A dexterous hand thumb mechanism and control method thereof

Abstract

The present invention relates to the field of robotic arms and discloses a dexterous hand thumb mechanism and a control method thereof. The mechanism comprises a palm, a plurality of first fingers, a second finger, a first reversing assembly, a second reversing assembly, and a rope drive assembly. The plurality of first fingers are hingedly mounted on the palm, and the plurality of first fingers are arranged in a second direction. The second finger is hingedly mounted on the palm, and the second finger includes a first knuckle and a second knuckle, the first knuckle and the second knuckle are hingedly mounted, and a knuckle channel is provided in the first knuckle. The first reversing assembly is mounted on the palm and connected to the second finger, the second reversing assembly is mounted on the first reversing assembly and connected to the second finger, and the rope drive assembly is mounted on the palm, passes through the knuckle channel, and is connected to the second knuckle. The thumb mechanism of the present invention has three degrees of freedom, which enables the thumb structure to have stronger fine manipulation capabilities and improves the gripping ability and flexibility of the thumb structure.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to a dexterous hand thumb mechanism and a control method thereof. Background Art

[0002] The design of the thumb is crucial in the design of dexterous hands. The human thumb, in opposition to the other fingers, provides a strong grip, allowing us to pick up and manipulate objects of various sizes and shapes. The thumb's flexibility and strength are essential for performing fine movements and play a key role in maintaining hand balance and coordination. The thumb's adaptability allows its performance to be adapted to different tasks and tools. The human thumb joints have a high degree of flexibility, particularly the basal joint, which allows the thumb to move in multiple directions, a feature not found in other fingers.

[0003] However, today, the thumbs of many dexterous hands with built-in drives are unable to achieve the same multiple degrees of freedom as human hands due to the constraints of the space for the layout of the drive components. Most thumbs only have two active degrees of freedom, weak grasping ability and poor flexibility.

[0004] Therefore, the existing technology still needs to be improved and developed. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a dexterous hand thumb mechanism and a control method thereof in response to the above-mentioned defects of the prior art, aiming to solve the problems of weak grasping ability and poor flexibility of the dexterous hand thumb in the prior art.

[0006] The technical solutions adopted by the present invention to solve the technical problems are as follows:

[0007] A dexterous hand thumb mechanism, comprising:

[0008] palm;

[0009] A plurality of first fingers are hingedly disposed on the palm, and the direction in which the plurality of first fingers are arranged is a second direction;

[0010] a second finger hingedly disposed on the palm, the second finger comprising a first knuckle and a second knuckle, the first knuckle and the second knuckle being hingedly connected, a knuckle channel being disposed in the first knuckle, and a restoring member being disposed on the first knuckle for driving the second knuckle to expand and return to its original position;

[0011] a first reversing assembly, disposed on the palm and connected to the second finger, for driving the second finger to rotate in a first direction, wherein the first direction and the second direction are perpendicular to each other;

[0012] a second reversing assembly, provided on the first reversing assembly and connected to the second finger, for driving the second finger to rotate in the second direction;

[0013] A rope drive assembly is provided on the palm, passes through the knuckle channel, and is connected to the second knuckle, for driving the second knuckle to rotate in the first direction.

[0014] Optionally, the first reversing component includes:

[0015] a rotating frame, disposed on the palm, on which the second finger is rotatably disposed;

[0016] The bending motor is disposed on the rotating frame and connected to the second finger, and is used for driving the second finger to rotate toward the first direction.

[0017] Optionally, the second reversing component includes:

[0018] a fixing seat, one end of which is arranged on the palm;

[0019] A swing motor is provided at the other end of the fixing seat, and an output shaft of the swing motor is connected to the rotating frame;

[0020] Wherein, one end of the fixing seat close to the rotating frame is an inclined plane, and a predetermined angle is formed between the inclined plane and the palm, and the predetermined angle is 20-60°.

