Mechanical thumb and mechanical hand

Abstract

This application provides a mechanical thumb, including a root component, a first phalanx, a second phalanx, a first drive module, and a second drive module. The root component is rotatably connected to the first phalanx, and the first and second phalanxes are rotatably connected. The first phalanx has an installation space, and both the first and second drive modules are located within the installation space. The first drive module connects the root component and the first phalanx, and the second drive module connects the first and second phalanxes. The root component and the first phalanx can rotate relative to each other under the drive of the first drive module, and the first and second phalanxes can rotate relative to each other under the drive of the second drive module. The mechanical thumb of this application features independent bending of the first and second phalanxes, and a compact end-second phalanx structure. This application also provides a robotic hand, including a mechanical thumb.

Description

Technical Field

[0001] This application relates to the field of robotics, and more specifically, to a mechanical thumb and a mechanical hand. Background Technology

[0002] With the rapid development of robotics technology, the robotic hand, as a key actuator for robot-environment interaction, directly determines the upper limit of robot applicability in complex tasks such as precision assembly, medical surgery, space exploration, and service operations. In recent years, although various driving principles, such as parallel structures, flexible hinges, tendon drives, shape memory alloys, and pneumatic artificial muscles, have been introduced into the field of robotic hands and achieved some progress, in existing robotic hands, while the distal part of the thumb can rotate independently, its large structural volume hinders precise coordination with other fingers, thus impeding more accurate and reliable grasping. Summary of the Invention

[0003] This application provides a mechanical thumb, including a finger root assembly, a first phalanx, a second phalanx, a first drive module, and a second drive module. The finger root assembly is rotatably connected to the first phalanx, and the first phalanx and the second phalanx are rotatably connected. The first phalanx has an installation space, and both the first drive module and the second drive module are located within the installation space. The first drive module connects the finger root assembly and the first phalanx, and the second drive module connects the first phalanx and the second phalanx. The finger root assembly and the first phalanx can rotate relative to each other under the drive of the first drive module, and the first phalanx and the second phalanx can rotate relative to each other under the drive of the second drive module.

[0004] In some embodiments, the first drive module and the second drive module are arranged side by side; and / or, one end of the first drive module is rotatably connected to the first knuckle, and the other end of the first drive module is rotatably connected to the finger root assembly; and / or, one end of the second drive module is rotatably connected to the first knuckle, and the other end of the second drive module is rotatably connected to the second knuckle.

[0005] In some embodiments, the first drive module includes a first drive member, a first lead screw, and a first nut. The first drive member is rotatably mounted on the first phalanx. The output end of the first drive member is connected to the first lead screw. The first lead screw is connected to the first nut. The first nut is rotatably connected to the finger root assembly. The first lead screw can rotate under the drive of the first drive member, causing the first nut to move linearly, so that the first phalanx drives the second phalanx to rotate relative to the finger root assembly; and / or,

[0006] The second drive module includes a second drive member, a second lead screw, and a second nut. The second drive member is rotatably mounted on the first knuckle. The output end of the second drive member is connected to the second lead screw, and the second lead screw is connected to the second nut. The first nut is rotatably connected to the second knuckle. The second lead screw can rotate under the drive of the second drive member and drive the second nut to move linearly, so that the second knuckle rotates relative to the first knuckle.

[0007] In some embodiments, the finger root assembly includes a support assembly and a swing module. The first phalanx and the support assembly are rotatably connected. The support assembly can swing under the drive of the swing module, and drive the first phalanx and the second phalanx to swing together.

[0008] In some embodiments, the swing module includes a third driving member, a transmission component, and a connecting component. The third driving member and the transmission component are arranged side by side. The transmission component connects the third driving member and the connecting component. The connecting component is fixedly connected to the support component. The transmission component can move under the drive of the third driving member and drive the connecting component to rotate. The support component rotates with the connecting component.

[0009] In some embodiments, the support component has a mounting slot, the connecting component is disposed in the mounting slot, and both ends of the connecting component are respectively connected to the support component.

[0010] In some embodiments, the swing module further includes a housing, the third drive member and the connecting assembly are both disposed within the housing, and both ends of the connecting assembly extend out of the housing and are respectively fixedly connected to the support assembly.

[0011] In some embodiments, the support component includes a first fixing member and a second fixing member, the first fixing member and the second fixing member together surround the mounting groove, the first fixing member is fixedly connected to one end of the connecting component, and the second fixing member is fixedly connected to the other end of the connecting component.

