Thumb mechanism for manipulator

Abstract

The thumb mechanism for the manipulator comprises a connecting assembly, a knuckle assembly, a driving assembly and a transmission assembly, the connecting assembly comprises a mounting seat, a rotating shaft and a swing seat, the knuckle assembly is connected to the swing seat, the driving assembly comprises a first driving module and a second driving module which are arranged side by side, and the transmission assembly comprises a first transmission part, a second transmission part and a third transmission part; the first, third and second transmission parts are sequentially and coaxially arranged outside the rotating shaft, the first transmission part is further connected to the swing seat and can rotate relative to the rotating shaft, and the third and second transmission parts are respectively fixed on the rotating shaft; the first driving module drives the swing base to rotate relative to the mounting base through the first transmission part, the swing base drives the knuckle assembly to swing, the second driving module drives the rotating shaft to rotate through the second transmission part, and the rotating shaft drives the knuckle assembly to be bent through the third transmission part. According to the thumb mechanism, the occupation of the internal space of the knuckle assembly is reduced, the problem that the internal driving torque of the thumb mechanism is insufficient is solved, and larger driving force is provided.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a compact thumb mechanism with high driving force and high stability suitable for robotic arms. Background Technology

[0002] With the rapid development of robotics technology, robots are increasingly being used in fields such as industrial manufacturing, medical surgery, home services, and space exploration. As an important end effector for robot interaction with the environment, the research on dexterous hands has received increasing attention. Compared with simple grippers, five-fingered dexterous hands have the characteristics of multiple degrees of freedom and high flexibility, and can mimic the complex movements of human hands to achieve adaptive grasping and manipulation of objects of different shapes and sizes.

[0003] In existing robotic thumb mechanisms, to reduce space requirements, the motors driving thumb bending are typically located within the knuckle. This design is not conducive to providing large driving forces. In other thumb mechanisms, to provide sufficient driving force for rotation and oscillation, the drive motors are located in the palm. However, due to the complex transmission structure and the staggered arrangement of the two drive motors, the space occupied in the palm is relatively large, which is detrimental to the robotic hand's gripping ability and leads to reduced dynamic stability and reliability of the grip. Summary of the Invention

[0004] The technical solution of the present invention is as follows: A thumb mechanism for a robotic arm is provided, comprising a connecting assembly, a knuckle assembly, a driving assembly, and a transmission assembly; wherein, the connecting assembly includes a mounting base, a rotating shaft, and a swing base, the rotating shaft being mounted on the mounting base and rotatable relative to the mounting base, and the swing base being rotatable relative to the mounting base; the knuckle assembly is connected to the swing base and can swing under the drive of the swing base; the driving assembly includes a first driving module and a second driving module, the first driving module and the second driving module being arranged side-by-side along a first direction, the first direction being non-parallel to the axial direction of the rotating shaft; the transmission assembly includes a first transmission component and a second transmission component. The system includes a first transmission component connected to the swing seat, a second transmission component located at one end of the rotating shaft and rotatable relative to the rotating shaft, and a third transmission component connected to the rotating shaft. The first, second, and third transmission components are coaxially arranged along the axial direction of the rotating shaft. The first drive module drives the swing seat to rotate relative to the mounting base via the first transmission component, and the swing seat causes the knuckle assembly to swing. The second drive module drives the rotating shaft to rotate via the second transmission component, and the rotating shaft causes the knuckle assembly to bend via the third transmission component.

[0005] Preferably, the transmission assembly further includes a fourth transmission member, a fifth transmission member, and a sixth transmission member. The fourth transmission member is connected to the output end of the first drive module and the first transmission member; the fifth transmission member is connected to the output end of the second drive module and the second transmission member; and the sixth transmission member is connected to the knuckle assembly and the third transmission member.

[0006] Preferably, the connecting assembly further includes a first support assembly and a second support assembly. The first support assembly is mounted on the mounting base and is used to rotatably support the rotating shaft. The second support assembly is mounted on the mounting base and is located on the side of the rotating shaft. The fourth transmission member and the fifth transmission member are respectively mounted between the mounting base and the second support assembly.

[0007] Preferably, the mounting base includes a first mounting portion and a second mounting portion disposed on one side of the first mounting portion, wherein the first drive module and the second drive module are mounted side by side on the first mounting portion and separated by the second mounting portion.

