Underactuated manipulator with thumb device

Abstract

The application relates to the technical field of robot bionic actuators, and relates to an underactuated manipulator with a thumb device, which comprises a hand plate structure and a thumb device; the thumb device comprises a thumb mechanism, a thumb flexion and extension mechanism and a rotating mechanism; the thumb mechanism comprises a thumb connecting seat and a plurality of thumb joints; the thumb flexion and extension mechanism is arranged on the hand plate structure and is respectively drivingly connected to the plurality of thumb joints; the thumb flexion and extension mechanism is used for driving the plurality of thumb joints to spread or bend; the rotating mechanism is movably connected to the hand plate structure and the thumb mechanism respectively, and is used for driving the thumb mechanism to rotate relative to the hand plate structure. In the underactuated manipulator with the thumb device, the rotating mechanism and the thumb flexion and extension mechanism realize independent driving of the two, the complex situation that a single driving source needs to consider thumb flexion and rotation in the traditional design is avoided, and the structure of the driving mechanism is effectively simplified.

Description

Technical Field

[0001] This application relates to the field of bionic actuator technology, and more particularly to an underactuated manipulator with a thumb device. Background Technology

[0002] In existing bionic end effectors for robots, especially in the design of multi-DOF dexterous hands, the thumb, as a key grasping component, directly affects the gripping ability and dexterity of the robotic hand due to its degrees of freedom of motion and control method. Traditional robotic hands typically require multiple drive sources to achieve flexion-extension and rotational movements separately, or a single drive source to control both movements simultaneously. While these designs improve the dexterity of the robotic hand, they often result in complex structures and cumbersome drive mechanisms. Utility Model Content

[0003] In view of this, this application provides an underactuated manipulator with a thumb device to solve the problem of complex thumb drive structure in traditional manipulators.

[0004] The first aspect of this application provides an underactuated manipulator with a thumb device, comprising:

[0005] Hand-made structure; and

[0006] A thumb device includes a thumb mechanism, a thumb flexion and extension mechanism, and a rotation mechanism. The thumb mechanism includes a thumb connector and multiple thumb joints, which are movably connected, and the thumb joints located at the ends are connected to the thumb connector.

[0007] The thumb flexion and extension mechanism is disposed on the hand plate structure, and the thumb flexion and extension mechanism is respectively driven to multiple thumb joints. The thumb flexion and extension mechanism is used to drive the multiple thumb joints to unfold or bend. The rotation mechanism is respectively movably connected to the hand plate structure and the thumb mechanism, and the rotation mechanism is used to drive the thumb mechanism to rotate relative to the hand plate structure.

[0008] In one possible implementation, a plurality of the thumb joints are rotatably connected by thumb joints, and the thumb flexion-extension mechanism includes a thumb drive rope and a thumb flexion-extension assembly, the thumb flexion-extension assembly being disposed on the hand plate structure and being tractively connected to the thumb drive rope, one end of the thumb drive rope being connected to at least one of the thumb joints of the thumb mechanism away from the hand plate structure.

[0009] In one possible implementation, the thumb flexion-extension assembly includes a thumb flexion-extension motor, a thumb flexion-extension sleeve, and a thumb flexion-extension guide wheel. The thumb flexion-extension motor is connected to the hand plate structure, the thumb flexion-extension sleeve is threadedly connected to the thumb flexion-extension motor, and the thumb flexion-extension motor is used to drive the thumb flexion-extension sleeve to move relative to the hand plate structure. The thumb flexion-extension guide wheel is rotatably connected to the hand plate structure, and the thumb drive rope is at least partially wound around the thumb flexion-extension guide wheel.

[0010] In one possible implementation, the plurality of thumb joints are rotatably connected by thumb joint bearings, the thumb mechanism further includes a thumb pulley coaxially arranged with the thumb joint bearings, and the thumb drive rope at least partially abuts against the outer wall of the thumb pulley.

[0011] In one possible implementation, there are two thumb pulleys, and the two thumb pulleys are coaxially arranged, with the opposite ends of the thumb drive rope respectively wound around the two thumb pulleys;

[0012] Alternatively, the thumb pulley may have a first thumb groove and a second thumb groove, and the two ends of the thumb drive rope may be connected to the thumb joint, with the thumb drive rope wound around the first thumb groove and the second thumb groove respectively.

[0013] In one possible implementation, the thumb flexion-extension mechanism further includes a thumb flexion-extension sleeve connected to the hand plate structure, and the thumb drive rope is movably threaded through the thumb flexion-extension sleeve.

[0014] In one possible implementation, the rotating mechanism includes a rotating base and a rotating assembly, one end of the thumb mechanism is connected to the rotating base, the rotating base is rotatably connected to the hand plate structure, the rotating assembly is disposed on the hand plate structure, and the rotating assembly is used to drive the rotating base to rotate relative to the hand plate structure.

[0015] In one possible implementation, the rotating assembly includes a rotary motor, a rotary sleeve, and a thumb drive linkage. The rotary motor is mounted on and connected to the hand plate structure. The rotary sleeve is threadedly connected to the rotary motor and is used to drive the rotary sleeve to move relative to the hand plate structure. The thumb drive linkage is rotatably connected to both the rotating base and the rotary sleeve.

