WO2020258911A1 - 一种仿生大拇指 - Google Patents

一种仿生大拇指 Download PDF

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Publication number
WO2020258911A1
WO2020258911A1 PCT/CN2020/077508 CN2020077508W WO2020258911A1 WO 2020258911 A1 WO2020258911 A1 WO 2020258911A1 CN 2020077508 W CN2020077508 W CN 2020077508W WO 2020258911 A1 WO2020258911 A1 WO 2020258911A1
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WO
WIPO (PCT)
Prior art keywords
finger
thumb
fingertip
connecting plate
pin
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PCT/CN2020/077508
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English (en)
French (fr)
Inventor
程二亭
韩久琦
张倩玉
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北京海益同展信息科技有限公司
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Application filed by 北京海益同展信息科技有限公司 filed Critical 北京海益同展信息科技有限公司
Publication of WO2020258911A1 publication Critical patent/WO2020258911A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors

Definitions

  • the present disclosure relates to the field of bionic technology, in particular to a bionic thumb.
  • a multi-stage linkage mechanism is generally driven by a motor to realize the flexion, extension, and lifting actions of the thumb to conveniently and quickly grasp the object.
  • the inventor found that there are at least the following problems in the prior art: when the multi-stage linkage mechanism is driven by the motor to realize the flexion, extension and lifting action of the thumb, the flexion, extension and lifting stroke of the thumb are connected by the structure And the size is severely restricted, and the assembly process and processing technology are complicated.
  • the embodiments of the present disclosure provide a bionic thumb to solve the problem that the flexion, extension and lifting degree of the thumb in the prior art is severely restricted by the structure and size of the connecting rod, and the assembly process and processing process are complicated.
  • the embodiments of the present disclosure provide a bionic thumb, including: a finger body, a finger seat, a driving mechanism, a fingertip, and a connecting rod; the two ends of the finger body are connected to the fingertip and the finger respectively.
  • the base is rotationally connected, the two ends of the link are respectively rotationally connected with the fingertip and the finger base; the driving mechanism and the finger base are driven by bevel gears, and the driving mechanism is fixed on the finger body , To drive the finger body to rotate around the finger base.
  • an embodiment of the above utility model has the following advantages or beneficial effects: by rotating the two ends of the finger body with the fingertip and the finger base, the two ends of the connecting rod are connected with the fingertip and the finger base respectively.
  • the base is rotationally connected, and the driving mechanism is fixed on the finger body, so that the driving mechanism and the finger base are driven by bevel gears, so that the finger body rotates around the finger base.
  • the drive mechanism and the finger base are meshed and driven by bevel gears. Because the finger base is fixed, the drive mechanism will rotate around the finger base, and the drive mechanism is fixed on the finger body.
  • the drive mechanism When the drive mechanism rotates When the finger body rotates, it will drive the finger body to rotate, so that the finger body rotates around the finger base to realize the lifting action of the thumb; when the finger body rotates, it will drive the fingertip to rotate around the finger body to realize the flexion and extension of the thumb action.
  • the main structure of the thumb is designed as a four-bar mechanism, and the finger body rotates around the finger base through bevel gear transmission to realize the flexion, extension and lifting action of the thumb. This structure increases the flexion, extension and lifting stroke of the thumb.
  • the structure of the thumb is simple, which simplifies the assembly process and processing technology of the thumb.
  • Figure 1 is a schematic structural diagram of an embodiment of a bionic thumb of the present disclosure
  • Figure 2 is a front view of an embodiment of a bionic thumb of the present disclosure
  • Fig. 3 is a diagram of the motion limit position of an embodiment of the bionic thumb of the present disclosure
  • Figure 4 is a rear view of an embodiment of the bionic thumb of the present disclosure
  • Figure 5 is a side view of an embodiment of the bionic thumb of the present disclosure.
  • Figure 6 is a top view of an embodiment of the bionic thumb of the present disclosure.
  • FIG. 7 is a schematic structural diagram from another perspective of an embodiment of a bionic thumb of the present disclosure.
  • Fig. 8 is a schematic structural diagram of a finger seat of an embodiment of a bionic thumb of the present disclosure.
  • a bionic thumb provided by an embodiment of the present disclosure includes: a finger body 1, a finger seat 2, a driving mechanism 3, a finger tip 4, and a connecting rod 5; 4 and the finger base 2 are rotatably connected, the two ends of the connecting rod 5 are respectively rotatably connected with the fingertip 4 and the finger base 2; the driving mechanism 3 and the finger base 2 are driven by bevel gears, and the driving mechanism 3 is fixed on the finger body 1.
