Multi-degree-of-freedom bionic thumb

Abstract

A multi-degree-of-freedom bionic thumb belongs to the technical field of myoelectricity bionic devices and comprises a thumb mounting seat, one side of the thumb mounting seat is rotatably connected with a bionic thumb, and the bionic thumb is connected with the thumb mounting seat through cooperation of the bionic thumb, a rotating part, a ball gear, the thumb mounting seat and other structures. The thumb mounting seat is connected with the rotating part through a bolt, and the rotating part is movably connected with the ball gear, so that the rotating range of the bionic thumb can be greatly expanded, and multi-degree-of-freedom rotation is realized; the bionic thumb on the thumb mounting seat can be driven to rotate by multiple degrees of freedom through rotation of the ball gear and the rotating piece, compared with an existing bionic hand, the rotation direction of the root of the thumb is simple, some refined operation cannot be achieved, and therefore the purpose that the thumb rotates by multiple degrees of freedom is achieved, and the bionic hand is more convenient to use. And the effect of fine operation can be realized conveniently.

Description

Technical Field

[0001] The invention relates to the technical field of myoelectric bionic devices, and in particular to a multi-degree-of-freedom bionic thumb. Background Art

[0002] Bionic robots can simulate various fine movements through bionic hands to replace humans in high-risk operations or special tasks. The bionic hand is the executive component for the bionic robot to interact with the environment, and its performance directly affects the performance of the bionic robot.

[0003] In the existing technology, the bionic hand includes a bionic palm and five bionic fingers connected to the bionic palm. Each bionic finger is connected to its own driving structure, which can drive the bionic finger to achieve bending movements. The base of the thumb of the bionic hand has one degree of freedom in the vertical direction, and it is relatively simple to simulate the movements of the human thumb. Summary of the invention

[0004] In order to solve the problem in the above background technology that the thumb can only rotate within a certain range in the vertical direction, which is not conducive to the fine operation of the thumb, the present invention provides a multi-degree-of-freedom bionic thumb.

[0005] A multi-degree-of-freedom bionic thumb comprises a thumb mounting seat, one side of the thumb mounting seat is rotatably connected to the bionic thumb, the side of the thumb mounting seat close to the bionic thumb is rotatably connected to a rotating part, the side of the rotating part away from the bionic thumb is movably connected to a ball gear, a motor is arranged on the side of the thumb mounting seat close to the ball gear, a single-stage gear is arranged on the side of the ball gear away from the rotating part, the output shaft end of the motor is rotatably connected to a bevel gear, the bevel gear is meshed with a connecting gear, the connecting gear is meshed with an idler gear, the idler gear is meshed with a driving gear, a palm base is arranged at the bottom of the motor, a steering gear is fixedly connected to the top of the palm base, a steering gear is arranged on the side of the steering gear close to the motor, a gear connecting frame is arranged on one side of the steering gear, and a ball gear seat is arranged on the side of the ball gear away from the rotating part.

[0006] Preferably, the thumb mounting seat is rotated by rotating the rotating member along an axial trajectory, and the rotating member is rotationally connected by an external force.

[0007] Preferably, a threaded hole is provided on the upper surface of the rotating member, and the bionic thumb is fixedly connected to the rotating member by bolts.

[0008] Preferably, the gear connecting frame is rotationally connected to the motor, and a side of the motor away from the gear connecting frame is fixedly connected to the palm base plate.

[0009] Preferably, the ball gear is movably connected to the ball gear seat, and a palm back is provided on the side of the ball gear seat away from the ball gear; a connecting hole for hole-to-hole bolt connection is provided at the lower end of the palm back.

[0010] Preferably, the driving gear is fixedly connected to the single-stage gear, and the single-stage gear is rotationally connected to the ball gear.

[0011] Preferably, one side of the bionic thumb is rotatably connected to a bionic palm, and the bionic palm is connected via a rotating mechanism.

[0012] The working principle and use process of the present invention: First, the thumb mounting base is connected to the rotating part through bolts. After the connection, the motor is turned on to make the motor rotate to drive the bevel gear to rotate synchronously. While the bevel gear rotates synchronously, the connecting gear is driven by power to rotate synchronously. The connecting gear rotates to drive the meshing idler gear to rotate. The idler gear rotates to drive the meshing driving gear to rotate. The driving gear rotates to drive the single-stage gear, so that the single-stage gear can drive the ball gear to rotate. The ball gear can rotate through multiple degrees of freedom, so that the bionic thumb can greatly increase the range of rotation, and the bionic thumb can perform more refined operations. Compared with the traditional thumb root rotation, it has one degree of freedom in the vertical direction and the movement is relatively simple.

