Thumb assembly and robot

Abstract

The utility model discloses a big thumb subassembly and manipulator. Big thumb subassembly includes first linear module, first connecting rod, swing piece, second connecting rod, second linear module and fingertip, first linear module includes first casing and first output shaft, and one end of first output shaft is located in first casing, and the other end of first output shaft sets up outside first casing, and second linear module includes second casing and second output shaft, and one end of second output shaft is located in second casing, and the other end of second output shaft sets up outside second casing, and one end of first connecting rod is hinged with first output shaft, and the other end of first connecting rod is hinged with swing piece, and swing piece is hinged with first casing, and one end of second connecting rod is hinged with swing piece, and fingertip sets up at the other end of second connecting rod, and one of second casing and second output shaft is hinged with second connecting rod, and the other of second casing and second output shaft is hinged with swing piece.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a thumb component and a robotic arm. Background Technology

[0002] With the development of humanoid robots, the robotic hands of humanoid robots can perform functions such as grasping. The robotic hand includes a thumb and multiple fingers. The existing thumb has a complex structure, and the gripping force when the thumb and multiple fingers work together is small, which affects the stability of the robotic hand's grasping. Utility Model Content

[0003] This utility model provides a thumb assembly and a robotic arm to solve at least one of the aforementioned technical problems.

[0004] This utility model discloses a thumb assembly for use in a robotic hand. The thumb assembly includes a first linear module, a first connecting rod, a swing member, a second connecting rod, a second linear module, and a fingertip. The first linear module includes a first housing and a first output shaft. One end of the first output shaft is located inside the first housing, and the other end of the first output shaft extends out of the first housing. The second linear module includes a second housing and a second output shaft. One end of the second output shaft is located inside the second housing, and the other end of the second output shaft extends out of the second housing.

[0005] One end of the first connecting rod is hinged to the first output shaft, the other end of the first connecting rod is hinged to the swing member, the swing member is hinged to the first housing, one end of the second connecting rod is hinged to the swing member, the fingertip is located at the other end of the second connecting rod, one of the second housing and the second output shaft is hinged to the second connecting rod, and the other of the second housing and the second output shaft is hinged to the swing member.

[0006] The first output shaft can move linearly along the axial direction of the first output shaft under drive, so as to drive the first connecting rod to move, causing the swing member to swing relative to the first housing, and the swing member to drive the second connecting rod, the second linear module and the fingertip to swing;

[0007] The second output shaft can move linearly along the axial direction of the second output shaft under drive, so as to drive the second connecting rod to rotate relative to the swing member, so that the second connecting rod drives the fingertip to rotate.

[0008] In the aforementioned thumb assembly, the first output shaft can move linearly along its axial direction under drive, thereby driving the first connecting rod to move, causing the swinging member to swing relative to the first housing. The swinging member drives the second connecting rod, the second linear module, and the fingertip to swing. Additionally, the second output shaft can move linearly along its axial direction under drive, thereby driving the second connecting rod to rotate relative to the swinging member, causing the second connecting rod to rotate the fingertip. This improves the gripping force of the thumb assembly and enhances the stability of the robotic arm during grasping. Furthermore, the thumb assembly has a simple structure and is easy to install.

[0009] In some embodiments, the thumb assembly includes a connector, one end of which is connected to the side of the first housing, and the other end of which is hinged to the swing member, and / or;

[0010] The hinge position between the first output shaft and the swing member is located at one end of the swing member, while the hinge position between the connecting member and the swing member is located at the other end of the swing member.

[0011] In some embodiments, one end of the swing member has a groove, one end of the first connecting rod is disposed in the groove and hinged to the swing member, and the other end of the first connecting rod is connected to the first housing through the first output shaft.

[0012] In some embodiments, the second link is hollow, and the second linear module is disposed inside the second link.

[0013] In some embodiments, the second link includes a first connecting plate, a second connecting plate, and two third connecting plates, wherein the first connecting plate and the second connecting plate are disposed between the two third connecting plates and spaced apart on the two third connecting plates.

