A double-rudder dexterous hand thumb

Abstract

A dual-servo dexterity hand thumb, relating to the field of dexterity hand technology, comprises a hand base, a first servo mounted on the hand base with its output shaft extending outward perpendicular to the surface of the hand base, a second servo rotatably connected to the outer surface of the hand base with its output shaft horizontally positioned on the outer side of the hand base, and a thumb structure. The second servo is connected to the thumb structure and drives the thumb structure to rotate along a longitudinal plane. The first and second servos are connected by a gear and rack structure and drive the thumb structure to rotate in a horizontal plane. This invention simplifies the overall structure of the dexterity hand thumb, reduces the space occupied by the device by using a dual-servo integrated scheme, and the saved space can be used to install sensors to enable the dexterity hand to achieve more functions. It also allows for multi-directional rotation of the thumb and adjustment of the gripping force.

Description

Technical Field

[0001] This invention relates to the field of dexterity technology, specifically to a dual-servo dexterity thumb. Background Technology

[0002] As a core component for humanoid robots to perform tasks, the performance of the dexterous hand directly determines the robot's operational flexibility and environmental adaptability. From a human bionics perspective, the thumb, possessing significantly more degrees of freedom than the other four fingers, plays a crucial role in force output and fine manipulation, accounting for nearly half of the overall hand function. In existing technologies, thumb function is primarily achieved through structures such as spatial four-bar linkages and ball screws to convert linear motion into finger rotation. However, these hand structures suffer from problems such as limited range of motion, complex design, high cost, large space occupation, and difficulty in adjusting thumb force. Utility Model Content

[0003] This invention provides a dual-servo dexterity thumb, which simplifies the overall structure of the dexterity thumb. The dual-servo integrated solution reduces the space occupied by the device. The space saved can be used to install sensors to enable the dexterity hand to perform more functions. It can also enable multi-directional rotation of the thumb and adjust the gripping force.

[0004] To achieve the above objectives, the new technical solution is as follows:

[0005] A dual-servo dexterous hand thumb includes a palm base, a first servo mounted on the palm base with its output shaft extending outward in a direction perpendicular to the surface of the palm base, a second servo rotatably connected to the outer surface of the palm base with its output shaft horizontally positioned on the outer side of the palm base, and a thumb structure. The second servo is connected to the thumb structure and drives the thumb structure to rotate along a longitudinal plane. The first and second servos are connected by a gear and rack structure and drive the thumb structure to rotate in a horizontal plane.

[0006] Preferably, the second servo is fixedly connected to a second servo housing, the bottom end of the thumb structure is connected to the top of the second servo housing, the second servo housing has a first outer housing and a second outer housing on both sides, the output shaft of the second servo passes through the second servo housing and is fixedly connected to the first outer housing, and the end of the second servo housing facing the second outer housing has a connecting shaft coaxial with the output shaft of the second servo, the connecting shaft being rotatably connected to the second outer housing.

[0007] Preferably, the second servo housing has a first connecting housing and a second connecting housing on both sides, the output shaft of the second servo rotatably passes through the first connecting housing and is fixedly connected to the first outer housing, and the outer surface of the second connecting housing is provided with a connecting shaft.

[0008] Preferably, the lower part of the first outer shell and the second outer shell are connected by an arc-shaped connecting plate to form an integral structure one. The integral structure one forms a spherical structure. The bottom end of the spherical structure is fixed with a rotating shaft along the axial direction. The rotating shaft is rotatably connected to the palm base through a bearing. The second servo housing is connected with the first connecting shell and the second connecting shell to form an integral structure two. The inner cavity of the integral structure one forms a limiting cavity for the rotation of the integral structure two.

[0009] Preferably, the outer surface of the overall structure facing the first servo motor is provided with an arc-shaped rack structure, and the output shaft of the first servo motor is provided with a gear, which meshes with the arc-shaped rack structure.

[0010] Preferably, the palm base is provided with a first servo limiting boss, and the first servo is fixedly connected to the first servo limiting boss; the palm base is also provided with a stepped limiting hole, the small diameter section of the stepped limiting hole is used to limit the rotating shaft, and the large diameter section is interference-fitted with the outer ring of the bearing.

[0011] This novel dual-servo dexterous hand thumb has the following beneficial effects:

[0012] This new design simplifies the overall structure of the dexterous hand's thumb, using a dual-servo motor integrated solution to reduce the device's space footprint. The saved space can be used to install sensors, enabling the dexterous hand to perform more functions. Furthermore, it allows for multi-directional thumb rotation and adjustable gripping force, as detailed below:

[0013] 1. Kinematic design: The dual-power source independent drive scheme is adopted, and the orthogonal layout realizes: Degree of freedom 1: ±90° rotation in the horizontal plane (total stroke 180°) and Degree of freedom 2: ±90° rotation in the sagittal plane (total stroke 180°). The two degrees of freedom are decoupled through the spatial mechanism and do not interfere with each other, which can realize multi-directional posture adjustment of the thumb structure.

