Finger of dexterous hand

Abstract

The invention provides a finger of a dexterous hand, and relates to the technical field of artificial intelligence, the finger of the dexterous hand comprises at least two knuckles, and the at least two knuckles comprise a first knuckle and a second knuckle which are sequentially arranged in the direction from the finger root to the fingertip in the axial direction of the finger; the first knuckles are provided with first driving modules used for driving the first knuckles, and the second knuckles are provided with second driving modules used for driving the second knuckles. Wherein the second knuckle comprises a fingertip and a connecting part, the fingertip is installed on the connecting part through a detachable component, and the connecting part is connected with the first knuckle. In the embodiment of the invention, each knuckle is directly driven, the transmission path is short, and the control precision can be improved. And through the detachable fingertips, the fingertips can be quickly replaced according to actual scene requirements, the whole hand does not need to be replaced, and the cost is reduced.

Description

Technical Field

[0001] This application relates to the field of artificial intelligence technology, and more particularly to the fingers of a dexterous hand. Background Technology

[0002] The robot's dexterous hand is the end effector that enables the robot to perform precise operations. Its structure determines the flexibility and precision of the hand's operation.

[0003] In real-world applications, different tasks have significantly different requirements for operation methods, load capacity, and operational accuracy. Currently, dedicated robotic dexterous hands are typically used to perform different types of tasks. In multi-task scenarios with varying needs, different dexterous hands are required to perform tasks, resulting in high production costs for robotic dexterous hands. Summary of the Invention

[0004] This application provides a finger for a dexterous hand to address the problem of high production costs for dexterous hands in robots.

[0005] To solve the above-mentioned technical problems, this application is implemented as follows:

[0006] This application provides a finger of a dexterous hand, including:

[0007] At least two phalanges, the at least two phalanges including a first phalange and a second phalange arranged sequentially along the finger axis from the base of the finger to the fingertip, the first phalange being provided with a first driving module for driving the first phalange, and the second phalange being provided with a second driving module for driving the second phalange;

[0008] The second phalanx includes a fingertip and a connecting portion. The fingertip is attached to the connecting portion via a detachable component, and the connecting portion is connected to the first phalanx.

[0009] In this embodiment, each finger joint is directly driven, resulting in a short transmission path and improved control accuracy. Furthermore, the detachable fingertips allow for quick replacement as needed, eliminating the need to replace the entire hand and reducing costs. Attached Figure Description

[0010] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 This is a rear view of the fingers of a dexterous hand provided in an embodiment of this application;

[0012] Figure 2 This application provides a method based on... Figure 1 LL section view;

[0013] Figure 3 This is a schematic diagram of fingertip installation provided in an embodiment of this application;

[0014] Figure 4 This is an exploded view of the fingers of a dexterous hand provided in an embodiment of this application;

[0015] Figure 5 This is a structural diagram of a cross-shaped rotating shaft provided in an embodiment of this application. Detailed Implementation

[0016] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0017] This application provides a finger for a dexterous hand to address the problem of high production costs for dexterous hands in robots.

[0018] See Figures 1 to 3 This application provides a finger for a dexterous hand, comprising:

[0019] At least two phalanges, the at least two phalanges including a first phalange 1 and a second phalange 2 arranged sequentially from the base of the finger to the tip along the finger axis, the first phalange 1 being provided with a first driving module 11 for driving the first phalange, and the second phalange 2 being provided with a second driving module 21 for driving the second phalange 2.

[0020] The second phalanx 2 includes a fingertip 22 and a connecting portion 23. The fingertip 22 is mounted on the connecting portion 23 via a detachable component 221, and the connecting portion 23 is connected to the first phalanx 1.

[0021] The finger joints can be two, three, or more than three. The first joint is located near the base of the finger, and the second joint is the fingertip.

[0022] When the finger is the thumb, at least two phalanges can be two phalanges; when the finger is the index, middle, ring, or little finger, at least two phalanges can be three or more phalanges.

