Thumb side swaying mechanism and dexterous hand

Abstract

According to the thumb side-sway mechanism and the dexterous hand, in the thumb side-sway mechanism, a thumb side-sway driving mechanism is fixed to a palm framework body through a driver tailstock, and a sector gear meshed with the thumb side-sway driving mechanism is arranged and further connected with the thumb. The thumb side-sway driving mechanism can drive the thumb to rotate around the rotating joint of the thumb and the thumb mounting base when the sector gear swings, the thumb side-sway driving mechanism can be fixed to the palm framework body and can complete thumb side-sway without using a ball bearing, the space, occupied by the ball bearing, in the palm part is reduced, and the service life of the palm part is prolonged. The structure of the dexterous hand is more compact, the palm part of the dexterous hand is thinner, and the driving mode that the sector teeth are meshed with the thumb side-sway driving mechanism is adopted, so that the thumb side-sway angle range is larger, and the applicability is high.

Description

Technical Field

[0001] This application relates to the field of mechanical technology, and more specifically, to a thumb lateral swing mechanism and a dexterous hand. Background Technology

[0002] Currently, a dexterous hand is an automated operating device that can mimic certain movements and functions of the human hand to grasp, move objects, or operate tools according to a fixed program. It needs to simultaneously meet various conditions such as gripping force, gripping accuracy, self-adaptation, and degrees of freedom. In order to complete the thumb lateral movement, a thumb lateral movement mechanism needs to be used in the dexterous hand.

[0003] In related technologies, the thumb lateral swing mechanism in a dexterous hand uses a ball bearing to connect to the palm. However, the ball bearing is relatively large, which results in a thicker palm in the dexterous hand, making the structure of the dexterous hand less compact. Utility Model Content

[0004] To address the aforementioned problems, the purpose of this application is to provide a thumb lateral swing mechanism and a dexterous hand.

[0005] In a first aspect, embodiments of this application provide a thumb lateral swing mechanism, including: a palm, a thumb lateral swing drive mechanism, a thumb, a driver tail seat, a first pin, and a sector tooth;

[0006] The palm portion is provided with a palm skeleton body and a thumb mounting base;

[0007] The thumb mounting base is fixedly connected to the palm skeleton body, and the thumb side swing drive mechanism is fixed to the palm skeleton body through the driver tail seat; wherein, the driver tail seat and the thumb mounting base are located on the same side of the palm skeleton body.

[0008] The thumb and the thumb mounting seat are rotatably connected by the first pin;

[0009] The sector teeth are connected to the thumb and engage with the thumb lateral swing drive mechanism.

[0010] Secondly, embodiments of this application also provide a dexterous hand, including: the thumb lateral swing mechanism described in the first aspect above.

[0011] In the solutions provided in the first to second aspects of the embodiments of this application, in the thumb lateral swing mechanism, the thumb lateral swing drive mechanism is fixed to the palm skeleton body through the driver tail seat. Moreover, a sector tooth is provided that meshes with the thumb lateral swing drive mechanism. The sector tooth is also connected to the thumb, so that when the sector tooth swings, the thumb lateral swing drive mechanism can drive the thumb to rotate around the rotational connection between the thumb and the thumb mounting seat. Compared with the method of using ball bearings to connect the thumb lateral swing mechanism to the palm in the dexterous hand in the related art, the thumb lateral swing drive mechanism can be fixed to the palm skeleton body and complete the thumb lateral swing without the need for ball bearings. This reduces the space occupied by ball bearings inside the palm, making the structure of the dexterous hand more compact and the palm of the dexterous hand thinner. In addition, the driving method of meshing the sector tooth with the thumb lateral swing drive mechanism makes the thumb lateral swing angle range larger and the applicability stronger.

