Mounting structure of thumb assembly of dexterous hand and dexterous hand

Abstract

The utility model discloses a mounting structure of a thumb assembly of a dexterous hand and the dexterous hand. The mounting structure comprises a palm, the thumb assembly and a rotating shaft, an opening is formed in the palm, the opening comprises two opposite edges, the two edges extend towards the interior of the palm to form a first mounting wall and a second mounting wall, the first mounting wall comprises a base, a connecting base and a shaft cavity jointly defined by the base and the connecting base, and a mounting hole is formed in the second mounting wall; the thumb assembly comprises a swing rod, the swing rod is arranged between the first installation wall and the second installation wall, and shaft holes are formed in the faces, facing the first installation wall and the second installation wall, of the swing rod respectively. The rotating shaft comprises a first shaft head and a second shaft head, one part of the first shaft head is embedded in the shaft cavity, the other part of the first shaft head is connected into one shaft hole in a penetrating mode, and the second shaft head penetrates through the mounting hole and then is connected into the other shaft hole in a penetrating mode. The swing rod can be prevented from deflecting in the swing process, the internal space of the swing rod cannot be occupied, and the assembly process is simple and convenient.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, concretely relates to a mounting structure of dexterous hand thumb subassembly and dexterous hand. BACKGROUND

[0002] Dexterous hand is the end execution mechanism of humanoid robot, and it is generally composed of palm and multiple finger subassemblies, in order to improve the simulation degree, so that dexterous hand can imitate human hand to complete complex and precise tasks, generally need to configure side swing structure for thumb subassembly, make thumb subassembly be located at the side of palm and can swing up and down, specifically, thumb subassembly includes swing lever, proximal phalanx, distal phalanx, the opening communicating palm inner chamber is arranged at the side of palm, swing lever is inserted at the opening and is pivoted together with palm through the pivot. The following two ways are usually adopted for connecting swing lever and palm by pivot:

[0003] One is that swing lever is placed inside the opening, and a whole pivot is used to cross the two sides of the opening and swing lever, the pivot occupies the internal space of swing lever in this structure, since swing lever is usually hollow structure, the driving assembly for driving proximal phalanx to rotate relative to swing lever is arranged in the inside, the pivot occupies the internal space of swing lever, and a swing lever with greater length needs to be arranged to meet the installation of driving assembly;

[0004] The other is that the pivot is arranged as two shaft heads protruding from the two sides of swing lever, and the two shaft heads are embedded in the shaft holes arranged at the two sides of the opening, since the width of the opening is less than the distance between the two shaft head ends, when installing, swing lever needs to be embedded in the opening in a certain inclined posture, and then the two shaft heads are clamped in the two shaft holes, the installation process is relatively cumbersome, and the shaft head is prone to breakage, and after installation, the gap between swing lever and the two sides of the opening is too large, the opening cannot form a good limiting effect on swing lever, and the movement precision of thumb is affected. UTILITY MODEL CONTENTS

[0005] The utility model aims at solving one of the technical problems in the prior art, and therefore, the purpose of the utility model is to provide a mounting structure of dexterous hand thumb subassembly and dexterous hand, so as to solve the problems of long swing lever size and difficult assembly of thumb subassembly in the prior art.

[0006] The purpose of the utility model is realized by adopting the following technical scheme:

[0007] The mounting structure of dexterous hand thumb subassembly comprises a palm, a thumb subassembly and a pivot.

[0008] The palm has an opening that connects to its inner cavity. The opening includes two opposite sides. The palm has a first mounting wall and a second mounting wall that extend from the two sides of the opening into the palm. The first mounting wall includes a base that connects to the palm and a connecting seat that is detachably fixed to the base. The mating point between the connecting seat and the base forms a shaft cavity enclosed by the base and the connecting seat. The second mounting wall has a mounting hole.

[0009] The thumb assembly includes a swing arm, which is positioned between a first mounting wall and a second mounting wall and extends out of an opening to the outside of the palm. The swing arm has a shaft hole on its surface facing the first mounting wall and the second mounting wall, respectively.

[0010] The rotating shaft includes a first shaft head and a second shaft head with their central axes coinciding. A portion of the first shaft head is embedded in the shaft cavity, and the other portion passes through one of the shaft holes. The second shaft head passes through the mounting hole and then passes through the other shaft hole.