[0021] Optionally, the rope drive assembly includes:

[0022] a rope-driven motor, disposed on the palm;

[0023] a winding wheel, arranged on the output shaft of the rope-driven motor;

[0024] a drive rope, one end of which is wound around the reel, the other end of which passes through the knuckle channel and is connected to the second knuckle;

[0025] The rope drive motor tightens the drive rope to drive the second finger joint to rotate on the first finger joint in the first direction.

[0026] Optionally, an axis portion is provided at the end of the first finger joint away from the first reversing component, and the axis portion includes a rotating shaft and a connecting ear. The connecting ear is provided on the side of the first finger joint away from the first reversing component, and the rotating shaft is rotatably provided on the connecting ear and connected to the second finger joint.

[0027] Optionally, a cutting portion is cut on the rotating shaft, and the cutting portion is a smooth plane. The second finger joint is provided with a cutting groove corresponding to the cutting portion, and the rotating shaft is engaged with the cutting groove.

[0028] Optionally, the reset member includes at least one torsion spring, and the at least one torsion spring is sleeved on the rotating shaft, with one end of the torsion spring connected to the rotating shaft and the other end connected to the second finger joint.

[0029] Optionally, a flat portion and a recessed portion are provided on a side of the second knuckle close to the first knuckle, the flat portion is located above the rotating shaft, and the recessed portion is located below the rotating shaft.

[0030] Optionally, the dexterous hand thumb mechanism further includes a main control module, which is electrically connected to the first reversing assembly, the second reversing assembly and the rope drive assembly.

[0031] A control method for a dexterous hand thumb mechanism, the control method being applied to the dexterous hand thumb mechanism as described in any one of the above technical solutions, the control method comprising:

[0032] Receive control instructions;

[0033] determining a rotation angle of the second finger based on the control instruction;

[0034] The second finger is rotated according to the rotation angle to tighten with the designated first finger to achieve a clamping action.

[0035] Beneficial effects:

[0036] The present invention provides a thumb mechanism of a dexterous hand and a control method thereof. By providing a first reversing component, a second reversing component, and a rope drive component, the second finger can rotate with three degrees of freedom on the palm. Through the coordination of the three degrees of freedom rotation, the second finger can respectively perform a clamping action with multiple first fingers, so that the thumb mechanism of the present invention has stronger fine operation capabilities and improves the gripping ability and flexibility of the thumb mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 is a structural diagram of the thumb mechanism of the present invention;

[0038] Figure 2 This is an exploded structural diagram of the thumb mechanism of the present invention;

[0039] Figure 3 is a cross-sectional structural diagram of the thumb mechanism of the present invention;

[0040] Figure 4 This is a diagram of the first use state of the thumb mechanism of the present invention;

[0041] Figure 5 This is a diagram of the second use state of the thumb mechanism of the present invention;

[0042] Figure 6 This is a diagram of the third use state of the thumb mechanism of the present invention;

[0043] Figure 7 This is a diagram of the thumb mechanism in the fourth use state of the present invention;

[0044] Figure 8 It is a flow chart of the steps of the control method in the present invention.

[0045] In the picture:

[0046] 100, fixed seat; 101, inclined plane; 110, swing motor;

[0047] 200, rotating frame; 210, bending motor; 220, protective shell;

[0048] 310, first knuckle; 311, knuckle channel; 320, second knuckle; 321, cutting groove; 322, flat portion; 323, recessed portion; 330, connecting ear; 340, rotating shaft; 341, cutting portion;

[0049] 410, driving rope; 420, rope drive motor;

[0050] 510. Palm; 520. Index finger; 530. Middle finger; 540. Ring finger; 550. Little finger. DETAILED DESCRIPTION

[0051] The following describes in detail embodiments of the present application. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and are not to be construed as limiting the present application.

[0052] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, "multiple" means two or more.

[0053] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0054] Many dexterous hands with built-in drives are unable to achieve the same multiple degrees of freedom of the thumb as the human hand due to the space constraints of the drive components. The shortcomings of existing technologies are: 1. The active degrees of freedom of the thumb design of the dexterous hand are low, usually only having 2 active degrees of freedom; 2. The thumb design of the dexterous hand does not have the ability to move in opposition to the palm, resulting in a decrease in the dexterous hand's grasping ability and fine operation ability.

