Dexterous hand end effector and robot dexterous hand

Abstract

The application discloses a dexterous hand execution end and a dexterous hand robot. The dexterous hand execution end comprises a base, a functional component, a fixing component, a limiting component and an electrical connection component; the base is installed at the end of a finger or the end of a palm of the dexterous hand; the fixing component comprises a first magnetic attraction fitting and a second magnetic attraction fitting which are arranged on the base mounting interface and the functional component mounting interface respectively, so that the functional component is detachably adsorbed and mounted on the base; the limiting component comprises a first limiting piece and a second limiting piece, and when the base and the functional component are connected, the relative lateral deviation, axial rotation and axial disengagement of the base and the functional component are limited; the electrical connection component comprises a first electrical connection part and a second electrical connection part, and when the base and the functional component are connected, the power supply, signal or data connection is realized; the functional component comprises a narrow space detection component, a temperature measurement component, a camera component or a tool component. The application realizes the quick disassembly and replacement of the functional component through the cooperation of magnetic attraction fixing, limiting and electrical connection, has good interchangeability and meets the requirements of various scenes.

Description

Technical Field

[0001] This application relates to the field of robotics, and more specifically, to a dexterous hand end effector and a robotic dexterous hand. Background Technology

[0002] In fields such as industrial inspection, equipment maintenance, experimental operations, and flexible manufacturing, robotic dexterous hands, in addition to performing routine grasping actions, often need to observe, inspect, and manipulate targets in electrical cabinet terminals, equipment gaps, cavity interiors, pipe inner walls, pipe corners, or confined spaces. For example, in distribution cabinets, control boxes, machine tool cavities, or obstructed locations at the ends of equipment, inspection points are often located at narrow ends, behind corners, or between adjacent components, making it difficult for ordinary grippers or fixed finger tips to reach in, and fixed-oriented vision modules also struggle to obtain a suitable observation angle. Furthermore, depending on the task, the end effector needs to frequently switch between temperature measurement, electrical measurement, or tool forms such as screwing and pressing.

[0003] Existing dexterous end effectors are typically fixed structures or use complex mechanical flange connections. Switching between grasping, temperature measurement, electrical measurement, visual observation, and tool operation often requires replacing the entire end effector or reassembling external sensors. This approach suffers from low switching efficiency, complex external wiring, and poor repeatability. Furthermore, the space at the fingertips is extremely limited, making it difficult for existing structures to simultaneously achieve the convenience of quick mechanical release, the stability of fixed positioning, the reliability of electrical connections, and the ability to reach into confined spaces.

[0004] Specifically, in various subdivided operational scenarios, existing end-effector structures have revealed significant limitations: For narrow space detection or electrical measurement scenarios, robots are not suitable for inserting their entire fingers into live terminal blocks or narrow gaps, and there is an urgent need for a slender detection structure that can extend forward from the fingertip, allowing the detection head to penetrate deep into cabinet gaps or cavities; For surface temperature measurement scenarios, thermocouples need to maintain stable contact with the surface being measured. If the thermocouple protrudes directly from the contact surface, it is easily damaged by pressure or rubbing during pressing or sliding. If it is completely embedded inside the housing, it will lead to slow thermal response and unstable temperature measurement data; For visual observation scenarios, when the camera is fixed to the module and enters a narrow pipe or corner space, it can usually only observe in a single direction along the finger axis, and cannot flexibly adjust the viewing angle to observe targets on the side, back, or corner; For tool operation scenarios, the end-effector needs to be able to quickly switch between different working heads such as screwdrivers and grippers to perform fine movements, but existing end-effectors lack an efficient modular interchange mechanism.

[0005] Therefore, those skilled in the art need to provide a dexterous end effector and robotic dexterous hand that is compact, has reliable quick-release positioning, stable electrical connection, and can be modularly expanded for narrow space detection, surface protection temperature measurement, multi-angle visual observation, and multi-functional tool operation, in order to overcome the above-mentioned defects in the prior art. Summary of the Invention

[0006] The purpose of this application is to provide a dexterous hand end effector and a robotic dexterous hand. The dexterous hand end effector includes a base, functional components, a fixing component, a limiting component, and an electrical connection component. The base is mounted on the fingertips or palm end of the dexterous hand. The fixing component includes a first magnetic attraction component and a second magnetic attraction component respectively disposed on the base mounting interface and the functional component mounting interface, allowing the functional component to be detachably attached to the base. The limiting component includes a first limiting component and a second limiting component, restricting relative lateral offset, axial rotation, and axial disengagement between the base and the functional component during docking. The electrical connection component includes a first electrical connection part and a second electrical connection part, enabling power, signal, or data connection during docking. The functional component includes a confined space detection component, a temperature measurement component, a camera component, or a tool component. This application achieves quick-release replacement of functional components through the cooperation of magnetic fixing, limiting, and electrical connection, providing good interchangeability and meeting the needs of various scenarios.