[0008] Preferably, the mounting base further includes a third mounting portion and a fourth mounting portion, the third mounting portion and the fourth mounting portion being respectively disposed on the other side of the first mounting portion, and the third mounting portion being disposed opposite to the first support assembly. The two ends of the rotating shaft are rotatably mounted on the third mounting portion and the first support assembly, respectively. The second support assembly is fixed to the fourth mounting portion and parallel to the first mounting portion. The fourth transmission member and the fifth transmission member are rotatably mounted between the second support assembly and the first mounting portion, and the fourth transmission member and the fifth transmission member are separated by the fourth mounting portion.

[0009] Preferably, the mounting base further includes a fifth mounting part, which is located at one end of the first mounting part, and the fifth mounting part and the first mounting part are staggered. The fifth mounting part is used to connect with the hand mechanism of the robot arm.

[0010] Preferably, the first support assembly includes a first support base and a first bearing installed in the first support base. The first support base is fixed to the mounting base by fasteners and is parallel to the third mounting portion. The third mounting portion is provided with a third bearing. One end of the rotating shaft is installed on the first bearing, and the other end of the rotating shaft is installed on the third bearing and passes through the third mounting portion to connect to the second transmission component.

[0011] Preferably, the second support assembly includes a second support base and a second bearing installed in the second support base. The second support base is fixed to the fourth mounting portion by fasteners and is parallel to the first mounting portion. One end of the fourth transmission member and the fifth transmission member are respectively installed on the second bearing, and the other end is respectively installed on the first mounting portion.

[0012] Preferably, the swing seat includes a first connecting part and a second connecting part. The interiors of the first connecting part and the second connecting part are hollow and connected. The first connecting part is rotatably sleeved on the outside of the rotating shaft and is fixedly connected to the first transmission member. The interior of the second connecting part is used to install the sixth transmission member, and the second connecting part is also rotatably connected to the knuckle assembly.

[0013] Preferably, the first connecting part has a cylindrical structure and is rotatably sleeved on the outside of the rotating shaft, and the second connecting part is provided with a mounting groove for mounting the sixth transmission component.

[0014] Preferably, the swing seat further includes a third connecting part, which is disposed at one end of the first connecting part. The third connecting part is rotatably sleeved on the outside of the rotating shaft. The first transmission member is sleeved on the outside of the third connecting part, and the third transmission member is disposed inside the first connecting part.

[0015] Preferably, the transmission assembly further includes a connecting rod that cooperates with the sixth transmission member. One end of the connecting rod is rotatably connected to the swing seat, and the other end of the connecting rod is rotatably connected to the knuckle assembly. When the third transmission member drives the sixth transmission member to rotate, the sixth transmission member can drive the connecting rod to rotate, and the connecting rod causes the knuckle assembly to bend.

[0016] Preferably, the sixth transmission member is provided with a pushing part, and the end of the connecting rod connected to the swing seat is provided with a pushed part that cooperates with the pushing part. When the sixth transmission member rotates, the pushing part can push the pushed part to drive the connecting rod to rotate; or / and, Preferably, the sixth transmission member and the connecting rod are rotatably connected to the swing seat via the same rotating shaft.

[0017] Preferably, the knuckle assembly includes a first knuckle and a second knuckle, the first knuckle being rotatably connected to the swing seat, the second knuckle being rotatably connected to the first knuckle, and the second knuckle also being rotatably connected to the linkage rod.

[0018] Compared with the prior art, the thumb mechanism of the present invention places the driving component outside the knuckle component, thus reducing the space occupied by the driving component inside the knuckle component and solving the problem of insufficient driving torque inside the thumb mechanism. This allows for the provision of greater driving force, ensuring sufficient driving force for rotation and swing. Secondly, the driving component is located inside the palm mechanism and includes a first driving module and a second driving module arranged side by side along the first direction. This structural arrangement reduces the space occupied by the palm mechanism, further providing greater driving force and ensuring sufficient driving force, thereby ensuring the dynamic stability and reliability of the robotic hand's grip. Furthermore, the transmission component includes a first transmission element and a second transmission element. The system includes a moving part and a third transmission part. The first transmission part is connected to the swing seat and is located at one end of the rotating shaft, allowing it to rotate relative to the rotating shaft. The second transmission part is located at the other end of the rotating shaft, and the third transmission part is connected to the rotating shaft. The first, second, and third transmission parts are arranged coaxially along the axial direction of the rotating shaft, ensuring that they rotate around the same axis. This avoids eccentricity errors, resulting in a stable transmission ratio and high motion synchronization. Consequently, energy loss and nonlinear factors during force transmission are reduced, allowing the output torque of the drive component to be transmitted more accurately to the knuckle component of the thumb mechanism. This improves the accuracy of force control and further enhances the dynamic stability and reliability of the grip. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the robotic arm of the present invention.

