Finger module and manipulator

Abstract

The invention discloses a finger module and a manipulator. The finger module comprises a finger base body, a mounting base rotationally connected to the finger base body, a driving mechanism and a flexible circuit board. The finger base body comprises at least two knuckles which are rotationally connected in sequence and a linkage mechanism; the driving mechanism is arranged on the mounting seat, is connected with the knuckles and is used for driving the knuckle closest to the mounting seat to rotate; the flexible circuit board comprises a first part located on the side face of the finger base body, the first part comprises at least two fixed sections fixed to the knuckles and a bendable movable section, and the two ends of the movable section are connected to the two adjacent fixed sections respectively. When the finger base body is in a straightened state, the extension lines of the two adjacent fixed sections penetrate through the rotating connection position of the two adjacent knuckles, and the straightened length of the movable section is larger than the minimum distance between the two adjacent fixed sections in the central axis direction of the finger base body. The movable section is bent along with rotation of the knuckles, so that the risk that the movable section is pulled due to relative rotation of the knuckles is reduced, and the service life is prolonged.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a finger module and a robotic hand. Background Technology

[0002] In situations involving radiation, extreme weather, or other hazardous environments, robots can often replace humans in performing tasks, using their robotic arms to execute commands. A robotic arm is the end effector of a robot, typically used to mimic the movements of a human hand, thus helping users perform tasks in place of human hands.

[0003] Generally, a robotic hand is formed by connecting a robotic palm and multiple finger modules. Each finger module is equipped with cables for transmitting electrical signals. The cables are threaded through the gaps on the back or pad of the finger modules and connected to the control board on the robotic palm.

[0004] The inventors of this application discovered that when multiple finger modules move (e.g., make bending or straightening movements), the cables on the multiple finger modules are arranged in a rather arbitrary manner, and wear and tear occurs after repeated movements of the finger modules, leading to breakage and affecting the normal operation of the finger modules. Summary of the Invention

[0005] To address the aforementioned technical problems, embodiments of the present invention provide a finger module and a robotic hand, which design the position of the flexible circuit board on the finger substrate to reduce the impact of finger substrate movement on the flexible circuit board.

[0006] The technical solutions adopted by the embodiments of the present invention to solve their technical problems are as follows: A finger module includes a finger base, a mounting base, a driving mechanism, and a flexible circuit board. The finger base has a fingertip side and a finger back side, which are arranged opposite to each other along a first direction. The finger base includes a linkage mechanism and at least two phalanges, which are rotatably connected sequentially. The linkage mechanism is connected to each of the at least two phalanges. The mounting base is rotatably connected to the finger base. The driving mechanism is mounted on the mounting base and connected to the phalanges. The driving mechanism is used to drive the phalange closest to the mounting base to rotate relative to the mounting base about a first axis. The first axis, the central axis of the finger base, and the first direction are all perpendicular to each other. The flexible circuit board includes a first portion located on the side of the finger base, which is located between the fingertip side and the finger back side. The first portion includes at least two fixed segments and a bendable movable segment. The two ends of the movable segment are respectively connected to two adjacent fixed segments, and the fixed segments are fixed to the phalanges. When the finger base is in an extended state, the extension lines of two adjacent fixed segments pass through the rotational connection of two adjacent phalanges, and the extended length of the movable segment is greater than the minimum distance between two adjacent fixed segments along the central axis of the finger base.

[0007] In some embodiments, the active segment includes a first active layer and a second active layer, wherein the two opposite ends of the first active layer are respectively connected to two adjacent fixed segments, and the two opposite ends of the second active layer are respectively connected to two adjacent fixed segments, wherein the first active layer and the second active layer are separately configured.

[0008] The movable section adopts a layered design, with the first and second movable layers being bendable separately. The bending direction of the first movable layer can be the same as or different from that of the second movable layer. This allows the first and second movable layers to bend according to their respective stress conditions, reducing the risk of stress concentration, improving the durability of the movable section, and enhancing the service life of the flexible circuit board.

[0009] In some embodiments, the finger module further includes a force-tactile sensor located on the fingertip side of the finger base, the force-tactile sensor being mounted on the knuckle; the flexible circuit board further includes an inner extension segment, one end of which is connected to a fixed segment, and the other end of which is connected to the force-tactile sensor. Thus, the detection results of the force-tactile sensor can be transmitted via the inner extension segment to facilitate control of the finger base.

