Dexterous hand finger, dexterous hand and robot

Abstract

The invention discloses a dexterous hand finger, a dexterous hand and a robot, and the dexterous hand finger comprises a knuckle module which comprises at least two knuckle units which are rotationally connected; the driving module is in transmission connection with the tail end of the knuckle module; the touch module comprises a touch sensor, a circuit board and a conductive part which is communicated with the touch sensor and the circuit board; the conductive piece comprises a wiring part inserted into the knuckle module and a stretching part located at the tail end of the knuckle module; and the stretching part is electrically connected with the wiring part and provides continuous stretching force for the wiring part, so that the wiring part is in a tensioned state. According to the dexterous hand finger, the wiring grooves, the wiring holes and the wire pressing mechanisms are arranged on the different joints, so that a cable is always in a fixed state, the cable is always in a tensioned state through the stretching part of the conductive part, it is guaranteed that the cable cannot move in the finger and cannot be damaged, and the service life of the dexterous hand is prolonged.

Description

Technical Field

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

[0002] A dexterous hand is a robot end effector that imitates the structure and function of the human hand. It has high degrees of freedom, precise operation and adaptive grasping capabilities. It is widely used in industrial manufacturing, medical surgery, home services, space exploration, etc.

[0003] There are a variety of touch sensors on the fingertips of the dexterous hand. These touch sensors transmit the sensed signals to the palm circuit board through cables. In the prior art, the cables from the touch sensors of the dexterous hand to the palm circuit board are usually arranged randomly along the fingers. On the one hand, this causes the cables to be exposed, which is neither beautiful nor safe. On the other hand, due to the particularity of the fingers, the cables are bent back and forth at large angles at the joints, pulling the cables and affecting the service life of the dexterous hand. On the other hand, if the cable length is not properly controlled, it is easy to rub and squeeze with other structures, which can easily damage the cables. Summary of the invention

[0004] In order to solve the defects of the prior art, the purpose of the present application is to provide a dexterous hand finger, a dexterous hand and a robot to prevent the cable from being damaged due to reciprocating bending and friction in the fingers, thereby increasing the service life of the cable.

[0005] To achieve the above objectives, the present application provides a dexterous hand finger, comprising: A knuckle module, comprising at least two rotatably connected knuckle units; A driving module, drivingly connected to the rear end of the knuckle module; and A touch module, comprising a touch sensor, a circuit board, and a conductive member connecting the touch sensor and the circuit board; The conductive member includes a routing portion inserted into the knuckle module and a stretching portion located at the rear end of the knuckle module; The stretching portion is electrically connected to the routing portion and provides a continuous stretching force to the routing portion, so that the routing portion is in a tensioned state.

[0006] Furthermore, one of the finger joint units is provided with arc-shaped wiring slots on the side walls on both sides along the axial direction of the rotating shaft, so as to guide the wiring part from the inside of the finger joint unit to the outside thereof.

[0007] Further, one of the knuckle units comprises: A wiring hole, and a wiring groove corresponding to the wiring hole, wherein the wiring portion passes through the wiring hole and enters the wiring groove; The wiring hole corresponds to the wiring slot hole of another finger joint unit; the wiring slot is arranged along the length direction of the side walls on both sides of the finger joint unit.

[0008] Further, one of the knuckle units comprises: A wiring hole, and a wiring groove corresponding to the wiring hole, wherein the wiring portion passes through the wiring hole and enters the wiring groove; The pressing block is located on the upper side of the finger joint unit to prevent the wiring portion from being exposed outside the finger joint unit due to arching.

[0009] Furthermore, the stretching part comprises: The stretching mechanism comprises at least one elastic element, and under the elastic force of the elastic element, the tail end of the routing portion tends to move away from the tail end of the knuckle; The electrical connector connects the wiring portion and the circuit board.