[0014] In some embodiments, the second housing is hinged to the second connecting rod, and one end of the second output shaft is hinged to the swing member.

[0015] In some embodiments, the hinge position between the second housing and the second connecting rod is located at the midpoint between the second housing and the second connecting rod, and / or,

[0016] The swing member has a clearance groove, and one end of the second output shaft is disposed in the clearance groove and hinged to the swing member.

[0017] In some embodiments, the thumb assembly includes a first mounting member and a second mounting member, the first mounting member being fixedly connected to the outer side of the second housing, the second mounting member being disposed on the second connecting rod, and the second mounting member being hinged to the first mounting member.

[0018] In some embodiments, the first linear module further includes a first rotary driver, a first reducer, and a first lead screw and nut assembly. The first rotary driver, the first reducer, and the first lead screw and nut assembly are all disposed within the first housing. The first rotary driver is connected to the first reducer, the first reducer is connected to the first lead screw and nut assembly, and the first lead screw and nut assembly is connected to the first output shaft. The first rotary driver can drive the first reducer to rotate, and the first reducer drives the first lead screw and nut assembly to rotate, so that the first lead screw and nut assembly drives the first output shaft to move linearly along the axial direction of the first output shaft.

[0019] The second linear module further includes a second rotary driver, a second reducer, and a second lead screw and nut assembly. The second rotary driver, the second reducer, and the second lead screw and nut assembly are all disposed within the second housing. The second rotary driver is connected to the second reducer, the second reducer is connected to the second lead screw and nut assembly, and the second lead screw and nut assembly is connected to the second output shaft. The second rotary driver can drive the second reducer to rotate, and the second reducer drives the second lead screw and nut assembly to rotate, so that the second lead screw and nut assembly drives the second output shaft to move linearly along the axial direction of the second output shaft.

[0020] A robotic arm according to an embodiment of the present invention includes a base and a thumb assembly as described in any of the above embodiments, wherein the thumb assembly is connected to the base.

[0021] In the aforementioned robotic arm, the first output shaft can move linearly along the axial direction of the first output shaft under drive, thereby driving the first connecting rod to move, causing the swinging component to swing relative to the first housing. The swinging component drives the second connecting rod, the second linear module, and the fingertip to swing. The second output shaft can also move linearly along the axial direction of the second output shaft under drive, thereby driving the second connecting rod to rotate relative to the swinging component, causing the second connecting rod to drive the fingertip to rotate. This can improve the gripping force of the thumb assembly and enhance the stability of the robotic arm when grasping. At the same time, the thumb assembly has a simple structure and is easy to install.

[0022] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0023] The above and / or additional aspects and advantages of this invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0024] Figure 1 This is a schematic diagram of the structure of the thumb assembly according to an embodiment of the present invention;

[0025] Figure 2 This is a partially exploded structural diagram of the thumb assembly according to an embodiment of the present invention;

[0026] Figure 3 This is a partial assembly diagram of the thumb component according to an embodiment of the present invention;

[0027] Figure 4 This is a schematic diagram of the structure of the robotic arm according to an embodiment of the present invention.

[0028] Figure label:

[0029] 100. Thumb assembly; 10. First linear module; 12. First connecting rod; 14. Swing component; 16. Second connecting rod; 18. Second linear module; 20. Fingertip; 22. First housing; 24. First output shaft; 26. Second housing; 28. Second output shaft; 30. Connector; 32. Groove; 34. First connecting plate; 36. Second connecting plate; 38. Third connecting plate; 40. Clearance groove; 42. First mounting component; 44. Second mounting component; 46. Mounting groove; 48. Through hole; 50. Connecting hole; 52. Fixing part; 54. Connecting part; 56. First rotary driver; 58. First reducer; 60. First lead screw and nut assembly; 62. Second rotary driver; 64. Second reducer; 66. Second lead screw and nut assembly; 68. Base; 70. Finger; 200. Robotic arm. Detailed Implementation

[0030] The embodiments of this utility model are described in detail below. Examples of these 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 utility model, and should not be construed as limiting this utility model.