[0010] In some embodiments, the flexible circuit board further includes a second portion disposed on the knuckle closest to the mounting base and connected to the first portion, wherein the portion of the second portion located on the back side of the finger base extends along the central axis of the finger base, and the second portion is used to connect to the control board.

[0011] In some embodiments, the second portion includes a connecting segment, a bending segment, and a connecting segment. The connecting segment is fixed to the knuckle closest to the mounting base. One end of the connecting segment is connected to the first portion, and the other end of the connecting segment is connected to one end of the bending segment. The other end of the bending segment is connected to the connecting segment, which is used to connect to a control panel. The straightened length of the bending segment is greater than the minimum distance between the connecting segment and the connecting segment on the central axis of the finger base.

[0012] Because the straight length of the bent section is greater than the minimum distance between the connecting section and the linking section on the central axis of the finger base, the bent section has a length margin that can be stretched and bent, so as to reduce the tensile force between the connecting section and the linking section when the finger base makes bending movements. This helps to extend the service life of the flexible circuit board and improve the stability of the finger module.

[0013] In some embodiments, the bent segment is connected to the side of the connecting segment opposite to the connecting segment. This increases the straight length of the bent segment. Compared to the method where the bent segment is connected to the end of the connecting segment closest to the connecting segment, the connection method of this application allows the bent segment to have a larger bending radius when the finger base makes bending movements, further reducing the tensile force on both the connecting segment and the connecting segment. This ensures that the bent segment is only subjected to bending force, which helps to extend the service life of the flexible circuit board.

[0014] In some embodiments, the bending segment includes a first bending layer and a second bending layer, the two ends of the first bending layer being connected to the connecting segment and the connecting section respectively, and the two ends of the second bending layer being connected to the connecting segment and the connecting section respectively, wherein the first bending layer and the second bending layer are separately disposed.

[0015] The separation of the bending segment into a first bending layer and a second bending layer allows the first bending layer and the second bending layer to bend in opposite directions when the finger substrate is making bending movements. This helps to disperse stress, reduce the risk of stress concentration, extend the service life of the bending segment, and improve the stability of the finger module.

[0016] In some embodiments, the finger module further includes an angle sensor mounted on the mounting base. The angle sensor detects the angle of rotation of the phalanx closest to the mounting base relative to the mounting base. The flexible circuit board further includes an extension segment, one end of which is connected to the connecting segment, and the other end of which is connected to the angle sensor. Thus, the data detected by the angle sensor can be transmitted through the extension segment, facilitating control of the finger substrate.

[0017] In some embodiments, the driving mechanism includes a drive motor and a drive assembly, both of which are mounted on the mounting base. The drive assembly is connected to the finger base and is used to drive the finger base to perform bending or straightening movements relative to the mounting base under the drive of the drive motor.

[0018] The technical solutions adopted by the embodiments of the present invention to solve their technical problems are as follows: A robotic hand includes the aforementioned finger module, robotic palm, and control board. The finger module is connected to the robotic palm, the control board is disposed on the robotic palm, and the flexible circuit board of the finger module is connected to the control board.

[0019] The beneficial effects of this invention are as follows: The finger module provided in this application has a first part of its flexible circuit board disposed on the side of the finger base. The first part includes at least two fixed segments and a bendable movable segment. The two ends of the movable segment are respectively connected to two adjacent fixed segments, and the fixed segments are fixed to the knuckles. When the finger base is in an extended state, the extension lines of the two adjacent fixed segments pass through the rotational connection of the two adjacent knuckles, and the extended length of the movable segment is greater than the minimum distance between the two adjacent fixed segments along the central axis of the finger base. Thus, when the finger base performs a bending motion under the drive of the driving mechanism, the fixed segments move synchronously with the rotation of the knuckles, and the movable segment can bend with the rotation of the two adjacent knuckles. This reduces the risk of the movable segment being subjected to tensile forces due to the relative rotation of the knuckles, which helps extend the service life of the flexible circuit board and improves the stability of the finger module. Attached Figure Description