[0023] The first drive module 11 is used to drive the first phalanx 1, and the second drive module 21 is used to drive the second phalanx 2. The corresponding phalanxes are driven by the first drive module 11 and the second drive module 21. The phalanxes are all directly driven, and the transmission path is short, which is beneficial to improving control accuracy.

[0024] The second phalanx 2 includes a fingertip 22 and a connecting portion 23. The fingertip 22 of the second phalanx 2 is connected to the first phalanx 1 through the connecting portion 23. When a third phalanx 3 exists between the first phalanx 1 and the second phalanx 2, the fingertip 22 of the second phalanx 2 is connected to the third phalanx 3 through the connecting portion 23.

[0025] The fingertip 22 can be installed onto or detached from the connecting part 23, enabling quick installation and removal of the fingertip 22. The connecting part 23 can be a snap-fit, threaded connection, or other connecting component.

[0026] When it is necessary to adapt to different task scenarios, the corresponding fingertip 22 can be disassembled and installed to adapt to different task scenarios.

[0027] For example, fingertip types can be thin and pointed for picking up objects; they can also include fingertips with curved or flat fingertips to suit different task scenarios.

[0028] By using the above method, in multi-tasking scenarios, only the fingertips need to be installed and removed, which can reduce the production cost of fingers.

[0029] In this embodiment, each finger joint is directly driven, resulting in a short transmission path, which is beneficial for improving control accuracy. Furthermore, by quickly changing fingertips, fingertips can be replaced quickly according to actual needs without replacing the entire hand, thus reducing costs.

[0030] Optionally, such as Figure 3 As shown, the detachable component 221 includes a buckle 221, which is located at the bottom of the fingertip 22, and the connecting part 23 is provided with a buckle groove 231 that matches the buckle 221;

[0031] When the fingertip 22 is installed on the connecting part 23, the buckle 221 is engaged in the buckle groove 231.

[0032] When installing the fingertip 22, the clip 221 and the clip slot 231 are positioned accordingly. The clip 221 can be inserted into the clip slot 231, thereby fixing the quick-change fingertip 22 to the connecting part 23, which can improve the installation stability of the fingertip 22. Moreover, when disassembly is required, the clip 221 can be removed from the clip slot 231, which can realize the quick installation and disassembly of the fingertip 22.

[0033] Optionally, such as Figure 3As shown, the connecting part 23 includes two first connecting rods 232, and a cavity is formed between the two first connecting rods 232. A guide surface is provided around the bottom of the fingertip 22, and the guide surface is used to guide the fingertip 22 to be installed into the cavity.

[0034] The fingertip 22 has a guide surface around its bottom, and a cavity is formed between the two first connecting rods 232. The guide surface is used to guide the fingertip 22 to be installed into the cavity.

[0035] Among them, the fingertip 22 can be connected to the first phalanx 1 through two first connecting rods 232. The fingertip 22 is detachable and installable, and can also be called quick-change fingertip 22.

[0036] The mating part of the quick-change fingertip 22 has guide surfaces around its perimeter, providing guidance and positioning for the insertion of the cavity formed by the two distal phalange connecting rods (i.e., the two first connecting rods 232). A cavity is formed between the two first connecting rods 232. When installing the fingertip 22, the fingertip 22 is inserted into the cavity along the guide surface at the bottom of the fingertip 22, and the latch 221 engages with the latch groove 231, completing the installation of the fingertip 22.

[0037] Optionally, such as Figure 3 As shown, a fingertip printed circuit board PCB 24 and a base PCB 25 are sequentially provided between the fingertip 22 and the connecting part 23;

[0038] The fingertip PCB24 is provided with a fingertip contact 241 on the side near the connecting part 23, and the base PCB25 is provided with an elastic member 251 on the side away from the connecting part 23. The number and position of the elastic members 251 correspond one-to-one with the fingertip contact 241.

[0039] When the fingertip 22 is installed to the connecting part 23, the elastic member 251 contacts the fingertip contact 241, and the base PCB 25 and the fingertip PCB 24 are electrically connected;

[0040] When the fingertip 22 is detached from the connecting part 23, the elastic member 251 loses contact with the fingertip contact 241, and the electrical connection between the base PCB 25 and the fingertip PCB 24 is broken.