[0012] In some embodiments, the first fixing member has two first finger-shaped portions, one end of the first driving module is located at the two first finger-shaped portions and is rotatably connected to the two first finger-shaped portions; and / or,

[0013] The first fixing member has a second finger-shaped portion, one end of the first finger joint has a connecting groove, the second finger-shaped portion extends into the connecting groove and is rotatably connected to the second drive module.

[0014] This application also provides a robotic hand, including a palm assembly, a fixing assembly, and a robotic thumb as described above. The robotic thumb is fixedly connected to the fixing assembly, the fixing assembly is fixedly connected to the palm assembly, and the finger root assembly is fixedly connected to the fixing assembly.

[0015] Compared with the prior art, the mechanical thumb of this application embodiment includes a root component, a first phalanx, a second phalanx, a first drive module, and a second drive module. The root component is rotatably connected to the first phalanx, and the first and second phalanxes are rotatably connected. The first phalanx has an installation space, and both the first and second drive modules are located within the installation space. The first drive module connects the root component and the first phalanx, and the second drive module connects the first and second phalanxes. This allows the root component and the first phalanx to rotate relative to each other under the drive of the first drive module, and the first and second phalanxes to rotate relative to each other under the drive of the second drive module. As a result, the mechanical thumb of this application can achieve independent bending of the first and second phalanxes, and its end-second phalanx structure is compact, which helps to increase the reliability of the mechanical thumb's gripping ability in conjunction with other fingers in a robotic hand. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a perspective view of the robotic arm according to an embodiment of this application.

[0018] Figure 2 for Figure 1 The image shown is a 3D view of the robotic arm after the fixed components and palm components have been concealed.

[0019] Figure 3 for Figure 2 The image shown is a side view with the first knuckle hidden.

[0020] Figure 4 for Figure 1 The diagram shows a three-dimensional view of the root finger component of the robotic hand.

[0021] Figure 5 for Figure 4 The sectional view shown. Detailed Implementation

[0022] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0023] In the description of this application, it should be noted that the terms "inner" and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. They are used only for the convenience of describing this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0024] It should also be noted that, unless otherwise explicitly specified and limited, the terms "setup" and "connection" 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 direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0025] Please see Figure 1-5 The robotic hand in this embodiment includes a robotic thumb 100, a palm assembly 200, and a fixing assembly 300. The robotic thumb 100 is fixedly connected to the fixing assembly 300, and the fixing assembly 300 is fixedly connected to the palm assembly 200. More specifically, as follows:

[0026] like Figure 1-5 As shown, in some embodiments, the mechanical thumb 100 includes a root component 10, a first phalanx 20, a second phalanx 30, a first drive module 40, and a second drive module 50. The root component 10 is rotatably connected to the first phalanx 20, and the first phalanx 20 and the second phalanx 30 are rotatably connected. The first phalanx 20 has an installation space 20a. The first drive module 40 and the second drive module 50 are both located within the installation space 20a. The first drive module 40 connects the root component 10 and the first phalanx 20, and the second drive module 50 connects the first phalanx 20 and the second phalanx 30, so that the root component 10 and the first phalanx 20 can rotate relative to each other under the drive of the first drive module 40, and the first phalanx 20 and the second phalanx 30 can rotate relative to each other under the drive of the second drive module 50. Specifically, as shown in the figure, in some embodiments, the root component 10 is fixedly connected to a fixing component 300 to improve the reliability of the connection between the mechanical thumb 100 and the palm component.

[0027] like Figure 3 As shown, in some embodiments, the first drive module 40 and the second drive module 50 are arranged side by side to improve space utilization, thereby making the first knuckle 20 compact.

[0028] like Figure 1-3As shown, in some embodiments, one end of the first drive module 40 is rotatably connected to the first knuckle 20, and the other end of the first drive module 40 is rotatably connected to the finger root assembly 10, so that the first knuckle 20 has a larger range of rotation relative to the finger root assembly 10, thereby increasing the range of rotation of the first knuckle 20 and the second knuckle 30 relative to the palm assembly 200.

[0029] like Figure 1-3 As shown, in some embodiments, one end of the second drive module 50 is rotatably connected to the first knuckle 20, and the other end of the second drive module 50 is rotatably connected to the second knuckle 30, so as to ensure that the second knuckle 30 has a larger range of rotation relative to the first knuckle 20.