[0016] In one possible implementation, the underactuated manipulator with a thumb mechanism further includes a finger segment sensor disposed on the thumb mechanism, the finger segment sensor being used to acquire pressure signals between the thumb mechanism and an external object.

[0017] In one possible implementation, the underactuated manipulator with a thumb device further includes a plurality of finger devices, each movably connected to the hand plate structure.

[0018] Implementing the embodiments of this application has the following beneficial effects:

[0019] In the underactuated manipulator with a thumb device in this embodiment, the rotation mechanism and the thumb flexion and extension mechanism achieve independent driving, avoiding the complex situation in traditional designs where a single drive source needs to take into account both thumb flexion and extension and rotation movements, effectively simplifying the structure of the drive mechanism.

[0020] By individually driving the thumb mechanism through a rotating mechanism, the thumb can rotate flexibly relative to the hand plate structure. Simultaneously, the thumb flexion-extension mechanism connects multiple thumb joints, enabling precise control of the extension and flexion of each joint, thus achieving effective release and stable grasping of objects. This design not only reduces the structural complexity of the robotic hand and improves the reliability of the mechanism, but also fully utilizes the thumb's freedom of movement, thereby enhancing the overall grasping flexibility and adaptability of the robotic hand. Attached Figure Description

[0021] 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 some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 A perspective view of an underactuated manipulator with a thumb device in an embodiment of the present invention is shown;

[0023] Figure 2 A schematic diagram of the thumb device in an embodiment of this utility model is shown;

[0024] Figure 3 A schematic diagram of the internal structure of the thumb mechanism in an embodiment of this utility model is shown;

[0025] Figure 4 A schematic diagram of the movement of the thumb device in an embodiment of this utility model is shown;

[0026] Figure 5 A partial structural schematic diagram of an underactuated manipulator with a thumb device in an embodiment of the present invention is shown;

[0027] Figure 6 A perspective view of the handpiece structure in an embodiment of this utility model is shown.

[0028] Figure label:

[0029] 10. An underactuated robotic arm with a thumb mechanism;

[0030] 100. Hand plate structure; 110. Thumb mounting hole; 121. First thumb motor hole; 122. Second thumb motor hole; 130. Thumb flexion and extension anchor block; 131. Thumb flexion and extension guide hole; 140. Thumb flexion and extension drive seat;

[0031] 200. Thumb device; 210. Thumb mechanism; 211. Thumb connector; 212. Thumb joint; 2121. Thumb joint bearing; 213. Thumb pulley; 2131. First thumb groove; 2132. Second thumb groove; 220. Thumb flexion and extension mechanism; 221. Thumb drive rope; 222. Thumb flexion and extension assembly; 2221. Thumb flexion and extension motor; 2222. Thumb flexion and extension sleeve; 22221. Thumb flexion and extension adapter; 2223. Thumb flexion and extension guide wheel; 223. Thumb flexion and extension sleeve; 230. Rotation mechanism; 231. Rotation seat; 232. Rotation assembly; 2321. Rotation motor; 2322. Rotation sleeve; 23221. Rotation hinge; 2323. Thumb drive link;

[0032] 300. Finger segment sensor;

[0033] 400. Finger device. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0035] In existing bionic end effectors for robots, especially in the design of multi-DOF dexterous hands, the thumb, as a key grasping component, directly affects the gripping ability and dexterity of the robotic hand due to its degrees of freedom of motion and control method. Traditional robotic hands typically require multiple drive sources to achieve flexion-extension and rotational movements separately, or a single drive source to control both movements simultaneously. While these designs improve the dexterity of the robotic hand, they often result in complex structures and cumbersome drive mechanisms.

[0036] Based on this, see Figures 1 to 6As shown, this utility model embodiment provides an underactuated manipulator 10 with a thumb device, which includes a hand plate structure 100 and a thumb device 200. The thumb device 200 includes a thumb mechanism 210, a thumb flexion and extension mechanism 220, and a rotation mechanism 230. The thumb mechanism 210 includes a thumb connecting seat 211 and a plurality of thumb joints 212, which are movably connected, and the thumb joints 212 located at the ends are connected to the thumb connecting seat 211. The thumb flexion and extension mechanism 220 is disposed on the hand plate structure 100 and is throttledly connected to the plurality of thumb joints 212. The thumb flexion and extension mechanism 220 is used to drive the plurality of thumb joints 212 to unfold or bend. The rotation mechanism 230 is movably connected to the hand plate structure 100 and the thumb mechanism 210, and is used to drive the thumb mechanism 210 to rotate relative to the hand plate structure 100.

[0037] In the underactuated manipulator 10 with a thumb device in this embodiment, the rotation mechanism 230 and the thumb flexion and extension mechanism 220 achieve independent driving of the two, avoiding the complex situation in traditional designs where a single drive source needs to take into account both thumb flexion and extension and rotation movements, and effectively simplifying the structure of the drive mechanism.

