201219174 六、發明說明： 【發明所屬之技術領域】 本發明A有關於-種機械手臂，肖別是指一種利用單 一致動器就可驅動手/拇指各部關節活動，藉以做出不同手 勢動作之手/拇指關節聯動單元。 【先前技術】 隨著時代的進步，機器人研發及應用已逐漸由支援工 業用途之工業機器人朝向應用於民生、醫療及育樂等服務 用途之機器人發展，導覽服務用的機器人在各式公關場合 、博物館或是美術料場所服役，藉由其新奇科技吸引大 眾目光後’再引領觀眾並傳達各項訊息，商機可期，然而 以目前導覽服務用的機器人而言，多半只能做到簡單少數 幾個招呼動作’較少能呈現類似人體手勢複雜的動作，因 此在互動層面仍有技彳奸故肖允 旁筏術改良空間，相較於可做各種精細動 作之高階機械手，_能展現出複雜的手勢形狀，適合用 於導覽機器人的用i，但是相對其各部關節動作，由於需 要仰賴使用大量的致動器作為控制，製造成本偏高，體積 也較龐大，不利於產業上之利用。 【發明内容】 因此’本發明目的在提供一 〇 動所有關節做出手勢動作的手_關節:動-單元動器便能驅 於是，本發明提供一種手指關節聯動單元，盆包含有 -手掌本體及複數個手指模組，# ^ ^ 卞旱本體刖端處6又 母一手指模組各具有-裝設在手指安裝 201219174 接二:一樞接在手指本體上的第-指節、-樞 =第-“上的第二指節、一抱接在第二指節上的第三201219174 VI. Description of the Invention: [Technical Field of the Invention] The present invention relates to a robotic arm, and refers to a joint actuator that can drive the joint activities of the hand/thumb, thereby making different gestures. Hand/thum joint linkage unit. [Prior Art] With the advancement of the times, the development and application of robots has gradually evolved from industrial robots that support industrial use to robots for service applications such as people's livelihood, medical care, and recreation. Robots for navigation services are used in various public relations situations. Service in museums or art materials, attracting the public's attention through its novel technology, 'leading the audience and conveying various messages, business opportunities can be expected, but for the robots currently used for navigation services, most of them can only be simple A few greetings are less able to present complex movements similar to human gestures. Therefore, there are still technical and sinister scams on the interactive level, which is better than the high-level robots that can do all kinds of fine movements. It exhibits a complex gesture shape and is suitable for guiding the robot i. However, due to the need to rely on the use of a large number of actuators as a control, the manufacturing cost is high and the volume is large, which is not conducive to the industry. Use. SUMMARY OF THE INVENTION Therefore, the object of the present invention is to provide a hand-jointing-moving unit that can sway all joints to make gestures. The present invention provides a finger joint linkage unit, the basin includes a - palm body And a plurality of finger modules, # ^ ^ 刖 刖 刖 6 6 6 又 又 又 又 又 又 又 6 6 6 6 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 = the first - the second knuckle on the second, the third on the second knuckle
W 二隸裝設在手指本體上可帶動第―指節運動的致動器 、-連接在手指本體與第二指節之間可帶動第二指節運動 桿、以及一連接在第一指節與第三指節之間可帶 動第二指節運動的第二連桿。 另外，本發明又提供一種拇指關節聯動單元，盆包含 有掌本體及一姆指模組’其中：手掌本體一侧邊處設 裝部；姆指模組具有一裝設在姆指安裝部上的 =的:樞，本體上的第-指節、，在第 * 一扣卽、一樞接在第二指節上的第三指節、 :裝設在梅指本體上可帶動第一指節運動的致動器、:連 =指本體及第二指節之間可帶動第二指節沿二轴方向 心的第一連桿、以及一連接在第_、第三指 ▼動第三指節運動的第二連桿。 =明之功效是以手指模組及拇指模組做成多指節結 =各指節之間藉由連桿相互連動，利用單—致動器便可 =帶動所有指節做出關節運動，藉此讓機械手可做出多 關即、多自由度之手勢動作。 【實施方式】. 有關本發明之前述及其他技術内容、特點與功效，在 以下配合參考圖式之一較佳實施例的詳細說 楚的呈現。 3 參閱圖1、0 2，本發明手指關節聯動單元在一較佳實 4 201219174 其Sr: —手掌本體I三組手指模組2°及-組 睿 門二二.，再將上述各單元的構成元件及組合空 間型悲詳述於后。 