Bionic thumb mechanism and dexterous hand

Abstract

The invention provides a bionic thumb mechanism and a dexterous hand. The bionic thumb mechanism comprises a thumb base, a first joint hinged to the thumb base, a second joint hinged to the first joint, a third joint hinged to the second joint, a first driving piece used for driving the first joint to rotate and fixed to the thumb base, a first connecting rod and a second connecting rod. One end of the first connecting rod is hinged to the thumb base or the first driving piece, the other end of the first connecting rod is hinged to the second joint, one end of the second connecting rod is hinged to the first joint, and the other end of the second connecting rod is hinged to the third joint. According to the bionic thumb mechanism and the dexterous hand, linkage of the three joints is achieved through the first driving piece, the driving structure is simple and similar to joint movement of human fingers, and the humanoid degree of the bionic thumb mechanism and the dexterous hand is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of bionic robots, and more specifically, relates to a bionic thumb mechanism and a dexterous hand. Background Art

[0002] With the continuous development of humanoid robots in recent years, the robot's end effector, dexterous hands, has also been continuously developed and applied. The research and development of dexterous hands can make humanoid robots as flexible as human hands when completing different actions, expanding the application scenarios of robots to solve more existing problems. Among them, the movement of the thumb in dexterous hands has always been an important focus, and the structural design and movement of the thumb will greatly affect the final grasping performance of the dexterous hand. The thumb structure of the dexterous hands of existing products mostly has two or one motion joints, with limited freedom of movement, which is quite different from the joint movement of the human thumb, and the grasping scenarios that can be applied are limited. Summary of the invention

[0003] The purpose of the embodiments of the present invention is to provide a bionic thumb mechanism and a dexterous hand to solve the technical problem in the prior art that the joint movement of the bionic thumb is quite different from that of the human thumb.

[0004] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: to provide a bionic thumb mechanism, including a thumb base, a first joint hinged to the thumb base, a second joint hinged to the first joint, a third joint hinged to the second joint, and a first driving member for driving the first joint to rotate and fixed to the thumb base, and also including a first connecting rod and a second connecting rod, one end of the first connecting rod is hinged to the thumb base or the first driving member, the other end of the first connecting rod is hinged to the second joint, one end of the second connecting rod is hinged to the first joint, and the other end of the second connecting rod is hinged to the third joint.

[0005] In the above scheme, the bionic thumb mechanism includes a thumb base, a first joint, a second joint and a third joint which are hinged in sequence. At the same time, the two ends of the first connecting rod are respectively hinged to the first driving member and the second joint, and the two ends of the second connecting rod are respectively hinged to the first joint and the third joint. When the first driving member is working, it outputs a rotational motion to swing the first joint, thereby driving the second joint, the first connecting rod, the third joint and the second connecting rod to swing. Through a first driving member, the linkage of the three joints is realized. The driving structure is simple and similar to the joint motion of human fingers, which improves its human-like degree.

[0006] Optionally, the hinge axis between the thumb base and the first joint is the first hinge axis, the hinge axis between the first connecting rod and the thumb base or the first driving member is the second hinge axis, the hinge axis between the first connecting rod and the second joint is the third hinge axis, and the hinge axis between the first joint and the second joint is the fourth hinge axis; the connecting line between the first hinge axis and the fourth hinge axis and the connecting line between the second hinge axis and the third hinge axis are intersectingly arranged.

[0007] In the above scheme, the connecting line between the first hinge axis and the fourth hinge axis, and the connecting line between the second hinge axis and the third hinge axis are arranged to intersect, so that the thumb base, the first connecting rod, the first joint and the second joint are combined to form an inverted quadrilateral connecting rod mechanism, so that the rotation of the second joint relative to the first joint is more stable.

[0008] Optionally, the hinge axis between the second connecting rod and the first joint is the fifth hinge axis, the hinge axis between the second connecting rod and the third joint is the sixth hinge axis, and the hinge axis between the second joint and the third joint is the seventh hinge axis; the connecting line between the fourth hinge axis and the seventh hinge axis, and the connecting line between the fifth hinge axis and the sixth hinge axis are intersectingly arranged.

[0009] In the above scheme, the connecting line between the fourth hinge axis and the seventh hinge axis, and the connecting line between the fifth hinge axis and the sixth hinge axis are arranged to intersect, so that the first joint, the second connecting rod, and the third joint are combined to form an inverse quadrilateral connecting rod mechanism, so that the rotation of the third joint relative to the first joint is more stable.

[0010] Optionally, the first connecting rod has a first guide portion at the end away from the first driving member, the first joint has a first guide hole, the first guide portion extends into the first guide hole, the first guide hole is arc-shaped, and the center of the first guide hole coincides with the fourth hinge axis; the second connecting rod has a second guide portion at the end away from the first joint, the second joint has a second guide hole, the second guide portion extends into the second guide hole, the second guide hole is arc-shaped, and the center of the second guide hole coincides with the seventh hinge axis.