[0011] According to the installation structure of the dexterous hand thumb assembly of this utility model embodiment, when assembling the thumb assembly with the palm, there is no need to reserve a fitting gap between the first mounting wall and the second mounting wall of the palm. The first mounting wall and the second mounting wall play a limiting role in the up and down swing of the swing rod, avoiding the swing rod from deflecting during the swing process, thus improving the accuracy of the dexterous hand. The rotating shaft has a split structure and is respectively inserted into the shaft holes on both sides of the swing rod. The rotating shaft does not occupy the internal space of the swing rod, and therefore does not squeeze the installation space of other components inside the swing rod, thus avoiding the swing rod from being too long. Moreover, the assembly process is simple and convenient, improving the assembly efficiency of the dexterous hand.

[0012] In a preferred embodiment, the connecting seat is located above the base and fixed to the base with screws. The top surface of the base has a downwardly recessed groove, and the bottom surface of the connecting seat has an upwardly recessed groove. The upper and lower grooves together form a shaft cavity. The ends of the upper and lower grooves away from the swing rod each form a baffle. The end of the first shaft head away from the swing rod abuts against the baffles of the upper and lower grooves. By arranging the connecting seat and the base vertically, during assembly, the screws can be used to fix the connecting seat and the base from top to bottom, facilitating the assembly of the connecting seat and the base. Furthermore, the baffles on the connecting seat and the base limit the axial movement of the first shaft head, preventing the first shaft head from detaching from the first mounting wall.

[0013] In a preferred embodiment, the connecting seat is located on the side of the base and fixed to the base with screws. A recess is provided on the mating surfaces of the connecting seat and the base, and the two recesses together form a shaft cavity. The ends of the two recesses away from the swing rod each form a stop surface, and the end of the first shaft head away from the swing rod abuts against the stop surfaces of the two recesses. By arranging the connecting seat and the base in a left-right configuration, the overall height of the first mounting wall formed by the connecting seat and the base can be prevented from being too high, effectively controlling the dimensions in the palm thickness direction, which is beneficial for palm miniaturization design.

[0014] In a preferred embodiment, the palm includes a lower shell and a detachable upper shell fixed above the lower shell, the upper and lower shells together forming the inner cavity of the palm. By designing the palm as a split structure, the thumb assembly can be assembled with either the lower or upper shell of the palm first during assembly, further improving the ease of assembly.

[0015] In a preferred embodiment, the opening is located on the lower housing and extends from the bottom surface of the lower housing to its side surface. The second mounting wall is located at the rear end of the lower housing. The second shaft head passes through the mounting hole from the rear side of the second mounting wall and is detachably fixed to the second mounting wall. During installation, the second shaft head is inserted into the mounting hole from the back of the palm, avoiding interference from other parts of the palm. Furthermore, the second shaft head is detachably engaged with the second mounting wall, allowing for quick removal of the second shaft head from the back of the palm when the thumb assembly malfunctions, thus facilitating thumb assembly repair.

[0016] In a preferred embodiment, each of the surfaces of the swing rod facing the first and second mounting walls has an outwardly protruding boss. Two shaft holes extend from the outer ends of the two bosses to the inside of the swing rod. The outer end faces of the two bosses abut against the first and second mounting walls, respectively. The protrusion height of the bosses is h, where h ≤ 0.3 mm. The distance between the outer end faces of the two bosses is equal to the distance between the first and second mounting walls, so that the groove formed between the first and second mounting walls can just accommodate the two bosses. By engaging with the first and second mounting walls, the swing of the swing rod is limited to prevent it from swaying during up-and-down swinging. At the same time, it avoids excessive friction caused by excessive contact area between the two sides of the swing rod and the first and second mounting walls. The bosses are set to a small size, which, while still providing a limiting effect on the swing rod, avoids excessive gaps between other parts of the swing rod and the palm, preventing large particles of impurities from entering the palm cavity through the opening.

