Thumb module, robot and mechanical hand

Abstract

The present disclosure relates to a thumb module, a manipulator and a robot. The thumb module comprises a thumb base, a first driving assembly arranged in a first set direction on the thumb base, a rotating member for rotating connection with an external structure, and a thumb joint connected with the first driving assembly and capable of rotating relative to the first driving assembly with a second set direction as an axial direction. When the first driving assembly drives the thumb joint to move in the first set direction, the thumb joint is simultaneously driven to rotate around the second set direction. Thus, the bending and stretching movements of the thumb joint can be realized by a single driving assembly. The rotating member can be rotatably connected with the external structure, so as to realize the swinging movement of the thumb module. The transmission reliability is ensured, the structural difficulty is simplified, the space utilization is improved, and the structure weight is reduced.

Description

Technical Field

[0001] This disclosure relates to the field of robotics, and more particularly to a thumb module, a robotic hand, and a robot. Background Technology

[0002] A robotic dexterous hand is a robotic end effector that can mimic the human hand. Due to its advantages such as multiple degrees of freedom, high flexibility, and good biomimetic effect, it has developed rapidly in recent years and is often used to integrate into the end of a robotic arm to perform tasks such as grasping or manipulating tools.

[0003] Robotic dexterous hands are generally composed of multiple finger modules. Currently, existing dexterous hands use six active drive motors to control their grasping function. Specifically, the index, middle, ring, and little fingers are each controlled by one motor for bending and extending, while the thumb is controlled by two motors: one for swinging and the other for bending and extending, totaling six motors (six degrees of freedom). In these dexterous hand products, the four fingers other than the thumb are usually designed to be parallel, which makes it difficult to perform corresponding tasks well when straightening or bending. For example, large gaps appear when the four fingers are clenched, and they cannot spread out as fully as a human hand. Due to the lack of lateral swinging motion (i.e., finger spreading and retraction) of the thumb and the other four fingers, dexterous hands suffer from low biomimicry, low finger dexterity, and limited movement space.

[0004] To enhance the biomimeticity and motor flexibility of dexterous hands, academia has developed 15-DOF (DoF) dexterous hand designs. Each finger module is controlled by three motors (3 DDOs) to control the bending, extension, and lateral movements of the fingers, resulting in a total of 15 DDOs for the five fingers. However, this type of dexterous hand suffers from problems such as heavy weight, high cost, complex integration, and difficulty in achieving true commercial mass production. Summary of the Invention

[0005] This disclosure proposes a thumb module, a robotic hand, and a robot to address at least some of the problems in the related art.

[0006] In a first aspect, embodiments of this disclosure provide a thumb module, comprising: Thumb base; A first driving component is disposed on the thumb base along a first predetermined direction; A rotating component for rotatable connection with an external structure, connected to the thumb base; The thumb joint is connected to the first drive component and is capable of rotating relative to the first drive component in a second predetermined direction. Specifically, when the first driving component drives the thumb joint to move along the first predetermined direction, it simultaneously causes the thumb joint to rotate around the second predetermined direction.

[0007] Optionally, the first drive assembly includes: a first linear actuator motor, a first ball bearing, and a first bearing plate. The first linear actuator motor is disposed on the thumb base along the first predetermined direction. The first ball bearing is movably disposed on the thumb base. The first bearing plate covers the first ball bearing and is fixedly connected to the thumb base. The end of the first linear actuator motor is connected to the first ball bearing, and the front end of the first linear actuator motor is connected to the thumb joint.

[0008] Optionally, the thumb joint includes: a first rod, a second rod, a third rod, and a fingertip rod; a first end of the first rod is rotatably connected to the first driving assembly, and a second end of the first rod is rotatably connected to the fingertip rod; a first end of the second rod is rotatably connected to the thumb base, and a second end of the second rod is fixedly connected to the second end of the first rod; a first end of the third rod is rotatably connected to the thumb base, and a second end of the third rod is rotatably connected to the fingertip rod. The second rod and the third rod are arranged intersectingly. When the first driving component drives the first rod to move along the first set direction, it drives the first rod to rotate around the second set direction at the same time. The first rod drives the second rod, the third rod and the fingertip rod to rotate in the same direction.

[0009] Optionally, there are two first rods, with the first ends of the two first rods integrally disposed and connected to the first drive assembly, and the second ends of the two first rods rotatably connected to the fingertip rod from both sides along the second set direction.

[0010] Optionally, there are two second rods, with the first ends of the two second rods rotatably connected to the thumb base from both sides along the second set direction, and the second ends of the second rods fixedly connected to the second ends of the first rods located on the same side.

[0011] Optionally, the rotatable connection point between the second rod and the thumb base is located closer to the first drive assembly than the rotatable connection point between the third rod and the thumb base.

[0012] Optionally, the first rod and the first drive assembly, the first rod and the fingertip rod, the second rod and the thumb base, the third rod and the thumb base, and the third rod and the fingertip rod are all connected by a hinge structure. The hinge structure includes a hinge shaft and two fixing members. The hinge shaft passes through the connection point of the two parts to be connected along the second predetermined direction. The two fixing members are fixed to the hinge shaft from both sides of the connection point along the second predetermined direction.

[0013] Optionally, the thumb joint includes an extended state and a bent state; the first drive assembly includes a first linear push rod motor disposed along the first set direction on the thumb base and a first push rod disposed at the front end of the first linear push rod motor, the first push rod being rotatably connected to the first rod member; When the first linear actuator motor drives the first actuator to extend outward along the first set direction, the thumb joint gradually switches from the extended state to the bent state; when the first linear actuator motor drives the first actuator to retract along the first set direction, the finger joint assembly gradually switches from the bent state to the extended state.

[0014] Optionally, the first driving component includes a rotary motor and a transmission component, the transmission component being connected between the rotary motor and the thumb joint; when the rotary motor rotates, the transmission component converts the rotational motion of the rotary motor into linear motion, thereby driving the thumb joint to move along the first direction.

[0015] Optionally, the transmission assembly includes a worm gear and a worm connected to the worm gear. The worm gear is connected to the rotary motor, and the worm is connected to the thumb joint. When the rotary motor drives the worm gear to rotate, the worm gear drives the worm to move along the first direction, thereby driving the thumb joint to move along the first direction; or The transmission assembly includes a gear and a rack connected to the gear. The gear is connected to the rotary motor, and the rack is connected to the thumb joint. When the rotary motor drives the gear to rotate, the gear drives the rack to move along the first direction, thereby driving the thumb joint to move along the first direction; or The transmission assembly includes a crank and a slider connected to the crank. The crank is connected to the rotary motor, and the slider is connected to the thumb joint. When the rotary motor drives the crank to rotate, the crank drives the slider to move along the first direction, thereby driving the thumb joint to move along the first direction.

[0016] Secondly, embodiments of this disclosure provide a robotic hand, including a palm module and a thumb module as described in the first aspect, wherein the rotating member is rotatably connected to the palm module.

[0017] Optionally, the palm module includes: A palm base, wherein the rotating component is rotatably connected to the palm base about a third predetermined direction; The second drive component is disposed on the palm base along the fourth predetermined direction and connected to the rotating component; When the second driving component drives the rotating member to move along the fourth predetermined direction, it simultaneously drives the rotating member to rotate around the third predetermined direction, thereby driving the thumb module to rotate in the same direction.

[0018] Optionally, the palm base is provided with a rotating seat, and the rotating component is rotatably connected to the rotating seat about the third predetermined direction; The second drive assembly includes a second linear actuator motor, which is disposed on the palm base along the first set direction, and the front end of the second linear actuator motor is rotatably connected to the rotating component; When the second linear push rod motor extends or retracts along the fourth predetermined direction, it drives the rotating component to move along the fourth predetermined direction and rotate relative to the rotating seat around the third predetermined direction.

[0019] Optionally, the palm module further includes: A third drive component is disposed on the palm base along the first direction; A pitch control assembly is connected to the third drive assembly; the pitch control assembly has at least one pitch control slot arranged along a second direction; the pitch control slot includes a first end and a second end arranged opposite each other along the length direction, the first end of the pitch control slot is closer to the third drive assembly than the second end, and the length direction of the pitch control slot is inclined to the first direction; The robotic arm also includes at least one finger module, the finger module including a follower, the follower being slidably disposed in the variable pitch groove.

[0020] Optionally, the finger module and the thumb module are located on opposite sides of the palm module.

[0021] Optionally, the finger module includes: Finger base; A fourth driving component is disposed on the finger base along the first direction; The knuckle assembly includes a first knuckle assembly, a second knuckle assembly, and a fingertip assembly. The first knuckle assembly is connected to the fourth drive assembly and is rotatable relative to the fourth drive assembly with the second direction as the axis. The second knuckle assembly is rotatably connected to the first knuckle assembly with the second direction as the axis. The fingertip assembly is rotatably connected to the second knuckle assembly with the second direction as the axis. When the fourth driving component drives the first knuckle component to move along the first direction, the first knuckle component rotates around the second direction and drives the second knuckle component to rotate in the same direction, and the second knuckle component drives the fingertip component to rotate in the same direction.

[0022] Thirdly, embodiments of this disclosure provide a robot including at least one robotic arm as described in the second aspect.