[0012] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 A schematic diagram of the structure of a thumb-side swing mechanism provided in an embodiment of this application is shown;

[0015] Figure 2 This diagram shows a partially exploded view of the thumb-side swing mechanism provided in an embodiment of this application;

[0016] Figure 3 A three-dimensional structural diagram of the hand skeleton body and thumb mounting base provided in an embodiment of this application is shown;

[0017] Figure 4 A three-dimensional structural schematic diagram of the rack mounting base provided in an embodiment of this application is shown;

[0018] Figure 5 A three-dimensional structural schematic diagram of the driver tailstock provided in an embodiment of this application is shown;

[0019] Figure 6 A schematic diagram of a dexterous hand structure with a thumb lateral swing mechanism provided in an embodiment of this application is shown. Detailed Implementation

[0020] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used 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. Therefore, they should not be construed as limitations on this application.

[0021] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0022] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0023] Currently, a dexterous hand is an automated operating device that can mimic certain movements and functions of the human hand to grasp, move objects, or operate tools according to a fixed program. It needs to simultaneously meet various conditions such as gripping force, gripping accuracy, self-adaptation, and degrees of freedom. In order to complete the thumb lateral movement, a thumb lateral movement mechanism needs to be used in the dexterous hand.

[0024] In related technologies, the thumb lateral swing mechanism in a dexterous hand uses a ball bearing to connect to the palm. However, the ball bearing is relatively large, which results in a thicker palm in the dexterous hand, making the structure of the dexterous hand less compact.

[0025] Based on this, this application proposes a thumb lateral swing mechanism and a dexterous hand. In the thumb lateral swing mechanism, the thumb lateral swing drive mechanism is fixed to the palm skeleton body through a driver tail seat. Moreover, a sector tooth is provided that meshes with the thumb lateral swing drive mechanism. The sector tooth is also connected to the thumb, so that when the sector tooth swings, the thumb lateral swing drive mechanism can drive the thumb to rotate around the rotational connection between the thumb 3 and the thumb mounting seat. Compared with the method of using ball bearings to connect the thumb lateral swing mechanism to the palm in the dexterous hand in the related art, the thumb lateral swing drive mechanism can be fixed to the palm skeleton body and complete the thumb lateral swing without the need for ball bearings. This reduces the space occupied by ball bearings in the palm, making the structure of the dexterous hand more compact and the palm of the dexterous hand thinner. In addition, the driving method of meshing the sector tooth with the thumb lateral swing drive mechanism makes the thumb lateral swing angle range wider and the applicability stronger.

[0026] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and embodiments.

[0027] Example

[0028] See Figure 1 The schematic diagram of the thumb lateral swing mechanism shown is available in [reference]. Figure 2 The diagram shows a partial exploded view of the thumb lateral swing mechanism. This embodiment proposes a thumb lateral swing mechanism, including: palm part 1, thumb lateral swing drive mechanism 2, thumb 3, driver tail seat 4, first pin 6, and sector tooth 7.

[0029] The palm part 1 is provided with a palm skeleton body 11 and a thumb mounting seat 12.

[0030] The thumb mounting base 12 is fixedly connected to the palm skeleton body 11, and the thumb side swing drive mechanism 2 is fixed to the palm skeleton body 11 through the driver tail seat 4; wherein, the driver tail seat 4 and the thumb mounting base 12 are located on the same side of the palm skeleton body 11.

[0031] The thumb 3 and the thumb mounting base 12 are rotatably connected by the first pin 6.

[0032] The sector tooth 7 is connected to the thumb 3 and engages with the thumb side swing drive mechanism 2.

[0033] Specifically, see Figure 3 The diagram shows a three-dimensional structure of the hand skeleton body and the thumb mounting base, wherein the thumb mounting base 12 has a "U" shaped structure.

[0034] The thumb mounting base 12 includes a base plate 123 and two upright plates 124 fixed on the base plate 123.

[0035] The base plate 123 is fixed on the palm skeleton body 11 and the upright plate 124 extends out of the palm part 1. The bottom plate 123 of the thumb mounting seat 12 has a guide rail mounting groove 121 on the end face facing the upright plate 124. The guide rail mounting groove 121 is located between the two upright plates 124 of the thumb mounting seat 12.