[0038] The rotating mechanism 230 independently drives the thumb mechanism 210, enabling the thumb to rotate flexibly relative to the hand plate structure 100. Simultaneously, the thumb flexion-extension mechanism 220 connects to multiple thumb joints 212, precisely controlling the extension and flexion of each joint, thus achieving effective release and stable grasping of objects. This design not only reduces the structural complexity of the robotic hand and improves the reliability of the mechanism, but also fully utilizes the thumb's freedom of movement, thereby enhancing the overall grasping flexibility and adaptability of the robotic hand.

[0039] In one embodiment, multiple thumb joints 212 are rotatably connected to form a multi-segment thumb structure, specifically including a first thumb joint, a second thumb joint, and a third thumb joint, wherein the third thumb joint is connected to the thumb connecting seat 211, constituting the basic support component of the thumb mechanism 210. The thumb flexion and extension mechanism 220 includes a thumb drive rope 221 and a thumb flexion and extension assembly 222, which is disposed on the hand plate structure 100 and drives the movement of the thumb drive rope 221 through a transmission connection.

[0040] One end of the thumb drive rope 221 is connected to the first thumb joint, which is located relatively far from the hand plate structure 100, and the other end is also connected to the other side of the first thumb joint. The thumb drive rope 221 is wound around the second and third thumb joints, and the two connection points are located on opposite sides of the rotation axis of the thumb joint 212. This structural design allows the first thumb joint to tension or relax the thumb drive rope 221 when the thumb flexion and extension component 222 drives the thumb drive rope 221 to move in the forward or reverse direction. Thus, through the path of the thumb drive rope 221 wound around the second and third thumb joints, the synchronous driving of multiple thumb joints 212 is achieved.

[0041] Specifically, see Figure 4 In the placement shown, when the thumb drive rope 221 on the front side (i.e., the direction in which the thumb mechanism 210 faces the object to be grasped, i.e., the right side in the figure) is driven to move along the X direction, the first thumb joint is subjected to force and produces a flexion movement along the Y direction. The second and third thumb joints around which the thumb drive rope 221 passes also produce corresponding flexion and extension movements, thereby realizing the thumb's closing grasping action. Conversely, when the thumb drive rope 221 moves in the opposite direction along the X direction (i.e., the thumb drive rope 221 on the rear side moves in the opposite direction along the X direction), each thumb joint 212 returns to the extended state, realizing the release of the grasped object. This structure utilizes the winding path of the thumb drive rope 221 to effectively transmit a single driving force to multiple joints, achieving multi-degree-of-freedom flexion and extension movement control, avoiding the complexity of setting a separate drive source for each joint, and simplifying the mechanical structure and control system.

[0042] It should be noted that the two connection points of the thumb drive cable 221 are located on opposite sides of the rotation axis of the thumb joint 212, which helps to ensure the stability of the drive cable during joint rotation and prevents the drive cable from slipping off or causing unexpected slippage. This design improves the reliability and durability of the transmission and is suitable for robotic arm applications involving long-term repetitive movements.

[0043] The number of thumb joints 212 can be specifically set to three, but it can also be adjusted to two, four or more depending on the actual application requirements. Multiple joints help improve the thumb's flexibility and gripping accuracy, but also increase control complexity and actuation burden. In the three-joint design, the first, second, and third thumb joints are connected sequentially to form a reasonable mechanical structure, enabling the thumb to perform more natural and dexterous flexion and extension movements to adapt to the gripping needs of objects of different shapes and sizes.

[0044] Specifically, the thumb flexion and extension assembly 222 includes a thumb flexion and extension motor 2221, a thumb flexion and extension sleeve 2222, and a thumb flexion and extension guide wheel 2223. The overall structure is compact and functionally clear, making it suitable for application on the space-constrained robotic hand plate structure 100, thus improving the integration and transmission efficiency of the structure.

[0045] The thumb flexion-extension motor 2221 is fixedly connected to the hand plate structure 100. Its output end has a threaded portion that passes through the thumb flexion-extension sleeve 2222 and engages with the internal thread of the sleeve, achieving a transmission connection. When the thumb flexion-extension motor 2221 starts, the threaded portion rotates with the motor shaft, causing the thumb flexion-extension sleeve 2222 to move linearly along the thread direction. This linear motion, through a connection to one end of the thumb drive rope 221, drives the rope to tighten or loosen, thereby controlling the multiple thumb joints 212 of the thumb mechanism 210 to perform flexion and extension movements, completing the grasping or releasing function.

[0046] The thumb drive rope 221 is at least partially wound around the thumb flexion-extension guide wheel 2223, which is rotatably connected to the hand plate structure 100 and can rotate freely relative to the hand plate structure 100. The guide wheel 2223 preferably has a guide groove to accommodate the thumb drive rope 221, ensuring that the thumb drive rope 221 maintains a stable path during winding, preventing the thumb drive rope 221 from deviating or falling off, and improving the stability and durability of the transmission. The guide groove design also reduces frictional loss between the thumb drive rope 221 and the thumb flexion-extension guide wheel 2223, extending the service life of the thumb device 200.