[0014] 2. Spatial layout: By placing the first servo motor on the palm base and the second servo motor being rotatably connected to the first integral structure through the second integral structure, the overall volume of this new invention is significantly reduced.

[0015] 3. Transmission system: The high-rigidity gear-rack pair replaces the traditional linkage mechanism, which has the following advantages: significantly improved transmission efficiency, adjustable torque output, and significantly improved gripping force. Attached Figure Description

[0016] Figure 1 This is a top-view structural diagram of the new type of structure.

[0017] Figure 2 This is a schematic diagram of the combination of integral structure one and integral structure two of this novel invention.

[0018] Figure 3 This is a schematic diagram of the internal structure of this novel integrated structure II.

[0019] The markings in the diagram are: 1-First connecting housing, 2-First outer housing, 3-Gear, 4-First servo limiting boss, 5-Arc-shaped rack structure, 6-Second outer housing, 7-Second connecting housing, 8-Second servo housing, 9-Palm base, 10-Thumb structure, 11-Rack connecting hole one, 12-Bearing, 13-Rack limiting groove, 14-Connecting shaft, 15-Second servo spline output shaft, 16-First mounting hole, 17-Rack connecting hole two, 18-Second mounting hole, 19-Second servo mounting hole, 20-Third mounting hole, 21-First servo, 22-Arc-shaped connecting plate, 23-Shaft. Detailed Implementation

[0020] The following is a detailed description of the embodiments of the present invention in a step-by-step manner. This description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0021] In the description of this invention, it should be noted that the terms "upper," "lower," "left," "right," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or a specific orientational structure and operation. Therefore, they should not be construed as limitations on this invention.

[0022] Example 1

[0023] A dual-servo dexterous hand thumb, such as Figure 1-3 As shown, the hand base 9, a first servo 21 mounted on the hand base 9 with its output shaft extending outward in a direction perpendicular to the surface of the hand base 9, a second servo rotatably connected to the outer surface of the hand base 9 with its output shaft horizontally positioned on the outer side of the hand base 9, and a thumb structure 10, wherein the second servo is connected to the thumb structure 10 and is used to drive the thumb structure to rotate along the longitudinal plane, and the first servo and the second servo are connected by a gear and rack structure and are used to drive the thumb structure 10 to rotate in the horizontal plane.

[0024] Example 2

[0025] Based on Example 1, this example discloses:

[0026] like Figure 1-3As shown, the second servo is fixedly connected to a second servo housing 8, and the bottom end of the thumb structure is connected to the top of the second servo housing 8. The second servo housing 8 has a first outer housing 2 and a second outer housing 6 on both sides respectively. The output shaft of the second servo passes through the second servo housing 8 and is fixedly connected to the first outer housing 2. The end of the second servo housing facing the second outer housing 6 has a connecting shaft 14 coaxial with the output shaft of the second servo. The connecting shaft 14 is rotatably connected to the second outer housing 6.

[0027] Example 3

[0028] Based on Example 2, this example discloses:

[0029] like Figure 1-3 As shown, the second servo housing 8 is further provided with a first connecting housing 1 and a second connecting housing 7 on both sides, the output shaft of the second servo rotatably passes through the first connecting housing 1 and is fixedly connected to the first outer housing 2, and the outer surface of the second connecting housing 7 is provided with a connecting shaft 14.

[0030] Example 4

[0031] Based on Example 3, this example discloses:

[0032] like Figure 1-3 As shown, the lower part of the first outer shell 2 and the second outer shell 6 are connected by an arc-shaped connecting plate 22 to form an integral structure one. The integral structure one forms a spherical structure. The bottom end of the spherical structure is fixed with a rotating shaft 23 along the axial direction. The rotating shaft 23 is rotatably connected to the palm base 9 through a bearing 12. The second servo housing 8 is connected with the first connecting housing 1 and the second connecting housing 7 to form an integral structure two. The inner cavity of the integral structure one forms a limiting cavity for the rotation of the integral structure two.

[0033] Example 5

[0034] Based on Example 4, this example discloses:

[0035] like Figure 1-3 As shown, the outer surface of the overall structure facing the first servo motor is provided with an arc-shaped rack structure 5, and the output shaft of the first servo motor 21 is provided with a gear 3, which meshes with the arc-shaped rack structure 5.

[0036] like Figure 1-3 As shown, the palm base 9 is provided with a first servo limiting boss 4, and the first servo is fixedly connected to the first servo limiting boss 4; the palm base 9 is also provided with a stepped limiting hole (not shown in the figure), the small diameter section of the stepped limiting hole is used to limit the rotating shaft 23, and the large diameter section is interference-fitted with the outer ring of the bearing 12.