[0031] In the description of this utility model, 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," and "counterclockwise," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description. They 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 utility model. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0032] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" 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 communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0033] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0034] This disclosure provides many different embodiments or examples for implementing various structures of the present invention. To simplify the disclosure, specific examples of components and arrangements are described herein. Of course, these are merely examples and are not intended to limit the present invention. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this invention, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0035] Please refer to Figures 1 to 4According to an embodiment of the present invention, a thumb assembly 100 is used in a robotic hand 200. The thumb assembly 100 includes a first linear module 10, a first connecting rod 12, a swing member 14, a second connecting rod 16, a second linear module 18, and a fingertip 20. The first linear module 10 includes a first housing 22 and a first output shaft 24. One end of the first output shaft 24 is located inside the first housing 22, and the other end of the first output shaft 24 extends out of the first housing 22. The second linear module 18 includes a second housing 26 and a second output shaft 28. One end of the second output shaft 28 is located inside the second housing 26, and the other end of the second output shaft 28 extends out of the second housing 26. One end of the first connecting rod 12 is hinged to the first output shaft 24, and the other end of the first connecting rod 12 is hinged to the swing member 14. The swing member 14 is hinged to the first housing 22. One end of the second connecting rod 16 is hinged to the swing member 14. The fingertip 20 is disposed at the other end of the second connecting rod 16. One of the second housing 26 and the second output shaft 28 is hinged to the second connecting rod 16, and the other of the second housing 26 and the second output shaft 28 is hinged to the swing member 14. The first output shaft 24 can move linearly along its axial direction under drive, thereby driving the first connecting rod 12 to move, causing the swing member 14 to swing relative to the first housing 22. The swing member 14 drives the second connecting rod 16, the second linear module 18, and the fingertip 20 to swing. The second output shaft 28 can move linearly along its axial direction under drive, thereby driving the second connecting rod 16 to rotate relative to the swing member 14, thereby causing the second connecting rod 16 to rotate the fingertip 20.

[0036] In the aforementioned thumb assembly 100, the first output shaft 24 can move linearly along the axial direction of the first output shaft 24 under drive, thereby driving the first connecting rod 12 to move, causing the swing member 14 to swing relative to the first housing 22. The swing member 14 drives the second connecting rod 16, the second linear module 18, and the fingertip 20 to swing. The second output shaft 28 can also move linearly along the axial direction of the second output shaft 28 under drive, thereby driving the second connecting rod 16 to rotate relative to the swing member 14, causing the second connecting rod 16 to drive the fingertip 20 to rotate. This can improve the gripping force of the thumb assembly 100 and enhance the stability of the robotic arm 200 during grasping. At the same time, the thumb assembly 100 has a simple structure and is easy to install.

[0037] Specifically, one end of the first output shaft 24 is located inside the first housing 22, and the other end of the first output shaft 24 extends out of the first housing 22. The first output shaft 24 is slidably connected to the first housing 22. One end of the second output shaft 28 is located inside the second housing 26, and the other end of the second output shaft 28 extends out of the second housing 26. The second output shaft 28 is slidably connected to the second housing 26.

[0038] One end of the first connecting rod 12 can be hinged to the end of the first output shaft 24 located outside the first housing 22, and the other end of the first connecting rod 12 is hinged to the swing member 14. The end of the first housing 22 near the first output shaft 24 can be hinged to the swing member 14. One end of the second connecting rod 16 is hinged to the end of the swing member 14 away from the first output shaft 24, and the other end of the second connecting rod 16 is fixedly connected to a fingertip 20.

[0039] In one example, the second housing 26 may be hinged to the second connecting rod 16, and the second output shaft 28 may be hinged to the oscillating member 14 (e.g., Figure 1 In one example, the second output shaft 28 may be hinged to the second link 16, and the second housing 26 may be hinged to the swing member 14.