[0023] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects: The thumb module disclosed herein, when the first drive component drives the thumb joint to move along a first predetermined direction, can simultaneously drive the thumb joint to rotate around a second predetermined direction, improving the flexibility and biomimeticity of the robotic arm. Bending and extending movements of the thumb joint can be achieved through a single drive component (i.e., the first drive component). It can be rotatably connected to an external structure via a rotating component, thereby realizing the swinging movement of the thumb module. This design ensures transmission reliability, simplifies structural complexity, improves space utilization, and reduces structural weight.

[0024] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0025] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0026] Figure 1 This is a perspective view of a hand module according to an exemplary embodiment of the present disclosure.

[0027] Figure 2 This is a schematic diagram of the structure of a hand module according to an exemplary embodiment of the present disclosure.

[0028] Figure 3 This is a schematic diagram of the structure of a hand module in its initial state, according to an exemplary embodiment of this disclosure.

[0029] Figure 4 This is a schematic diagram of the structure of a hand module in an extended state, according to an exemplary embodiment of the present disclosure.

[0030] Figure 5This is a schematic diagram of the structure of a hand module, which is another exemplary embodiment of this disclosure.

[0031] Figure 6 This is a perspective view of a finger module according to an exemplary embodiment of the present disclosure.

[0032] Figure 7 This is a side view of a finger module in its initial state according to an exemplary embodiment of this disclosure.

[0033] Figure 8 This is a side view of a finger module in an intermediate state according to an exemplary embodiment of the present disclosure.

[0034] Figure 9 This is a side view of a finger module in a bent state according to an exemplary embodiment of the present disclosure.

[0035] Figure 10 This is a side view of a finger module in its initial state, according to another exemplary embodiment of this disclosure.

[0036] Figure 11 This is a perspective view of a thumb module according to an exemplary embodiment of the present disclosure.

[0037] Figure 12 This is a side view of a thumb module in its initial state according to an exemplary embodiment of the present disclosure.

[0038] Figure 13 This is a side view of a thumb module in a bent state according to an exemplary embodiment of the present disclosure.

[0039] Figure 14 This is a side view of a thumb module in its initial state, according to another exemplary embodiment of this disclosure.

[0040] Figure 15 This is an enlarged schematic diagram of the connection between the rotating member and the palm base in an exemplary embodiment of this disclosure.

[0041] Figure 16 This is a front perspective view of a robotic arm according to an exemplary embodiment of the present disclosure.

[0042] Figure 17 and Figure 18 This is a perspective view of the back of a robotic arm according to an exemplary embodiment of this disclosure. Detailed Implementation

[0043] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0044] This disclosure provides a thumb module, a robotic hand, and a robot. The thumb module can be applied to fields such as robotic dexterous hands, robotic prostheses, robotic end effectors, mechanical prostheses, and hand medical rehabilitation equipment. The robotic hand can be a robotic dexterous hand, robotic prosthesis, robotic end effector, mechanical prosthesis, or hand medical rehabilitation equipment. The robot can be applied to fields such as intelligent robots and medical rehabilitation equipment. The robotic hand may include a palm module and at least one finger module installed in the palm module. The robot may include at least one of the robotic hands.

[0045] To better understand the technical solutions of this disclosure, the thumb module, robotic arm, and robot of this disclosure will be described in detail below with reference to the accompanying drawings. Unless otherwise specified, the features in the following embodiments and implementations can be combined with each other.

[0046] See Figure 1 and Figure 2 As shown in the figure, this disclosure proposes a palm module 200, including: a palm base 40, a third drive component 41, and a pitch-changing component 50. It should be noted that the third drive component 41 can be a linear drive component or a rotary drive component capable of converting rotational motion into linear motion, which will be described in detail below.

[0047] The third drive assembly 41 is disposed on the palm base 40 along the first direction X. The pitch-changing assembly 50 is connected to the third drive assembly 41. The pitch-changing assembly 50 has at least one pitch-changing groove 51 arranged along the second direction Y. The pitch-changing groove 51 includes a first end that is disposed opposite to the first end along the length direction. Figure 2 The image shows the lower end and the second end. Figure 2 (As shown in the diagram, the upper end) The first end of the pitch groove 51 is positioned closer to the third drive assembly 41 than the second end, and the length direction of the pitch groove 51 is inclined to the first direction X. Figure 2 Taking the leftmost variable pitch slot 51 as an example, the inclination angle between the length direction of the variable pitch slot 51 and the first direction X can be as shown by α, and the range of this inclination angle can be 0 ≤ α < 35°. In the example shown in the figure, there are four variable pitch slots 51. It should be noted that the number of variable pitch slots 51 can be set according to actual needs, and this disclosure does not limit it.

[0048] See Figure 3 and Figure 4 As shown, when the palm module is applied to a robotic arm, a finger module 100 can be installed in each pitch groove 51, and the finger module 100 is movably connected to the palm base 40. The finger module 100 may include a follower 101, and the finger module 100 is slidably disposed in the pitch groove 51 through the follower 101. The follower 101 may be a cam follower. In the palm module of this disclosure, the pitch groove 51 opened in the pitch assembly 50 can be used to connect the finger module 100. The pitch assembly 50 realizes the pitch mechanism through the cooperation design with the finger module 100. When the third drive assembly 41 drives the pitch assembly 50 to move along the first direction X, it causes the finger module 100 to slide relative to the pitch groove 51, so that the finger module 100 can laterally swing relative to the first direction X according to the tilt angle between the length direction of the pitch groove 51 and the first direction X.

[0049] The hand module can include an initial state and an unfolded state. For example... Figure 3 As shown, this can be understood as the initial state of the hand module, with each finger module 100 side by side and folded together. (See diagram below.) Figure 4 As shown, this can be understood as the unfolded state of the palm module, with each finger module 100 swinging outwards.

[0050] When the palm module is in the initial state, the third drive component 41 can drive the pitch component 50 to move upward along the first direction X, and the follower 101 of the finger module 100 slides downward relative to the pitch groove 51, causing the finger module 100 to slide relative to the pitch groove 51, and each finger gradually swings outward so that the palm module gradually switches from the initial state to the unfolded state.

[0051] When the palm module is in the unfolded state, the third drive component 41 can drive the pitch component 50 to move downward along the first direction X, and the follower 101 of the finger module 100 slides upward relative to the pitch groove 51, causing the finger module 100 to slide relative to the pitch groove 51, and each finger gradually closes inward, so that the palm module gradually switches from the unfolded state to the initial state.

[0052] Thus, the palm module disclosed herein can achieve the coordinated lateral swing motion of each finger module 100 through a single third drive component 41, which not only ensures transmission reliability, simplifies structural complexity, improves space utilization, and reduces structural weight.

[0053] See Figure 5 As shown, in some optional embodiments, the second direction Y is perpendicular to the first direction X, and the variable pitch slot 51 includes a first slot group and a second slot group arranged along the second direction Y. The first slot group includes at least one first variable pitch slot 511 arranged along the second direction Y, and the second slot group includes at least one second variable pitch slot 512 arranged along the second direction Y.

[0054] The pitch groove 51 can be an oblong groove. The distance 'a' between the first end (i.e., the lower end) of the first pitch groove 511 and the first end (i.e., the lower end) of the second pitch groove 512 is greater than the distance 'b' between the second end (i.e., the upper end) of the first pitch groove 511 and the second end (i.e., the upper end) of the second pitch groove 512. This is to ensure that when the third drive assembly 41 drives the pitch assembly 50 to move upward along the first direction X, each finger module 100 swings outward, and when the third drive assembly 41 drives the pitch assembly 50 to move downward along the first direction X, each finger module 100 retracts inward.

[0055] When there is more than one first pitch groove 511, among two adjacent first pitch grooves 511, the inclination angle between the one closer to the second groove group and the first direction X is not greater than the inclination angle between the other and the first direction X. Figure 5 In the example shown, two first pitch grooves 511 are used as an example. The tilt angle between the first pitch groove 511 on the right and the first direction X is not greater than the tilt angle between the first pitch groove 511 on the left and the first direction X.

[0056] When there is more than one second pitch groove 512, among two adjacent second pitch grooves 512, the inclination angle between the one closer to the first groove group and the first direction X is not greater than the inclination angle between the other and the first direction X. Figure 5 In the example shown, two second pitch slots 512 are used as an example. The tilt angle between the second pitch slot 512 on the left and the first direction X is not greater than the tilt angle between the second pitch slot 512 on the right and the first direction X.

[0057] In this way, each finger module 100 can perform lateral swinging motion at different or the same angles according to actual needs.

[0058] In some optional embodiments, the pitch-changing assembly 50 includes a plate 52 and a slider 53 connected to the plate 52. The slider 53 is slidably connected to the palm base 40 along the first direction X. The plate 52 is connected to the third drive assembly 41, and the plate 52 has a pitch-changing groove 51. Optionally, the end of the plate 52 near the third drive assembly 41 may have a first connecting portion 521. The first connecting portion 521 and the third drive assembly 41 can be hinged to achieve the connection between the plate 52 and the third drive assembly 41. When the third drive assembly 41 drives the pitch-changing assembly 50 to move along the first direction X, it causes the slider 53 to slide relative to the palm base 40 along the first direction X, which can guide the plate 52.