[0047] The two ends of the thumb drive rope 221 are respectively connected to the first thumb joint, and the two ends are symmetrically arranged on opposite sides of the rotation axis of the thumb joint 212. When the thumb flexion and extension sleeve 2222 moves in a straight line, the tension of the drive rope 221 changes, thereby causing the first thumb joint to flex and extend. Then, through the path of the drive rope 221, the second and third thumb joints are driven to produce corresponding movements, realizing the overall flexion and extension of the thumb.

[0048] The advantages of this structure are as follows: the linear transmission method driven by a thread can precisely control the displacement of the thumb drive rope 221, achieving fine control of the thumb joint 212 and making the gripping action more accurate; the transmission connection between the thumb flexion and extension sleeve 2222 and the threaded part is compact, saving space and suitable for the limited installation space of the robotic hand plate structure 100; the rotation of the thumb flexion and extension guide wheel 2223 and the guide groove design ensure the stable operation of the thumb drive rope 221, reduce the probability of failure, and facilitate long-term reliable use; the entire thumb drive rope 221 system is driven by a single thumb flexion and extension motor 2221, realizing an underactuated structure, simplifying the drive mechanism of the robotic hand, and reducing manufacturing and maintenance costs.

[0049] In one embodiment, a thumb flexion-extension sleeve 2222 is provided on the outside of the thumb flexion-extension adapter 22221. The thumb flexion-extension adapter 22221 is used to connect the thumb drive rope 221, realizing the transmission connection between the thumb flexion-extension sleeve 2222 and the thumb drive rope 221. The thumb flexion-extension adapter 22221 is preferably combined with the thumb flexion-extension sleeve 2222 in a detachable connection manner, for example, by means of threaded connection, snap-fit ​​structure or pin connection.

[0050] The detachable connection design offers several advantages. First, it facilitates the maintenance and replacement of the thumb drive rope 221 or the thumb flexion / extension sleeve 2222. When the thumb drive rope 221 wears or breaks, the thumb flexion / extension adapter 22221 can be quickly disassembled for easy replacement of the drive rope, reducing maintenance time and costs. Second, this design enhances flexibility during assembly and debugging, allowing for adjustments and optimization of the transmission connection, thus improving the overall assembly efficiency and precision of the robot.

[0051] In practical implementation, the structure of the thumb flexion / extension adapter 22221 can be optimized based on ease of assembly and disassembly and connection strength. For example, when using a threaded connection, the adapter 22221 can be designed with an internal thread on the outside, and the sleeve 2222 can be correspondingly fitted with an external thread to achieve a screw-in connection; when using a snap-fit ​​or pin structure, it can be designed as a quick-locking mechanism, allowing users to assemble and disassemble without special tools. The selection of different connection methods can be flexibly determined according to the actual usage environment, assembly / disassembly frequency, and mechanical requirements.

[0052] Furthermore, the multiple thumb joints 212 of the thumb mechanism 210 are rotatably connected by thumb joint bearings 2121, ensuring smooth flexion and extension movements between the joints. The thumb mechanism 210 is also equipped with a thumb pulley 213, which is coaxially arranged with the thumb joint bearing 2121, that is, the rotation axis of the thumb pulley 213 coincides with the rotation axis of the thumb joint bearing 2121, thereby achieving a compact configuration of the mechanism and saving space.

[0053] The thumb drive rope 221 at least partially abuts against the outer wall of the thumb pulley 213, forming a pulley-rope mating structure. This structure effectively limits and guides the range of motion of the thumb drive rope 221 through the thumb pulley 213, ensuring that the thumb drive rope 221 moves stably along a predetermined trajectory during thumb flexion and extension, and preventing the thumb drive rope 221 from deviating, detaching, or becoming excessively slack due to changes in force or mechanical interference.

[0054] The implementation of this limiting and guiding function helps ensure the transmission stability and motion accuracy of the thumb device 200 during continuous and repetitive movements, and reduces the risk of mechanical jamming or failure of the thumb drive rope 221 due to abnormal positioning. Especially when the thumb joint 212 moves quickly or frequently, the constraint effect of the thumb pulley 213 on the thumb drive rope 221 can effectively reduce wear and mechanical fatigue, and improve the service life and reliability of the system.

[0055] In practice, the outer wall of the thumb pulley 213 can be designed with a guide groove suitable for the thumb drive rope 221, further enhancing the fixing and guiding effect of the drive rope. The width and depth of the guide groove can be matched according to the diameter of the thumb drive rope 221. For example, the width of the guide groove can be 1.1 to 1.5 times the diameter of the drive rope to ensure that the drive rope has sufficient room to move during the rotation of the pulley and is not easy to fall off.

[0056] Specifically, the hand plate structure 100 also includes a thumb flexion and extension anchor block 130 and a thumb flexion and extension drive seat 140, which play a key guiding and driving force transmission role in the motion control of the thumb mechanism 210.

[0057] Specifically, the thumb flexion-extension anchor block 130 has a thumb flexion-extension guide hole 131, through which the thumb drive rope 221 passes. This guide hole 131 accurately guides the thumb drive rope 221, allowing it to slide smoothly along a predetermined path during flexion-extension movements, preventing deviations, entanglement, or detachment due to force changes or movement deviations. By guiding the thumb drive rope 221 through the thumb flexion-extension anchor block 130, the stability and reliability of the thumb mechanism 210's flexion-extension movements can be effectively ensured.

