 49 fixedly connected to the bevel gear 51, thereby driving the thumb proximal knuckle shell 45 to push the joint 42 forward, thereby bending the finger.

[0077] The thumb planetary gear transmission mechanism 5 (as the thumb overall rotation transmission mechanism) includes a second bevel gear 51, a third bevel gear 52, a first bearing 53, a second bearing 54, a planetary gear 55 of a planetary gear mechanism, a variable diameter shaft 56, a rotating sheet 57, an axial fixing member 58, a sun gear 59 of a planetary gear mechanism, and an axial fixing member 510.

[0078] The thumb drive unit includes a micro reduction motor 46. The micro reduction motor 46 is fixed to the middle part 43 of the thumb base through a motor fixing belt 47. One end of the micro reduction motor 46 is connected to a first bevel gear 48, and the first bevel gear 48 is meshed with a second bevel gear 51; the first bevel gear 48 is installed on the first D-shaped shaft and fits together with the transmission plate 49; the rotation of the first bevel gear 48 can drive the first D-shaped shaft to rotate, and then drive the transmission plate 49 to rotate.

[0079] The transmission plate 49 is arranged close to the thumb proximal knuckle shell 45. The rotation of the transmission plate 49 can push the thumb proximal knuckle shell 45, thereby pushing the rotation of the thumb distal joint 42, and driving the thumb distal knuckle 41 connected to the thumb distal joint 42 to rotate.

[0080] The second bevel gear 51 is meshed with the third bevel gear 52 to drive the third bevel gear 52 to rotate, and the third bevel gear 52 is installed on the second D-shaped shaft, and then drives the planetary gear 55 to rotate through the second D-shaped shaft. A first bearing 53 and a second bearing 54 are respectively provided on both sides of the gear to enhance the stability of its movement and limit its axial displacement. The second D-shaped shaft is designed to be a variable diameter type, so the axial displacement of one end is limited, and the other end is limited by an axial fixing member 58. The planetary gear 55 is meshed with a sun gear 59 fixed on the palm. Different from the planetary gear, the third D-shaped shaft of the sun gear is designed to be non-rotatable, and the axial hole of its mounting base is also D-shaped, while the axial hole of the mounting base of the planetary gear is circular; therefore, the sun gear 59 is stationary, and under the restriction of the rotating plate 57, it makes a circular motion around the sun gear 59.

[0081] The thumb of the bionic hand adopts a differential coupling mechanism to drive the thumb to bend, and adopts a planetary gear mechanism to drive the thumb to rotate, and the transmission mechanism is the meshing of bevel gears.

[0082] The bending movement and rotation movement of the thumb mechanism are linked, and the degree of bending is in a set proportion to the rotation angle, and when the micro reduction motor rotates, the bending direction of the thumb mechanism and the rotation direction of the thumb are both the same positive process or the same negative process; here, the natural extension of the thumb mechanism is used as the initial state of the bending movement, the thumb mechanism is placed on the side of the hand as the initial state of the thumb rotation movement, the process of the thumb mechanism from extension movement to complete bending is used as the positive direction, and the process of the thumb mechanism moving from the side of the hand to perpendicular to the hand is used as the positive process of the rotation movement.

[0083] The present invention uses the bending and rotation of the thumb as a linkage motion, abandoning the measuring and pinching motion. This linkage mode is sufficient to complete spherical grasping, columnar grasping and precise grasping, and only uses one motor, which reduces costs and can meet most daily needs.

[0084] Embodiment 2

[0085] See also Figure 1 The present invention discloses a mechanical bionic hand, wherein underactuation means that the number of independent actuators in the system is less than the number of degrees of freedom. The mechanical bionic hand comprises a wrist and a manipulator part; the manipulator part comprises two first modular fingers, two first modular finger drive mechanisms, a second modular finger, a second modular finger drive mechanism, a thumb mechanism, and a thumb planetary gear transmission mechanism.

[0086] The first modular finger 1 includes one modular finger, and the second modular finger includes two modular fingers; the two first modular fingers are used to bionic the index finger and the middle finger respectively, the second modular finger is used to bionic the ring finger and the little finger, and the thumb mechanism is used to bionic the thumb.