  • the finger body 1 is driven to rotate around the finger base 2.
  • the two ends of the finger body 1 are rotatably connected with the fingertip 4 and the finger base 2 respectively, and the two ends of the connecting rod 5 are rotatably connected with the fingertip 4 and the finger base 2 respectively.
  • the finger body 1, the finger base 2, the fingertip 4 and the connecting rod 5 form a four-bar mechanism, and the drive mechanism 3 is fixed on the finger body 1, and the drive mechanism 3 and the finger base 2 are driven by bevel gears to drive the finger body 1 rotates around the finger base 2.
  • the drive mechanism 3 and the finger base 2 are meshed and driven by bevel gears.
  • the drive mechanism 3 Since the finger base 2 is fixed, the drive mechanism 3 will rotate around the finger base 2, and the drive mechanism 3 is fixed on the finger base.
  • the driving mechanism 3 On the body 1, when the driving mechanism 3 rotates, it will drive the finger body 1 to rotate, so that the finger body 1 rotates around the finger base 2 to realize the lifting action of the thumb;
  • a four-bar mechanism is formed between the tip 4 and the connecting rod 5.
  • the finger body 1 When the finger body 1 rotates, it will drive the finger tip 4 to rotate around the finger body 1 to realize the flexion and extension of the thumb.
  • the main structure of the thumb is designed as a four-bar mechanism, and the finger body 1 is rotated around the finger base 2 through bevel gear transmission to realize the flexion, extension and lifting action of the thumb. This structure increases the flexion, extension and lifting stroke of the thumb At the same time, the structure of the thumb is simple, which simplifies the assembly process and processing technology of the thumb.
  • the vertical distance from the first connection 10 of the finger body 1 and the finger base 2 to the second connection 20 of the connecting rod 5 and the finger base 2 It is less than the vertical distance from the third connection point 30 between the finger body 1 and the fingertip 4 to the fourth connection point 40 between the connecting rod 5 and the fingertip 4.
  • the driving mechanism 3 is fixed on the finger body 1, then the finger body 1 is the active part, and the finger seat 2 is fixed, which is equivalent to the frame in the four-bar mechanism, by connecting the first joint 10 to the second joint 20 in a vertical direction
  • the distance is designed to be less than the vertical distance from the third joint 30 to the fourth joint 40.
  • the first connection 10 is located on the outside of the finger base 2
  • the second connection 20 is located on the inside of the finger base 2
  • the third connection 30 is located On the inner side of the fingertip 4
  • the fourth junction 40 is located on the outer side of the fingertip 4.
  • the bending direction of the fingertip 4 is defined as the inner side of the fingertip 4, and the direction in which the fingertip 4 extends is the outer side of the fingertip 4, and the upper part of the finger base 2 is connected to the fingertip 4
  • the same side corresponding to the inside of the finger holder 2 is defined as the inside of the finger holder 2, and the side of the finger holder 2 opposite to the inside of the finger holder 2 is the outside of the finger holder 2.
  • the finger body 1, the finger holder 2, the fingertip 4 and The connecting rod 5 is designed as a four-bar mechanism of this type.
  • the finger body 1 includes a first connecting plate 11, a second connecting plate 12, and a third connecting plate 13, and the first connecting plate 11 and the second connecting plate 12 Are respectively fixedly arranged on both sides of the third connecting plate 13; the finger base 2 is rotatably connected with the first connecting plate 11 and the second connecting plate 12, the fingertip 4 is rotatably connected with the third connecting plate 13, and the driving mechanism 3 is fixed on the Between a connecting plate 11 and a second connecting plate 12.
  • the thumb body frame is formed, and the finger base 2 is connected to the first connecting plate 11 and the second
  • the plate 12 is connected in rotation
  • the fingertip 4 is connected with the third connection plate 13 in rotation, which ensures that the finger body 1 rotates around the finger base 2 and the fingertip 4 rotates around the finger body 1 to complete the lifting and bending movements of the thumb.
  • the driving mechanism 3 is fixed between the first connecting plate 11 and the second connecting plate 12, so that the driving mechanism 3 drives the finger body 1 to rotate. At the same time, the driving mechanism 3 is located inside the finger body 1, making the thumb structure more compact.
  • the driving mechanism 3 includes a fixed plate 31, a motor 32 and a second bevel gear 7, and a first bevel gear 6 is fixedly arranged on the finger base 2.
  • the fixed plate 31 is fixed between the first connecting plate 11 and the second connecting plate 12, the motor 32 is fixedly installed on the fixed plate 31, the output shaft of the motor 32 is connected to the second bevel gear 7, and the second bevel gear 7 is connected to the first The bevel gear 6 meshes. Fix the fixing plate 31 between the first connecting plate 11 and the second connecting plate 12 for installing the motor 32, and install the second bevel gear 7 on the output shaft of the motor 32.
