Fingertip module, dexterous hand and robot

Abstract

The invention discloses a fingertip module, a dexterous hand and a robot, and relates to the technical field of bionic robotics.The fingertip module comprises a fingertip skeleton, the fingertip skeleton is in transmission connection with an external power output mechanism, and the fingertip skeleton is an output piece of the external power output mechanism. According to the fingertip module, the output piece of the external power output mechanism is directly used as the skeleton of the fingertip module, so that the fingertip skeleton does not need to be redesigned, the design process of the fingertip module is simplified, the cost is saved, and the production and assembly process is simplified.

Description

Technical Field

[0001] The present application relates to the technical field of bionic robots, and in particular to a fingertip module, a dexterous hand, and a robot. Background Art

[0002] Humanoid robots have received widespread attention in recent years, and their scientific and technological levels have also been greatly improved. The bionic dexterous hand assembly is the end effector of the humanoid robot, and the fingertip modules such as the manipulator and dexterous hand are relatively key components. In the related technology, the dexterous fingertip module has a corresponding shell, which is used to form the fingertip skeleton of the dexterous fingertip module, and the external power output mechanism controls its output to drive the fingertip skeleton to move.

[0003] In the related art, it is necessary to design the fingertip skeleton separately, which is costly and leads to complicated assembly process. Summary of the invention

[0004] The embodiments of the present application provide a fingertip module, a dexterous hand, and a robot to solve the problems in the related art of high cost and complicated assembly process due to the need to design a fingertip skeleton separately.

[0005] In order to solve the above technical problems, the present application is implemented as follows;

[0006] In a first aspect, an embodiment of the present application provides a fingertip module, including a fingertip skeleton, wherein the fingertip skeleton is transmission-connected to an external power output mechanism, and the fingertip skeleton is an output component of the external power output mechanism.

[0007] In a second aspect, an embodiment of the present application provides a dexterous hand, comprising the fingertip module described in the first aspect.

[0008] In a third aspect, an embodiment of the present application provides a robot comprising the fingertip module described in the first aspect.

[0009] In the embodiment of the present application, the output part of the external power output mechanism is directly used as the skeleton of the fingertip module, so there is no need to redesign the fingertip skeleton, which is conducive to simplifying the design process of the fingertip module, saving costs, and simplifying the production and assembly process. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0011] Figure 1A schematic diagram of the structure of a fingertip module provided in an embodiment of the present application;

[0012] Figure 2 A schematic diagram of the structure of another fingertip module provided in an embodiment of the present application. DETAILED DESCRIPTION

[0013] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0014] Figure 1 and Figure 2 A schematic diagram of the structure of the fingertip module provided in an embodiment of the present application.

[0015] like Figure 1 and Figure 2 As shown, the fingertip module includes a fingertip skeleton 1, which is transmission-connected to an external power output mechanism, and the fingertip skeleton 1 is an output component of the external power output mechanism.

[0016] The fingertip skeleton 1 may be an integrated fingertip skeleton 1, or may be a fingertip skeleton 1 formed by the cooperative assembly of multiple components, for example, a fingertip skeleton 1 formed by the cooperative assembly of a main fingertip skeleton 11 and a slave fingertip skeleton 12. In this embodiment, the fingertip skeleton 1 is transmission-connected to an external power output mechanism, that is, the fingertip skeleton 1 is an output member of the external power output mechanism, and the fingertip skeleton 1 can move under the control of the external power output mechanism, thereby realizing the movement of the fingertips.

[0017] Through the above arrangement, the output part of the external power output mechanism is directly used as the skeleton of the fingertip module, so there is no need to redesign the fingertip skeleton, which is conducive to simplifying the design process of the fingertip module, saving costs, and simplifying the production and assembly process.

[0018] Optionally, the fingertip module further includes a sensor component 2 , and the sensor component 2 is arranged outside the fingertip skeleton 1 .

[0019] The sensor assembly 2 is a sensing unit of the fingertip module, which is used to realize the tactile function of the fingertip. The sensor assembly 2 at least includes a pressure sensor for sensing pressure. Specifically, the pressure sensor includes a hydraulic sensor, a three-dimensional force sensor, a six-dimensional force sensor, and a flexible sensor.

