Bionic thumb and control method thereof, robot arm and robot

Abstract

The invention discloses a bionic thumb and a control method thereof, a robot arm and a robot. The bionic thumb comprises a seat body, a finger base, knuckles and a fingertip which are rotationally connected in sequence; a first driving structure is arranged on the seat body and drives the finger base to rotate relative to the seat body; a second driving structure and a third driving structure are arranged on the finger base, the second driving structure drives the knuckles to rotate relative to the finger base, and the third driving structure drives the fingertips to rotate relative to the knuckles; the rotation direction of the finger bases relative to the seat body is different from that of the knuckles relative to the finger bases; the rotation direction of the knuckles relative to the finger base is the same as the rotation direction of the fingertips relative to the knuckles. The first driving structure, the second driving structure and the third driving structure do not interfere with one another and are independently controlled. The first driving structure is assembled on the seat body, and the second driving structure and the third driving structure are both assembled on the finger base, so that the space of a palm is not excessively occupied, the whole thumb is more symmetrical, and the bionic effect is better.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a bionic thumb and its control method, a robotic hand, and a robot. Background Technology

[0002] Robotic fingers are the end effectors of robotic hands, directly contacting the objects they manipulate. Their design is inspired by the structure and function of human fingers (such as multi-joints and tactile perception). Their core function is to achieve precise grasping and perceive object features, serving as a key carrier of the robotic hand's "dexterity." The robotic thumb is the most important robotic finger, playing a crucial role in grasping, holding, and pinching.

[0003] In existing technologies, the thumb of a robotic hand differs significantly from the other fingers in both shape and function, making the biomimicry of the thumb more challenging and leaving considerable room for improvement in the biomimicry effect.

[0004] Therefore, existing technologies still need improvement and development. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a bionic thumb and its control method, a robotic hand and a robot, in order to address the above-mentioned deficiencies of the prior art, and to solve the problem that the bionic effect of the bionic thumb in the prior art needs to be improved.

[0006] The technical solution adopted by this invention to solve the technical problem is as follows: A bionic thumb, comprising: a base, a finger base, a finger joint, and a fingertip that are rotatably connected in sequence; The base is provided with a first driving structure, which is connected to the finger base and drives the finger base to rotate relative to the base. The finger base is provided with a second driving structure and a third driving structure. The second driving structure is connected to the finger base and drives the finger joint to rotate relative to the finger base. The third driving structure is connected to the fingertip and drives the fingertip to rotate relative to the finger joint. Wherein, the rotation direction of the finger base relative to the base is different from the rotation direction of the phalanx relative to the finger base; The direction of rotation of the knuckle relative to the base of the finger is the same as the direction of rotation of the fingertip relative to the knuckle.

[0007] The bionic thumb is provided with a tactile sensor at the fingertip, and the tactile sensor is electrically connected to the first driving structure, the second driving structure, and the third driving structure.

[0008] The bionic thumb, wherein the tactile sensor includes: Abdominal sensor and tip sensor; The abdominal sensor is located at the corresponding position on the abdomen of the fingertip; The tip sensor is located at the tip of the fingertip.

[0009] The bionic thumb, wherein the first driving structure includes: The first driving component is mounted on the base. The output shaft of the first driving component is connected to the finger base; The second driving structure includes: A second driving component is installed on the knuckle; The first bevel tooth is disposed on the output shaft of the second driving member; The second bevel tooth is connected to the finger base; Wherein, the first bevel tooth and the second bevel tooth mesh; The third driving structure includes: A third driving component is installed on the knuckle; A worm gear is disposed on the output shaft of the third driving component; The worm gear is connected to the fingertip; The worm gear meshes with the worm wheel.

[0010] The bionic thumb, wherein the second driving member is located at the corresponding position on the abdomen of the phalanx, and the third driving member is located at the corresponding position on the back of the phalanx; The direction of rotation of the phalanx relative to the base of the phalanx is either towards the ventral side of the phalanx or towards the dorsal side of the phalanx; The worm gear engages with the fingertip via an opening groove.