[0020] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0021] Figure 1 This is a schematic diagram of a finger module according to one embodiment of this application; Figure 2 This is a cross-sectional view of a finger module according to one embodiment of this application; Figure 3 This is an exploded view of a finger module according to one embodiment of this application; Figure 4a This is a schematic diagram of the finger module in a bent state according to one embodiment of this application; Figure 4b This is an exploded view of one embodiment of this application; Figure 5 This is a schematic diagram of the assembly of the finger base and the mounting base according to one embodiment of this application; Figure 6 This is a cross-sectional view of a finger module according to one embodiment of this application; Figure 7a This is a schematic diagram of an active segment according to one embodiment of this application; Figure 7b This is a schematic diagram of one possible scenario after the active segment of one embodiment of this application is bent; Figure 8a This is a schematic diagram of a bent segment according to one embodiment of this application; Figure 8b This is a schematic diagram of one possible case of the bent segment after bending according to one embodiment of this application; Figure 9 This is a schematic diagram of a finger module from another perspective, representing one embodiment of this application. Figure 10 This is a structural block diagram of a robotic arm according to another embodiment of this application; Figure 11 This is an assembly diagram of the finger module and the mounting plate according to one embodiment of this application; Figure 12 This is a schematic diagram of the finger module after it has been bent relative to the mounting plate according to one embodiment of this application; In the diagram: 1. Finger module; 2. Finger base; 3. Mounting base; 4. Drive mechanism; 5. Flexible circuit board; 6. Force tactile sensor; 7. Angle sensor; 8. Protective cover; 9. Reset assembly; 10. Finger shell; 21. Linkage mechanism; 22. Knuckle; 2a. Finger pad side; 2b. Finger dorsal side; 2c. Lateral side; 41. Drive motor; 42. Drive assembly; 421. First bevel gear; 422. Second bevel gear; 51. First part; 52. Inner extension; 53. Second part; 54. Outer extension; 511. Fixed section; 512. Moving section; 531. Connecting section; 532. Bending section; 533. Connecting section; 5321, First bending layer; 5322, Second bending layer; 221. First phalanx; 222. Second phalanx; 223. Third phalanx; 22a. Protrusion; 211. First link; 212. Second link; 5121, First active layer; 5122, Second active layer; 91. First torsion spring; 92. Second torsion spring; 100. Robotic arm; 110. Robotic hand; 120. Control panel. Detailed Implementation

[0022] To facilitate understanding of the present invention, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as being "fixed to" another element, it can be directly on the other element, or one or more intermediate elements may exist between them. When an element is described as being "connected" to another element, it can be directly connected to the other element, or one or more intermediate elements may exist between them. The terms "upper," "lower," "inner," "outer," "vertical," "horizontal," etc., used in this specification indicate orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0023] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0024] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0025] like Figure 1-3As shown, one embodiment of this application provides a finger module 1, including a finger base 2, a mounting base 3, a driving mechanism 4, and a flexible circuit board 5. The finger base 2 includes a linkage mechanism 21 and at least two phalanges 22, which are sequentially rotatably connected. The linkage mechanism 21 connects to each of the at least two phalanges 22. The mounting base 3 is rotatably connected to the finger base 2. The driving mechanism 4 is mounted on the mounting base 3 and connected to the phalanges 22. The driving mechanism 4 is used to drive the phalange 22 closest to the mounting base 3 to rotate relative to the mounting base 3 around a first axis L1.

[0026] Among them, such as Figure 3 As shown, the flexible circuit board 5 includes a first portion 51 located on the side 2c of the finger base 2. The first portion 51 includes at least two fixed segments 511 and a bendable movable segment 512. The two ends of the movable segment 512 are respectively connected to two adjacent fixed segments 511. The fixed segments 511 are fixedly disposed on the knuckle 22. When the finger base 2 is in a straightened state, the extension lines of the two adjacent fixed segments 511 pass through the rotatable connection of the two adjacent knuckles 22. The straightened length of the movable segment 512 is greater than the minimum distance d between the two adjacent fixed segments 511 along the central axis of the finger base 2. The straightened length of the movable segment 512 refers to the length measured after the movable segment 512 is unfolded and straightened.

[0027] Thus, when the finger base 2 bends under the drive of the drive mechanism 4, since the straightened length of the movable segment 512 is greater than the minimum distance d between two adjacent fixed segments 511 along the central axis of the finger base 2, that is, the length margin of the movable segment 512 is reserved for bending as the knuckle 22 rotates, reducing the risk of the movable segment 512 pulling on the fixed segment 511 when bending as the two adjacent knuckles 22 rotate, reducing the risk of the movable segment 512 being subjected to tensile force, which is beneficial to extending the service life of the flexible circuit board 5 and improving the stability of the finger module 1.

