CN-121973265-A - Thumb mechanism for manipulator

CN121973265ACN 121973265 ACN121973265 ACN 121973265ACN-121973265-A

Abstract

The application discloses a thumb mechanism for a mechanical arm, which comprises a connecting assembly, a knuckle assembly, a driving assembly and a transmission assembly, wherein the connecting assembly comprises a mounting seat, a rotating shaft and a swinging seat, the knuckle assembly is connected to the swinging seat, the driving assembly comprises a first driving module and a second driving module which are arranged side by side, the transmission assembly comprises a first driving part, a second driving part and a third driving part, the first driving part, the third driving part and the second driving part are sequentially arranged outside the rotating shaft and are coaxially arranged, the first driving part is also connected to the swinging seat and can rotate relative to the rotating shaft, the third driving part and the second driving part are respectively fixed on the rotating shaft, the first driving module drives the swinging seat to rotate relative to the mounting seat through the first driving part, the swinging seat drives the knuckle assembly to swing, the second driving module drives the rotating shaft to rotate through the second driving part, and the rotating shaft drives the knuckle assembly to bend through the third driving part. The thumb mechanism reduces the occupation of the internal space of the knuckle assembly, solves the problem of insufficient driving moment in the thumb mechanism, and provides a larger driving force.

Inventors

ZHANG XINSHENG
Lv Yaoyi
SUN JIE
XU SHUANGJIA

Assignees

深圳市大寰机器人科技有限公司

Dates

Publication Date: 20260505
Application Date: 20260407

Claims (10)

1. A thumb mechanism for a manipulator, comprising: the connecting assembly comprises a mounting seat, a rotating shaft and a swinging seat, wherein the rotating shaft is mounted on the mounting seat and can rotate relative to the mounting seat, and the swinging seat can rotate relative to the mounting seat; the knuckle assembly is connected with the swing seat and can swing under the drive of the swing seat; The driving assembly comprises a first driving module and a second driving module, the first driving module and the second driving module are arranged side by side along a first direction, and the first direction is not parallel to the axial direction of the rotating shaft; The transmission assembly comprises a first transmission piece, a second transmission piece and a third transmission piece, wherein the first transmission piece is connected with the swing seat, the first transmission piece is arranged at one end of the rotating shaft and can rotate relative to the rotating shaft, the second transmission piece is arranged at the other end of the rotating shaft, and the third transmission piece is connected with the rotating shaft; The first driving module drives the swinging seat to rotate relative to the mounting seat through the first transmission piece, the swinging seat drives the knuckle assembly to swing, the second driving module drives the rotating shaft to rotate through the second transmission piece, and the rotating shaft drives the knuckle assembly to bend through the third transmission piece.
2. The thumb mechanism for a manipulator of claim 1, wherein the drive assembly further comprises a fourth drive member coupled to the output of the first drive module and the first drive member, a fifth drive member coupled to the output of the second drive module and the second drive member, and a sixth drive member coupled to the knuckle assembly and the third drive member.
3. The thumb mechanism for a manipulator of claim 2, wherein the linkage assembly further comprises a first support assembly mounted to the mount and configured to rotatably support the rotatable shaft, and a second support assembly mounted to the mount and located laterally of the rotatable shaft, the fourth and fifth drive members being mounted between the mount and the second support assembly, respectively.
4. The thumb mechanism for a manipulator of claim 3, wherein the mount includes a first mounting portion and a second mounting portion disposed on a side of the first mounting portion, the first and second drive modules being mounted side-by-side to the first mounting portion and separated by the second mounting portion.
5. The thumb mechanism for a manipulator according to claim 4, wherein the mounting base further comprises a third mounting portion and a fourth mounting portion, the third mounting portion and the fourth mounting portion are respectively disposed on the other side face of the first mounting portion, the third mounting portion is disposed opposite to the first supporting member, two ends of the rotating shaft are respectively rotatably mounted on the third mounting portion and the first supporting member, the second supporting member is fixed on the fourth mounting portion and is parallel to the first mounting portion, the fourth driving member and the fifth driving member are respectively rotatably mounted between the second supporting member and the first mounting portion, and the fourth driving member and the fifth driving member are separated by the fourth mounting portion.
6. The thumb mechanism for a robot according to claim 5, wherein the first support assembly comprises a first support base and a first bearing installed in the first support base, the first support base is fixed to the installation base by a fastener and is parallel to the third installation portion, a third bearing is installed in the third installation portion, one end of the rotating shaft is installed on the first bearing, the other end of the rotating shaft is installed on the third bearing and passes through the third installation portion to be connected with the second transmission member, or/and, The second supporting assembly comprises a second supporting seat and a second bearing arranged in the second supporting seat, the second supporting seat is fixed on the fourth installation part through a fastener and is parallel to the first installation part, one ends of the fourth transmission part and the fifth transmission part are respectively arranged on the second bearing, and the other ends of the fourth transmission part and the fifth transmission part are respectively arranged on the first installation part.
7. The thumb mechanism for a manipulator of claim 2, wherein the swing seat comprises a first connecting portion and a second connecting portion, the first connecting portion and the second connecting portion are hollow and communicated, the first connecting portion is rotatably sleeved outside the rotating shaft and fixedly connected to the first transmission member, the second connecting portion is internally provided with the sixth transmission member, and the second connecting portion is also rotatably connected with the knuckle assembly.
8. The thumb mechanism for a manipulator of claim 7, wherein the swing seat further comprises a third connecting portion, the third connecting portion is disposed at one end of the first connecting portion, the third connecting portion is rotatably sleeved outside the rotating shaft, the first transmission member is sleeved outside the third connecting portion, and the third transmission member is disposed inside the first connecting portion.
9. The thumb mechanism for a manipulator of claim 2, wherein the transmission assembly further comprises a linkage rod engaged with the sixth transmission member, one end of the linkage rod is rotatably connected to the swinging seat, the other end of the linkage rod is rotatably connected to the knuckle assembly, and when the third transmission member drives the sixth transmission member to rotate, the sixth transmission member can drive the linkage rod to rotate, and the linkage rod drives the knuckle assembly to bend.
10. The thumb mechanism for a manipulator according to claim 9, wherein the sixth transmission member is provided with a pushing portion, a pushed portion matched with the pushing portion is provided at an end of the link rod connected to the swinging seat, and when the sixth transmission member rotates, the pushing portion can push the pushed portion to drive the link rod to rotate, or/and, The knuckle assembly comprises a first knuckle and a second knuckle, wherein the first knuckle is rotationally connected with the swinging seat, the second knuckle is rotationally connected with the first knuckle, and the second knuckle is rotationally connected with the linkage rod.

