WO2021244384A1 - 仿生大拇指传动结构、仿生手及机器人 - Google Patents

仿生大拇指传动结构、仿生手及机器人 Download PDF

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Publication number
WO2021244384A1
WO2021244384A1 PCT/CN2021/096304 CN2021096304W WO2021244384A1 WO 2021244384 A1 WO2021244384 A1 WO 2021244384A1 CN 2021096304 W CN2021096304 W CN 2021096304W WO 2021244384 A1 WO2021244384 A1 WO 2021244384A1
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Prior art keywords
bionic
worm
connecting shaft
thumb
bionic thumb
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PCT/CN2021/096304
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English (en)
French (fr)
Inventor
姚秀军
程二亭
蔡洁玉
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京东数科海益信息科技有限公司
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Publication of WO2021244384A1 publication Critical patent/WO2021244384A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • 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
    • 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
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • 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
    • B25J15/08—Gripping heads and other end effectors having finger members

Definitions

  • the present disclosure generally relates to the technical field of bionic robots, and more specifically, to a bionic thumb drive structure, a bionic hand, and a robot.
  • the development of intelligent robots is getting more and more attention, especially the development of the bionic hand field is more prominent.
  • the bionic hand is not only used in traditional manufacturing such as mining, metallurgy, petroleum, chemical, shipbuilding and other fields, but also has begun to expand to nuclear energy. Aviation, aerospace, medicine, biochemistry and other high-tech fields, as well as household cleaning, medical rehabilitation and other service industries.
  • bionic thumb drive structure which includes:
  • the connecting shaft is connected with the bionic thumb through the clamping piece provided at the end, and a base is sleeved on the outside;
  • the driving assembly is arranged perpendicular to the connecting shaft and installed in the digits of the bionic thumb;
  • a worm connected to the output end of the drive assembly
  • a worm gear is connected to the outside of the connecting shaft through a limiting structure and meshes with the worm;
  • the driving assembly drives the worm to perform a circumferential movement around the worm gear, so that the bionic thumb performs a flexion and extension action.
  • the end of the connecting shaft is provided with a limiting part that cooperates with the engaging member.
  • the limiting portion is configured as an annular groove
  • the engaging member is configured as a C-shaped circlip
  • the limiting structure includes: a first limiting member and a second limiting member that cooperate with each other, and one of the first limiting member and the second limiting member is installed in On the outer wall surface of the connecting shaft, the other is mounted on the inner wall surface of the worm wheel.
  • the first limiting member is configured as a convex structure with a platform on the outer wall surface
  • the second limiting member is configured as a sleeve with a platform on the inner wall surface
  • the driving component is installed in the bionic thumb through a fixing seat, and both ends of the fixing seat are sleeved on the connecting shaft.
  • the fixing seat is provided with a U-shaped structure
  • the upper wall of the fixing seat is provided with a through hole for the output shaft of the driving assembly to pass through
  • the opening of the fixing seat is also provided
  • baffles are also provided.
  • a mounting groove is opened in the middle of the base, and the worm wheel is arranged in the mounting groove.
  • Another aspect of the present disclosure also relates to a bionic hand, which includes: the bionic thumb drive structure described in the present disclosure.
  • Another aspect of the present disclosure also relates to a robot, which includes: the bionic hand described in the present disclosure.
  • the bionic thumb transmission structure of certain embodiments of the present disclosure includes: a connecting shaft, which is connected to the bionic thumb through a snapping member provided at the end, and a base is sleeved on the outer side; a driving component is arranged perpendicular to the connecting shaft , And installed in the belly of the bionic thumb; a worm, connected to the output end of the drive assembly; and a worm gear, connected to the outside of the connecting shaft through a limiting structure, and meshed with the worm; Wherein, the driving assembly drives the worm to perform a circumferential movement around the worm gear, so that the bionic thumb performs a flexion and extension action.
  • the worm can only be driven to rotate by the drive assembly.
  • the worm wheel and the connecting shaft do not rotate relative to each other, thereby prompting the worm to rotate around the worm wheel.
  • the rotation finally drives the bionic thumb to move in the direction close to the base to hold the object placed in the palm, thereby effectively ensuring the stability of the bionic thumb to the grasping object, which is convenient for users to use.
  • Figure 1 shows a schematic structural diagram of an embodiment of the present disclosure
  • Figure 2 shows a partial enlarged view of position A in Figure 1;
  • Figure 3 shows a schematic diagram of the structure of the worm gear and the worm in an embodiment of the present disclosure
  • Figure 4 shows a schematic structural diagram of a worm gear in an embodiment of the present disclosure
  • Figure 5 shows a schematic structural diagram of a connecting shaft in an embodiment of the present disclosure
  • Figure 6 shows a schematic structural diagram of a fixing seat in an embodiment of the present disclosure
  • Figure 7 shows a schematic diagram of the structure of the base in an embodiment of the present disclosure
  • FIG. 8 shows a schematic diagram of the structure of fingertip rubber in an embodiment of the present disclosure.
  • Fig. 9 shows a schematic structural diagram of a bionic thumb with no fingertip rubber installed in an embodiment of the present disclosure.
  • bionic thumb drive structure which includes:
  • the connecting shaft 1 is connected with the bionic thumb through the engaging member 9 provided at the end, and the base 2 is sleeved on the outer side;
  • the drive assembly 3 is arranged perpendicular to the connecting shaft 1, and is installed in the digits of the bionic thumb;
  • the worm 4 is connected to the output end of the drive assembly 3;