[0010] Furthermore, the stretching mechanism comprises: A guide rod fixed at the rear end of the knuckle module and a slider slidably connected to the guide rod; The elastic element is arranged on the guide rod between the slider and the rear end of the knuckle module; Under the action of the elastic force of the elastic element, the slider and the electrical connector slide together along the guide rod, and the tail end of the wiring portion tends to move away from the tail end of the finger joint.

[0011] Furthermore, the elastic element is located on the circuit board; under the torque of the elastic element, the tail end of the routing portion tends to move away from the tail end of the knuckle.

[0012] Furthermore, the elastic element is located on the circuit board; under the elastic force of the elastic element, the tail end of the routing portion tends to move away from the tail end of the knuckle.

[0013] Furthermore, a winding shaft for reducing the friction of the cable moving in the finger and a wire separator for preventing the cable from being scratched are also provided at the rear end of the knuckle module.

[0014] To achieve the above objectives, the present application also provides a dexterous hand, including the dexterous hand fingers as described above.

[0015] To achieve the above objectives, the present application also provides a robot comprising the dexterous hand as described above.

[0016] The dexterous hand fingers, dexterous hand and robot provided by the present application are provided with wiring grooves, wiring holes and wire pressing mechanisms on different joints, so that the cables are always in a fixed and tightened state, and a movable margin is left at the position where the joints need to move, so that the position and posture of the cables can be controlled, so that the cables will not be arched at the connection between the base knuckle and the palm during movement, causing the cables to be pinched and damaged; the overall structure is compact, and the modular design of the fingers can be realized; the wiring grooves and cable pressing blocks are arranged close to the rotation center of each finger joint, so that the cables have no large-angle bending, and a slip ring mechanism is provided on the wire pulling mechanism, and the signal can be conducted to the palm circuit board through the spring sheet, the contact surface friction is small, and the service life is long; after the overall assembly is completed, there are no exposed cables, avoiding the risk of cables being scratched.

[0017] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent from the description, or may be understood by practicing the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are used to provide a further understanding of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings: Figure 1 It is a schematic diagram of the three-dimensional structure of the fingers of the dexterous hand according to the first embodiment of the present application; Figure 2 is another schematic diagram of the three-dimensional structure of the fingers of the dexterous hand according to the first embodiment of the present application; Figure 3 This is a schematic diagram of the structure of the end-phalange unit according to the first embodiment of the present application; Figure 4 Schematic diagram of the structure of the middle phalanx unit according to the first embodiment of the present application; Figure 5 Schematic diagram of the structure of a base knuckle unit according to the first embodiment of the present application; Figure 6 This is a schematic diagram of the structure of the stretching part according to the first embodiment of the present application; Figure 7 is a schematic diagram of an encoder component according to Embodiment 1 of the present application; Figure 8 This is a schematic diagram of the structure of the finger stretching part and the circuit board of the dexterous hand according to the first embodiment of the present application; Fig. 9 Schematic diagram of the structure of a dexterous hand according to Embodiment 1 of the present application; Fig.10 Schematic diagram of the finger structure of a dexterous hand according to the second embodiment of the present application; Fig.11 Schematic diagram of the finger structure of a dexterous hand according to the third embodiment of the present application; Fig.12This is a schematic diagram of the finger structure of a dexterous hand according to the fourth embodiment of the present application.

[0019] Reference numerals: 1-end knuckle unit, 2-middle knuckle unit, 3-base knuckle unit, 4-worm gear mechanism, 5-motor assembly, 6-stretching part, 7-fingertip, 8-encoder assembly, 9-wiring part, 10-dexterous hand finger; 11-end knuckle body, 12-end rotating shaft, 13-wiring slot, 14-plastic shell, 15-socket, 20-palm circuit board; 21-first middle knuckle body, 22-second middle knuckle body, 23-middle rotating shaft, 24-middle knuckle connecting rod, 25-first middle connecting rod shaft, 26-second middle connecting rod shaft, 27-middle knuckle wiring slot , 28-middle knuckle wiring hole; 31-base knuckle body, 32-base rotating shaft, 33-base knuckle connecting rod, 34-first base connecting rod shaft, 35-base knuckle wiring groove, 36-base knuckle wiring hole, 37-second base connecting rod shaft, 38-base knuckle wire pressing block; 41-turbine flange, 42-worm, 43-worm cover; 61-slider guide rod, 62-slider, 63-electrical connector, 64-elastic element, 65-shrapnel, 66-wire spacer block, 67-winding shaft; 81-encoder, 82-encoder bracket, 83-pin, 201-metal guide rail. DETAILED DESCRIPTION