[0058] The material and structural design of the thumb flexion-extension anchor block 130 should possess sufficient strength and wear resistance to withstand the friction and tension generated by the thumb drive rope 221 during high-frequency movements. It can be made of metal or high-strength engineering plastics. The size of the guide hole 131 should be rationally designed according to the diameter of the thumb drive rope 221. For example, the diameter of the guide hole can be 1.1 to 1.5 times the diameter of the thumb drive rope 221 to ensure that the rope can pass smoothly without generating excessive swaying space, thereby reducing wear and movement errors.

[0059] On the other hand, the thumb flexion / extension guide wheel 2223 is rotatably connected to the thumb drive seat 140, forming another important component for tensioning and guiding the thumb drive rope 221. The thumb flexion / extension guide wheel 2223 helps to change the transmission direction of the thumb drive rope 221, reduces the frictional resistance when the rope contacts the structure, and improves transmission efficiency. The rotatable connection between the guide wheel and the thumb drive seat 140 ensures that the guide wheel can rotate flexibly during the thumb flexion / extension action, reducing wear and fatigue of the drive rope 221 and extending the service life of the overall drive system.

[0060] In one embodiment, there are two thumb pulleys 213, which are coaxially arranged, and the two ends of the thumb drive rope 221 are respectively wound around the two thumb pulleys 213. Specifically, the coaxial arrangement of the two thumb pulleys 213 ensures that their central axes are aligned, guaranteeing that the relative positions of the pulleys are fixed and tight, which is beneficial for the stable winding of the thumb drive rope 221 and the control of the transmission path.

[0061] By setting two thumb pulleys 213 to engage with the two ends of the thumb drive rope 221 respectively, the two sections of the thumb drive rope 221 can be precisely positioned and tensioned separately. This structure forms a differential rope circuit, where the two drive rope sections are wound around the two pulleys respectively, ensuring that the thumb drive rope 221 maintains appropriate tension when the thumb mechanism 210 performs unfolding (releasing an object) or bending (grabbing an object) movements. Maintaining tension plays an important role in preventing slackness and slippage of the drive rope and extending its service life, while also contributing to the sensitive and precise action response of the thumb mechanism 210.

[0062] Furthermore, the two thumb pulleys 213, as independently rotating components, can rotate around the same central axis, avoiding motion interference between them. This design allows the two pulleys to independently adjust their rotation angles when the length of the thumb-driven rope 221 changes due to different movements of the thumb mechanism 210, smoothly adapting to the dynamic changes of the rope, reducing mechanical friction and wear, and improving the stability and reliability of the overall transmission system.

[0063] Specifically, the number of pulleys can also be set to two, three or more, depending on the specific mechanical structure and motion requirements. The setting of multiple thumb pulleys 213 helps to further refine the tension and guidance of the rope, and improve the durability of the system and the smoothness of the motion.

[0064] In another embodiment, the thumb pulley 213 has a first thumb groove 2131 and a second thumb groove 2132. The opposite ends of the thumb drive rope 221 are respectively connected to the thumb joint 212, and the thumb drive rope 221 is wound around the first thumb groove 2131 and the second thumb groove 2132 respectively. This design effectively achieves the separation and guidance of the two ends of the thumb drive rope 221 by setting two independent grooves on the same thumb pulley 213.

[0065] Specifically, the design of the first thumb groove 2131 and the second thumb groove 2132 allows the two ends of the thumb drive rope 221 to be wound along different trajectories, avoiding mutual interference and entanglement between the two ends of the rope and ensuring smooth movement of the drive rope. The two ends of the thumb drive rope 221 are respectively connected to the thumb joint 212, so that the flexion and extension movements of the thumb mechanism 210 can be effectively transmitted and controlled through the tension and slack of the rope.

[0066] In this embodiment, a separate thumb pulley 213 is used to engage with both ends of the thumb drive rope 221 through two grooves, which can also achieve the tensioning function of the drive rope. Compared with the aforementioned design of two coaxial pulleys 213, this single pulley 213 design is more compact in structure, reduces assembly complexity and space occupation, and is conducive to the miniaturization and weight reduction of the overall hand-mounted structure 100.

[0067] In addition, the size and shape of the first thumb groove 2131 and the second thumb groove 2132 can be reasonably designed according to the diameter and movement trajectory of the thumb drive rope 221. For example, the width of the groove can be 1.2 to 1.5 times the diameter of the thumb drive rope 221 to ensure that the rope can enter smoothly and maintain stable operation, while preventing the rope from swinging excessively or falling off.

[0068] This design uses a single thumb pulley 213 to position and tension the drive ropes at both ends, maintaining appropriate tension in the thumb drive rope 221 during unfolding and bending movements, ensuring the accuracy and responsiveness of the thumb mechanism 210. Furthermore, reducing the number of pulleys helps reduce mechanical wear points and simplifies maintenance.