[0020] Figure 2 yes Figure 1 A schematic diagram showing the structure after removing the outer shell of the palm mechanism and the dust cover of the thumb mechanism.

[0021] Figure 3 yes Figure 2 A schematic diagram of the thumb mechanism in the image.

[0022] Figure 4 yes Figure 3 A structural diagram from another angle.

[0023] Figure 5 yes Figure 3 A sectional view.

[0024] Figure 6 yes Figure 3 Another sectional view.

[0025] Figure 7 yes Figure 3 A schematic diagram of the disassembly of the knuckle assembly.

[0026] Figure 8 yes Figure 7 A structural diagram showing the removal of the linkage and some drive components.

[0027] Figure 9 yes Figure 8 A structural diagram from another angle.

[0028] Figure 10 yes Figure 8 Another structural diagram from a different angle.

[0029] Figure 11 yes Figure 8 A sectional view.

[0030] Figure 12 yes Figure 8 A schematic diagram of the structure for removing the connector.

[0031] Figure 13 yes Figure 12 A structural diagram from another angle. Detailed Implementation

[0032] Embodiments of the present invention will now be described with reference to the accompanying drawings, in which similar element reference numerals represent similar elements. It should be noted that the directional descriptions involved in the present invention, such as up, down, left, right, front, and rear, indicating directions or positional relationships, are based on the directions or positional relationships shown in the drawings and are only for the convenience of describing the technical solutions of this application or / and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. The terms "first," "second," etc., described are only used to distinguish technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the sequential relationship of the indicated technical features.

[0033] Combination Figures 1-13 As shown, the thumb mechanism 1 provided by this invention is mainly applicable to the robotic hand of a robot. The robotic hand includes a palm mechanism 3, finger mechanisms 2, and a thumb mechanism 1. Four finger mechanisms 2 are provided, each mounted on the end of the palm mechanism 3, and all four finger mechanisms 2 have identical structures, differing only in length. The thumb mechanism 1 is mounted on the side of the palm mechanism 3. Through the coordinated movement of the thumb mechanism 1 and the four finger mechanisms 2, the grasping, releasing, or other operations of objects are achieved. The structures of the palm mechanism 3 and the finger mechanisms 2 are conventional structures in the art and will not be described in detail further.

[0034] Understandably, the thumb mechanism 1 is not limited to use in robotic hands; it is equally feasible to apply it to other devices in the field of robotics.

[0035] The following is combined Figures 1-12As shown, in one embodiment of the present invention, the thumb mechanism 1 includes a connecting component 10, a knuckle component 20, a transmission component 30, and a driving component 40. The connecting component 10 includes a mounting base 11, a rotating shaft 12, and a swing base 13. The rotating shaft 12 is mounted on the mounting base 11 and can rotate relative to the mounting base 11. The swing base 13 can rotate relative to the mounting base 11. The knuckle component 20 is connected to the swing base 13 and can swing under the drive of the swing base 13. The driving component 40 includes a first driving module 41 and a second driving module 42. The first driving module 41 and the second driving module 42 are arranged side-by-side along a first direction and mounted on the mounting base 11, and the first direction is not parallel to the axial direction of the rotating shaft 12. The transmission assembly 30 includes a first transmission member 31, a second transmission member 32, and a third transmission member 33. The first transmission member 31 is connected to the swing base 13 and is located at one end of the rotating shaft 12, allowing it to rotate relative to the rotating shaft 12. The second transmission member 32 is located at the other end of the rotating shaft 12, and the third transmission member 33 is connected to the rotating shaft 12. Furthermore, the first transmission member 31, the second transmission member 32, and the third transmission member 33 are coaxially arranged along the axial direction of the rotating shaft 12. The first drive module 41 drives the swing base 13 to rotate relative to the mounting base 11 via the first transmission member 31, causing the swing base 13 to swing the knuckle assembly 20. The second drive module 42 drives the rotating shaft 12 to rotate via the second transmission member 32, causing the rotating shaft 12 to rotate, which in turn causes the knuckle assembly 20 to bend, thus achieving the flexion and extension of the thumb mechanism 1.