  • the motor 32 When the motor 32 is running, it will drive the second The bevel gear 7 rotates, and the second bevel gear 7 is meshed with the first bevel gear 6 fixed on the finger base 2.
  • the motor 32 When the thumb performs flexion, extension and lifting motions, the motor 32 is started, and the motor 32 will drive the second bevel gear 7 Rotation, because the second bevel gear 7 meshes with the first bevel gear 6 on the finger holder 2 and the finger holder 2 is fixed, the motor 32 will rotate around the first bevel gear 6, thereby driving the finger body 1 around the finger holder 2 Rotating movement to achieve the lifting action of the thumb.
  • the output shaft of the motor 32 is a D-shaped shaft
  • the second bevel gear 7 is circumferentially fixed by the D-shaped shaft of the motor 32.
  • the axial direction is not fixed.
  • the motor 32 passes its D-port
  • the output shaft drives the second bevel gear 7 to rotate, so that the second bevel gear 7 can be smoothly meshed with the first bevel gear 6 for transmission.
  • the connecting rod 5 includes a first connecting rod 51 and a second connecting rod 52 arranged in parallel, and the first connecting rod 51 and the second connecting rod 52 respectively pass through
  • the finger body 1 is crossed with the first connecting plate 11 and the second connecting plate 12 respectively.
  • the two ends of the connecting rod 5 are respectively rotatably connected with the finger base 2 and the fingertip 4.
  • the fingertip 4 By arranging the first connecting rod 51 and the second connecting rod 52 in parallel and passing through the finger body 1, the fingertip 4 can be smoothly moved around the finger
  • the body 1 is turned inward and outward to complete the flexion and extension of the thumb, and the first connecting rod 51 is arranged to cross the first connecting plate 11, and the second connecting rod 52 is arranged to cross the second connecting plate 12, so that the finger body 1,
  • the finger base 2, the fingertip 4, the first link 51 and the second link 52 are designed as a four-bar mechanism of this type.
  • the fingertip 4 rotates around the finger body 1, it can ensure that the fingertip 4 wraps around the finger body to the greatest extent 1 Flip movement inward and outward, thereby increasing the flexion and extension stroke of the thumb.
  • the bionic thumb provided by the embodiment of the present disclosure further includes a third bevel gear 8.
  • the third bevel gear 8 is fixedly arranged on the finger seat 2, and the axis of the third bevel gear 8 is the same as that of the first bevel gear.
  • the axis of the gear 6 is arranged vertically.
  • the bionic thumb provided by the embodiment of the present disclosure further includes a first pin shaft 21 and a second pin shaft 22, and the finger seat 2 is provided with a first pin shaft seat 25 and a second pin shaft seat 26 ;
  • One end of the first connecting plate 11 and the second connecting plate 12 are respectively rotatably connected with the first pin base 25 through the first pin 21, and one end of the connecting rod 5 is rotatably connected with the second pin base 26 through the second pin 22 .
  • first pin shaft seat 25 and a second pin shaft seat 26 By arranging a first pin shaft seat 25 and a second pin shaft seat 26 on the finger seat 2, and one end of the first connecting plate 11 and the second connecting plate 12 are respectively rotated by the first pin shaft 21 and the first pin shaft seat 25 Connected, one end of the connecting rod 5 is rotatably connected with the second pin shaft base 26 through the second pin shaft 22, and the thumb can be stably flexed, extended, and lifted through the rotational connection of the pin shaft and the pin shaft base.
  • the bionic thumb provided by the embodiment of the present disclosure further includes a third pin 23 and a fourth pin 24.
  • a third pin seat 27 is provided on the third connecting plate 13, and one end of the fingertip 4
  • the inner side of the connecting rod is rotatably connected with the third pin shaft base 27 through the third pin shaft 23; the outer side of one end of the fingertip 4 is provided with a fourth pin shaft seat 28, and the other end of the connecting rod 5 passes through the fourth pin shaft 24 and the fourth pin shaft seat 28 Rotate the connection.
  • the inner side of one end of the fingertip 4 is rotatably connected to the third pin seat 27 through a third pin 23, and a fourth pin is provided on the outer side of one end of the fingertip 4
  • the other end of the connecting rod 5 is rotatably connected to the fourth pin seat 28 through the fourth pin shaft 24, and the thumb can be stably flexed, extended, and lifted through the rotation connection of the pin shaft and the pin shaft seat.
  • a mounting hole 9 is provided on the finger body 1.