[0040] In one embodiment, the first drive electric cylinder can drive the first output shaft 24 to move linearly along the axial direction of the first output shaft 24, thereby driving the first connecting rod 12 to move, causing the swing member 14 to swing relative to the first housing 22. The swing member 14 drives the second connecting rod 16, the second linear module 18, and the fingertip 20 to swing. The second drive electric cylinder can also drive the second output shaft 28 to move linearly along the axial direction of the second output shaft 28, thereby driving the second connecting rod 16 to rotate relative to the swing member 14, causing the second connecting rod 16 to drive the fingertip 20 to rotate. This can improve the gripping force of the thumb assembly 100 and enhance the stability of the robotic arm 200 during grasping. At the same time, the thumb assembly 100 has a simple structure and is easy to install.

[0041] Please combine Figure 1 In some embodiments, the thumb assembly 100 includes a connector 30, one end of which is connected to the side of the first housing 22, and the other end of which is hinged to the swing member 14. The hinge position between the first output shaft 24 and the swing member 14 is located at one end of the swing member 14, and the hinge position between the second link 16 and the swing member 14 is located at the other end of the swing member 14.

[0042] Thus, the swing member 14 can be hinged to the first housing 22 via the connector 30, and the swing function of the swing member 14 can be realized by setting the hinge position between the first output shaft 24 and the swing member 14 and the hinge position between the connector 30 and the swing member 14 at the same end of the swing member 14.

[0043] Specifically, one end of the connector 30 can be fixedly connected to the end face of the first housing 22 near the first output shaft 24, and the other end of the connector 30 is hinged to the swing member 14. The first output shaft 24 is hinged to the swing member 14 through the first connecting rod 12. The hinge position of the first connecting rod 12 and the swing member 14 is located at the same end of the swing member 14 as the hinge position of the connector 30 and the swing member 14. The hinge position of the second connecting rod 16 and the swing member 14 is located at the other end of the swing member 14, thereby realizing the swing function of the swing member 14.

[0044] Please combine Figure 1 and Figure 3 In some embodiments, one end of the swing member 14 is provided with a groove 32, one end of the first connecting rod 12 is disposed in the groove 32 and is hinged to the swing member 14, and the other end of the first connecting rod 12 is connected to the first housing 22 through the first output shaft 24.

[0045] Thus, one end of the first link 12 can be placed in the groove 32, thereby providing clearance for the movement of the first link 12.

[0046] Specifically, a groove 32 may be provided at one end of the swing member 14 near the first output shaft 24. One end of the first connecting rod 12 is disposed in the groove 32 and hinged to the swing member 14. The other end of the first connecting rod 12 is hinged to the first output shaft 24 and connected to the first housing 22 through the first output shaft 24. Thus, when the first output shaft 24 moves linearly along the axial direction, it can drive the first connecting rod 12 to rotate, thereby providing clearance for the movement of the first connecting rod 12.

[0047] Please combine Figure 1 In some embodiments, the second link 16 is hollow, and the second linear module 18 is disposed inside the second link 16.

[0048] This allows for clearance during the installation and movement of the second linear module 18.

[0049] Specifically, in one embodiment, the second link 16 is hollow, so that the second link 16 has a space for accommodating the second linear module 18, which can be disposed in the second link 16, thereby providing clearance for the installation and movement of the second linear module 18.

[0050] Please combine Figure 1 and Figure 2 In some embodiments, the second link 16 includes a first connecting plate 34, a second connecting plate 36, and two third connecting plates 38. The first connecting plate 34 and the second connecting plate 36 are disposed between the two third connecting plates 38 and are spaced apart on the two third connecting plates 38.

[0051] Thus, the mutual arrangement of the first connecting plate 34, the second connecting plate 36 and the two third connecting plates 38 can further provide clearance for the installation and movement of the second linear module 18.