[0069] Furthermore, the thumb flexion-extension mechanism 220 also includes a thumb flexion-extension sleeve 223, which is connected to the hand plate structure 100. The thumb drive rope 221 is movably inserted into the thumb flexion-extension sleeve 223. By setting the thumb flexion-extension sleeve 223 in the flexion-extension drive path of the thumb drive rope 221, the rope length of the thumb drive rope 221 can be effectively maintained constant, preventing the rope from changing length due to path instability during movement, thereby ensuring that the thumb mechanism 210 receives accurate power transmission during flexion-extension movements.

[0070] Furthermore, the thumb flexion / extension sleeve 223 limits the swing range of the thumb drive rope 221, preventing accidental coiling, tangling, or friction during movement, reducing the risk of rope wear and breakage, and improving the overall lifespan and operational reliability of the device. The protective effect of the sleeve 223 on the drive rope is particularly evident in environments with repeated movements or complex spaces.

[0071] The thumb flexion / extension sleeve 223 is preferably made of a rigid material, such as a metal alloy, stainless steel, or engineering plastic (e.g., polyoxymethylene, nylon, etc.). The rigid sleeve provides stronger mechanical protection for the thumb drive rope 221, preventing deformation or damage when the drive rope is subjected to external pressure or bending. At the same time, the rigid sleeve 223 can maintain a fixed geometry and path during installation, ensuring the guiding stability and smooth movement of the thumb drive rope 221.

[0072] In practice, the inner diameter of the thumb flexion / extension sleeve 223 should be designed reasonably based on the outer diameter of the thumb drive rope 221. Typically, the inner diameter can be 1.2 to 1.5 times the diameter of the drive rope to ensure that the rope can move freely without jamming. The sleeve length is determined based on the structural dimensions and range of motion of the thumb mechanism 210 to ensure that the drive rope 221 is within the sleeve's protection range throughout the entire flexion / extension process.

[0073] Specifically, the rotating mechanism 230 includes a rotating base 231 and a rotating component 232. One end of the thumb mechanism 210 is connected to the rotating base 231 via a thumb connecting seat 211. The rotating base 231 is rotatably connected to the hand plate structure 100. The rotating component 232 is disposed on the hand plate structure 100 and is used to drive the rotating base 231 to rotate relative to the hand plate structure 100. Through this structural design, the thumb mechanism 210 can achieve rotation around the rotating base 231, thereby realizing the rotation action of the thumb.

[0074] The thumb connector 211 and the rotating seat 231 are connected by detachable connection methods such as snap-fit, plug-in, and pin connection, facilitating disassembly and maintenance. Specifically, the snap-fit ​​structure enables quick assembly and disassembly, suitable for applications requiring frequent adjustments or maintenance; the plug-in structure is simple in structure, low in manufacturing cost, and suitable for standardized production; the pin connection provides high connection strength and ensures connection stability. The selection of different connection methods can be optimized according to actual assembly requirements and the usage environment.

[0075] The rotating base 231 is mounted on the hand-operated structure 100 via a rotatable connection, enabling the rotating base 231 to rotate relative to the hand-operated structure 100 around a predetermined axis. The rotating component 232 is configured to provide power to the rotating base 231. The specific driving method can include various mechanical driving methods such as motor drive, gear transmission, and rope pulling, to adapt to different application requirements and structural layouts.

[0076] Furthermore, the rotation mechanism 230 and the thumb flexion-extension mechanism 220 are driven independently, avoiding motion interference between them. This separate driving method allows the rotation and flexion-extension movements of the thumb to be controlled independently, reducing the mutual influence between mechanical structures, simplifying the logic design and debugging complexity of the control system, and improving operational stability and response speed.

[0077] Through the above design, the rotating mechanism 230 can effectively realize the rotation function of the thumb mechanism 210, and together with the flexion and extension action of the thumb flexion and extension mechanism 220, it can complete the multi-degree-of-freedom movement of the thumb, meeting the needs of complex movements in the hand plate structure 100. The detachable connection method of the thumb connector 211 also provides convenience for subsequent maintenance, adjustment and upgrades.

[0078] In one embodiment, the rotating assembly 232 specifically includes a rotating motor 2321, a rotating sleeve 2322, and a thumb drive linkage 2323. The rotating motor 2321 is mounted on and fixedly connected to the hand plate structure 100 to ensure stable operation of the motor. The rotating motor 2321 has a threaded portion, and the rotating sleeve 2322 is threadedly connected to the threaded portion through an internal thread, so that when the motor is driven, it can drive the rotating sleeve 2322 to move linearly along the thread axis.

[0079] Driven by the rotary motor 2321, the rotating sleeve 2322 moves in a linear direction, thereby causing the thumb drive linkage 2323 to swing. The two ends of the thumb drive linkage 2323 are respectively mounted on the rotating hinge 23221 of the rotating sleeve 2322 and the rotating seat 231 via a rotatable connection, achieving motion conversion. Specifically, the linear motion of the rotating sleeve 2322 is converted into the rotational motion of the rotating seat 231 relative to the handplate structure 100 by the thumb drive linkage 2323. This structure eliminates the need for complex mechanical transmission devices, simplifying the drive scheme and reducing manufacturing and maintenance costs.