[0028] It should be noted that the finger base 2 has two states relative to the mounting base 3. One state is that the finger base 2 is in an extended state, such as... Figure 1 As shown, at this time, the central axes of at least two phalanges 22 of the finger base 2 are collinear; another state is when the finger base 2 is in a bent state, as shown... Figure 4a and Figure 4bAs shown, at this time, the central axes of at least two phalanges 22 of the finger base 2 are not on the same straight line. Driven by the drive mechanism 4, when the finger base 2 moves from an extended state to a bent state, the linkage mechanism 21 drives the multiple phalanges 22 to rotate relative to each other, so that the central axes of the multiple phalanges 22 change from being coincident to not being on the same straight line, that is, the finger base 2 has made a bending movement relative to the mounting base 3. Correspondingly, driven by the drive mechanism 4, when the finger base 2 moves from a bent state to an extended state, the linkage mechanism 21 drives the multiple phalanges 22 to rotate relative to each other, so that the central axes of the multiple phalanges 22 are on the same straight line, that is, the finger base 2 has made an extending movement relative to the mounting base 3.

[0029] That's understandable, please consider. Figure 1 and Figure 3 The finger base 2 has a fingertip side 2a and a finger back side 2b arranged opposite each other along a first direction M. The side surface 2c of the finger base 2 is located between the fingertip side 2a and the finger back side 2b; that is, the surface between the fingertip side 2a and the finger back side 2b of the finger base 2 is the side surface 2c of the finger base 2. The first axis L1, the central axis L2 of the finger base 2, and the first direction M are all perpendicular to each other. The central axis L2 of the finger base 2 refers to the line connecting the central axes of the multiple phalanges 22 when the finger base 2 is in a straightened state.

[0030] In some embodiments, the fixing segment 511 is fixedly disposed on the knuckle 22 by means of adhesive bonding or other methods, which can be set as needed. In this embodiment, a portion of the knuckle 22 protrudes along the direction of the first axis L1 to form a protrusion 22a, which provides the fixing segment 511 with a fixed position on the knuckle 22. When the finger base 2 bends or straightens relative to the mounting base 3, the fixing segment 511 will move with the knuckle 22 relative to the movable segment 512, causing the movable segment 512 of the first part 51 to bend, reducing the risk of the fixing segment 511 being pulled due to the relative rotation of the knuckle 22.

[0031] The following description uses an example where the finger base 2 has three knuckles 22. However, this does not mean that the number of knuckles 22 in the finger base 2 can only be three; it can also be two or more, depending on the specific needs. For ease of distinction, as... Figure 5 and Figure 6 As shown, the three phalanges 22 can be named the first phalange 221, the second phalange 222, and the third phalange 223, respectively. The third phalange 223 is closest to the mounting base 3 and is rotatably connected to the mounting base 3.

[0032] In some embodiments, such as Figure 2 , Figure 5 and Figure 6As shown, the linkage mechanism 21 includes a first link 211 and a second link 212. One end of the first link 211 is rotatably connected to the first phalanx 221, and the other end of the first link 211 is connected to the third phalanx 223. One end of the second link 212 is connected to the second phalanx 222, and the other end of the second link 212 is connected to the mounting base 3. Thus, a four-bar linkage structure is formed under the combined action of the first link 211 and the second link 212, so that when the drive mechanism 4 drives the third phalanx 223 to rotate relative to the mounting base 3 around the first axis L1, the first phalanx 221 and the second phalanx 222 rotate in linkage, thereby realizing the bending or straightening movement of the finger base 2 relative to the mounting base 3.

[0033] It should be noted that when there are two knuckles 22, the linkage mechanism 21 is a link. One end of the link is rotatably connected to the knuckle 22 that is away from the mounting base 3, and the other end of the link is connected to the mounting base 3. This also allows the finger base 2 to bend or straighten relative to the mounting base 3 under the drive of the drive mechanism 4.

[0034] In some embodiments, the linkage mechanism 21 can be any other than the linkage described above, such as a tension spring, as long as it can enable the finger base 2 to straighten or bend relative to the mounting base 3 under the drive of the drive mechanism 4.

[0035] In some embodiments, such as Figure 6 As shown, the drive mechanism 4 includes a drive motor 41 and a drive assembly 42. Both the drive assembly 42 and the drive motor 41 are mounted on the mounting base 3. The drive assembly 42 is used to drive the finger base 2 to bend or straighten relative to the mounting base 3 under the drive of the drive motor 41.