[0052] Specifically, the first connecting plate 34 is connected to one end of the two third connecting plates 38, and the second connecting plate 36 is connected to the other end of the two third connecting plates 38. The first connecting plate 34 and the second connecting plate 36 are disposed between the two third connecting plates 38. The fingertip 20 is fixedly connected to the first connecting plate 34, and the second connecting plate 36 is disposed close to the swing member 14. Through the mutual arrangement of the first connecting plate 34, the second connecting plate 36 and the two third connecting plates 38, the first connecting plate 34, the second connecting plate 36 and the two third connecting plates 38 can be arranged to form an accommodating space, thereby further providing clearance for the installation and movement of the second linear module 18.

[0053] Please combine Figure 1 In some embodiments, the second housing 26 is hinged to the second connecting rod 16, and one end of the second output shaft 28 is hinged to the swing member 14.

[0054] Thus, the swing member 14 can drive the second connecting rod 16 and the second output shaft 28 to swing, while the second output shaft 28 can drive the second connecting rod 16 to rotate relative to the swing member 14 through the second housing 26.

[0055] Specifically, the two third connecting plates 38 can be hinged to the two opposite sides of the second housing 26 respectively, and one end of the second output shaft 28 is hinged to the middle position of the swing member 14. Thus, the swing member 14 can drive the second connecting rod 16 and the second output shaft 28 to swing. At the same time, the second output shaft 28 can drive the second connecting rod 16 to rotate relative to the swing member 14 through the second housing 26.

[0056] Please combine Figure 1 and Figure 2 In some embodiments, the hinge position between the second housing 26 and the second connecting rod 16 is located at the middle position between the second housing 26 and the second connecting rod 16. The swing member 14 has a relief groove 40, and one end of the second output shaft 28 is disposed in the relief groove 40 and hinged to the swing member 14.

[0057] Thus, the second output shaft 28 can easily drive the second connecting rod 16 to rotate. One end of the second output shaft 28 is installed in the clearance groove 40, which can provide clearance for the movement of the second output shaft 28.

[0058] Specifically, in one embodiment, the two third connecting plates 38 are respectively hinged to the middle position of the two opposite sides of the second housing 26, which facilitates the rotation of the second connecting rod 16.

[0059] In one embodiment, a clearance groove 40 may be provided at the middle position of the swing member 14, and one end of the second output shaft 28 may be disposed in the clearance groove 40 and hinged to the swing member 14, thereby providing clearance for the movement of the second output shaft 28.

[0060] Please combine Figures 1 to 3 In some embodiments, the thumb assembly 100 includes a first mounting member 42 and a second mounting member 44. The first mounting member 42 is fixedly connected to the outer side of the second housing 26, and the second mounting member 44 is disposed on the second connecting rod 16 and is hinged to the first mounting member 42.

[0061] Thus, the second connecting rod 16 and the second housing 26 can be hinged through the cooperation of the first mounting part 42 and the second mounting part 44.

[0062] Specifically, the first mounting member 42 may be U-shaped, and the first mounting member 42 may be snapped onto the outer side of the second housing and located in the middle of the outer side of the second housing 26. The first mounting member 42 may be fixedly connected by screws.

[0063] Two second mounting members 44 are provided, which can be respectively installed on two third connecting plates 38. A mounting groove 46 can be opened in the middle of the third connecting plate 38, and a through hole 48 can be opened at the bottom of the mounting groove 46. The first mounting member 42 has a connecting hole 50. The second mounting member 44 includes a fixing part 52 and a connecting part 54. The fixing part 52 is connected to the connecting part 54. The fixing part 52 is disposed in the mounting groove 46, and the connecting part 54 passes through the through hole 48, so that one end of the connecting part 54 passes through the connecting hole 50, thereby allowing the second mounting member 44 to be hinged with the first mounting member 42, thereby realizing the hinge connection between the second connecting rod 16 and the second housing 26.