[0087] Each first modular finger driving mechanism is connected to the corresponding first modular finger to drive the first modular finger to move; the second modular finger driving mechanism is connected to the second modular finger to drive the second modular finger to move; the thumb driving mechanism is connected to the thumb mechanism 4 through the thumb planetary gear transmission mechanism 5 to drive the thumb mechanism 4 to move;

[0088] The modular finger includes a distal finger joint 11 , a finger connecting rod 12 , a proximal finger joint housing 13 , a torsion spring 14 , a finger linkage rod 15 , and an anti-collision mechanism 2 ; the anti-collision mechanism 2 includes a finger tension anti-collision rod 21 .

[0089] The distal finger joint 11 and the finger connecting rod 12 are respectively connected to the finger proximal joint housing 13 by interference fit with 2mm bolts to prevent axial displacement. The following 2mm bolt connection methods are all the same; the finger linkage rod 15 is connected to the finger proximal joint housing 13 by 2mm bolts; the finger linkage rod 15 is connected to the finger tension anti-collision rod 21 by 2mm bolts;

[0090] The front end of the finger tension anti-collision rod 21 is connected to the finger linkage rod 15 through a 2mm bolt; the rear end of the finger tension anti-collision rod 21 is connected to the output shaft of the linear motor 3 through a 2mm bolt.

[0091] The first modular finger driving mechanism includes a first linear motor 3; the second modular finger driving mechanism includes a second linear motor; the first linear motor 3 and the second linear motor both include a linear motor body and a linear motor fixed end; each first linear motor 3 can drive a corresponding modular finger movement, and the second linear motor connects the two modular fingers included in the second modular finger and can drive the two modular fingers to move.

[0092] The linear motor body 22 is connected to the finger tension anti-collision rod 21, the finger tension anti-collision rod 21 is connected to one end of the finger linkage rod 15, the finger linkage rod 15 is respectively connected to the finger connecting rod 12 and the finger proximal knuckle shell 13 using 2mm bolts, and one end of the finger connecting rod 12 is rotatably connected to one end of the finger distal knuckle 11.

[0093] The finger linkage rod 15 can drive the finger proximal knuckle shell 13 and the finger connecting rod 12 to perform circular motion under the drive of the linear motor body 22 and the finger tension anti-collision rod 21. Since there is a speed difference in the circular motion of the two, the relative difference in the speed of the circular motion will cause the connecting rod 12 with a faster circular speed to drive the finger distal knuckle 11 to perform bending motion; if a bolt fixing point of the finger base knuckle is regarded as the absolute instantaneous center of velocity, the bending motion of the finger can be regarded as a circular motion around the instantaneous center, and the finger connecting rod 12 and the finger proximal knuckle shell 13 are respectively at different radii from the absolute instantaneous center with respect to the fixed point 1 and the fixed point 2 of the finger distal knuckle 11, so there is a speed difference in the circular motion under the same angular velocity.

[0094] The finger is restored by adding a torsion spring 14, and a preload is added to keep the finger in a natural state; the torsion spring 14 is embedded in the connection point between the proximal knuckle 13 and the distal knuckle 11 of the finger, one end of the torsion spring is embedded in the distal knuckle 11 of the finger, and the other end is embedded in the groove of the finger connecting rod 12. When the finger is bent, an opposite torque is applied to the finger so that the finger returns to the extended state without the motor doing work.

[0095] When external force bends the finger, an anti-collision mechanism is added to prevent excessive external force from being transmitted to the motor's push rod through the finger knuckles; when external force acts on the finger, the bending of the finger drives the finger connecting rod 12 to move downward, and then the finger tension anti-collision rod 21 continues to move downward through the linkage rod 15. However, since the tension anti-collision rod 21 is provided with a slide groove on the upper part, it can only provide tension but not thrust within a limited range. In this way, the external force cannot act on the motor push rod and cause damage to the motor; when the motor works normally, the motor provides tension, which drives the finger tension anti-collision rod 21 to move downward through the pull rod, thereby driving the bending of the finger mechanism.

[0096] The thumb mechanism 4 includes a thumb distal knuckle 41 , a thumb distal joint 42 , a thumb rotating motor base middle portion 43 , a thumb rotating motor base side plate 44 , a thumb proximal knuckle housing 45 , a motor fixing belt 47 , a first bevel gear 48 , and a transmission sheet 49 .

