Bionic thumb structure and bionic manipulator

Abstract

The application relates to the technical field of robots, in particular to a bionic thumb structure which comprises a thumb base joint, the thumb base joint comprises a shell, a double-mode driving motor set and a linkage component; the double-mode driving motor set comprises a main driving motor and an auxiliary driving motor, the main driving motor and the auxiliary driving motor are longitudinally arranged in the shell, and the output shafts of the main driving motor and the auxiliary driving motor are parallel; the linkage component comprises a first component and a second component, the first component is pivotally connected with the second component; the first component is arranged in the shell and connected with the fixed end of the main driving motor and the fixed end of the auxiliary driving motor, the second component is connected with a palm component on the opposite side; and the output shafts of the main driving motor and the auxiliary driving motor are rotationally connected to the second component. Through the application, the problem that the bionic thumb in the prior art cannot realize the opposition of the thumb and the index finger and has a single function is solved.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a bionic thumb structure and a bionic robotic hand. Background Technology

[0002] With the development of robotics technology, bionic robotic hands are increasingly being used in fields such as medicine, industrial grasping, and human-computer interaction. As a key actuating component of bionic robotic hands, the bionic thumb needs to achieve multi-dimensional motion (such as flexion, extension, lateral swing, and translation) to simulate the flexibility and grasping ability of the human thumb. However, these solutions often encounter the following problems when achieving multiple degrees of freedom:

[0003] For example, in current bionic mechanical hands and their thumb modules, the thumb module includes a thumb mechanism, a thumb drive unit, and an overall rotational transmission mechanism; the thumb mechanism includes the distal phalanx of the thumb, the distal joint of the thumb, and the proximal phalanx shell of the thumb, with the distal phalanx and the proximal joint shell connected by the distal joint of the thumb; the thumb mechanism includes a distal phalanx rotational bending transmission mechanism, with the thumb drive unit connected to the distal joint of the thumb through the distal phalanx rotational bending transmission mechanism, driving the distal phalanx of the thumb to rotate, thus bending the thumb.

[0004] Despite advancements in this technology, it still suffers from limitations such as the inability to perform finger-to-finder operations and its limited functionality. Utility Model Content

[0005] This application provides a bionic thumb structure to solve the problem that existing bionic thumbs cannot achieve finger-to-finger alignment and have limited functionality.

[0006] In a first aspect, a biomimetic thumb structure includes a thumb base joint, the thumb base joint comprising a housing, a dual-mode drive motor assembly, and a linkage component; wherein the dual-mode drive motor assembly includes a main drive motor and a secondary drive motor, the main drive motor and the secondary drive motor being longitudinally disposed within the housing, and the output shafts of the main drive motor and the secondary drive motor being parallel; the linkage component includes a first component and a second component, the first component being pivotally connected to the second component; wherein the first component is disposed within the housing and connected to the fixed ends of the main drive motor and the secondary drive motor, and the second component is connected to a contralateral palm component; the output shafts of the main drive motor and the secondary drive motor are rotatably connected to the second component; when the main drive motor and the secondary drive motor operate at the same speed and in the same direction, the main drive motor and the secondary drive motor provide power to the first component to drive the biomimetic thumb structure to translate or move away from the contralateral finger direction.

[0007] Optionally, the first component includes a top, a side, and a bottom that are interconnected; the top of the first component is connected to the fixed end of the main drive motor and the fixed end of the auxiliary drive motor, respectively; the side of the first component is longitudinally disposed in the middle of the dual-mode drive motor assembly and forms a first accommodating space with the housing, and the dual-mode drive motor assembly is disposed in the first accommodating space; the bottom of the first component is pivotally connected to one end of the second component; and the other end of the second component is connected to the palm component.

[0008] Optionally, the first component is provided with a first transfer member, and the second component is provided with a second transfer member; the two ends of the first transfer member are respectively connected to the fixed ends of the main drive motor and the auxiliary drive motor; the two ends of the second transfer member are respectively connected to the output shafts of the main drive motor and the auxiliary drive motor.

[0009] Optionally, the first component has a first through hole, and the first transfer member is fixedly disposed in the first through hole; the second component has a second through hole, and the second transfer member is fixedly disposed in the second through hole.