  • the worm wheel 5 is connected to the outside of the connecting shaft 1 through a limiting structure, and is meshed with the worm 4;
  • the drive assembly 3 drives the worm 4 to perform a circumferential movement around the worm wheel 5 so as to make the bionic thumb perform a flexion and extension action.
  • the limiting portion 8 is configured as an annular groove
  • the engaging member 9 is configured as a C-shaped circlip.
  • a mounting groove 12 is opened in the middle of the base 2, and the worm wheel 5 is disposed in the mounting groove 12.
  • the drive assembly 3 can be a drive motor, and the model of the drive motor can be pre-selected according to the requirements of use.
  • the drive assembly 3 that can drive the worm 4 to rotate is suitable for this solution and belongs to the protection of this solution. Scope.
  • the reverse self-locking effect of the worm wheel 5 and the worm 4 means that only the worm 4 can drive the worm wheel 5 to rotate, but the worm wheel 5 cannot drive the worm 4 to rotate. Therefore, in this embodiment, the worm 4 and Under the action of the reverse self-locking structure of the worm wheel 5, the worm 4 can only be driven to rotate by the drive assembly 3. At this time, because the worm wheel and the connecting shaft do not rotate relative to each other, the worm will rotate around the worm wheel in a circumferential direction, and finally drive the bionic thumb to rotate. Move in the direction close to the base to hold the object placed in the palm of the hand, thereby effectively ensuring the stability of the bionic thumb to the grasping object, which is convenient for users to use.
  • the drive assembly 3 drives the worm 4 to rotate clockwise. Due to the cooperation between the worm 4 and the worm wheel 5, there is no relative rotation between the worm wheel 5 and the connecting shaft 1. , The worm will drive the bionic thumb connected to it to move along the worm wheel toward the base 2 so as to grasp the object in the palm of the hand;
  • the drive assembly 3 drives the worm 4 to rotate counterclockwise. Due to the cooperation between the worm 4 and the worm wheel 5, since there is no relative rotation between the worm wheel 5 and the connecting shaft 1, the worm will drive the bionic thumb connected to it. , Move along the worm wheel away from the base 2, so as to release the object in the palm.
  • the limiting structure includes: a first limiting member 6 and a second limiting member 7, one of the first limiting member 6 and the second limiting member 7, which is mounted on the connecting shaft 1 is installed on the outer wall of the worm wheel 5, and the other is installed on the inner wall of the worm wheel 5.
  • the first limiting member 6 is installed on the outer wall of the connecting shaft 1, and the second limiting member 7 Installed on the inner wall surface of the worm wheel 5.
  • the first limiting member 6 is set as a convex structure with a platform on the outer wall surface
  • the second limiting member 7 is set as a sleeve with a platform on the inner wall surface.
  • the limit structure is not limited to the above-mentioned matching method.
  • the limit structures that cannot rotate relative to the connecting shaft 1 are applicable to this solution, and all belong to the protection scope of this solution.
  • the driving assembly 3 is installed in the bionic thumb through a fixing base 10, and both ends of the fixing base 10 are sleeved on the connecting shaft 1, and the fixing base 10 The other end is fixedly connected with the bionic thumb.
  • the fixing base 10 is provided with a U-shaped structure, and the upper wall of the fixing base 10 is provided with a through hole for the output shaft of the driving assembly 3 to pass through.
  • the diameter of the through hole is larger than the diameter of the output shaft of the drive motor to ensure that the output shaft of the drive motor can rotate normally in the through hole; and the opening of the fixing base 10 is also provided with a baffle 11, when in use, the drive motor is installed on the fixing base 10 , And the output shaft of the drive motor will be inserted into the fixing base 10 through the through hole, so that the worm 4 is arranged between the fixing base 10 and the baffle 11, driven by the drive motor, the worm 4 will be in the fixing base 10 and the stop The plate 11 rotates in the space formed by it.
  • the fingertips of the thumb are also provided with fingertip rubber 13, and most of the fingertip rubbers 13 in the prior art are directly sleeved on the fingertips.
  • the above method realizes the protection of the fingertip.
  • the connection method is unstable. When the finger is flexed and extended, the fingertip rubber 13 can easily fall off from the fingertip; this embodiment is to ensure that the fingertip rubber 13 is stably installed on the fingertip , And remove the fingertip rubber 13 from the fingertip when it is not needed.
  • the fingertip is provided with a rubber limit groove 14 matching the shape of the fingertip rubber 13, and the fingertip rubber 13 is detachably installed in the rubber limit groove 14 through an installation mechanism.
  • the mounting mechanism includes: a first mounting member 15 and a second mounting member 16 that are mated, one of the first mounting member 15 and the second mounting member 16 is disposed on the rubber limit groove 14, and the other One is mounted on the fingertip rubber 13.
  • the first mounting member 15 is disposed on the rubber limit groove 14, and the second mounting member 16 is disposed on the fingertip rubber 13.
  • the first mounting member 15 and the second mounting member 16 are provided as mating protrusions and through holes.
  • the rubber limit groove 14 is provided with a through hole at the opposite position, and the fingertip rubber 13 is provided with a protrusion where the fingertip rubber 13 matches the through hole.
  • the bumps are also made of rubber.
  • the present disclosure also provides a bionic hand, which includes: the bionic thumb drive structure described in the present disclosure.
  • the present disclosure also provides a robot, which includes: the bionic hand described in the present disclosure.
  • the terms “installation”, “communication”, and “connection” should be understood in a broad sense, for example, they can be fixed or detachable. Connected or integrally connected; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two components.
  • connection should be understood in a broad sense, for example, they can be fixed or detachable. Connected or integrally connected; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two components.
  • the specific meanings of the above-mentioned terms in the present disclosure can be understood in specific situations.
  • “plurality” means two or more.

