A thumb-rotary device

Abstract

The utility model relates to a mechanical hand, especially a thumb rotating device, which comprises a first fixing seat arranged on a palm, an eighth rotating shaft rotatably arranged on the first fixing seat, a first rotating device arranged on the first fixing seat and connected with the eighth rotating shaft, an intermediate joint seat having one end arranged on the eighth rotating shaft, a seventh rotating shaft fixedly arranged on the other end of the intermediate joint seat and rotatably connected with a proximal phalanx, and a second rotating device arranged on the proximal phalanx and fixedly connected with the seventh rotating shaft. The thumb rotating device provided by the utility model drives the thumb to flip towards the palm through the first rotating device and the intermediate joint seat, drives the thumb joint module to bend towards the palm through the second rotating device and the intermediate joint seat, greatly improves the freedom and flexibility between the thumb and the palm, makes the thumb convenient to grab and release objects, and has a simple structure.

Description

Technical Field

[0001] This utility model relates to a robotic hand, and more particularly to a thumb rotation device. Background Technology

[0002] Dexterous robotic hands represent a cutting-edge research direction in robotics, with the core objective of enabling robots to possess the fine maneuvering capabilities of human hands. Their development and application aim to address the fundamental limitations of traditional industrial robots in terms of operational flexibility, adaptability, and precision, thereby overcoming a series of key difficulties in the production process. As a novel type of robotic hand, the humanoid dexterous hand more closely resembles the function and structure of a human hand, enabling it to perform tasks with higher precision in fields such as intelligent manufacturing, industry, and logistics.

[0003] For example, CN112873252A discloses a modular dexterous hand mechanical structure, in which the thumb includes a thumb servo, thumb base, thumb base joint, thumb base joint motor, thumb proximal joint connecting seat, thumb base joint worm gear, thumb base joint worm, thumb proximal joint shaft, thumb proximal joint, thumb coupling connecting shaft one, thumb coupling connecting shaft two, thumb coupling transmission link, thumb distal joint shaft, and thumb distal joint. Its structure is relatively complex, and the thumb is located in the center of the palm after rotation, making it inconvenient to grasp objects. Utility Model Content

[0004] To solve the above problems, this utility model provides a thumb rotating device, the specific technical solution of which is as follows: A thumb rotating device includes: a first fixed seat disposed on the palm; an eighth rotating shaft rotatably disposed on the first fixed seat; a first rotating device disposed on the first fixed seat and connected to the eighth rotating shaft; an intermediate joint seat with one end disposed on the eighth rotating shaft; a seventh rotating shaft fixedly disposed on the other end of the intermediate joint seat and rotatably connected to the proximal phalanx; and a second rotating device disposed on the proximal phalanx and fixedly connected to the seventh rotating shaft.

[0005] Preferably, the first rotating device includes: a first motor mounted on the first fixed base; a first worm gear mounted on the first motor; and a first turbine mounted on the eighth rotating shaft and meshing with the first worm gear.

[0006] Preferably, the second rotating device includes: a second motor disposed on the proximal finger seat; a second driving bevel gear disposed on the second motor; and a second driven bevel gear disposed on the seventh rotating shaft and meshing with the second driving bevel gear.

[0007] Preferably, the two ends of the intermediate joint seat are respectively provided with a first joint groove and a second joint groove, the first joint groove and the second joint groove are perpendicular to each other, the eighth rotating shaft is disposed in the first joint groove, and the seventh rotating shaft is disposed in the second joint groove.

[0008] Preferably, the thumb rotation device further includes a limiting shaft, which is fixed on the proximal phalanx and movably inserted into the limiting groove of the joint seat, wherein the limiting groove is an arc groove coaxial with the seventh rotating shaft.

[0009] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a thumb rotating device that drives the thumb to rotate toward the palm through a first rotating device and an intermediate joint seat, and drives the thumb shut-off module to bend toward the palm through a second rotating device and an intermediate joint seat, which greatly improves the freedom and flexibility between the thumb and the palm, making it easier for the thumb to grasp and place objects, and the structure is simple.

[0010] The eighth axis enables the thumb to move against the palm, thus achieving a precise pinching action. The seventh axis enables flexion and extension movements, allowing the thumb to flexibly position itself at the optimal angle and cooperate with the other fingers to complete various grasping modes such as side pinching, fine pinching, and forceful grasping, resulting in extremely high dexterity. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the structure of this application; Figure 2 This is a schematic diagram of the structure of the first rotating device; Figure 3 This is a schematic diagram of the intermediate joint seat; Figure 4 This is a schematic diagram of the connection between this application and the thumb joint module; Figure 5 This is a schematic diagram of the structure of this application installed on the palm of the hand. Detailed Implementation

[0012] The present invention will now be further described with reference to the accompanying drawings.