[0036] The following is combined Figures 2-13 As shown, in one embodiment of the present invention, the transmission assembly 30 further includes a fourth transmission member 34, a fifth transmission member 35, and a sixth transmission member 36. The fourth transmission member 34 is connected to the output end of the first drive module 41 and the first transmission member 31. When the first drive module 41 drives the fourth transmission member 34 to rotate, the fourth transmission member 34 can drive the first transmission member 31 to rotate. The fifth transmission member 35 is connected to the output end of the second drive module 42 and the second transmission member 32. When the second drive module 42 drives the fifth transmission member 35 to rotate, the fifth transmission member 35 can drive the second transmission member 32 to rotate, thereby causing the rotating shaft 12 fixedly connected to it to rotate. The sixth transmission member 36 is connected to the knuckle assembly 20 and the third transmission member 33. During the rotation of the rotating shaft 12, it drives the third transmission member 33 fixedly connected to it to rotate, and the third transmission member 33 drives the sixth transmission member 36 to rotate, thereby causing the knuckle assembly 20 to bend.

[0037] In this application, the first transmission component 31 and the fourth transmission component 34, the second transmission component 32 and the fifth transmission component 35, and the third transmission component 33 and the sixth transmission component 36 are all cooperating worm gear and worm shaft transmission structures. Specifically, the first transmission component 31, the second transmission component 32, and the sixth transmission component 36 are all worm gears, while the third transmission component 33, the fourth transmission component 34, and the fifth transmission component 35 are all worm shafts, but this is not a limitation. The rigid transmission chain formed by the cooperation of worm gears and worm shafts significantly improves the overall rigidity of the transmission assembly 30, reduces energy loss and nonlinear factors in the force transmission process, and enables the output torque of the drive assembly 40 to be transmitted more accurately to the knuckle assembly 20 of the thumb mechanism 1, thereby improving the accuracy of force control and enhancing the dynamic stability of the knuckle assembly 20 in grasping.

[0038] Understandably, the transmission assembly 30 is not limited to using a worm gear and worm structure; other transmission components may also be used.

[0039] The following is combined Figures 2-11 As shown, in one embodiment of the present invention, the connecting assembly 10 further includes a first support assembly 14 and a second support assembly 15. The first support assembly 14 is mounted on the mounting base 11 and is used to rotatably support the rotating shaft 12. The second support assembly 15 is mounted on the mounting base 11 and located on the side of the rotating shaft 12. A fourth transmission member 34 and a fifth transmission member 35 are respectively mounted between the mounting base 11 and the second support assembly 15. (See Figure 15) Figure 9 As shown. This makes the installation of the transmission assembly 30 easier, while also making the structure more compact and reducing the internal space it occupies.

[0040] Continue to combine Figures 2-11 As shown, in one embodiment of the present invention, the mounting base 11 includes a first mounting portion 111, a second mounting portion 112, a third mounting portion 113, and a fourth mounting portion 114. The second mounting portion 112 is disposed on one side of the first mounting portion 111, and the two are staggered. The first drive module 41 and the second drive module 42 are mounted side-by-side on the first mounting portion 111 and separated by the second mounting portion 112. (See attached diagram) Figure 8 , Figure 10 As shown. The third mounting part 113 and the fourth mounting part 114 are respectively provided on the other side of the first mounting part 111, and the third mounting part 113 and the fourth mounting part 114 are both staggered with the first mounting part 111, see reference. Figure 8 , Figure 9 As shown.

[0041] The following is combined Figures 8-11As shown, in one specific embodiment, the third mounting portion 113 is disposed opposite to the first support assembly 14, and the two ends of the rotating shaft 12 are rotatably mounted on the third mounting portion 113 and the first support assembly 14, respectively. The second support assembly 15 is fixed to the fourth mounting portion 114 and parallel to the first mounting portion 111. The fourth transmission member 34 and the fifth transmission member 35 are rotatably mounted between the second support assembly 15 and the first mounting portion 111, and the fourth transmission member 34 and the fifth transmission member 35 are separated by the fourth mounting portion 114. This structural arrangement of the mounting base 11 makes the installation of the drive assembly 40 and the transmission assembly 30 more convenient and the structural layout more compact, thereby reducing the space occupied. On the other hand, it strengthens the overall connection strength.

[0042] See Figures 9-10 As shown, in one embodiment of the present invention, the mounting base 11 further includes a fifth mounting portion 115, which is disposed at one end of the first mounting portion 111, and the fifth mounting portion 115 intersects with the first mounting portion 111, the second mounting portion 112, and the fourth mounting portion 114. More specifically, the fifth mounting portion 115 is simultaneously connected to the first mounting portion 111 and the second mounting portion 112, as shown. Figure 10 As shown, it is arranged perpendicularly to the first mounting part 111, the second mounting part 112, and the fourth mounting part 114. The fifth mounting part 115 is used to connect with the palm mechanism 3 of the robot hand, making the installation between the thumb mechanism 1 and the palm mechanism 3 more convenient.