[0097] The thumb planetary gear transmission mechanism 5 includes a second bevel gear 51 , a third bevel gear 52 , a first bearing 53 , a second bearing 54 , a planetary gear 55 of a planetary gear mechanism, a variable diameter shaft 56 , a rotating sheet 57 , an axial fixing member 58 , a sun gear 59 of a planetary gear mechanism, and an axial fixing member 510 .

[0098] The thumb drive mechanism includes a micro reduction motor 46 .

[0099] The micro reduction motor 46 is fixed to the middle part 43 of the thumb base through a motor fixing belt 47. One end of the micro reduction motor 46 is connected to a first bevel gear 48, and the first bevel gear 48 is meshed with the second bevel gear 51; the first bevel gear 48 is installed on the first D-shaped shaft and fits together with the transmission plate 49; the rotation of the first bevel gear 48 can drive the first D-shaped shaft to rotate, and then drive the transmission plate 49 to rotate.

[0100] The transmission plate 49 is arranged close to the thumb proximal knuckle shell 45. The rotation of the transmission plate 49 can push the thumb proximal knuckle shell 45, thereby pushing the rotation of the thumb distal joint 42, and driving the thumb distal knuckle 41 connected to the thumb distal joint 42 to rotate.

[0101] The second bevel gear 51 is meshed with the third bevel gear 52 to drive the third bevel gear 52 to rotate, and the third bevel gear 52 is installed on the second D-shaped shaft, and then drives the planetary gear 55 to rotate through the second D-shaped shaft. A first bearing 53 and a second bearing 54 are respectively provided on both sides of the gear to enhance the stability of its movement and limit its axial displacement. The second D-shaped shaft is designed to be a variable diameter type, so the axial displacement of one end is limited, and the other end is limited by an axial fixing member 58. The planetary gear 55 is meshed with a sun gear 59 fixed on the palm. Different from the planetary gear, the third D-shaped shaft of the sun gear is designed to be non-rotatable, and the axial hole of its mounting base is also D-shaped, while the axial hole of the mounting base of the planetary gear is circular; therefore, the sun gear 59 is stationary, and under the restriction of the rotating plate 57, it makes a circular motion around the sun gear 59.

[0102] The bending movement and rotation movement of the thumb finger are linked, and the degree of bending is in a set proportion to the rotation angle. When the micro reduction motor rotates, the bending direction of the thumb and the rotation direction of the thumb are both the same positive process or the same negative process. Here, the natural extension of the thumb is used as the initial state of the bending movement, and the thumb is placed on the side of the hand as the initial state of the thumb rotation movement. The process from the extension movement to the complete bending of the thumb is used as the positive direction, and the process from the side of the hand to perpendicular to the hand is used as the positive process of the rotation movement.

[0103] Embodiment 3

[0104] A thumb module of a mechanical bionic hand includes a thumb mechanism, a thumb drive unit, and an integral rotation transmission mechanism. The thumb mechanism 4 includes a thumb distal knuckle, a thumb distal joint, and a thumb proximal knuckle shell, and the thumb distal knuckle and the thumb proximal knuckle shell are connected via the thumb distal joint.

[0105] The thumb mechanism includes a distal phalanx rotation and bending transmission mechanism (differential drive mechanism); the thumb drive unit is connected to the distal joint of the thumb through the distal phalanx rotation and bending transmission mechanism, and can drive the rotation of the distal phalanx of the thumb to bend the thumb.

[0106] The thumb driving unit is connected to the thumb proximal knuckle housing 45 via the integral rotation transmission mechanism to drive the thumb mechanism 4 to rotate as a whole.

[0107] Embodiment 4

[0108] The difference between this embodiment and the first embodiment is that in this embodiment, a worm gear can be used to replace the planetary gear rotation mechanism to drive the thumb to rotate. In addition, the spur gear can also be a cylindrical gear with helical teeth or curved teeth to achieve the same effect.