[0011] The bionic thumb, wherein the second driving structure further includes: The third bevel tooth rotates relative to the finger base and the finger joint; The third bevel tooth meshes with the first bevel tooth.

[0012] A method for controlling a bionic thumb as described in any of the above claims, comprising the steps of: Determine control information; Based on the control information, at least one of the first drive structure, the second drive structure, and the third drive structure is controlled to perform the task.

[0013] The aforementioned bionic thumb control method, wherein the determination of control information includes: Acquire tactile information from the tactile sensor, and determine control information based on the tactile information and the task to be performed.

[0014] A robotic hand, comprising: a bionic thumb as described in any of the above.

[0015] A robot comprising: a bionic thumb as described in any of the above, or a robotic hand as described above.

[0016] Beneficial effects: The first, second, and third drive structures do not interfere with each other and are controlled independently. The first drive structure is mounted on the base, while the second and third drive structures are mounted on the finger base, which does not take up too much space in the palm, making the thumb more symmetrical overall and improving the biomimetic effect. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the first structure of the bionic thumb in an embodiment of the present invention.

[0018] Figure 2 This is a schematic diagram of the second structure of the bionic thumb in an embodiment of the present invention.

[0019] Figure 3 yes Figure 2 Sectional view along line A.

[0020] Figure 4 This is a cross-sectional view of the bionic thumb in an embodiment of the present invention.

[0021] Figure 5 This is a cross-sectional view of the fingertip and tactile sensor in an embodiment of the present invention.

[0022] Figure 6 This is a schematic diagram of the first structure of the first driving structure, the second driving structure and the third driving structure in the embodiments of the present invention.

[0023] Figure 7 This is a schematic diagram of the second structure of the first driving structure, the second driving structure and the third driving structure in the embodiments of the present invention.

[0024] Figure 8 This is a schematic diagram of the second and third driving structures in an embodiment of the present invention.

[0025] Figure 9 This is a schematic diagram of the structure of the second bevel tooth, the first shaft, and the ferrule in an embodiment of the present invention.

[0026] Figure 10 This is a schematic diagram of the structure of the third bevel tooth and the second shaft in an embodiment of the present invention.

[0027] Figure 11 This is a schematic diagram of the worm gear and fingertip in an embodiment of the present invention.

[0028] Figure 12 This is an exploded view of the worm gear and fingertip in an embodiment of the present invention.

[0029] Figure 13 This is a schematic diagram of the worm gear structure in an embodiment of the present invention.

[0030] Figure 14 This is a schematic diagram of the structure of the robotic arm in an embodiment of the present invention.

[0031] Figure 15 This is a schematic diagram of the robot in an embodiment of the present invention.

[0032] Explanation of reference numerals in the attached figures: 10. Base body; 20. Finger base; 30. Knuckles; 40. Fingertip; 41. Second opening groove; 50. First driving structure; 60. Second drive structure; 61. Second drive component; 62. First bevel tooth; 63. Second bevel tooth; 631. Second locking protrusion; 64. Third bevel tooth; 65. First shaft portion; 651. Slot; 66. Second shaft portion; 67. Sleeve; 671. First locking protrusion; 70. Third drive structure; 71. Third drive component; 72. Worm gear; 73. Worm wheel; 731. First opening slot; 74. Third shaft portion; 80. Tactile sensor; 81. Circuit board; 82. Sensor. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of this invention clearer and more explicit, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0034] Please also refer to Figures 1-13 This invention provides some embodiments of a bionic thumb.

[0035] like Figures 1-2As shown, the bionic thumb of the present invention includes: a base 10, a finger base 20, a knuckle 30, and a fingertip 40, which are rotatably connected in sequence. A first driving structure 50 is provided on the base 10, which is connected to the finger base 20 and drives the finger base 20 to rotate relative to the base 10. A second driving structure 60 and a third driving structure 70 are provided on the finger base 20. The second driving structure 60 is connected to the finger base 20 and drives the knuckle 30 to rotate relative to the finger base 20. The third driving structure 70 is connected to the fingertip 40 and drives the fingertip 40 to rotate relative to the knuckle 30. The rotation direction of the finger base 20 relative to the base 10 is different from the rotation direction of the knuckle 30 relative to the finger base 20; the rotation direction of the knuckle 30 relative to the finger base 20 is the same as the rotation direction of the fingertip 40 relative to the knuckle 30.