[0059] Furthermore, the palm base 40 is provided with a slide rail 54 arranged along the first direction X, and the slider 53 is slidably connected to the slide rail 54. The slide rail 54 can be fixedly connected to the palm base 40 by fasteners such as screws. Thus, when the third drive assembly 41 drives the pitch-changing assembly 50 to move along the first direction X, it drives the slider 53 to slide along the slide rail 54 along the first direction X, which can guide and limit the plate 52. Optionally, the slide rail 54 can be a miniature linear slide rail, and the slider 53 can be a matching miniature slider.

[0060] The pitch control assembly 50 may also include an adapter 55, one end of which is fixedly connected to the plate 52 by fasteners such as screws, and the other end is fixedly connected to the slider 53 by fasteners such as screws, thereby realizing the connection between the plate 52 and the slider 53.

[0061] In some optional embodiments, there are two slide rails 54, respectively disposed on both sides of the palm base 40 along the second direction Y. Correspondingly, there are two sliders 53, connected to the two slide rails 54. There are two adapters 55, respectively connected to both sides of the plate 52 along the second direction Y, and the adapters 55 are connected to the sliders 53 located on the same side. In this way, the adapters 55 and sliders 53 on both sides of the plate 52 are connected to the slide rails on both sides of the palm base 40, and the plate 52 and the palm base 40 adopt a double-end connection, which can improve the stability during relative movement.

[0062] Thus, a set of slide rails 54 and sliding members 53 are installed on each side of the palm base 40. Their function is twofold: firstly, the plate 52 is fixedly connected to the sliding member 53 via the adapter 55, allowing the plate 52 to slide linearly along the slide rail 54, ensuring the smoothness and straightness of the plate 52's movement and preventing it from deflecting and jamming during movement. Secondly, because the linear slide rail has a high capacity to withstand lateral loads, when subjected to lateral loads, the lateral force is absorbed by the linear slide rail and the palm base 40, preventing the lateral force from being transmitted to the third drive assembly and causing damage to it. This protects the third drive assembly while improving the robot's ability to withstand lateral loads.

[0063] In some alternative embodiments, the palm base 40 is provided with first protrusions 42 on both sides along the second direction Y, and the slide rail 54 is disposed on the outer side of the first protrusions 42 located on the same side. The palm base 40 and the two first protrusions 42 enclose a receiving space 43, and each finger module 100 can be assembled in the receiving space 43.

[0064] In some optional embodiments, the finger module 100 may include a finger body and a second ball bearing connected to the end of the finger body. The second ball bearing is movably disposed on the palm base 40, and the finger body can move around the second ball bearing within a certain range to achieve lateral movement. The palm module includes a second bearing pressure plate 44, which covers the second ball bearing and can be fixedly connected to the palm base 40 by fasteners such as screws.

[0065] The palm base 40 may have a second protrusion 45 on one side along the first direction X. The second protrusion 45 has a plurality of grooves 46 arranged along the second direction Y. The number of finger modules 100 corresponds to the number of grooves 46. A second ball bearing of a finger module 100 is movably disposed in each groove. A second bearing pressure plate 44 covers the second ball bearing of each finger module 100 and can be fixedly connected to the second protrusion 45 by fasteners such as screws, thereby limiting the position of the second ball bearing and realizing the connection between each finger module 100 and the palm module. Optionally, an opening 441 may be opened on the second bearing pressure plate 44 corresponding to the groove 46 to facilitate the position alignment during installation.

[0066] In some optional embodiments, the third drive assembly 41 is a linear drive assembly, which may include a third linear actuator motor 411 and a motor mount 412. The motor mount 412 is fixedly connected to the palm base 40 by fasteners such as screws. The third linear actuator motor 411 is mounted on the motor mount and connected to the pitch converter assembly 50. Optionally, the front end of the third linear actuator motor 411 is hinged to the first connecting portion 521 of the plate 52 of the pitch converter assembly 50. The rear end of the third linear actuator motor 411 may be provided with a third ball bearing and a bearing cover 413. The third ball bearing is movably disposed on the palm base 40, and the bearing cover 413 covers the third ball bearing and is fixedly connected to the palm base 40, thereby limiting the position of the third ball bearing.

[0067] Combination Figure 3 and Figure 4 As shown, when the palm module is in the initial state, the third linear push rod motor 411 extends outward, driving the plate 52 of the pitch component 50 to move upward along the first direction X. The follower 101 of the finger module 100 slides downward relative to the pitch groove 51, causing the finger module 100 to slide relative to the pitch groove 51, thereby causing the finger module 100 to deflect around the second ball bearing. Each finger gradually swings outward to achieve a linked outward swinging motion, so that the palm module gradually switches from the initial state to the unfolded state.

[0068] When the palm module is in the unfolded state, the third linear push rod motor 411 retracts inward, driving the plate 52 of the pitch component 50 to move downward along the first direction X. The follower 101 of the finger module 100 slides upward relative to the pitch groove 51, causing the finger module 100 to slide relative to the pitch groove 51, thereby causing the finger module 100 to deflect around the second ball bearing. Each finger gradually retracts inward to achieve a linked inward swinging motion, so that the palm module gradually switches from the unfolded state to the initial state.

[0069] In some alternative embodiments, the third drive component 41 can also be a rotary drive component, which may include a rotary motor and a transmission component, wherein the transmission component is connected between the rotary motor and the pitch-changing component 50. When the rotary motor rotates, the transmission component can convert the rotational motion of the rotary motor into linear motion, thereby driving the pitch-changing component 50 to move along the first direction X, and similarly realizing the lateral swing motion of each finger module. It should be noted that there are many possible structural forms of the transmission component, as long as it satisfies the requirement of converting rotational motion into linear motion, and this disclosure does not impose any limitations on it.

[0070] For example, the transmission assembly may include a worm gear and a worm connected to the worm gear. The worm gear is connected to the rotary motor, and the worm is connected to the pitch conversion assembly 50. When the rotary motor drives the worm gear to rotate, the worm gear drives the worm to move along the first direction X, thereby driving the pitch conversion assembly 50 to move along the first direction X.

[0071] The transmission assembly may also include a gear and a rack connected to the gear. The gear is connected to the rotary motor, and the rack is connected to the pitch-changing assembly 50. When the rotary motor drives the gear to rotate, the gear drives the rack to move along the first direction X, thereby driving the pitch-changing assembly 50 to move along the first direction X.

[0072] The transmission assembly may also include a crank and a slider connected to the crank. The crank is connected to the rotary motor, and the slider is connected to the pitch conversion assembly 50. When the rotary motor drives the crank to rotate, the crank causes the slider to move along the first direction X, which in turn causes the pitch conversion assembly 50 to move along the first direction X.

[0073] In some alternative embodiments, the robotic hand of this disclosure may further include a wrist portion 47, which may be fixedly connected to the palm module by fasteners such as screws, and at least a portion of the third drive assembly 41 may be fixedly connected to the wrist portion 47. Optionally, the motor mount 412 of the third drive assembly 41 may be fixedly connected to the wrist portion 47 by fasteners such as screws.

[0074] Through the above technical solutions, the palm module of this disclosure, with its variable pitch component 50 designed in conjunction with the finger module 100 to achieve a variable pitch mechanism, can realize the linked lateral swing motion of each finger module 100 through a single third drive component 41. This increases the flexibility and bionics of the robotic hand, ensuring transmission reliability, simplifying structural complexity, improving space utilization, reducing structural weight, and lowering costs. Within a compact and highly integrated palm space, this low-cost, low-weight solution effectively improves the movement space and flexibility of the robotic hand's finger modules.

[0075] The robotic hand disclosed herein uses the aforementioned palm module. By setting a single third drive component 41, the coordinated lateral swing motion of each finger module 100 can be achieved. Compared with the existing 15-DOF dexterous hand, it simplifies the structural complexity, reduces the structural weight, and lowers the cost.

[0076] See Figure 6 and Figure 7 As shown, this disclosure proposes a finger module 100, which may include: a finger base 10, a fourth driving component 20, and a knuckle component 30. A follower 101 may be disposed on the fourth driving component 20. It should be noted that the fourth driving component 20 of the finger module and the third driving component 41 of the palm module can move independently or synchronously as needed. It should also be noted that the fourth driving component 20 can be a linear driving component or a rotational driving component capable of converting rotational motion into linear motion, as detailed below.

[0077] The fourth drive assembly 20 is disposed on the finger base 10 along the first direction X. The knuckle assembly 30 includes a first knuckle assembly 31, a second knuckle assembly 32, and a fingertip assembly 33. The first knuckle assembly 31 is connected to the fourth drive assembly 20 and is rotatable relative to the fourth drive assembly 20 about the second direction Y. The second knuckle assembly 32 is rotatably connected to the first knuckle assembly 31 about the second direction Y. The fingertip assembly 33 is rotatably connected to the second knuckle assembly 32 about the second direction Y.

[0078] When the fourth drive component 20 drives the first knuckle component 31 to move along the first direction X, the first knuckle component 31 rotates around the second direction Y (which can be considered a bending motion), and drives the second knuckle component 32 to rotate in the same direction (which can be considered a linked bending motion). The second knuckle component 32 drives the fingertip component 33 to rotate in the same direction (which can be considered a linked bending motion). The finger module can include an initial state and a bent state. Figure 7 As shown, this can be understood as the initial state of the finger module. Figure 9 As shown, this can be understood as the bent state of the finger module.