[0109] In summary, the mechanical bionic hand proposed by the present invention has the following advantages:

[0110] 1. Long service life: It continues the durable characteristics of the rigid structure, ensuring the normal operation of the product for a long period of time;

[0111] 2. High practicality: The innovative linkage design allows the thumb to bend while rotating, sacrificing some degrees of freedom, but it is enough to meet daily necessary functions such as spherical grasping, precise grasping, columnar grasping, etc., while unnecessary measuring and pinching functions are abandoned.

[0112] 3. Simple and elegant appearance: The differential coupling mechanism is adopted, so that the micro reduction motor 46 can be placed inside the thumb, making the thumb easy to bend and beautiful in appearance.

[0113] 4. Lightweight and convenient, with excellent experience: The thumb structure also adopts an under-actuated design, which greatly reduces the weight of traditional bionic manipulators, gets rid of the bulky characteristics of rigid manipulators, and brings users a better experience;

[0114] The 5 thumb design adopts a planetary gear mechanism, which allows a motor to control the rotation and bending of the thumb. While meeting the requirement of a more compact structure, it does not give up the active rotation function of the thumb, instead of adopting a passive rotation structure. The designed working mode covers most of the needs of daily life.

[0115] The description and application of the present invention here are illustrative and are not intended to limit the scope of the present invention to the above-described embodiments. The deformation and changes of the embodiments disclosed here are possible, and the replacement of the embodiments and the various components equivalent to those of ordinary skill in the art are well known. It should be clear to those skilled in the art that the present invention can be realized in other forms, structures, arrangements, proportions, and with other components, materials and parts without departing from the spirit or essential characteristics of the present invention. Other deformations and changes can be made to the embodiments disclosed here without departing from the scope and spirit of the present invention.

Claims

1. A mechanical bionic hand, characterized in that: It includes two first modular fingers, two first modular finger driving mechanisms, a second modular finger, a second modular finger driving mechanism, a thumb mechanism, a thumb driving mechanism and a thumb planetary gear transmission mechanism; The first modular finger (1) comprises a modular finger, and the second modular finger comprises two modular fingers; the two first modular fingers are used to simulate the index finger and the middle finger respectively, the second modular finger is used to simulate the ring finger and the little finger, and the thumb mechanism is used to simulate the thumb; Each first modular finger driving mechanism is connected to a corresponding first modular finger to drive the first modular finger to move; the second modular finger driving mechanism is connected to the second modular finger to drive the second modular finger to move; the thumb driving mechanism is connected to the thumb mechanism (4) via a thumb planetary gear transmission mechanism (5) to drive the thumb mechanism (4) to move; The thumb mechanism (4) comprises a thumb distal knuckle (41), a thumb distal joint (42), a middle portion of a thumb rotating motor base (43), a thumb rotating motor base side plate (44), a thumb proximal knuckle housing (45), a motor fixing belt (47), a first bevel gear (48), and a transmission sheet (49); The thumb planetary gear transmission mechanism (5) comprises a second bevel gear (51), a third bevel gear (52), a first bearing (53), a second bearing (54), a planetary gear (55) of a planetary gear mechanism, a variable diameter shaft (56), a rotating sheet (57), a first axial fixing member (58), a sun gear (59) of a planetary gear mechanism, and a second axial fixing member (510); The thumb drive mechanism comprises a micro reduction motor; the micro reduction motor is fixed to the middle part (43) of the thumb rotating motor base through a motor fixing belt (47); one end of the micro reduction motor is connected to a first bevel gear (48), and the first bevel gear (48) is meshed with a second bevel gear (51); the second bevel gear (51) is mounted on the first D-shaped shaft and is fitted together with the transmission plate; the rotation of the second bevel gear (51) can drive the first D-shaped shaft to rotate, thereby driving the transmission plate (49) to rotate; The transmission plate (49) is arranged close to the thumb proximal knuckle housing (45), and the rotation of the transmission plate (49) can push the thumb proximal knuckle housing (45), thereby pushing the thumb distal joint (42) to rotate, and driving the thumb distal knuckle (41) connected to the thumb distal joint (42) to rotate; The second bevel gear (51) is meshed with the third bevel gear (52) to drive the third bevel gear (52) to rotate, and the third bevel gear (52) is installed on the second D-shaped shaft, and then drives the planetary gear (55) to rotate through the second D-shaped shaft. A first bearing (53) and a second bearing (54) are respectively provided on both sides of the gear to enhance the stability of its movement and limit its axial displacement. The second D-shaped shaft is designed to be a variable diameter type, so the axial displacement of one end thereof is limited, while the displacement of the other end is limited by the first axial fixing member (58); the planetary gear (55) is meshed with the sun gear (59) fixed on the palm. Different from the planetary gear, the third D-shaped shaft of the sun gear is designed to be non-rotatable, and the shaft hole of its mounting base is also D-shaped, while the shaft hole of the mounting base of the planetary gear is circular; therefore, the sun gear (59) is stationary, and moves in a circle around the sun gear (59) under the restriction of the rotating plate (57); The bending movement and rotation movement of the thumb mechanism are linked, and the degree of bending is in a set proportion to the rotation angle, and when the micro reduction motor rotates, the bending direction of the thumb mechanism and the rotation direction of the thumb are both the same positive process or the same negative process; here, the natural extension of the thumb mechanism is used as the initial state of the bending movement, the thumb mechanism is placed on the side of the hand as the initial state of the thumb rotation movement, the process of the thumb mechanism from extension movement to complete bending is used as the positive direction, and the process of the thumb mechanism moving from the side of the hand to perpendicular to the hand is used as the positive process of the rotation movement.