  • the mounting hole can be used to install the thumb shell, and the connecting plate 91 is fixedly arranged on the first connecting plate 11. Between it and the second connecting plate 12, the connecting plate 91 is also provided with mounting holes, which can be used to install other accessories of the thumb.
  • the fixing plate 31 is fixed between the first connecting plate 11 and the second connecting plate 12, and the fixed connection may be welding or bolting, or other forms of fixed connection .
  • the fixing plate 31 is fixed on the connecting plate 91 by a fixing member 92.
  • the flexion, extension, and lifting actions of the thumb are taken as an example to illustrate the use process of the bionic thumb provided by the embodiments of the present disclosure.
  • the motor 32 When the thumb performs flexion, extension, and lifting motions, the motor 32 is started, and the motor 32 will drive the second bevel gear 7 to rotate, because the second bevel gear 7 meshes with the first bevel gear 6 fixed on the finger base 2, and the finger base 2 Fixed, so the motor 32 will rotate around the first bevel gear 6, so that the motor 32 rotates around the finger base 2, and the motor 32 is fixedly installed on the finger body 1 through the fixing plate 31, and the motor 32 rotates around the finger base 2.
  • it When moving, it will drive the finger body 1 to rotate around the finger base 2, and the two ends of the finger body 1 are connected to the fingertip 4 and the finger base 2 respectively, and the two ends of the connecting rod 5 are connected to the fingertip 4 and the finger base 2 respectively.
  • the main structure of the thumb is designed as a four-bar mechanism, and the finger body 1 is rotated around the finger base 2 through bevel gear transmission to realize the flexion, extension and lifting action of the thumb.
  • This structure increases the flexion, extension and lifting stroke of the thumb
  • the structure of the thumb is simple, which simplifies the assembly process and processing technology of the thumb.
  • the two ends of the finger body 1 are respectively connected to the fingertip 4 and the finger base 2 by rotation, and the two ends of the connecting rod 5 are connected to the fingertip 4 and the finger base 2 respectively.