[0010] Optionally, the first transfer member and the second transfer member each include a support rod and spherical connectors disposed at both ends of the support rod; the two ends of the support rod of the first transfer member are rotatably connected to the fixed ends of the main drive motor and the auxiliary drive motor respectively through the spherical connectors; the two ends of the support rod of the second transfer member are rotatably connected to the output shafts of the main drive motor and the auxiliary drive motor respectively through the spherical connectors.

[0011] Optionally, the second component includes a base connecting rod and a transmission connecting rod; the first end of the base connecting rod is pivotally connected to the first component, and the second end of the base connecting rod is rotatably connected to the transmission connecting rod via a rotary joint; the end of the transmission connecting rod is connected to the palm component.

[0012] Optionally, the bionic thumb structure further includes: an inward and outward motor arranged in a transverse plane; the linkage component further includes a third component; one end of the third component is rotatably connected to the second component, and the other end of the third component is connected to the output shaft of the inward and outward motor; the second component is rotatably connected to the palm component.

[0013] Optionally, the thumb base joint further includes a first drive unit; the first component and the dual-mode drive motor assembly form a second accommodating space within the housing, and the first drive unit is disposed within the second accommodating space; the output shaft of the first drive unit is pivotally connected to the proximal thumb joint near the thumb base joint via a connecting rod member to drive the proximal thumb joint to press down or lift.

[0014] Optionally, the linkage component includes a connecting arm and a connecting seat fixedly connected to the connecting arm; wherein, one end of the connecting seat is pivotally connected to the output end of the first drive unit, and the other end is fixedly connected to the connecting arm, and the end of the connecting arm near the proximal joint of the thumb is rotatably connected to the proximal joint of the thumb.

[0015] Secondly, a bionic robotic hand includes the bionic thumb structure in any of the above embodiments.

[0016] The technical solutions provided in this application have the following advantages compared with the prior art:

[0017] The bionic thumb structure provided in this application utilizes the output shafts of the main and auxiliary drive motors arranged parallel vertically in a dual-mode drive motor assembly to provide power. This power is coupled with a first and a second component in a linkage mechanism, which are pivotally connected to each other and respectively connect the motor and the opposite palm component. When the main and auxiliary drive motors run at the same speed and in the same direction, their output shafts extend and retract synchronously. Since the output shafts of the main and auxiliary drive motors are connected to the second component, and the second component is connected to the palm component, when the output shafts of the main and auxiliary drive motors extend synchronously, the thumb base joint moves away from the opposite palm; when the output shafts of the main and auxiliary drive motors shorten synchronously, the thumb base joint moves closer to the opposite palm, achieving finger alignment. This technical solution solves the problem of existing bionic thumbs being unable to achieve finger alignment and having limited functionality. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0019] 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, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0021] Figure 1 This is a schematic diagram of the bionic thumb structure provided in the embodiments of this application;

[0022] Figure 2 A schematic diagram of the thumb component from another angle, provided as an embodiment of this application;

[0023] Figure 3 This is a schematic diagram of the structure of the bionic hand provided in an embodiment of this application;

[0024] Figure 4 This is a schematic diagram showing the connection between the first component and the second component in an embodiment of this application;

[0025] Figure 5 This is a schematic diagram of the structure of a bionic hand from another angle, provided in an embodiment of this application.

[0026] Figure 6 This is a structural schematic diagram of the thumb component from another angle in this application;

[0027] Figure 7 This is a structural schematic diagram of the linkage component of this application;

[0028] Figure 8 This is a structural schematic diagram of the transfer component of this application;

[0029] Figure 9 This is a structural schematic diagram of the thumb component and the palm component of this application;

[0030] Figure 10 This is a schematic diagram of the object being held by the bionic hand of this application;

[0031] Figure 11 This is a schematic diagram of the inward retraction of the bionic thumb structure of this application;

[0032] Figure 12 This is an external representation of the bionic thumb structure of this application;

[0033] Figure 13 This is a schematic diagram of the bionic thumb structure of this application moving longitudinally on a cup;