[0080] A rotating hinge 23221 is mounted on a rotating sleeve 2322. A thumb drive link 2323 is rotatably connected to both the hinge 23221 and the rotating seat 231, with the two rotating axes arranged in parallel. This parallel rotating axis design not only ensures smooth motion transmission but also makes the combination structure of the thumb device 200 and the hand plate structure 100 more compact, effectively reducing the overall thickness of the underactuated manipulator 10 with the thumb device and improving the space utilization and overall appearance of the manipulator.

[0081] Through the above design, the rotating component 232 has a simple and compact structure, which can effectively convert the linear motion of the motor into the rotational motion of the thumb. It is suitable for the multi-degree-of-freedom movement requirements of the underactuated manipulator 10 with a thumb device, improves the driving accuracy and durability of the entire thumb device 200, and simplifies the driving logic of the control system.

[0082] Furthermore, the underactuated manipulator 10 with a thumb device also includes a finger segment sensor 300, which is disposed on the thumb mechanism 210 and is mainly used to acquire pressure signals between the thumb mechanism 210 and external objects.

[0083] Specifically, the finger segment sensor 300 can employ various sensing technologies such as piezoelectric sensors, strain gauges, and force-sensitive resistors (FSRs) to achieve real-time monitoring of the force applied to the tip of the thumb. The finger segment sensor 300 can not only detect pressure signals but also acquire displacement signals by combining mechanical structure design, thus providing a more comprehensive reflection of the mechanical state of the thumb when in contact with an object.

[0084] The finger segment sensor 300 works closely with the thumb mechanism 210, and by being installed at an appropriate position on or inside the thumb segment, it ensures accurate sensing of pressure changes generated when the thumb contacts the object being grasped. When the thumb device 200 grasps the object, the finger segment sensor 300 collects pressure and displacement data in real time and feeds the signals back to the control module of the underactuated manipulator 10 with the thumb device. Based on the sensor feedback information, the control module adaptively adjusts the driving force of the thumb mechanism 210 through a closed-loop control algorithm, achieving precise control of the grasping force and avoiding damage to the object due to excessive pressure or unstable grasping due to insufficient pressure.

[0085] Specifically, the number of finger segment sensors 300 can be one, two, or more, depending on the design requirements of the thumb mechanism 210 and the need for gripping accuracy. Setting up multiple finger segment sensors 300 enables multi-point pressure detection, improving the resolution and accuracy of pressure sensing, and facilitating more flexible and stable gripping movements. In practical applications, multiple sensors can be distributed across different segments or positions of the thumb to obtain more comprehensive mechanical information.

[0086] In one embodiment, the underactuated manipulator 10 with a thumb device also includes multiple finger devices 400. These finger devices 400 are respectively mounted on the hand plate structure 100 via movable connections, enabling them to perform bending and extending movements relative to the hand plate structure 100. Specifically, the movable connections can employ various mechanical connection methods such as hinge connections, pin connections, or flexible connections to ensure that the finger devices 400 possess a certain degree of freedom of movement and stability, meeting multi-directional grasping requirements.

[0087] By incorporating multiple finger devices 400 in conjunction with the thumb device 200, the underactuated manipulator 10 with the thumb device can achieve a wrapping grasp of objects when the thumb mechanism 210 and the finger devices 400 simultaneously bend. The coordinated movement of multiple finger devices 400 can form a grasping shape similar to that of a human hand, improving the hand's adaptability to objects of different shapes and sizes. Specifically, the number of finger devices 400 can be three, four, or more, depending on the design requirements of the manipulator and the target application environment. No single limitation is imposed here.

[0088] The multiple finger devices 400 enable the robotic arm to form multiple contact points during grasping, enhancing the stability and safety of the grasp and preventing objects from slipping or being damaged. Simultaneously, the presence of multiple finger devices 400 can also distribute the grasping pressure, reduce the load on individual fingers, and improve the durability and lifespan of the robotic arm.

[0089] Specifically, the hand-mounted structure 100 has a thumb mounting hole 110, a first thumb motor hole 121, and a second thumb motor hole 122. A rotating seat 231 passes through the thumb mounting hole 110 and is rotatably connected to the hand-mounted structure 100, allowing the rotating seat 231 to rotate freely relative to the hand-mounted structure 100. This design ensures the installation stability of the rotating mechanism 230 and guarantees the smoothness of the rotational movement.

[0090] Meanwhile, the thumb flexion-extension motor 2221 is at least partially inserted into the first thumb motor hole 121, and the rotary motor 2321 is at least partially inserted into the second thumb motor hole 122. By inserting the two motors into their respective mounting holes, the motors are positioned and fixed, avoiding misalignment and loosening during installation, and improving the assembly accuracy and mechanical stability of the overall structure. This arrangement not only facilitates installation and disassembly but also effectively utilizes the space of the hand plate structure 100, allowing the drive components of the rotary mechanism 230 and the thumb flexion-extension mechanism 220 to be compactly arranged, reducing the overall thickness of the underactuated manipulator 10 with the thumb device.