  • the drive mechanism 3 and the finger base 2 are meshed and driven by bevel gears. Since the finger base 2 is fixed, the drive mechanism 3 will rotate around the finger base 2, and the drive mechanism 3 is fixed on the finger base.
  • the driving mechanism 3 when the driving mechanism 3 rotates, it will drive the finger body 1 to rotate, so that the finger body 1 rotates around the finger base 2 to realize the lifting action of the thumb;
  • a four-bar mechanism is formed between the tip 4 and the connecting rod 5.
  • the finger body 1 When the finger body 1 rotates, it will drive the finger tip 4 to rotate around the finger body 1 to realize the flexion and extension of the thumb.
  • the main structure of the thumb is designed as a four-bar mechanism, and the finger body 1 is rotated around the finger base 2 through bevel gear transmission to realize the flexion, extension and lifting action of the thumb. This structure increases the flexion, extension and lifting stroke of the thumb At the same time, the structure of the thumb is simple, which simplifies the assembly process and processing technology of the thumb.

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Abstract

一种仿生大拇指，包括：指身（1）、指座（2）、驱动机构（3）、指尖（4）和连杆（5）；指身的两端分别与指尖和指座转动连接，连杆的两端分别与指尖和指座转动连接；驱动机构与指座通过锥齿轮（6，7）传动，且驱动机构固定在指身上，来驱动指身绕指座旋转运动。当大拇指进行屈伸及升降动作时，驱动机构与指座通过锥齿轮进行啮合传动，带动指身绕指座旋转运动，来实现大拇指的升降动作，同时指尖绕指身旋转，来实现大拇指的屈伸动作。通过将大拇指主体结构设计成四杆机构，并通过锥齿轮传动使指身绕指座旋转运动，来实现大拇指的屈伸及升降动作，此结构增大了大拇指的屈伸及升降行程，同时此大拇指的结构简单，简化了大拇指的装配工艺和加工工艺。

Description

一种仿生大拇指 技术领域
本公开涉及仿生技术领域，具体涉及一种仿生大拇指。
背景技术
目前，在仿生手的大拇指结构中，一般通过电机带动多级连杆机构来实现大拇指的屈伸及升降动作，来方便快捷的抓握物体。
在实现本公开过程中，发明人发现现有技术中至少存在如下问题：通过电机带动多级连杆机构来实现大拇指的屈伸及升降动作时，大拇指的屈伸及升降行程被连杆的结构及尺寸严重制约，且装配工艺和加工工艺复杂。
实用新型内容
有鉴于此，本公开实施例提供一种仿生大拇指，以解决现有技术中大拇指的屈伸及升降程度被连杆的结构及尺寸严重制约，且装配工艺和加工工艺复杂的问题。
为实现上述目的，本公开实施例提供一种仿生大拇指，包括：指身、指座、驱动机构、指尖和连杆；所述指身的两端分别与所述指尖和所述指座转动连接，所述连杆的两端分别与所述指尖和所述指座转动连接；所述驱动机构与所述指座通过锥齿轮传动，且所述驱动机构固定在所述指身上，来驱动所述指身绕所述指座旋转运动。