2. A thumb module of a mechanical bionic hand, characterized in that: It comprises a thumb mechanism (4), a thumb drive unit (46), and a thumb planetary gear transmission mechanism (5); The thumb mechanism (4) comprises a thumb distal knuckle (41), a thumb distal joint (42), a middle portion of a thumb rotating motor base (43), a thumb rotating motor base side plate (44), a thumb proximal knuckle housing (45), a motor fixing belt (47), a first bevel gear (48), and a transmission sheet (49); The thumb planetary gear transmission mechanism (5) comprises a second bevel gear (51), a third bevel gear (52), a first bearing (53), a second bearing (54), a planetary gear (55) of a planetary gear mechanism, a variable diameter shaft (56), a rotating sheet (57), a first axial fixing member (58), a sun gear (59) of a planetary gear mechanism, and a second axial fixing member (510); The thumb drive unit includes a micro reduction motor; The micro reduction motor is fixed to the middle part (43) of the thumb rotating motor base through a motor fixing belt (47); one end of the micro reduction motor is connected to a first bevel gear (48); the first bevel gear (48) is meshed with a second bevel gear (51); the second bevel gear (51) is installed on the first D-shaped shaft and is fitted together with the transmission plate (49); the rotation of the second bevel gear (51) can drive the first D-shaped shaft to rotate, thereby driving the transmission plate (49) to rotate; The transmission plate (49) is arranged close to the thumb proximal knuckle housing (45), and the rotation of the transmission plate (49) can push the thumb proximal knuckle housing (45), thereby pushing the thumb distal joint (42) to rotate, and driving the thumb distal knuckle (41) connected to the thumb distal joint (42) to rotate; The second bevel gear (51) is meshed with the third bevel gear (52) to drive the third bevel gear (52) to rotate, and the third bevel gear (52) is installed on the second D-shaped shaft, and then drives the planetary gear (55) to rotate through the second D-shaped shaft. A first bearing (53) and a second bearing (54) are respectively provided on both sides of the gear to enhance the stability of its movement and limit its axial displacement. The second D-shaped shaft is designed to be a variable diameter type, so the axial displacement of one end thereof is limited, while the displacement of the other end is limited by the first axial fixing member (58); the planetary gear (55) is meshed with the sun gear (59) fixed on the palm. Different from the planetary gear, the third D-shaped shaft of the sun gear is designed to be non-rotatable, and the shaft hole of its mounting base is also D-shaped, while the shaft hole of the mounting base of the planetary gear is circular; therefore, the sun gear (59) is stationary, and moves in a circle around the sun gear (59) under the restriction of the rotating plate (57); The bending movement and rotation movement of the thumb mechanism are linked, and the degree of bending is in a set proportion to the rotation angle, and when the micro reduction motor rotates, the bending direction of the thumb mechanism and the rotation direction of the thumb are both the same positive process or the same negative process; here, the natural extension of the thumb mechanism is used as the initial state of the bending movement, the thumb mechanism is placed on the side of the hand as the initial state of the thumb rotation movement, the process of the thumb mechanism from extension movement to complete bending is used as the positive direction, and the process of the thumb mechanism moving from the side of the hand to perpendicular to the hand is used as the positive process of the rotation movement.