[0007] To achieve the above objectives, the technical solution provided in this application is as follows: This application provides a dexterous hand end effector, including a base, a functional component, a fixing component, a limiting component, and an electrical connection component. The base is mounted on the fingertips or palm of the dexterous hand. The fixing component includes a first magnetic attraction component and a second magnetic attraction component respectively disposed on the mounting interface of the base and the mounting interface of the functional component, and at least one of them is a magnet, so that the functional component can be detachably attracted and mounted on the base. The limiting component includes a first limiting component and a second limiting component respectively disposed on the mounting interface of the base and the mounting interface of the functional component, which can limit the relative lateral offset, axial rotation, and / or axial disengagement of the base and the functional component when they are mated. The electrical connection component includes a first electrical connection portion and a second electrical connection portion respectively disposed on the base and the functional component, which form an adaptive contact structure when they are mated to realize power, signal, or data connection. The functional component includes at least one of a confined space detection component, a temperature measurement component, a camera component, or a tool component. In the above technical solution, the functional components can be quickly replaced by fixing components, limiting components and electrical connection components, which has good interchangeability and can meet the needs of various scenarios when combined with a variety of functional components.

[0008] As a preferred embodiment, one of the first and second limiting members includes a positioning boss, and the other includes a positioning groove. The positioning boss and the positioning groove engage to limit the relative lateral displacement between the base and the functional component. In the above technical solution, the engagement of the positioning boss and the positioning groove enables precise and rapid initial positioning between the base and the functional component, effectively preventing relative lateral displacement and improving the alignment accuracy of the assembly and the stability of the overall connection.

[0009] As a preferred embodiment, one of the first and second limiting members includes an anti-rotation rib, and the other includes an anti-rotation groove. The anti-rotation rib and the anti-rotation groove engage to restrict the relative axial rotation of the base and the functional component. In the above technical solution, the engagement of the anti-rotation rib and the anti-rotation groove effectively prevents the functional component from rotating axially relative to the base during operation under stress, ensuring the posture stability and operational reliability of the functional component when performing tasks.

[0010] As a preferred embodiment, one of the first and second limiting members includes a buckle, and the other includes a corresponding latch. The buckle and the latch elastically lock together to restrict the relative axial separation of the base and the functional component. In the above technical solution, the elastic locking cooperation between the buckle and the latch provides additional mechanical locking force on top of magnetic fixation, effectively preventing the functional component from axially separating from the base when subjected to axial tension or external vibration, further improving the strength and safety of the connection.

[0011] As a preferred embodiment, one of the first electrical connection portion and the second electrical connection portion includes at least one resilient pin, and the other includes the same number of contact terminals as the resilient pins. At least one set of the resilient pins and the contact terminals form an electrical connection interface to achieve stable transmission of power, signals, and / or data. In the above technical solution, the cooperation between the resilient pins and the contact terminals allows the expansion and contraction characteristics of the resilient pins to compensate for assembly tolerances during mating, ensuring a tight fit of the electrical connection interface. This achieves efficient and stable transmission of power, signals, and data, effectively avoiding the problem of poor contact.

[0012] As a preferred embodiment, the narrow space detection module includes a slender detection rod extending outward from the module housing and a detection head disposed at the distal end of the slender detection rod. The slender detection rod extends along the direction of the robot finger's extension or at an angle relative to the robot finger, enabling the robot finger to drive the detection head into cabinet gaps, terminal block gaps, cavities, pipe inlets, the inner side of the enclosure, or the end space of equipment for detection. In the above technical solution, the extension design of the slender detection rod allows the robot finger to drive the detection head into narrow or hidden spaces that are difficult to reach by conventional means for detection, greatly expanding the robot's detection range and improving the comprehensiveness and flexibility of detection in complex environments.