根据本公开的技术方案，上述实用新型中的一个实施例具有如下优点或有益效果：通过将指身的两端分别与指尖和指座转动连接，连杆的两端分别与指尖和指座转动连接，并将驱动机构固定在指身上，使驱动机构与指座通过锥齿轮传动，从而使指身绕指座旋转运动。当大拇指进行屈伸及升降动作时，驱动机构与指座通过锥齿轮进行啮合传动，由于指座固定，所以驱动机构会绕着指座旋转运动，而驱动机构固定在指身上，当驱动机构旋转时，会带动指身做旋转运动，从而使指身绕指座旋转运动，来实现大拇指的升降动作；当指身旋转运动 时，会带动指尖绕指身旋转，来实现大拇指的屈伸动作。通过将大拇指主体结构设计成四杆机构，并通过锥齿轮传动使指身绕指座旋转运动，来实现大拇指的屈伸及升降动作，此结构增大了大拇指的屈伸及升降行程，同时此大拇指的结构简单，简化了大拇指的装配工艺和加工工艺。
上述的非惯用的可选方式所具有的进一步效果将在下文中结合具体实施方式加以说明。
附图说明
附图用于更好地理解本公开，不构成对本公开的不当限定。其中：
图1是本公开一种仿生大拇指实施例的结构示意图；
图2是本公开一种仿生大拇指实施例的主视图；
图3是本公开一种仿生大拇指实施例的运动极限位置图；
图4是本公开一种仿生大拇指实施例的后视图；
图5是本公开一种仿生大拇指实施例的侧视图；
图6是本公开一种仿生大拇指实施例的俯视图；
图7是本公开一种仿生大拇指实施例另一视角的结构示意图；
图8是本公开一种仿生大拇指实施例指座的结构示意图。
其中，上述附图包括以下附图标记：
1-指身，10-第一连接处，11-第一连接板，12-第二连接板，13-第三连接板，2-指座，20-第二连接处，21-第一销轴，22-第二销轴，23-第三销轴，24-第四销轴，25-第一销轴座，26-第二销轴座，27-第三销轴座，28-第四销轴座，3-驱动机构，30-第三连接处，31-固定板，32-电机，4-连杆，40-第四连接处，5-连杆，51-第一连杆，52-第二连杆，6-第一锥齿轮，7-第二锥齿轮，8-第三锥齿轮，9-安装孔，91-连接板，92-固定件。
具体实施方式
以下结合附图对本公开的示范性实施例做出说明，其中包括本公开实施例的各种细节以助于理解，应当将它们认为仅仅是示范性的。 因此，本领域普通技术人员应当认识到，可以对这里描述的实施例做出各种改变和修改，而不会背离本公开的范围和精神。同样，为了清楚和简明，以下的描述中省略了对公知功能和结构的描述。
如图1所示，本公开实施例提供的一种仿生大拇指，包括：指身1、指座2、驱动机构3、指尖4和连杆5；指身1的两端分别与指尖4和指座2转动连接，连杆5的两端分别与指尖4和指座2转动连接；驱动机构3与指座2通过锥齿轮传动，且驱动机构3固定在指身1上，来驱动指身1绕指座2旋转运动。
本公开实施例提供的仿生大拇指中，通过将指身1的两端分别与指尖4和指座2转动连接，连杆5的两端分别与指尖4和指座2转动连接，这样使指身1、指座2、指尖4和连杆5形成四杆机构，并将驱动机构3固定在指身1上，使驱动机构3与指座2通过锥齿轮传动，从而带动指身1绕指座2旋转运动。当大拇指进行屈伸及升降动作时，驱动机构3与指座2通过锥齿轮进行啮合传动，由于指座2固定，所以驱动机构3会绕着指座2旋转运动，而驱动机构3固定在指身1上，当驱动机构3旋转时，会带动指身1做旋转运动，从而使指身1绕指座2旋转运动，来实现大拇指的升降动作；由于指身1、指座2、指尖4和连杆5之间形成四杆机构，当指身1旋转运动时，会带动指尖4绕指身1旋转，来实现大拇指的屈伸动作。通过将大拇指主体结构设计成四杆机构，并通过锥齿轮传动使指身1绕指座2旋转运动，来实现大拇指的屈伸及升降动作，此结构增大了大拇指的屈伸及升降行程，同时此大拇指的结构简单，简化了大拇指的装配工艺和加工工艺。
如图2和图3所示，本公开实施例提供的仿生大拇指中，指身1与指座2的第一连接处10到连杆5与指座2的第二连接处20的垂直距离小于指身1与指尖4的第三连接处30到连杆5与指尖4的第四连接处40的垂直距离。驱动机构3固定在指身1上，则指身1为主动件，且指座2固定，其相当于四杆机构中的机架，通过把第一连接处10到第二连接处20的垂直距离设计为小于第三连接处30到第四连接处40的垂直距离，当指身1绕指座2旋转运动时，可以确保指身1在90度范围内完成升降动作，从而增大了大拇指的升降行程。
如图3和图4所示，本公开实施例提供的仿生大拇指中，第一连接处10位于指座2的外侧，第二连接处20位于指座2的内侧，第三连接处30位于指尖4的内侧，第四连接处40位于指尖4的外侧。本公开实施例提供的仿生大拇指中，将指尖4弯曲的方向定义为指尖4的内侧，则指尖4伸展的方向为指尖4的外侧，并将指座2上与指尖4的内侧相对应的同一侧定义为指座2的内侧，则指座2上与指座2的内侧相对的一侧为指座2的外侧，将指身1、指座2、指尖4和连杆5设计成此类型的四杆机构，当指尖4绕指身1旋转时，可以确保指尖4最大程度的绕指身1向内外翻转运动，从而增大了大拇指的屈伸行程。
如图5所示，本公开实施例提供的仿生大拇指中，指身1包括第一连接板11、第二连接板12和第三连接板13，第一连接板11和第二连接板12分别固定设置在第三连接板13的两侧；指座2分别与第一连接板11和第二连接板12转动连接，指尖4与第三连接板13转动连接，驱动机构3固定在第一连接板11和第二连接板12之间。通过将第一连接板11和第二连接板12分别固定设置在第三连接板13的两侧，这样构成了大拇指主体框架，并将指座2分别与第一连接板11和第二连接板12转动连接，指尖4与第三连接板13转动连接，保证了指身1绕指座2旋转运动，指尖4绕指身1旋转运动，来完成大拇指的升降及屈伸动作，将驱动机构3固定设置第一连接板11和第二连接板12之间，使驱动机构3带动指身1旋转运动，同时驱动机构3位于指身1内部，使大拇指结构更加紧凑。
