Mechanical hand thumb

Abstract

The utility model relates to a kind of mechanical hand thumb, comprising: proximal phalanx, inside being equipped with proximal phalanx seat;Driving device is located on proximal phalanx seat;Middle phalanx rotation is equipped on proximal phalanx;Far phalanx rotation is equipped on middle phalanx;Screw rod three rotation is equipped on proximal phalanx seat, and is connected with driving device;Nut three is equipped on screw rod three;Nut seat three is equipped on nut three;Connecting rod transmission device is connected with nut seat three, proximal phalanx, middle phalanx and far phalanx respectively;First fixed seat is equipped on palm;Eighth rotating shaft rotation is equipped on first fixed seat;First rotating device is equipped on first fixed seat and is connected with eighth rotating shaft;Middle joint seat, one end is equipped on eighth rotating shaft;Seventh rotating shaft is fixedly equipped on the other end of middle joint seat, and is rotationally connected with proximal phalanx;Second rotating device is equipped on proximal phalanx, and is fixedly connected with seventh rotating shaft.The mechanical hand thumb is gripped by screw rod, and it is advantageous, control precision is high, and dexterity is extremely high.

Description

Technical Field

[0001] This utility model relates to a robotic hand, and more particularly to a robotic thumb. 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 robotic thumb, the specific technical solution of which is as follows: A robotic thumb includes: a proximal phalanx with a proximal phalanx seat inside; a drive device mounted on the proximal phalanx seat; a middle phalanx rotatably mounted on the proximal phalanx; a distal phalanx rotatably mounted on the middle phalanx; a lead screw three rotatably mounted on the proximal phalanx seat and connected to the drive device; a nut three mounted on the lead screw three; a nut seat three mounted on the nut three; a linkage transmission device connected to the nut seat three, the proximal phalanx, the middle phalanx, and the distal phalanx respectively; a first fixed base mounted on the palm; and an eighth rotating shaft for rotation. The first fixed base is provided; the first rotating device is provided on the first fixed base and connected to the eighth rotating shaft; the intermediate joint seat is provided at one end on the eighth rotating shaft; the seventh rotating shaft is fixedly provided at the other end of the intermediate joint seat and rotatably connected to the proximal phalanx; the second rotating device is provided on the proximal phalanx and fixedly connected to the seventh rotating shaft; wherein, the driving device is used to drive the proximal phalanx, the middle phalanx and the distal phalanx through the linkage transmission device to make the thumb joint module bend or straighten.

[0005] Preferably, the driving device includes: a third drive motor disposed on the proximal finger seat; a third drive gear disposed on the third drive motor; and a third driven gear disposed at one end of the lead screw and meshing with the third drive gear.

[0006] Preferably, the linkage transmission device includes: a first rotating shaft disposed on the nut seat three; a first connecting rod rotatably disposed at one end on the first rotating shaft; a second rotating shaft rotatably disposed at the other end of the first connecting rod; a support frame three, the support frame three including an eighth connecting arm and a ninth connecting arm disposed at both ends and a seventh connecting arm disposed in the middle of the support frame three, the seventh connecting arm being connected to the second rotating shaft; a third rotating shaft disposed at the top of the proximal finger seat and rotatably connected to the eighth connecting arm; a fourth rotating shaft disposed on the ninth connecting arm and connected to the distal phalanx; a fifth rotating shaft disposed on the distal phalanx and located on one side of the fourth rotating shaft; a second connecting rod rotatably connected at one end to the fifth rotating shaft; a sixth rotating shaft disposed on the proximal finger seat and located on one side of the third rotating shaft, the sixth rotating shaft also being rotatably connected to the other end of the second connecting rod; wherein, the second connecting rod is also symmetrically located on both sides of the support frame three; the third rotating shaft is also rotatably connected to the middle phalanx; the fourth rotating shaft is also rotatably connected to the distal phalanx.

[0007] 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.

[0008] 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.

[0009] 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.

[0010] 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.

[0011] Compared with the prior art, the present invention has the following beneficial effects: This utility model provides a robotic hand where the thumb, through a lead screw, enables the fingers to grip effectively, achieving high control precision and realizing a natural bending trajectory that closely resembles the thumb's movement. This provides strong adaptability and stable gripping. The eighth rotating axis enables the thumb to move against the palm, thereby achieving precise pinching actions. The seventh rotating axis realizes flexion and extension movements, allowing the thumb to flexibly position itself at the optimal angle. It can cooperate with the other fingers to complete various gripping modes such as side pinching, fine pinching, and force gripping, exhibiting extremely high dexterity. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the structure of this application; Figure 2 This is a schematic diagram of the intermediate joint seat; Figure 3 This is a schematic diagram of the structure of the first rotating device; Figure 4 This is a schematic diagram of the structure after the proximal, middle, and distal phalanges are hidden; Figure 5 This is a structural diagram showing the concealed first rotating mechanism, intermediate joint seat, proximal phalanx, and middle phalanx; Figure 6 yes Figure 5 A second perspective stereoscopic view; Figure 7 This is a schematic diagram of the structure of this application when installed on the palm of the hand. Detailed Implementation

[0013] The present invention will now be further described with reference to the accompanying drawings.