[0034] 1. Thumb base joint; 2. Dual-mode drive motor assembly; 3. Main drive motor; 4. Auxiliary drive motor; 5. Output shaft; 6. Linkage component; 7. First component; 8. First through hole; 9. Second component; 10. Second through hole; 11. Base connecting rod; 12. First end; 13. Second end; 14. Transmission connecting rod; 15. Rotary joint; 16. Third component; 17. Palm component; 18. Inward and outward motor; 19. Output shaft of inward and outward motor; 20. Transfer component assembly; 21. First transfer component; 22. Support rod; 23. Spherical connector; 24. Second transfer component; 27. Deflection angle; 28. First drive unit; 29. ​​Output end; 30. Thumb proximal joint; 31. Linkage component; 32. Connecting arm; 33. Connecting seat; 34. Housing; 35. Thumb tip joint; 36. Pivot point; 37. First position; 38. Second position. Detailed Implementation

[0035] 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.

[0036] The following disclosure provides numerous different embodiments or examples for implementing various structures of this application. To simplify the disclosure, specific examples and arrangements are described below. These are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed.

[0037] A robotic arm is a device that mimics the functions of a human hand. In the field of robotics, robotic arms can automatically grasp specific objects according to a pre-set program. Robotic arms are designed to mimic the appearance of a human hand, with multiple fingers that work together to grasp objects. While current technology can achieve thumb bending, it cannot achieve finger-to-finger alignment for precise object grasping.

[0038] To address the limitations of existing bionic thumbs in terms of limited functionality and inability to perform finger-to-finger alignment, this application provides a bionic thumb structure and a bionic robotic hand. The following detailed description of various embodiments further illustrates this application.

[0039] like Figures 1 to 3 As shown, this application embodiment provides a bionic thumb structure, including a thumb base joint 1. The thumb base joint 1 includes a housing 34, a dual-mode drive motor assembly 2 and a linkage component 6 arranged longitudinally within the housing 34. The dual-mode drive motor assembly 2 includes a main drive motor 3 and a secondary drive motor 4, with their output shafts 5 parallel. The linkage component 6 includes a first component 7 and a second component 9, with their first ends 12 pivotally connected, and the other end of the second component 9 connected to the opposite palm component 17. The first component 7 is disposed within the housing 34 and connected to the fixed ends of the main drive motor 3 and the secondary drive motor 4. The output shafts 5 of the main drive motor 3 and the secondary drive motor 4 are rotatably connected to the second component 9. When the output shafts 5 of the main drive motor 3 and the auxiliary drive motor 4 extend synchronously, the thumb base joint 1 moves away from the opposite palm component 17; when the output shafts 5 of the main drive motor 3 and the auxiliary drive motor 4 shorten synchronously, the thumb base joint 1 moves closer to the opposite palm component 17, thus achieving finger alignment; the technical solution of this application solves the problem that the bionic thumb in the prior art cannot achieve finger alignment and has a single function.

[0040] For example, in a scenario where a robotic arm grasps a cup, such as Figure 10 As shown, the main drive motor 3 and the auxiliary drive motor 4 contract in the same direction at the same speed, and the output shaft 5 contracts synchronously to generate tension. Since the first component 7 and the second component 9 are pivotally connected, the tension will cause the first component 7 to rotate relative to the second component 9 with the pivot point as the fulcrum. Furthermore, since one end of the first component 7 is rigidly connected to the housing 34, and the second component 9 is fixed to the palm component 17, during the rotation, the thumb base joint 1 will move towards the palm component 17, thereby driving the entire bionic thumb structure to translate towards the opposite finger, cooperating with the opposite finger to form a space for gripping objects and completing the grasping action.

[0041] When the cup is to be placed down, the thumb base joint 1 needs to move away from the opposite finger to allow the bionic thumb structure to move away from the opposite finger, creating enough space to place the cup. Specifically, the main drive motor 3 and the auxiliary drive motor 4 extend in the same direction at the same speed, and the output shaft 5 extends synchronously to generate thrust. This thrust is transmitted to the housing 34 through the first component 7. Since the first component 7 and the second component 9 are pivotally connected, the thrust causes the first component 7 to rotate relative to the second component 9 around the pivot point. Because the second component 9 is fixed to the palm component 17, during rotation, the thumb base joint 1 moves away from the palm component 17, thereby causing the entire bionic thumb structure to translate away from the opposite finger, gradually increasing the distance between it and the opposite finger, releasing the cup from its grip.