如图1和图6所示，本公开实施例提供的仿生大拇指中，驱动机构3包括固定板31、电机32和第二锥齿轮7，指座2上固定设置有第一锥齿轮6，固定板31固定在第一连接板11与第二连接板12之间，电机32固定安装在固定板31上，电机32的输出轴与第二锥齿轮7连接，第二锥齿轮7与第一锥齿轮6啮合。将固定板31固定在第一连接板11与第二连接板12之间，用于安装电机32，并将第二锥齿轮7安装在电机32的输出轴上，电机32运转时会带动第二锥齿轮7转动，且将第二锥齿轮7与固定在指座2上的第一锥齿轮6啮合，当大拇指进行屈伸及升降动作时，启动电机32，电机32会带动第二锥齿轮7旋 转，由于第二锥齿轮7与指座2上的第一锥齿轮6啮合，且指座2固定不动，因此电机32会绕第一锥齿轮6旋转运动，从而带动指身1绕指座2旋转运动，来实现大拇指的升降动作。
如图1所示，本公开实施例提供的仿生大拇指中，电机32的输出轴为D型口轴，第二锥齿轮7通过电机32的D型口输出轴周向固定。通过把第二锥齿轮7安装在电机32的D型口输出轴上，且第二锥齿轮7通过D型口输出轴进行周向固定，轴向不固定，工作时，电机32通过其D型口输出轴带动第二锥齿轮7转动，这样可以使第二锥齿轮7平稳的与第一锥齿轮6啮合传动。
如图7所示，本公开实施例提供的仿生大拇指中，连杆5包括平行设置的第一连杆51和第二连杆52，第一连杆51和第二连杆52分别穿过指身1，并分别与第一连接板11和第二连接板12交叉设置。连杆5的两端分别与指座2和指尖4转动连接，通过将第一连杆51和第二连杆52平行设置且分别穿过指身1，可以使指尖4平稳的绕指身1向内外翻转运动，来完成大拇指的屈伸动作，且第一连杆51与第一连接板11交叉设置，第二连杆52与第二连接板12交叉设置，这样将指身1、指座2、指尖4、第一连杆51和第二连杆52设计成此类型的四杆机构，当指尖4绕指身1旋转时，可以确保指尖4最大程度的绕指身1向内外翻转运动，从而增大了大拇指的屈伸行程。
如图8所示，本公开实施例提供的仿生大拇指中，还包括第三锥齿轮8，第三锥齿轮8固定设置在指座2上，且第三锥齿轮8的轴线与第一锥齿轮6的轴线垂直设置。通过在指座2上设置第三锥齿轮8，可以使指座2通过第三锥齿轮8与仿生手的其他装置连接，使仿生手方便快捷的抓握物体。
如图1所示，本公开实施例提供的仿生大拇指中，还包括第一销轴21和第二销轴22，指座2上设置有第一销轴座25和第二销轴座26；第一连接板11和第二连接板12的一端分别通过第一销轴21与第一销轴座25转动连接，连杆5一端通过第二销轴22与第二销轴座26转动连接。通过在指座2上设置第一销轴座25和第二销轴座26，且第一连接板11和第二连接板12的一端分别通过第一销轴21与第一销轴座25 转动连接，连杆5一端通过第二销轴22与第二销轴座26转动连接，通过销轴及销轴座的转动连接方式可以使大拇指稳固的进行屈伸及升降动作。
如图1所示，本公开实施例提供的仿生大拇指中，还包括第三销轴23和第四销轴24，第三连接板13上设置有第三销轴座27，指尖4一端的内侧通过第三销轴23与第三销轴座27转动连接；指尖4一端的外侧设置有第四销轴座28，连杆5另一端通过第四销轴24与第四销轴座28转动连接。通过在第三连接板13上设置第三销轴座27，指尖4一端的内侧通过第三销轴23与第三销轴座27转动连接，在指尖4一端的外侧设置第四销轴座28，连杆5另一端通过第四销轴24与第四销轴座28转动连接，通过销轴及销轴座的转动连接方式可以使大拇指稳固的进行屈伸及升降动作。
如图6和图7所示，本公开实施例提供的仿生大拇指中，指身1上设置有安装孔9，安装孔可用来安装大拇指外壳，连接板91固定设置在第一连接板11和第二连接板12之间，连接板91上也设置有安装孔，可用来安装大拇指的其他附件。可选地，本公开实施例提供的仿生大拇指中，固定板31固定在第一连接板11与第二连接板12之间，其固定连接可以为焊接或螺栓固定，或者其他形式的固定连接。可选地，本公开实施例提供的仿生大拇指中，固定板31通过固定件92固定在连接板91上。
下面以大拇指进行屈伸及升降动作为例，说明本公开实施例提供的仿生大拇指的使用过程。
当大拇指进行屈伸及升降动作时，启动电机32，电机32会带动第二锥齿轮7旋转，由于第二锥齿轮7与固定在指座2上的第一锥齿轮6啮合，且指座2固定不动，因此电机32会绕第一锥齿轮6旋转运动，从而使电机32绕指座2旋转运动，而电机32通过固定板31固定安装在指身1上，电机32绕指座2旋转运动时会带动指身1绕指座2旋转运动，而指身1的两端分别与指尖4和指座2转动连接，连杆5的两端分别与指尖4和指座2转动连接，当指身1绕指座2旋转运动时，会带动指尖4绕指身1旋转运动，使指尖4绕指身1向内外翻转，从 而完成了大拇指的屈伸及升降动作。通过将大拇指主体结构设计成四杆机构，并通过锥齿轮传动使指身1绕指座2旋转运动，来实现大拇指的屈伸及升降动作，此结构增大了大拇指的屈伸及升降行程，同时此大拇指的结构简单，简化了大拇指的装配工艺和加工工艺。