[0036] The thumb mounting base 12 has first mounting holes 122 coaxially formed on the upright plate 124. The first mounting holes 122 are respectively provided with bearings 5, and the first pins 6 are connected to the bearings 5.

[0037] The thumb lateral swing drive mechanism 2 includes: a driver 21, a guide assembly 22, a rack mounting base 23, and a rack 24.

[0038] The output end of the driver 21 is fixedly connected to one end of the rack mounting base 23, and the other end of the rack mounting base 23 extends between the two upright plates 124 of the thumb mounting base 12. A force sensor B is fixedly installed at the tail of the driver 21, and the force sensor B is fixed to the palm skeleton body 11 through the driver tail seat 4.

[0039] In one embodiment, the driver 21 may be a linear drive device such as an electric cylinder or a pneumatic cylinder.

[0040] The guide assembly 22 is connected to the rack mounting base 23 and the guide rail mounting groove 121 respectively.

[0041] The rack 24 is fixedly mounted on the rack mounting base 23; the rack 24 meshes with the sector teeth 7.

[0042] Specifically, the guide assembly 22 includes a guide rail 221 and a slider 222 slidably connected to the guide rail 221.

[0043] The guide rail 221 is fixed at the guide rail mounting groove 121. The slider 222 is fixedly connected to the rack mounting seat 23. The slider 222 can move linearly along the extension direction of the guide rail 221, thereby driving the rack mounting seat 23 to move linearly. The rack mounting seat 23 drives the rack 24 to move linearly. The rack 24 moving linearly drives the meshing sector teeth 7 to swing. The swinging sector teeth 7 drive the connected thumb 3 to rotate.

[0044] See Figure 4 The schematic diagram of the three-dimensional structure of the rack mounting base shown is provided. The rack mounting base 23 includes: a driver connection end 231, a rack placement plate 232, and a rack fixing plate 233.

[0045] The rack placement plate 232 and the rack fixing plate 233 are arranged in the same length direction and perpendicular to each other. The driver connection end 231 is fixedly connected to the same end of the rack placement plate 232 and the rack fixing plate 233 in the same length direction. The driver connection end 231 is also connected to the output end of the driver 21.

[0046] The rack 24 is placed on the top surface of the rack placement plate 232 and threadedly connected to the rack fixing plate 233, and the slider 222 is fixed to the bottom surface of the rack placement plate 232 by screws.

[0047] The thumb lateral swing mechanism proposed in this embodiment also includes: a second pin 8.

[0048] The thumb 3 is provided with a thumb base 31 at its bottom, and the thumb 3 is rotatably connected to the thumb mounting seat 12 through the thumb base 31.

[0049] The thumb base 31 is provided with a second mounting hole 311, and the thumb base 31 is rotatably connected to the first pin 6 through the second mounting hole 311.

[0050] The thumb base 31 is also provided with the sector tooth mounting groove 312 and the third mounting hole 313. The second mounting hole 311 is perpendicular to the side of the sector tooth mounting groove 312. The sector tooth mounting groove 312 is detachably connected to the sector tooth 7.

[0051] The sector tooth 7 is provided with the fourth mounting hole 701 and the fifth mounting hole 702 respectively. The first pin 6 passes through the second mounting hole 311 and the fourth mounting hole 701, and the second pin 8 passes through the third mounting hole 313 and the fifth mounting hole 702, so that the thumb base 31 and the sector tooth 7 are connected by the first pin 6 and the second pin 8.

[0052] Furthermore, the thumb lateral swing mechanism proposed in this embodiment also includes a gasket 9 disposed between the bearing 5 and the thumb base 31.

[0053] Further, see Figure 5 The schematic diagram of the three-dimensional structure of the driver tail seat shown is shown. In the thumb side swing mechanism proposed in this embodiment, the palm skeleton body 11 is provided with a positioning hole 111, and the bottom of the driver tail seat 4 is provided with a positioning protrusion 41, which is disposed in the positioning hole 111.