[0036] Specifically, the bionic thumb mimics the real thumb, with the base 10 and finger base 20 mimicking the connection between the thumb and palm, the knuckle 30 mimicking the thumb knuckle, and the fingertip 40 mimicking the thumbtip. The base 10 and finger base 20 are rotatably connected and their relative rotation is achieved by a first drive structure 50; the finger base 20 and knuckle 30 are rotatably connected and their relative rotation is achieved by a second drive structure 60; the knuckle 30 and fingertip 40 are rotatably connected and their relative rotation is achieved by a third drive structure 70. The direction of mutual rotation between the base 10 and finger base 20 is a first direction, the direction of mutual rotation between the finger base 20 and knuckle 30 is a second direction, and the direction of mutual rotation between the knuckle 30 and fingertip 40 is a third direction. The second and third directions are the same, while the first and second directions are different, and the first and third directions are also different, thus approximating the movement direction of a real thumb. The first drive structure 50, second drive structure 60, and third drive structure 70 do not interfere with each other and are controlled independently.

[0037] The first drive structure 50 is assembled on the base 10, and the second drive structure 60 and the third drive structure 70 are both assembled on the finger base 20. This will not take up too much space in the palm, making the thumb more symmetrical and the bionic effect better.

[0038] In a preferred implementation of this invention, such as Figure 5 As shown, the fingertip 40 is provided with a tactile sensor 80, which is electrically connected to the first driving structure 50, the second driving structure 60, and the third driving structure 70.

[0039] Specifically, the fingertip 40 is equipped with a tactile sensor 80, which senses the contact between the bionic thumb and an object. The tactile sensor 80 is electrically connected to the first driving structure 50, the second driving structure 60, and the third driving structure 70, respectively, so that the tactile sensor 80 can be used in conjunction with each driving structure to control the driving structure based on the tactile information from the tactile sensor 80.

[0040] In a preferred implementation of this invention, such as Figure 5 As shown, the tactile sensor 80 includes: Circuit board 81, located at fingertip 40; Sensor 82 is located at the fingertip 40; The sensor 82 encloses the circuit board 81.

[0041] Specifically, electrodes are formed on the circuit board 81, and the electrodes are located at the corresponding positions of the sensor 82. When the sensor 82 comes into contact with other objects, the sensor 82 is deformed and moved by pressure, and this is sensed by the electrodes. For example, the capacitance of the electrodes changes, thereby realizing the sensing of contact with the object.

[0042] In a preferred implementation of this invention, such as Figure 5 As shown, the tactile sensor 80 includes: Abdominal sensor and tip sensor; The abdominal sensor is located at the position corresponding to the abdomen of the fingertip 40; the tip sensor is located at the position corresponding to the tip of the fingertip 40.

[0043] Specifically, there can be multiple tactile sensors 80, for example, an abdominal sensor and a tip sensor. Multiple tactile sensors 80 detect tactile information from different angles. The abdominal sensor has an abdominal electrode and an abdominal sensor body 82, with the abdominal electrode located at a corresponding position on the abdominal sensor body 82; the tip sensor has a tip electrode and a tip sensor body 82, with the tip electrode located at a corresponding position on the tip sensor body 82. Both the abdominal electrode and the tip electrode are disposed on a circuit board 81. The abdominal sensor body 82 and the tip sensor body 82 are connected together.

[0044] In a preferred implementation of this invention, such as Figures 1-4 As shown, the first driving structure 50 includes: The first driving component is installed on the base 10; The output shaft of the first driving component is connected to the finger base 20.

[0045] Specifically, the first driving member drives the finger base 20 to rotate, realizing the relative rotation of the seat 10 and the finger base 20. The rotation direction of the first driving member is consistent with the first direction. The first driving member can be a folding motor, and the finger base 20 is in the shape of [].

