Thumb mechanism of robot

Abstract

The utility model discloses a robot thumb mechanism which is used in a robot, a connecting assembly is driven by a power assembly to further control the rotation mode of a thumb assembly, the rotation of the thumb assembly can be controlled in a large range, the structure is simple and compact, and the defects in the prior art can be overcome. The robot thumb mechanism comprises a thumb assembly, a rotary connecting assembly, a power assembly and a mounting seat, the thumb assembly is rotationally mounted on the mounting seat; the rotary connecting assembly is rotationally connected with the thumb assembly; the power assembly is installed on the installation base and drives the thumb assembly to rotate through the connecting assembly.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a robot thumb mechanism. Background Technology

[0002] In the field of robotics, especially humanoid robots, robotic hands play a crucial role. As robotic hands need to adapt to more diverse environments and perform more complex tasks, simple end effectors are no longer sufficient. Therefore, the structural design and functionality of robotic hands must be further optimized. Consequently, humanoid robotic hands have become a hot research topic.

[0003] In a real human hand, the thumb, compared to other fingers, can not only bend and straighten but also rotate over a wider range. For robotic hands, while bending and straightening of most fingers is achievable with current technology, the thumb is primarily driven by a swinging motion. This results in a limited range of rotation for the robotic thumb, preventing it from performing more complex and precise movements. Some robotic hands have thumbs with a suitable range of rotation, but their structures are complex and their size is large.

[0004] The existing technology has the technical defects described above, which has become a major technical problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0005] This utility model discloses a robot thumb mechanism, which controls the rotation of the thumb component by driving the connecting component through a power component. This method can control the rotation of the thumb component over a wide range, and the structure is simple and compact, thus overcoming the shortcomings of the existing technology.

[0006] The robot thumb mechanism provided by this utility model includes: a thumb assembly, a rotating connection assembly, a power assembly, and a mounting base;

[0007] The thumb assembly is rotatably mounted on the mounting base;

[0008] The rotating connection component is rotatably connected to the thumb component;

[0009] The power unit is mounted on the mounting base and drives the rotation of the thumb assembly through the connecting component.

[0010] Preferred,

[0011] The thumb assembly includes a distal knuckle, a distal link, a proximal knuckle, a proximal link, a linear drive power source, and a knuckle seat;

[0012] The distal phalanx, proximal phalanx, and phalangeal joint are connected in sequence;

[0013] The two ends of the distal connecting rod are rotatably connected to the distal phalanx and the phalanx seat, respectively;

[0014] One end of the proximal link is rotatably connected to the proximal knuckle, and the other end is rotatably connected to the power assembly or knuckle seat;

[0015] The linear drive power is located in the knuckle seat and is used to control the rotation of the proximal link. The rotation of the proximal link controls the bending and straightening of the thumb assembly.

[0016] The knuckle seat is rotatably mounted on the mounting base.

[0017] Preferred,

[0018] The proximal link includes a first link and a second link arranged in an L-shape, wherein the two ends of the first link are rotatably connected to the proximal phalanx and the second link, respectively, and the two ends of the second link are rotatably connected to the first link and the phalanx seat, respectively.

[0019] The drive end of the linear drive is rotatably connected to the second link, and its power tail end is rotatably connected to the knuckle seat.

[0020] Preferred,

[0021] The second connecting rod has a through hole in the middle, and the drive end extends into the through hole for installation.

[0022] Preferred,

[0023] The proximal phalanx is hollow inside;

[0024] One end of the distal link is rotatably connected to the knuckle seat, and the other end passes through the inside of the proximal knuckle and is rotatably connected to the distal knuckle.

[0025] Preferred,

[0026] The two ends of the linear drive power are rotatably connected to the proximal connecting rod and the finger joint seat, respectively;

[0027] The linear drive is powered by either an electric cylinder or a pneumatic cylinder.

[0028] Preferred,

[0029] The rotating connection assembly includes a first connector and a second connector mounted on the power assembly, wherein the two ends of the first connector are respectively connected to the second connector and the thumb assembly.