[0055] Based on the above problems, this application has made the following improvements:

[0056] See also Figures 1 to 4As shown, a dexterous hand thumb mechanism includes a palm 510, multiple first fingers, a second finger, a first reversing assembly, a second reversing assembly and a rope drive assembly, the multiple first fingers are hingedly arranged on the palm 510, and the direction in which the multiple first fingers are arranged is the second direction; the second finger is hingedly arranged on the palm 510, the second finger includes a first knuckle 310 and a second knuckle 320, the first knuckle 310 and the second knuckle 320 are hinged, and a knuckle channel 311 is provided in the first knuckle 310; the first reversing assembly is provided on the palm 510 and connected to the second finger, for driving the second finger to rotate in a first direction, wherein the first direction and the second direction are perpendicular to each other; the second reversing assembly is provided on the first reversing assembly and connected to the second finger, for driving the second finger to rotate in the second direction; the rope drive assembly is provided on the palm 510, the rope drive assembly passes through the knuckle channel 311, and is connected to the second knuckle 320, for driving the second knuckle 320 to rotate in the first direction.

[0057] Specifically, the present embodiment discloses a dexterous hand thumb mechanism, wherein the first direction refers to Figure 4 The second finger in the palm 510 is directed to the direction of the palm 510, the first direction can move back and forth on the palm 510, and the second direction is Figure 4 The direction in which the second finger swings left and right on the palm 510, the second direction can swing left and right on the palm 510, and the perpendicular arrangement of the first and second directions refers to the perpendicular angle between the first and second directions, such as the perpendicular arrangement of the X and Y axes in a rectangular coordinate system. When the first reversing assembly drives the second finger to rotate in the first direction, the second reversing assembly then drives the second finger to rotate in the second direction, and finally the rope drive assembly drives the second knuckle 320 of the second finger to rotate in the second direction on the first knuckle 310, the second finger has three degrees of freedom. The coordination of the first reversing assembly, the second reversing assembly, and the rope drive assembly can further drive the second finger to form a clamping action with multiple first fingers, thereby enabling the thumb mechanism of the present invention to have stronger fine manipulation capabilities and improve the gripping ability and flexibility of the thumb mechanism.

[0058] Furthermore, this embodiment discloses that the second finger includes a first knuckle 310 and a second knuckle 320. The first knuckle 310 and the second knuckle 320 are hingedly connected. The first knuckle 310 is provided with a knuckle channel 311. The first knuckle 310 is provided with a reset member for driving the second knuckle 320 to unfold. A rope drive assembly passes through the knuckle channel 311 on the first knuckle 310 and connects to the second knuckle 320. The rope drive assembly drives the second knuckle 320 of the second finger to rotate in a second direction on the first knuckle 310, and then can automatically unfold and reset via the reset member. The use of the rope drive assembly to directly drive the joint movement of the second knuckle 320 is flexible and reliable, convenient to arrange, and has high transmission efficiency.

[0059] See also Figure 2 As shown, in another embodiment of the present application, the first reversing assembly includes a rotating frame 200 and a bending motor 210, the rotating frame 200 is arranged on the palm 510, the second finger is rotatably arranged on the rotating frame 200, and the bending motor 210 is arranged on the rotating frame 200 and connected to the second finger, and is used to drive the second finger to rotate in the first direction.

[0060] Specifically, this embodiment discloses a rotating frame 200 mounted on a palm 510, a second finger hingedly connected to the rotating frame 200, and a bending motor 210 disposed on the rotating frame 200 and connected to the second finger, creating a certain height between the second finger and the palm 510. This allows the second finger to rotate on the rotating frame 200, making the rotation of the second finger on the rotating frame 200 less susceptible to being affected by the palm 510. More specifically, a groove is provided within the rotating frame 200, the bending motor 210 is disposed within the groove, and the second finger is hingedly connected to the side wall of the rotating frame 200 where the groove is located. The output shaft of the bending motor 210 is directly connected to the hinge of the second finger. The bending motor 210 is directly driven to bend the second finger, maximizing the power of the bending motor 210 and reducing energy consumption.