[0017] In a preferred embodiment, a first drive assembly for driving the swing arm to rotate around a pivot is installed inside the palm. The first drive assembly includes a first motor, a first reducer, a first lead screw, a first nut, and a first movable rod. The body of the first reducer is pivotally connected to the palm, the body of the first motor is fixedly connected to the body of the first reducer, the output shaft of the first motor is connected to the input end of the first reducer, the first lead screw is connected to the output end of the first reducer, the first nut is sleeved on the first lead screw and threadedly engaged with the first lead screw, and the first movable rod is fixedly connected to the first nut. The first movable rod is pivotally connected to the swing arm via a pivot, which is parallel to and offset from the pivot. By using a motor-driven lead screw transmission mechanism to drive the swing arm to swing, the swing angle of the swing arm can be precisely controlled, thereby improving the precision of the dexterous hand.

[0018] In a preferred embodiment, the thumb assembly further includes a proximal phalanx, which is pivotally connected to one end of the swing arm extending outside the opening, allowing the proximal phalanx to rotate relative to the swing arm about a first axis. The swing arm is hollow, and a second drive assembly for driving the proximal phalanx to rotate about the first axis is installed inside it. Placing the second drive assembly for driving the proximal phalanx to rotate inside the swing arm makes the overall structure of the thumb assembly more compact.

[0019] In a preferred embodiment, the second drive assembly includes a second motor, a second reducer, a second lead screw, a second nut, and a second movable rod. The body of the second reducer is pivotally connected to the swing rod. The body of the second motor is fixedly connected to the body of the second reducer. The output shaft of the second motor is connected to the input end of the second reducer. The second lead screw is connected to the output end of the second reducer. The second nut is sleeved on the second lead screw and threadedly engaged with it. The second movable rod is fixedly connected to the second nut. After extending out of the swing rod, the second movable rod pivotally connects to the proximal phalanx, allowing the proximal phalanx to rotate relative to the second movable rod around a second axis. The second axis is parallel to and offset from the first axis. By using a motor-driven lead screw transmission mechanism to drive the proximal phalanx to rotate relative to the swing rod, the rotation angle of the proximal phalanx can be precisely controlled, improving the precision of the dexterous hand.

[0020] A dexterous hand, including the mounting structure of the aforementioned dexterous hand thumb component.

[0021] The accompanying drawings, which form part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of this utility model;

[0023] Figure 2 for Figure 1Schematic diagram of the middle and lower shell structure;

[0024] Figure 3 This is a view of the lower shell of this utility model from another perspective;

[0025] Figure 4 for Figure 1 Schematic diagram of the middle connector;

[0026] Figure 5 for Figure 1 Schematic diagram of the swing arm;

[0027] Figure 6 for Figure 1 A schematic diagram of the structure of the middle thumb component.

[0028] In the diagram: 10. Hand; 11. Lower shell; 12. Upper shell; 13. Opening; 131. Edge; 132. Edge; 14. Second mounting wall; 141. Mounting hole; 15. First mounting wall; 151. Connecting seat; 1511. Bottom surface; 1512. Upper groove; 1513. Baffle; 152. Base; 1521. Top surface; 1522. Lower groove; 1523. Baffle; 20. Thumb assembly; 21. Swing rod; 210. Surface; 211 212. Shaft hole; 22. Boss; 23. Proximal knuckle; 23. First drive assembly; 231. First motor; 232. First reducer; 233. First lead screw; 234. First nut; 235. First movable rod; 236. Pivot; 24. Second drive assembly; 241. Second motor; 242. Second reducer; 243. Second lead screw; 244. Second nut; 245. Second movable rod; 31. First shaft end; 32. Second shaft end. Detailed Implementation

[0029] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments. Unless otherwise specified, the materials and equipment used in this embodiment are all commercially available. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0030] In the description of this application, it should be understood that the terms "upper," "lower," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application 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 on this application. In the description of this application, "a plurality of" means two or more, unless otherwise precisely specified.

[0031] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "connected," "linked," and "connected" should be interpreted broadly. For example, they can refer to a fixed connection, a connection through an intermediary, or a connection within two elements or an interaction between two elements. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0032] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such process, method, product, or apparatus.