[0030] Preferred,

[0031] The thumb assembly is rotatably mounted on the mounting base via a first pivot.

[0032] The first connector is rotatably mounted on the thumb assembly via the second pivot.

[0033] Preferred,

[0034] The first connecting component is a bent-angle connecting rod;

[0035] The second connecting member is one of a connecting rod, an eccentric wheel, or a wheel with protrusions on its circumference, and the first connecting member and the second connecting member are rotatably connected.

[0036] Preferred,

[0037] The power unit is a servo motor.

[0038] This utility model discloses a robot thumb mechanism, comprising: a thumb assembly, a rotating connecting assembly, a power assembly, and a mounting base; the thumb assembly is rotatably mounted on the mounting base; the rotating connecting assembly is rotatably connected to the thumb assembly; the power assembly is mounted on the mounting base and drives the rotation of the thumb assembly through the connecting assembly. By controlling the rotation of the thumb assembly through the power assembly driving the connecting assembly, this utility model's robot thumb mechanism can control the rotation of the thumb assembly over a wide range, and its simple and compact structure overcomes the shortcomings of existing technologies. Attached Figure Description

[0039] Figure 1 This is a perspective view of the robot thumb mechanism according to an embodiment of the present invention;

[0040] Figure 2 This is another perspective view of the robot thumb mechanism according to an embodiment of the present invention;

[0041] Figure 3 This is an exploded view of the robot thumb mechanism according to an embodiment of the present invention;

[0042] Figure 4 This is another exploded view of the robot thumb mechanism according to an embodiment of the present invention;

[0043] Figure 5 This is a schematic diagram of the structure of the thumb component 1 in the robot thumb mechanism of this utility model embodiment;

[0044] Figure 6 This is an exploded view of the thumb component 1 in the robot thumb mechanism of this utility model embodiment;

[0045] Figure 7 This is a cross-sectional view of the thumb component 1 in the robot thumb mechanism of this utility model embodiment. Detailed Implementation

[0046] This utility model discloses a robot thumb mechanism, which controls the rotation of the thumb component 1 by driving the connecting component 2 through the power component 3. This mechanism can control the rotation of the thumb component 1 over a wide range, and the structure is simple and compact, thus overcoming the shortcomings of the existing technology.

[0047] The technical solutions of the present utility model will be clearly and thoroughly described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present utility model, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the scope of protection of the present utility model. Please refer to... Figures 1 to 7 The robot thumb mechanism provided by this utility model includes: a thumb assembly 1, a rotating connection assembly 2, a power assembly 3, and a mounting base 4;

[0048] The thumb assembly 1 is rotatably mounted on the mounting base 4;

[0049] Rotary connecting component 2 is rotatably connected to thumb component 1;

[0050] The power component 3 is mounted on the mounting base 4 and drives the rotation of the thumb component 1 through the connecting component 2.

[0051] In this embodiment of the invention, the thumb component 1 is a finger with bending and straightening functions. The end of this finger is rotatably mounted on the mounting base 4. When the thumb component 1 needs to rotate, the power component 3 operates and drives the connecting component 2 to move. During the movement of the connecting component 2, the connecting component 2 rotates. It should be noted that when the thumb component 1 is assembled and used together with other fingers, the mounting base 4 can be a palm mounting base, without the need for additional mounting structures. The structure of the robot thumb mechanism of this invention is simple and compact, and it can be flexibly installed and used on the palm.

[0052] Preferred,

[0053] The thumb assembly 1 includes a distal phalanx 11, a distal link 12, a proximal phalanx 13, a proximal link 14, a linear drive power unit 15, and a phalanx seat 16;

[0054] The distal phalanx 11, the proximal phalanx 13, and the phalanx seat 16 are connected in sequence;

[0055] The two ends of the distal connecting rod 12 are rotatably connected to the distal phalanx 11 and the phalanx seat 16, respectively;

[0056] One end of the proximal link 14 is rotatably connected to the proximal phalanx 13, and the other end is rotatably connected to the power assembly 3 or the phalanx seat 4.