[0036] In some embodiments, such as Figure 6 As shown, the drive assembly 42 includes a first bevel gear 421 and a second bevel gear 422 connected to each other. The first bevel gear 421 is mounted on the output end of the drive motor 41, and the second bevel gear 422 is rotatably mounted on the mounting base 3 and fixedly connected to the finger 22 closest to the mounting base 3. The central axis of the first bevel gear 421 and the central axis of the second bevel gear 422 are perpendicular. Thus, when the drive motor 41 drives the first bevel gear 421 to rotate, the second bevel gear 422 will drive the finger 22 closest to the mounting base 3 to rotate synchronously, and under the action of the linkage mechanism 21, it will drive the other fingers 22 to move.

[0037] It should be understood that, in addition to the first bevel gear 421 and the second bevel gear 422 mentioned above, the drive component 42 can also be other structures, as long as it can drive the finger base 2 to perform bending or straightening movements under the drive of the drive motor 41. For example, the drive assembly 42 may be a first bevel gear 421, a second bevel gear 422, a traction rope, multiple steering wheels, and a take-up wheel. The first bevel gear 421 is mounted on the output end of the drive motor 41. The second bevel gear 422 is rotatably mounted on the mounting base 3 and fixedly connected to the finger joint 22 closest to the mounting base 3. The take-up wheel is mounted on the second bevel gear 422. Multiple steering wheels are arranged on multiple finger joints 22 according to a preset distribution path. One end of the traction rope is connected to the finger joint 22 farthest from the mounting base 3 among the multiple finger joints 22. The other end of the traction rope is wrapped around the multiple steering wheels and connected to the take-up wheel. In this way, when the drive motor drives the first bevel gear 421 to rotate, the second bevel gear 422 will drive the finger joint 22 to rotate. At the same time, the take-up wheel synchronously winds up or releases the traction rope to realize that the multiple finger joints 22 of the finger base 2 can perform bending or straightening movements.

[0038] In some embodiments, please combine Figure 3 , Figure 7a and Figure 7b , Figure 7a This is a schematic diagram of the active section 512 before the bend. Figure 7b This is a schematic diagram illustrating one possible scenario when the movable segment 512 is bent. The movable segment 512 includes a first movable layer 5121 and a second movable layer 5122. The two opposite ends of the first movable layer 5121 are connected to two adjacent fixed segments 511, and the two opposite ends of the second movable layer 5122 are also connected to two adjacent fixed segments 511. The first and second movable layers 5121 are separately configured. That is, the movable segment 512 adopts a layered design, allowing the first and second movable layers 5121 and 5122 to be bent independently. The bending direction of the first movable layer 5121 can be the same as or different from that of the second movable layer 5122. This design allows the first and second movable layers 5121 and 5122 to bend according to their respective stress conditions, reducing the risk of stress concentration and improving the durability of the movable segment 512, thus extending the service life of the flexible circuit board 5.

[0039] For ease of explanation, the direction along the fingertip side 2a toward the finger back side 2b is defined, and the first active layer 5121 is closer to the finger back side 2b than the second active layer 5122.

[0040] If the movable segment 512 adopts an integral design, that is, the first movable layer 5121 and the second movable layer 5122 are fixed as a whole, when the finger base 2 bends relative to the mounting base 3, both the first movable layer 5121 and the second movable layer 5122 maintain the same bending direction as the multiple knuckles 22 of the finger base 2. At this time, the bending radius of the second movable layer 5122 located on the inside will be affected by the first movable layer 5121, resulting in an excessively small bending, which increases the risk of stress concentration at the bending point of the second movable layer 5122. However, this application adopts a design that separates the first movable layer 5121 and the second movable layer 5122. The second movable layer 5122 can be bent in the opposite direction to the first movable layer 5121 according to the actual stress conditions, thereby reducing the risk of stress concentration in the second movable layer 5122 and helping to extend the service life of the flexible circuit board 5.

[0041] In some embodiments, please refer again Figure 3 The finger module 1 also includes a force sensor 6 located on the fingertip side 2a. The force sensor 6 is mounted on the knuckle 22 and is used to detect whether an object is in contact with the corresponding knuckle 22, as well as the magnitude and location of the force acting on the knuckle 22. The flexible circuit board 5 also includes an inner extension 52, one end of which is connected to the fixed section 511, and the other end of which is connected to the force sensor 6. Thus, the detection results of the force sensor 6 can be transmitted via the flexible circuit board 5 to facilitate control of the finger base 2.