[0046] In a preferred implementation of this invention, such as Figures 6-8 As shown, the second driving structure 60 includes: The second drive component 61 is installed on the knuckle 30; The first bevel tooth 62 is disposed on the output shaft of the second drive member 61; The second bevel tooth 63 is connected to the finger base 20; The first bevel tooth 62 and the second bevel tooth 63 mesh with each other.

[0047] Specifically, the second driving member 61 drives the first bevel tooth 62 to rotate, which in turn drives the second bevel tooth 63 and the finger base 20 to rotate, achieving relative rotation between the finger base 20 and the phalanx 30. The meshing of the two bevel teeth changes the rotation direction of the second driving member 61. The output shaft of the second driving member 61 is perpendicular to the second direction, the rotation direction of the first bevel tooth 62 is perpendicular to the second direction, and the rotation direction of the second bevel tooth 63 is consistent with the second direction. The second driving member 61 can be a coreless motor.

[0048] In a preferred implementation of this invention, such as Figures 6-8 As shown, the second drive structure 60 further includes: The third bevel tooth 64 rotates relative to the finger base 20 and the finger joint 30; The third bevel tooth 64 meshes with the first bevel tooth 62.

[0049] Specifically, the third bevel tooth 64 meshes with the first bevel tooth 62. When the first bevel tooth 62 rotates, the second bevel tooth 63 and the third bevel tooth 64 also rotate. Since the third bevel tooth 64 rotates relative to the finger base 20 and the knuckle 30, the driving force output by the second drive member 61 is not transmitted to the finger base 20 and the knuckle 30 through the third bevel tooth 64. Instead, the driving force output by the second drive member 61 is transmitted to the finger base 20 through the second bevel tooth 63.

[0050] like Figures 8-10 As shown, the finger base 20 and the knuckle 30 are rotatably connected by a first shaft portion 65 and a second shaft portion 66. The first shaft portion 65 is fixed to the finger base 20 and rotates relative to the knuckle 30, and a second bevel tooth 63 is installed at the end of the first shaft portion 65. The second shaft portion 66 rotates relative to the finger base 20 and the knuckle 30, and a third bevel tooth 64 is installed at the end of the second shaft portion 66. The first shaft portion 65 can be fixed to the sleeve 67 of the finger base 20 by snap-fit. The first shaft portion 65 has at least one slot 651, and a first protrusion 671 is formed on the inner side of the sleeve 67, which is inserted into the slot 651. A second protrusion 631 is formed on the second bevel tooth 63, which is inserted into the slot 651.

[0051] In a preferred implementation of this invention, such as Figure 6 , Figure 8 , Figures 11-13 As shown, the third drive structure 70 includes: The third drive component 71 is installed on the knuckle 30; The worm gear 72 is disposed on the output shaft of the third drive member 71; The worm gear 73 is connected to the fingertip 40; The worm 72 meshes with the worm wheel 73.

[0052] Specifically, the third driving component 71 drives the worm 72 to rotate, which in turn drives the worm wheel 73 and the fingertip 40 to rotate, achieving relative rotation between the finger joint 30 and the fingertip 40. The meshing of the worm 72 and the worm wheel 73 changes the rotation direction of the third driving component 71. The rotation direction of the third driving component 71 is perpendicular to a third direction, the rotation direction of the worm 72 is perpendicular to a third direction, and the rotation direction of the worm wheel 73 is consistent with a third direction. The third driving component 71 can be a coreless motor.

[0053] The knuckle 30 and fingertip 40 are rotatably connected via a third shaft 74. A worm gear 73 is mounted on the third shaft 74 and is fixed to the fingertip 40 by a snap-fit ​​mechanism. For example, the worm gear 73 is snapped into the fingertip 40 through an opening groove. The opening groove has a slot and an opening; there are two openings, located on opposite sides of the slot. A first opening groove 731 is formed on the worm gear 73, and a second opening groove 41 is formed on the fingertip 40. The first opening groove 731 and the second opening groove 41 are interlocked, thus limiting each other. The slot openings of the first opening groove 731 and the second opening groove 41 are opposite to each other and interlock. When the worm gear 73 rotates, it also drives the fingertip 40 to rotate. The worm gear 73 and the third shaft 74 can be fixed to each other or rotate relative to each other. When the third shaft 74 is fixed to the knuckle 30, the third shaft 74 rotates relative to the worm gear 73 and also rotates relative to the fingertip 40. When the third shaft 74 rotates relative to the knuckle 30, the third shaft 74 is fixed or rotates relative to the worm gear 73, and the third shaft 74 is fixed or rotates relative to the fingertip 40.