[0079] Combination Figures 6 to 9As shown, when the finger module is in the initial state, the fourth driving component 20 can drive the first knuckle component 31 to move to the left along the first direction X and rotate counterclockwise around the second direction Y at the same time. The first knuckle component 31 can drive the second knuckle component 32 to rotate counterclockwise around the second direction Y. The second knuckle component 32 can drive the fingertip component 33 to rotate counterclockwise around the second direction Y. The first knuckle component 31, the second knuckle component 32 and the fingertip component 33 move in a coordinated bending motion so that the finger module gradually switches from the initial state to the bent state.

[0080] When the finger module is in a bent state, the fourth drive component 20 can drive the first knuckle component 31 to move to the right along the first direction X and rotate clockwise around the second direction Y at the same time. The first knuckle component 31 can drive the second knuckle component 32 to rotate clockwise around the second direction Y. The second knuckle component 32 can drive the fingertip component 33 to rotate clockwise around the second direction Y. The first knuckle component 31, the second knuckle component 32 and the fingertip component 33 move in a coordinated extension motion so that the finger module gradually switches from the bent state to the initial state.

[0081] Thus, the finger module disclosed herein can realize the coordinated bending and extension movements of the three joints of the finger—the first phalanx component 31, the second phalanx component 32, and the fingertip component 33—through a single fourth drive component 20. This not only ensures transmission reliability but also simplifies the structural complexity, improves space utilization, and reduces structural weight.

[0082] In some optional embodiments, the finger base 10 extends along a first direction X, and the finger base 10 is provided with a receiving groove 11 extending along the first direction X. The fourth driving component 20 is disposed in the receiving groove 11, which can better fix the fourth driving component 20. In this embodiment, the front end (the end used to connect with the first knuckle component 31) of the fourth driving component 20 is smaller and the end end is larger. The structural dimensions of the receiving groove 11 can be adapted and adjusted according to the structural dimensions of the fourth driving component 20.

[0083] In some optional embodiments, the fourth drive assembly 20 is a linear drive assembly, which may include a fourth linear actuator motor 21, a fourth ball bearing 22, and a third bearing pressure plate 23. The fourth ball bearing 22 is movably disposed at the end of the finger base 10 away from the knuckle assembly 30. The third bearing pressure plate 23 covers the fourth ball bearing 22 and is fixedly connected to the finger base 10, thereby limiting the position of the fourth ball bearing 22. Optionally, the end of the finger base 10 away from the knuckle assembly 30 may have a groove (not shown). The fourth ball bearing 22 is disposed in the groove. After the third bearing pressure plate 23 covers the fourth ball bearing 22, it can be fixedly connected to the finger base 10 by fasteners such as screws, thereby limiting the position of the fourth ball bearing 22.

[0084] The end of the fourth linear actuator motor 21 is connected to the fourth ball bearing 22, allowing the fourth linear actuator motor 21 to move within a certain range around the fourth ball bearing 22. The front end of the fourth linear actuator motor 21 is connected to the first knuckle assembly 31 of the knuckle assembly 30, driving the first knuckle assembly 31 to move along the first direction X and rotate around the second direction Y. It can be understood that during the process of the fourth linear actuator motor 21 driving the first knuckle assembly 31 to move, causing the finger module to switch between the initial state and the bent state, due to the reaction force of the first knuckle assembly 31, the fourth linear actuator motor 21 can achieve a slight pitching motion of its front end around the second direction Y via the fourth ball bearing 22. Specifically, during any complete process of the finger module switching between the initial state and the bent state, the front end of the fourth linear actuator motor 21 first slightly lifts upward and then gradually returns to its original position.

[0085] In some alternative embodiments, the fourth drive component 20 may also be a rotary drive component, which may include a rotary motor and a transmission component, wherein the transmission component is connected between the rotary motor and the first knuckle component 31. When the rotary motor rotates, the transmission component can convert the rotational motion of the rotary motor into linear motion, thereby driving the first knuckle component 31 to move along the first direction X, thus realizing the bending and extending motion of the finger module.

[0086] For example, the transmission assembly may include a worm gear and a worm connected to the worm gear. The worm gear is connected to the rotary motor, and the worm is connected to the first finger assembly 31. When the rotary motor drives the worm gear to rotate, the worm gear drives the worm to move along the first direction X, thereby driving the first finger assembly 31 to move along the first direction X.

[0087] The transmission assembly may also include a gear and a rack connected to the gear. The gear is connected to the rotary motor, and the rack is connected to the first knuckle assembly 31. When the rotary motor drives the gear to rotate, the gear drives the rack to move along the first direction X, thereby driving the first knuckle assembly 31 to move along the first direction X.

[0088] The transmission assembly may also include a crank and a slider connected to the crank. The crank is connected to the rotary motor, and the slider is connected to the first knuckle assembly 31. When the rotary motor drives the crank to rotate, the crank causes the slider to move along the first direction X, which in turn causes the first knuckle assembly 31 to move along the first direction X.

[0089] It should be noted that the transmission assembly can have many structural forms, as long as it can convert rotary motion into linear motion, and this disclosure does not impose any limitations on it. In the following embodiments and implementation methods, the fourth drive assembly 20 is used as an example of a linear drive assembly for illustration.

[0090] In some alternative embodiments, the first knuckle assembly 31 may include a first link 311, a second link 312, a third link 313, and a fourth link 314. The first end of the first link 311 ( Figure 7 The right end (shown in the diagram) is connected to the fourth drive assembly 20, and the second end of the first link 311 (shown in the diagram) Figure 7 The left end is shown in the diagram, and the first end of the second link 312 is shown in the diagram. Figure 7 The right end is shown in the diagram. The first end of the second link 312 is also hinged to the finger base 10, and the second end of the second link 312 (shown as the right end) is hinged. Figure 7 The left end is shown in the diagram, and the first end of the fourth link 314 is shown in the diagram. Figure 7 The left end is shown in the diagram. The first end of the third link 313 (shown in the diagram) is hinged. Figure 7 The right end shown is hinged to the finger base 10, and the second end of the third link 313 (shown as the right end) is also hinged to the finger base 10. Figure 7 The left end is shown in the diagram, and the second end of the fourth link 314 is shown in the diagram. Figure 7 (The right end is shown in the diagram) Hinged. It can be understood that the first end of the first link 311 is connected to the front end of the fourth linear actuator motor 21 of the fourth drive assembly 20, and the fourth linear actuator motor 21 can drive the first link 311 to move along the first direction.

[0091] Optionally, the first link 311 and the second link 312, the second link 312 and the finger base 10, the second link 312 and the fourth link 314, the third link 313 and the finger base 10, and the third link 313 and the fourth link 314 are all connected by hinge structures. The hinge structure includes a hinge shaft and two fixing members. The hinge shaft passes through the connection point of the two parts to be connected, and the two fixing members are fixed to the hinge shaft from both sides along the second direction Y from the connection point. That is, the fixing members fix the hinge shaft from both sides, allowing the two parts to be connected to rotate relative to each other via the hinge shaft. Thus, the hinge structure adopts a double-end support method, which can improve the connection strength of the hinge structure.

[0092] like Figure 7As shown, the first link 311 and the second link 312 are hinged together by hinge structure A; the second link 312 is hinged to the finger base 10 by hinge structure B; the second link 312 and the fourth link 314 are hinged together by hinge structure C; the third link 313 and the finger base 10 are hinged together by hinge structure D; and the third link 313 and the fourth link 314 are hinged together by hinge structure E. It should be noted that, taking hinge structure A as an example, the two links to be connected corresponding to hinge structure A can be the first link 311 and the second link 312. One of the first link 311 and the second link 312 can have a groove structure, and the other is inserted into the groove structure to form a connection. The hinge axis of hinge structure A passes through this connection point, realizing relative rotation between the two links. Alternatively, one of the first link 311 and the second link 312 can be provided with two lugs, forming a groove structure between the two lugs. The other link is inserted into the groove structure to form a connection, and the hinge shaft of the hinge structure A passes through this connection to realize relative rotation between the two. Correspondingly, the two links to be connected corresponding to the hinge structure BE can adopt a similar arrangement as the hinge structure A, which will not be described in detail here.

[0093] like Figure 10 As shown, the second link 312 and the third link 313 are arranged intersectingly, such that the finger base 10 portion between hinge structure B and hinge structure D, the second link 312, the third link 313, the fourth link 314, and the hinge structure BE constitute an inverted quadrilateral mechanism. Optionally, the hinge point of the second link 312 with the finger base 10 (i.e., the position of hinge structure B) is located closer to the fourth drive assembly 20 than the hinge point of the third link 313 with the finger base 10 (i.e., the position of hinge structure D). It is understandable that in Figure 7 In the example shown, hinge structure D is located below hinge structure B, and hinge structure B is positioned closer to the fourth drive assembly 20 than hinge structure D. The second link 312 is inclined to the lower left relative to the finger base 10, and the third link 313 is inclined to the upper left relative to the finger base 10. The distance between hinge structure B and hinge structure E is smaller than the distance between hinge structure C and hinge structure D, thus forming the inverted quadrilateral mechanism shown in the figure.