[0091] Furthermore, inserting the motor into the mounting hole helps reduce vibration transmission when the robot is under stress, improving the stability and lifespan of the drive system. This installation method also facilitates quick disassembly and assembly of the motor for inspection or replacement by maintenance personnel, thus improving the maintenance efficiency of the robot.

[0092] In summary, the hand plate structure 100 is provided with a thumb mounting hole 110, a first thumb motor hole 121 and a second thumb motor hole 122, and is installed in conjunction with the rotating seat 231 and the two motors, which realizes the stable positioning and compact arrangement of the thumb device 200, effectively reduces the thickness of the underactuated manipulator 10 with the thumb device, and improves the assembly accuracy and mechanical performance of the structure.

[0093] In the description of the embodiments of this application, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "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. They are only for the convenience of describing the embodiments of 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 the embodiments of this application. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0094] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" 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. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0095] In the embodiments of this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0096] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the embodiments of this application. 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. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0097] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. An underactuated manipulator with a thumb device, characterized in that, include: Prototype structure; as well as A thumb device includes a thumb mechanism, a thumb flexion and extension mechanism, and a rotation mechanism. The thumb mechanism includes a thumb connector and multiple thumb joints, which are movably connected, and the thumb joints located at the ends are connected to the thumb connector. The thumb flexion and extension mechanism is disposed on the hand plate structure, and the thumb flexion and extension mechanism is respectively driven to multiple thumb joints. The thumb flexion and extension mechanism is used to drive the multiple thumb joints to unfold or bend. The rotation mechanism is respectively movably connected to the hand plate structure and the thumb mechanism, and the rotation mechanism is used to drive the thumb mechanism to rotate relative to the hand plate structure.

2. The underactuated manipulator with a thumb device according to claim 1, characterized in that, Multiple thumb joints are rotatably connected via thumb joints. The thumb flexion and extension mechanism includes a thumb drive rope and a thumb flexion and extension assembly. The thumb flexion and extension assembly is disposed on the hand plate structure and is throttle-connected to the thumb drive rope. One end of the thumb drive rope is connected to at least one thumb joint of the thumb mechanism away from the hand plate structure.

3. The underactuated manipulator with a thumb device according to claim 2, characterized in that, The thumb flexion-extension assembly includes a thumb flexion-extension motor, a thumb flexion-extension sleeve, and a thumb flexion-extension guide wheel. The thumb flexion-extension motor is connected to the hand plate structure, the thumb flexion-extension sleeve is threadedly connected to the thumb flexion-extension motor, and the thumb flexion-extension motor is used to drive the thumb flexion-extension sleeve to move relative to the hand plate structure. The thumb flexion-extension guide wheel is rotatably connected to the hand plate structure, and the thumb drive rope is at least partially wound around the thumb flexion-extension guide wheel.

4. The underactuated manipulator with a thumb device according to claim 3, characterized in that, The multiple thumb joints are rotatably connected by thumb joint bearings. The thumb mechanism also includes a thumb pulley, which is coaxially arranged with the thumb joint bearings, and the thumb drive rope at least partially abuts against the outer wall of the thumb pulley.

5. The underactuated manipulator with a thumb device according to claim 4, characterized in that, The number of thumb pulleys is two, and the two thumb pulleys are coaxially arranged. The two ends of the thumb drive rope are respectively wound around the two thumb pulleys. Alternatively, the thumb pulley may have a first thumb groove and a second thumb groove, and the two ends of the thumb drive rope may be connected to the thumb joint, with the thumb drive rope wound around the first thumb groove and the second thumb groove respectively.

6. The underactuated manipulator with a thumb device according to claim 2, characterized in that, The thumb flexion and extension mechanism also includes a thumb flexion and extension sleeve, which is connected to the hand plate structure, and the thumb drive rope is movably threaded through the thumb flexion and extension sleeve.

7. The underactuated manipulator with a thumb device according to claim 1, characterized in that, The rotating mechanism includes a rotating base and a rotating assembly. One end of the thumb mechanism is connected to the rotating base, the rotating base is rotatably connected to the hand plate structure, and the rotating assembly is disposed on the hand plate structure. The rotating assembly is used to drive the rotating base to rotate relative to the hand plate structure.

8. The underactuated manipulator with a thumb device according to claim 7, characterized in that, The rotating assembly includes a rotary motor, a rotary sleeve, and a thumb drive linkage. The rotary motor is mounted on the hand plate structure and connected to the hand plate structure. The rotary sleeve is threadedly connected to the rotary motor, and the rotary motor is used to drive the rotary sleeve to move relative to the hand plate structure. The thumb drive linkage is rotatably connected to the rotating seat and the rotary sleeve, respectively.

9. The underactuated manipulator with a thumb device according to claim 1, characterized in that, The underactuated manipulator with a thumb device also includes a finger segment sensor, which is disposed on the thumb mechanism and is used to acquire pressure signals between the thumb mechanism and an external object.

10. The underactuated manipulator with a thumb device according to any one of claims 1-9, characterized in that, The underactuated manipulator with a thumb device also includes multiple finger devices, which are movably connected to the hand plate structure.

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