[0020] The sensor component 2 is arranged outside the fingertip skeleton 1, including being arranged on the back side of the fingertip skeleton 1, the web side of the fingertip skeleton 1 or two opposite side surfaces of the fingertip skeleton 1.

[0021] In the embodiment of the present application, by setting the fingertip module to also include a sensor component 2, the fingertip module can sense pressure, which is conducive to enriching the functions of the fingertip module.

[0022] It is worth mentioning that the cost of three-dimensional force sensors and six-dimensional force sensors is usually high; since the silicone oil of the hydraulic sensor needs to be pressurized and the cavity needs to be filled with silicone oil, the assembly conditions are more stringent and the assembly steps are complicated.

[0023] In order to solve the problems of high cost, harsh assembly conditions and complicated assembly steps caused by the use of the above-mentioned sensors, in some embodiments, the above-mentioned sensor assembly 2 can be arranged to include at least one flexible sensor, and the at least one flexible sensor includes at least one of a piezoelectric sensor, a piezoresistive sensor, a capacitive sensor and a triboelectric sensor.

[0024] In this embodiment, compared with setting the sensor component 2 to include a three-dimensional force sensor and a six-dimensional force sensor, setting the sensor component 2 to include a flexible sensor is beneficial to cost saving; compared with setting the sensor component 2 to include a hydraulic sensor, setting the sensor component 2 to include a flexible sensor does not require pouring silicone oil and is convenient to assemble.

[0025] It is also worth mentioning that the hydraulic sensor can only roughly detect the force, and it is difficult to specifically locate the contact point with fine force. Based on this, in some embodiments, the sensor assembly 2 can be set to include a supporting spring sheet and a plurality of piezoresistive sensors, and the plurality of piezoresistive sensor arrays are distributed on the supporting spring sheet.

[0026] The embodiment of the present application can achieve multi-point simultaneous detection by setting up multiple piezoresistive sensor arrays, which can improve the perception sensitivity of the fingertip module and help to quickly capture small changes when the fingertips touch the object, thereby providing timely tactile feedback for the robot.

[0027] Optionally, the sensor component 2 is arranged on a side of the fingertip skeleton 1, and an opening is provided on the side of the fingertip skeleton, and the opening is used for routing the sensor component 2.

[0028] When using the fingertip module to press or grasp an object, the fingertip side usually contacts the object. Based on this, the embodiment of the present application can generate a corresponding sensor signal in time when the fingertip module contacts the object by setting the sensor component 2 on the fingertip side of the fingertip skeleton 1.

[0029] In this embodiment, an opening for routing the sensor assembly 2 is provided on one side of the fingertip, and the line of the sensor assembly 2 can be electrically connected to the fingertip control board 4 through the opening. The fingertip control board 4 is used to receive the signal sent by the sensor assembly 2 and send the received signal to other controllers so that the controller executes the corresponding control process based on the sensor signal. The fingertip control board 4 can be installed on the fingertip skeleton 1 or on the palm.

[0030] The embodiment of the present application provides the above-mentioned opening for routing of the sensor component 2. Compared with directly exposing the wiring of the sensor component 2 outside the fingertip skeleton 1, for example, arranging it on the side of the fingertip skeleton 1, it is beneficial to reduce the risk of damage to the wiring of the sensor component 2, thereby improving the durability of the sensor component 2.

[0031] In some embodiments, an opening may be provided from one side of the fingertip to the position where the fingertip control board 4 is provided, and the circuit of the sensor assembly 2 passes through the opening to be electrically connected to the fingertip control board 4 .

[0032] In other embodiments, a groove connected to the opening may be provided in the fingertip skeleton 1; wherein the opening and the groove are used together for routing the sensor assembly 2.

[0033] In this embodiment, a groove connected to the opening is provided in the fingertip skeleton 1, which is beneficial to reducing the weight of the fingertip skeleton 1. The shape of the above-mentioned groove can be any shape, and the length of the groove can be less than or equal to the length of the fingertip skeleton 1. When the length of the groove is equal to the fingertip skeleton 1, it is beneficial to further reduce the weight of the fingertip skeleton 1.