[0041] The second phalanx 2 includes, from the fingertip to the base, a fingertip 22, a fingertip PCB 24, a base PCB 25, and two first connecting rods 232.

[0042] The fingertip PCB 24 is mounted on the bottom of the quick-change fingertip 22 and includes a number of fingertip contacts 241 facing the base of the finger. The base PCB 25 has an equal number of elastic components 251 in corresponding positions, such as spring pins and spring sheets.

[0043] Taking the elastic component 251 as a spring-loaded pin as an example, after the quick-change fingertip 22 is installed on the finger, the spring inside the spring-loaded pin is compressed, pressing the floating head onto the fingertip contact 241. The fingertip PCB 24 and the base PCB 25 are connected through the spring-loaded pin, allowing the transmission of electrical signals such as power and sensors. When the quick-change fingertip 22 is pulled out, the spring-loaded pin disengages from the fingertip contact 241, cutting off the transmission of electrical signals. Whether the elastic component forms a conductive circuit can determine whether the fingertip is installed correctly.

[0044] In this way, the fingertip quick-change structure uses a spring-loaded pin to achieve signal and power transmission. The spring pressure ensures a reliable and stable connection, and the stroke of the spring-loaded pin can compensate for the length error of the workpiece along the fingertip direction, reducing the machining accuracy requirements.

[0045] Optionally, such as Figure 1 , Figure 2 and Figure 4 As shown, the first drive module 11 includes two transmission mechanisms 111 disposed on the back side of the finger, and the two transmission mechanisms 111 are arranged in parallel. The first drive module 1 also includes a rotation mechanism 112 that can rotate in different directions. Each transmission mechanism 111 is connected to the rotation mechanism 112 through a connecting member.

[0046] In this case, when the two transmission mechanisms 111 perform flexion and extension movements simultaneously, the flexion and extension movements of the finger are triggered;

[0047] When the two transmission mechanisms 111 perform flexion and extension movements asynchronously, the lateral swing movement of the finger is triggered.

[0048] The first drive module 11 is used to drive the movement of the first phalanx 1, and the second drive module 21 is used to drive the movement of the second phalanx 2.

[0049] The first drive module 11 includes two transmission mechanisms 111 arranged side by side. The transmission mechanism 111 may include a lead screw, connecting rod, gear, etc., and can be used to drive the first finger joint 1 to move. The transmission mechanism 111 may also be a guide rail, slider, or other transmission component.

[0050] The rotating mechanism 112 may include a cross shaft 112 or a rotating ball that rotates in different directions, thereby driving the base of the finger to rotate in different directions to improve the degree of freedom of the finger.

[0051] In some embodiments, the two transmission mechanisms 111 can be connected to the two ends of the cross shaft 112 respectively through connecting members (such as connecting rods and bearings). By controlling the rotation of the first phalanx along different axes of the cross shaft, the finger can achieve degrees of freedom in different directions.

[0052] In other embodiments, two rotating balls can be used, with the two transmission mechanisms 111 connected to the two rotating balls respectively via connecting members. The rotation of the two rotating balls allows for different degrees of freedom for the fingers in different directions.

[0053] Currently, dexterous hands have limited active degrees of freedom in their fingers, with coupled finger movements that prevent independent control of any joint's movement, resulting in poor flexibility and an inability to perform precise operations. Fully driven fingers are typically three-degree-of-freedom fingers driven by linkages, where the movement of the distal phalanx is coupled to the root joint, and the transmission path is long, leading to significant accumulated errors.

[0054] Through the aforementioned method of this application, when the two transmission mechanisms 111 move synchronously (synchronous movement), the first phalanx 1 can flex and extend along the palm side; when the two transmission mechanisms 111 move asynchronously (asynchronous movement), the first phalanx 1 can swing laterally. In the flexion, extension, and lateral swing of the first phalanx 1, the flexion, extension, and lateral swing of the entire finger can be driven. The two degrees of freedom of the first phalanx 1 can be driven in parallel by two sets of parallel transmission mechanisms 111, enabling four degrees of freedom for the finger.