[0014] like Figures 1 to 7 As shown, a robotic thumb includes: a proximal phalanx 32, a drive device, a middle phalanx 33, a distal phalanx 34, a lead screw 44, a nut 3, a nut seat 35, a linkage transmission device, 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 proximal phalanx 32 has a shell structure, and a proximal phalanx seat 321 is fixedly installed inside the proximal phalanx 32; the drive device is installed at the bottom of the proximal phalanx seat 321; one end of the middle phalanx 33 is connected to the proximal phalanx. The top of 32 is rotatably connected, and the other end of the middle phalanx 33 is rotatably connected to one end of the distal phalanx 34; the lead screw 34 is rotatably mounted on the proximal phalanx seat 321 and connected to the drive device; the nut 3 is mounted on the lead screw 344 and connected to the nut seat 35; the linkage transmission device is connected to the nut seat 35, proximal phalanx 32, middle phalanx 33 and distal phalanx 34 respectively; the drive device is used to drive the proximal phalanx 32, middle phalanx 33 and distal phalanx 34 through the linkage transmission device to make the thumb of the robot bend or straighten.

[0015] The first fixed seat 21 is mounted on the palm and is rotatably connected to the eighth rotating shaft 233; the first rotating device is mounted on the first fixed seat 21 and is 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 is rotatably connected to the proximal phalanx 32; the second rotating device is mounted on the proximal phalanx 32 and is fixedly connected to the seventh rotating shaft 29.

[0016] The drive unit includes a third drive motor 41, a third driving gear 42, and a third driven gear 43. The third drive motor 41 is fixed on the proximal finger seat 321 and is fixedly connected to the third driving gear 42. The third driven gear 43 is fixed to one end of the lead screw 44 and meshes with the third driving gear 42. The third drive motor 41 and the lead screw 44 are located on the same side, making the structure compact and ensuring that the length of the thumb does not exceed the limit.

[0017] The linkage transmission device includes a first rotating shaft 61, a first connecting rod 51, a second rotating shaft 62, a support frame 32, a third rotating shaft 63, a fourth rotating shaft 64, a fifth rotating shaft 65, a second connecting rod 53, and a sixth rotating shaft 66. The first rotating shaft 61 is mounted on the nut seat 35. The two ends of the first connecting rod 51 are rotatably connected to the first rotating shaft 61 and the second rotating shaft 62, respectively. The support frame 32 includes an eighth connecting arm and a ninth connecting arm located at both ends, and a seventh connecting arm located in the middle of the support frame 322. The seventh connecting arm is connected to the second rotating shaft 62. The third rotating shaft 63 is mounted on the top of the proximal finger seat 321. It is rotatably connected to the eighth connecting arm; the fourth pivot 64 is rotatably connected to the ninth connecting arm and the distal phalanx 34 respectively; the fifth pivot 65 is mounted on the distal phalanx 34 and located on one side of the fourth pivot 64, and the fifth pivot 65 is rotatably connected to one end of the second connecting rod 53; the sixth pivot 66 is mounted on the proximal phalanx seat 321 and located on one side of the third pivot 63, and the sixth pivot 66 is also rotatably connected to the other end of the second connecting rod 53; the second connecting rod 53 is also symmetrically located on both sides of the support frame 3 52; the third pivot 63 is also rotatably connected to the middle phalanx 33; the fourth pivot 64 is also rotatably connected to the distal phalanx 34.

[0018] The third drive motor 41 drives the lead screw 44 to rotate. The lead screw 44 drives the nut seat 45 to reciprocate along the axis of the lead screw 44 via the nut 3. The nut seat 45 drives the first connecting rod 51. When the nut seat 45 drives the first connecting rod 31 to move upward, the seventh connecting arm drives the distal phalanx 34 and the middle phalanx 35 to straighten. When the Roman seat 45 drives the first connecting rod 31 to move downward, the seventh connecting arm drives the distal phalanx 34 and the middle phalanx 35 to bend. The second connecting rod 53 cooperates with the first connecting rod 51 to enable the distal phalanx 34 and the middle phalanx 35 to bend and straighten normally.

[0019] 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.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] The robotic thumb has an integrated drive mechanism, enabling efficient and direct power transmission and significantly reducing end-effector weight. The knuckles themselves do not require motors, resulting in a very lightweight fingertip area, reduced inertia, and improved high-speed, high-precision grasping capabilities.