[0094] When the fourth linear actuator motor 21 of the fourth drive assembly 20 drives the first link 311 to move along the first direction X, due to the structural motion characteristics of the inverted quadrilateral mechanism, the first link 311 can drive the second link 312 to rotate relative to the first link 311 about the second direction Y through hinge structure A and relative to the finger base 10 about the second direction Y through hinge structure B. The second link 312 can drive the fourth link 314 to rotate relative to the finger base 10 in the same direction Y through hinge structure C. The fourth link 314 can drive the third link 313 to rotate relative to the finger base 10 in the same direction Y through hinge structures D and E. In this way, the bending and extending movements of the first knuckle assembly 31 are realized.

[0095] In some alternative embodiments, the second knuckle assembly 32 may include a fifth link 321, a sixth link 322, and a seventh link 323, and the fingertip assembly 33 may include a fingertip link 331. The first end of the fifth link 321 ( Figure 7 The right end shown is hinged to the second end of the second link 312 and fixedly connected to the first end of the fourth link 314 at a first included angle. The second end of the fifth link 321 (shown as the right end) is also hinged to the second end of the second link 312 and fixedly connected to the first end of the fourth link 314 at a first included angle. Figure 7 The left end (shown in the diagram) is hinged to the fingertip link 331. The first end of the sixth link 322 ( Figure 7 The right end shown is fixedly connected to the second end of the second link 312 at a second included angle, and is hinged to the first end of the fourth link 314. The second end of the sixth link 322 (shown as the right end) Figure 7 The left end is shown in the diagram, and the first end of the seventh link 323 is shown in the diagram. Figure 7 The right end is shown in the diagram. The second end of the seventh link 323 (…) Figure 7 The left end (shown in the diagram) is hinged to the fingertip link 331. Optionally, the fifth link 321 is hinged to one end of the fingertip link 331, and the seventh link 323 is hinged to the middle position of the fingertip link 331, which facilitates the bending and extension of the fingertip link 331. Figure 7 In the example shown, both the first and second included angles are obtuse. It should be noted that the angles of the first and second included angles can be set according to actual needs, and this disclosure does not impose any limitations on them.

[0096] Optionally, the second link 312 and the fifth link 321, the fourth link 314 and the sixth link 322, the fifth link 321 and the fingertip link 331, the sixth link 322 and the seventh link 323, and the seventh link 323 and the fingertip link 331 are all connected by hinge structures. The hinge structure includes a hinge axis and two fixing members. The hinge axis passes through the connection point of the two components to be connected. The two fixing members are fixed to the hinge axis from both sides along the second direction Y from the connection point. That is, the fixing members fix the hinge axis from both sides, allowing the two components to rotate relative to each other via the hinge axis. Thus, the hinge structure adopts a double-end support method, which can improve the connection strength of the hinge structure.

[0097] like Figure 7 As shown, the second link 312 and the sixth link 322 can be integrally formed structure A, and the fourth link 314 and the fifth link 321 can be integrally formed structure B. The second link 312 and the fourth link 314, the second link 312 and the fifth link 321, and the fourth link 314 and the sixth link 322 are all hinged by hinge structure C. This can be understood as the integrally formed structure A and the integrally formed structure B being hinged by hinge structure C. The fifth link 321 and the fingertip link 331 are hinged by hinge structure F, the sixth link 322 and the seventh link 323 are hinged by hinge structure G, and the seventh link 323 and the fingertip link 331 are hinged by hinge structure H. It should be noted that the two links to be connected corresponding to hinge structures F and H can adopt a similar setting as hinge structure A, which will not be elaborated further here.

[0098] like Figure 10 As shown, the fifth link 321 and the seventh link 323 are arranged intersectingly, so that the fifth link 321, the sixth link 322, the seventh link 323, the fingertip link 331, the hinge structure C, and the hinge structure FH form an inverted quadrilateral mechanism. It can be understood that in... Figure 7 In the example shown, hinge structure D is located below hinge structure B, and hinge structure B is positioned closer to the fourth drive assembly 20 than hinge structure D. The second link 312 is tilted downwards and to the left relative to the finger base 10, and the third link 313 is tilted upwards and to the left relative to the finger base 10. The distance between hinge structure B and hinge structure E is smaller than the distance between hinge structure C and hinge structure D. The fifth link 321 is tilted upwards and to the left relative to the fourth link 314, the sixth link 322 is tilted upwards and to the left relative to the second link 312, the seventh link 323 is tilted downwards and to the left relative to the sixth link 322, and the fingertip link 331 is tilted downwards and to the left relative to the fifth link 321. The distance between hinge structure F and hinge structure G is smaller than the distance between hinge structure C and hinge structure H, thus forming the two inverted quadrilateral mechanisms shown in the figure.

[0099] When the fourth linear actuator motor 21 of the fourth drive assembly 20 drives the first link 311 to move along the first direction X, due to the structural motion characteristics of the inverted quadrilateral mechanism, the first link 311 can drive the second link 312 to rotate relative to the first link 311 about the second direction Y through hinge structure A and relative to the finger base 10 about the second direction Y through hinge structure B. The second link 312 can drive the fourth link 314 to rotate in the same direction relative to the finger base 10 about the second direction Y through hinge structure C, and since the second link 312 is fixedly connected to the sixth link 322, the second link 312 can also directly drive the sixth link 322 to rotate synchronously. The fourth link 314 can drive the third link 313 to rotate in the same direction relative to the finger base 10 about the second direction Y through hinge structures D and E, and since the fourth link is fixedly connected to the fifth link 321, the fourth link 314 can also directly drive the fifth link 321 to rotate synchronously. The sixth link 322 can drive the seventh link 323 to rotate in the same direction (Y) relative to the finger base 10 via hinge structure G. The fifth link 321 and the seventh link 323 can drive the fingertip link 331 to rotate in the same direction (Y) relative to the finger base 10 via hinge structures F and H. In this way, the coordinated bending and extending movements of the first knuckle assembly 31, the second knuckle assembly 32, and the fingertip assembly 33 are realized.

[0100] Combination Figures 6 to 9 As shown, in some optional embodiments, the knuckle assembly 30 includes an extended state and a bent state. It can be understood that when the finger module is in its initial state, the knuckle assembly 30 is in the extended state, as... Figure 7 As shown. When the finger module is in a bent state, the knuckle assembly 30 is correspondingly in a bent state, as shown. Figure 9 As shown. The fourth drive assembly 20 may also include a push rod (not shown) located at the front end of the fourth linear push rod motor 21, the push rod being connected to the first link 311 of the first knuckle assembly 31.

[0101] When the finger module is in its initial state, the fourth linear actuator motor 21 of the fourth drive assembly 20 drives the actuator to extend outward to the left along the first direction. The actuator then drives the first connecting rod 311 to move to the left along the first direction X. The first connecting rod 311 drives the second connecting rod 312 to rotate counterclockwise around the second direction Y. The second connecting rod 312 drives the fourth connecting rod 314 and the sixth connecting rod 322 to rotate counterclockwise around the second direction Y. The fourth connecting rod 314 drives the third connecting rod 313 and the fifth connecting rod 321 to rotate counterclockwise around the second direction Y. The sixth connecting rod 322 drives the seventh connecting rod 323 to rotate counterclockwise around the second direction Y. The fifth connecting rod 321 and the seventh connecting rod 323 drive the fingertip connecting rod 331 to rotate counterclockwise around the second direction Y. Thus, the knuckle assembly 30 gradually switches from an extended state to a bent state, realizing the gradual switching of the finger module from its initial state to a bent state.

[0102] When the finger module is in a bent state, the fourth linear actuator motor 21 of the fourth drive assembly 20 can drive the actuator to retract to the right along the first direction, and the actuator can drive the first link 311 to move to the right along the first direction X. The first link 311 can drive the second link 312 to rotate clockwise around the second direction Y. The second link 312 can drive the fourth link 314 and the sixth link 322 to rotate clockwise around the second direction Y. The fourth link 314 can drive the third link 313 and the fifth link 321 to rotate clockwise around the second direction Y. The sixth link 322 can drive the seventh link 323 to rotate clockwise around the second direction Y. The fifth link 321 and the seventh link 323 can drive the fingertip link 331 to rotate clockwise around the second direction Y. In this way, the knuckle assembly 30 gradually switches from a bent state to an extended state, realizing the gradual switching of the finger module from a bent state to the initial state.

[0103] Optionally, the fifth link 321 can be bent into an arc shape along the bending direction of the finger joint assembly 30, which facilitates the bending and extension of the finger joint assembly 30. It is understandable that... Figure 7 In the example shown, the fifth link 321 bends downwards into an arc shape.

[0104] See Figure 6 As shown, in some optional embodiments, the second link 312 may include a main body 3121, a first link 3122, and two second link 3123. The first link 3122 extends from the main body 3121 toward the fourth drive assembly 20 in a direction perpendicular to the second direction Y. The two second link 3123 extend from the main body 3121 along both sides of the second direction Y and away from the finger base 10 in a direction perpendicular to the second direction Y. It is understood that in Figure 7In the example shown, the first rod portion 3122 extends from the main body portion 3121 towards the fourth drive assembly 20 in a direction perpendicular to the second direction Y. This can be understood as the first rod portion 3122 extending to the right from the main body portion 3121. Two second rod portions 3123 extend from the main body portion 3121 along both sides of the second direction Y and away from the finger base 10 in a direction perpendicular to the second direction Y. This can be understood as the two second rod portions 3123 extending to the left from both sides of the main body portion 3121 along the second direction Y.