[0030] like Figure 1-3 As shown, in some embodiments, the first drive module 40 includes a first drive member 41, a first lead screw 42, and a first nut 43. The first drive member 41 is rotatably mounted on the first knuckle 20. The output end of the first drive member 41 is connected to the first lead screw 42. The first lead screw 42 is connected to the first nut 43. The first nut 43 is rotatably connected to the finger root assembly 10. The first lead screw 42 can rotate under the drive of the first drive member 41 and drive the first nut 43 to move linearly, so that the first knuckle 20 drives the second knuckle 30 to rotate relative to the finger root assembly 10. This ensures that the driving force of the first drive module 40 is stable and large enough, thereby ensuring the gripping force of the mechanical thumb 100 and improving the compactness of the structure of the first drive module 40.

[0031] like Figure 1-3 As shown, in some embodiments, the second drive module 50 includes a second drive member 51, a second lead screw 52, ​​and a second nut 53. The second drive member 51 is rotatably mounted on the first phalanx 20. The output end of the second drive member 51 is connected to the second lead screw 52. The second lead screw 52 is connected to the second nut 53. The first nut 43 is rotatably connected to the second phalanx 30. The second lead screw 52 can rotate under the drive of the second drive member 51 and drive the second nut 53 to move linearly, so that the second phalanx 30 rotates relative to the first phalanx 20, ensuring that the driving force of the second drive module 50 is stable and large enough, thereby ensuring the gripping force of the mechanical thumb 100, while improving the compactness of the structure of the second drive module 50.

[0032] like Figure 1-5 As shown, in some embodiments, the finger root assembly 10 includes a support assembly 11 and a swing module 12. The first phalanx 20 and the support assembly 11 are rotatably connected so that the support assembly 11 can swing under the drive of the swing module 12, and drive the first phalanx 20 and the second phalanx 30 to swing together, thereby enabling the first phalanx 20 and the second phalanx 30 to move closer to and further away from the palm assembly 200.

[0033] like Figure 1-5As shown, in some embodiments, the swing module 12 includes a third drive member 121, a transmission component 122, and a connecting component 123. The third drive member 121 and the transmission component 122 are arranged side by side. The transmission component 122 connects the third drive member 121 and the connecting component 123. The connecting component 123 is fixedly connected to the support component 11, so that the transmission component 122 can move under the drive of the third drive member 121 and drive the connecting component 123 to rotate. The support component 11 rotates with the connecting component 123, thereby improving the compactness and reliability of the swing module 12 structure.

[0034] like Figure 1-5 As shown, in some embodiments, the support component 11 has a mounting groove 50a, the connecting component 123 is disposed in the mounting groove 50a, and both ends of the connecting component 123 are respectively connected to the support component 11, thereby improving the reliability and stability of the connection between the connecting component 123 and the support component 11.

[0035] like Figure 1-5 As shown, in some embodiments, the swing module 12 further includes a housing 124, and the third drive component 121 and the connecting component 123 are both disposed inside the housing 124. Both ends of the connecting component 123 extend out of the housing 124 and are fixedly connected to the support component 11 respectively, thereby improving the structural strength and reducing the risk of damage.

[0036] like Figure 1-5 As shown, in some embodiments, the support component 11 includes a first fixing member 111 and a second fixing member 112. The first fixing member 111 and the second fixing member 112 together form an installation groove 50a. The first fixing member 111 is fixedly connected to one end of the connecting component 123, and the second fixing member 112 is fixedly connected to the other end of the connecting component 123, thereby improving the ease of installation.

[0037] like Figure 1-5 As shown, in some embodiments, the first fixing member 111 has two first finger-shaped portions 111a, one end of the first driving module 40 is located at the two first finger-shaped portions 111a and is rotatably connected to the two first finger-shaped portions 111a, thereby improving the reliability and compactness of the connection between the first fixing member 111 and the first driving module 40.

[0038] like Figure 1-5 As shown, in some embodiments, the first fixing member 111 has a second finger-shaped portion 111b, one end of the first finger joint 20 has a connecting groove 20b, the second finger-shaped portion 111b extends into the connecting groove 20b and is rotatably connected to the second drive module 50, thereby improving the reliability and compactness of the connection between the first fixing member 111 and the first finger joint 20.