[0013] As a preferred embodiment, the temperature measuring component includes a thermocouple disposed on the working surface of the temperature measuring component. The thermocouple is positioned within an annular groove on the working surface, and a washer is disposed below the thermocouple. The washer is used to maintain contact between the thermocouple and the measured surface when the working surface is pressed against it. In the above technical solution, by placing the thermocouple within the annular groove and using a washer, the elastic deformation of the washer allows the thermocouple to fit tightly against the measured surface when the temperature measuring component is pressed against it. This effectively improves the accuracy and response speed of temperature measurement. Simultaneously, the washer also provides cushioning protection, preventing damage to the thermocouple during rigid contact.

[0014] As a preferred embodiment, the camera assembly includes an elongated extension rod, a camera, and a universal joint. The universal joint is disposed at one end of the elongated extension rod, and the camera is disposed at the end of either the elongated extension rod or the universal joint. In this technical solution, the combination of the elongated extension rod and the universal joint not only allows the camera to penetrate into blind spots such as pipes, cavities, or corners where visibility is obstructed, but also allows for flexible adjustment of the camera's observation angle, achieving omnidirectional, blind-spot-free visual inspection and significantly improving the robot's perception capabilities in complex spaces.

[0015] As a preferred embodiment, the tool assembly includes a working head; the working head is one of a screwdriver head, a clamping head, a lever, a pressing head, or a micro-operating lever; after the tool assembly is installed on the base via the interchangeable components, it can be driven by the robot's dexterous hand to perform turning, turning, pressing, or clamping operations. In the above technical solution, by configuring multiple types of working heads, the dexterous hand can quickly switch to different operating tools according to specific task requirements, giving the robot's dexterous hand the ability to perform fine operations such as turning, turning, pressing, or clamping, greatly improving the robot's operational versatility and work efficiency.

[0016] This application also provides a robotic dexterous hand, including at least one finger and a dexterous hand end effector as described in any of the above technical solutions, mounted on the fingertip or palm end. In the above technical solutions, by integrating an end effector with quick-release interchangeability at the fingertip or palm end, the robotic dexterous hand can quickly replace different functional components according to task requirements, greatly enhancing the versatility and environmental adaptability of the robotic dexterous hand, and meeting the needs of various application scenarios such as industrial inspection, precision assembly, and complex equipment maintenance.

[0017] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 The diagram shown is a structural schematic of an embodiment of the dexterous hand end effector provided in this application; Figure 2 The diagram shown is an assembly schematic of an embodiment of the dexterous hand end effector provided in this application; Figure 3 The diagram shown is an assembly schematic of an embodiment of the dexterous hand end effector provided in this application; Figure 4 The diagram shown is a scenario usage illustration of an embodiment of the dexterous hand end effector provided in this application; Figure 5 The diagram shown is a structural schematic of an embodiment of the dexterous hand end effector provided in this application; Figure 6 The diagram shown is a scenario usage illustration of an embodiment of the dexterous hand end effector provided in this application; Figure 7 The diagram shown is a structural schematic of an embodiment of the dexterous hand end effector provided in this application; Explanation of reference numerals in the attached drawings: 1. Functional component; 10. Working head; 11. Detection head; 12. Slender detection rod; 13. Thermocouple; 14. Annular groove; 15. Washer; 16. Thermocouple lead; 17. Camera; 18. Slender extension rod; 19. Universal joint; 2. Base; 3. Fixing component; 31. First magnetic attraction component; 32. Second magnetic attraction component; 4. Limiting component; 41. First limiting component; 42. Second limiting component; 5. Electrical connection component; 51. First electrical connection part; 52. Second electrical connection part. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, 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, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0021] In the description of this application, it should be noted that the terms "inner" and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. They are used only for the convenience of describing this application and for 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. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0022] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "setup" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0023] Example 1: Dexterous hand end effector like Figures 1 to 3 As shown, this embodiment provides a dexterous hand end effector, including a base 2, a functional component 1, a fixing component 3, a limiting component 4, and an electrical connection component 5. The base 2 is mounted on the fingertips or palm end of the robot dexterous hand. A base 2 mounting interface is formed on the outer side of the base 2, and a functional component 1 mounting interface is formed on the inner side of the functional component 1 that cooperates with the base 2 mounting interface.

[0024] The fixing component 3 is positioned between the two mounting interfaces. The fixing component 3 includes a first magnetic attraction component 31 and a second magnetic attraction component 32, respectively located on the mounting interface of the base 2 and the mounting interface of the functional component 1. At least one of these components is a magnet (e.g., the first magnetic attraction component 31 is a magnet, the second magnetic attraction component 32 is a magnetically conductive metal component, or both are magnets), allowing the functional component 1 to be detachably and magnetically attached to the base 2. When the robot needs to replace the functional component 1, it simply needs to remove the current functional component 1 along the detachment direction, and then bring the other functional component 1 close to the base 2; the magnetic force will then attract it to the mounting position.