[0055] In this embodiment, two transmission mechanisms are connected in parallel. When the two transmission mechanisms move synchronously, they drive the finger to flex and extend; when they move asynchronously, they drive the finger to swing laterally, thus improving the finger's degree of freedom. Furthermore, the first drive module directly drives the first phalanx, improving driving accuracy and efficiency.

[0056] Optionally, combined Figure 1 , Figure 2 and 5 As shown, the rotating mechanism 112 is a cross shaft 112, which includes a first shaft 1121 and a second shaft 1122 arranged perpendicularly to each other.

[0057] The two transmission mechanisms 111 are movably connected to the first rotating shaft 1121 via joint bearings 1111, and the second rotating shaft 1122 is mounted on the finger base 12 of the finger via a rotating shaft bearing 1123.

[0058] When the two transmission mechanisms 111 perform synchronized flexion and extension movements, the flexion and extension movements of the fingers are triggered;

[0059] When the two transmission mechanisms 111 perform asynchronous flexion and extension movements, the lateral swing movement of the finger is triggered.

[0060] Among them, such as Figure 5 As shown, the cross shaft 112 includes a first shaft 1121 and a second shaft 1122, and the directions of the first shaft 1121 and the second shaft 1122 can be perpendicular to each other.

[0061] like Figure 1 and Figure 2 As shown, each transmission mechanism 111 is connected to a joint bearing 1111, and the two joint bearings 1111 are respectively connected to the two ends of the first rotating shaft 1121, such as a rotatable connection or a hinge connection. The second rotating shaft 1122 is mounted on the finger base, and the finger base is equipped with an electric base 13. The two transmission mechanisms 111 can be arranged symmetrically or asymmetrically along the central axis of the back of the finger.

[0062] When the two transmission mechanisms 111 flex and extend synchronously, the first phalanx 1 is driven to rotate around the first rotating shaft 1121 through the two joint bearings 1111, and the finger performs flexion and extension movements; when the two transmission mechanisms 111 flex and extend asynchronously, the first phalanx 1 is driven to rotate around the second rotating shaft 1122 through the two joint bearings 1111, and the finger performs lateral swing movements.

[0063] The cross pivot 112 enables the first phalanx 1 to move in different directions, thereby increasing the degree of freedom of the phalanx and thus improving the freedom and flexibility of the fingers.

[0064] Optionally, such as Figures 1 to 4 As shown, the two transmission mechanisms 111 are symmetrically arranged along the longitudinal central axis of the back of the finger, and the first rotating shaft 1121 includes two ends symmetrically arranged along the longitudinal central axis;

[0065] Each of the transmission mechanisms 111 is movably connected to the corresponding end of the first rotating shaft 1121 via the spherical bearing 1111.

[0066] Along the longitudinal direction of the fingers, including the central axis, two transmission mechanisms 111 are symmetrically arranged along the central axis. The two ends of the first rotating shaft 1121 can also be symmetrically arranged along the central axis to facilitate the control of lateral swing motion.

[0067] Each transmission mechanism 111 is movably connected to the corresponding end of the first rotating shaft 1121 via a spherical bearing.

[0068] When the two transmission mechanisms 111 move synchronously, the two joint bearings 1111 drive the first finger joint 1 to rotate around the first rotating shaft 1121.

[0069] When the two transmission mechanisms 111 move asynchronously, at least one joint bearing 1111 drives one side of the first phalanx 1 to rotate around the second rotating shaft 1122, thereby achieving lateral finger movement.