[0013] like Figures 1 to 5 As shown, a thumb rotating device includes a first fixed base 21, an eighth rotating shaft 233, a first rotating device, an intermediate joint seat 24, a seventh rotating shaft 29, and a second rotating device. The first fixed base 21 is mounted on the palm and rotatably connected to the eighth rotating shaft 233. The first rotating device is mounted on the first fixed base 21 and connected to the eighth rotating shaft 233. One end of the intermediate joint seat 24 is mounted on the eighth rotating shaft 233. The seventh rotating shaft 29 is fixed to the other end of the intermediate joint seat 24 and rotatably connected to the proximal phalanx 32. The second rotating device is mounted on the proximal phalanx 32 and fixedly connected to the seventh rotating shaft 29.

[0014] The first rotating device includes a first motor 22, a first worm gear 231, and a first turbine 232. The first motor 22 is mounted on a first fixed base 21 and connected to the first worm gear 231. The first turbine 232 is mounted on an eighth rotating shaft 233 and meshes with the first worm gear 231. The first rotating device, in conjunction with the eighth rotating shaft, is used to drive the thumb to turn towards the palm, that is, to achieve palm-to-palm movement.

[0015] The second rotating device includes a second motor 27, a second driving bevel gear 26, and a third driven bevel gear. The second motor 27 is fixed on the proximal finger seat 321 and connected to the second driving bevel gear 26. The second driven bevel gear 25 is mounted on the seventh rotating shaft 29 and meshes with the second driving bevel gear 26. The second transmission device, in conjunction with the seventh rotating shaft, achieves axial rotation, enabling the thumb to perform flexion and extension movements.

[0016] The intermediate joint seat 24 has a first joint groove 241 and a second joint groove 242 at its two ends respectively. The first joint groove 241 and the second joint groove 242 are perpendicular to each other. The eighth rotating shaft 233 is located in the first joint groove 241 and the seventh rotating shaft 29 is located in the second joint groove 242.

[0017] It also includes a limiting shaft, which is fixed on the proximal phalanx 32 and movably inserted into the limiting groove 243 of the intermediate joint seat 24. The limiting groove 243 is an arc groove coaxial with the seventh rotating shaft 29. The limiting groove 243 limits the angle of rotation.

[0018] The dual-degree-of-freedom base design provides excellent flexibility, offering two basic degrees of freedom for the thumb through a first and a second rotation mechanism.

[0019] The eighth pivot enables the thumb to move against the palm, thus achieving the key to precise pinching.

[0020] Axial rotation: The seventh axis enables the flexion and extension of the thumb.

[0021] The combination of these two degrees of freedom allows the thumb to flexibly position itself at the optimal angle, cooperating with the other fingers to complete various grasping modes such as side pinching and fine pinching, resulting in extremely high dexterity.

[0022] The technical principles of this utility model have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of this utility model and should not be construed as limiting the scope of protection of this utility model in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of this utility model without inventive effort, and these embodiments will all fall within the protection scope of the claims of this utility model.

Claims

1. A thumb-rotating device, characterized in that, include: The first fixed seat (21) is located on the palm of the hand; The eighth rotating shaft (233) is rotatably mounted on the first fixed seat (21); The first rotating device is mounted on the first fixed base (21) and connected to the eighth rotating shaft (233); The intermediate joint seat (24) is located on the eighth rotating shaft (233) at one end; The seventh pivot (29) is fixedly disposed at the other end of the intermediate joint seat (24) and rotatably connected to the proximal phalanx (32); and The second rotating device is located on the proximal phalanx (32) and is fixedly connected to the seventh rotating shaft (29).

2. The thumb rotating device according to claim 1, characterized in that, The first rotating device includes: The first motor (22) is mounted on the first fixed base (21); The first worm gear (231) is mounted on the first motor (22); The first turbine (232) is mounted on the eighth shaft (233) and meshes with the first worm (231).

3. The thumb rotating device according to claim 1, characterized in that, The second rotating device includes: The second motor (27) is mounted on the finger seat (321); The second active bevel gear (26) is disposed on the second motor (27); and The second driven bevel tooth (25) is located on the seventh rotating shaft (29) and meshes with the second driving bevel tooth (26).

4. A thumb-rotating device according to any one of claims 1 to 3, characterized in that, The intermediate joint seat (24) has a first joint groove (241) and a second joint groove (242) at both ends, respectively. The first joint groove (241) and the second joint groove (242) are perpendicular to each other. The eighth rotating shaft (233) is located in the first joint groove (241), and the seventh rotating shaft (29) is located in the second joint groove (242).

5. A thumb-rotating device according to any one of claims 1 to 3, characterized in that, The thumb rotation device further includes a limiting shaft, which is fixed on the proximal phalanx (32) and movably inserted into the limiting groove (243) of the joint seat. The limiting groove (243) is an arc groove coaxial with the seventh rotating shaft (29).

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