[0034] It is worth mentioning that after the sensor assembly 2 and the fingertip control board 4 are installed at the corresponding positions, due to the limited length of the wiring of the sensor assembly 2, it is difficult to connect the wiring to the fingertip control board 4 after passing through the opening and the groove. Based on this, the wiring of the sensor assembly 2 can be connected to the interface of the fingertip control board 4 first, and then the sensor assembly 2 and the fingertip control board 4 can be installed at the corresponding positions.

[0035] In some embodiments, the width of the above-mentioned opening and groove may be slightly greater than or equal to the width of the circuit of the sensor component 2, and less than the width of the sensor component 2. However, in this embodiment, during assembly, the circuit of the sensor component 2 can only enter from the opening on the fingertip side from bottom to top and then connect with the control board 4 on the back of the finger. Specifically, in the case of a fingertip skeleton 1 that is an integrated fingertip skeleton 1, after the sensor component 2 to be replaced is removed from the fingertip skeleton 1 and its circuit is removed from the interface of the fingertip control board 4, the new sensor component 2 can only be installed on the side of the fingertip and then the circuit of the new sensor component 2 can be extended into the above-mentioned opening and groove to connect with the interface of the fingertip control board 4. In the above-mentioned replacement step of the sensor component 2, since the circuit of the sensor component 2 needs to be extended into the opening and groove of the fingertip skeleton 1 and then the circuit terminal is connected to the interface of the fingertip control board 4, the connection between the sensor component 2 and the fingertip control board 4 will be more difficult. In the case where the fingertip skeleton 1 is a fingertip skeleton 1 assembled by multiple parts, after the sensor component 2 to be replaced is removed from the fingertip skeleton 12 and its circuit is removed from the interface of the fingertip control board 4, the fingertip skeleton 1 can be disassembled into multiple parts; the circuit terminal of the new sensor component 2 is inserted into the interface of the fingertip control board 4, and the new sensor component 2 is installed on the side of the fingertip of a certain component of the fingertip skeleton 1 (such as the main fingertip skeleton 11) and the fingertip control board 4 is installed in the corresponding position, and then the other parts of the fingertip skeleton 1 are assembled to form the fingertip skeleton 1. Since the fingertip skeleton 1 needs to be disassembled in the above-mentioned replacement steps of the sensor component 2, the replacement steps of the sensor component 2 will be more complicated.

[0036] In order to solve the problem that the sensor component 2 is difficult to replace or is complicated to replace, in other embodiments, the width of the above-mentioned groove and opening can be set to be greater than or equal to the width of the sensor component 2. In this embodiment, when replacing the sensor component 2, after the sensor component 2 to be replaced is removed from the fingertip skeleton 1 and its circuit is removed from the interface of the fingertip control board 4, the circuit terminal of the new sensor component 2 can be inserted into the interface of the fingertip control board 4, and the circuit of the new sensor component 2 is sequentially extended into the groove and opening from top to bottom, so as to install the sensor component 2 on the fingertip side of the fingertip skeleton 1.

[0037] Optionally, the fingertip module further includes a fingertip control board 4 , which is mounted on the fingertip skeleton 1 , and is electrically connected to the sensor assembly 2 .

[0038] In this embodiment, the fingertip control board 4 is installed on the fingertip skeleton 1 or in the groove. Compared with installing the fingertip control board 4 on the palm, the distance between the fingertip control board 4 and the sensor component 2 can be shortened, thereby facilitating the electrical connection between the sensor component 2 and the fingertip control board 4.

[0039] Optionally, the fingertip module further includes a finger back cover plate 3 , which is covered on the fingertip control plate 4 and is mounted and fixed to the fingertip skeleton 1 .

[0040] In this embodiment, the finger back cover plate 3 is covered on the fingertip control plate 4, for example: there is no fixed relationship between the finger back cover plate 3 and the fingertip control plate 4, after the fingertip control plate 4 is placed on the fingertip skeleton 1, the finger back cover plate 3 covers the fingertip control plate 4 and is installed and fixed with the fingertip skeleton 1; or, there is a fixed relationship between the finger back cover plate 3 and the fingertip control plate 4, after the finger back cover plate 3 and the fingertip control plate 4 are fixed, the finger back cover plate 3 is installed and fixed with the fingertip skeleton 1 and covers the fingertip control plate 4.