丰〜 1 掌本體^是略呈矩形狀的座體，主要是模擬人體的 旱=立，手旱本體」分在前端處設有—手指安装部u ,手 掌本體1G在-側邊處設有—拇指安裝部12。 3至圖5,每一組手指模組2。各具有一裝設在 手“裝上的手指本體21、—樞接在手指本體21上 的苐-指f 22、一樞接在第一指節22上的第二指節& 一插接在第二指節23卜〇/( Ρ 3上的第二扣郎24、一裝設在手指本體 21上的致動器25、一組設置在手指本體21上的減速齒輪 系26、一軸設在手指本體21上的驅動輪27、二根連接在 手才日本體.21與第—指|卩23之間的第_連桿μ、以及二根 連接在第-指f 22與第三指節24之間的第二連桿29。手 指本體2丨是略呈階梯形狀的座體，其㈣可供裝設該致動 器25,外部可供裝設減速齒輪系％，致動器25伸設有一 輸出齒輪25、，該輸出齒輪251與減速齒輪系％相嗡合， 該驅動輪27再與減速齒輪系26㈣合，驅動輪”在一側 _pm^271’第—指'節22是呈長形狀的桿體， 其-端處設有-樞接於手指本體21上的第_樞接部221， 第-樞接部221兩側邊各設有—扇形凸塊222，該扇形凸塊 222剛好可抵止在驅動輪27的缺口 271邊緣第一指節22 在另一側端處設有一第二樞接部223，第二樞接部223上穿 設有一第一銷孔224。第二指節23的一側端處設有一第一 201219174 耳部231，第一耳部231與第一指節22的第二樞接部223 相枢接，第一耳部231上開設有一弧形槽232及—第二銷 孔233，第二指節23的另一側端處設有一第二耳部234。 第三指節24的一侧端處設有一樞接耳部241，該樞接耳部 241與第二指節23的第二耳部234相樞接。第一連桿28 一 端樞接在手指本體21的前端處，另一端則枢接在第二指節 23的第二銷孔233上。第二連桿29 一端樞接在第一指節 22的第銷孔224上，該端並穿設有一可沿弧形槽η〗移 動的插銷291，第二連桿29另一端則樞接在第三指節24的 枢接耳部241上。 參閲圖6至圖9，拇指模組30具有一裝設在拇指安裝 邛12上的拇指本體31、一樞接在拇指本體31上的第一指 節32、一樞接在第一指節32上的第二指節33、一樞接在 第一柘節33上的第二指節34、一裝設在拇指本體3 ^上的 致動器35、一組設置在拇指本體31上的減速齒輪系刊、 一軸設在拇指本體31上的驅動輪37、一連接在拇指本體 31及第二指節33之間的第一連桿％、以及一連接在第一 、第三指節32 ' 33之間的第二連桿39。該致動器35、減 速齒輪系36及驅動輪37的構造與手指模組2〇大致相同， 在此即不再多加贅述，第—指節32是略作L形彎折形狀的 杯體，其一侧端處設有—樞接於拇指本體31上的第一樞接 。 第樞接部321上設有一與驅動輪3ό相抵接觸的 扇形外緣322 ’第—指節32另—側端處設有—第二樞接部 323，第一樞接部3U上穿設有一第一銷孔324，第二指節 201219174 33 —側端處設有一柩接於第一指節32第二樞接部323上的 第一耳部331，第一耳部331上穿設有一第二銷孔332,第 二指節33另一側端處設有一第二耳部333。第三指節的 一側端處設有一樞接耳部341，該樞接耳部341與第二指節 33的第二耳部333·相樞接。第一連桿38也是The second arm is mounted on the finger body to drive the first knuckle movement, the second knuckle movement rod is connected between the finger body and the second knuckle, and the first knuckle is connected A second link between the third knuckle and the second knuckle. In addition, the present invention further provides a thumb joint linkage unit, the basin includes a palm body and a thumb finger module, wherein: the palm body has a mounting portion at one side; the thumb finger module has a mounting portion on the thumb portion. =: the pivot, the first knuckle on the body, the third knuckle on the first shackle, the second knuckle pivoted on the second knuckle, the first finger is mounted on the body of the plum finger The actuator of the movement, the joint = the first link between the body and the second knuckle that can drive the second knuckle along the direction of the two axes, and a connection between the third and third fingers The second link of the knuckle movement. The effect of Ming is that the finger module and the thumb module are used to make the multi-finger knots. The links between the knuckles are linked by the connecting rods. With the single-actuator, all the knuckles can be driven to make joint movements. This allows the robot to make multi-degree, multi-degree of freedom gestures. [Embodiment] The foregoing and other technical contents, features, and advantages of the present invention are described in detail below with reference to the preferred embodiments of the drawings. 