[0042] In summary, when the main and auxiliary drive motors 4 move in the same direction at the same speed (e.g., synchronous contraction), a pulling force is generated on the top of the first component 7, causing it to move towards the second component 9. Since the first component 7 and the first end 12 of the second component 9 are pivotally connected, this pulling force will cause the first component 7 to rotate relative to the second component 9. This configuration can accurately convert the linear motion of the motor into the rotational motion of the first component 7 through the transmission mechanism of "pulling force → pivoting rotation," thereby driving the thumb base joint 1 to translate towards the opposite finger. The motion conversion is efficient and stable, and the displacement is controllable, allowing for flexible switching of the translation direction in both directions.

[0043] Meanwhile, the fixed ends of the main drive motor 3 and the auxiliary drive motor 4 are connected to the first component 7, and the output shaft 5 is mounted on the second component 9. This arrangement places the main drive motor 3 and the auxiliary drive motor 4 between the first component 7 and the second component 9, making the bionic thumb structure more compact, reducing wear through direct drive, and simulating the biomechanics of the human thumb to improve bionicity and meet the needs of complex scenarios such as precision assembly (e.g., the scenario where the fingertip joint of the thumb contacts the fingertip of the index finger).

[0044] In this embodiment, the housing 34 corresponds to a joint of the thumb. Multiple fixing structures are provided on the housing 34 to facilitate the connection of the thumb base joint 1 with adjacent joints. An accommodating space is provided inside the housing 34 to accommodate other components of the thumb base joint. It should be understood that fixing structures are also provided inside the housing 34, and the components accommodated within the housing 34 are fixed to the housing 34 via these fixing structures. The fixing structures provided on the housing 34 can be correspondingly configured according to the fixing structures provided on the adjacent joints to which it is connected. For example, matching fixing holes can be provided on the housing 34 and the adjacent joints to facilitate their fixing. Similarly, the fixing structures provided inside the housing 34 can also be correspondingly configured according to the fixing structures of other components connected to it. This application is not limited to the specific structure of the housing 34 and its fixing structures.

[0045] Both the main drive motor 3 and the auxiliary drive motor 4 are drive motors, and their models can be the same or different. Those skilled in the art can choose the type and model of the drive motor according to their needs, and the embodiments of this application are not limited thereto. The main drive motor 3 and the auxiliary drive motor 4 are arranged side by side inside the housing 34, with their main bodies located at the upper part of the housing 34, the fixed end of the main body fixed to the first component 7, and the drive shaft located at the lower part of the housing 34. This inverted arrangement facilitates the installation of the main drive motor 3 and the auxiliary drive motor 4 inside the housing 34, saving installation space for the thumb base joint 1.

[0046] The first component 7 of the linkage member 6 has a fixing part at one end, and the fixing ends of the main drive motor 3 and the auxiliary drive motor 4 are fixed to the fixing part. In some embodiments, the first component 7 can be designed as an integral structure with the housing 34 to facilitate the assembly of the robot arm. In other embodiments, the first component 7 can also be relatively independent from the housing 34, with one end of the first component 7 fixed to the housing 34 and the other end pivotally connected to the second component 9.

[0047] In some embodiments, a rotating shaft is provided at one end of the first component 7 and the second component 9 that are pivotally connected, and the second component 9 rotates relative to the first component 7 around the rotating shaft. It should be understood that one of the first component 7 and the second component 9 is fixed to the rotating shaft, while the other can rotate around the rotating shaft. In some embodiments, a through hole is provided on the first component 7, through which the rotating shaft passes and is symmetrical about the through hole at both ends, allowing the first component 7 to rotate around the rotating shaft. Correspondingly, two symmetrical connecting holes are provided at one end of the second component 9 that connect to the first component 7. These connecting holes match the rotating shaft, and the second component 9 is fixed to both ends of the rotating shaft through these connecting holes.

[0048] In some embodiments, the first component 7 includes a top, a side, and a bottom that are interconnected. The top of the first component 7 is fixed to the housing 34, and the top of the first component 7 has two mounting positions, which are respectively connected to the fixed ends of the main drive motor 3 and the auxiliary drive motor 4. The side of the first component 7 is longitudinally disposed between the main drive motor 3 and the auxiliary drive motor 4, and forms a first accommodating space with the housing 34, in which the main drive motor 3 and the auxiliary drive motor 4 are disposed. The bottom of the first component 7 is pivotally connected to one end of the second component 9.