[0041] In the embodiment of the present application, by providing the above-mentioned finger back cover plate 3, the fingertip control plate 4 can be protected, which is beneficial to improving the durability of the fingertip module.

[0042] Optionally, the fingertip control panel 4 is arranged on the back side of the fingertip skeleton 1, the sensor assembly 2 is arranged on the pulp side of the fingertip skeleton 1, an opening is arranged on the pulp side, and a groove communicating with the opening is arranged in the fingertip skeleton 1;

[0043] The wiring of the sensor assembly 2 passes through the opening and the groove and is electrically connected to the fingertip control board 4 .

[0044] In this embodiment, the above arrangement is helpful to simplify the routing of the sensor component 2; and the routing of the sensor component 2 is arranged in the fingertip skeleton 1, that is, the routing of the sensor component 2 passes through the openings and grooves of the fingertip skeleton 1, which can protect the routing.

[0045] Optionally, the fingertip skeleton 1 includes a main fingertip skeleton 11 and a slave fingertip skeleton 12, and the main fingertip skeleton 11 and the slave fingertip skeleton 12 are installed in cooperation to form the groove and the opening.

[0046] In this embodiment, compared with drilling the above-mentioned grooves and openings in the fingertip skeleton 1, the fingertip skeleton 1 is provided to include a main fingertip skeleton 11 and a slave fingertip skeleton 12, and the main fingertip skeleton 11 and the slave fingertip skeleton 12 are installed in cooperation to form the above-mentioned grooves and openings, which is conducive to simplifying the process.

[0047] Optionally, the master fingertip skeleton 11 is an active output component of an external power output mechanism, and the slave fingertip skeleton 12 is a driven output component of the external power output mechanism.

[0048] In this embodiment, the active output member refers to a component directly connected to the external power output mechanism through a transmission component (such as a transmission gear), and the active output member directly receives the power output by the external power output mechanism. The driven output member indirectly receives the power output by the external power output mechanism, and the driven output member can move under the drive of the active output member.

[0049] In order to more clearly understand the technical solution of the embodiment of the present application, the active output member and the driven output member are further explained below by taking the transmission assembly including a transmission shaft and a transmission gear as an example.

[0050] In some embodiments, the active output member is provided with a third mounting hole 111, and the driven output member is provided with a fourth mounting hole 121 opposite to the third mounting hole 111;

[0051] The transmission assembly includes a transmission gear and a transmission shaft passing through the third mounting hole 111 and the fourth mounting hole 121 . The transmission gear is sleeved on the transmission shaft and connected to the active output member. The transmission shaft is in transmission connection with the power output mechanism.

[0052] In this embodiment, the transmission shaft rotates under the drive of the power output mechanism, thereby driving the transmission gear to rotate, and the rotation of the transmission gear can drive the active output member to move. It is worth mentioning that in the embodiment of the present application, a transmission gear is arranged to be connected with the active output member, which can leave a certain reserved space between the transmission gear and the driven output member, so that other equipment (such as sensors) can be installed in the above-mentioned reserved space later, which is conducive to efficient use of the space between the active output member and the driven output member.

[0053] Optionally, a first boss 112 is provided on a side of the main fingertip skeleton 11 facing the slave fingertip skeleton 12, and the first boss 112 is provided with a first mounting hole;

[0054] A second boss 122 is provided on one side of the slave fingertip skeleton 12 toward the main fingertip skeleton 11, and the second boss 122 is provided with a second mounting hole;

[0055] The first boss 112 fits with the second boss 122 , and the first mounting hole is connected with the second mounting hole. The main fingertip skeleton 11 and the slave fingertip skeleton 12 are connected through the first mounting hole and the second mounting hole.