[0033] Please refer to Figures 1-6As shown, this utility model discloses an installation structure for a dexterous hand thumb assembly, which includes a palm 10, a thumb assembly 20, and a pivot. The palm 10 has a hollow shell structure with an inner cavity formed inside, and an opening 13 communicating with the inner cavity is formed on its surface. The opening 13 includes a side 131 and a side 132, which are arranged opposite to each other. A first mounting wall 15 extending from the side 131 into the palm 10 and a second mounting wall 14 extending from the side 132 into the palm 10 are provided on the palm 10. The first mounting wall 15 and the second mounting wall 14 are connected. Two mounting walls 14 are arranged opposite to each other, forming a groove inside the palm 10. The groove extends from the inside of the palm 10 to the opening 13. The first mounting wall 15 is a split and assemblable structure. Specifically, the first mounting wall 15 includes a base 152 integrally connected to the palm 10 and a connecting seat 151 detachably fixed to the base 152. After the connecting seat 151 and the base 152 are mated, they together form a shaft cavity at the mating position. The second mounting wall 14 is provided with a mounting hole 141, which is coaxial with the shaft cavity. The thumb assembly 20 includes a swing arm 21, which is strip-shaped and positioned between the first mounting wall 15 and the second mounting wall 14. One end of the swing arm 21 is placed in the inner cavity of the palm 10, and the other end extends out of the opening 13 and is placed outside the palm 10. The two sides of the swing arm 21 form a surface 210, which faces the first mounting wall 15 and the second mounting wall 14 respectively. A shaft hole 211 is formed on each of the two surfaces 210. The pivot is a split structure, which includes a first shaft head 31 and a second shaft head 32. A part of the first shaft head 31 is embedded in the shaft cavity, and the other part protrudes from the first mounting wall 15 and passes through the shaft hole 211 of one of the surfaces 210. The second shaft head 32 passes through the mounting hole 141 and is connected to the shaft hole 211 of the other surface 210.

[0034] During assembly, the swing rod 21 is inserted into the palm 10 through the opening 13, so that the shaft hole 211 of the swing rod 21 near the first mounting wall 15 is located inside the base 152. Then, the first shaft head 31 is inserted into the shaft hole 211 of the swing rod 21 near the first mounting wall 15. The swing rod 21 is moved toward the opening 13 so that the first shaft head 31 is placed on the base 152. The connecting seat 151 is fixed to the base 152. The shaft cavity formed by the connecting seat 151 and the base 152 encloses the first shaft head 31. Finally, the second shaft head 32 is inserted into the mounting hole 141 from the outside of the second connecting wall 14, so that the part of the second shaft head 32 passing through the mounting hole 141 passes into the shaft hole 211 on the other side of the swing rod 21, completing the connection between the swing rod 21 and the palm 10, so that the swing rod 21 can rotate relative to the palm 10 around the central axis of the rotating shaft (i.e., the central axis of the first shaft head 31 and the second shaft head 32). In this invention, when assembling the thumb assembly 20 with the palm 10, there is no need to reserve a fitting gap between the first mounting wall 15 and the second mounting wall 14 of the swing rod 21 and the palm 10. The first mounting wall 15 and the second mounting wall 14 limit the up and down swing of the swing rod 21, preventing the swing rod 21 from deflecting during the swing process, thus improving the precision of the dexterous hand. The rotating shaft has a split structure and is respectively inserted into the shaft holes 211 on both sides of the swing rod 21. The rotating shaft does not occupy the internal space of the swing rod, and therefore does not encroach on the installation space of other components inside the swing rod, thus avoiding the swing rod from being too long. Moreover, the assembly process is simple and convenient, improving the assembly efficiency of the dexterous hand.

[0035] In a preferred embodiment, the connecting seat 151 and the base 152 are arranged vertically. Specifically, the connecting seat 151 is located above the base 152. After the connecting seat 151 is placed above the base 152, it is screwed onto the base 152 from top to bottom through the connecting seat 151, thus fixing the connecting seat 151 and the base 152 together. The top surface 1521 of the base 152 is provided with a downwardly recessed lower groove 1522. The end of the lower groove 1522 away from the swing rod 21 forms a baffle 1523. The bottom surface 1511 of the connecting seat 151 is provided with an upwardly recessed upper groove 1512. The end of the upper groove 1512 away from the swing rod 21 forms a baffle 1513. The lower groove 1522 and the upper groove 1512 together form the aforementioned shaft cavity. After the first shaft head 31 is placed in the shaft cavity, its end away from the swing rod 21 abuts against the baffle 1523 and the baffle 1513. By arranging the connecting seat 151 and the base 152 vertically, during assembly, screws can be used to fix the connecting seat 151 and the base 152 from top to bottom, which facilitates the assembly of the connecting seat 151 and the base 152. Furthermore, the baffles on the connecting seat 151 and the base 152 are used to limit the first shaft head 31 axially, preventing the first shaft head 31 from detaching from the first mounting wall 15.