[0049] In this embodiment, the specific shapes of the top, sides, and bottom of the first component 7 can be customized according to the assembly requirements of the thumb base joint 1. For example, in some embodiments, the three components are interconnected to form a Z-shaped structure. In other embodiments, the three components are interconnected to form an I-shaped structure. This embodiment is not limited to the shape of the first component 7.

[0050] In some embodiments, such as Figure 6 As shown, a transfer component group 20 is provided on the linkage component 6. The transfer component group 20 includes a first transfer component 21 disposed on the first component 7 and a second transfer component 24 disposed on the second component 9. The two ends of the first transfer component 21 are respectively connected to the fixed ends of the main drive motor 3 and the auxiliary drive motor 4, and the two ends of the second transfer component 24 are respectively connected to the output shafts 5 of the main drive motor 3 and the auxiliary drive motor 4. By providing the transfer component group 20, the main drive motor 3 and the auxiliary drive motor 4 can be fixed more easily, improving assembly convenience.

[0051] In some embodiments, such as Figure 7 and Figure 8 As shown, the first component 7 has a first through hole 8, in which a first transfer member 21 is assembled; the second component 9 has a second through hole 10, in which a second transfer member 24 is assembled. This arrangement provides precise mounting positions for the first transfer member 21 and the second transfer member 24, thereby ensuring the accuracy and stability of the movement of the entire bionic thumb structure.

[0052] Furthermore, the first transfer member 21 and the second transfer member 24 each include a support rod 22 and spherical connectors 23 disposed at both ends of the support rod 22. The support rod 22 of the first transfer member 21 is rigidly connected to the first transfer member 21, and the support rod 22 of the second transfer member 24 is rigidly connected to the second transfer member 24. The two ends of the support rod 22 of the first transfer member 21 are rotatably connected to the fixed ends of the main drive motor 3 or the auxiliary drive motor 4 respectively through the spherical connectors 23. The two ends of the support rod 22 of the second transfer member 24 are rotatably connected to the output shaft 5 of the main drive motor 3 or the auxiliary drive motor 4 respectively through the spherical connectors 23. The support rod 22 is a horizontally arranged crossbar, with its two ends symmetrical with respect to the first through hole 8 and the second through hole 10. It should be understood that "horizontal" in this application refers to the horizontal direction, and "vertical" refers to the vertical direction. The spherical connectors 23 in this application can be fisheye bolts or any type of hinge bolt, or equivalent alternative components, and this application is not limited thereto. In this way, when the output shafts 5 of the main drive motor 3 and the auxiliary drive motor 4 extend and retract, causing the thumb base joint 1 to move, the main drive motor 3 and the auxiliary drive motor 4 can deflect at an angle relative to the housing 34, making it more comfortable for the human hand.

[0053] In some embodiments, such as Figure 4 As shown, the second component 9 includes a base link 11 and a transmission link 14. The first end 12 of the base link 11 is pivotally connected to the first component 7, and the second end 13 of the base link 11 is connected to the transmission link 14 via a rotary joint 15; the end of the transmission link 14 is fixed to the palm component 17. When the main drive motor 3 and the auxiliary drive motor 4 operate at different speeds, the output shafts 5 of the main drive motor 3 and the auxiliary drive motor 4 extend and retract asynchronously, driving the thumb base joint 1 to deflect longitudinally. Specifically, when the main drive motor 3 and the auxiliary drive motor 4 move at different speeds or directions (for example, the main drive motor 3 extends linearly and the auxiliary drive motor 4 retracts linearly), an unbalanced driving force is generated on both sides of the transmission link 14. The thrust on the side with greater force and the tension on the side with less force form a longitudinal deflection force around the axis of the rotary joint. This force is transmitted through the base link 11 and the first component 7, causing the thumb base joint 1 to deflect longitudinally relative to the opposite palm component 17, realizing more precise operation functions such as coordinated gripping of the thumb and other fingers.