[0056] The first boss 112 and the second boss 122 may be bosses of any shape. For example, the shape of the first boss 112 may be set to Figure 1 The shape of the first boss 112 is shown. In order to simplify the manufacturing process of the boss, as shown in FIG. Figure 2As shown, the first boss 112 and the second boss 122 may both be straight ramp-shaped bosses.

[0057] In this embodiment, the first mounting hole and the second mounting hole can be both threaded holes, and after the screws pass through the first mounting hole and the second mounting hole and are tightened, the main fingertip skeleton 11 and the slave fingertip skeleton 12 are connected and fixed; the first mounting hole and the second mounting hole can be both through holes, and after the bolts pass through the first mounting hole and the second mounting hole and are tightened with the nuts, the main fingertip skeleton 11 and the slave fingertip skeleton 12 are connected and fixed; one of the first mounting hole and the second mounting hole can be a threaded hole and the other can be a through hole, and after the screws pass through the through hole and the threaded hole in turn and are tightened, the main fingertip skeleton 11 and the slave fingertip skeleton 12 are connected and fixed.

[0058] In the embodiment of the present application, by providing the above-mentioned first boss 112 and the second boss 122, and opening the above-mentioned first mounting hole and the second mounting hole on the first boss 112 and the second boss 122 respectively, the first mounting hole and the second mounting hole can have a certain thickness, so that the main fingertip skeleton 11 and the slave fingertip skeleton 12 are connected through the first mounting hole and the second mounting hole, which is conducive to improving the connection stability.

[0059] The bottom side of the first boss 112 and the bottom side of the second boss 122 can be flush with the fingertip side of the fingertip skeleton 1. The sensor assembly 2 is installed on the fingertip side of the fingertip skeleton 1, and the sensor assembly 2 can be installed on the bottom side of the first boss 112 and the second boss 122. Since the first boss 112 and the second boss 122 fit each other without a gap, installing the sensor assembly 2 on the bottom side of the first boss 112 and the second boss 122 is beneficial to improving the stability of the sensor assembly 2. When the bottom side of the first boss 112 and the bottom side of the second boss 122 are flush with the fingertip side of the fingertip skeleton 1, the opening can be set at the tail of the fingertip side of the fingertip skeleton 1, and the tail refers to the area between the boss and the tail end of the fingertip (the tail end of the fingertip is the end opposite to the tip of the fingertip) in the fingertip skeleton 1.

[0060] Alternatively, see Figure 2 The fingertip module also includes a control panel fixing part 6 , the control panel fixing part 6 is mounted on the fingertip skeleton 1 , and the fingertip control panel 4 is mounted on the control panel fixing part 6 .

[0061] In the embodiment of the present application, a special control panel fixing part 6 is provided to install the fingertip control panel 4 , which is beneficial to improving the installation stability of the fingertip control panel 4 .

[0062] In some embodiments, the control panel fixing member 6 may be provided with a groove for accommodating the control panel.

[0063] Wherein, when the control panel fixing part 6 and the finger back cover plate 3 are provided at the same time, the finger back cover plate 3 can be provided to cover the fingertip control panel 4 and be installed and fixed with the control panel fixing part 6. In some embodiments, the finger back cover plate 3 can be provided with a snapping mechanism for snapping with the control panel fixing part 6, which is conducive to simplifying the installation between the control panel fixing part 6 and the finger back cover plate 3.

[0064] Alternatively, see Figure 1 or Figure 2 The fingertip module also includes a fingertip protective cover 5, and the fingertip protective cover 5 forms a protective space, and the fingertip skeleton 1 is covered in the protective space.

[0065] The fingertip protective cover 5 can be a rubber protective cover, and the fingertip protective cover 5 can be bonded to the outside of the fingertip skeleton 1, thereby protecting the fingertip skeleton 1.

[0066] It is worth mentioning that the fingertip skeleton 1 is covered in the protective space formed by the fingertip protective cover 5. When the fingertip module is provided with a sensor component 2, the sensor component 2 can also be covered in the above-mentioned protective space; when the fingertip module is provided with a finger back cover plate 3, since the finger back cover plate 3 itself has a certain protective effect, it is not necessary to completely cover the finger back cover plate 3 in the above-mentioned protective space. Specifically, the fingertip protective cover 5 can be provided with a certain opening on one side of the finger back cover plate 3, so that the fingertip protective cover 5 can be covered on part of the finger back cover plate 3. In this way, it is convenient to bond the fingertip protective cover 5.