由此可见，本公开实施例提供的仿生大拇指中，通过将指身1的两端分别与指尖4和指座2转动连接，连杆5的两端分别与指尖4和指座2转动连接，并将驱动机构3固定在指身1上，使驱动机构3与指座2通过锥齿轮传动，从而使指身1绕指座2旋转运动。当大拇指进行屈伸及升降动作时，驱动机构3与指座2通过锥齿轮进行啮合传动，由于指座2固定，所以驱动机构3会绕着指座2旋转运动，而驱动机构3固定在指身1上，当驱动机构3旋转时，会带动指身1做旋转运动，从而使指身1绕指座2旋转运动，来实现大拇指的升降动作；由于指身1、指座2、指尖4和连杆5之间形成四杆机构，当指身1旋转运动时，会带动指尖4绕指身1旋转，来实现大拇指的屈伸动作。通过将大拇指主体结构设计成四杆机构，并通过锥齿轮传动使指身1绕指座2旋转运动，来实现大拇指的屈伸及升降动作，此结构增大了大拇指的屈伸及升降行程，同时此大拇指的结构简单，简化了大拇指的装配工艺和加工工艺。
上述具体实施方式，并不构成对本公开保护范围的限制。本领域技术人员应该明白的是，取决于设计要求和其他因素，可以发生各种各样的修改、组合、子组合和替代。任何在本公开的精神和原则之内所作的修改、等同替换和改进等，均应包含在本公开保护范围之内。

Claims (10)

  1. 一种仿生大拇指，包括：指身(1)、指座(2)、驱动机构(3)、指尖(4)和连杆(5)；
    所述指身(1)的两端分别与所述指尖(4)和所述指座(2)转动连接，所述连杆(5)的两端分别与所述指尖(4)和所述指座(2)转动连接；
    所述驱动机构(3)与所述指座(2)通过锥齿轮传动，且所述驱动机构(3)固定在所述指身(1)上，来驱动所述指身(1)绕所述指座(2)旋转运动。
  2. 根据权利要求1所述的仿生大拇指，其中，所述指身(1)与所述指座(2)的第一连接处(10)到所述连杆(5)与所述指座(2)的第二连接处(20)的垂直距离小于所述指身(1)与所述指尖(4)的第三连接处(30)到所述连杆(5)与所述指尖(4)的第四连接处(40)的垂直距离。
  3. 根据权利要求2所述的仿生大拇指，其中，所述第一连接处(10)位于所述指座(2)的外侧，所述第二连接处(20)位于所述指座(2)的内侧，所述第三连接处(30)位于所述指尖(4)的内侧，所述第四连接处(40)位于所述指尖(4)的外侧。
  4. 根据权利要求1所述的仿生大拇指，其中，所述指身(1)包括第一连接板(11)、第二连接板(12)和第三连接板(13)，所述第一连接板(11)和所述第二连接板(12)分别固定设置在所述第三连接板(13)的两侧；
    所述指座(2)分别与所述第一连接板(11)和所述第二连接板(12)转动连接，所述指尖(4)与所述第三连接板(13)转动连接，所述驱动机构(3)固定在所述第一连接板(11)和所述第二连接板(12)之间。
  5. 根据权利要求4所述的仿生大拇指，其中，所述驱动机构(3)包括固定板(31)、电机(32)和第二锥齿轮(7)，所述指座(2)上固定设置有第一锥齿轮(6)，所述固定板(31)固定在所述第一连接板(11)与所述第二连接板(12)之间，所述电机(32)固定安装在所述固定板(31)上，所述电机(32)的输出轴与所述第二锥齿轮(7)连接，所述第二锥齿轮(7)与所述第一锥齿轮(6)啮合。
  6. 根据权利要求5所述的仿生大拇指，其中，所述电机(32)的输出轴为D型口轴，所述第二锥齿轮(7)通过所述电机(32)的D型口输出轴周向固定。
  7. 根据权利要求4所述的仿生大拇指，其中，所述连杆(5)包括平行设置的第一连杆(51)和第二连杆(52)，所述第一连杆(51)和所述第二连杆(52)分别穿过所述指身(1)，并分别与所述第一连接板(11)和所述第二连接板(12)交叉设置。
  8. 根据权利要求5所述的仿生大拇指，其中，还包括第三锥齿轮(8)，所述第三锥齿轮(8)固定设置在所述指座(2)上，且所述第三锥齿轮(8)的轴线与所述第一锥齿轮(6)的轴线垂直设置。
  9. 根据权利要求4所述的仿生大拇指，其中，还包括第一销轴(21)和第二销轴(22)，所述指座(2)上设置有第一销轴座(25)和第二销轴座(26)；
    所述第一连接板(11)和所述第二连接板(12)的一端分别通过所述第一销轴(21)与所述第一销轴座(25)转动连接，所述连杆(5)一端通过所述第二销轴(22)与所述第二销轴座(26)转动连接。
  10. 根据权利要求4所述的仿生大拇指，其中，还包括第三销轴(23)和第四销轴(24)，所述第三连接板(13)上设置有第三销轴 座(27)，所述指尖(4)一端的内侧通过所述第三销轴(23)与所述第三销轴座(27)转动连接；
    所述指尖(4)一端的外侧设置有第四销轴座(28)，所述连杆(5)另一端通过所述第四销轴(24)与所述第四销轴座(28)转动连接。
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CN109531607A (zh) * 2018-11-28 2019-03-29 清华大学 连杆空程传动摆杆滑槽直线平夹自适应机器人手指装置

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