[0037] The working principle of this new type:

[0038] 1. The first servo motor and the second servo motor 2 serve as two drive modules, controlling the rotational degrees of freedom of the thumb in the horizontal plane and the rotational degrees of freedom in the vertical plane in sequence. The first servo motor is fixedly mounted on the palm base and fixedly connected to the palm base, while the second servo motor is fixedly mounted inside the second servo motor housing and fixedly connected to the second servo motor housing.

[0039] 2. The top of the second servo housing has a screw hole, which is used to limit and fix it to the bottom of the thumb structure. The first connecting housing and the second connecting housing are fixed to the left and right sides of the second servo housing in sequence, and together they form the second integral structure. The output shaft of the second servo passes through the first connecting housing and is connected and fixed to the first outer housing. The second connecting housing is rotatably connected to the second outer housing through a rotating shaft. When the second servo is activated, the second integral structure rotates relative to the first integral structure formed by the first and second outer housings, thereby driving the thumb structure to rotate in the longitudinal plane.

[0040] 3. The overall structure includes a rack limiting groove and a rack connecting hole. The selected module rack is installed into the rack limiting groove, and screws are tightened into the rack connecting hole. A gear is installed on the first servo output shaft. The gear meshes with the rack and rotates, thus completing the thumb's rotational movement in the horizontal plane.

[0041] 4. The lower middle parts of the first outer shell and the second outer shell are connected by an arc plate to form an integral structure one. The bottom end of the integral structure one is fixedly provided with a rotating shaft along the axial direction. The rotating shaft is fixedly connected to the inner ring of the bearing. The small diameter section of the stepped limiting hole limits the rotating shaft, and the large diameter section is interference-fitted with the outer ring of the bearing to achieve a more stable and smooth rotation effect.

[0042] 5. This new design employs two power sources, enabling the thumb structure to rotate vertically and horizontally without interference. The combination of these two rotational movements creates a multi-directional adjustable rotational device for the thumb. A first servo motor allows the thumb structure to rotate within a horizontal range of 180 degrees or less, while a second servo motor allows it to rotate within a vertical range of 180 degrees or less. This arrangement significantly reduces the overall space required for the device and enhances the functionality of the dexterous hand. Furthermore, the rack and pinion transmission mechanism is more efficient in transmitting force compared to other linkage transmissions, and the torque can be adjusted by the selected gear and rack tooth ratio, resulting in stronger thumb grip.

[0043] 6. The thumb structure involved in this invention may adopt the thumb structure disclosed in the prior art, and this invention does not limit its construction.

Claims

1. A dual-servo dexterous hand thumb, characterized in that: The device comprises a palm base, a first servo motor mounted on the palm base with its output shaft extending outward in a direction perpendicular to the surface of the palm base, a second servo motor rotatably connected to the outer surface of the palm base with its output shaft horizontally positioned on the outer side of the palm base, and a thumb structure. The second servo motor is connected to the thumb structure and is used to drive the thumb structure to rotate in a longitudinal plane. The first and second servo motors are connected by a gear and rack structure and are used to drive the thumb structure to rotate in a horizontal plane.

2. A dual-actuator dexterous hand thumb as claimed in claim 1, characterized in that: The second servo is fixedly connected to a second servo housing. The bottom end of the thumb structure is connected to the top of the second servo housing. The second servo housing has a first outer housing and a second outer housing on both sides. The output shaft of the second servo passes through the second servo housing and is fixedly connected to the first outer housing. The end of the second servo housing facing the second outer housing has a connecting shaft coaxial with the output shaft of the second servo. The connecting shaft is rotatably connected to the second outer housing.

3. A dual-actuator dexterous hand thumb as claimed in claim 2, characterized in that: The second servo housing has a first connecting housing and a second connecting housing on both sides, the output shaft of the second servo rotatably passes through the first connecting housing and is fixedly connected to the first outer housing, and the outer surface of the second connecting housing is provided with a connecting shaft.

4. The dual-servo dexterity hand thumb as described in claim 3, characterized in that: The first outer shell and the second outer shell are connected below the middle part by an arc-shaped connecting plate to form an integral structure one. The integral structure one forms a spherical structure. The bottom end of the spherical structure is fixed with a rotating shaft along the axial direction. The rotating shaft is rotatably connected to the palm base through a bearing. The second servo housing is connected with the first connecting housing and the second connecting housing to form an integral structure two. The inner cavity of the integral structure one forms a limiting cavity for the rotation of the integral structure two.

5. A dual-actuator dexterous hand thumb as in claim 4, wherein: The overall structure has an arc-shaped rack structure on the outer surface facing the first servo motor, and the output shaft of the first servo motor is equipped with a gear, which meshes with the arc-shaped rack structure.

6. A dual-actuator dexterous hand thumb as in claim 5, wherein: The palm base is provided with a first servo limiting boss, and the first servo is fixedly connected to the first servo limiting boss; the palm base is also provided with a stepped limiting hole, the small diameter section of which is used to limit the rotating shaft, and the large diameter section is interference-fitted with the outer ring of the bearing.

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