3. A thumb module of a mechanical bionic hand, characterized in that: It includes a thumb mechanism (4), a thumb drive unit, and an overall rotation transmission mechanism; The thumb mechanism (4) comprises a distal thumb knuckle (41), a distal thumb joint (42), and a proximal thumb knuckle shell (45), wherein the distal thumb knuckle (41) and the proximal thumb knuckle shell (45) are connected via the distal thumb joint (42); The thumb mechanism (4) comprises a distal phalanx rotation and bending transmission mechanism; the thumb drive unit is connected to the distal joint of the thumb (42) via the distal phalanx rotation and bending transmission mechanism, and can drive the distal phalanx of the thumb to rotate, thereby bending the thumb; The thumb drive unit is connected to the thumb proximal knuckle housing (45) via the integral rotation transmission mechanism, and drives the thumb mechanism (4) to rotate as a whole; The distal phalanx rotation and bending transmission mechanism is a differential coupling mechanism, and the thumb drive unit is connected to the thumb mechanism (4) via the differential coupling mechanism, driving the distal phalanx of the thumb to rotate, thereby bending the thumb; The thumb mechanism (4) also includes a thumb rotating motor base, a thumb proximal knuckle housing (45), a motor fixing belt (47), a first bevel gear (48), and a transmission sheet (49); The differential coupling mechanism is a mechanism for bending the thumb, comprising a distal thumb joint (42), a middle part of a thumb rotating motor base (43), a proximal thumb joint housing (45), a thumb rotating motor, a first bevel gear (48), and a transmission sheet (49); The thumb drive unit is fixed to the middle part (43) of the thumb rotating motor base through a motor fixing belt (47); one end of the thumb drive unit (46) is connected to a first bevel gear (48); the first bevel gear (48) is meshed with a second bevel gear (51); the second bevel gear (51) is mounted on the first D-shaped shaft and is fitted together with the transmission plate (49); the rotation of the second bevel gear (51) can drive the first D-shaped shaft to rotate, thereby driving the transmission plate (49) to rotate; The transmission plate (49) is arranged close to the thumb proximal knuckle housing (45). The rotation of the transmission plate (49) can push the thumb proximal knuckle housing (45), thereby pushing the thumb distal joint (42) to rotate, and driving the thumb distal knuckle (41) connected to the thumb distal joint (42) to rotate.

4. The thumb module of the mechanical bionic hand according to claim 3, characterized in that: The integral rotation transmission mechanism comprises a thumb planetary gear transmission mechanism (5); the thumb planetary gear transmission mechanism (5) comprises a second bevel gear (51), a third bevel gear (52), a first bearing (53), a second bearing (54), a planetary gear (55), a variable diameter shaft (56), a rotating sheet (57), a first axial fixing member (58), a sun gear (59) of the planetary gear mechanism, and a second axial fixing member (510); The second bevel gear (51) is meshed with the third bevel gear (52) to drive the third bevel gear (52) to rotate, and the third bevel gear (52) is installed on the second D-shaped shaft, and then drives the planetary gear (55) to rotate through the second D-shaped shaft. A first bearing (53) and a second bearing (54) are respectively provided on both sides of the gear to enhance the stability of its movement and limit its axial displacement. The second D-shaped shaft is designed to be a variable diameter type, so the axial displacement of one end thereof is limited, while the displacement of the other end is limited by the first axial fixing member (58); the planetary gear (55) is meshed with the sun gear (59) fixed on the palm. Different from the planetary gear, the third D-shaped shaft of the sun gear is designed to be non-rotatable, and the shaft hole of its mounting base is also D-shaped, while the shaft hole of the mounting base of the planetary gear is circular; therefore, the sun gear (59) is stationary, and moves in a circle around the sun gear (59) under the restriction of the rotating plate (57); The differential coupling mechanism is based on the middle part (43) of the stationary thumb rotating motor base, and the thumb driving unit drives the first bevel gear (48), and then the first bevel gear (48) is meshed with the second bevel gear (51), driving the transmission plate (49) fixedly connected to the second bevel gear (51), thereby driving the thumb proximal knuckle housing (45) to push the thumb distal knuckle (42) forward, so as to bend the finger; The bending movement and rotational movement of the thumb mechanism are coupled, and the degree of bending is in a set proportion to the angle of rotation. When the micro reduction motor rotates, the bending direction of the thumb mechanism and the rotation direction of the thumb are both the same positive process or the same negative process. Here, the natural extension of the thumb is used as the initial state of the bending movement, the thumb mechanism is placed on the side of the hand as the initial state of the rotational movement of the thumb mechanism, the process of the thumb mechanism from extension to complete bending is used as the positive direction, and the process of the thumb mechanism moving from the side of the hand to perpendicular to the hand is used as the positive process of the rotational movement.