[0043] The following is combined Figure 6 , Figure 11 As shown, in one embodiment of the present invention, the first support assembly 14 includes a first support base 141 and a first bearing 142 installed within the first support base 141. The first support base 141 is fixed to the first mounting portion 111 of the mounting base 11 by fasteners, and the first support base 141 is parallel to the third mounting portion 113. Correspondingly, a third bearing 1131 is provided within the third mounting portion 113. One end of the rotating shaft 12 is mounted on the first bearing 142, and the other end of the rotating shaft 12 is mounted on the third bearing 1131, passing through the third mounting portion 113 to connect to the second transmission member 32, such as... Figure 11 As shown, this provides rotational support for the rotating shaft 12, making the installation of the rotating shaft 12 convenient.

[0044] Combination Figures 6-11As shown, in this embodiment, the second support assembly 15 includes a second support base 151 and a second bearing (not shown) installed in the second support base 151. The second support base 151 is fixed to the fourth mounting portion 114 by fasteners and is parallel to the first mounting portion 111. One end of the fourth transmission member 34 and the fifth transmission member 35 are respectively installed on the second bearing, and the other end is respectively installed on the first mounting portion 111. The fourth transmission member 34 and the fifth transmission member 35 are respectively located on the upper and lower sides of the fourth mounting portion 114, thereby facilitating the installation of the fourth transmission member 34 and the fifth transmission member 35 and increasing the connection strength.

[0045] The following is combined Figures 6-13 As shown, in one embodiment of the present invention, the swing seat 13 includes a first connecting portion 131 and a second connecting portion 132, both of which are hollow and interconnected. The first connecting portion 131 is rotatably sleeved on the outside of the rotating shaft 12 and is fixedly connected to the first transmission member 31. The interior of the second connecting portion 132 is used to install a sixth transmission member 36, such as... Figure 11 As shown, the second connecting part 132 is also rotatably connected to the knuckle assembly 20. Thus, when the first transmission member 31 drives the first connecting part 131 to rotate relative to the rotating shaft 12, it drives the second connecting part 132 to rotate, and the second connecting part 132 drives the knuckle assembly 20 to swing. When the third transmission member 33 drives the sixth transmission member 36 to rotate, the sixth transmission member 36 can drive the knuckle assembly 20 to bend.

[0046] Continue to combine Figures 6-13 As shown, in one embodiment of the present invention, the swing seat 13 further includes a third connecting portion 133, which is disposed at one end of the first connecting portion 131 and coaxially arranged with it. When the swing seat 13 is installed, the first connecting portion 131 is rotatably sleeved on the third transmission member 33, which is fixedly connected to the rotating shaft 12, thereby allowing the third connecting portion 133 to rotate relative to the rotating shaft 12. The third connecting portion 133 is sleeved on the rotating shaft 12 and can rotate relative to it. Simultaneously, the first transmission member 31 is sleeved on the third connecting portion 133 and fixedly connected to it. Thus, the first transmission member 31 drives the first connecting portion 131 to rotate relative to the rotating shaft 12 and the third transmission member 33 through the third connecting portion 133, thereby realizing the rotation of the entire swing seat 13.

[0047] In this embodiment, both the first connecting part 131 and the third connecting part 133 are cylindrical structures, and the outer diameter of the third connecting part 133 is smaller than the outer diameter of the first connecting part 131, so that the interior of the first connecting part 131 has enough space to accommodate the third transmission member 33. At the same time, after the third connecting part 133 is sleeved with the first transmission member 31, the outer diameter of the first transmission member 31 will not be too large and occupy more radial space.

[0048] Combination Figure 6 , Figures 11-13 As shown, the second connecting portion 132 is further provided with a mounting groove 134 for mounting the sixth transmission member 36. In a preferred embodiment, the second connecting portion 132 includes two spaced-apart plate-shaped portions, forming the mounting groove 134 between the two plate-shaped portions. The sixth transmission member 36 is rotatably mounted on the two plate-shaped portions and located within the mounting groove 134. The two plate-shaped portions are also used to pivotally connect to the knuckle assembly 20, making the installation of the knuckle assembly 20 more convenient.

[0049] The following is combined Figures 5-7 As shown, in one embodiment of the present invention, the transmission assembly 30 further includes a connecting rod 37. One end of the connecting rod 37 is rotatably connected to the swing seat 13 and cooperates with the sixth transmission member 36. The other end of the connecting rod 37 is rotatably connected to the knuckle assembly 20. When the third transmission member 33 drives the sixth transmission member 36 to rotate, the sixth transmission member 36 can drive the connecting rod 37 to rotate. The connecting rod 37 drives the knuckle assembly 20 to bend, so as to realize the flexion and extension of the thumb mechanism 1.