[0011] In the above scheme, the first guide portion and the first guide hole cooperate to limit the rotation angle of the first connecting rod, so that the rotation angle of the first connecting rod is within a preset range, and the first connecting rod can be prevented from reversing ( Figure 4 The second guide portion and the second guide hole cooperate to limit the rotation angle of the second connecting rod, so that the rotation angle of the second connecting rod is within a preset range, thereby preventing the second connecting rod from reversing ( Figure 4 In this way, the bionic thumb mechanism will only rotate in the counterclockwise direction, which is consistent with the bending direction of human fingers.

[0012] Optionally, the first joint includes two first plates that are spaced apart from each other, the two first plates are hinged to opposite sides of the first driving member, and the first connecting rod is disposed between the side surfaces of the first driving member and the first plates.

[0013] In the above scheme, by arranging the first driving member between the two first plates, the accommodation space inside the first joint can be fully utilized, the first driving member does not occupy other space additionally, and the structural size of the bionic thumb mechanism will not be increased, so that the size of the bionic thumb mechanism can be designed to be close to that of a human finger.

[0014] Optionally, the second joint includes two second plates arranged at an interval and a connecting plate connecting the two second plates, the two second plates are arranged between the two first plates, and the second connecting rod is arranged between the two second plates; one end of the second connecting rod has a fifth hinge axis, and both ends of the fifth hinge axis respectively extend into the two first plates.

[0015] In the above scheme, by arranging the two second plates between the two first plates, the size of the second joint is smaller than that of the first joint, which is closer to the size change of human fingers. By arranging the second connecting rod between the two second plates, the space between the two second plates can be fully utilized, and the size of the bionic thumb mechanism can be reduced.

[0016] Optionally, the third joint includes a joint body and two third plates arranged at intervals, one end of each of the third plates is connected to the joint body, two of the third plates are arranged between two of the second plates, and the second connecting rod has a sixth hinge axis at one end away from the first joint, and both ends of the sixth hinge axis extend into the two third plates respectively.

[0017] In the above solution, by arranging the two third plates between the two second plates, the size of the third joint is made smaller than that of the second joint, which is more in line with the variation law of the size of human fingers.

[0018] Optionally, the thumb base has a recessed structure, at least a portion of the first driving member is embedded in the recessed structure, and the fixing member passes through a side wall of the recessed structure and is connected to the first driving member.

[0019] In the above scheme, by setting the recessed structure, at least a part of the first driving member can be accommodated inside the thumb base, thereby reducing the space required for the first driving member and providing a positioning function for the installation of the first driving member. In addition, a thin-wall structure (side wall of the recessed structure) is provided for the thumb base to facilitate the passage of the fixing member to connect to the first driving member.

[0020] Optionally, the bionic thumb mechanism further comprises a second driving member capable of outputting linear motion and a third connecting rod, wherein the motion output end of the second driving member is rotationally connected to the third connecting rod, and the end of the third connecting rod away from the second driving member is rotationally connected to the thumb base.

[0021] In the above scheme, by setting the second driving member and the third connecting rod, the thumb base can be driven to swing, thereby driving the first joint, the second joint and the third joint to swing synchronously, thereby realizing the swing of the finger.

[0022] The present invention also provides a dexterous hand, comprising the bionic thumb mechanism.

[0023] In the above scheme, the bionic thumb mechanism includes a thumb base, a first joint, a second joint and a third joint which are hinged in sequence. At the same time, the two ends of the first connecting rod are respectively hinged to the first driving member and the second joint, and the two ends of the second connecting rod are respectively hinged to the first joint and the third joint. When the first driving member is working, it outputs a rotational motion to swing the first joint, thereby driving the second joint, the first connecting rod, the third joint and the second connecting rod to swing. Through a first driving member, the linkage of the three joints is realized. The driving structure is simple and similar to the joint motion of human fingers, which improves its human-like degree. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 A three-dimensional structural diagram of a bionic thumb mechanism provided by an embodiment of the present invention;

[0026] Figure 2 A side view of a bionic thumb mechanism provided by an embodiment of the present invention;

[0027] Figure 3 A rear view of the bionic thumb mechanism provided by an embodiment of the present invention;

[0028] Figure 4 A perspective view of a bionic thumb mechanism provided by an embodiment of the present invention from a side view;

[0029] Figure 5 A three-dimensional structural diagram of a first joint provided by an embodiment of the present invention;

[0030] Figure 6 A three-dimensional structural diagram of a second joint provided by an embodiment of the present invention;

[0031] Figure 7 This is a three-dimensional structural diagram of the third joint provided in an embodiment of the present invention.