[0020] The preferred embodiments of the present application are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application and are not used to limit the present application.

[0021] The embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be construed as being limited to the embodiments described herein. Instead, these embodiments are provided to provide a more thorough and complete understanding of the present application. It should be understood that the drawings and embodiments of the present application are only for exemplary purposes and are not intended to limit the scope of protection of the present application.

[0022] The term "including" and its variations used herein are open inclusions, i.e., "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0023] It should be noted that the concepts of “first”, “second”, etc. may be mentioned in this application and are only used to distinguish different devices, components or parts, and are not used to limit the order or interdependence of the functions performed by these devices, components or parts.

[0024] It should be noted that the modifications of "one" and "plurality" mentioned in this application are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more". "Plurality" should be understood as two or more.

[0025] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0026] Example 1 Figure 1 Schematic diagram of the three-dimensional structure of the fingers of the dexterous hand according to the first embodiment of the present application. Figure 2 FIG. 2 is another three-dimensional structural diagram of the fingers of the dexterous hand according to the first embodiment of the present application. Figure 1 and 2 As shown, the dexterous finger 10 of the embodiment of the present application includes: a distal knuckle unit 1, a middle knuckle unit 2, a base knuckle unit 3, a worm gear mechanism 4, a motor assembly 5, a stretching mechanism 6, a fingertip 7, and an encoder assembly 8, wherein: The distal phalanx unit 1, the middle phalanx unit 2, the base phalanx unit 3, the worm gear mechanism 4, the motor assembly 5, and the encoder assembly 8 are connected in sequence.

[0027] The distal phalanx unit 1, the middle phalanx unit 2, and the base phalanx unit 3 are rotationally connected via a rotating shaft to form a phalanx module of the fingers of the dexterous hand of the present application.

[0028] It can be understood that the finger joint module of the embodiment of the present application can be composed of two or more rotatably connected finger joint units.

[0029] The worm gear mechanism 4 and the motor assembly 5 constitute the driving module of the fingers of the dexterous hand of the present application, and provide power for the movement of the knuckle module.

[0030] The stretching mechanism 6 is located at the rear end of the knuckle module, is electrically connected to the wiring portion inserted into the knuckle module, and provides a continuous stretching force to the wiring portion, so that the wiring portion is in a tensioned state.

[0031] The fingertip 7 is fixed on the distal knuckle unit 1, and a touch sensor is provided thereon and is electrically connected to the wiring part of the knuckle module.

[0032] In the embodiment of the present application, the stretching mechanism 6 and the wiring part inserted in the knuckle module constitute the conductive parts of the fingers of the dexterous hand of the present application, connecting the touch sensor of the fingertip 7 and the circuit board arranged on the palm.

[0033] The touch sensor on the fingertip 7, the circuit board on the palm and the conductive member constitute the touch module of the finger of the dexterous hand of the present application.

[0034] The terminal phalanx unit 1 of the embodiment of the present application includes a terminal phalanx body 11 , on which a terminal rotation shaft 12 is arranged.

[0035] In the embodiment of the present application, the distal phalanx body 11 is movably connected to the middle phalanx unit 2 via the distal rotating shaft 12 .

[0036] like Figure 3 As shown, the end knuckle unit 1 of the dexterous hand finger of the embodiment of the present application also includes an end knuckle wiring slot 13 and a plastic shell 14, wherein: The terminal knuckle wiring slot 13 is an arc-shaped opening, which is arranged on the side walls of both sides of the terminal knuckle body 11 and is arranged along the axial direction of the rotating shaft to guide the wiring part from the inside of the knuckle unit to the outside thereof.