[0042] It should be understood that the number of force sensors 6 can be the same as the number of knuckles 22, or it can be less than the number of knuckles 22. When the number of force sensors 6 is less than the number of knuckles 22, only some of the knuckles 22 will have force sensors 6 installed. For example, when there are three knuckles 22, there can be three force sensors 6, in which case each knuckle 22 will have a force sensor 6 installed. As another example, when there are two force sensors 6, only two knuckles 22 will have force sensors 6 installed.

[0043] In some embodiments, such as Figure 3 As shown, the flexible circuit board 5 also includes a second part 53, which is disposed on the knuckle 22 closest to the mounting base 3 and connected to the first part 51. The second part 53 extends along the central axis L2 of the finger base 2 on the back side 2b of the finger base 2. The second part 53 is used to connect to the control board.

[0044] In some embodiments, such as Figure 3As shown, the second part 53 includes a connecting segment 531, a bending segment 532, and a connecting segment 533. The connecting segment 531 is fixed to the knuckle 22 closest to the mounting base 3. One end of the connecting segment 531 is connected to the first part 51, and the other end of the connecting segment 531 is connected to one end of the bending segment 532. The other end of the bending segment 532 is connected to the connecting segment 533, which is used to connect to the control board. The straightened length of the bending segment 532 is greater than the minimum distance between the connecting segment 531 and the connecting segment 533 on the central axis L2 of the finger base 2. Thus, because the straightened length of the bending segment 532 is greater than the minimum distance between the connecting segment 531 and the connecting segment 533 on the central axis L2 of the finger base 2, the bending segment 532 has a length allowance that can be stretched and bent, reducing the tensile force between the connecting segment 531 and the connecting segment 533 when the finger base 2 performs bending movements. This helps extend the service life of the flexible circuit board 5 and improves the stability of the finger module 1. It should be noted that the straightened length of the bent section 532 refers to the length measured after the bent section 532 has been stretched and straightened.

[0045] Understandably, the bending segment 532 can be connected to the end of the connecting segment 533 closest to the connecting segment 531, or it can be connected to the end of the connecting segment 533 away from the connecting segment 531. The specific setting can be selected according to the needs.

[0046] In some embodiments, such as Figure 3 As shown, the bent segment 532 is connected to the side of the connecting segment 533 away from the connecting segment 531. This helps to increase the straight length of the bent segment 532. Compared with the method where the bent segment 532 is connected to the end of the connecting segment 533 closest to the connecting segment 531, the connection method of this application allows the bent segment 532 to have a larger bending radius when the finger base 2 is bent. This further reduces the pulling force on both the connecting segment 531 and the connecting segment 533, so that the bent segment 532 is only subjected to bending force, which helps to extend the service life of the flexible circuit board 5.

[0047] In some embodiments, please combine Figure 3 , Figure 8a and Figure 8bAs shown, the bending segment 532 includes a first bending layer 5321 and a second bending layer 5322. The two ends of the first bending layer 5321 are connected to the connecting segment 531 and the connecting segment 533, respectively. The two ends of the second bending layer 5322 are also connected to the connecting segment 531 and the connecting segment 533, respectively. The first bending layer 5321 and the second bending layer 5322 are separately configured; that is, they are not fixedly connected as a whole and can be bent in different directions. Separating the bending segment 532 into independent first and second bending layers 5321 and 5322 allows the first and second bending layers 5321 to bend in opposite directions when the finger base 2 is bending. This helps to disperse stress, reduces the risk of stress concentration, extends the service life of the bending segment 532, and improves the stability of the finger module 1.

[0048] Understandably, the connecting segment 531 or the connecting segment 533 also has a double-layer structure and is glued and fixed into a whole. However, the first bending layer 5321 and the second bending layer 5322 of the bending segment 532 of this application are set separately, that is, they are not glued and fixed. This helps to avoid the stress increase caused by the adhesive effect of glue and helps to reduce the risk of stress concentration when the bending segment 532 is bent in the finger base 2.

[0049] In some embodiments, such as Figure 3 As shown, the finger base 2 also includes an angle sensor 7, which is mounted on the mounting base 3. The angle sensor 7 is used to detect the angle of rotation of the knuckle 22 closest to the mounting base 3 relative to the mounting base 3. The flexible circuit board 5 also includes an extension segment 54, one end of which is connected to the connecting segment 533, and the other end of which is connected to the angle sensor 7. Thus, the data detected by the angle sensor 7 can be transmitted through the extension segment 54, facilitating the control of the finger base 2.

[0050] The angle sensor 7 can be a Hall angle sensor or other sensors used for angle detection. In this embodiment, the angle sensor 7 is a Hall angle sensor.