[0070] Optionally, such as Figures 1 to 2 As shown, the axis of the first rotating shaft 1121 is perpendicular to the guide path of the two transmission mechanisms 111;

[0071] A second connecting rod 1112 is installed at the corresponding end of the first rotating shaft 1121, and the two spherical bearings 1111 are respectively connected to the two ends of the first rotating shaft 1121 through the two second connecting rods;

[0072] When the two transmission mechanisms 111 perform synchronous flexion and extension movements, the two second connecting rods 1112 rotate around the first rotating shaft 1121, triggering the flexion and extension movements of the first phalanx 1;

[0073] When the two transmission mechanisms 111 perform asynchronous flexion and extension movements, at least one of the second connecting rods 1112 rotates around the second rotating shaft 1122, triggering the lateral swing movement of the first finger joint 1.

[0074] The guide paths of the two transmission mechanisms 111 are parallel to the longitudinal central axis of the finger.

[0075] Two second connecting rods are respectively installed at both ends of the first rotating shaft 1121. Two transmission mechanisms 111 are connected to the first rotating shaft 1121 in sequence through two joint bearings 1111 and two second connecting rods 1112. The axis of the first rotating shaft 1121 can be lateral along the side of the finger. When the first phalanx 1 rotates around the first rotating shaft 1121, the first phalanx 1 bends towards the palm.

[0076] When the two transmission mechanisms 111 flex and extend synchronously, the two transmission mechanisms 111 drive the first phalanx 1 to rotate around the first rotating shaft 1121 through the two joint bearings 1111 and the two second connecting rods 1112 respectively; when the two transmission mechanisms 111 flex and extend asynchronously, at least one transmission mechanism 111 drives the first phalanx 1 to rotate around the second rotating shaft 1122 through the joint bearing 1111 and the second connecting rod 1112.

[0077] Optionally, such as Figure 1 and Figure 2 As shown, each of the transmission mechanisms 111 includes a lead screw 1113 and a lead screw nut 1114 sleeved on the lead screw 1113. The two lead screw nuts 1114 corresponding to the two transmission mechanisms 111 are respectively connected to the two ends of the first rotating shaft 1121 through a spherical bearing 1111.

[0078] When the two lead screw nuts 1114 move synchronously along the lead screw 1113, the lead screw nuts 1114 are triggered to drive the first phalanx 1 to perform flexion and extension movements through the joint bearing 1111.

[0079] When the two lead screw nuts 1114 move asynchronously along the lead screw 1113, the lead screw nuts 1114 are triggered to drive the first phalanx 1 to make a lateral swinging motion through the joint bearing 1111.

[0080] Each transmission mechanism 111 includes a lead screw 1113 and a lead screw nut 1114 sleeved on the lead screw 1113. The lead screw nut 1114 is connected to the first rotating shaft 1121 through a spherical bearing.

[0081] When the two lead screw nuts 1114 move synchronously along the two lead screws, the lead screw nuts 1114 drive the first phalanx 1 to flex and extend through the joint bearing.

[0082] The lead screw and lead screw nut 1114 convert rotational motion into linear motion via threaded transmission, pushing and pulling the joint bearing 1111. The two joint bearings 1111 are respectively connected to two second connecting rods 1112 on both sides of the finger. These two second connecting rods 1112 are respectively installed at both ends of the first rotating shaft 1121 of the cross shaft 112. The first rotating shaft 1121 and the second rotating shaft 1122 of the cross shaft 112 are two orthogonal rotating shafts. The second rotating shaft 1122 is installed on the finger base via a shaft bearing. When the two lead screw nuts 1114 move synchronously along the two lead screws, the two second connecting rods rotate around the first rotating shaft 1121, and the first phalanx 1 (i.e., the finger root) performs flexion and extension movements; when the two lead screw nuts 1114 move asynchronously, the cross shaft 112 as a whole rotates around the second rotating shaft 1122, and the first phalanx 1 (i.e., the finger root) performs lateral swinging movements.

[0083] Optionally, such as Figure 1 and Figure 2 As shown, each of the transmission mechanisms 111 includes a lead screw motor 1115 connected to the lead screw 1113, the lead screw motor 1115 being used to drive the lead screw nut 1114 to move along the guide path of the lead screw 1113.