[0105] The main body 3121 is fitted onto the finger base 10, and the first rod 3122 is hinged to the first connecting rod 311 via hinge structure A. One end of the second rod 3123 is hinged to the finger base 10 via hinge structure B, and the other end is hinged to the fourth connecting rod 314 via hinge structure C. Thus, both the second connecting rod 312 and the finger base 10, and the second connecting rod 312 and the fourth connecting rod 314, employ a double-end support method, which improves the connection strength between them.

[0106] Furthermore, there can be two sixth links, with two sixth links 322 hinged to the fourth link 314 on both sides along the second direction Y. There can also be two seventh links 323, with two seventh links 323 hinged to the fingertip link 331 on both sides along the second direction Y, and the seventh link 323 on the same side hinged to the sixth link 322. Thus, the sixth link 322 and the fifth link 321, and the seventh link 323 and the sixth link 322, both employ a double-end support method, which improves the connection strength between them.

[0107] The fingertip assembly 33 may also include two second connecting parts 332, which are respectively fixedly connected to both sides of the fingertip link 331 along the second direction Y. The seventh link 323 located on the same side is hinged to the second connecting parts 332 through a hinge structure H. In this way, the seventh link 323 and the fingertip link 331 adopt a double-end support method, which can improve the connection strength between them.

[0108] Through the above technical solutions, the finger module disclosed herein, with the first knuckle component 31, the second knuckle component 32, and the fingertip component 33 adopting the linkage transmission and arrangement method of the above embodiments and implementation methods, can realize the linkage bending and extension movements of the three joints of the first knuckle component 31, the second knuckle component 32, and the fingertip component 33 through a single fourth drive component 20. This not only ensures the reliability of transmission and increases the reachable movement space of the finger module, but also simplifies the structural difficulty, improves the space utilization rate, and reduces the structural weight.

[0109] See Figure 11 and Figure 12As shown in the figure, this disclosure proposes a thumb module 300, including: a thumb base 60, a first driving component 61, a rotating component 62 for rotatable connection with an external structure, and a thumb joint 70. It should be noted that the first driving component 61 can be a linear driving component or a rotary driving component capable of converting rotational motion into linear motion, which will be described in detail below.

[0110] The first driving component 61 is disposed on the thumb base 60 along a first predetermined direction Z1. The rotating component 62 is fixedly connected to the thumb base 60 for rotatable connection with an external structure. The thumb joint 70 is connected to the first driving component 61 and is capable of rotating relative to the first driving component 61 about a second predetermined direction Z2. Optionally, the second predetermined direction Z2 is perpendicular to the first predetermined direction Z1. It is understood that when the thumb module is applied to a robotic hand, the rotating component 62 can be rotatably connected to the palm base 40 of the hand module, thereby enabling the thumb module to swing relative to the hand module. The rotating component 62 may include a groove-shaped rotating portion 621, through which the rotating component 62 is rotatably connected to the palm base 40.

[0111] When the first driving component 61 drives the thumb joint 70 to move along the first predetermined direction Z1, it can simultaneously drive the thumb joint 70 to rotate around the second predetermined direction Z2, thereby realizing the bending and extending movements of the thumb module. The thumb module can include an initial state and a bent state. Figure 12 As shown, this can be understood as the initial state of the thumb module. Figure 13 As shown, this can be understood as the bent state of the thumb module.

[0112] When the thumb module is in the initial state, the first drive component 61 can drive the thumb joint 70 to move to the left along the first set direction Z1, and simultaneously drive the thumb joint 70 to rotate counterclockwise around the second set direction Z2, so that the thumb module gradually switches from the initial state to the bent state.

[0113] When the thumb module is in a bent state, the first drive component 61 can drive the thumb joint 70 to move to the right along the first set direction Z1, and simultaneously drive the thumb joint 70 to rotate clockwise around the second set direction Z2, so that the thumb module gradually switches from the bent state to the initial state.

[0114] Thus, in the thumb module of this disclosure, when the first drive component 61 drives the thumb joint 70 to move along the first predetermined direction Z1, it can simultaneously drive the thumb joint 70 to rotate around the second predetermined direction Z2, realizing bending and extension movements, thereby improving the flexibility and biomimeticity of the robotic arm. The bending and extension movements of the thumb joint 70 can be achieved through a single drive component (i.e., the first drive component 61). The rotating component 62 can be rotatably connected to an external structure, thereby realizing the swinging movement of the thumb module. This ensures transmission reliability, simplifies structural complexity, improves space utilization, and reduces structural weight.

[0115] In some optional embodiments, the thumb base 60 extends along a first predetermined direction Z1 and has a receiving groove extending along the first predetermined direction Z1. The first driving component 61 is disposed in the receiving groove, which can better fix the first driving component 61. In this embodiment, the front end (the end for connecting with the thumb joint 70) of the first driving component 61 is smaller and the rear end is larger. The structural dimensions of the receiving component can be adapted and adjusted according to the structural dimensions of the first driving component 61.

[0116] In some optional embodiments, the first drive assembly 61 is a linear drive assembly, which may include: a first linear actuator motor 611, a first ball bearing 612, and a first bearing pressure plate 613. The first linear actuator motor 611 is disposed on the thumb base 60 along the first set direction Z1. The first ball bearing 612 is movably disposed at the end of the thumb base 60 away from the thumb joint 70. The first bearing pressure plate 613 covers the first ball bearing 612 and can be fixedly connected to the thumb base 60 by fasteners such as screws, thereby limiting the position of the first ball bearing 612.

[0117] The end of the first linear actuator motor 611 is connected to the first ball bearing 612, and the first linear actuator motor 611 can move within a certain range around the first ball bearing 612. The front end of the first linear actuator motor 611 is connected to the thumb joint 70, and the first linear actuator motor 611 drives the thumb joint 70 to move along the first set direction Z1, causing the thumb joint 70 to rotate around the second set direction Z2. It can be understood that when the first linear actuator motor 611 drives the thumb joint 70 to move, so that the thumb module switches between the initial state and the bent state, due to the reaction force of the thumb joint 70, the first linear actuator motor 611 can achieve a slight pitching movement of the front end of the first linear actuator motor 611 around the second set direction Z2 through the first ball bearing 612. Specifically, with Figure 12 Taking the perspective shown as an example, during any complete process of the finger module switching between the initial state and the bent state, the front end of the first linear push rod motor 611 first lifts slightly upward and then gradually returns to its original position downward.

[0118] In some alternative embodiments, the first drive component 61 may also be a rotary drive component, which may include a rotary motor and a transmission component connected between the rotary motor and the thumb joint 70. When the rotary motor rotates, the transmission component can convert the rotational motion of the rotary motor into linear motion, thereby driving the thumb joint 70 to move along the first direction X, thus realizing the bending and extension movements of the finger module.

[0119] For example, the transmission assembly may include a worm gear and a worm connected to the worm gear. The worm gear is connected to the rotary motor, and the worm is connected to the thumb joint 70. When the rotary motor drives the worm gear to rotate, the worm gear drives the worm to move along the first direction X, thereby driving the thumb joint 70 to move along the first direction X.

[0120] The transmission assembly may also include a gear and a rack connected to the gear. The gear is connected to the rotary motor, and the rack is connected to the thumb joint 70. When the rotary motor drives the gear to rotate, the gear drives the rack to move along the first direction X, thereby driving the thumb joint 70 to move along the first direction X.

[0121] The transmission assembly may also include a crank and a slider connected to the crank. The crank is connected to the rotary motor, and the slider is connected to the thumb joint 70. When the rotary motor drives the crank to rotate, the crank causes the slider to move along the first direction X, which in turn causes the thumb joint 70 to move along the first direction X.

[0122] It should be noted that there are many possible structural forms for transmission components, as long as they can convert rotational motion into linear motion, and this disclosure does not impose any limitations on them. In the following embodiments and implementation methods, the first drive component 61 is used as a linear drive component for illustration.

[0123] In some alternative embodiments, the thumb joint 70 may include: a first member 71, a second member 72, a third member 73, and a fingertip member 74. The first end of the first member 71 ( Figure 12 The right end shown is rotatably connected to the first drive assembly 61, and the second end of the first rod 71 (shown as the right end) is rotatably connected to the first drive assembly 61. Figure 12 The left end (shown in the diagram) is rotatably connected to the fingertip rod 74. The first end of the second rod 72 (shown in the diagram) Figure 12 The right end shown is rotatably connected to the thumb base 60, and the second end of the second rod 72 (shown as the right end) is rotatably connected to the thumb base 60. Figure 12 The left end shown is fixedly connected to the second end of the first member 71. The first end of the third member 73 (shown as the left end) is fixedly connected to the second end of the first member 71. Figure 12The right end shown is rotatably connected to the thumb base 60, and the second end of the third rod 73 (shown as the right end) is rotatably connected to the thumb base 60. Figure 12 The left end (shown in the diagram) is rotatably connected to the fingertip rod 74. It can be understood that the first end of the first rod 71 is connected to the front end of the first linear actuator motor 611 of the first drive assembly 61, and the first linear actuator motor 611 can drive the first rod 71 to move along a first predetermined direction.