[0025] To ensure operational stability, the limiting component 4 includes a first limiting member 41 and a second limiting member 42 respectively disposed on the mounting interface of the base 2 and the mounting interface of the functional component 1. When they are connected, they can limit the relative lateral offset, axial rotation, and / or axial disengagement of the base 2 and the functional component 1. Specifically, one of the first limiting member 41 and the second limiting member 42 includes a positioning boss, and the other includes a positioning groove. The positioning boss and the positioning groove are engaged to limit the relative lateral offset of the base 2 and the functional component 1. One of the first limiting member 41 and the second limiting member 42 includes an anti-rotation rib, and the other includes an anti-rotation groove. The anti-rotation rib and the anti-rotation groove are engaged to limit the relative axial rotation of the base 2 and the functional component 1, preventing the functional component 1 from rotating when pressed, twisted, or inserted into a narrow space. For the functional component 1 subjected to greater force, one of the first limiting member 41 and the second limiting member 42 may include a buckle, and the other includes a corresponding bayonet. The buckle and the bayonet elastically lock together to restrict the relative axial separation of the base 2 and the functional component 1, so that the functional component 1 is further locked after magnetic positioning.

[0026] Electrical connection component 5 is located at the interface between the base 2 and the functional component 1. Electrical connection component 5 includes a first electrical connection portion 51 and a second electrical connection portion 52 respectively disposed on the base 2 and the functional component 1. When mated, they form an adaptive contact structure to achieve power, signal, or data connection. Taking a flexible pin design as an example, one of the first electrical connection portion 51 and the second electrical connection portion 52 includes at least one flexible pin, and the other includes the same number of contact terminals as the flexible pins. At least one set of flexible pins and contact terminals forms an electrical connection interface. After the functional component 1 is engaged, the flexible pins are compressed and make stable contact with the contact terminals, achieving stable transmission of power, signals, and / or data. Therefore, the power supply, sensing signals, image data, or identification information of the functional component 1 can all be transmitted through the same quick-release interface, eliminating the need to separately plug and unplug external cables each time the functional component 1 is replaced.

[0027] The housing of functional component 1 may adopt a rounded corner and small cross-section structure to avoid scratching the inner wall of the device in confined spaces. The outer side of functional component 1 may be provided with a soft covering layer, anti-slip texture, insulation layer or wear-resistant contact surface to meet the requirements of gripping contact, pressing detection and electrical safety.

[0028] Example 2: Narrow Space Detection Component like Figure 4As shown, in one embodiment, functional component 1 is a narrow space detection component, specifically configured as a long-handled test pen-type detection actuator. The narrow space detection component includes an elongated detection rod 12 extending outward from the component housing and a detection head 11 disposed at the distal end of the elongated detection rod 12. The elongated detection rod 12 extends along the extension direction of the robot finger or at an angle relative to the robot finger, enabling the robot finger to drive the detection head 11 into cabinet gaps, terminal block gaps, cavities, pipe inlets, the inner side of the enclosure, or the end space of the equipment for detection.

[0029] The function of the slender detection rod 12 is to extend the detection head 11 further forward from the tip of the robot finger, allowing the detection head 11 to enter positions that are difficult for the main body of the finger to fully access. For example, in locations such as between wiring terminals in a distribution cabinet or inside an equipment enclosure, only slender rods are allowed to extend. At this time, the robot finger drives the base 2 to move, the slender detection rod 12 enters the target space, and the detection head 11 contacts the terminal or conductive contact being tested. An insulating sleeve can be provided around the detection head 11, so that only the distal end of the detection head 11 forms an exposed contact.

[0030] The detection head 11 can be needle-shaped, plate-shaped, hook-shaped, or have a flexible contact structure. To avoid damage to the terminals due to excessive pressure, a small elastic stroke can be provided between the detection head 11 and the slender detection rod 12. A limiting step or anti-slip coating can be provided on the outer side of the slender detection rod 12 to limit the insertion depth and reduce hard friction with the inner wall of the cabinet. The detection circuit can be integrated into the component housing, so that the electrical state of the tested terminal is transmitted to the robot control system via the electrical connection component 5.