[0054] For example, when holding a cup, you need to adjust the position of your thumb on the cup, for example... Figure 13 As shown, when moving from the first position 37 where the thumb contacts the cup to the second position 38, the thumb base joint 1 needs to undergo longitudinal deflection to accommodate this adjustment requirement.

[0055] Furthermore, such as Figure 5As shown, the thumb component also includes: an inward and outward motor 18 arranged in a horizontal plane; the linkage component 6 includes a third component 16; one end of the third component 16 is rotatably connected to the second component 9 through another rotary joint 15, and the other end of the third component 16 is connected to the output shaft 19 of the inward and outward motor 18; the second component 9 is rotatably connected to the palm component 17.

[0056] When the output shaft 19 of the adduction and abduction motor 18 is driven, it can perform reciprocating motion along a straight line. When the motor extends, it drives the third component 16 to rotate the second component 9. Since the end of the second component 9 is pivotally connected to the palm component 17, and the first component 7 is connected to the housing 34, the entire bionic thumb structure can be indirectly driven to complete the adduction and abduction movements relative to the palm component 17 through the transmission of the third component 16. It should be noted that the movement of the thumb tip and pad moving towards the opposite little finger is called adduction. Figure 11 As shown, the movement of the index finger toward the outside is called abduction. Figure 12 As shown.

[0057] It should be understood that the above embodiments can be combined with each other to achieve more flexible movement of the thumb base joint 1. For example, combining adduction and abduction movements with finger opposition and longitudinal deflection can enable this bionic thumb structure to cope with the usage needs of more complex scenarios and more closely resemble the function of human hands.

[0058] In a specific application scenario, one end of the third component 16 is rotatably connected to the second component 9. When the inward and outward extension motor 18 extends or retracts in a straight line, it pushes the second component 9 to rotate laterally around the rotatable connection point via the third component 16. Since the first and second transfer components 21 and 24 are fixedly connected to the first component 7 and the second component 9 respectively, the rotation of the second component 9 will drive the two transfer components to move synchronously. Furthermore, since both ends of the drive motor are connected to the first and second transfer components 24 via spherical connectors 23, when the third component 16 pushes the second component 9 to rotate laterally, the drive motor is constrained by the curved surface of the spherical connector 23 and rotates along it, thereby limiting the rotation amplitude of the first component 7 relative to the second component 9, causing the housing 34 connected to the first component 7 to deflect laterally. This lateral deflection movement refers to the ability of the thumb's fingertip joint to deflect laterally along the curved surface of the opposite fingertip when the fingers are facing each other, thereby adjusting the contact area and pinching angle to achieve complex movements.

[0059] Furthermore, the ball joint 23 has a deflection angle 27 at the connection point with the main drive motor 3 or the auxiliary drive motor 4, which allows the main drive motor 3 and the auxiliary drive motor 4 to deflect relative to the support rod 22.

[0060] In some specific embodiments, the deflection angle 27 ranges from 30° to 120°. Taking a finger-pinching action as an example: when the deflection angle 27 is 30°, the edge of the thumb pad contacts the edge of the index finger pad; when the deflection angle 27 reaches 90°, the middle areas of the two finger pads contact each other; and when the deflection angle reaches 120°, the edge of the other side of the thumb pad contacts the edge of the other side of the index finger pad. It should be noted that as the deflection angle 27 increases from small to large, the contact area between the thumb and index finger pads exhibits a "first increases, then decreases" pattern: the area is smallest when the edges initially contact, the area is largest when the middle areas are in contact, and the area gradually decreases again when the edges contact again. By changing the angle of deflection 27, the size of the contact area between the thumb and index finger pads is controlled, thereby adjusting the angle at which the object is pinched.

[0061] Furthermore, such as Figure 9 The housing 34 shown contains a first drive unit 28. The first component 7 and the dual-mode drive motor assembly 2 form a second accommodating space within the housing 34, and the first drive unit 28 is disposed within this second accommodating space. In one embodiment, the first drive unit 28 is fixed to the bottom of the first component 7. This arrangement makes the overall structure of the thumb base joint 1 more compact, allowing for a smaller finger. The first drive unit 28 can be any type of drive motor, such as a coreless motor. The thumb base joint 1 is mechanically connected to a proximal thumb joint 30. The output shaft of the first drive unit 28 is pivotally connected to the proximal thumb joint 30 near the thumb base joint 1 via a connecting rod member 31 to drive the proximal thumb joint 30 to press down or lift.