[0054] Thus, the design of the positioning hole 111 and the positioning protrusion 41 facilitates the positioning and installation of the driver tailstock 4 and the palm skeleton body 11.

[0055] Optionally, the tail of the force sensor B is fixed to the driver tailstock 4 by the tail nut A.

[0056] See Figure 6 The schematic diagram of the dexterous hand structure with a thumb lateral swing mechanism shown in this embodiment also proposes a dexterous hand, including: the aforementioned thumb lateral swing mechanism, the aforementioned palm 1, the aforementioned thumb lateral swing drive mechanism 2 and the aforementioned thumb 3, and also including four fingers C, which are connected to the palm 1, and a driver for driving the four fingers C to extend and bend is provided in the palm 1.

[0057] The working principle of the thumb lateral swing mechanism proposed in this embodiment is as follows:

[0058] When the output end of the driver 21 located inside the palm 1 extends, the rack mounting base 23 connected to the output end of the driver 21 will drive the rack 24 on it to move linearly under the guidance of the guide component 22, thereby causing the sector teeth 7 meshing with the rack 24 to rotate, thus completing the lateral swing of the thumb 3 around the axis of the first pin 6.

[0059] The thumb lateral swing mechanism proposed in this embodiment, with its detachable rack and sector teeth connection, not only facilitates the replacement of the rack or sector teeth due to damage caused by excessive external force during use, but also allows for the replacement of the thumb mounting base with one featuring a higher upright plate and sector teeth with a larger radius, thereby increasing the lever arm and torque of the thumb drive end. This allows the same actuator to be used for applications requiring greater lateral swing thrust, reducing the overall requirements for the actuator and broadening its application range.

[0060] In summary, the thumb lateral swing mechanism and dexterous hand proposed in this embodiment, in which the thumb lateral swing drive mechanism is fixed to the palm skeleton body through the driver tail seat, and a sector tooth is provided that meshes with the thumb lateral swing drive mechanism, and the sector tooth is also connected to the thumb, so that the thumb lateral swing drive mechanism can drive the thumb to rotate around the rotational connection between the thumb and the thumb mounting seat when the sector tooth swings. Compared with the method of using ball bearings to connect the thumb lateral swing mechanism to the palm in the dexterous hand in the related art, the thumb lateral swing drive mechanism can be fixed to the palm skeleton body and complete the thumb lateral swing without the need for ball bearings, reducing the space occupied by ball bearings in the palm, making the structure of the dexterous hand more compact and the palm of the dexterous hand thinner. Moreover, the driving method of the above-mentioned sector tooth meshing with the thumb lateral swing drive mechanism makes the thumb lateral swing angle range wider and the applicability stronger.

[0061] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A thumb-side-swinging mechanism, characterized in that, The application relates to a hand palm structure, which comprises a palm part (1), a thumb side swing driving mechanism (2), a thumb (3), a driver tail seat (4), a first pin (6) and a fan-shaped gear (7); a palm skeleton body (11) and a thumb mounting seat (12) are arranged in the palm part (1); the thumb mounting seat (12) is fixedly connected to the palm skeleton body (11); the thumb side swing driving mechanism (2) is fixed to the palm skeleton body (11) through the driver tail seat (4); wherein the driver tail seat (4) and the thumb mounting seat (12) are located on the same side of the palm skeleton body (11); the thumb (3) is rotationally connected to the thumb mounting seat (12) through the first pin (6); the fan-shaped gear (7) is connected to the thumb (3) and is engaged with the thumb side swing driving mechanism (2). The thumb mounting seat (12) is in a "U" shape; the thumb mounting seat (12) comprises a bottom plate (123) and two vertical plates (124) fixed to the bottom plate (123); the bottom plate (123) is fixed to the palm skeleton body (11) and the vertical plates (124) extend out of the palm part (1); a guide rail mounting groove (121) is formed in the end face of the bottom plate (123) of the thumb mounting seat (12) and faces the vertical plates (124); the guide rail mounting groove (121) is located between the two vertical plates (124) of the thumb mounting seat (12); coaxial first mounting holes (122) are formed in the vertical plates (124) of the thumb mounting seat (12) respectively; bearings (5) are arranged in the first mounting holes (122) respectively; the first pin (6) is connected to the bearings (5).