[0057] The linear drive power 15 is located in the knuckle seat 16 and is used to control the rotation of the proximal link 14. The rotation of the proximal link 14 controls the bending and straightening of the thumb assembly 1.

[0058] The knuckle seat 16 is rotatably mounted on the mounting base 4.

[0059] Preferred,

[0060] The proximal link 14 includes an L-shaped first link 141 and a second link 142, wherein the two ends of the first link 141 are rotatably connected to the proximal phalanx 13 and the second link 142, respectively, and the two ends of the second link 142 are rotatably connected to the first link 141 and the phalanx seat 16, respectively.

[0061] The drive end 151 of the linear drive power 15 is rotatably connected to the second link 142, and its power tail end 152 is rotatably connected to the finger joint seat 16.

[0062] Preferred,

[0063] The second connecting rod 142 has a through hole in the middle, and the drive end 151 extends into the through hole for installation.

[0064] Preferred,

[0065] The proximal phalanx 13 is hollow inside;

[0066] One end of the distal link 12 is rotatably connected to the knuckle seat 16, and the other end passes through the inside of the proximal knuckle 13 and is rotatably connected to the distal knuckle 11.

[0067] Preferred,

[0068] The two ends of the linear drive power 15 are rotatably connected to the proximal connecting rod 14 and the finger seat 16, respectively;

[0069] The linear drive power 15 is either an electric cylinder or a pneumatic cylinder.

[0070] In this invention, the linear drive power 15 is a power component capable of directly performing lifting and lowering movements, such as an electric cylinder or a pneumatic cylinder. Assuming the thumb assembly 1 is currently in a bent state, that is... Figure 5 In the state shown, when it is necessary to straighten the finger, the drive end 151 of the linear drive power 15 rises, causing the proximal link 14 to move upward. As the proximal link 14 moves upward, it causes the proximal phalanx 13 directly connected to it to rotate in the straightening direction. When the proximal phalanx 13 rotates, it causes the distal phalanx 11 directly connected to it to move. During the movement of the distal phalanx 11, it is pushed by the distal link 12 and rotates in the straightening direction. That is, as the drive end 151 rises, the entire finger begins to straighten; conversely, when the drive end 151 falls, the entire finger begins to bend.

[0071] Preferred,

[0072] The rotating connection assembly 2 includes a first connector 21 and a second connector 22 mounted on the power assembly 3, wherein the two ends of the first connector 21 are respectively connected to the second connector 22 and the thumb assembly 1.

[0073] Preferred,

[0074] The thumb assembly 1 is rotatably mounted on the mounting base 4 via the first rotating shaft 17;

[0075] The first connector 21 is rotatably mounted on the thumb assembly 1 via the second pivot 23.

[0076] It should be noted that the rotation center lines of the thumb assembly 1 and the first connector 21 are not on the same line, but are parallel to each other. Therefore, the movement of the first connector 21 can drive the rotation of the thumb assembly 1.

[0077] Preferred,

[0078] The first connecting member 21 is a bent-angle connecting rod;

[0079] The second connecting member 22 is one of a connecting rod, an eccentric wheel, or a wheel with protrusions on its circumference, and the first connecting member 21 is rotatably connected to the second connecting member 22.

[0080] In this invention, it is important to note that, for ease of assembly and use between the robot's thumb mechanism and the other fingers of the robot hand, the rotating connection assembly 2 includes a first connector 21 and a second connector 22. The design of these two connectors provides greater flexibility and avoids obstructing structures on the mounting base 4, i.e., the palm mounting base. The first connector 21 can be a bent-angle link, specifically formed by connecting two links with an obtuse angle.

[0081] Preferred,

[0082] Power component 3 is a servo motor.

[0083] This utility model discloses a robot thumb mechanism, comprising: a thumb assembly 1, a rotating connecting assembly 2, a power assembly 3, and a mounting base 4; the thumb assembly 1 is rotatably mounted on the mounting base 4; the rotating connecting assembly 2 is rotatably connected to the thumb assembly 1; the power assembly 3 is mounted on the mounting base 4 and drives the rotation of the thumb assembly 1 through the connecting assembly 2. By controlling the rotation of the thumb assembly 1 through the power assembly 3 driving the connecting assembly 2, this utility model's robot thumb mechanism can control the rotation of the thumb assembly 1 over a wide range, and its simple and compact structure overcomes the shortcomings of existing technologies.