[0084] The lead screw motor 1115 is connected to the lead screw 1113 and is used to drive the lead screw nut 1114 to move along the lead screw 1113. The lead screw motor 1115 can be located at the end of the lead screw 1113, or it can be connected in parallel with the lead screw 1113. It can be set according to the actual situation.

[0085] Optionally, such as Figure 1 and Figure 2 As shown, the lead screw 1113 and the lead screw motor 1115 are arranged side by side. The lead screw motor 1115 is fixedly mounted with a motor gear 1116, and the lead screw 1113 is fixedly mounted with a lead screw gear 1117. The motor gear 1116 and the lead screw gear 1117 are meshed and connected.

[0086] The lead screw motor 1115 is used to drive the lead screw nut 1114 to move along the lead screw 1113 via the motor gear 1116 and the lead screw gear 1117.

[0087] To shorten finger length, the lead screw motor 1115 and the lead screw can be arranged side by side. The lead screw motor 1115 transmits speed and torque to the lead screw through the meshing of the motor gear 1116 fixedly mounted thereon with the lead screw gear 1117 mounted on the lead screw. The lead screw gear 1117 can be mounted on the lead screw through the lead screw bearing 1118.

[0088] Optionally, such as Figure 1 and Figure 2 As shown, each of the lead screw nuts 1114 includes a nut guide post 1119, and the lead screw nut 1114 moves along the guide path of the nut guide post 1119.

[0089] The lead screw nut 1114 can be sleeved on the nut guide post 1119, or the path guidance can be achieved through the matching relationship between the groove and the protrusion.

[0090] Optionally, such as Figure 1 and Figure 2 As shown, the finger also includes a third phalanx 3 connected to the first phalanx 1 and the second phalanx 2;

[0091] The third phalanx 3 is provided with a corresponding third drive module 31, which is used to drive the third phalanx 3 to perform flexion and extension movements. The second drive module 21 and the third drive module 31 are arranged side by side.

[0092] The distal phalanx (second phalanx 2) motor and the middle phalanx motor (second drive module 21 and third drive module 31) mounted on the middle phalanx (third phalanx 3) link 32 drive the middle phalanx and distal phalanx to perform flexion and extension movements, respectively. The middle phalanx, distal phalanx, and proximal phalanx (first phalanx 1) are not coupled and can be controlled independently, and are in a direct drive configuration.

[0093] The third phalanx 3 is equipped with a third drive module 31. Each phalanx is driven by a corresponding drive module without joint coupling, reducing control complexity. Furthermore, all phalanxes are directly driven, with a short transmission path, improving control precision. The two joints at the base of the finger are connected in parallel, saving finger length and providing greater flexion and extension force at the base.

[0094] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0095] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0096] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A finger of a dexterous hand, characterized in that, include: At least two phalanges, the at least two phalanges including a first phalange and a second phalange arranged sequentially along the finger axis from the base of the finger to the fingertip, the first phalange being provided with a first driving module for driving the first phalange, and the second phalange being provided with a second driving module for driving the second phalange; The second phalanx includes a fingertip and a connecting portion. The fingertip is attached to the connecting portion via a detachable component, and the connecting portion is connected to the first phalanx.

2. The finger according to claim 1, characterized in that, The detachable component includes a buckle, which is located at the bottom of the fingertip, and the connecting part is provided with a buckle groove that matches the buckle; When the fingertip is installed on the connecting part, the buckle engages with the buckle groove.

3. The finger according to claim 2, characterized in that, The connecting part includes two first connecting rods, and a cavity is formed between the two first connecting rods. A guide surface is provided around the bottom of the fingertip, and the guide surface is used to guide the fingertip to be installed into the cavity.

4. The finger according to claim 1, characterized in that, A fingertip printed circuit board (PCB) and a base PCB are sequentially disposed between the fingertip and the connecting portion; The fingertip PCB has a fingertip contact point on the side near the connecting part, and the base PCB has an elastic member on the side away from the connecting part. The number and position of the elastic member correspond one-to-one with the contact point. When the fingertip is installed to the connecting part, the elastic member contacts the fingertip contact, and electrical connection is established between the base PCB and the fingertip PCB; When the fingertip is detached from the connector, the elastic member loses contact with the fingertip contact, and the electrical connection between the base PCB and the fingertip PCB is broken.