5. The thumb module of the mechanical bionic hand according to claim 3, characterized in that: The thumb drive unit includes a micro reduction motor.

6. The thumb module of the mechanical bionic hand according to claim 3, characterized in that: The thumb drive unit drives the thumb mechanism (4) to perform bending motion while rotating through a differential coupling mechanism.

7. The thumb module of the mechanical bionic hand according to claim 3, characterized in that: The thumb mechanism adopts a differential coupling mechanism, uses a micro reduction motor to drive the first bevel gear to rotate, and transmits torque to drive the bending of the distal phalanx of the thumb; The thumb mechanism adopts a thumb planetary gear transmission mechanism to drive another bevel gear to drive the overall rotational movement of the thumb.

8. The thumb module of the mechanical bionic hand according to claim 3, characterized in that: The thumb mechanism adopts a differential coupling mechanism to drive the bending of the thumb, and adopts a thumb planetary gear transmission mechanism to drive the overall rotation of the thumb, and the transmission mechanism is the meshing of bevel gears.

9. A mechanical bionic hand, characterized in that: A plurality of modular fingers, a plurality of modular finger drive mechanisms, a thumb mechanism (4), a thumb drive unit, and an overall rotation transmission mechanism; The thumb mechanism (4) comprises a distal thumb knuckle (41), a distal thumb joint (42), and a proximal thumb knuckle shell (45), wherein the distal thumb knuckle (41) and the proximal thumb knuckle shell (45) are connected via the distal thumb joint (42); The thumb mechanism (4) comprises a distal phalanx rotation and bending transmission mechanism; the thumb drive unit is connected to the distal joint of the thumb (42) via the distal phalanx rotation and bending transmission mechanism, and can drive the distal phalanx of the thumb to rotate, thereby bending the thumb; The thumb drive unit is connected to the thumb proximal knuckle housing (45) via the integral rotation transmission mechanism, and drives the thumb mechanism (4) to rotate as a whole; The distal phalanx rotation and bending transmission mechanism is a differential coupling mechanism, and the thumb drive unit is connected to the thumb mechanism (4) via the differential coupling mechanism, driving the distal phalanx of the thumb to rotate, thereby bending the thumb; The thumb mechanism (4) also includes a thumb rotating motor base, a thumb proximal knuckle housing (45), a motor fixing belt (47), a first bevel gear (48), and a transmission sheet (49); The differential coupling mechanism is a mechanism for bending the thumb, comprising a distal thumb joint (42), a middle part of a thumb rotating motor base (43), a proximal thumb joint housing (45), a thumb rotating motor, a first bevel gear (48), and a transmission sheet (49); The thumb drive unit is fixed to the middle part (43) of the thumb rotating motor base through a motor fixing belt (47); one end of the thumb drive unit (46) is connected to a first bevel gear (48); the first bevel gear (48) is meshed with a second bevel gear (51); the second bevel gear (51) is mounted on the first D-shaped shaft and is fitted together with the transmission sheet (49); The rotation of the second bevel gear (51) can drive the first D-shaped shaft to rotate, thereby driving the transmission plate (49) to rotate; The transmission plate (49) is arranged close to the thumb proximal knuckle housing (45). The rotation of the transmission plate (49) can push the thumb proximal knuckle housing (45), thereby pushing the thumb distal joint (42) to rotate, and driving the thumb distal knuckle (41) connected to the thumb distal joint (42) to rotate.

Images