[0064] Please combine Figure 3In some embodiments, the first linear module 10 further includes a first rotary driver 56, a first reducer 58, and a first lead screw and nut assembly 60. The first rotary driver 56, the first reducer 58, and the first lead screw and nut assembly 60 are all disposed within the first housing 22. The first rotary driver 56 is connected to the first reducer 58, the first reducer 58 is connected to the first lead screw and nut assembly 60, and the first lead screw and nut assembly 60 is connected to the first output shaft 24. The first rotary driver 56 can drive the first reducer 58 to rotate, and the first reducer 58 drives the first lead screw and nut assembly 60 to rotate, so that the first lead screw and nut assembly 60 drives the first output shaft 24 to move linearly along the axial direction of the first output shaft 24. The second linear module 18 also includes a second rotary driver 62, a second reducer 64, and a second lead screw and nut assembly 66. The second rotary driver 62, the second reducer 64, and the second lead screw and nut assembly 66 are all disposed within the second housing 26. The second rotary driver 62 is connected to the second reducer 64, the second reducer 64 is connected to the second lead screw and nut assembly 66, and the second lead screw and nut assembly 66 is connected to the second output shaft 28. The second rotary driver 62 can drive the second reducer 64 to rotate, and the second reducer 64 drives the second lead screw and nut assembly 66 to rotate, so that the second lead screw and nut assembly 66 drives the second output shaft 28 to move linearly along the axial direction of the second output shaft 28.

[0065] In this way, the first output shaft 24 can move linearly along its axial direction, and the second output shaft 28 can move linearly along its axial direction.

[0066] Specifically, in one embodiment, when the first rotary driver 56 is activated, the first rotary driver 56 can drive the first reducer 58 to rotate, and the first reducer 58 drives the first lead screw and nut assembly 60 to rotate, so that the first lead screw and nut assembly 60 drives the first output shaft 24 to move linearly along the axial direction of the first output shaft 24. In one embodiment, when the second rotary driver 62 is activated, the second rotary driver 62 can drive the second reducer 64 to rotate, and the second reducer 64 drives the second lead screw and nut assembly 66 to rotate, so that the second lead screw and nut assembly 66 drives the second output shaft 28 to move linearly along the axial direction of the second output shaft 28.

[0067] Please refer to Figure 1 and Figure 4 A robotic arm 200 according to an embodiment of the present invention includes a base 68 and a thumb assembly 100 of any of the above embodiments, wherein the thumb assembly 100 is connected to the base 68.

[0068] In the aforementioned robotic arm 200, the first output shaft 24 can move linearly along the axial direction of the first output shaft 24 under drive, thereby driving the first connecting rod 12 to move, causing the swing member 14 to swing relative to the first housing 22. The swing member 14 drives the second connecting rod 16, the second linear module 18, and the fingertip 20 to swing. The second output shaft 28 can also move linearly along the axial direction of the second output shaft 28 under drive, thereby driving the second connecting rod 16 to rotate relative to the swing member 14, causing the second connecting rod 16 to drive the fingertip 20 to rotate. This can improve the gripping force of the thumb assembly 100 and enhance the stability of the robotic arm 200 when grasping. At the same time, the thumb assembly 100 has a simple structure and is easy to install.

[0069] Specifically, the robotic arm 200 also includes multiple fingers 70, which are spaced apart on the base 68. The multiple fingers 70 can cooperate with the thumb assembly 100 to grasp objects. In one embodiment, the first output shaft 24 can move linearly along its axial direction under drive, thereby driving the first connecting rod 12 to move, causing the swing member 14 to swing relative to the first housing 22. The swing member 14 drives the second connecting rod 16, the second linear module 18, and the fingertip 20 to swing. The second output shaft 28 can also move linearly along its axial direction under drive, thereby driving the second connecting rod 16 to rotate relative to the swing member 14, causing the second connecting rod 16 to rotate the fingertip 20. This can improve the gripping force of the thumb assembly 100 and enhance the stability of the robotic arm 200 when grasping. At the same time, the thumb assembly 100 has a simple structure and is easy to install.

