Thumb joint module

Abstract

The utility model relates to a mechanical hand especially a thumb joint module, include: near phalange, inside be equipped with near finger seat, drive arrangement, locate near finger seat on, middle phalange, rotate and locate near phalange on, far phalange, rotate and locate middle phalange on, screw rod three, rotate and locate near finger seat on, with drive arrangement is connected, nut three, locate screw rod three on, nut seat three, locate nut three on, connecting rod transmission device respectively with nut seat three, near phalange, middle phalange and far phalange are connected, wherein, drive arrangement is used for through connecting rod transmission device drive near phalange, middle phalange, far phalange to make thumb joint module bend or straighten out. The utility model provides a thumb joint module through screw rod and connecting rod transmission device improves the bending degree of thumb, and the flexibility of thumb joint is improved synchronously, and the action is fast.

Description

Technical Field

[0001] This utility model relates to a robotic hand, and more particularly to a thumb joint module. 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, the mechanical thumb and mechanical hand disclosed in Chinese patent CN2018108654967 have their finger bending angles limited by linear actuators, resulting in a smaller bending angle and some issues with flexibility. Utility Model Content

[0004] To address the aforementioned issues of small bending angle and poor flexibility, this utility model provides a thumb joint module, the specific technical solution of which is as follows: A thumb joint module includes: a proximal phalanx with a proximal phalanx seat inside; a driving device disposed on the proximal phalanx seat; a middle phalanx rotatably disposed on the proximal phalanx; a distal phalanx rotatably disposed on the middle phalanx; a lead screw three disposed on the proximal phalanx seat and connected to the driving device; a nut three disposed on the lead screw three; a nut seat three disposed on the nut three; and a linkage transmission device connected to the nut seat three, the proximal phalanx, the middle phalanx, and the distal phalanx respectively; wherein, the driving device is used to drive the proximal phalanx, the middle phalanx, and the distal phalanx through the linkage transmission device to bend or straighten the thumb joint module.

[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] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a thumb joint module that improves the bending degree of the thumb through a lead screw and connecting rod transmission device, and simultaneously improves the flexibility of the thumb joint, resulting in faster movement. Attached Figure Description

[0008] Figure 1 This is a schematic diagram of the structure of this application; Figure 2 This is a schematic diagram of the structure after the proximal and middle phalanges are hidden; Figure 3 This is a schematic diagram of the structure after the proximal, middle, and distal phalanges are hidden; Figure 4 yes Figure 3 A stereoscopic view from a second perspective. Detailed Implementation

[0009] The present invention will now be further described with reference to the accompanying drawings.

[0010] like Figures 1 to 4As shown, a thumb joint module 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, and a linkage transmission device. The proximal phalanx 32 is 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 rotatably connected to the top of the proximal phalanx 32, 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 installed on the proximal phalanx seat 321 and connected to the drive device. The nut 3 is installed on the lead screw 34 and connected to the nut seat 35. The linkage transmission device is connected to the nut seat 35, the proximal phalanx 32, the middle phalanx 33, and the distal phalanx 34 respectively. 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 bend or straighten the thumb joint module.

[0011] 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.

[0012] 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.

[0013] 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.

[0014] 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.

[0015] With built-in drive, power transmission is efficient and direct, greatly reducing the weight of the end effector. The knuckles themselves do not require motors, making the fingertips extremely lightweight, reducing motion inertia, and facilitating high-speed, high-precision grasping movements.

[0016] The robotic thumb features a short and rigid power transmission path. Power is directly transmitted through rigid transmission components such as lead screws and gears, resulting in high efficiency, fast response, and minimal backlash. The lead screw is self-locking, automatically maintaining the finger's current position and gripping force after motor power failure, making it highly energy-efficient and safe. The lead screw mechanism provides substantial push and pull forces, ensuring a strong grip. Furthermore, the linear displacement is strictly proportional to the motor rotation angle, facilitating precise closed-loop position control.

[0017] 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.

[0018] 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 joint module, 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 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 bend or straighten the thumb joint module; 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 proximal phalanx (32); The fifth pivot (65) is located on the proximal phalanx (32) 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).

2. A thumb joint module 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).

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