[0036] In another preferred embodiment, the connecting seat 151 and the base 152 can be arranged side-by-side. The base 152 is integrally formed and connected to the palm 10, and the connecting seat 151 is located on one side of the base 152. The two are fixed together by screws. A recess is provided on the mating surfaces of the connecting seat 151 and the base 152, and the two recesses together form a shaft cavity. The ends of the two recesses away from the swing rod 21 form a stop surface. The end of the first shaft head 31 away from the swing rod 21 abuts against the stop surfaces of the two recesses. By arranging the connecting seat 151 and the base 152 in a side-by-side manner, the overall height of the first mounting wall 15 formed by the connecting seat 151 and the base 152 can be prevented from being too high, and the dimensions in the thickness direction of the palm 10 can be effectively controlled, which is beneficial to the miniaturization design of the palm 10.

[0037] It should be noted that the detachable connection between the connector 151 and the base 152 is not limited to a screw connection; it can also be a snap-fit ​​or other detachable connection that can achieve a fixed connection.

[0038] The palm 10 can be configured as a split structure, including a lower shell 11 and an upper shell 12 located above the lower shell 11. The upper shell 12 is fixed to the lower shell 11 by screws or other detachable means. The upper shell 12 and the lower shell 11 together form the inner cavity of the palm 10. By configuring the palm 10 as a split structure, during assembly, the thumb component 20 can be assembled with the lower shell 11 or the upper shell 12 of the palm 10 first to further improve the ease of assembly.

[0039] In this invention, the opening 13 is provided on the lower shell 11, extending from the bottom surface of the lower shell 11 to the side surface of the lower shell 11. The second mounting wall is located at the rear end of the lower shell 11. The second shaft head 32 is inserted into the mounting hole 141 from the rear side of the second mounting wall 14, which can be detachably fixed together with the second mounting wall 14. During installation, the second shaft head 32 is inserted into the mounting hole 141 from the rear of the palm 10 to avoid other parts on the palm 10 from affecting the installation of the second shaft head 32. Furthermore, the second shaft head 32 is detachably engaged with the second mounting wall 14. When the thumb assembly 20 malfunctions, the second shaft head 32 can be quickly disassembled from the rear of the palm 10, thereby facilitating the maintenance of the thumb assembly 20.

[0040] On both sides 210 of the swing rod 21 facing the first mounting wall 15 and the second mounting wall 14, there is an outwardly protruding boss 212. Two shaft holes 211 extend from the outer end faces of the bosses 212 to the inner side of the swing rod 21. The outer end faces of the two bosses 212 abut against the first mounting wall 15 and the second mounting wall 14, respectively. That is to say, the distance between the outer end faces of the two bosses 212 is equal to the distance between the first mounting wall 15 and the second mounting wall 14, so that the groove formed between the first mounting wall 15 and the second mounting wall 14 can just accommodate the two bosses 212. The outer end faces of the two bosses 212 and the first mounting wall 14 are connected to the first mounting wall 15 and the second mounting wall 14. The mounting wall 15 and the second mounting wall 14 cooperate to limit the swing of the swing rod 21, so as to prevent the swing rod 21 from deflecting when swinging up and down. At the same time, it avoids excessive friction caused by excessive contact area between the two sides of the swing rod 21 and the first mounting wall 15 and the second mounting wall 14. The protrusion height of the boss 212 is h, where h≤0.3mm. The boss 212 is set to a small size. Under the premise of being able to limit the swing rod 21, it avoids excessive gap between other parts of the swing rod 21 and the palm 10, and prevents large particles of impurities from entering the inner cavity of the palm 10 through the opening 13.