3 Referring to Figure 1, 0 2, the finger joint linkage unit of the present invention is in a better real 4 201219174, its Sr: - palm body I three sets of finger modules 2 ° and - group Ruimen 22., then the above units The structural elements and combinations of spatial types are described in detail later. Feng ~ 1 palm body ^ is a slightly rectangular body, mainly to simulate the human body's dry = vertical, hand dry body" is located at the front end - finger mounting part u, palm body 1G at the side - Thumb mounting portion 12. 3 to Figure 5, each set of finger modules 2. Each has a finger body 21 mounted on the hand, a 苐-finger f 22 pivotally connected to the finger body 21, and a second knuckle & pivotally connected to the first knuckle 22 In the second knuckle 23 〇 / ( 第二 3 on the second button 24, an actuator 25 mounted on the finger body 21, a set of reduction gears 26 disposed on the finger body 21, a shaft a driving wheel 27 on the finger body 21, two _ link μ connected between the hand Japanese body 21 and the first finger 卩 23, and two connections at the first finger f 22 and the third finger The second link 29 between the segments 24. The finger body 2丨 is a seat body having a slightly stepped shape, and (4) is provided with the actuator 25, and the externally available reduction gear train %, the actuator 25 An output gear 25 is disposed, and the output gear 251 is coupled with the reduction gear train %, and the drive wheel 27 is further coupled with the reduction gear train 26 (four), and the drive wheel is "on one side _pm ^ 271" - finger 'section 22 It is a long-shaped rod body, and has a - - pivotal portion 221 pivotally connected to the finger body 21 at the end thereof, and a fan-shaped projection 222 is disposed on each of the two sides of the first pivotal portion 221 Bump 222 is just The first knuckle 22 is disposed at the edge of the notch 271 of the driving wheel 27, and a second pivoting portion 223 is disposed at the other end. The second pivoting portion 223 is provided with a first pin hole 224. The first ear portion 231 is pivotally connected to the second pivoting portion 223 of the first knuckle 22, and the first ear portion 231 defines an arcuate slot 232. And a second pin hole 233, a second ear portion 234 is disposed at the other end of the second knuckle 23. The third knuckle 24 is provided with a pivoting ear portion 241 at one end of the third knuckle 24, the pivoting ear portion 241 is pivotally connected to the second ear portion 234 of the second knuckle 23. One end of the first link 28 is pivotally connected to the front end of the finger body 21, and the other end is pivotally connected to the second pin hole 233 of the second knuckle 23. One end of the second connecting rod 29 is pivotally connected to the pin hole 224 of the first knuckle 22, and the end is pierced with a latch 291 movable along the arcuate slot n, and the other end of the second link 29 is pivoted Connected to the pivoting ear portion 241 of the third knuckle 24. Referring to Figures 6 to 9, the thumb module 30 has a thumb body 31 mounted on the thumb mounting