[0032] Among them, the reference numerals in the figure are:

[0033] 100-bionic thumb mechanism; 10-first joint; 11-first plate; 12-first guide hole; 20-second joint; 21-second plate; 22-connecting plate; 23-second guide hole; 30-third joint; 31-joint body; 32-third plate; 40-thumb base; 41-recessed structure; 50-first driving member; 61-first connecting rod; 62-second connecting rod; 63-third connecting rod; 70-second driving member; 81-first hinge hole; 82-second hinge hole; 83-third hinge hole; 84-fourth hinge hole; 85-fifth hinge hole; 86-sixth hinge hole; 87-seventh hinge hole; 91-first guide portion; 92-second guide portion;

[0034] A-first articulation axis; B-second articulation axis; C-third articulation axis; D-fourth articulation axis; E-fifth articulation axis; F-sixth articulation axis; G-seventh articulation axis; H-eighth articulation axis. DETAILED DESCRIPTION

[0035] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0036] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0037] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention 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 operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0038] In addition, the terms "first" and "second" are used for descriptive purposes only and should not 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 invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0039] With the continuous development of humanoid robots in recent years, the robot's end effector, dexterous hands, has also been continuously developed and applied. The research and development of dexterous hands can make humanoid robots as flexible as human hands when completing different actions, expanding the application scenarios of robots to solve more existing problems. Among them, the movement of the thumb in dexterous hands has always been an important focus, and the structural design and movement of the thumb will greatly affect the final grasping performance of the dexterous hand. The thumb structure of the dexterous hands of existing products mostly has two or one motion joints, with limited freedom of movement, which is quite different from the joint movement of the human thumb, and the grasping scenarios that can be applied are limited.

[0040] In order to alleviate the above technical problems, the present invention proposes a bionic thumb mechanism 100 and a dexterous hand. The bionic thumb mechanism 100 includes a thumb base 40, a first joint 10, a second joint 20 and a third joint 30. A first driving member 50 is arranged on the thumb base 40. The rotational motion output by the first driving member 50 drives the first joint 10 to swing. The swing of the first joint 10 drives the second joint 20 to swing through the first connecting rod 61. The swing of the second joint 20 drives the third joint 30 to swing through the second connecting rod 62. In this way, the linkage of the three joints is realized through the first driving member 50, so that the movement of the thumb mechanism is more similar to the movement of human fingers.

[0041] The bionic thumb mechanism 100 provided in the embodiment of the present invention is now described.

[0042] Please also read Figures 1 to 3 The bionic thumb mechanism 100 includes a thumb base 40, a first joint 10 hinged to the thumb base 40, a second joint 20 hinged to the first joint 10, a third joint 30 hinged to the second joint 20, and a first driving member 50 for driving the first joint 10 to rotate and fixed to the thumb base 40, and also includes a first connecting rod 61 and a second connecting rod 62, one end of the first connecting rod 61 is hinged to the thumb base 40 or the first driving member 50, the other end of the first connecting rod 61 is hinged to the second joint 20, one end of the second connecting rod 62 is hinged to the first joint 10, and the other end of the second connecting rod 62 is hinged to the third joint 30.

[0043] The thumb base 40 is the basic base of the bionic thumb mechanism 100 . The thumb base 40 may be equivalent to the root of the first knuckle (close to the palm). The thumb base 40 may rotate relative to the palm, thereby causing the entire bionic thumb mechanism 100 to rotate relative to the palm.

[0044] The first joint 10 may be equivalent to the first knuckle (the knuckle close to the palm), the second joint 20 may be equivalent to the second knuckle, and the third joint 30 may be equivalent to the third knuckle (the knuckle at the end). The first joint 10 is hinged to the thumb base 40 to simulate the movement of the first knuckle rotating toward the palm. The second joint 20 is hinged to the first joint 10 to simulate the movement of the second knuckle rotating toward the palm. The third joint 30 is hinged to the second joint 20 to simulate the movement of the third knuckle rotating toward the palm.

[0045] The first driving member 50 is a power component of the bionic thumb mechanism 100. The first driving member 50 can output rotational motion, drive the first joint 10 to rotate, and then realize the linkage of the first joint 10, the second joint 20 and the third joint 30 through the first connecting rod 61 and the second connecting rod 62. The first driving member 50 is fixedly connected to the thumb base 40, and the motion output end of the first driving member 50 is hinged to the first joint 10. It can be understood that the fixed structure of the first driving member 50 (such as the housing of the driving member) and the thumb base 40 are fixed to each other, and the thumb base 40 provides an installation position for the first driving member 50. In this embodiment, each joint is driven by the first driving member 50. The first driving member 50 is shorter than the servo (larger in length) that outputs linear motion, which can avoid the length of the joint being too long, and the size ratio of the joint is also closer to that of a human finger.

[0046] One end of the first connecting rod 61 is hinged to the thumb base 40 or the first driving member 50. The thumb base 40 and the first driving member 50 are both fixedly connected, so the first connecting rod 61 can be hinged to one of the thumb base 40 and the first driving member 50. Specifically, when the first connecting rod 61 is hinged to the first driving member 50, the first connecting rod 61 is hinged to the fixed structure of the first driving member 50. It can be understood that one end of the first connecting rod 61 is directly or indirectly hinged to the thumb base 40. All components fixedly connected to the thumb base 40 can be referred to as reference components. When one end of the first connecting rod 61 is directly hinged to the reference component, it can be understood that the first connecting rod 61 is indirectly hinged to the thumb base 40. The other end of the second connecting rod 62 is hinged to the second joint 20 to realize the rotation of the second joint 20 relative to the first joint 10.