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Transplantation (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Biomedical Technology (AREA)
  • Cardiology (AREA)
  • Vascular Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Prostheses (AREA)

Abstract

仿生大拇指传动结构、仿生手及机器人，仿生大拇指传动结构包括：连接轴（1），通过设置于端部的卡合件（9）与仿生大拇指相连接，且外侧套设有底座（2）；驱动组件（3），与连接轴（1）垂直设置，且安装于仿生大拇指的指腹内；蜗杆（4），与驱动组件（3）的输出端相连接；以及蜗轮（5），通过限位结构连接于连接轴（1）外侧，且与蜗杆（4）相啮合。

Description

仿生大拇指传动结构、仿生手及机器人
相关申请的引用
本公开要求于2020年6月1日向中华人民共和国国家知识产权局提交的申请号为202020973685.9、名称为“一种仿生大拇指传动结构、仿生手及机器人”的实用新型专利申请的全部权益，并通过引用的方式将其全部内容并入本文。
领域
本公开大体上涉及仿生机器人技术领域，更具体地，涉及仿生大拇指传动结构、仿生手及机器人。
背景
智能机器人的发展越来越受到重视，特别是仿生手领域的发展更为突出，仿生手不仅应用于传统制造业如采矿，冶金，石油，化学，船舶等领域，同时也已开始扩大到核能，航空，航天，医药，生化等高科技领域以及家庭清洁，医疗康复等服务业领域中。
但是，现有技术的仿生手无法实现运动过程的自锁，从而导致抓握物体的稳定性差，不利于用户使用。
概述
本公开一方面涉及仿生大拇指传动结构，其包括：
连接轴，通过设置于端部的卡合件与仿生大拇指相连接，且外侧套设有底座；
驱动组件，与所述连接轴垂直设置，且安装于所述仿生大拇指的指腹内；
蜗杆，与所述驱动组件的输出端相连接；以及
蜗轮，通过限位结构连接于所述连接轴外侧，且与所述蜗杆相啮合；
其中，所述驱动组件带动所述蜗杆围绕所述蜗轮进行周向运 动，以使所述仿生大拇指做屈伸动作。
在某些实施方案中，所述连接轴的端部设置有与所述卡合件相配合的限位部。
在某些实施方案中，所述限位部设置为环形卡槽，所述卡合件设置为C形卡簧。
在某些实施方案中，所述限位结构包括：相配合的第一限位件和第二限位件，所述第一限位件和所述第二限位件其中之一，安装于所述连接轴的外壁面，另一个安装于所述蜗轮的内壁面。
在某些实施方案中，所述第一限位件设置为外壁面具有平台的凸状结构，所述第二限位件设置为内壁面具有平台的套筒。
在某些实施方案中，所述驱动组件通过固定座安装于所述仿生大拇指内，所述固定座的两个端部均套设于所述连接轴上。
在某些实施方案中，所述固定座设置为U形结构，所述固定座的上壁面开设有供所述驱动组件的输出轴穿过的通孔，且所述固定座的开口处还设有挡板。
在某些实施方案中，所述底座的中部开设有安装槽，所述蜗轮设置于所述安装槽内。
本公开另一方面还涉及仿生手，其包括：本公开所述的仿生大拇指传动结构。
本公开又一方面还涉及机器人，其包括：本公开所述的仿生手。
本公开某些实施方案的仿生大拇指传动结构包括：连接轴，通过设置于端部的卡合件与仿生大拇指相连接，且外侧套设有底座；驱动组件，与所述连接轴垂直设置，且安装于所述仿生大拇指的指腹内；蜗杆，与所述驱动组件的输出端相连接；以及蜗轮，通过限位结构连接于所述连接轴外侧，且与所述蜗杆相啮合；其中，所述驱动组件带动所述蜗杆围绕所述蜗轮进行周向运动，以使所述仿生大拇指做屈伸动作。某些实施方案在使用时，在蜗杆与蜗轮反向自锁结构的作用下，只能通过驱动组件驱动蜗杆转动，此时由于蜗轮与连接轴无相对转动，从而促使蜗杆将围绕蜗轮进 行周向转动，最终带动仿生大拇指向靠近底座的方向运动，以握持放置于手掌内的物体，从而有效保证仿生大拇指对抓握物体的稳定性，方便用户使用。