[0013] Beneficial effects of the present invention: The present invention can greatly improve the rotation range of the bionic thumb and realize multi-degree-of-freedom rotation through the coordination of structures such as the bionic thumb, the rotating part, the ball gear, and the thumb mounting seat. The thumb mounting seat is connected to the rotating part by bolts, and the rotating part is movably connected to the ball gear, so that the bionic thumb on the thumb mounting seat can drive the bionic thumb to rotate with multiple degrees of freedom through the rotation of the ball gear and the rotating part. Compared with the existing bionic hand, the direction of rotation of the thumb root is relatively simple and some refined operations cannot be performed. Therefore, the thumb can be rotated with multiple degrees of freedom, which is convenient for realizing the effect of refined operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the ball gear structure of the present invention; Figure 3 This is a schematic diagram of the top view of the single-stage gear structure of the present invention; Figure 4 It is a schematic diagram of the idler structure of the present invention; Figure 5 It is a structural schematic diagram of the motor and the gear connecting frame of the present invention; Figure 6 It is a schematic structural diagram of the palm back and the connecting hole of the present invention.

[0015] In the figure: 1. thumb mounting seat; 2. bionic thumb; 3. rotating part; 4. ball gear; 5. motor; 6. single-stage gear; 7. bevel gear; 8. connecting gear; 9. idler gear; 10. driving gear; 11. palm bottom plate; 12. servo; 13. servo gear; 14. gear connecting frame; 15. ball gear seat; 16. back of palm; 17. bionic palm; 18. rotating mechanism; 19. connecting hole. DETAILED DESCRIPTION

[0016] See also Figures 1 to 6 Shown is an embodiment of the present invention.

[0017] A multi-degree-of-freedom bionic thumb comprises a thumb mounting seat 1, one side of the thumb mounting seat 1 is rotatably connected to a bionic thumb 2, the side of the thumb mounting seat 1 close to the bionic thumb 2 is rotatably connected to a rotating member 3, the side of the rotating member 3 away from the bionic thumb 2 is movably connected to a ball gear 4, a motor 5 is provided on the side of the thumb mounting seat 1 close to the ball gear 4, a single-stage gear 6 is provided on the side of the ball gear 4 away from the rotating member 3, an output shaft end of the motor 5 is rotatably connected to a bevel gear 7, the bevel gear 7 is meshed with a connecting gear 8, the connecting gear 8 is meshed with an idler gear 9, the idler gear 9 is meshed with a driving gear 10, a palm base plate 11 is provided at the bottom of the motor 5, a steering gear 12 is fixedly connected to the top of the palm base plate 11, a steering gear 13 is provided on the side of the steering gear 12 close to the motor 5, a gear connecting frame 14 is provided on one side of the steering gear 13, and a ball gear seat 15 is provided on the side of the ball gear 4 away from the rotating member 3.

[0018] By connecting the thumb mounting base 1 with the rotating member 3 through bolts, the rotating member 3 is rotated and connected by external force, so that the rotating member 3 drives the entire component to operate after being rotated by external force. After the connection, by turning on the motor 5, the motor 5 is rotated to drive the bevel gear 7 to rotate synchronously. While the bevel gear 7 rotates synchronously, it drives the connecting gear 8 to rotate synchronously through power. The connecting gear 8 rotates to drive the meshing idler gear 9 to rotate. The idler gear 9 rotates to drive the meshing driving gear 10 to rotate. The driving gear 10 rotates to drive the single-stage gear 6, so that the single-stage gear 6 can drive the ball gear 4 to rotate, so that the ball gear 4 can rotate through multiple degrees of freedom, so that the bionic thumb 2 can greatly increase the range of rotation, and the bionic thumb 2 can perform more refined operations. Compared with the traditional thumb root rotation, it has one degree of freedom in the vertical direction and the action is relatively simple.

[0019] like Figure 1 , Figure 2As shown, the thumb mounting seat 1 rotates by rotating the axial track of the rotating member 3, the rotating member 3 is rotationally connected by external force, a threaded hole is opened on the upper surface of the rotating member 3, and the bionic thumb 2 is fixedly connected to the rotating member 3 by bolts.

[0020] The thumb mounting seat 1 is rotated according to the rotation trajectory of the rotating part 3, so that the bionic thumb 2 on the thumb mounting seat 1 can be rotated at multiple angles, thereby realizing more precise operation of the bionic thumb 2. The rotating part 3 is rotationally connected by an external force, so that the rotating part 3 drives the entire component to operate after being rotated by an external force, thereby facilitating the flexible use of the bionic thumb 2. A threaded hole is provided on the upper surface of the rotating part 3, so that the thumb mounting seat 1 connected to the bionic thumb 2 and the overall rotating part 3 can achieve a connection effect.

[0021] like Figure 1 , Figure 2 As shown, the gear connecting frame 14 is rotationally connected to the motor 5, the side of the motor 5 away from the gear connecting frame 14 is fixedly connected to the palm base plate 11, the ball gear 4 is movably connected to the ball gear seat 15, and the side of the ball gear seat 15 away from the ball gear 4 is provided with a palm back 16, and the lower end of the palm back 16 is provided with a connecting hole 19 for hole-to-hole bolt connection.