[0047] One end of the second connecting rod 62 is hinged to the first joint 10 , and the other end of the second connecting rod 62 is hinged to the third joint 30 . When the first joint 10 rotates, the third joint 30 is driven to rotate through the second connecting rod 62 .

[0048] When the bionic thumb mechanism 100 is working, the first driving member 50 is working, the first joint 10 swings relative to the first driving member 50, and the swing of the first joint 10 drives the first connecting rod 61 and the second connecting rod 62 to swing, thereby driving the second joint 20 and the third joint 30 to swing, thereby realizing the linkage of the first joint 10, the second joint 20 and the third joint 30. The first driving member 50 can drive the rotation of the first joint 10, the second joint 20 and the third joint 30, thereby forming an under-actuated bionic thumb mechanism 100.

[0049] The bionic thumb mechanism 100 in the above embodiment includes a thumb base 40, a first joint 10, a second joint 20 and a third joint 30 which are hinged in sequence. At the same time, the two ends of the first connecting rod 61 are respectively hinged to the first driving member 50 and the second joint 20, and the two ends of the second connecting rod 62 are respectively hinged to the first joint 10 and the third joint 30. When the first driving member 50 is working, it outputs a rotational motion to swing the first joint 10, thereby driving the second joint 20, the first connecting rod 61, the third joint 30 and the second connecting rod 62 to swing. Through a first driving member 50, the linkage of the three joints is realized, the driving structure is simple, and the joint motion is similar to that of human fingers, which improves its human-like degree.

[0050] In some embodiments of the present invention, see Figure 4 The hinge axis between the thumb base 40 and the first joint 10 is the first hinge axis A, the hinge axis between the first connecting rod 61 and the thumb base 40 or the first driving member 50 is the second hinge axis B, the hinge axis between the first connecting rod 61 and the second joint 20 is the third hinge axis C, and the hinge axis between the first joint 10 and the second joint 20 is the fourth hinge axis D; the connecting line between the first hinge axis A and the fourth hinge axis D, and the connecting line between the second hinge axis B and the third hinge axis C are intersected.

[0051] For the convenience of description, the following description is made by taking the hinge connection between the first connecting rod 61 and the first driving member 50 as an example. The first hinge axis A connects the thumb base 40 and the first joint 10, so that the first joint 10 can rotate relative to the thumb base 40; the second hinge axis B is used to connect the first connecting rod 61 and the first driving member 50, so that the first connecting rod 61 can rotate relative to the housing structure of the first driving member 50; the third hinge axis C is used to connect the first connecting rod 61 and the second joint 20, so that the second joint 20 can rotate relative to the first connecting rod 61; the fourth hinge axis D is used to connect the first joint 10 and the second joint 20, so that the second joint 20 can rotate relative to the first connecting rod 61 while rotating relative to the first joint 10.

[0052] The first connecting rod 61, the first joint 10 and the second joint 20 are combined to form an inverted quadrilateral connecting rod mechanism. When the first driving member 50 is working, the first joint 10 rotates relative to the thumb base 40, and then drives the first connecting rod 61 and the second joint 20 to rotate, thereby realizing the linkage between the first joint 10 and the second joint 20. In order to make the transmission structure of the inverted quadrilateral connecting rod mechanism clearer, the first hinge axis A is referred to as A, the second hinge axis B is referred to as B, the third hinge axis C is referred to as C, and the fourth hinge axis D is referred to as D. In the inverted quadrilateral connecting rod mechanism, the first joint 10 is an AB rod, the first connecting rod 61 is a BC rod, the second joint 20 is a CD rod, A is a fixed hinge, and AD and BC are arranged to intersect. The rotation of the AB rod drives the BC rod and the CD rod to rotate, thereby realizing the linkage between the first joint 10 and the second joint 20.

[0053] The connecting line between the first hinge axis A and the fourth hinge axis D, and the connecting line between the second hinge axis B and the third hinge axis C are arranged to intersect, so that the thumb base 40, the first connecting rod 61, the first joint 10 and the second joint 20 are combined to form an inverse quadrilateral connecting rod mechanism, so that the rotation of the second joint 20 relative to the first joint 10 is more stable.

[0054] When the bionic thumb mechanism 100 is in the straightened state, the center lines of the first joint 10 and the second joint 20 coincide with each other. Figure 4 , the AB rod is set vertically, the BC rod is set obliquely, the AB rod (first joint 10) rotates counterclockwise, driving the CD rod (second joint 20) to bend to the left.

[0055] In some embodiments of the present invention, see Figure 4 The hinge axis between the second connecting rod 62 and the first joint 10 is the fifth hinge axis E, the hinge axis between the second connecting rod 62 and the third joint 30 is the sixth hinge axis F, and the hinge axis between the second joint 20 and the third joint 30 is the seventh hinge axis G; the connection between the fourth hinge axis D and the seventh hinge axis G, and the connection line between the fifth hinge axis E and the sixth hinge axis F are intersectingly arranged.