[0051] In some embodiments, such as Figure 3 As shown, the finger base 2 also includes a protective cover 8, which is detachably connected to the mounting base 3 and covers the angle sensor 7. This helps to prevent the angle sensor 7 from being directly exposed and prevents external forces from directly acting on the angle sensor 7.

[0052] In some embodiments, such as Figure 9As shown, the finger module 1 also includes a reset component 9, which is installed on the finger base 2. The reset component 9 assists in resetting the multiple knuckles 22 of the finger base 2. In this embodiment, the reset component 9 includes a first torsion spring 91 and a second torsion spring 92. The first torsion spring 91 is installed on the second knuckle 222, and its two ends abut against the first knuckle 221 and the second knuckle 222, respectively. The second torsion spring 92 is installed on the third knuckle 223, and its two ends abut against the first knuckle 221 and the second knuckle 222, respectively. When the finger base 2 performs a bending movement, the first knuckle 221 rotates relative to the second knuckle 222, and the first torsion spring 91 is in a torsional state. When the second knuckle 222 rotates relative to the third knuckle 223, the second torsion spring 92 is in a torsional state. When the finger base 2 is extended, the first torsion spring 91 restores its deformation to assist the first phalanx 221 in resetting relative to the second phalanx 222, and the second torsion spring 92 restores its deformation to assist the second phalanx 222 in resetting relative to the third phalanx 223.

[0053] Of course, besides the aforementioned first torsion spring 91 and second torsion spring 92, the reset component 9 can also have other shapes, as long as it can assist in the reset of the phalanx 22 when the finger base 2 performs an extension movement. For example, the reset component 9 can also be a first tension spring and a second tension spring, with the two ends of the first tension spring connected to the first phalanx 221 and the second phalanx 222 respectively, and the two ends of the second tension spring connected to the first phalanx 221 and the second phalanx 222 respectively.

[0054] In some embodiments, please refer again Figure 1 The finger module 1 also includes at least two finger shells 10, with one finger shell 10 mounted on a phalanx 22 to prevent the phalanx 22 and the first part 51 of the flexible circuit board 5 from being exposed to the outside, thus providing protection. In this embodiment, there are three finger shells 10 and three phalanxes 22.

[0055] The finger module 1 provided in this application embodiment has a first part 51 of its flexible circuit board 5 disposed on the side 2c of the finger base 2. The first part 51 includes at least two fixed segments 511 and a bendable movable segment 512. The two ends of the movable segment 512 are respectively connected to two adjacent fixed segments 511, and the fixed segments 511 are fixed to the knuckles 22. When the finger base 2 is in a straightened state, the extension lines of the two adjacent fixed segments 511 pass through the rotational connection of the two adjacent knuckles 22. The straightened length of the movable segment 512 is greater than the minimum distance between the two adjacent fixed segments 511 along the central axis L2 of the finger base 2, that is, a bending allowance is reserved for the movable segment 512. Thus, when the finger base 2 is driven by the drive mechanism 4 to bend, the movable segment 512 can bend along with the rotation of the two adjacent knuckles 22, reducing the risk that the movable segment 512 will be subjected to a pulling force relative to the fixed segment 511 due to the relative rotation of the knuckles 22, which is beneficial to extending the service life of the flexible circuit board 5 and improving the stability of the finger module 1.

[0056] like Figure 10 As shown, another embodiment of this application provides a robotic arm 100, including the finger module 1, robotic hand 110, and control board 120 as described in the above embodiments. The finger module 1 is connected to the robotic hand 110. The control board 120 is disposed on the robotic hand 110, and the flexible circuit board 5 of the finger module 1 is connected to the control board 120. The shape and size of the control board 120 can be adjusted as needed.

[0057] In some embodiments, the control board 120 is also connected to the drive motor 41. In addition to receiving the detection results of multiple force tactile sensors 6 and detecting the angle of rotation of the finger base 2 relative to the mounting base 3, the control board 120 can also be used to control the operation of the drive motor 41.

[0058] In some embodiments, such as Figure 11 and Figure 12 As shown, the robotic hand 110 includes a mounting plate 111, and the mounting base 3 and the drive motor 41 of the drive mechanism 4 are both fixed on the mounting plate 111. To facilitate understanding of the specific installation of the finger module 1 on the mounting plate 111, the figure shows the structure of one finger module 1 installed on the mounting plate 111.