[0124] Optionally, the first rod 71 is hinged to the first drive assembly 61, the first rod 71 is hinged to the fingertip rod 74, the second rod 72 is hinged to the thumb base 60, the third rod 73 is hinged to the thumb base 60, and the third rod 73 is hinged to the fingertip rod 74. The hinge structure can be the same as the hinge structure described in the above finger module.

[0125] like Figure 12 As shown, the first rod 71 is hinged to the first drive assembly 61 via hinge structure I, the first rod 71 is hinged to the fingertip rod 74 via hinge structure J, the second rod 72 is hinged to the thumb base 60 via hinge structure K, the third rod 73 is hinged to the thumb base 60 via hinge structure L, and the third rod 73 is hinged to the fingertip rod 74 via hinge structure M.

[0126] like Figure 14 As shown, the second rod 72 and the third rod 73 are arranged intersectingly, such that the thumb base 60 portion between hinge structure K and hinge structure L, the fingertip rod 74 portion between hinge structure J and hinge structure M, the second rod 72, the third rod 73, and the hinge structure JM constitute an inverted quadrilateral mechanism. Optionally, the rotational connection point between the second rod 72 and the thumb base 60, i.e., the hinge point (i.e., the position of hinge structure K), is located closer to the first drive assembly 61 than the rotational connection point between the third rod 73 and the thumb base 60, i.e., the hinge point (i.e., the position of hinge structure L). The thumb base 60 may have an extension 63, and both the second rod 72 and the third rod 73 are hinged to the extension 63. The extension 63, the fingertip rod 74 portion between hinge structure J and hinge structure M, the second rod 72, the third rod 73, and the hinge structure JM constitute an inverted quadrilateral mechanism. It can be understood that in Figure 14 In the example shown, the extension 63 is inclined to the upper left relative to the thumb base 60, the hinge structure L is located below the hinge structure K, the hinge structure K is closer to the first drive assembly 61 than the hinge structure L, the third rod 73 is inclined to the upper left relative to the thumb base 60, the second rod 72 is horizontally to the left or slightly inclined to the lower left relative to the thumb base 60, and the distance between the hinge structure K and the hinge structure M is smaller than the distance between the hinge structure J and the hinge structure L, thus forming the inverted quadrilateral mechanism shown in the figure.

[0127] When the first drive assembly 61 drives the first link 71 to move along the first predetermined direction Z1, it simultaneously causes the first link 71 to rotate around the second predetermined direction Z2 through the hinge structure I. Since the second link 72 is fixedly connected to the first link 71, the first link 71 can drive the second link 72 to rotate in the same direction. Due to the structural motion characteristics of the inverted quadrilateral mechanism, the first link 71 can drive the fingertip link 74 to rotate around the second predetermined direction Z2 through the hinge structure J, and drive the third link 73 to rotate around the second predetermined direction Z2 relative to the thumb base 60 through the hinge structure L. The fifth link 321 and the third link 73 can drive the fingertip link 74 to rotate around the second predetermined direction Z2 relative to the thumb base 60 through the hinge structures J and M. It can be understood that the first link 71, the second link 72, and the third link 73 can form an integral bending joint, and the fingertip link 74 can be a separate bending joint. Thus, through the above technical solution, the coordinated bending and extension movements of the two bending joints of the thumb joint 70 can be achieved.

[0128] In some alternative embodiments, the thumb joint 70 assembly includes an extended state and a flexed state. It is understood that when the thumb module is in its initial state, the thumb joint 70 is in the extended state, such as... Figure 12 As shown. When the thumb module is in a bent state, the thumb joint 70 is correspondingly in a bent state, as... Figure 13 As shown. The first drive assembly 61 may further include a first linear actuator motor 611 disposed on the thumb base 60 along the first set direction Z1 and a first push rod 614 disposed at the front end of the first linear actuator motor 611. The first push rod 614 is rotatably connected to the first end of the first rod 71 by a hinge structure I.

[0129] When the thumb module is in its initial state, the first linear actuator motor 611 drives the first actuator 614 to extend to the left along the first predetermined direction Z1. The first actuator 614 drives the first rod 71 to move to the left along the first predetermined direction Z1 and simultaneously rotate counterclockwise around the second predetermined direction Z2. The first rod 71 drives the second rod 72, the third rod 73, and the fingertip rod 74 to rotate counterclockwise around the second predetermined direction Z2. In this way, the thumb joint 70 gradually switches from the extended state to the bent state, realizing the gradual switching of the thumb module from the initial state to the bent state.

[0130] When the thumb module is in a bent state, the first linear actuator motor 611 drives the first actuator 614 to retract to the right along the first predetermined direction Z1. The first actuator 614 drives the first rod 71 to move to the right along the first predetermined direction Z1 and simultaneously rotate clockwise around the second predetermined direction Z2. The first rod 71 drives the second rod 72, the third rod 73, and the fingertip rod 74 to rotate clockwise around the second predetermined direction Z2. In this way, the thumb joint 70 gradually switches from a bent state to an extended state, realizing the gradual switching of the thumb module from a bent state to its initial state.

[0131] In some optional embodiments, there are two first rods 71. The first ends of the two first rods 71 ​​are integrally formed and connected to the first drive assembly 61. The second ends of the two first rods 71 ​​are hinged to the fingertip rod 74 from both sides along the second predetermined direction Z2 to achieve a rotatable connection. In this way, the first rods 71, the first drive assembly 61, and the fingertip rod 74 all adopt a double-end support method, which can improve the connection strength between them.

[0132] Furthermore, there are two second rods 72. The first ends of the two second rods 72 are hinged to the thumb base 60 on both sides along the second predetermined direction Z2 to achieve a rotatable connection. The second ends of the second rods 72 are fixedly connected to the second ends of the first rods 71 ​​located on the same side. In this way, the second rods 72, the thumb base 60, and the first rods 71 ​​all adopt a double-end support method, which can improve the connection strength between them.

[0133] Through the above technical solutions, the thumb module disclosed herein adopts the linkage transmission and arrangement of the thumb joint 70 in the above embodiments and implementation methods. Through a single driving component, namely the first driving component 61, the linkage bending and extension movements of the thumb joint 70 can be realized. This not only ensures the reliability of transmission and increases the reachable movement space of the thumb module, but also simplifies the structural difficulty, improves the space utilization rate, and reduces the structural weight.

[0134] See Figure 11 As shown, in some optional embodiments, the rotating component 62 of the thumb module is rotatably connected to the palm base 40 about a third predetermined direction Z3. The palm module may further include a second driving component 80, disposed on the palm base 40 along a fourth predetermined direction Z4 and connected to the rotating component 62. Optionally, the fourth predetermined direction Z4 is perpendicular to the third predetermined direction Z3. It should be noted that the second driving component 80 can be a linear driving component or a rotary driving component capable of converting rotational motion into linear motion.

[0135] When the second drive component 80 drives the rotating component 62 to move along the fourth set direction Z4, it can drive the rotating component 62 to rotate around the third set direction Z3 at the same time, so as to drive the thumb module to rotate in the same direction, thereby realizing the swinging motion of the thumb module relative to the palm base 40.

[0136] See Figure 11 and Figure 15 As shown, in some optional embodiments, the palm base 40 is provided with a rotating seat 81, and the rotating member 62 can be rotatably connected to the rotating seat 81 via a hinge structure N through a rotating part 621 about a third predetermined direction Z3. The second drive assembly 80 can be a linear drive assembly, including a second linear push rod motor. The second linear push rod motor is disposed on the palm base 40 along a first predetermined direction Z1, and the front end of the second linear push rod motor can be provided with a second push rod 82. The second push rod 82 and the rotating member 62 can be hinged through a hinge structure O. It should be noted that the hinge structure N and the hinge structure O can adopt the same structure as the hinge structure described in the above-mentioned finger module. Optionally, the second drive assembly 80 can also be a rotary drive assembly, which can be a rotary motor with a worm gear, a rotary motor with a gear rack, or a rotary motor with a crank slider, etc.

[0137] When the second linear actuator motor drives the second actuator 82 to extend or retract along the fourth set direction Z4, it can drive the rotating part 62 to move along the fourth set direction Z4. During the movement of the rotating part 62, the connection between the rotating part 62 and the second actuator 82 can rotate relative to the second actuator 82 around the third set direction Z3 through the hinge structure O, thereby driving the connection between the rotating part 62 and the rotating seat 81 to rotate relative to the rotating seat 81 around the third set direction Z3 through the hinge structure N, thereby realizing the thumb module swinging relative to the palm base 40.

[0138] See Figures 16 to 18 As shown, in some optional embodiments, this disclosure proposes a robotic hand that may include the finger module 100, palm module 200, and thumb module 300 described in the above embodiments and implementations. There may be one or more finger modules 100. The thumb module 300 and finger modules 100 are located on opposite sides of the palm module, reducing mutual interference and conflict during their respective movements. In this embodiment, the second drive component 80 is located on the back side of the palm base 40, and the third drive component 41 is located on the back side of the palm base 40. This allows the thumb module 300 to be located on the palm side of the palm base 40, and the finger module 100 to be located on the back side of the palm base 40. It should be noted that the first drive component 61 of the thumb module, the second drive component 80 and the third drive component 41 of the palm module, and the fourth drive component 20 of the finger module can move independently or synchronously as needed.