[0056] The first joint 10, the second connecting rod 62, and the third joint 30 are combined to form an inverted quadrilateral linkage mechanism. When the first driving member 50 is working, the first joint 10 rotates relative to the thumb base 40, and then drives the second connecting rod 62 and the third joint 30 to rotate, thereby realizing the linkage between the first joint 10 and the third joint 30. In order to make the transmission structure of the inverted quadrilateral linkage mechanism clearer, the fourth articulated axis D is referred to as D, the fifth articulated axis E is referred to as E, the sixth articulated axis F is referred to as F, and the seventh articulated axis G is referred to as G. In the inverted quadrilateral linkage mechanism, the first joint 10 is a DE rod, the second connecting rod 62 is an EF rod, and the third joint 30 is an FG rod, and DG and EF are arranged to intersect. The rotation of the DE rod drives the EF rod and the FG rod to rotate, thereby realizing the linkage between the first joint 10 and the third joint 30.

[0057] The connecting line between the fourth hinge axis D and the seventh hinge axis G, and the connecting line between the fifth hinge axis E and the sixth hinge axis F are arranged to intersect, so that the first joint 10, the second connecting rod 62, and the third joint 30 are combined to form an inverse quadrilateral connecting rod mechanism, so that the rotation of the third joint 30 relative to the first joint 10 is more stable.

[0058] When the bionic thumb mechanism 100 is in the straightened state, the center lines of the first joint 10, the second joint 20 and the third joint 30 coincide with each other. Figure 4 , the DG rod is set vertically, the EF rod is set tilted, the DE rod (first joint 10) rotates counterclockwise, driving the FG rod (third joint 30) to bend to the left.

[0059] In some embodiments of the present invention, see Figure 2 and Figure 4 The first connecting rod 61 has a first guide portion 91 at one end away from the first driving member 50, and the first joint 10 has a first guide hole 12. The first guide portion 91 extends into the first guide hole 12, and the first guide hole 12 is arc-shaped, and the center of the first guide hole 12 coincides with the fourth hinge axis D; the second connecting rod 62 has a second guide portion 92 at one end away from the first joint 10, and the second joint 20 has a second guide hole 23. The second guide portion 92 extends into the second guide hole 23, and the second guide hole 23 is arc-shaped, and the center of the second guide hole 23 coincides with the seventh hinge axis G.

[0060] The first guide portion 91 at one end of the first link 61 extends into the first guide hole 12 of the first joint 10. When the first link 61 rotates, the first guide portion 91 slides in the first guide hole 12. When the first guide portion 91 is located at both ends of the first guide hole 12 in the circumferential direction, the first link 61 is located at two extreme positions. The second guide portion 92 at one end of the second link 62 extends into the second guide hole 23 of the second joint 20. The second guide portion 92 slides in the second guide hole 23. When the second guide portion 92 is located at both ends of the second guide hole 23 in the circumferential direction, the second link 62 is located at two extreme positions.

[0061] The first guide portion 91 cooperates with the first guide hole 12 to limit the rotation angle of the first connecting rod 61, so that the rotation angle of the first connecting rod 61 is within a preset range, and the first connecting rod 61 can be prevented from reversing ( Figure 4 The second guide portion 92 cooperates with the second guide hole 23 to limit the rotation angle of the second connecting rod 62, so that the rotation angle of the second connecting rod 62 is within a preset range, thereby preventing the second connecting rod 62 from reversing ( Figure 4 In this way, the bionic thumb mechanism 100 can only rotate in the counterclockwise direction, which is consistent with the bending direction of human fingers.

[0062] In some embodiments, the central angle corresponding to the first guide hole 12 is 40 degrees to 80 degrees, so that the bending angles of the first joint 10 and the second joint 20 are close to the bending angles of human fingers to prevent excessive bending of each joint.

[0063] Optionally, the central angle corresponding to the first guide hole 12 is 50 degrees, 60 degrees, 65 degrees, etc.

[0064] In some embodiments, the central angle corresponding to the second guide hole 23 is 45 degrees to 90 degrees, so that the bending angles of the second joint 20 and the third joint 30 are close to the bending angles of human fingers to prevent excessive bending of each joint.

[0065] Optionally, the central angle corresponding to the second guide hole 23 is 60 degrees, 70 degrees, 75 degrees, etc.

[0066] In some embodiments of the present invention, the first driving member 50 is a rotary steering gear that can output a rotary motion.

[0067] In some embodiments of the present invention, see Figure 1 and Figure 5 The first joint 10 includes two first plates 11 arranged at intervals, the two first plates 11 are respectively hinged to the opposite sides of the first driving member 50, and the first connecting rod 61 is arranged between the side of the first driving member 50 and the first plates 11. The first driving member 50 is located between the two first plates 11, the side of the first driving member 50 facing one of the first plates 11 is the first side, the side of the first driving member 50 facing the other first plate 11 is the second side, and the motion output end of the first driving member 50 is located on the first side. The two first plates 11 are respectively hinged to the opposite sides of the first driving member 50, which can be understood as one of the first plates 11 is hinged to the motion output end of the first driving member 50, and the other first plate 11 is hinged to the second side of the first driving member 50.