cymbal 12 and pivotally attached to the thumb body 31. First finger 32. A second knuckle 33 pivotally connected to the first knuckle 32, a second knuckle 34 pivotally connected to the first sill 33, and an actuator 35 mounted on the thumb body 3^ a set of reduction gears disposed on the thumb body 31, a drive wheel 37 disposed on the thumb body 31, a first link % connected between the thumb body 31 and the second knuckle 33, and a a second link 39 connected between the first and third knuckles 32' 33. The structure of the actuator 35, the reduction gear train 36 and the drive wheel 37 is substantially the same as that of the finger module 2, which is not To be more detailed, the first knuckle 32 is a cup body having a slightly L-shaped bent shape, and a first pivotal connection pivotally connected to the thumb body 31 is provided at one end. The first pivoting portion 321 is provided with a fan-shaped outer edge 322 ′ of the first and second knuckles 32. The first pivoting portion 3U is provided with a second pivoting portion 323. a first pin hole 324, a second knuckle 201219174 33 - a first ear portion 331 connected to the second pivot portion 323 of the first knuckle 32 is disposed at the side end, and the first ear portion 331 is provided with a first portion Two pin holes 332 and a second ear portion 333 are disposed at the other side end of the second knuckle 33. A pivoting lug 341 is provided at one end of the third knuckle, and the pivoting lug 341 is pivotally connected to the second lug 333· of the second knuckle 33. The first link 38 is also
狀的桿體，長度較第一指節32為短，其一端接設二 體31上，另一端則樞接於第二指節33的第二銷孔η〗上 。第二連桿39 一端接設在第一指節32的第一銷孔324上 ，另一端則樞接於第三指節34的枢接耳部34ι上。 以上即為本發明手/拇指關節聯動單元各構件形狀及組 合空間的概述；接著’再將本發明的關節動作以及預期所 能達成之功效陳述如后： 參閱圖10,當手指模組2〇要開始進行關節運動時，首 先讓該致動器25運轉，經由減速齒輪系％帶動驅動輪27 轉動後’驅動輪27便可帶動第一指節22作迴轉運動，同 時，在透過第一、第二連桿28、29的連動下，第二、第三 指節23、24也會跟著作迴轉’藉此手指模組2〇便可做出 類似人體手指關節的彎曲動作。 參閱圖11、圖12，當拇指模组30要開始進行關節運 動時，首先讓該致動器35運轉，經由減速齒輪系％帶動 驅動輪37轉動後，驅動輪37便可帶動第-指節32作迴轉 運動，同時，由於第一連桿38長度略短於第—指冑&在 :過第-連桿38的帶動下，第二指節33會沿著二個軸方 °作迴轉’藉此即可做出類似人體拇指關節的彎曲動作。 201219174 綜上所述，本發明手/拇指關節聯動單元主要是為 決習知機械手的問題，本發明的技術手段主要是=用了解 模組20及㈣模組3〇設置三個指節，各指^以連= 互連結’如此透過單一致動器25(35)便可同時驅動三個：節 ’得到類似人體手指或拇指關節的彎曲動作，因此本發明 整體製造成本相當便宜’體積輕巧，極適合用在需要做出 各種手指姿勢的導覽機器人用途上，可達到多關節、多自 由度之手勢動作。 惟以上所述者，僅為本發明之—較佳實施例而已，每 不能以此限定本發明實施之範圍，即大凡依本發明申請專 利範圍及發明說明内容所作之簡單㈣效變化與修飾，皆 仍屬本發明專利涵蓋之範圍内。 【圖式簡單說明】 圖1是本發明手/拇指關節聯動單元—較佳實施例的组 合立體圖，說明本發明包含有一手掌本體、數個手指模組 及一個拇指模組； 圖2是上述較佳實施例的分解立體圖； 圖3疋上述較佳實施例的分解立體圖，說明該手指模 組包含有一手指本體、—第一指節、一第二指節、一 節、-致動器、一減速齒輪系、—驅動輪、一第一 連桿及一第二連桿； 圖4是上述較佳實施例的組合立體圖； 圖5是上述較佳實施例的組合平面圖，說明由側視方 向觀視手指模組的情形； 201219174 圖6是上述較佳實施例的分解立體圖，說明該拇指模 組主要包含有-拇指本體、一第一指節、—第二指節、一 第三指節、一致動器、一減速齒輪系、一驅動輪、一第一 連桿及一第二連桿； 圖7是上述較佳實施例的組合立體圖； 圖8疋上述較佳實施例的組合平面圖，說明由侧視方 向觀視拇指模組的情形；The length of the rod body is shorter than that of the first knuckle 32. One end of the rod body is connected to the second body 31, and the other end is pivotally connected to the second pin hole η of the second knuckle 33. The second link 39 has one end connected to the first pin hole 324 