[0037] The plastic shell 14 is fixedly arranged inside the distal knuckle unit 1 and matches the socket 15 in the fingertip, so that the touch sensor in the fingertip 7 can be plugged in and replaced without taking out the cable each time, which is convenient for assembly, replacement and maintenance.

[0038] In the embodiment of the present application, the wiring of the fingertip 7 can be arranged on both sides of the distal phalanx unit 1 through the distal phalanx wiring slot 13, and can be arranged in the outer wiring slot through the middle phalanx unit 2 to avoid damage such as pinching and scratching of the cable.

[0039] The middle phalanx unit 2 of the embodiment of the present application includes a first middle phalanx body 21, a second middle phalanx body 22, a middle rotating shaft 23, a middle phalanx connecting rod 24, a first middle connecting rod shaft 25, and a second middle connecting rod shaft 26. In the embodiment of the present application, the first middle phalanx body 21 and the second middle phalanx body 22 are movably connected to the end phalanx unit 1 via the end rotating shaft 12; The second middle connecting rod shaft 26 is disposed at one end of the middle knuckle connecting rod 24 and is movably connected to the end knuckle unit 1; The first middle connecting rod shaft 25 is disposed on the first middle phalanx body 21 and the second middle phalanx body 22 and is movably connected to the middle portion of the middle phalanx connecting rod 24; The central rotating shaft 23 is arranged on the first middle phalanx body 21 and the second middle phalanx body 22. The first middle phalanx body 21 and the second middle phalanx body 22 are movably connected to the base phalanx unit 3 through the central rotating shaft 23.

[0040] like Figure 4 As shown, the middle phalanx unit 2 of the dexterous hand finger of the embodiment of the present application further includes a middle phalanx wiring groove 27 and a middle phalanx wiring hole 28, wherein: The middle phalanx wiring groove 27 and the middle phalanx wiring hole 28 are respectively arranged on the outside of the first middle phalanx body 21 and the outside of the second middle phalanx body 22 , and the wiring part 9 passes through the middle phalanx wiring hole 28 and enters the middle phalanx wiring groove 27 .

[0041] In the embodiment of the present application, the middle phalanx wiring hole 28 is an elliptical slot, and corresponds to the distal phalanx wiring slot 13, so that the wiring portion 9 passes through the middle phalanx wiring hole 28 from the distal phalanx body 11 into the middle phalanx wiring slot 27, thereby preventing the cable from being pinched, scratched, etc. The middle phalanx wiring slot 27 is arranged along the length direction of the outer side wall of the first middle phalanx body 21 and the outer side wall of the second middle phalanx body 22.

[0042] The base phalanx unit 3 of the embodiment of the present application is movably connected to the middle phalanx unit 2 through the middle rotating shaft 23, and includes a base phalanx body 31, a base rotating shaft 32, a base phalanx connecting rod 33, a first base connecting rod shaft 34 and a second base connecting rod shaft 37, wherein: The base phalanx body 31 is movably connected to the middle phalanx unit 2 via the middle shaft 23; The base knuckle connecting rod 33 is arranged inside the base knuckle body 31 , one end of which is connected to the worm gear mechanism 4 through the first base connecting rod shaft 34 , and the other end of which is movably connected to the other end of the middle knuckle connecting rod 24 through the second base connecting rod shaft 37 .

[0043] The base phalanx body 31 of the embodiment of the present application is provided with a base phalanx wiring groove 35 and a base phalanx wiring hole 36 on both sides of its exterior.

[0044] The base rotating shaft 32 is disposed on the base knuckle body 31 and is movably connected to the worm gear mechanism 4 of the driving module.

[0045] In the embodiment of the present application, the base knuckle connecting rod 33 is connected to the base knuckle unit 3 and the worm gear mechanism 4 respectively.