[0061] In some embodiments, a protective shell 220 is provided for the bending motor 210, and the protective shell 220 is located in the groove of the rotating frame 200. The output shaft of the bending motor 210 passes through the protective shell 220 and is connected to the hinge of the second finger, thereby protecting the bending motor 210 without affecting the rotation of the second finger, thereby extending the service life of the bending motor 210.

[0062] Furthermore, if Figure 3 As shown, a cavity is set inside the second finger, and the protective shell 220 extends into the cavity of the second finger. The protective shell 220 is in the shape of a rectangular parallelepiped, and the corresponding cavity is also in the shape of a rectangular parallelepiped, which can play a certain concealing role for the protective shell 220 on the second finger and achieve an aesthetic effect.

[0063] See also Figure 2 As shown, in another embodiment of the present application, the second reversing assembly includes a fixed base 100 and a swing motor 110, one end of the fixed base 100 is set on the palm 510, and the swing motor 110 is set at the other end of the fixed base 100, and the output shaft of the swing motor 110 is connected to the rotating frame 200, wherein the end of the fixed base 100 close to the rotating frame 200 is an inclined plane 101, and a predetermined angle is formed between the inclined plane 101 and the palm 510, and the predetermined angle is 20-60°.

[0064] Specifically, this embodiment discloses a second reversing assembly comprising a fixed base 100 and a swing motor 110. One end of the fixed base 100 is directly fixed to the palm 510, and the other end is an inclined plane 101. The inclined plane 101 is provided with a mounting slot for mounting the swing motor 110, so that the output position of the output shaft of the swing motor 110 corresponds to the inclined position of the inclined plane 101, thereby improving the safety of the swing motor 110 and extending its service life. More specifically, the inclined plane 101 forms a predetermined angle with the palm 510, and the predetermined angle is 20°-60°. When a person's thumb is clamped with each of the other designated fingers, the angle of the thumb is approximately within the range of 20°-60°. Therefore, the provision of the inclined plane 101 facilitates the clamping action of the second finger with the designated first finger.

[0065] It should be noted that, most of the time, when the thumb and the other fingers realize the clamping action, the angle of the thumb is about 45°. Preferably, the predetermined angle of the inclined plane 101 is 45°. When the swing motor 110 rotates the fixed base 100 along the inclined plane 101 with a predetermined angle of 45°, the second finger on the fixed base 100 rotates along the second direction (i.e., the left and right direction of the palm 510). When the second finger rotates to the target position, the designated first finger and the second finger can realize the clamping action posture. By setting the 45° inclined plane 101, at this time, there is no need to rotate the bending motor 210, thereby reducing the bending operation steps of the bending motor 210 and improving the reliability and accuracy of the clamping action of the second finger and the designated first finger.

[0066] See also Figure 3 and Figure 4As shown, in another embodiment of the present application, the rope-driven assembly includes a rope-driven motor 420, a winding wheel and a driving rope 410, the rope-driven motor 420 is arranged on the palm 510; the winding wheel is arranged on the output shaft of the rope-driven motor 420; one end of the driving rope 410 is wound on the winding wheel, and the other end passes through the finger joint channel 311 and is connected to the second finger joint 320; wherein, the rope-driven motor 420 tightens the driving rope 410 to drive the second finger joint 320 to rotate on the first finger joint 310 in the first direction.

[0067] Specifically, the rope-driven motor 420 can be installed at any position on the palm 510. When the rope-driven motor 420 drives the driving rope 410 on the reel to tighten, the driving rope 410 passes through the knuckle channel 311 to pull the second knuckle 320, causing the second knuckle 320 to bend in the first direction on the first knuckle 310. When the rope-driven motor 420 drives the driving rope 410 on the reel to release, the reset member causes the second knuckle 320 to unfold and reset on the first knuckle 310, ready for the next use. By using the driving rope 410, the driving motor, and the reel to achieve the joint movement of the second finger, not only is the power transmission efficiency higher, the maintenance cost is lower, and the degree of freedom of the second finger is further increased, making the second finger more flexible and reliable.