[0070] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0071] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A thumb assembly for a robotic hand, characterized in that, The thumb assembly includes a first linear module, a first connecting rod, a swing member, a second connecting rod, a second linear module, and a fingertip. The first linear module includes a first housing and a first output shaft. One end of the first output shaft is located inside the first housing, and the other end of the first output shaft extends out of the first housing. The second linear module includes a second housing and a second output shaft. One end of the second output shaft is located inside the second housing, and the other end of the second output shaft extends out of the second housing. One end of the first connecting rod is hinged to the first output shaft, the other end of the first connecting rod is hinged to the swing member, the swing member is hinged to the first housing, one end of the second connecting rod is hinged to the swing member, the fingertip is located at the other end of the second connecting rod, one of the second housing and the second output shaft is hinged to the second connecting rod, and the other of the second housing and the second output shaft is hinged to the swing member. The first output shaft can move linearly along the axial direction of the first output shaft under drive, so as to drive the first connecting rod to move, causing the swing member to swing relative to the first housing, and the swing member to drive the second connecting rod, the second linear module and the fingertip to swing; The second output shaft can move linearly along the axial direction of the second output shaft under drive, so as to drive the second connecting rod to rotate relative to the swing member, so that the second connecting rod drives the fingertip to rotate.

2. The thumb assembly according to claim 1, characterized in that, The thumb assembly includes a connector, one end of which is connected to the side of the first housing, and the other end of which is hinged to the swing member, and / or; The hinge position between the first output shaft and the swing member is located at one end of the swing member, while the hinge position between the connecting member and the swing member is located at the other end of the swing member.

3. The thumb assembly according to claim 1, characterized in that, One end of the swing member has a groove, one end of the first connecting rod is disposed in the groove and is hinged to the swing member, and the other end of the first connecting rod is connected to the first housing through the first output shaft.

4. The thumb assembly according to claim 1, characterized in that, The second connecting rod is hollow, and the second linear module is disposed inside the second connecting rod.

5. The thumb assembly according to claim 4, characterized in that, The second connecting rod includes a first connecting plate, a second connecting plate, and two third connecting plates. The first connecting plate and the second connecting plate are disposed between the two third connecting plates and are spaced apart on the two third connecting plates.

6. The thumb assembly according to claim 1, characterized in that, The second housing is hinged to the second connecting rod, and one end of the second output shaft is hinged to the swing member.

7. The thumb assembly according to claim 6, characterized in that, The hinge position between the second housing and the second connecting rod is located at the midpoint between the second housing and the second connecting rod, and / or, The swing member has a clearance groove, and one end of the second output shaft is disposed in the clearance groove and hinged to the swing member.

8. The thumb assembly according to claim 6, characterized in that, The thumb assembly includes a first mounting member and a second mounting member. The first mounting member is fixedly connected to the outer side of the second housing, and the second mounting member is disposed on the second connecting rod. The second mounting member is hinged to the first mounting member.

9. The thumb assembly according to claim 1, characterized in that, The first linear module further includes a first rotary driver, a first reducer, and a first lead screw and nut assembly. The first rotary driver, the first reducer, and the first lead screw and nut assembly are all disposed within the first housing. The first rotary driver is connected to the first reducer, the first reducer is connected to the first lead screw and nut assembly, and the first lead screw and nut assembly is connected to the first output shaft. The first rotary driver can drive the first reducer to rotate, and the first reducer drives the first lead screw and nut assembly to rotate, so that the first lead screw and nut assembly drives the first output shaft to move linearly along the axial direction of the first output shaft. The second linear module further includes a second rotary driver, a second reducer, and a second lead screw and nut assembly. The second rotary driver, the second reducer, and the second lead screw and nut assembly are all disposed within the second housing. The second rotary driver is connected to the second reducer, the second reducer is connected to the second lead screw and nut assembly, and the second lead screw and nut assembly is connected to the second output shaft. The second rotary driver can drive the second reducer to rotate, and the second reducer drives the second lead screw and nut assembly to rotate, so that the second lead screw and nut assembly drives the second output shaft to move linearly along the axial direction of the second output shaft.

10. A robotic arm, characterized in that, It includes a base and a thumb assembly as described in any one of claims 1-9, the thumb assembly being attached to the base.

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