[0050] Combination Figure 5 , Figure 11 As shown, in this embodiment, the sixth transmission member 36 is provided with a pushing part 361, and there are two pushing parts 361 arranged at an included angle. Correspondingly, the end of the connecting rod 37 connected to the swing seat 13 is provided with a pushed part 371 that cooperates with the pushing part 361. There are also two pushed parts 371 arranged at an included angle, and the two pushed parts 371 cooperate with the two pushing parts 361 respectively. In addition, the ends of the sixth transmission member 36 and the connecting rod 37 with the pushed parts 371 are rotatably connected to the swing seat 13 through the same rotating shaft, such as... Figure 5 As shown. Specifically, the ends of the sixth transmission member 36 and the connecting rod 37 with the push-receiving part 371 are both located in the mounting groove 134, and both are connected to the two plate-shaped parts of the second connecting part 132, thereby making the structure compact and the connection simplified. When the sixth transmission member 36 rotates forward or backward under the drive of the third transmission member 33, the pushing part 361 can push the push-receiving part 371, thereby driving the connecting rod 37 to rotate, and the connecting rod 37 drives the finger assembly 20 to bend.

[0051] The following is combined Figures 1-6As shown, in one embodiment of the present invention, the knuckle assembly 20 includes a first knuckle 21 and a second knuckle 22. The first knuckle 21 is rotatably connected to the swing seat 13, the second knuckle 22 is rotatably connected to the first knuckle 21, and the second knuckle 22 is also rotatably connected to the linkage 37.

[0052] In one embodiment of the present invention, a first pivot lug 211 and a second pivot lug 212 are respectively provided at both ends of the first phalanx 21. Specifically, two first pivot lugs 211 are spaced apart at the bottom end of the first phalanx 21, and two second pivot lugs 212 are spaced apart at the top end of the first phalanx 21. During installation, the two first pivot lugs 211 are engaged with the second connecting portion 132 of the swing seat 13 and pivotally connected to the second connecting portion 132, while the two second pivot lugs 212 are engaged with the second phalanx 22. Of course, the first phalanx 21 and the second phalanx 22 are not limited to the aforementioned pivoting method; other structural forms can also be used to achieve pivoting.

[0053] In this application, the other structures of the first phalanx 21 and the second phalanx 22 are conventional structures in the art and will not be described in detail.

[0054] The following is combined Figures 1-13 As shown, when the thumb mechanism 1 of the present invention is installed, the mounting base 11 is connected to the palm mechanism 3 via its fifth mounting portion 115, and the first drive module 41 and the second drive module 42 of the drive assembly 40 are arranged side by side within the palm mechanism 3, as shown. Figure 2 As shown. This arrangement of the first drive module 41 and the second drive module 42 not only does not occupy the internal space of the thumb mechanism 1, but also reduces the occupancy of the internal space of the palm mechanism 3. At the same time, the swing seat 13 is located on the side of the palm mechanism 3 so that the knuckle assembly 20 protrudes to the side of the palm mechanism 3, thereby enabling the knuckle assembly 20 to swing without interference.

[0055] See Figure 1 As shown, in a preferred embodiment, the thumb mechanism 1 further includes a dust cover 50, which is connected between the first phalanx 21 and the palm mechanism 3. The dust cover 50 encloses the connecting component 10 and the transmission component 30 inside, thus achieving dust protection. The structure and connection method of the dust cover 50 are conventional in the art and will not be described in detail.

[0056] Recombined Figures 1-13 As shown, when the robotic arm of the present invention is working, the control system controls the thumb mechanism 1 and the four finger mechanisms 2 to move in a coordinated manner, thereby grasping or releasing objects or performing other operations. The flexion and extension movements of the finger mechanisms 2 are conventional in the art and will not be described in detail.

[0057] When the thumb mechanism 1 moves, it can swing and flex and extend simultaneously or separately. Specifically, when the first drive module 41 drives the fourth transmission component 34 to rotate, the fourth transmission component 34 drives the first transmission component 31 to rotate, and the first transmission component 31 drives the swing seat 13 to rotate relative to the rotation axis 12. That is, the swing seat 13 rotates relative to the mounting base 11, and the swing seat 13 drives the knuckle assembly 20 to swing.