[0046] like Figure 5 As shown, the base knuckle unit 3 of the dexterous hand finger in the embodiment of the present application further includes a base knuckle wiring groove 35, a base knuckle wiring hole 36, and a base knuckle wire pressing block 38, wherein: The base knuckle wiring groove 35 is arranged on the outer side of the base knuckle body 31, and is serpentinely arranged around the central rotating shaft 23 and the first middle connecting rod shaft 25, and corresponds to the central knuckle wiring groove 27 and the base knuckle wiring hole 36 respectively, thereby preventing the wiring part 9 from being entangled on the central rotating shaft 23 and the first middle connecting rod shaft 25 and damaging the wiring.

[0047] The base knuckle wire pressing block 38 is located inside the base knuckle body 31 and is used to fix the wiring portion 9 .

[0048] In the embodiment of the present application, the wiring portion 9 enters from the outside of the base knuckle body 31 to the inside through the base knuckle wiring hole 36 and is fixed by the base knuckle wire pressing block 38, further preventing the cable from being pinched, scratched, or otherwise damaged.

[0049] The worm gear mechanism 4 of the present application is respectively connected to the base knuckle unit 3 and the motor assembly 5 , and is used to transmit the power of the motor to the base knuckle unit 3 .

[0050] The turbine worm mechanism 4 of the embodiment of the present application includes a turbine flange 41, a worm 42, and a worm cover plate 43, wherein: The worm 42 is connected to the base knuckle unit 3 and the motor assembly 5 respectively.

[0051] In the embodiment of the present application, the stretching mechanism 6 is installed on the turbine flange 41, and is used to pull the cable and keep the cable in a taut state at all times, thereby avoiding damage to the cable caused by scratches.

[0052] like Figure 1 and 6 As shown, the dexterous finger stretching mechanism 6 of the present application includes a slider guide rod 61, a slider 62, an electrical connector 63, an elastic element 64, a spring 65, a wire spacer block 66, and a winding shaft 67, wherein: The slider guide rod 61 is fixedly mounted on the turbine flange 41; The slider 62 is disposed on the slider guide rod 61 and slides along the slider guide rod 61; The electrical connector 63 is disposed on the slider 62 and fixed relative to the slider 62; the electrical connector 63 slides along the slider guide rod 61 along with the slider 62; The elastic element 64 is a compression spring, which is disposed on the slider guide rod 61 and is located between the slider 62 and the turbine flange 41, and is used to push the slider 62 to move away from the fingertips so that the wiring portion 9 is always tightened; The spring piece 65 is arranged at the lower part of the electrical connector 63 and connected to the wiring part 9; A wire separator block 66 is provided on the turbine flange 41 and is used to separate the wiring portion 9 on both sides thereof; The winding shaft 67 is arranged on the turbine flange 41 and is used for winding the wiring part 9.

[0053] In the embodiment of the present application, the wiring portion 9 passes through the turbine flange 41 along both sides of the turbine on the inner side of the base knuckle unit 3. The winding shaft 67 on the turbine flange 41 can rotate freely in the hole to reduce friction. The wire is wound around the shaft and divided on both sides by the wire spacer block 66 to avoid scratching the turbine. The wiring portion 9 is connected to the slip ring circuit board and fixed by the wire pressing plate.

[0054] The spring piece 65 disposed at the lower part of the electrical connector 63 is in constant frictional contact with the metal guide rail 201 on the palm circuit board, so that the signal can be transmitted to the palm main control board.

[0055] In the embodiment of the present application, the encoder assembly 8 is installed at the tail of the motor assembly 5 .

[0056] like Figure 1 and 7 As shown, the dexterous hand finger encoder assembly 8 of the embodiment of the present application includes an encoder plate 81, an encoder bracket 82, and a pin 83, wherein: The encoder plate 81 is fixedly mounted on the tail of the motor assembly 5 through the encoder bracket 82; The pin 83 is fixedly mounted on the encoder board 81 and is used to be inserted into a pin holder (not shown in the figure) of the palm circuit board.