[0022] It is rotatably connected to the motor 5 through the gear connecting frame 14, and a bevel gear 7 is provided at the output shaft end of the motor 5. The side of the bevel gear 7 away from the motor 5 is connected to the gear connecting frame 14, so that when the motor 5 rotates, it can drive the bevel gear 7 to rotate synchronously. The rotation of the bevel gear 7 transmits power to the connecting gear 8, so that the connecting gear 8 drives the power to the driving gear 10 through the meshing idler gear 9. The side of the motor 5 away from the gear connecting frame 14 is fixedly connected to the palm base plate 11, so that the motor 5 can run on the palm base plate 11. The ball gear 4 is movably connected to the ball gear seat 15, which is convenient for the rotation of the ball gear 4. The side of the ball gear seat 15 away from the ball gear 4 is provided with a palm back 16, which is convenient for the connection between the palm back 16 and the ball gear seat 15.

[0023] like Figure 1 , Figure 2 As shown, the driving gear 10 is fixedly connected to the single-stage gear 6 , the single-stage gear 6 is rotationally connected to the ball gear 4 , one side of the bionic thumb 2 is rotationally connected to the bionic palm 17 , and the bionic palm 17 is connected via a rotating mechanism 18 .

[0024] The driving gear 10 is fixedly connected to the single-stage gear 6, so that when the driving gear 10 rotates through the idler gear 9, the power is driven to the single-stage gear 6, so that the single-stage gear 6 can control the rotation of the ball gear 4 through the power brought by the driving gear 10, and the driving gears 10 on both sides are fixedly connected to the protruding shafts on both sides of the single-stage gear 6. One side of the bionic thumb 2 is rotatably connected to the bionic palm 17, so that the overall bionic palm 17 can be better moved through the rotating mechanism 18. The bionic palm 17 is connected through the rotating mechanism 18, which is convenient for driving the overall bionic palm 17 to rotate with multiple degrees of freedom through the rotating mechanism 18.

[0025] The working principle and use process of this embodiment: First, the thumb mounting base 1 is connected to the rotating member 3 by bolts. After the connection, the motor 5 is turned on to rotate the motor 5 to drive the bevel gear 7 to rotate synchronously. The bevel gear 7 rotates synchronously and drives the connecting gear 8 to rotate synchronously through power. The connecting gear 8 rotates to drive the meshing idler gear 9 to rotate. The idler gear 9 rotates to drive the meshing driving gear 10 to rotate. The driving gear 10 rotates to drive the single-stage gear 6, so that the single-stage gear 6 can drive the ball gear 4 to rotate, so that the ball gear 4 can rotate through multiple degrees of freedom, so that the bionic thumb 2 can greatly increase the range of rotation, so that the bionic thumb 2 can perform more refined operations, and compared with the traditional thumb root rotation, there is one degree of freedom in the vertical direction, and the action is relatively simple.

Claims

1. A multi-degree-of-freedom bionic thumb, comprising a thumb mounting seat (1), characterized in that: One side of the thumb mounting seat (1) is rotatably connected to the bionic thumb (2); the side of the thumb mounting seat (1) close to the bionic thumb (2) is rotatably connected to a rotating member (3); the side of the rotating member (3) away from the bionic thumb (2) is movably connected to a ball gear (4); a motor (5) is provided on the side of the thumb mounting seat (1) close to the ball gear (4); a single-stage gear (6) is provided on the side of the ball gear (4) away from the rotating member (3); the output shaft end of the motor (5) is rotatably connected to a bevel gear (7); The bevel gear (7) is meshed with a connecting gear (8), the connecting gear (8) is meshed with an idler gear (9), the idler gear (9) is meshed with a driving gear (10), a palm base plate (11) is provided at the bottom of the motor (5), a steering gear (12) is fixedly connected to the top of the palm base plate (11), a steering gear (13) is provided on the side of the steering gear (12) close to the motor (5), a gear connecting frame (14) is provided on the side of the steering gear (13), and a ball gear seat (15) is provided on the side of the ball gear (4) away from the rotating member (3).

2. The multi-degree-of-freedom bionic thumb according to claim 1, characterized in that: The thumb mounting seat (1) is rotated by the rotating member (3) rotating along an axial trajectory, and the rotating member (3) is rotationally connected by an external force.

3. The multi-degree-of-freedom bionic thumb according to claim 1, characterized in that: A threaded hole is provided on the upper surface of the rotating member (3), and the bionic thumb (2) is fixedly connected to the rotating member (3) via bolts.

4. The multi-degree-of-freedom bionic thumb according to claim 1, characterized in that: The gear connecting frame (14) is rotationally connected to the motor (5), and a side of the motor (5) away from the gear connecting frame (14) is fixedly connected to the palm base plate (11).

5. The multi-degree-of-freedom bionic thumb according to claim 1, characterized in that: The ball gear (4) is movably connected to the ball gear seat (15); a palm back (16) is provided on the side of the ball gear seat (15) away from the ball gear (4); a connection hole (19) for hole-to-hole bolt connection is provided at the lower end of the palm back (16).

6. The multi-degree-of-freedom bionic thumb according to claim 1, characterized in that: The driving gear (10) is fixedly connected to the single-stage gear (6), and the single-stage gear (6) is rotationally connected to the ball gear (4).

7. The multi-degree-of-freedom bionic thumb according to claim 1, characterized in that: One side of the bionic thumb (2) is rotatably connected to a bionic palm (17), and the bionic palm (17) is connected via a rotating mechanism (18).

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