[0068] In some embodiments, the reset element may be a torsion spring or a spring installed at the hinge between the second knuckle 320 and the first knuckle 310 .

[0069] See also Figure 2 As shown, in another embodiment of the present application, an axis portion is provided at one end of the first finger joint 310 away from the swing frame, and the axis portion includes a rotating shaft 340 and a connecting ear 330. The connecting ear 330 is provided on the side of the first finger joint 310 away from the first reversing assembly, and the rotating shaft 340 is rotatably provided on the connecting ear 330 and is connected to the second finger joint 320.

[0070] Specifically, this embodiment discloses that an axial portion is provided on the side of the first finger joint 310 away from the first reversing assembly, and the axial portion includes a rotating shaft 340 and a connecting ear 330. The connecting ear 330 is provided on the first finger joint 310, and the rotating shaft 340 rotates on the connecting ear 330. Both ends are rotatably connected to the inner wall of the second finger joint 320 to drive the second finger joint 320 to rotate on the first finger joint 310. The hinged connection between the first finger joint 310 and the second finger joint 320 is achieved by using a relatively simple structure, so that the hinged structure is easy to replace and maintain, and easy to assemble.

[0071] See also Figure 3As shown, in another embodiment of the present application, a cutting portion 341 is cut on the rotating shaft 340, and the cutting portion 341 is a smooth plane. The second finger joint 320 is provided with a cutting groove 321 corresponding to the cutting portion 341, and the rotating shaft 340 is engaged with the cutting groove 321.

[0072] Specifically, a cutting portion 341 is cut on the rotating shaft 340, and the cutting portion 341 is a smooth plane. A cutting groove 321 of a corresponding shape is also provided at the connection position between the second finger joint 320 and the rotating shaft 340. When the cutting portion 341 of the rotating shaft 340 is inserted into the cutting groove 321, the rotating shaft 340 can be engaged and connected with the cutting groove 321 of the second finger joint 320, and the rotating shaft 340 is directly fixed on the second finger joint 320, so that no additional fixed assembly is required between the rotating shaft 340 and the second finger joint 320, which not only reduces the difficulty of assembly, but also reduces the layout of parts and reduces costs.

[0073] In another embodiment of the present application, the reset member includes at least one torsion spring, and at least one torsion spring is sleeved on the rotating shaft 340 , with one end of the torsion spring connected to the rotating shaft 340 and the other end connected to the second finger joint 320 .

[0074] Specifically, in this embodiment, the reset element utilizes a torsion spring (not shown). A connecting ear 330 is mounted on the first finger joint 310, and a rotating shaft 340 is rotatably mounted on the connecting ear 330. A torsion spring is sleeved over the rotating shaft 340, with one end connected to the rotating shaft 340 and the other end connected to the inner wall of the second finger joint 320. When the rope drive assembly tightens the drive rope 410, causing the second finger joint 320 to rotate, the rotating shaft 340 twists the torsion spring, accumulating elastic potential energy. When the rope drive assembly releases the drive rope 410, the elastic potential energy of the torsion spring is released, causing the torsion spring to automatically reset the second finger joint 320 on the first finger joint 310. Using a torsion spring as the reset element results in a compact design, requiring minimal space, and not affecting the rotation of the second finger joint 320. Furthermore, the torsion spring can be manufactured in various shapes to suit different needs, depending on the application scenario.

[0075] The number of torsion springs disclosed in this embodiment is at least one, and the number of torsion springs can be made according to the actual usage scenario. In this embodiment, the rotating shaft 340 is fixedly connected to the second finger joint 320, and the connecting ear 330 is fixedly connected to the first finger joint 310. The rotating shaft 340 is rotatably arranged on the connecting ear 330. Preferably, the number of torsion springs is two, and the two torsion springs are respectively located at the left and right ends of the rotating shaft 340 and connected to the inner wall of the second finger joint 320, so that the reset force of the torsion spring can be more uniform and reliable.