[0062] In detail, when the first drive unit 28 reciprocates along a straight line, its output end 29 is connected to the connecting rod member 31, driving the connecting rod member 31 to move up and down. The connecting rod member 31 includes a connecting arm 32 and a connecting seat 33. The connecting seat 33 and the connecting arm 32 form an L-shaped structure, and the connecting seat 33 and the connecting arm 32 are fixedly connected, so the angle between the connecting seat 33 and the connecting arm 32 is fixed. When the first drive unit 28 extends, the output end 29 of the first drive unit 28 drives the connecting rod member 31 to rise. The L-shaped structure converts this linear extension motion into a downward pressing motion of the proximal thumb joint relative to the pivot point, realizing the bending motion of the proximal thumb joint 30 around the pivot point relative to the thumb base joint 1, i.e., the downward pressing motion.

[0063] Conversely, when the first drive unit 28 retracts, the output end 29 of the first drive unit 28 is pressed down by the connecting rod member 31. At the same time, the connecting rod member 31 drives the proximal thumb joint 30 to rotate and lift around the pivot point. As the proximal thumb joint 30 is lifted, the "L"-shaped structure changes the original bent state of the proximal thumb joint relative to the thumb base joint 1 to an upright state, that is, from the original pressed state of the proximal thumb joint 30 relative to the thumb base joint 1 to the lifted state of the proximal thumb joint 30 relative to the thumb base joint 1.

[0064] Furthermore, the connecting rod component 31 includes a connecting arm 32 and a connecting seat 33 fixedly connected to the connecting arm 32; wherein, one end of the connecting seat 33 is pivotally connected to the output end 29 of the first drive unit 28, and the other end is fixedly connected to the connecting arm 32, and the end of the connecting arm 32 near the proximal thumb joint 30 is rotatably connected to the proximal thumb joint 30.

[0065] It should be understood that when the first drive unit 28 extends or retracts, it drives the connecting seat 33 to move up and down in a straight line. Since the connecting seat 33 and the connecting arm 32 are fixedly connected to form an "L"-shaped structure, the connecting arm 32 moves up and down synchronously. Furthermore, because the connecting arm 32 and the proximal thumb joint 30 are rotatably connected, the up and down movement of the connecting arm 32 causes the proximal thumb joint 30 to rotate around the rotatable connection point, and this rotation is fulcrumd at the pivot point between the housing 34 and the proximal thumb joint 30. Therefore, with the extension and retraction of the first drive unit 28, the proximal thumb joint 30 can switch between a bent and upright state relative to the thumb base joint 1.

[0066] In other embodiments, the bionic thumb structure also includes a thumb tip joint 35. A drive motor is housed within the thumb proximal joint 30, and the connection between the thumb tip joint 35 and the thumb proximal joint 30 is provided with the same connecting rod member 31 as described above. The bending and straightening movements of the thumb tip joint 35 relative to the thumb proximal joint 30 are consistent in principle and process with the movements of the thumb proximal joint 30 relative to the thumb base joint 1, and will not be described further here.

[0067] In summary, the bionic thumb structure of this technical solution, through multi-joint linkage design, achieves flexion and extension of the thumb tip joint relative to the proximal joint, flexion and extension of the proximal joint relative to the base joint, translation or movement of the base joint towards the opposite finger, adduction or abduction of the base joint relative to the palm component 17 (achieved through the linkage of the adduction / abduction motor 18 and the base joint), and dynamic adjustment of the contact area between the thumb pad and the opposite finger pad during finger-to-finger contact (achieved through the deflection of the component). Multi-joint drive accurately replicates human thumb movement, and dynamic adjustment of the contact area enhances grasping adaptability. This solution effectively overcomes the functional limitations of existing bionic thumbs. Through the coordinated design of multi-joint linkage and the drive mechanism, the degrees of freedom of each joint can be dynamically adjusted according to complex usage scenarios, significantly improving the flexibility and environmental adaptability of grasping operations.

[0068] Another embodiment of this application provides a bionic robotic hand, including the bionic thumb structure described in any of the above embodiments.