[0054] In a preferred implementation of this invention, such as Figure 2 and Figure 4 As shown, the second drive member 61 is located at the corresponding position on the abdomen of the phalanx 30, and the third drive member 71 is located at the corresponding position on the back of the phalanx 30.

[0055] Specifically, the second drive structure 60 and the third drive structure 70 employ different drive structures, allowing the first and second drive components 61 to be staggered. This prevents the phalanx 30 from becoming excessively long, thus improving the bionic effect of the bionic finger. The phalanx 30 is equipped with a first mounting bracket and a second mounting bracket. The first mounting bracket is used to mount the second drive component 61, and the second mounting bracket is used to mount the third drive component 71. The first mounting bracket is located at the position corresponding to the output shaft of the second drive component 61, and the second mounting bracket is located at the position corresponding to the output shaft of the third drive component 71 and the worm gear 72. The worm gear 72 is rotatably connected to the second mounting bracket.

[0056] In a preferred implementation of this invention, such as Figure 2 and Figure 4 As shown, the rotation direction of the phalanx 30 relative to the base of the finger is either towards the belly of the phalanx 30 or towards the back of the phalanx 30.

[0057] Specifically, the second direction is either the direction of rotation towards the pad of the bionic finger or the direction of rotation towards the back of the bionic finger. The third direction is also either the direction of rotation towards the pad of the bionic finger or the direction of rotation towards the back of the bionic finger. The first direction is either the direction of rotation towards the left side of the bionic finger or the direction of rotation towards the right side of the bionic finger.

[0058] Based on the bionic thumb described in any of the above embodiments, the present invention also provides a preferred embodiment of a control method for a bionic thumb.

[0059] The control method of this invention includes the following steps: Step S100: Determine control information; Step S200: Based on the control information, control at least one of the first drive structure, the second drive structure, and the third drive structure to perform the task.

[0060] Specifically, when the bionic thumb performs a task, control information is first determined, and then, based on the control information, at least one of the first, second, and third drive structures is controlled to execute the task. The first, second, and third drive structures are independent of each other and can be controlled individually or simultaneously.

[0061] Step S100 specifically includes: Step S110: Obtain tactile information from the tactile sensor, and determine control information based on the tactile information and the task to be performed.

[0062] Specifically, tactile information is collected through tactile sensors to determine control information. The control of the driving structure differs in different tasks, resulting in different tactile information. In the specific task execution scenario, control information is determined based on the tactile information and the task to be performed. Tactile information includes abdominal tactile information and tip tactile information; when performing different tasks, the abdominal part of the fingertip may contact other objects, or the tip of the fingertip may contact other objects.

[0063] When performing tasks such as grasping, the second and third actuating structures are controlled based on abdominal tactile information to perform the task. For example, when performing a grasping task, the bionic thumb can be sensed to be in contact with the object to be grasped based on abdominal tactile information. Then, the grasping task can be performed. Specifically, the second and third actuating structures are controlled to make the bionic thumb bend and grasp the object to be grasped.

[0064] When performing tasks such as pinching, the third drive structure is controlled based on the tactile information of the fingertip to perform the task. For example, when performing a pinching task, the tip of the bionic thumb can be sensed to be in contact with the object to be pinched based on the tactile information of the fingertip. Then the pinching task can be performed. Specifically, the third drive structure rotates the fingertip and pinches the object to be pinched.

[0065] Based on the bionic thumb described in any of the above embodiments, the present invention also provides an embodiment of a robotic hand.