[0084] The robot thumb mechanism provided by this utility model has been described in detail above. For those skilled in the art, there will be changes in the specific implementation method and application scope based on the idea of ​​the embodiments of this utility model. Therefore, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. A robotic thumb mechanism, characterized by, The application relates to a big thumb assembly (1), a rotating connecting assembly (2), a power assembly (3) and a mounting base (4). The big thumb assembly (1) is rotatably mounted on the mounting base (4). The rotating connecting assembly (2) is rotatably connected with the big thumb assembly (1). The power assembly (3) is mounted on the mounting base (4) and drives the rotation of the big thumb assembly (1) through the connecting assembly (2). The big thumb assembly (1) comprises a distal phalanx (11), a distal connecting rod (12), a proximal phalanx (13), a proximal connecting rod (14), a linear driving power (15) and a phalanx base (16).

2. The robotic thumb mechanism of claim 1, wherein, The distal phalanx (11), the proximal phalanx (13) and the phalanx base (16) are sequentially connected. The two ends of the distal connecting rod (12) are rotatably connected with the distal phalanx (11) and the phalanx base (16) respectively. One end of the proximal connecting rod (14) is rotatably connected with the proximal phalanx (13), and the other end is rotatably connected with the power assembly (3) or the phalanx base (4). The linear driving power (15) is arranged in the phalanx base (16) and is used for controlling the rotation of the proximal connecting rod (14), and the rotation of the proximal connecting rod (14) controls the bending and straightening of the big thumb assembly (1). The phalanx base (16) is rotatably mounted on the mounting base (4). The proximal connecting rod (14) comprises a first connecting rod (141) and a second connecting rod (142) arranged in an L shape, wherein the two ends of the first connecting rod (141) are rotatably connected with the proximal phalanx (13) and the second connecting rod (142) respectively, and the two ends of the second connecting rod (142) are rotatably connected with the first connecting rod (141) and the phalanx base (16) respectively.

3. The robotic thumb mechanism of claim 2, wherein, The driving end (151) of the linear driving power (15) is rotatably connected with the second connecting rod (142), and the power tail end (152) is rotatably connected with the phalanx base (16). A through hole is arranged in the middle of the second connecting rod (142), and the driving end (151) is arranged in the through hole.

4. The robotic thumb mechanism of claim 3, wherein, The proximal phalanx (13) is hollow.

5. The robotic thumb mechanism of claim 2, wherein, One end of the distal connecting rod (12) is rotatably connected with the phalanx base (16), and the other end passes through the inside of the proximal phalanx (13) and is rotatably connected with the distal phalanx (11). The two ends of the linear driving power (15) are rotatably connected with the proximal connecting rod (14) and the phalanx base (16) respectively.

6. The robotic thumb mechanism of claim 2, wherein, The linear driving power (15) is an electric cylinder or a gas cylinder. The rotating connecting assembly (2) comprises a first connecting piece (21) and a second connecting piece (22) mounted on the power assembly (3), wherein the two ends of the first connecting piece (21) are connected with the second connecting piece (22) and the big thumb assembly (1) respectively.

7. The robotic thumb mechanism of any one of claims 1 to 6, wherein, The big thumb assembly (1) is rotatably mounted on the mounting base (4) through a first rotating shaft (17); 8. The robotic thumb mechanism of claim 7, wherein, The first connecting piece (21) is rotatably mounted on the big thumb assembly (1) through a second rotating shaft (23). The first connecting piece (21) is a bent angle connecting rod.

9. The robotic thumb mechanism of claim 7, wherein, The second connecting piece (22) is one of a connecting rod, an eccentric wheel or a rotating wheel with a protruding block on a circumference, and the first connecting piece (21) is rotatably connected with the second connecting piece (22). The power assembly (3) is a rudder machine.

10. The robotic thumb mechanism of any one of claims 1 to 6, wherein, ​

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