5. The finger according to any one of claims 1 to 4, characterized in that, The first drive module includes two transmission mechanisms disposed on the back of the finger, and the two transmission mechanisms are arranged in parallel. The first drive module also includes a rotating mechanism that can rotate in different directions. Each transmission mechanism is connected to the rotating mechanism through a connecting member. In this case, when the two transmission mechanisms simultaneously perform flexion and extension movements, the flexion and extension movements of the finger are triggered; When the two transmission mechanisms perform flexion and extension movements asynchronously, the lateral swing movement of the finger is triggered.

6. The finger according to claim 5, characterized in that, The rotating mechanism is a cross-shaped rotating shaft, which includes a first rotating shaft and a second rotating shaft arranged perpendicularly to each other; The two transmission mechanisms are respectively movably connected to the first rotating shaft via joint bearings, and the second rotating shaft is mounted on the finger base of the finger via a rotating shaft bearing; When the two transmission mechanisms perform synchronized flexion and extension movements, the flexion and extension movements of the fingers are triggered; When the two transmission mechanisms perform asynchronous flexion and extension movements, the lateral swing movement of the finger is triggered.

7. The finger according to claim 6, characterized in that, The two transmission mechanisms are symmetrically arranged along the longitudinal central axis of the back of the finger, and the first rotating shaft includes two ends symmetrically arranged along the longitudinal central axis. Each of the aforementioned transmission mechanisms is movably connected to the corresponding end of the first rotating shaft via the spherical bearing.

8. The finger according to claim 7, characterized in that, The axis of the first rotating shaft is perpendicular to the guide path of the two transmission mechanisms; A second connecting rod is installed at the corresponding end of the first rotating shaft, and the two spherical bearings are respectively connected to the two ends of the first rotating shaft through the two second connecting rods; When the two transmission mechanisms perform synchronous flexion and extension movements, the two second links rotate around the first pivot, triggering the flexion and extension movements of the first phalanx; When the two transmission mechanisms perform asynchronous flexion and extension movements, at least one of the second connecting rods rotates around the second pivot, triggering the lateral swing movement of the first phalanx.

9. The finger according to claim 6, characterized in that, Each of the transmission mechanisms includes a lead screw and a lead screw nut sleeved on the lead screw, and the two lead screw nuts corresponding to the two transmission mechanisms are respectively connected to the two ends of the first rotating shaft through a spherical bearing; When the two lead screw nuts move synchronously along the lead screw, the lead screw nuts are triggered to drive the first phalanx to perform flexion and extension movements through the joint bearing; When the two lead screw nuts move asynchronously along the lead screw, the lead screw nuts are triggered to drive the first knuckle to make a lateral swinging motion through the joint bearing.

10. The finger according to claim 9, characterized in that, Each of the transmission mechanisms includes a lead screw motor connected to the lead screw, the lead screw motor being used to drive the lead screw nut to move along the guide path of the lead screw.

11. The finger according to claim 10, characterized in that, The lead screw and the lead screw motor are arranged side by side. The lead screw motor is fixedly mounted with a motor gear, and the lead screw is fixedly mounted with a lead screw gear. The motor gear and the lead screw gear are meshed and connected. The lead screw motor is used to drive the lead screw nut to move along the lead screw via the motor gear and the lead screw gear.

12. The finger according to claim 9, characterized in that, Each of the lead screw nuts includes a nut guide post, and the lead screw nut moves along a guide path of the nut guide post.

13. The finger according to claim 1, characterized in that, The finger also includes a third phalanx connected to the first phalanx and the second phalanx; The third phalanx is provided with a corresponding third drive module, which is used to drive the third phalanx to perform flexion and extension movements. The second drive module and the third drive module are arranged side by side.

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