[0057] In the embodiment of the present application, the encoder assembly 8 is used to detect the rotation data of the motor.

[0058] The fingers of the dexterous hand in the embodiment of the present application can be replaced as an integral unit, and the entire finger is not connected to the palm fingertips using any cables, making the overall structure small and compact, and beautiful and simple.

[0059] Figure 8 FIG. 1 is a schematic diagram of the structure of the finger wire pulling mechanism and the palm circuit board of the dexterous hand according to an embodiment of the present application. Figure 8 As shown, the finger of the dexterous hand of the embodiment of the present application is in frictional contact with the metal guide circuit board 20 on the palm circuit board 20 through the spring piece 65, so as to transmit the touch sensor signal to the palm circuit board 20.

[0060] The dexterous hand fingers of the embodiment of the present application have a worm gear mechanism that adopts a five-bar linkage mechanism and has one active degree of freedom, so that each joint has a fixed motion trajectory.

[0061] Fig. 9 FIG. 1 is a schematic diagram of the structure of a dexterous hand according to the first embodiment of the present application. Fig. 9 As shown, the dexterous hand of the embodiment of the present application includes a plurality of dexterous hand fingers 10 and a palm circuit board 20, wherein: A plurality of dexterous hand fingers 10 are fixedly mounted on a palm circuit board 20; Each finger 10 of the dexterous hand is in frictional contact with the metal guide rail 201 on the palm circuit board 20 through the spring 65, and the touch sensor signal is transmitted to the palm circuit board; the rotation data of the motor is transmitted to the palm circuit board through the pin 83 and the pin seat on the palm circuit board 20.

[0062] Example 2 An embodiment of the present application also provides a dexterous hand finger.

[0063] Fig.10 FIG. 1 is a schematic diagram of the finger structure of a dexterous hand according to the second embodiment of the present application, as shown in FIG. Fig.10As shown, the difference between the dexterous hand fingers of the embodiment of the present application and the dexterous hand fingers of embodiment 1 is that the stretching mechanism 6 of the present application includes: an electrical connector 63 and an elastic element 64, wherein: The elastic element 64 is a planar spiral spring, one end of which is fixed on the palm circuit board 20. Under the torque of the elastic element 64, the tail end of the wiring part 9 tends to move away from the tail end of the knuckle, so that the wiring part is in a tensioned state.

[0064] The electrical connector 63 is fixed on the palm circuit board 20 , and connects the wiring portion 9 and the palm circuit board 20 .

[0065] Example 3 An embodiment of the present application also provides a dexterous hand finger.

[0066] Fig.11 FIG. 1 is a schematic diagram of the finger structure of a dexterous hand according to Embodiment 3 of the present application, as shown in FIG. Fig.11 As shown, the difference between the dexterous hand fingers of the embodiment of the present application and the dexterous hand fingers of embodiment 1 is that the stretching mechanism 6 of the present application includes: an electrical connector 63 and an elastic element 64, wherein: The elastic element 64 is a torsion spring fixed on the palm circuit board 20, one end of which is fixed on the palm circuit board 20. Under the torque of the elastic element 64, the tail end of the wiring part 9 tends to move away from the tail end of the knuckle, so that the wiring part is in a tensioned state.

[0067] The electrical connector 63 is fixed on the palm circuit board 20 , and connects the wiring portion 9 and the palm circuit board 20 .

[0068] Example 4 An embodiment of the present application also provides a dexterous hand finger.

[0069] Fig.12 FIG. 4 is a schematic diagram of the finger structure of a dexterous hand according to the fourth embodiment of the present application, as shown in FIG. Fig.12 As shown, the difference between the dexterous hand fingers of the embodiment of the present application and the dexterous hand fingers of embodiment 1 is that the stretching mechanism 6 of the present application includes: an electrical connector 63 and an elastic element 64, wherein: The elastic element 64 is a compression spring fixed on the palm circuit board 20. Under the elastic force provided by the elastic element 64 to both sides, the tail end of the wiring part tends to move away from the tail end of the knuckle, so that the wiring part is in a tensioned state.