of the first knuckle 32 and the other end pivotally connected to the pivoting ear portion 34 of the third knuckle 34. The above is an overview of the shape and combination space of each member of the hand/thum joint linkage unit of the present invention; then 'the joint action of the present invention and the expected effect can be stated as follows: Referring to FIG. 10, when the finger module 2〇 When the joint motion is to be started, the actuator 25 is first operated, and the driving wheel 27 is rotated by the reduction gear train %, and then the driving wheel 27 can drive the first knuckle 22 to perform the turning motion, and at the same time, Under the linkage of the second links 28, 29, the second and third knuckles 23, 24 will also be rotated with the work of the finger module 2 to make a bending action similar to the human finger joint. Referring to FIG. 11 and FIG. 12, when the thumb module 30 is to start joint motion, the actuator 35 is first operated, and after the driving wheel 37 is rotated by the reduction gear train %, the driving wheel 37 can drive the first knuckle. 32 is a rotary motion. At the same time, since the length of the first link 38 is slightly shorter than that of the first finger and the second link 33, the second knuckle 33 is rotated along the two axes. 'This allows you to make a bending action similar to the human thumb joint. 201219174 In summary, the hand/thum joint linkage unit of the present invention is mainly for solving the problem of the robot. The technical means of the present invention mainly comprises: setting the three knuckles with the understanding module 20 and (4) the module 3〇, Each finger can be connected to the same by the single actuator 25 (35). Thus, the three sections can be driven to obtain a bending action similar to a human finger or a thumb joint, so that the overall manufacturing cost of the present invention is relatively inexpensive. It is very suitable for use in navigation robots that need to make various finger postures, and can achieve multi-joint, multi-degree of freedom gestures. The above is only the preferred embodiment of the present invention, and the scope of the present invention is not limited thereto, that is, the simple (four) effect changes and modifications made by the patent application scope and the description of the invention. All remain within the scope of the invention patent. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a combined perspective view of a preferred embodiment of a hand/thum joint linkage unit of the present invention, illustrating that the present invention includes a palm body, a plurality of finger modules, and a thumb module; 3 is an exploded perspective view of the preferred embodiment; FIG. 3 is an exploded perspective view of the preferred embodiment, illustrating that the finger module includes a finger body, a first knuckle, a second knuckle, a section, an actuator, and a deceleration FIG. 4 is a combined perspective view of the above