[0067] like Figure 1 In the embodiment shown, the fingertip skeleton 1 can be completely covered in the protective space formed by the fingertip protective cover 5, but the glue bonding the fingertip protective cover 5 to the fingertip skeleton 1 may penetrate into the part where the fingertip skeleton 1 is connected to the external power output mechanism (i.e., the first part 13, including the third mounting hole 111, the fourth mounting hole 121, the groove surrounding the first mounting hole 111, and the groove surrounding the fourth mounting hole 121), thereby affecting the movement of the fingertip skeleton 1. Based on this, in the example Figure 2 In some of the embodiments shown, the length of the fingertip protective cover 5 can be shortened so that the protective space formed by the fingertip protective cover 5 is used to cover the second part of the fingertip skeleton 1, and the second part includes the part of the fingertip skeleton 1 except the first part 13.

[0068] In the embodiment of the present application, the protective space formed by the fingertip protective cover 5 is used to cover the second part of the fingertip skeleton 1 through the above arrangement. In this way, the glue used to bond the fingertip protective cover 5 to the fingertip skeleton 1 can be prevented from penetrating into the above-mentioned first part 13, thereby reducing the impact on the movement of the fingertip skeleton 1 (output component).

[0069] It is worth mentioning that in some embodiments, the first portion 13 may be directly exposed to the external environment. In other embodiments, in order to protect the first portion 13, the first portion 13 may also be covered by a structure other than the fingertip protective cover 5, which is described in detail below.

[0070] Optionally, the fingertip protective cover 5 and the control panel fixing member 6 enclose a protection space, and the fingertip skeleton 1 is wrapped in the protection space; the control panel fixing member 6 is mechanically connected to the fingertip skeleton 1;

[0071] Among them, the fingertip skeleton 1 includes a first part 13 and a second part, the first part 13 is the part where the fingertip skeleton 1 is connected to the external power output mechanism, the second part includes the part on the fingertip skeleton 1 except the first part 13, and the control panel fixing part 6 at least covers the first part 13.

[0072] In this embodiment, the control panel fixing member 6 is not only used to fix the fingertip control panel 4, but also used to enclose the fingertip protective cover 5 to form a protective space. The length of the control panel fixing member 6 is extended to at least cover the first portion 13. Since the control panel fixing member 6 is mechanically connected to the fingertip skeleton 1, there is no glue on the control panel fixing member 6 for bonding to penetrate into the first portion 13, so when the external power output mechanism outputs power, it can reduce the interference caused to the output member (fingertip skeleton 1).

[0073] The control panel fixing part 6 is mechanically connected to the fingertip skeleton 1, including clamping, screwing, and riveting with the fingertip skeleton 1. In order to more clearly understand the technical solution of the embodiment of the present application, the following takes the screw connection between the control panel fixing part 6 and the fingertip skeleton 1 as an example. Figure 2 The mechanical connection between the control panel fixture 6 and the fingertip skeleton 1 will be described.

[0074] See also Figure 2 A fifth mounting hole 113 is also provided on the main fingertip skeleton 11, and a sixth mounting hole 123 corresponding to the fifth mounting hole 113 is also provided on the slave fingertip skeleton 12. A seventh mounting hole and an eighth mounting hole connected to the fifth mounting hole 113 and the sixth mounting hole 123 are respectively provided on opposite sides of the control panel fixing member 6. The screws can pass through the seventh mounting hole, the fifth mounting hole 113, the sixth mounting hole 123 and the eighth mounting hole in sequence to mechanically connect the control panel fixing member 6 to the fingertip skeleton 1.

[0075] In the embodiment of the present application, by setting the control board fixing part 6 to at least cover the first part 13, the first part 13 can be protected; by setting the control board fixing part 6 and the fingertip skeleton 1 to be mechanically connected, glue can be effectively prevented from penetrating into the above-mentioned first part 13, thereby avoiding the influence of glue penetration on the power output of the output part.