[0068] By arranging the first driving member 50 between the two first plates 11, the accommodation space inside the first joint 10 can be fully utilized. The first driving member 50 does not occupy other space and does not increase the structural size of the bionic thumb mechanism 100, so that the size of the bionic thumb mechanism 100 can be designed to be close to that of a human finger.

[0069] In some embodiments, the first connecting rod 61 is located at the first side surface and one of the first plates 11, and the first driving member 50 has a motion output end at the first side surface thereof, so there is a large gap between the first plate 11 and the first side surface for the installation of the first connecting rod 61. One end of the first connecting rod 61 is hinged to the first side surface, and the other end of the first connecting rod 61 is hinged to the second joint 20.

[0070] In some embodiments, the first link 61 is located at the second side surface and the other first plate 11 , one end of the first link 61 is hinged to the second side surface, and the other end of the first link 61 is hinged to the second joint 20 .

[0071] In some embodiments, there are two first links 61, one of which is located at the first side surface and one of the first plates 11, and the other first link 61 is located at the second side surface and the other first plate 11. One end of the two first links 61 is hinged to the first side surface and the second side surface respectively, and the other ends of the two first links 61 are hinged to the second joint 20.

[0072] In some embodiments, the two first plates 11 are parallel to each other and spaced apart, so that the structure of the first joint 10 is more symmetrical and stable.

[0073] In some embodiments, see Figure 5 The first plate 11 is provided with a first hinge hole 81, which is arranged concentrically with the first hinge axis A (at A). The first side surface of the first driving member 50 has a motion output end, and the second side surface of the first driving member 50 has a first hinge axis A. The motion output end of the first driving member 50 extends into the first hinge hole 81 of one of the first plates 11, and the first hinge axis A extends into the first hinge hole 81 of the other first plate 11, so that both first plates 11 can rotate relative to the first driving member 50, thereby improving the stability of the first joint 10 when rotating.

[0074] In some embodiments, see Figure 4 and Figure 5 The first driving member 50 has a second hinge axis B on one side of the first connecting rod 61 . The first connecting rod 61 has a second hinge hole 82 . The second hinge axis B extends into the second hinge hole 82 .

[0075] In some embodiments, see Figure 4 A third hinge hole 83 is provided on the first connecting rod 61 and the second joint 20 , and the hinge connection between the first connecting rod 61 and the second joint 20 is achieved through the cooperation of the third hinge axis C and the third hinge hole 83 .

[0076] Optionally, a first guide hole 12 is opened on one of the first plates 11 , and one end of the third hinge axis C extends into the first guide hole 12 , and the end of the third hinge axis C is the first guide portion 91 .

[0077] Optionally, a first guide hole 12 is formed on the other first plate 11 , and the second joint 20 has a first guide portion 91 extending into the first guide hole 12 .

[0078] In some embodiments, see Figure 5A fourth hinge hole 84 is provided on the first plate 11 and the second joint 20. The fourth hinge hole 84 is concentrically arranged with the fourth hinge axis D. The first joint 10 and the second joint 20 are hingedly connected by the cooperation of the fourth hinge hole 84 and the fourth hinge axis D.

[0079] In some embodiments of the present invention, see Figure 6 The second joint 20 includes two second plates 21 spaced apart and a connecting plate 22 connecting the two second plates 21. The two second plates 21 are both arranged between the two first plates 11. The second connecting rod 62 is arranged between the two second plates 21. One end of the second connecting rod 62 has a fifth hinge axis E, and both ends of the fifth hinge axis E extend into the two first plates 11 respectively. The connecting plate 22 connects the two second plates 21, so that the second joint 20 becomes an integral structure. The two second plates 21 are both arranged between the two first plates 11. It can be understood that one of the second plates 21 is arranged close to the inner side of one of the first plates 11, and the other second plate 21 is arranged close to the inner side of the other first plate 11.

[0080] By arranging the two second plates 21 between the two first plates 11, the size of the second joint 20 is smaller than that of the first joint 10, which is closer to the size variation of human fingers. By arranging the second connecting rod 62 between the two second plates 21, the space between the two second plates 21 can be fully utilized, and the size of the bionic thumb mechanism 100 can be reduced.

[0081] In some embodiments, the number of the second connecting rods 62 may be two, so that the rotation of the second joint 20 and the third joint 30 is more stable.

[0082] In some embodiments, see Figure 6 There are two connecting plates 22, and the two second plates 21 and the two connecting plates 22 form a hollow second joint 20, so that the structure of the second joint 20 is more stable and has higher strength.

[0083] In some embodiments, see Figure 6 A third hinge hole 83 is provided on the first connecting rod 61 and the second plate 21 , and the hinge connection between the first connecting rod 61 and the second plate 21 is achieved through the cooperation of the third hinge axis C and the third hinge hole 83 .

[0084] In some embodiments, see Figure 6 A fourth hinge hole 84 is provided on the first plate 11 and the second plate 21 , and the first joint 10 and the second joint 20 are hingedly connected via a fourth hinge axis D.