Description

Thumb mechanism for manipulator Technical Field The invention relates to the technical field of robots, in particular to a compact thumb mechanism with high driving force and high stability, which is suitable for a mechanical arm. Background With the rapid development of robot technology, robots are increasingly used in the fields of industrial manufacturing, medical surgery, home services, space exploration, and the like. As an important end effector for robot interaction with the environment, the research of the manipulator (Dexterous Hand) is receiving increasing attention. Compared with a simple clamp holder, the five-finger manipulator has the characteristics of multiple degrees of freedom and high flexibility, can simulate the complex motion of human hands, and can realize the self-adaptive grabbing and operation of objects with different shapes and sizes. In the thumb mechanism of the existing manipulator, in order to reduce space occupation, a motor for driving the thumb mechanism to bend is generally arranged in a knuckle, and the design is not beneficial to providing large driving force. In other thumb mechanisms, driving motors are arranged at the palm center for enough driving force for rotation and swing, but due to the complex transmission structure and staggered arrangement of the two driving motors, the occupation of palm center space is large, the grasping of a manipulator is not facilitated, and the dynamic stability and reliability of grasping are reduced. Disclosure of Invention The technical scheme includes that the thumb mechanism for the manipulator comprises a connecting assembly, a knuckle assembly, a driving assembly and a transmission assembly, wherein the connecting assembly comprises a mounting seat, a rotating shaft and a swinging seat, the rotating shaft is mounted on the mounting seat and can rotate relative to the mounting seat, the swinging seat can rotate relative to the mounting seat, the knuckle assembly is connected to the swinging seat and can swing under the driving of the swinging seat, the driving assembly comprises a first driving module and a second driving module, the first driving module and the second driving module are arranged side by side along a first direction, the first direction is not parallel to the axial direction of the rotating shaft, the transmission assembly comprises a first transmission piece, a second transmission piece and a third transmission piece, the first transmission piece is connected to the swinging seat, the first transmission piece is arranged at one end of the rotating shaft and can rotate relative to the rotating shaft, the second transmission piece is arranged at the other end of the rotating shaft and can swing, the first driving module and the second driving module are arranged along the axial direction of the rotating shaft, and the first transmission piece and the second transmission module and the second transmission piece are arranged to the rotating seat. Preferably, the transmission assembly further comprises a fourth transmission member, a fifth transmission member and a sixth transmission member, wherein the fourth transmission member is connected to the output end of the first driving module and the first transmission member, the fifth transmission member is connected to the output end of the second driving module and the second transmission member, and the sixth transmission member is connected to the knuckle assembly and the third transmission member. Preferably, the connecting assembly further comprises a first supporting assembly and a second supporting assembly, the first supporting assembly is installed on the installation seat and used for rotatably supporting the rotating shaft, the second supporting assembly is installed on the installation seat and located on the side portion of the rotating shaft, and the fourth transmission piece and the fifth transmission piece are installed between the installation seat and the second supporting assembly respectively. Preferably, the mounting seat comprises a first mounting portion and a second mounting portion arranged on one side surface of the first mounting portion, and the first driving module and the second driving module are mounted on the first mounting portion side by side and separated by the second mounting portion. Preferably, the mounting seat further comprises a third mounting portion and a fourth mounting portion, the third mounting portion and the fourth mounting portion are respectively arranged on the other side face of the first mounting portion, the third mounting portion and the first supporting component are arranged oppositely, two ends of the rotating shaft are respectively rotatably mounted on the third mounting portion and the first supporting component, the second supporting component is fixed on the fourth mounting portion and is parallel to the first mounting portion, the fourth transmission piece and the fifth transmission piece are respective