2. The thumb side swing mechanism according to claim 1, characterized by, The thumb side swing driving mechanism (2) comprises a driver (21), a guide assembly (22), a rack mounting seat (23) and a rack (24); the output end of the driver (21) is fixedly connected to one end of the rack mounting seat (23); the other end of the rack mounting seat (23) extends into the space between the two vertical plates (124) of the thumb mounting seat (12); a force sensor (B) is fixedly arranged at the tail of the driver (21); the force sensor (B) is fixed to the palm skeleton body (11) through the driver tail seat (4); the guide assembly (22) is connected to the rack mounting seat (23) and the guide rail mounting groove (121) respectively; the rack (24) is fixedly arranged on the rack mounting seat (23); the rack (24) is engaged with the fan-shaped gear (7).

3. The thumb side swing mechanism according to claim 2, characterized by, ​ 4. The thumb side swing mechanism according to claim 3, characterized by, The guide assembly (22) comprises a guide rail (221) and a sliding block (222) in sliding connection with the guide rail (221); the guide rail (221) is fixed at the guide rail mounting groove (121), the sliding block (222) is fixedly connected with the rack mounting seat (23), the sliding block (222) can move linearly along the extension direction of the guide rail (221), thereby driving the rack mounting seat (23) to move linearly, the rack mounting seat (23) drives the rack (24) to move linearly, the linearly moving rack (24) drives the meshing fan gear (7) to swing, the swinging fan gear (7) drives the connected thumb (3) to rotate.

5. The thumb side swing mechanism according to claim 4, characterized by The rack mounting seat (23) comprises a driver connecting end (231), a rack placing plate (232) and a rack fixing plate (233); the rack placing plate (232) is arranged vertically with the rack fixing plate (233) in the length direction, the driver connecting end (231) is fixedly connected with the same end of the rack placing plate (232) and the rack fixing plate (233) in the length direction respectively, and the driver connecting end (231) is further connected with the output end of the driver (21); the rack (24) is placed on the top surface of the rack placing plate (232) and is threadedly connected with the rack fixing plate (233), and the sliding block (222) is fixed on the bottom surface of the rack placing plate (232) by a screw.

6. The thumb side swing mechanism according to claim 5, characterized by Further comprising: The thumb (3) is provided with a thumb base (31) at the bottom, the thumb (3) is rotatably connected with the thumb mounting seat (12) through the thumb base (31); a second mounting hole (311) is formed in the thumb base (31), the thumb base (31) is rotatably connected with the first pin (6) through the second mounting hole (311); a fan gear mounting groove (312) and a third mounting hole (313) are further formed in the thumb base (31), the side surface of the second mounting hole (311) is perpendicular to the fan gear mounting groove (312), the fan gear mounting groove (312) is detachably connected with the fan gear (7); a fourth mounting hole (701) and a fifth mounting hole (702) are respectively formed in the fan gear (7), the first pin (6) penetrates through the second mounting hole (311) and the fourth mounting hole (701), and the second pin (8) penetrates through the third mounting hole (313) and the fifth mounting hole (702), so that the thumb base (31) and the fan gear (7) are connected through the first pin (6) and the second pin (8).

7. The thumb side swing mechanism according to claim 6, characterized by A gasket (9) is arranged between the bearing (5) and the thumb base (31).

8. The thumb side swing mechanism of claim 6, wherein, A positioning hole (111) is formed in the palm skeleton body (11), and a positioning protrusion (41) is arranged at the bottom of the driver tail seat (4) and located in the positioning hole (111).

9. The thumb side swing mechanism of claim 6, wherein, The tail of the force sensor (B) is fixed on the driver tail seat (4) through a tail nut (A).

10. A dexterous hand characterized by, The thumb side swing mechanism of any one of claims 1-9. ​

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