[0085] In some embodiments, see Figure 5A fifth hinge hole 85 is provided on the first plate 11 and the second connecting rod 62, and the hinge connection between the first joint 10 and the second connecting rod 62 is achieved through the fifth hinge axis E.

[0086] Optionally, one end of the second connecting rod 62 has a fifth hinge axis E, and both ends of the fifth hinge axis E extend into two fifth hinge holes 85 of the first plate 11 respectively.

[0087] In some embodiments, see Figure 6 and Figure 7 A sixth hinge hole 86 is provided on the second connecting rod 62 and the third plate 32 of the third joint 30, and the second connecting rod 62 and the third joint 30 are hingedly connected via the sixth hinge axis F.

[0088] Optionally, one end of the second connecting rod 62 has a sixth hinge axis F, and both ends of the sixth hinge axis F extend into the third joint 30 respectively.

[0089] Optionally, the two second plates 21 are each provided with a second guide hole 23, and both ends of the sixth hinge axis F extend into the two second guide holes 23 respectively. The end of the sixth hinge axis F is the second guide portion 92.

[0090] In some embodiments, see Figure 6 and Figure 7 A seventh hinge hole 87 is provided on the second plate 21 and the third plate 32 of the third joint 30, and the hinge connection between the second joint 20 and the third joint 30 is achieved through the seventh hinge axis G.

[0091] In some embodiments of the present invention, see Figure 4 and Figure 7 The third joint 30 includes a joint body 31 and two third plates 32 arranged at intervals, one end of each of the third plates 32 is connected to the joint body 31, and the two third plates 32 are arranged between the two second plates 21. The second connecting rod 62 has a sixth hinge axis F at one end away from the first joint 10, and both ends of the sixth hinge axis F extend into the two third plates 32 respectively. There is an accommodation space between the two second plates 21, and the two third plates 32 are located in the accommodation space.

[0092] By arranging the two third plates 32 between the two second plates 21 , the size of the third joint 30 is made smaller than that of the second joint 20 , which is more in line with the variation law of the size of human fingers.

[0093] In some embodiments of the present invention, see Figure 1 The thumb base 40 has a recessed structure 41, at least part of the first driving member 50 is embedded in the recessed structure 41, and the fixing member passes through the side wall of the recessed structure 41 and is connected to the first driving member 50. The first driving member 50 and the thumb base 40 are fixedly connected to each other through the fixing member.

[0094] By setting the recessed structure 41, at least a portion of the first driving member 50 can be accommodated inside the thumb base 40, reducing the space required for the first driving member 50, while also providing a positioning function for the installation of the first driving member 50. In addition, a thin-wall structure (the side wall of the recessed structure 41) is provided for the thumb base 40 to facilitate the passage of the fixing member to connect to the first driving member 50.

[0095] In some embodiments, the recessed structure 41 is disposed on the top of the thumb base 40 , which can be regarded as a recessed structure of the thumb base 40 , so that the first driving member 50 extends out of the thumb base 40 to utilize the space inside the first joint 10 .

[0096] In some embodiments, the fixing member is a threaded member, a connecting hole is opened on the side wall of the recessed structure 41, and a connecting hole is also opened on the side wall of the first driving member 50. The threaded member passes through the connecting hole on the side wall of the recessed structure 41 and is interconnected with the connecting hole on the side wall of the first driving member 50.

[0097] In some embodiments of the present invention, see Figure 1 and Figure 3 The bionic thumb mechanism 100 also includes a second driving member 70 and a third connecting rod 63 capable of outputting linear motion. The motion output end of the second driving member 70 is rotatably connected to the third connecting rod 63, and the end of the third connecting rod 63 away from the second driving member 70 is rotatably connected to the thumb base 40. The second driving member 70 is used to output linear motion, drive the third connecting rod 63 and the thumb base 40 to swing, and then realize the swing of the entire bionic thumb mechanism 100 (the first joint 10, the second joint 20 and the third joint 30). The second driving member 70, the third connecting rod 63 and the thumb base 40 together form a crank-connecting rod mechanism, and the movement of the slider drives the crank (thumb base 40) to swing.

[0098] By setting the second driving member 70 and the third connecting rod 63, the thumb base 40 can be driven to swing, thereby driving the first joint 10, the second joint 20 and the third joint 30 to swing synchronously, thereby realizing the swing of the finger.

[0099] In some embodiments, the second driving member 70 is a linear servo.

[0100] In some embodiments, see Figure 1 An eighth hinge axis H is provided on the thumb base 40, and the eighth hinge axis H extends into the palm structure and other structural parts to realize the rotation of the thumb base 40 relative to the palm structure.

[0101] In some embodiments, see Figure 1 and Figure 3The bottom of the thumb base 40 is convexly formed with a convex connection part, and one end of the third connecting rod 63 is hinged to the convex connection part. The setting of the convex connection part can increase the effective length of the connecting rod corresponding to the thumb base 40, so that the thumb base 40 and each joint have a larger swing range at a relative swing angle.