[0059] It should be noted that, in addition to the structure shown in the figure, the robotic hand 110 also includes other existing structures of the robotic hand 100 used to realize the imitation of human hand movements, which will not be described in detail here.

[0060] Understandably, the number of finger modules 1 in the robotic arm 100 can be determined as needed. For example, there may be five finger modules 1, and the number of phalanges 22 in each finger module 1 may be the same or different. In some embodiments, the robotic arm 100 is designed to mimic the human hand, i.e., there are five finger modules 1, one of which has two phalanges 22, and the other four finger modules 1 each have three phalanges 22. Multiple finger modules 1 working together can achieve functions mimicking human hand movements, such as grasping, twisting, or finger-pairing actions.

[0061] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A finger module, characterized in that, include: A finger base has a fingertip side and a finger back side, the fingertip side and the finger back side are arranged opposite to each other along a first direction, the finger base includes a linkage mechanism and at least two phalanges, the at least two phalanges are rotatably connected in sequence, and the linkage mechanism is respectively connected to the at least two phalanges; The mounting base is rotatably connected to the finger base; A drive mechanism is mounted on the mounting base and connected to the knuckle. The drive mechanism is used to drive the knuckle closest to the mounting base to rotate relative to the mounting base about a first axis. The first axis, the central axis of the finger base, and the first direction are perpendicular to each other. A flexible circuit board includes a first portion located on the side of the finger base, the side of the finger base being situated between the fingertip side and the finger back side. The first portion includes at least two fixed segments and a bendable movable segment, the two ends of the movable segment being respectively connected to two adjacent fixed segments, and the fixed segments being fixed to the finger joint. When the finger base is in an extended state, the extension lines of two adjacent fixed segments pass through the rotational connection of two adjacent phalanges, and the extended length of the movable segment is greater than the minimum distance between two adjacent fixed segments along the central axis of the finger base.

2. The finger module according to claim 1, characterized in that, The active segment includes a first active layer and a second active layer. The two opposite ends of the first active layer are respectively connected to two adjacent fixed segments, and the two opposite ends of the second active layer are respectively connected to two adjacent fixed segments. The first active layer and the second active layer are separately configured.

3. The finger module according to claim 1, characterized in that, It also includes a force-tactile sensor located on the fingertip side of the finger base, the force-tactile sensor being mounted on the knuckle; The flexible circuit board further includes an inner extension segment, one end of which is connected to a fixed segment, and the other end of which is connected to the force tactile sensor.

4. The finger module according to claim 1, characterized in that, The flexible circuit board further includes a second portion disposed on the knuckle closest to the mounting base and connected to the first portion, wherein the portion of the second portion located on the back side of the finger base extends along the central axis of the finger base, and the second portion is used to connect to the control board.

5. The finger module according to claim 4, characterized in that, The second part includes a connecting segment, a bending segment, and a connecting segment. The connecting segment is fixed to the knuckle closest to the mounting base. One end of the connecting segment is connected to the first part, and the other end of the connecting segment is connected to one end of the bending segment. The other end of the bending segment is connected to the connecting segment. The connecting segment is used to connect to a control panel. The straightened length of the bending segment is greater than the minimum distance between the connecting segment and the connecting segment on the central axis of the finger base.

6. The finger module according to claim 5, characterized in that, The bent section is connected to the side of the connecting section opposite to the connecting section.

7. The finger module according to claim 5, characterized in that, The bending section includes a first bending layer and a second bending layer. The two ends of the first bending layer are respectively connected to the connecting section and the connecting segment, and the two ends of the second bending layer are respectively connected to the connecting section and the connecting segment. The first bending layer and the second bending layer are separately arranged.

8. The finger module according to claim 5, characterized in that, It also includes an angle sensor, which is mounted on the mounting base and is used to detect the angle of rotation of the knuckle closest to the mounting base relative to the mounting base. The flexible circuit board further includes an epitaxial segment, one end of which is connected to the connecting segment, and the other end of which is connected to the angle sensor.

9. The finger module according to claim 1, characterized in that, The driving mechanism includes a drive motor and a drive assembly. Both the drive assembly and the drive motor are mounted on the mounting base. The drive assembly is connected to the finger base and is used to drive the finger base to perform bending or straightening movements relative to the mounting base under the drive of the drive motor.

10. A robotic arm, characterized in that, The device includes a finger module, a robotic hand, and a control board as described in any one of claims 1-9, wherein the finger module is connected to the robotic hand, the control board is disposed on the robotic hand, and the flexible circuit board of the finger module is connected to the control board.

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