[0069] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0070] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness H", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0071] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0072] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. The illustrative expressions of the above terms in this specification should not be construed as necessarily referring 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. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0073] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Since these modifications and variations fall within the scope of the claims and their equivalents, this application also intends to include these modifications and variations.

[0074] The above description describes specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A biomimetic thumb structure, comprising a thumb base joint, characterized in that: The thumb base joint includes a housing, a dual-mode drive motor assembly, and a linkage component; The dual-mode drive motor assembly includes a main drive motor and an auxiliary drive motor, which are longitudinally arranged within the housing, and the output shafts of the main drive motor and the auxiliary drive motor are parallel. The linkage component includes a first component and a second component, wherein the first component and the second component are pivotally connected. The first component is disposed within the housing and connected to the fixed end of the main drive motor and the fixed end of the auxiliary drive motor; the second component is connected to the opposite hand component; the output shafts of the main drive motor and the auxiliary drive motor are rotatably connected to the second component. When the main drive motor and the auxiliary drive motor run at the same speed and in the same direction, the main drive motor and the auxiliary drive motor provide power to the first component to drive the bionic thumb structure to translate or move away from the opposite finger direction.

2. The bionic thumb structure according to claim 1, characterized in that: The first component includes a top, side, and bottom that are interconnected; The top of the first component is connected to the fixed end of the main drive motor and the fixed end of the auxiliary drive motor, respectively. The side portion of the first component is longitudinally disposed in the middle of the dual-mode drive motor assembly and forms a first accommodating space with the housing, and the dual-mode drive motor assembly is disposed in the first accommodating space; The bottom of the first component is pivotally connected to one end of the second component; the other end of the second component is connected to the palm component.

3. The bionic thumb structure according to claim 1, characterized in that: The first component is provided with a first transfer member, and the second component is provided with a second transfer member; The two ends of the first transfer member are respectively connected to the fixed ends of the main drive motor and the auxiliary drive motor; The two ends of the second transfer member are respectively connected to the output shafts of the main drive motor and the auxiliary drive motor.

4. The bionic thumb structure according to claim 3, characterized in that: The first component has a first through hole, and the first moving member is fixedly disposed in the first through hole; The second component has a second through hole, and the second moving member is fixedly disposed in the second through hole.

5. The bionic thumb structure according to claim 3 or 4, characterized in that: The first and second moving components each include a support rod and spherical connectors disposed at both ends of the support rod; The two ends of the support rod of the first transfer member are rotatably connected to the fixed ends of the main drive motor and the auxiliary drive motor respectively through the ball connector; The two ends of the support rod of the second transfer member are rotatably connected to the output shafts of the main drive motor and the auxiliary drive motor respectively through the ball joint.

6. The bionic thumb structure according to claim 1, characterized in that: The second component includes a base connecting rod and a transmission connecting rod; The first end of the base connecting rod is pivotally connected to the first component, and the second end of the base connecting rod is rotatably connected to the transmission connecting rod through a rotary joint; the end of the transmission connecting rod is connected to the palm component.

7. The bionic thumb structure according to claim 1, characterized in that: The bionic thumb structure also includes: an inward and outward motor arranged in a transverse plane; The linkage component also includes a third component; One end of the third component is rotatably connected to the second component, and the other end of the third component is connected to the output shaft of the inward and outward motor. The second component is rotatably connected to the palm component.

8. The bionic thumb structure according to claim 1, characterized in that: The thumb base joint also includes a first drive unit; the first component and the dual-mode drive motor assembly form a second accommodating space within the housing, and the first drive unit is disposed within the second accommodating space; The output shaft of the first drive unit is pivotally connected to the proximal thumb joint near the thumb base joint via a connecting rod component to drive the proximal thumb joint to press down or lift.

9. The bionic thumb structure according to claim 8, characterized in that: The connecting rod component includes a connecting arm and a connecting seat fixedly connected to the connecting arm; One end of the connecting seat is pivotally connected to the output end of the first driving unit, and the other end is fixedly connected to the connecting arm. The end of the connecting arm near the proximal joint of the thumb is rotatably connected to the proximal joint of the thumb.

10. A bionic robotic hand, characterized in that, Including the bionic thumb structure as described in any one of claims 1-9.

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