[0070] The electrical connector 63 is fixed on the palm circuit board 20 , and connects the wiring portion 9 and the palm circuit board 20 .

[0071] Example 5 An embodiment of the present application also provides a robot, comprising a dexterous hand composed of the dexterous hand fingers of the above embodiment.

[0072] It can be understood that the robot of this embodiment has a compact overall structure due to the adoption of the above-mentioned dexterous hand, and can realize a modular design of the fingers, which is beneficial to reducing structural complexity and cost; there are no exposed cables as a whole, which prevents the cables from being scratched or pinched, thereby increasing the service life of the robot.

[0073] Those skilled in the art can understand that the above description is only a preferred embodiment of the present application and is not intended to limit the present application. Although the present application is described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions recorded in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A dexterous finger, characterized in that: include: A knuckle module, comprising at least two rotatably connected knuckle units; A driving module, drivingly connected to the rear end of the knuckle module; as well as A touch module, comprising a touch sensor, a circuit board, and a conductive member connecting the touch sensor and the circuit board; The conductive member includes a routing portion inserted into the knuckle module and a stretching portion located at the rear end of the knuckle module; The stretching portion is electrically connected to the routing portion and provides a continuous stretching force to the routing portion, so that the routing portion is in a tensioned state.

2. The dexterous hand finger according to claim 1, characterized in that: One of the knuckle units is provided with arc-shaped wiring slots on the side walls on both sides along the axial direction of the rotating shaft, so as to guide the wiring part from the inside of the knuckle unit to the outside thereof.

3. The dexterous hand finger according to claim 1, characterized in that: One of the knuckle units comprises: A wiring hole, and a wiring groove corresponding to the wiring hole, wherein the wiring portion passes through the wiring hole and enters the wiring groove; The wiring hole corresponds to the wiring slot hole of another finger joint unit; the wiring slot is arranged along the length direction of the side walls on both sides of the finger joint unit.

4. The dexterous hand finger according to claim 1, characterized in that: One of the knuckle units comprises: A wiring hole, and a wiring groove corresponding to the wiring hole, wherein the wiring portion passes through the wiring hole and enters the wiring groove; The pressing block is located on the upper side of the finger joint unit to prevent the wiring portion from being exposed outside the finger joint unit due to arching.

5. The dexterous hand finger according to claim 1, characterized in that: The stretching part comprises: The stretching mechanism comprises at least one elastic element, and under the elastic force of the elastic element, the tail end of the routing portion tends to move away from the tail end of the knuckle; The electrical connector connects the wiring portion and the circuit board.

6. The dexterous hand finger according to claim 5, characterized in that: The stretching mechanism comprises: A guide rod fixed at the rear end of the knuckle module and a slider slidably connected to the guide rod; The elastic element is arranged on the guide rod between the slider and the rear end of the knuckle module; Under the action of the elastic force of the elastic element, the slider and the electrical connector slide together along the guide rod, and the tail end of the wiring portion tends to move away from the tail end of the finger joint.

7. The dexterous hand finger according to claim 5, characterized in that: The elastic element is located on the circuit board; under the torque of the elastic element, the tail end of the routing portion tends to move away from the tail end of the knuckle.

8. The dexterous hand finger according to claim 5, characterized in that: The elastic element is located on the circuit board; under the elastic force provided by the elastic element to both sides, the tail end of the routing part tends to move away from the tail end of the finger joint.

9. The dexterous hand finger according to claim 1, characterized in that: A winding shaft for reducing the friction of the cable moving in the finger and a wire separator block for preventing the cable from being scratched are also provided at the rear end of the knuckle module.

10. A dexterous hand, characterized in that: The invention comprises the dexterous hand fingers as described in any one of claims 1 to 9.

11. A robot, characterized in that: Including the dexterous hand as described in claim 10.

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