附图的简要说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本公开的实施例，并与说明书一起用于解释本公开的原理。
为了更清楚地说明本公开实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，对于本领域普通技术人员而言，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图，其中：
图1示出了本公开一实施方案的结构示意图；
图2示出了图1中A位置的局部放大图；
图3示出了本公开一实施方案中蜗轮与蜗杆配合的结构示意图；
图4示出了本公开一实施方案中蜗轮的结构示意图；
图5示出了本公开一实施方案中连接轴的结构示意图；
图6示出了本公开一实施方案中固定座的结构示意图；
图7示出了本公开一实施方案中底座的结构示意图；
图8示出了本公开一实施方案中指尖橡胶的结构示意图；并且
图9示出了本公开一实施方案中未安装指尖橡胶的仿生大拇指的结构示意图。
图中：1、连接轴；2、底座；3、驱动组件；4、蜗杆；5、蜗轮；6、第一限位件；7、第二限位件；8、限位部；9、卡合件；10、固定座；11、挡板；12、安装槽；13、指尖橡胶；14、橡胶限位槽；15、第一安装件；16、第二安装件。
详述
为使本公开实施例的目的、技术方案和优点更加清楚，下面 将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本公开的一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都属于本公开保护的范围。
下面结合附图和具体实施方式对本公开作进一步详细说明：
如图1至图9所示，本公开一方面提供了仿生大拇指传动结构，其包括：
连接轴1，通过设置于端部的卡合件9与仿生大拇指相连接，且外侧套设有底座2；
驱动组件3，与连接轴1垂直设置，且安装于仿生大拇指的指腹内；
蜗杆4，与驱动组件3的输出端相连接；以及
蜗轮5，通过限位结构连接于连接轴1外侧，且与蜗杆4相啮合；
其中，所述驱动组件3带动蜗杆4围绕蜗轮5进行周向运动，以使仿生大拇指做屈伸动作。
在某些实施方案中，为了方便连接轴1的安装与拆卸，如图1、图2和图5所示，所述连接轴1的端部设置有与所述卡合件9相配合的限位部8。在某些实施方案中，限位部8设置为环形卡槽，卡合件9设置为C形卡簧。
在某些实施方案中，底座2的中部开设有安装槽12，蜗轮5设置于安装槽12内。
在某些实施方案中，驱动组件3可以选用驱动电机，驱动电机的型号可以根据使用要求进行预先选型，可以驱动蜗杆4进行旋转的驱动组件3均适用于本方案，均属于本方案的保护范围。
如图3所示，蜗轮5蜗杆4反向自锁作用是指，只能通过蜗杆4带动蜗轮5进行转动，而无法通过蜗轮5带动蜗杆4进行转动，所以本实施例中，在蜗杆4与蜗轮5反向自锁结构的作用下，只能通过驱动组件3驱动蜗杆4转动，此时由于蜗轮与连接轴无 相对转动，从而促使蜗杆将围绕蜗轮进行周向转动，最终带动仿生大拇指向靠近底座的方向运动，以握持放置于手掌内的物体，从而有效保证仿生大拇指对抓握物体的稳定性，方便用户使用。
在某些实施方案中，以大拇指弯曲为例，驱动组件3带动蜗杆4进行顺时针转动，由于蜗杆4和蜗轮5之间的配合，由于蜗轮5与连接轴1之间无相对转动，所以，蜗杆将带动与其连接的仿生大拇指，沿着蜗轮向靠近底座2的方向运动，从而实现抓握手掌中的物体；
同理的，驱动组件3带动蜗杆4进行逆时针转动，由于蜗杆4和蜗轮5之间的配合，由于蜗轮5与连接轴1之间无相对转动，所以，蜗杆将带动与其连接的仿生大拇指，沿着蜗轮向远离底座2的方向运动，从而实现释放手掌中的物体。