[0076] See also Figure 3As shown, in another embodiment of the present application, a flat portion 322 and a recessed portion 323 are provided on one side of the second finger joint 320 close to the first finger joint 310 , the flat portion 322 is located above the rotating shaft 340 , and the recessed portion 323 is located below the rotating shaft 340 .

[0077] Specifically, if Figure 3 As shown, the upper right portion of the second knuckle 320 is a flat portion 322, and the lower right portion of the second knuckle 320 is a recessed portion 323. When the rope drive motor 420 tightens the drive rope 410, the second knuckle 320 rotates downward on the rotating shaft 340 of the first knuckle 310. The recessed portion 323 of the second knuckle 320 forms a recess with the sidewall of the first knuckle 310, allowing the second knuckle 320 to rotate smoothly downward on the first knuckle 310, and the reset member accumulates elastic potential energy. When the rope-driven motor 420 releases the driving rope 410 to a relaxed state, the elastic potential energy of the reset member will also be released, driving the second finger joint 320 to rotate upward on the rotating shaft 340 of the first finger joint 310. When the second finger joint 320 is unfolded to the extreme position, the flattening portion 322 fits against the side wall of the first finger joint 310, so that the flattening portion 322 can limit the unfolding angle of the second finger joint 320 to a certain extent, thereby avoiding excessive unfolding angles that may damage the torque of the reset member and affect the service life of the reset member.

[0078] See also Figure 4 As shown, in another embodiment of the present application, the plurality of first fingers include an index finger 520 , a middle finger 530 , a ring finger 540 and a little finger 550 , and the second finger is a thumb.

[0079] Specifically, in this embodiment, the plurality of first fingers include the index finger 520 , the middle finger 530 , the ring finger 540 and the little finger 550 , and the second finger is the thumb. The thumb has three degrees of freedom, making the thumb more flexible and reliable.

[0080] In another embodiment of the present application, the dexterous hand thumb mechanism further includes a main control module, which is electrically connected to the first reversing assembly, the second reversing assembly and the rope drive assembly.

[0081] Specifically, the main control module can be a control chip, a single chip microcomputer or a microprocessor, which is installed in the palm 510. The main control module is used to uniformly control the first reversing component, the second reversing component and the rope drive component to facilitate user operation.

[0082] See also Figure 8 As shown, an embodiment of the present application further provides a control method for a dexterous hand thumb mechanism, the control method being applied to the dexterous hand thumb mechanism as described in any one of the above technical solutions, the control method comprising:

[0083] S100, receiving a control instruction;

[0084] S200, determining a rotation angle of the second finger based on the control instruction;

[0085] S300: Rotate the second finger according to the rotation angle to tighten the second finger to the designated first finger, thereby achieving a clamping action.

[0086] See also Figures 4 to 8 As shown, the user sends a control instruction to the second finger. The control instruction may be an instruction for the second finger to form a clamping action with any first finger, for example: Figure 4 The control instructions for the thumb and index finger pinching action shown, Figure 5 The control instructions for the pinching action of the thumb and middle finger are shown, Figure 6 The control instructions for the pinching action of the thumb and ring finger are shown, Figure 7 The control instructions for the pinching action of the thumb and little finger are shown.

[0087] Furthermore, the main control module on the palm receives the control instruction for analysis, calculates the rotation angle required by the second finger, and then controls the first reversing component, the second reversing component and the rope drive component to drive the second finger to rotate to the rotation angle. The second finger forms a clamping action with the designated first finger, thereby enabling the second finger to have stronger fine operation capabilities and improving the gripping ability and flexibility of the second finger.