[0031] In use, the robot first locates the terminal to be tested using an external vision system, and then extends a finger equipped with the narrow space detection component towards the narrow end. If the space is even narrower, the main body of the finger remains on the outside, allowing only the slender detection rod 12 and the detection head 11 to extend in. Magnetic coupling provides quick installation capability, and positioning bosses, anti-rotation ribs, and other limiting structures withstand the reaction force generated when the detection head 11 contacts, ensuring the stability of the detection head 11's position. In this embodiment, the detection head 11 can also be replaced with a gas probe, a vibration probe, or a miniature tactile probe, thereby forming different types of narrow space detection components.

[0032] Example 3: Temperature Measurement Component like Figure 5 As shown, in another embodiment, functional component 1 is a temperature measuring component. This temperature measuring component can be installed on the tip of the thumb or the tip of a finger with a large contact area, so that the robot's dexterous hand can simultaneously acquire the surface temperature when gripping or pressing the target object, and is especially suitable for detecting the surface temperature of motor housings, bearing seats, pipe outer walls, etc.

[0033] The temperature sensing assembly includes a thermocouple 13, which is disposed on the working surface of the assembly. To ensure reliable contact between the thermocouple 13 and the measured surface without damage due to compression, the thermocouple 13 is positioned within an annular groove 14 on the working surface. A washer 15 is disposed below the thermocouple 13, which maintains contact between the thermocouple 13 and the measured surface when the working surface is pressed against it. The washer 15 can be annular or open annular, and is made of materials such as silicone, fluororubber, or heat-resistant elastomer.

[0034] The thermocouple 13's sensing end is positioned within an annular groove 14 on the working surface. The thermocouple lead 16 enters the internal wiring channel of the assembly from below the sensing end and outputs through the signal terminal of the electrical connection assembly 5. A washer 15 is located around the sensing end of the thermocouple 13, its outer edge slightly higher than the working surface. The sensing end of the thermocouple 13 is slightly higher than the working surface but lower than the highest point of the washer 15 in its free state. When the robot's finger presses against the surface being tested, the washer 15 first contacts the surface and undergoes slight compression, allowing the sensing end of the thermocouple 13 to contact the surface with stable pressure.

[0035] The annular groove 14 provides compression space for the gasket 15, thereby reducing damage caused by the rigid shell directly compressing the thermocouple 13. For scenarios requiring rapid response, the gasket 15 can be made of a thermally conductive material; for scenarios requiring electrical insulation, the gasket 15 can be made of an insulating material. The temperature measurement signal can be transmitted to the robot control system through the elastic pin and contact terminal, and the robot can determine whether the measured surface is overheated based on the signal.

[0036] Example 4: Camera Component like Figure 6 As shown, in one embodiment, functional component 1 is a camera assembly. The camera assembly includes an elongated extension rod 18, a camera 17, and a universal joint 19. The elongated extension rod 18 is used to allow the camera 17 to extend into a pipe, cavity, equipment gap, or corner space, and the universal joint 19 is used to adjust the viewing direction of the camera 17.

[0037] The universal joint 19 can employ a ball-and-socket joint structure, or a cross-shaped pivot or a damped hinge structure. A slender extension rod 18 extends the camera 17 outward from the fingertip. The power and data cables of the camera 17 can be routed through the hollow channel inside the extension rod 18 and the universal joint 19, and then connected to the circuit board inside the component housing. The circuit board is connected to the internal wiring of the robot finger via electrical connection component 5. To prevent the camera 17 from being scratched when entering confined spaces, a transparent protective window can be provided on the outer side of the lens.

[0038] In practical use, the robot mounts the camera assembly to the tip of its finger and inserts the finger into gaps in equipment or pipe inlets. A slender extension rod 18 and camera 17 enter the inside of the pipe or corner area; a universal joint 19 allows the lens to face the inner wall of the pipe, the inside of a bend, or the area behind obstructing components. Compared to a fixed-facing camera 17, this structure is more suitable for inspection and positioning in narrow pipes, bends, and equipment gaps.

[0039] Example 5: Tool Components and Multi-Component Collaboration like Figure 7 As shown, functional component 1 can also be a tool component. The tool component includes a working head 10; the working head 10 can be a screwdriver head, a clamping head, a lever, a pressing head, or a micro-operating lever. After the tool component is installed on the base 2 through the fixing component 3, the limiting component 4, and the electrical connection component 5 (i.e., the interchangeable component), it can be driven by the robot's dexterous hand to perform screwing, turning, pressing, or clamping operations.