[0066] The robotic hand of the present invention includes a bionic thumb as described in any of the above embodiments. The robotic hand can be a single-finger robotic hand or a multi-finger robotic hand, such as a two-finger robotic hand or a three-finger robotic hand. The robotic hand can perform tasks such as grasping or moving objects, operating tools, and displaying different gestures. Figure 14 It is a robotic hand with five fingers, wherein the thumb can be the bionic thumb described in any of the above embodiments.

[0067] Based on the bionic thumb or robotic hand described in any of the above embodiments, the present invention also provides an embodiment of a robot.

[0068] The robot of this invention includes: a bionic thumb as described in any of the above embodiments, or a robotic hand as described in any of the above embodiments. The robot can be a special robot, a wheeled robot, a legged robot, a crawler robot, a squirming robot, a flying robot, a floating robot, a diving robot, a ground robot, an underground robot, a space robot, a SCARA robot, a parallel robot, a master-slave robot, a collaborative robot, etc. The robot can be a single-armed robot or a multi-armed robot. Figure 15 It is a wheeled robot with bionic arms, wherein either bionic arm can be the robotic hand or the bionic thumb described in any of the above embodiments.

[0069] It should be understood that the application of the present invention is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A bionic thumb, characterized in that, include: Rotate the connected base, base, knuckle, and fingertip in sequence; The base is provided with a first driving structure, which is connected to the finger base and drives the finger base to rotate relative to the base. The finger base is provided with a second driving structure and a third driving structure. The second driving structure is connected to the finger base and drives the finger joint to rotate relative to the finger base. The third driving structure is connected to the fingertip and drives the fingertip to rotate relative to the finger joint. Wherein, the rotation direction of the finger base relative to the base is different from the rotation direction of the phalanx relative to the finger base; The direction of rotation of the knuckle relative to the base of the finger is the same as the direction of rotation of the fingertip relative to the knuckle.

2. The bionic thumb according to claim 1, characterized in that, The fingertip is equipped with a tactile sensor, which is electrically connected to the first driving structure, the second driving structure, and the third driving structure.

3. The bionic thumb according to claim 2, characterized in that, The tactile sensor includes: Abdominal sensor and tip sensor; The abdominal sensor is located at the corresponding position on the abdomen of the fingertip; The tip sensor is located at the tip of the fingertip.

4. The bionic thumb according to any one of claims 1 to 3, characterized in that, The first driving structure includes: A first driving component is mounted on the base; The output shaft of the first driving component is connected to the finger base; The second driving structure includes: A second driving component is installed on the knuckle; The first bevel tooth is disposed on the output shaft of the second drive member; The second bevel tooth is connected to the finger base; Wherein, the first bevel tooth and the second bevel tooth mesh; The third driving structure includes: A third driving component is installed on the knuckle; A worm gear is disposed on the output shaft of the third driving component; The worm gear is connected to the fingertip; The worm gear meshes with the worm wheel.

5. The bionic thumb according to claim 4, characterized in that, The second driving member is located at the corresponding position on the abdomen of the phalanx, and the third driving member is located at the corresponding position on the back of the phalanx; The direction of rotation of the phalanx relative to the base of the phalanx is either towards the ventral side of the phalanx or towards the dorsal side of the phalanx; The worm gear engages with the fingertip via an opening groove.

6. The bionic thumb according to claim 4, characterized in that, The second driving structure also includes: The third bevel tooth rotates relative to the finger base and the finger joint; The third bevel tooth meshes with the first bevel tooth.

7. A method for controlling a bionic thumb as described in any one of claims 1 to 6, characterized in that, Including the following steps: Determine control information; Based on the control information, at least one of the first drive structure, the second drive structure, and the third drive structure is controlled to perform the task.

8. The bionic thumb control method according to claim 7, characterized in that, The determined control information includes: Acquire tactile information from the tactile sensor, and determine control information based on the tactile information and the task to be performed.

9. A robotic arm, characterized in that, include: The bionic thumb as described in any one of claims 1 to 6.

10. A robot, characterized in that, include: The bionic thumb as described in any one of claims 1 to 6, or the robotic hand as described in claim 9.

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