[0024] The robotic thumb features a short and rigid power transmission path. Power is directly transmitted through rigid transmission components such as lead screws, gears, and bevel gears, resulting in high efficiency, fast response, and minimal backlash. The lead screw has self-locking properties, allowing the finger to automatically maintain its current position and gripping force after the motor is powered off, making it highly energy-efficient and safe. The lead screw mechanism provides significant push and pull forces, ensuring a strong grip. Simultaneously, the linear displacement is strictly proportional to the motor rotation angle, facilitating precise closed-loop position control.

[0025] The composite linkage design achieves anthropomorphic coupled motion. Through the support frame three, the first link, and the second link, the linear motion of the nut is converted into the bending motion of the distal phalanx, forming a natural coupled motion. The linkage mechanism couples the movements of the distal and middle phalanges, mimicking the natural bending trajectory of the human finger "base phalanx first, then distal phalanx," resulting in strong adaptability and stable gripping.

[0026] Complex kinematic relationships are internalized through mechanical structures, reducing reliance on control algorithms. All motion is driven by a single motor, saving on actuator and control costs.

[0027] 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.

[0028] The eighth pivot enables the thumb to move against the palm, thus achieving the key to precise pinching.

[0029] Axial rotation: The seventh axis enables the flexion and extension of the thumb.

[0030] 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.

[0031] The entire structure is mainly composed of rigid components such as metal shafts, connecting rods, gears, and lead screws. It has little deformation under load, can maintain an accurate motion trajectory, and can grasp and hold heavy objects, making it suitable for industrial applications. In contrast, many flexible and dexterous hands will deform under heavy loads.

[0032] The mechanical limiting mechanism employs a limiting shaft and an arc groove, ensuring high safety, preventing the joint rotation angle from exceeding the design range, avoiding damage to the mechanism due to accidental collisions or program errors, and improving the reliability and service life of the system.

[0033] This robotic thumb structure combines high performance, high precision, high rigidity, and highly human-like motion capabilities, making it ideal for applications requiring high torque, high precision, and high reliability, such as industrial assembly, precision operation, space robotics, or exoskeleton robots.

[0034] 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 robotic thumb, characterized in that, include: The proximal phalanx (32) has a proximal phalanx seat (321) inside. A drive device is provided on the proximal finger seat (321); The middle knuckle (33) is rotatably mounted on the proximal knuckle (32); The distal phalanx (34) is rotatably mounted on the middle phalanx (33); The lead screw three (44) is rotatably mounted on the near finger seat (321) and connected to the drive device; Nut three is provided on the lead screw three (44); Nut seat three (45) is provided on the nut three; The linkage transmission device is connected to the nut seat (45), the proximal finger joint (32), the middle finger joint (33), and the distal finger joint (34) respectively; 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 located at the other end of the intermediate joint seat (24) and is rotatably connected to the proximal phalanx (32); The second rotating device is located on the proximal phalanx (32) and is fixedly connected to the seventh rotating shaft (29); The drive device is used to drive the proximal phalanx (32), the middle phalanx (33), and the distal phalanx (34) through the linkage transmission device to make the thumb of the robotic hand bend or straighten.

2. The robotic thumb according to claim 1, characterized in that, The driving device includes: The third drive motor (41) is mounted on the proximal finger seat (321); The third drive gear (42) is mounted on the third drive motor (41); and The third driven gear (43) is located at one end of the lead screw (44) and meshes with the third driving gear (42).

3. The robotic thumb according to claim 1, characterized in that, The linkage transmission device includes: The first rotating shaft (61) is located on the nut seat three (45); The first connecting rod (51) is rotatably mounted on the first rotating shaft (61) at one end; The second rotating shaft (62) is rotatably located at the other end of the first connecting rod (51); Support frame three (52) includes an eighth connecting arm and a ninth connecting arm at both ends and a seventh connecting arm at the middle of the support frame three (52), the seventh connecting arm being connected to the second rotating shaft (62); The third pivot (63) is located on the top of the proximal finger seat (321) and is rotatably connected to the eighth connecting arm; The fourth pivot (64) is located on the ninth connecting arm and is connected to the distal phalanx (34); The fifth pivot (65) is located on the distal phalanx (34) and is situated on one side of the fourth pivot (64); The second connecting rod (53) is rotatably connected at one end to the fifth rotating shaft (65); The sixth pivot (66) is located on the proximal finger seat (321) and on one side of the third pivot (63). The sixth pivot (66) is also rotatably connected to the other end of the second connecting rod (53). The second connecting rod (53) is also symmetrically located on both sides of the support frame three (52); The third pivot (63) is also rotatably connected to the middle finger joint (33); The fourth pivot (64) is also rotatably connected to the distal phalanx (34).

4. A robotic thumb according to any one of claims 1 to 3, 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).

5. A robotic thumb according to any one of claims 1 to 3, 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).

6. A robotic thumb 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).

7. A robotic thumb according to any one of claims 1 to 3, characterized in that, Also includes: The limiting shaft is fixed on the proximal phalanx (32) and is 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).

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