在某些实施方案中，限位结构包括：相配合的第一限位件6和第二限位件7，第一限位件6和第二限位件7其中之一，安装于连接轴1的外壁面，另一个安装于蜗轮5的内壁面，本实施例中，如图4和图5所示，第一限位件6安装于连接轴1的外壁面，第二限位件7安装于蜗轮5的内壁面。在某些实施方案中，第一限位件6设置为外壁面具有平台的凸状结构，第二限位件7设置为内壁面具有平台的套筒，为了提高限位效果，本实施例中，平台设置为两个，两个平台为对称设置，当然亦可以设置多个，并且，限位结构不仅限于上述配合方式，例如可以采用滑槽与滑轨的配合也可以，只要可以保证蜗轮5与连接轴1无法进行相对转动的限位结构均适用于本方案，均属于本方案的保护范围。
在某些实施方案中，如图1和图2所示，驱动组件3通过固定座10安装于仿生大拇指内，固定座10的两个端部均套设于连接轴1上，固定座10的另一端与仿生大拇指固定连接。
在某些实施方案中，如图6所示，固定座10设置为U形结构，固定座10的上壁面开设有供驱动组件3的输出轴穿过的通孔，在某些实施方案中，通孔的直径大于驱动电机输出轴的直径，保证驱动电机输出轴可以在通孔内正常旋转；且固定座10的开口处还 设有挡板11，使用时，驱动电机安装于固定座10上，且驱动电机的输出轴将经由通孔插入固定座10内，从而实现将蜗杆4设置于固定座10与挡板11之间，在驱动电机的带动下，蜗杆4将在固定座10与挡板11形成的空间内进行转动。
在某些实施方案中，如图1、图8和图9所示，大拇指的指尖上还设有指尖橡胶13，现有技术中的指尖橡胶13大多采用直接套设在指尖上的方式，实现对指尖的保护，该连接方式不稳定，当手指在屈伸时，指尖橡胶13很容易从指尖上脱落；本实施例为了保证指尖橡胶13稳定安装于指尖上，当无需使用时再将指尖橡胶13从指尖上取下。在某些实施方案中，指尖上开设有与指尖橡胶13形状相适配的橡胶限位槽14，指尖橡胶13通过安装机构可拆卸的安装于橡胶限位槽14内。
在某些实施方案中，安装机构包括：相配合的第一安装件15和第二安装件16，第一安装件15和第二安装件16其中之一设置于橡胶限位槽14上，另一个安装于指尖橡胶13上，本实施例中，第一安装件15设置于橡胶限位槽14上，第二安装件16设置于指尖橡胶13上。
在某些实施方案中，如图8和图9所示，第一安装件15和第二安装件16设置为相配合的凸起和通孔。本实施例中，橡胶限位槽14上相对的位置设有通孔，指尖橡胶13与通孔相配合的位置设有凸起。在某些实施方案中，凸起亦采用橡胶材质。
本公开还提供了仿生手，其包括：本公开所述的仿生大拇指传动结构。
本公开还提供了机器人，其包括：本公开所述的仿生手。
本说明书中的各个实施例均采用递进的方式描述，若干个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似的部分互相参见即可。
在本公开的描述中，需要说明的是，术语“上”、“下”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本公开和简化描述，而不是指示或暗示所指的装置 或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本公开的限制。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示重要性；词语“底面”和“顶面”、“内”和“外”分别指的是朝向或远离特定部件几何方向。
在本公开的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“连通”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接连通，也可以通过中间媒介间接连通，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本公开中的具体含义。此外，在本公开的描述中，除非另有说明，“多个”的含义是两个或两个以上。
以上仅为本公开的较佳实施例，并不用以限制本公开，凡在本公开的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本公开的保护范围之内。