[0139] Through the above technical solutions, the finger module of this disclosure embodiment has three bending joints: a first phalanx assembly, a second phalanx assembly, and a fingertip assembly. The entire finger module can be regarded as one lateral swing joint. The thumb module has two bending joints, and the entire thumb module can be regarded as one swing joint.

[0140] The finger module achieves coordinated bending and extension movements of each bending joint through the fourth drive component 20 (which can be understood as 1 degree of freedom). The finger module achieves lateral swing movements of the lateral joint through the third drive component 41 (which can be understood as 1 degree of freedom). The thumb module achieves coordinated bending and extension movements of each bending joint through the first drive component 61 (which can be understood as 1 degree of freedom). The thumb module achieves swinging movements of the swing joint through the second drive component 80 (which can be understood as 1 degree of freedom).

[0141] exist Figures 16 to 18 In the example shown, the robotic arm uses four finger modules. Figure 17 The image shows the state of the robotic arm's four finger modules when they are brought together. Figure 18 The image shows the state of the four finger modules of the robotic hand after they have been extended. The robotic hand of this embodiment, through the design of the aforementioned finger module, thumb module, and palm module, can form a five-finger dexterous hand with 7 degrees of freedom and 19-joint linkage. Compared to existing dexterous hand solutions, by increasing the degrees of freedom and the number of joints, each finger can simultaneously possess bending and lateral movement capabilities, thereby improving the dexterous hand's flexibility and bionic nature. Secondly, compared to dexterous hands achieving the same level of flexibility, it achieves the same number of joints with fewer degrees of freedom, significantly reducing the hand's mass, making it easier to integrate the dexterous hand into the end effector of a robotic arm for operation. Simultaneously, the linkage transmission effectively improves the dexterous hand's reliability and load-bearing capacity. Compared to existing 6-DOF dexterous hands, the addition of lateral movement enhances flexibility and bionic nature. Compared to existing 15-DOF dexterous hands, it simplifies the structural complexity, reduces structural weight, and lowers costs.

[0142] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the technical solutions disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0143] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A thumb module, characterized in that, include: Thumb base; A first driving component is disposed on the thumb base along a first predetermined direction; A rotating component for rotatable connection with an external structure, connected to the thumb base; The thumb joint is connected to the first drive component and is capable of rotating relative to the first drive component in a second predetermined direction. The thumb joint includes: a first rod, a second rod, a third rod, and a fingertip rod; a first end of the first rod is rotatably connected to the first driving assembly, and a second end of the first rod is rotatably connected to the fingertip rod; a first end of the second rod is rotatably connected to the thumb base, and a second end of the second rod is fixedly connected to the second end of the first rod; a first end of the third rod is rotatably connected to the thumb base, and a second end of the third rod is rotatably connected to the fingertip rod. The second rod and the third rod are arranged to cross each other, such that the thumb base portion between the rotational connection point of the second rod and the thumb base and the rotational connection point of the third rod and the thumb base, the fingertip portion between the rotational connection point of the first rod and the fingertip rod and the rotational connection point of the third rod and the fingertip rod, the second rod, the third rod, the rotational connection point of the first rod and the fingertip rod, the rotational connection point of the second rod and the thumb base, the rotational connection point of the third rod and the thumb base, and the rotational connection point of the third rod and the fingertip rod constitute an inverted quadrilateral mechanism; When the first driving component drives the first rod to move along the first set direction, it causes the first rod to rotate around the second set direction at the same time, and the first rod causes the second rod, the third rod and the fingertip rod to rotate in the same direction.

2. The thumb module according to claim 1, characterized in that, The first drive assembly includes: a first linear actuator motor, a first ball bearing, and a first bearing plate. The first linear actuator motor is disposed on the thumb base along the first predetermined direction. The first ball bearing is movably disposed on the thumb base. The first bearing plate covers the first ball bearing and is fixedly connected to the thumb base. The end of the first linear actuator motor is connected to the first ball bearing, and the front end of the first linear actuator motor is connected to the thumb joint.

3. The thumb module according to claim 1, characterized in that, There are two first rods. The first ends of the two first rods are integrally formed and connected to the first drive assembly. The second ends of the two first rods are rotatably connected to the fingertip rod from both sides along the second set direction.

4. The thumb module according to claim 3, characterized in that, There are two second rods. The first ends of the two second rods are rotatably connected to the thumb base from both sides along the second set direction. The second ends of the second rods are fixedly connected to the second ends of the first rods located on the same side.

5. The thumb module according to claim 1, characterized in that, The rotational connection point between the second rod and the thumb base is located closer to the first drive assembly than the rotational connection point between the third rod and the thumb base.

6. The thumb module according to claim 1, characterized in that, The first rod and the first drive assembly, the first rod and the fingertip rod, the second rod and the thumb base, the third rod and the thumb base, and the third rod and the fingertip rod are all connected by hinge structures. The hinge structure includes a hinge shaft and two fixing members. The hinge shaft passes through the connection point of the two parts to be connected along the second predetermined direction. The two fixing members are fixed to the hinge shaft from both sides of the connection point along the second predetermined direction.

7. The thumb module according to claim 1, characterized in that, The thumb joint includes an extended state and a bent state; the first drive assembly includes a first linear push rod motor disposed on the thumb base along the first set direction and a first push rod disposed at the front end of the first linear push rod motor, the first push rod being rotatably connected to the first rod member; When the first linear actuator motor drives the first actuator to extend outward along the first set direction, the thumb joint gradually switches from the extended state to the bent state; when the first linear actuator motor drives the first actuator to retract along the first set direction, the thumb joint gradually switches from the bent state to the extended state.

8. The thumb module according to claim 1, characterized in that, The first driving component includes a rotary motor and a transmission component, the transmission component being connected between the rotary motor and the thumb joint; when the rotary motor rotates, the transmission component converts the rotational motion of the rotary motor into linear motion, thereby driving the thumb joint to move along a first direction.

9. The thumb module according to claim 8, characterized in that, The transmission assembly includes a worm gear and a worm connected to the worm gear. The worm gear is connected to the rotary motor, and the worm is connected to the thumb joint. When the rotary motor drives the worm gear to rotate, the worm gear drives the worm to move along the first direction, thereby driving the thumb joint to move along the first direction; or The transmission assembly includes a gear and a rack connected to the gear. The gear is connected to the rotary motor, and the rack is connected to the thumb joint. When the rotary motor drives the gear to rotate, the gear drives the rack to move along the first direction, thereby driving the thumb joint to move along the first direction; or The transmission assembly includes a crank and a slider connected to the crank. The crank is connected to the rotary motor, and the slider is connected to the thumb joint. When the rotary motor drives the crank to rotate, the crank drives the slider to move along the first direction, thereby driving the thumb joint to move along the first direction.

10. A robotic arm, characterized in that, It includes a palm module and a thumb module as described in any one of claims 1 to 9, wherein the rotating member is rotatably connected to the palm module.

11. The robotic arm according to claim 10, characterized in that, The hand module includes: A palm base, wherein the rotating component is rotatably connected to the palm base about a third predetermined direction; The second drive component is disposed on the palm base along the fourth predetermined direction and is connected to the rotating component; When the second driving component drives the rotating member to move along the fourth predetermined direction, it simultaneously drives the rotating member to rotate around the third predetermined direction, thereby driving the thumb module to rotate in the same direction.

12. The robotic arm according to claim 11, characterized in that, The palm base is provided with a rotating seat, and the rotating component is rotatably connected to the rotating seat around the third predetermined direction; The second drive assembly includes a second linear actuator motor, which is disposed on the palm base along the first set direction, and the front end of the second linear actuator motor is rotatably connected to the rotating component; When the second linear push rod motor extends or retracts along the fourth predetermined direction, it drives the rotating component to move along the fourth predetermined direction and rotate relative to the rotating seat around the third predetermined direction.

13. The robotic arm according to claim 11, characterized in that, The hand module also includes: The third drive component is disposed on the palm base along the first direction. A pitch control assembly is connected to the third drive assembly; the pitch control assembly has at least one pitch control slot arranged along a second direction; the pitch control slot includes a first end and a second end arranged opposite each other along the length direction, the first end of the pitch control slot is closer to the third drive assembly than the second end, and the length direction of the pitch control slot is inclined to the first direction; The robotic arm also includes at least one finger module, the finger module including a follower, the follower being slidably disposed in the variable pitch groove.

14. The robotic arm according to claim 13, characterized in that, The finger module and the thumb module are located on opposite sides of the palm module.

15. The robotic arm according to claim 13, characterized in that, The finger module includes: Finger base; A fourth driving component is disposed on the finger base along the first direction; The knuckle assembly includes a first knuckle assembly, a second knuckle assembly, and a fingertip assembly. The first knuckle assembly is connected to the fourth drive assembly and is rotatable relative to the fourth drive assembly with the second direction as the axis. The second knuckle assembly is rotatably connected to the first knuckle assembly with the second direction as the axis. The fingertip assembly is rotatably connected to the second knuckle assembly with the second direction as the axis. When the fourth driving component drives the first knuckle component to move along the first direction, the first knuckle component rotates around the second direction and drives the second knuckle component to rotate in the same direction, and the second knuckle component drives the fingertip component to rotate in the same direction.

16. A robot, characterized in that, It includes at least one robotic arm as claimed in any one of claims 10 to 15.

Images