[0088] In summary, the present invention provides a dexterous hand thumb mechanism and a control method thereof. By setting a first reversing component, a second reversing component and a rope drive component, the second finger can be rotated with three degrees of freedom on the palm. Through the coordination of the three degrees of freedom rotation, the second finger can respectively perform clamping actions with multiple first fingers, so that the thumb mechanism of the present invention has stronger fine operation capabilities and improves the gripping ability and flexibility of the thumb mechanism.

[0089] It should be understood that the application of the present invention is not limited to the above examples. For those skilled in the art, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A dexterous hand thumb mechanism, characterized in that: include: palm; A plurality of first fingers are hingedly disposed on the palm, and the direction in which the plurality of first fingers are arranged is a second direction; a second finger hingedly disposed on the palm, the second finger comprising a first knuckle and a second knuckle, the first knuckle and the second knuckle being hingedly connected, a knuckle channel being disposed in the first knuckle, and a restoring member being disposed on the first knuckle for driving the second knuckle to expand and return to its original position; a first reversing assembly, disposed on the palm and connected to the second finger, for driving the second finger to rotate in a first direction, wherein the first direction and the second direction are perpendicular to each other; a second reversing assembly, provided on the first reversing assembly and connected to the second finger, for driving the second finger to rotate in the second direction; a rope drive assembly, disposed on the palm, passing through the knuckle channel and connected to the second knuckle, for driving the second knuckle to rotate in the first direction; The first reversing component comprises: a rotating frame, disposed on the palm, on which the second finger is rotatably disposed; a bending motor, disposed on the rotating frame and connected to the second finger, for driving the second finger to rotate in the first direction; The second reversing component comprises: a fixing seat, one end of which is arranged on the palm; A swing motor is provided at the other end of the fixing seat, and an output shaft of the swing motor is connected to the rotating frame; Wherein, one end of the fixing seat close to the rotating frame is an inclined plane, and a predetermined angle is formed between the inclined plane and the palm, and the predetermined angle is 20-60°.

2. The dexterous hand thumb mechanism according to claim 1, characterized in that: The rope drive assembly comprises: a rope-driven motor, disposed on the palm; a winding wheel, arranged on the output shaft of the rope-driven motor; a drive rope, one end of which is wound around the reel, the other end of which passes through the knuckle channel and is connected to the second knuckle; The rope drive motor tightens the drive rope to drive the second finger joint to rotate on the first finger joint in the first direction.

3. The dexterous hand thumb mechanism according to claim 2, characterized in that: An axis portion is provided at the end of the first finger joint away from the first reversing component, and the axis portion includes a rotating shaft and a connecting ear. The connecting ear is provided on the side of the first finger joint away from the first reversing component. The rotating shaft is rotatably provided on the connecting ear and is connected to the second finger joint.

4. The dexterous hand thumb mechanism according to claim 3, characterized in that: A cutting portion is cut on the rotating shaft, and the cutting portion is a smooth plane. The second finger joint is provided with a cutting groove corresponding to the cutting portion, and the rotating shaft is engaged with the cutting groove.

5. The dexterous hand thumb mechanism according to claim 3, characterized in that: The reset member includes at least one torsion spring, which is sleeved on the rotating shaft. One end of the torsion spring is connected to the rotating shaft, and the other end is connected to the second finger joint.

6. The dexterous hand thumb mechanism according to claim 3, characterized in that: A flat portion and a concave portion are provided on a side of the second knuckle close to the first knuckle, wherein the flat portion is located above the rotating shaft, and the concave portion is located below the rotating shaft.

7. The dexterous hand thumb mechanism according to claim 1, characterized in that: The dexterous hand thumb mechanism further includes a main control module, which is electrically connected to the first reversing assembly, the second reversing assembly and the rope drive assembly.

8. A control method for a dexterous hand thumb mechanism, the control method being applied to the dexterous hand thumb mechanism according to any one of claims 1 to 7, characterized in that: The control method includes: Receive control instructions; determining a rotation angle of the second finger based on the control instruction; The second finger is rotated according to the rotation angle to tighten with the designated first finger to achieve a clamping action.

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