preferred embodiment; FIG. 5 is a combined plan view of the above preferred embodiment, illustrating the view from the side view In the case of a finger module; 201219174 FIG. 6 is an exploded perspective view of the preferred embodiment, illustrating that the thumb module mainly includes a thumb body, a first knuckle, a second knuckle, a third knuckle, and a uniform Figure 7 is a combined perspective view of the above preferred embodiment; Figure 8 is a combined plan view of the above preferred embodiment, illustrated by Side view The case of a thumb viewing module;
圖9是上述較佳實施例的組合平面圖，說明由俯視方 向觀視拇指模組的情形； 圖10是上述較佳實施例的動作圖，說明手指模組 關郎動作的情形； 订 11疋上述較佳實施例的動作圖，說明拇指模組進 關節動作的情形；及 丁 圖12是上述較佳實施例的動作圖，說明拇指 關節動作的情形。 進订 201219174 【主要元件符號說明】 10•…· •…手掌本體 11 ••… •…手指安裝部 12…… •…拇指安裝部 20·. •…手指模組 21…… 手心本體 22…… MS Lfc 々斤 …·第 指即 221 ·· •…第一枢接部 111… ----扇形凸塊 223 ··. 第·一極接。P 224 ·… •…第一銷孔 23·····' …·第二指節 231 ··· …·第一耳部 232 ·· •…弧形槽 233… …·第二銷孔 234 ·· …第二耳部 24…… …·第三指節 241… 接耳4 25…… •…致動器. 251 ·· •…輸出齒輪 26…… …·減速齒輪系 27…… *ιε動輪 271… …缺口 28···.· •…第一連桿 29 •… …·第二連桿 30…… -…拇指模組 31 …·. 拇彳a本體 32••… Ms J.V- hfz …·第 指即 321 ··· …·第一樞接部 322… -…扇形外緣 323… 第一柩接σΡ 324… •…第一銷孔 33.… •…第二指'節 331 ··· •…第一耳部 332… •…第二銷孔 333… •…第二耳部 34••… •…第三指節 341 · 柩接耳。Ρ 35•.… …·致動窃 36•… …·減速齒輪系 37•… 驅動輪 38 —第連棒 39···. …·第二連桿Figure 9 is a combined plan view of the above preferred embodiment, illustrating a situation in which the thumb module is viewed from a top view; Figure 10 is an operation diagram of the preferred embodiment, illustrating a situation in which the finger module is swayed; The action diagram of the preferred embodiment illustrates the case where the thumb module is in the joint motion; and FIG. 12 is an action diagram of the above-described preferred embodiment, illustrating the situation in which the thumb joint is in motion. Order 201219174 [Description of main component symbols] 10•...· •...Hand body 11 ••... •...Finger mounting part 12...•...Thist mounting part 20·.•...Finger module 21... Hand center body 22... MS Lfc ... ...... ...... ...... ...... ...... ...... ...... ...... ...... ...... ...... ...... ...... ...... ...... ” ” ” ” ” ” ” ” ” ” ” ” ” ” ” ” ” ” ” ” P 224 ·... •...first pin hole 23·····'...the second knuckle 231 ·····the first ear portion 232 ···...the curved groove 233...the second pin hole 234 ··...the second ear 24...the third knuckle 241... the lug 4 25... •the actuator. 251 ···...the output gear 26...the reduction gear train 27... *ιε Moving wheel 271... notch 28······...first link 29 •...the second link 30...-...thumb module 31 ...·. thumb 彳 a body 32••... Ms JV- hfz ...·the first finger is 321 ·····the first pivoting portion 322...-...the fan-shaped outer edge 323...the first splicing σΡ 324...•...the first pin hole 33.......the second finger 'section 331 · ·· •...first ear 332... •...second pin hole 333... •...second ear 34••...•...third knuckle 341 · 柩 耳. Ρ 35•.... ...·Accurate theft 36•...··Reduction gear train 37•... Drive wheel 38 — The first rod 39···. ...·Second rod