[0076] In some embodiments, Figure 2 As shown, the control panel fixing member 6 extends to be flush with the tip of the fingertip skeleton 1 or protrudes from the tip of the fingertip skeleton 1, so that the fingertip protective cover 5 can be limited in the first direction. The first direction refers to the direction from the fingertip side to the finger back side of the fingertip skeleton 1.

[0077] Since the fingertip module is composed of multiple components, in order to more clearly understand the technical solution in the embodiment of the present application, the following is combined with Figure 1 and Figure 2 , an exemplary description is given of the multi-component assembly of the fingertip module.

[0078] Figure 1 and Figure 2 The fingertip modules shown in the figure all include a main fingertip skeleton 11, a slave fingertip skeleton 12, a sensor assembly 2, a fingertip control panel 4, a finger back cover 3 and a fingertip protective cover 5. Figure 2 The fingertip module shown is compared to Figure 1 The fingertip module shown also includes a control panel fixing member 6. In addition, Figure 1 The width of the opening and the groove of the fingertip skeleton 1 in the fingertip module shown is smaller than the width of the sensor component 2 and greater than or equal to the width of the wiring of the sensor component 2; Figure 2 The widths of the opening and the groove of the fingertip skeleton 1 in the fingertip module shown are both greater than or equal to the width of the sensor component 2 .

[0079] See also Figure 1 , Figure 1 The assembly steps of the fingertip module shown include: a. placing the sensor component 2 on the fingertip side of the main fingertip skeleton 11; b. introducing the wiring of the sensor component 2 through the inner side of the main fingertip skeleton 11 to the back side of the main fingertip skeleton 11, and connecting it to the fingertip control board 4, that is, inserting the wiring terminal of the sensor component 2 into the interface below the fingertip control board 4; c. placing the fingertip control board 4 on the back side of the fingertip skeleton 1, snapping the slave fingertip skeleton 12, and using screws to pass through the above-mentioned first mounting hole and the second mounting hole to fix the main fingertip skeleton 11 and the slave fingertip skeleton 12; d. installing the finger back cover 3 on the main fingertip skeleton 11 and the slave fingertip skeleton 12 to cover the fingertip control board 4; e. using glue to bond the fingertip protective cover 5 to the outside of the above-mentioned fingertip skeleton 1, sensor component 2 and finger back cover 3.

[0080] See also Figure 2 , Figure 2 The assembly steps of the fingertip module shown include: a. snapping the main fingertip skeleton 11 and the slave fingertip skeleton 12 together, and using screws to pass through the above-mentioned first mounting hole and the second mounting hole to fix the main fingertip skeleton 11 and the slave fingertip skeleton 12; b. inserting the wiring terminal of the sensor component 2 into the interface below the fingertip control board 4; c. passing the sensor component 2 through the groove and opening of the fingertip skeleton 1 in turn, and installing the sensor component 2 on the fingertip side of the fingertip skeleton 1; d. installing the fingertip control board 4 into the groove of the control board fixing part 6; e. using screws to pass through the above-mentioned seventh mounting hole, fifth mounting hole 113, sixth mounting hole 123 and eighth mounting hole to install the control board fixing part 6 on the fingertip skeleton 1; f. installing the finger back cover plate 3 on the control board fixing part 6; g. bonding the fingertip protective cover 5.

[0081] An embodiment of the present application also provides a dexterous hand, comprising a fingertip module according to any of the above embodiments.

[0082] An embodiment of the present application also provides a robot, comprising the fingertip module of any of the above embodiments.

[0083] It should be noted that any implementation in the above-mentioned fingertip module embodiments can be applied to the robot in this embodiment and can achieve the same technical effect. To avoid repetition, it will not be described here.

[0084] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A fingertip module, characterized in that: It comprises a fingertip skeleton, which is transmission-connected to an external power output mechanism, and is an output component of the external power output mechanism.

2. The fingertip module according to claim 1, characterized in that: The fingertip module also includes a sensor component, and the sensor component is arranged outside the fingertip skeleton.