[0039] Compared with the prior art, the mechanical thumb 100 of this application embodiment includes a finger root assembly 10, a first phalanx 20, a second phalanx 30, a first drive module 40, and a second drive module 50. The finger root assembly 10 is rotatably connected to the first phalanx 20, and the first phalanx 20 and the second phalanx 30 are rotatably connected. The first phalanx 20 has an installation space 20a, and both the first drive module 40 and the second drive module 50 are located within the installation space 20a. The first drive module 40 connects the finger root assembly 10 and the first phalanx 20. The second drive module 50 connects the first phalanx 20 and the second phalanx 30. The root component 10 and the first phalanx 20 can rotate relative to each other under the drive of the first drive module 40. The first phalanx 20 and the second phalanx 30 can rotate relative to each other under the drive of the second drive module 50, so that the mechanical thumb of this application can achieve independent bending of the first phalanx 20 and the second phalanx 30, and its end-second phalanx structure is compact, which helps to increase the reliability of the mechanical thumb's cooperative grip with other fingers in the mechanical hand.

[0040] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A mechanical thumb, characterized in that, The device includes a finger root assembly, a first phalanx, a second phalanx, a first drive module, and a second drive module. The finger root assembly is rotatably connected to the first phalanx, and the first phalanx and the second phalanx are rotatably connected. The first phalanx has an installation space, and both the first drive module and the second drive module are located within the installation space. The first drive module connects the finger root assembly and the first phalanx, and the second drive module connects the first phalanx and the second phalanx. The finger root assembly and the first phalanx can rotate relative to each other under the drive of the first drive module, and the first phalanx and the second phalanx can rotate relative to each other under the drive of the second drive module.

2. The mechanical thumb as described in claim 1, characterized in that, The first drive module and the second drive module are arranged side by side; and / or, One end of the first drive module is rotatably connected to the first knuckle, and the other end of the first drive module is rotatably connected to the finger root assembly; And / or, One end of the second drive module is rotatably connected to the first knuckle, and the other end of the second drive module is rotatably connected to the second knuckle.

3. The mechanical thumb as described in claim 1, characterized in that, The first drive module includes a first drive component, a first lead screw, and a first nut. The first drive component is rotatably mounted on the first phalanx. The output end of the first drive component is connected to the first lead screw, which is connected to the first nut. The first nut is rotatably connected to the finger root assembly. The first lead screw can rotate under the drive of the first drive component, causing the first nut to move linearly, so that the first phalanx drives the second phalanx to rotate relative to the finger root assembly; and / or, The second drive module includes a second drive member, a second lead screw, and a second nut. The second drive member is rotatably mounted on the first knuckle. The output end of the second drive member is connected to the second lead screw, and the second lead screw is connected to the second nut. The first nut is rotatably connected to the second knuckle. The second lead screw can rotate under the drive of the second drive member and drive the second nut to move linearly, so that the second knuckle rotates relative to the first knuckle.

4. The mechanical thumb as described in claim 1, characterized in that, The finger root assembly includes a support component and a swing module. The first phalanx and the support component are rotatably connected. The support component can swing under the drive of the swing module, and drive the first phalanx and the second phalanx to swing together.

5. The mechanical thumb as described in claim 4, characterized in that, The swing module includes a third driving component, a transmission component, and a connecting component. The third driving component and the transmission component are arranged side by side. The transmission component connects the third driving component and the connecting component. The connecting component is fixedly connected to the support component. The transmission component can move under the drive of the third driving component and drive the connecting component to rotate. The support component rotates with the connecting component.

6. The mechanical thumb as described in claim 5, characterized in that, The support component has a mounting groove, the connecting component is disposed in the mounting groove, and both ends of the connecting component are respectively connected to the support component.

7. The mechanical thumb as described in claim 6, characterized in that, The swing module also includes a housing, and the third drive component and the connecting component are both disposed inside the housing. Both ends of the connecting component extend out of the housing and are fixedly connected to the support component respectively.

8. The mechanical thumb as described in claim 6, characterized in that, The support component includes a first fixing member and a second fixing member, which together enclose the mounting groove. The first fixing member is fixedly connected to one end of the connecting component, and the second fixing member is fixedly connected to the other end of the connecting component.

9. The mechanical thumb as described in claim 8, characterized in that, The first fixing member has two first finger-shaped portions, one end of the first driving module is located at the two first finger-shaped portions and is rotatably connected to the two first finger-shaped portions; and / or, The first fixing member has a second finger-shaped portion, one end of the first finger joint has a connecting groove, the second finger-shaped portion extends into the connecting groove and is rotatably connected to the second drive module.

10. A robotic arm, characterized in that, It includes a palm assembly, a fixing assembly, and a mechanical thumb as described in any one of claims 1-9, wherein the mechanical thumb is fixedly connected to the fixing assembly, the fixing assembly is fixedly connected to the palm assembly, and the finger root assembly is fixedly connected to the fixing assembly.

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