[0041] The palm 10 is internally equipped with a first drive assembly 23 for driving the swing arm 21 to rotate around a pivot. The first drive assembly 23 includes a first motor 231, a first reducer 232, a first lead screw 233, a first nut 234, and a first movable rod 235. The body of the first reducer 232 is pivotally coupled to the palm 10. The body of the first motor 231 is fixedly connected to the body of the first reducer 232. The output shaft of the first motor 231 is connected to the input end of the first reducer 232. 233 is connected to the output end of the first reducer 232. The first nut 234 is sleeved on the first lead screw 233 and threadedly engaged with the first lead screw 233. The first movable rod 235 is fixedly connected to the first nut 234, and the first movable rod 235 is pivotally connected to the swing rod 21 through a pivot 236. The pivot 236 is parallel to the rotating shaft and offset from it. The swing rod 21 is driven to swing by the lead screw transmission mechanism driven by the motor, which can precisely control the swing angle of the swing rod 21, thereby improving the precision of the dexterous hand.

[0042] The thumb assembly 20 also includes a proximal phalanx 22, which is pivotally connected to one end of the swing arm 21 that extends out of the opening 13, allowing the proximal phalanx 22 to rotate relative to the swing arm 21 around the first axis O1. The swing arm 21 has a hollow structure, and a second drive assembly 24 is installed inside it. The second drive assembly 24 is used to drive the proximal phalanx 22 to rotate around the first axis O1. By placing the second drive assembly 24, which drives the proximal phalanx 22 to rotate, inside the swing arm 21, the structure of the entire thumb assembly 20 becomes more compact.

[0043] The second drive assembly 24 includes a second motor 241, a second reducer 242, a second lead screw 243, a second nut 244, and a second movable rod 245. The body of the second reducer 242 is pivotally coupled to the swing rod 21. The body of the second motor 241 is fixedly connected to the body of the second reducer 242. The output shaft of the second motor 241 is connected to the input end of the second reducer 242. The second lead screw 243 is connected to the output end of the second reducer 242. The second nut 244 is sleeved on the second lead screw 243 and... The second movable rod 245 is threadedly connected to the second nut 244 and extended from the swing rod 21. This allows the proximal phalanx 22 to rotate relative to the second movable rod 245 around the second axis O2. The second axis O2 is parallel to and offset from the first axis O1 by a certain distance. After the second motor 241 starts, it drives the second movable rod 245 to move linearly, which in turn drives the proximal phalanx 22 to rotate relative to the swing rod 21 around the first axis O1. By using a motor-driven screw transmission mechanism to drive the rotation of the proximal phalanx 22 relative to the swing rod 21, the rotation angle of the proximal phalanx 22 can be precisely controlled, improving the precision of the dexterous hand.

[0044] The dexterous hand of this utility model includes the above-mentioned mounting structure of the dexterous hand thumb component. The other structures of the dexterous hand are the same as those in the prior art and will not be described in detail here.

[0045] Although only certain components and embodiments of this application have been illustrated and described, many modifications and alterations will be apparent to those skilled in the art without actually departing from the scope and spirit of the claims, such as variations in the size, dimensions, structure, shape and proportion of the various elements, installation arrangement, material use, color, orientation, etc.

[0046] The above embodiments are merely preferred embodiments of the present utility model and should not be construed as limiting the scope of protection of the present utility model. Any non-substantial changes and substitutions made by those skilled in the art based on the present utility model shall fall within the scope of protection claimed by the present utility model.

Claims

1. An installation structure for a dexterous hand thumb assembly, characterized in that, Includes the palm, thumb assembly, and hinge; The palm has an opening that connects to its inner cavity. The opening includes two opposite sides. The palm has a first mounting wall and a second mounting wall that extend from the two sides of the opening into the palm. The first mounting wall includes a base that connects to the palm and a connecting seat that is detachably fixed to the base. The mating point between the connecting seat and the base forms a shaft cavity enclosed by the base and the connecting seat. The second mounting wall has a mounting hole. The thumb assembly includes a swing arm, which is positioned between a first mounting wall and a second mounting wall and extends out of an opening to the outside of the palm. The swing arm has a shaft hole on its surface facing the first mounting wall and the second mounting wall, respectively. The rotating shaft includes a first shaft head and a second shaft head with their central axes coinciding. A portion of the first shaft head is embedded in the shaft cavity, and the other portion passes through one of the shaft holes. The second shaft head passes through the mounting hole and then passes through the other shaft hole.