[0058] When the second drive module 42 drives the fifth transmission component 35 to rotate in the forward direction, the fifth transmission component 35 can drive the second transmission component 32 to rotate in the forward direction. This causes the second transmission component 32 to drive the rotating shaft 12, which is fixedly connected to it, to rotate in the forward direction. The rotating shaft 12 then drives the third transmission component 33, which is fixed to it, to rotate in the forward direction. The third transmission component 33 then drives the sixth transmission component 36 to rotate in the forward direction. The pushing part 361 on the sixth transmission component 36 pushes the pushed part 371 of the connecting rod 37, thereby driving the connecting rod 37 to rotate. The connecting rod 37 then drives the second knuckle 22 to rotate. During this process, force is applied to the second knuckle 22, pulling the second knuckle 22 to rotate downward relative to the first knuckle 21. At the same time, the first knuckle 21 is driven to pivot relative to the swing seat 13, thereby realizing the bending of the thumb mechanism 1.

[0059] When the second drive module 42 drives the fifth transmission component 35 to rotate in the opposite direction, the fifth transmission component 35 can drive the second transmission component 32 to rotate in the opposite direction. This causes the second transmission component 32 to drive the rotating shaft 12, which is fixedly connected to it, to rotate in the opposite direction. The rotating shaft 12 then drives the third transmission component 33, which is fixed to it, to rotate in the opposite direction. The third transmission component 33 drives the sixth transmission component 36 to rotate in the opposite direction. The pushing part 361 on the sixth transmission component 36 pushes the pushed part 371 of the connecting rod 37, thereby driving the connecting rod 37 to rotate. During the rotation of the connecting rod 37, its upper end rotates relative to the second phalanx 22 and applies force to the second phalanx 22, pushing the second phalanx 22 to rotate upward relative to the first phalanx 21. At the same time, it drives the first phalanx 21 to pivot relative to the swing seat 13, thereby achieving the extension of the thumb mechanism 1.

[0060] In summary, the thumb mechanism 1 of the present invention places the drive component 40 outside the knuckle component 20, thereby reducing the space occupied by the drive component 40 inside the knuckle component 20 and solving the problem of insufficient internal drive torque of the thumb mechanism 1. This allows for the provision of greater drive force, ensuring sufficient drive force for rotation and swing. Secondly, the drive component 40 is placed inside the palm mechanism 3 and includes a first drive module 41 and a second drive module 42 arranged side by side along the first direction. This structural arrangement further reduces the space occupied by the palm mechanism 3, enabling the provision of even greater drive force and ensuring sufficient drive force, thereby ensuring the dynamic stability and reliability of the robotic hand's grip. Furthermore, the transmission component 30 includes a first transmission member 31, a second transmission member 32, and a third transmission member 30. The transmission component 33 consists of a first transmission component 31 connected to the swing seat 13 and located at one end of the rotating shaft 12, which can rotate relative to the rotating shaft 12; a second transmission component 32 located at the other end of the rotating shaft 12; and a third transmission component 33 connected to the rotating shaft 12. The first transmission component 31, the second transmission component 32, and the third transmission component 33 are coaxially arranged along the axial direction of the rotating shaft 12, ensuring that the three rotate around the same axis, thereby avoiding eccentricity error, making the transmission ratio stable, and achieving high motion synchronization. This reduces energy loss and nonlinear factors in the force transmission process, allowing the output torque of the drive component 40 to be transmitted more accurately to the knuckle component 20 of the thumb mechanism 1, improving the accuracy of force control, and further enhancing the dynamic stability and reliability of the grip.

[0061] The structures of other parts of the robotic arm involved in this invention are all conventional structures well known to those skilled in the art, and therefore will not be described in detail.

[0062] The above-disclosed embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention. Therefore, any equivalent variations made in accordance with the claims of the present invention are still within the scope of the present invention.

Claims

1. A thumb mechanism for a robotic hand, characterized in that, include: A connecting assembly includes a mounting base, a rotating shaft, and a swing arm, wherein the rotating shaft is mounted on the mounting base and is rotatable relative to the mounting base, and the swing arm is rotatable relative to the mounting base; The knuckle assembly is connected to the swing base and can swing under the drive of the swing base; The drive assembly includes a first drive module and a second drive module, wherein the first drive module and the second drive module are arranged side by side along a first direction, and the first direction is not parallel to the axial direction of the rotation shaft; The transmission assembly includes a first transmission component, a second transmission component, and a third transmission component. The first transmission component is connected to the swing seat and is disposed at one end of the rotating shaft and can rotate relative to the rotating shaft. The second transmission component is disposed at the other end of the rotating shaft, and the third transmission component is connected to the rotating shaft. Furthermore, the first transmission component, the second transmission component, and the third transmission component are arranged coaxially along the axial direction of the rotating shaft. The first drive module drives the swing seat to rotate relative to the mounting base through the first transmission component, and the swing seat drives the knuckle assembly to swing. The second drive module drives the rotating shaft to rotate through the second transmission component, and the rotating shaft drives the knuckle assembly to bend through the third transmission component.