[0102] The present invention also provides a dexterous hand, which includes the bionic thumb mechanism 100 in any of the above embodiments. The dexterous hand generally has multiple bionic thumb mechanisms 100. The bionic thumb mechanism 100 in the present invention has three joints and can be applied to the thumb, index finger, middle finger, ring finger and little finger of the dexterous hand.

[0103] The dexterous hand provided by the present invention adopts the above-mentioned bionic thumb mechanism 100, which includes a thumb base 40, a first joint 10, a second joint 20 and a third joint 30 which are hinged in sequence. At the same time, the two ends of the first connecting rod 61 are respectively hinged to the first driving member 50 and the second joint 20, and the two ends of the second connecting rod 62 are respectively hinged to the first joint 10 and the third joint 30. When the first driving member 50 is working, it outputs a rotational motion to make the first joint 10 swing, and then drives the second joint 20, the first connecting rod 61, the third joint 30, and the second connecting rod 62 to swing. Through a first driving member 50, the linkage of three joints is realized, the driving structure is simple, and the joint motion is similar to that of human fingers, which improves its human-like degree.

[0104] In some embodiments of the present invention, the dexterous hand further comprises a palm structure, and the thumb base 40 is rotatably connected to the palm structure, so that the thumb base 40, the first joint 10, the second joint 20 and the third joint 30 can swing synchronously. The second driving member 70 can be fixed to the palm structure.

[0105] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A bionic thumb mechanism, characterized in that: It includes a thumb base, a first joint hinged to the thumb base, a second joint hinged to the first joint, a third joint hinged to the second joint, and a first driving member used to drive the first joint to rotate and fixed to the thumb base, and also includes a first connecting rod and a second connecting rod, one end of the first connecting rod is hinged to the thumb base or the first driving member, the other end of the first connecting rod is hinged to the second joint, one end of the second connecting rod is hinged to the first joint, and the other end of the second connecting rod is hinged to the third joint.

2. The bionic thumb mechanism according to claim 1, characterized in that: The hinge axis between the thumb base and the first joint is the first hinge axis, the hinge axis between the first connecting rod and the thumb base or the first driving member is the second hinge axis, the hinge axis between the first connecting rod and the second joint is the third hinge axis, and the hinge axis between the first joint and the second joint is the fourth hinge axis; the connecting line between the first hinge axis and the fourth hinge axis and the connecting line between the second hinge axis and the third hinge axis are intersectingly arranged.

3. The bionic thumb mechanism according to claim 2, characterized in that: The hinge axis between the second link and the first joint is the fifth hinge axis, the hinge axis between the second link and the third joint is the sixth hinge axis, and the hinge axis between the second joint and the third joint is the seventh hinge axis; the connecting line between the fourth hinge axis and the seventh hinge axis, and the connecting line between the fifth hinge axis and the sixth hinge axis are arranged to intersect.

4. The bionic thumb mechanism according to claim 3, characterized in that: The first connecting rod has a first guide portion at one end away from the first driving member, and the first joint has a first guide hole. The first guide portion extends into the first guide hole, the first guide hole is arc-shaped, and the center of the first guide hole coincides with the fourth hinge axis; the second connecting rod has a second guide portion at one end away from the first joint, and the second joint has a second guide hole. The second guide portion extends into the second guide hole, the second guide hole is arc-shaped, and the center of the second guide hole coincides with the seventh hinge axis.

5. The bionic thumb mechanism according to claim 1, characterized in that: The first joint includes two first plates arranged at intervals, the two first plates are respectively hinged to opposite sides of the first driving member, and the first connecting rod is arranged between the side surfaces of the first driving member and the first plates.

6. The bionic thumb mechanism according to claim 5, characterized in that: The second joint includes two second plates arranged at an interval and a connecting plate connecting the two second plates, the two second plates are arranged between the two first plates, and the second connecting rod is arranged between the two second plates; one end of the second connecting rod has a fifth hinge axis, and both ends of the fifth hinge axis extend into the two first plates respectively.

7. The bionic thumb mechanism according to claim 6, characterized in that: The third joint includes a joint body and two third plates arranged at intervals, one end of each of the third plates is connected to the joint body, and the two third plates are arranged between the two second plates. The second connecting rod has a sixth hinge axis at one end away from the first joint, and both ends of the sixth hinge axis extend into the two third plates respectively.

8. The bionic thumb mechanism according to any one of claims 1 to 7, characterized in that: The thumb base has a recessed structure, at least a portion of the first driving member is embedded in the recessed structure, and the fixing member passes through a side wall of the recessed structure and is connected to the first driving member.

9. The bionic thumb mechanism according to any one of claims 1 to 7, characterized in that: The bionic thumb mechanism also includes a second driving member capable of outputting linear motion and a third connecting rod, wherein the motion output end of the second driving member is rotationally connected to the third connecting rod, and one end of the third connecting rod away from the second driving member is rotationally connected to the thumb base.

10. A dexterous hand, characterized in that: The bionic thumb mechanism comprises the bionic thumb mechanism described in any one of claims 1 to 9.

Images