2. The mounting structure of the dexterous hand thumb assembly as described in claim 1, characterized in that, The connecting seat is located above the base and is fixed to the base with screws. The top surface of the base is provided with a downward recessed groove, and the bottom surface of the connecting seat is provided with an upward recessed groove. The upper and lower grooves together form a shaft cavity. The ends of the upper and lower grooves away from the swing rod form a baffle. The end of the first shaft head away from the swing rod abuts against the baffles of the upper and lower grooves.

3. The mounting structure of the dexterous hand thumb assembly as described in claim 1, characterized in that, The connecting seat is located on the side of the base and is fixed to the base with screws. A recess is provided on the mating surfaces of the connecting seat and the base. The two recesses together form a shaft cavity. The ends of the two recesses away from the swing rod form a stop surface. The end of the first shaft head away from the swing rod abuts against the stop surface of the two recesses.

4. The mounting structure of the dexterous hand thumb assembly as described in claim 1, characterized in that, The palm consists of a lower shell and a detachable upper shell fixed above the lower shell. The upper and lower shells together form the inner cavity of the palm.

5. The mounting structure of the dexterous hand thumb assembly as described in claim 4, characterized in that, An opening is provided on the lower shell and extends from the bottom surface of the lower shell to the side surface of the lower shell. The second mounting wall is located at the rear end of the lower shell. The second shaft head passes through the mounting hole from the rear side of the second mounting wall and is detachably fixed together with the second mounting wall.

6. The mounting structure of the dexterous hand thumb assembly as described in claim 1, characterized in that, The swing arm has an outwardly protruding boss on the surface facing the first mounting wall and the second mounting wall. The two shaft holes extend from the outer end faces of the two bosses to the inside of the swing arm. The outer end faces of the two bosses are respectively attached to the first mounting wall and the second mounting wall. The protrusion height of the boss is h, where h≤0.3mm.

7. The mounting structure of the dexterous hand thumb assembly as described in claim 1, characterized in that, The palm has a first drive assembly installed inside to drive the swing arm to rotate around the pivot. The first drive assembly includes a first motor, a first reducer, a first lead screw, a first nut, and a first movable rod. The body of the first reducer is pivotally engaged with the palm. The body of the first motor is fixedly connected to the body of the first reducer. The output shaft of the first motor is connected to the input end of the first reducer. The first lead screw is connected to the output end of the first reducer. The first nut is sleeved on the first lead screw and threadedly engaged with the first lead screw. The first movable rod is fixedly connected to the first nut and is pivotally connected to the swing arm through a pivot. The pivot is parallel to the pivot and offset from it.

8. The mounting structure of the dexterous hand thumb assembly as described in claim 1, characterized in that, The thumb assembly also includes a proximal phalanx, which is pivotally connected to one end of the swing arm that extends out of the opening so that the proximal phalanx can rotate relative to the swing arm about a first axis. The swing arm is hollow and has a second drive assembly installed inside it to drive the proximal phalanx to rotate about the first axis.

9. The mounting structure of the dexterous hand thumb assembly as described in claim 8, characterized in that, The second drive assembly includes a second motor, a second reducer, a second lead screw, a second nut, and a second movable rod. The body of the second reducer is pivotally connected to the swing rod. The body of the second motor is fixedly connected to the body of the second reducer. The output shaft of the second motor is connected to the input end of the second reducer. The second lead screw is connected to the output end of the second reducer. The second nut is sleeved on the second lead screw and threadedly engaged with it. The second movable rod is fixedly connected to the second nut. After extending out of the swing rod, the second movable rod is pivotally connected to the proximal phalanx so that the proximal phalanx can rotate relative to the second movable rod around a second axis. The second axis is parallel to and offset from the first axis.

10. A dexterous hand, characterized in that, The mounting structure includes the dexterous hand thumb assembly as described in any one of claims 1-9.

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