2. The thumb mechanism for a robotic hand as described in claim 1, characterized in that, The transmission assembly further includes a fourth transmission member, a fifth transmission member, and a sixth transmission member. The fourth transmission member is connected to the output end of the first drive module and the first transmission member; the fifth transmission member is connected to the output end of the second drive module and the second transmission member; and the sixth transmission member is connected to the knuckle assembly and the third transmission member.

3. The thumb mechanism for a robotic hand as described in claim 2, characterized in that, The connecting assembly further includes a first support assembly and a second support assembly. The first support assembly is mounted on the mounting base and is used to rotatably support the rotating shaft. The second support assembly is mounted on the mounting base and is located on the side of the rotating shaft. The fourth transmission member and the fifth transmission member are respectively mounted between the mounting base and the second support assembly.

4. The thumb mechanism for a robotic hand as described in claim 3, characterized in that, The mounting base includes a first mounting portion and a second mounting portion disposed on one side of the first mounting portion. The first drive module and the second drive module are mounted side by side on the first mounting portion and separated by the second mounting portion.

5. The thumb mechanism for a robotic hand as described in claim 4, characterized in that, The mounting base further includes a third mounting portion and a fourth mounting portion. The third mounting portion and the fourth mounting portion are respectively disposed on the other side of the first mounting portion, and the third mounting portion is disposed opposite to the first support assembly. The two ends of the rotating shaft are rotatably mounted on the third mounting portion and the first support assembly, respectively. The second support assembly is fixed to the fourth mounting portion and parallel to the first mounting portion. The fourth transmission member and the fifth transmission member are rotatably mounted between the second support assembly and the first mounting portion, and the fourth transmission member and the fifth transmission member are separated by the fourth mounting portion.

6. The thumb mechanism for a robotic hand as described in claim 5, characterized in that, The first support assembly includes a first support base and a first bearing mounted within the first support base. The first support base is fixed to the mounting base by fasteners and is parallel to the third mounting portion. A third bearing is provided within the third mounting portion. One end of the rotating shaft is mounted to the first bearing, and the other end of the rotating shaft is mounted to the third bearing, passing through the third mounting portion and connecting to the second transmission component; or / and, The second support assembly includes a second support base and a second bearing installed in the second support base. The second support base is fixed to the fourth mounting portion by fasteners and is parallel to the first mounting portion. One end of the fourth transmission member and the fifth transmission member are respectively installed on the second bearing, and the other end is respectively installed on the first mounting portion.

7. The thumb mechanism for a robotic hand as described in claim 2, characterized in that, The swing seat includes a first connecting part and a second connecting part. The interiors of the first connecting part and the second connecting part are hollow and connected. The first connecting part is rotatably sleeved on the outside of the rotating shaft and is fixedly connected to the first transmission member. The interior of the second connecting part is used to install the sixth transmission member, and the second connecting part is also rotatably connected to the knuckle assembly.

8. The thumb mechanism for a robotic hand as described in claim 7, characterized in that, The swing seat further includes a third connecting part, which is located at one end of the first connecting part. The third connecting part is rotatably sleeved on the outside of the rotating shaft. The first transmission component is sleeved on the outside of the third connecting part, and the third transmission component is located inside the first connecting part.

9. The thumb mechanism for a robotic hand as described in claim 2, characterized in that, The transmission assembly also includes a connecting rod that cooperates with the sixth transmission member. One end of the connecting rod is rotatably connected to the swing seat, and the other end of the connecting rod is rotatably connected to the knuckle assembly. When the third transmission member drives the sixth transmission member to rotate, the sixth transmission member can drive the connecting rod to rotate, and the connecting rod causes the knuckle assembly to bend.

10. The thumb mechanism for a robotic hand as described in claim 9, characterized in that, The sixth transmission member is provided with a pushing part, and the connecting rod, connected to the swing seat at one end, is provided with a pushed part that cooperates with the pushing part. When the sixth transmission member rotates, the pushing part can push the pushed part to drive the connecting rod to rotate; or / and, The knuckle assembly includes a first knuckle and a second knuckle. The first knuckle is rotatably connected to the swing seat, and the second knuckle is rotatably connected to the first knuckle. The second knuckle is also rotatably connected to the linkage rod.

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