Claims (10)

  1. 仿生大拇指传动结构，其包括：
    连接轴，通过设置于端部的卡合件与仿生大拇指相连接，且外侧套设有底座；
    驱动组件，与所述连接轴垂直设置，且安装于所述仿生大拇指的指腹内；
    蜗杆，与所述驱动组件的输出端相连接；以及
    蜗轮，通过限位结构连接于所述连接轴外侧，且与所述蜗杆相啮合；
    其中，所述驱动组件带动所述蜗杆围绕所述蜗轮进行周向运动，以使所述仿生大拇指做屈伸动作。
  2. 如权利要求1所述的仿生大拇指传动结构，其中，所述连接轴的端部设置有与所述卡合件相配合的限位部。
  3. 如权利要求2所述的仿生大拇指传动结构，其中，所述限位部设置为环形卡槽，所述卡合件设置为C形卡簧。
  4. 如权利要求1至3中任一权利要求所述的仿生大拇指传动结构，其中，所述限位结构包括：相配合的第一限位件和第二限位件，所述第一限位件和所述第二限位件其中之一，安装于所述连接轴的外壁面，另一个安装于所述蜗轮的内壁面。
  5. 如权利要求4所述的仿生大拇指传动结构，其中，所述第一限位件设置为外壁面具有平台的凸状结构，所述第二限位件设置为内壁面具有平台的套筒。
  6. 如权利要求1至5中任一权利要求所述的仿生大拇指传动结构，其中，所述驱动组件通过固定座安装于所述仿生大拇指内，所述固定座的两个端部均套设于所述连接轴上。
  7. 如权利要求6所述的仿生大拇指传动结构，其中，所述固定座设置为U形结构，所述固定座的上壁面开设有供所述驱动组件的输出轴穿过的通孔，且所述固定座的开口处还设有挡板。
  8. 如权利要求1至7中任一权利要求所述的仿生大拇指传动结构，其中，所述底座的中部开设有安装槽，所述蜗轮设置于所述安装槽内。
  9. 仿生手，其包括：权利要求1至8中任一权利要求所述的仿生大拇指传动结构。
  10. 机器人，其包括：权利要求9所述的仿生手。
PCT/CN2021/096304 2020-06-01 2021-05-27 仿生大拇指传动结构、仿生手及机器人 WO2021244384A1 (zh)

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