3. The fingertip module according to claim 2, characterized in that: The sensor assembly includes at least one flexible sensor, and the at least one flexible sensor includes at least one of a piezoelectric sensor, a piezoresistive sensor, a capacitive sensor, and a triboelectric sensor.

4. The fingertip module according to claim 3, characterized in that: The sensor assembly includes a supporting spring sheet and a plurality of the piezoresistive sensors, and the plurality of the piezoresistive sensor arrays are distributed on the supporting spring sheet.

5. The fingertip module according to any one of claims 2 to 4, characterized in that: The sensor component is arranged on one side of the fingertip skeleton, and an opening is arranged on one side of the fingertip skeleton, and the opening is used for routing the sensor component.

6. The fingertip module according to claim 5, characterized in that: A groove communicating with the opening is provided in the fingertip skeleton; wherein the opening and the groove are used together for routing the sensor assembly.

7. The fingertip module according to claim 6, characterized in that: The widths of the groove and the opening are both greater than or equal to the width of the sensor assembly.

8. The fingertip module according to claim 2, characterized in that: The fingertip module also includes a fingertip control board, which is mounted on the fingertip skeleton and is electrically connected to the sensor assembly.

9. The fingertip module according to claim 8, characterized in that: The fingertip module also includes a finger back cover plate, which is covered on the fingertip control plate and fixedly mounted on the fingertip frame.

10. The fingertip module according to claim 8, characterized in that: The fingertip control panel is arranged on the back side of the fingertip skeleton, the sensor assembly is arranged on the fingertip side of the fingertip skeleton, an opening is arranged on the fingertip side, and a groove communicating with the opening is arranged in the fingertip skeleton; Wherein, the wiring of the sensor assembly passes through the opening and the groove and is electrically connected to the fingertip control board.

11. The fingertip module according to claim 6, characterized in that: The fingertip skeleton comprises a main fingertip skeleton and a slave fingertip skeleton which are arranged opposite to each other. The main fingertip skeleton and the slave fingertip skeleton are installed in cooperation to form the groove and the opening.

12. The fingertip module according to claim 11, characterized in that: The main fingertip skeleton is an active output component of an external power output mechanism, and the slave fingertip skeleton is a driven output component of the external power output mechanism.

13. The fingertip module according to claim 11, characterized in that: A first boss is provided on a side of the main fingertip skeleton facing the slave fingertip skeleton, and the first boss is provided with a first mounting hole; A second boss is provided on one side of the slave fingertip skeleton toward the main fingertip skeleton, and the second boss is provided with a second mounting hole; The first boss is fitted with the second boss, and the first mounting hole is connected with the second mounting hole, and the main fingertip skeleton and the slave fingertip skeleton are connected through the first mounting hole and the second mounting hole.

14. The fingertip module according to claim 8, characterized in that: The fingertip module also includes a control panel fixing part, and the control panel fixing part is installed on the fingertip skeleton, and the fingertip control panel is installed on the control panel fixing part instead.

15. The fingertip module according to claim 1 or 14, characterized in that: The fingertip module also includes a fingertip protective cover, which forms a protective space, and the fingertip skeleton is covered in the protective space.

16. The fingertip module according to claim 15, characterized in that: The fingertip skeleton includes a first portion and a second portion, the first portion is a portion where the fingertip skeleton is connected to an external power output mechanism, and the second portion includes a portion of the fingertip skeleton other than the first portion; Wherein, the protective space formed by the fingertip protective cover is used to cover the second part of the fingertip skeleton.

17. The fingertip module according to claim 14, characterized in that: The fingertip module further includes a fingertip protective cover, wherein the fingertip protective cover and the control panel fixing member enclose a protection space, and the fingertip skeleton is covered in the protection space; the control panel fixing member is mechanically connected to the fingertip skeleton; Among them, the fingertip skeleton includes a first part and a second part, the first part is the part where the fingertip skeleton is connected to the external power output mechanism, the second part includes the part on the fingertip skeleton except the first part, and the control panel fixing part at least covers the first part.

18. A dexterous hand, characterized in that: The invention comprises the fingertip module according to any one of claims 1 to 17.

19. A robot, characterized in that: The invention comprises the fingertip module according to any one of claims 1 to 17.

Images