[0040] In a typical inspection process, the robot first installs a camera assembly at its fingertip, using a slender extension rod 18 and a universal joint 19 to reach into a narrow area to observe the terminal position. Then, it quickly removes the camera assembly and installs a narrow space detection assembly, allowing a slender detection rod 12 to extend between terminal blocks to detect the electrical state. When it is necessary to confirm the target surface temperature, a temperature measuring assembly is installed, and the working surface of the thumb or finger is pressed against the tested outer shell, with the annular groove 14 and washer 15 ensuring stable contact of the thermocouple 13. Throughout the process, the fixing assembly 3 and the limiting assembly 4 ensure rapid and repeated mechanical positioning, while the electrical connection assembly 5 ensures automatic signal access. The robot can complete multi-step inspections without replacing the entire gripper assembly.

[0041] In another application, a temperature-sensing component can be mounted on the tip of the robot's thumb, and a narrow-space detection component can be mounted on the tip of its index finger. The thumb is used to press on the surface being measured and obtain the temperature, while the index finger is used to insert into the narrow end to contact the conductive contact. Both components are connected through the same interface 2 of the base. The robot control system can automatically load the corresponding control parameters according to the module identification terminal in the electrical connection component 5, enabling efficient collaborative operation of multiple components.

[0042] Example 6: Robotic Dexterity Hand This embodiment provides a robotic dexterous hand, including at least one finger and a dexterous hand end effector as described in any of the above embodiments, mounted on the fingertip or palm end. By integrating an end effector with quick-release interchangeability into the fingertip or palm end, the robotic dexterous hand can quickly replace different functional components 1 according to task requirements, greatly enhancing the versatility and environmental adaptability of the robotic dexterous hand.

[0043] It should be noted that the above embodiments are merely preferred embodiments of this application and are not intended to limit the technical solutions of this application. In practical applications, the materials, structures, and connection methods of each component can be adjusted according to specific scenario requirements. As long as they conform to the technical solutions defined in the claims of this application, they all fall within the protection scope of this application.

Claims

1. A dexterous hand actuator, characterized in that, The device includes a base, functional components, a fixing component, a limiting component, and an electrical connection component. The base is mounted on the fingertips or palm of a dexterous hand. The fixing component includes a first magnetic attraction component and a second magnetic attraction component respectively disposed on the base mounting interface and the functional component mounting interface, and at least one of them is a magnet, allowing the functional component to be detachably attached to the base. The limiting component includes a first limiting component and a second limiting component respectively disposed on the base mounting interface and the functional component mounting interface, which, when docked, can limit the relative lateral offset, axial rotation, and / or axial disengagement of the base and the functional component. The electrical connection component includes a first electrical connection portion and a second electrical connection portion respectively disposed on the base and the functional component, which, when docked, form an adaptive contact structure to achieve power, signal, or data connection. The functional component includes at least one of a confined space detection component, a temperature measurement component, a camera component, or a tool component.

2. The dexterous hand actuator according to claim 1, characterized in that, One of the first limiting member and the second limiting member includes a positioning boss, and the other includes a positioning groove. The positioning boss and the positioning groove are engaged to limit the relative lateral displacement of the base and the functional component.

3. The dexterous hand actuator according to claim 1, characterized in that, One of the first limiting member and the second limiting member includes an anti-rotation rib, and the other includes an anti-rotation groove. The anti-rotation rib and the anti-rotation groove engage to restrict the relative axial rotation of the base and the functional component.

4. The dexterous hand actuator according to claim 1, characterized in that, One of the first limiting member and the second limiting member includes a buckle, and the other includes a corresponding latch. The buckle and the latch elastically lock together to restrict the relative axial separation of the base and the functional component.

5. The dexterous hand actuator according to claim 1, characterized in that, One of the first electrical connection portion and the second electrical connection portion includes at least one elastic pin, and the other includes the same number of contact terminals as the elastic pin. At least one set of the elastic pins and the contact terminals form an electrical connection interface to achieve stable transmission of power, signal and / or data.

6. The dexterous hand actuator according to claim 1, characterized in that, The narrow space detection module includes a slender detection rod extending outward from the module housing and a detection head disposed at the distal end of the slender detection rod. The slender detection rod extends along the direction of the robot's finger extension or at an angle relative to the robot's finger.

7. The dexterous hand actuator according to claim 1, characterized in that, The temperature measuring component includes a thermocouple, which is disposed on the working surface of the temperature measuring component and is located in an annular groove on the working surface. A gasket is disposed below the thermocouple.

8. The dexterous hand actuator according to claim 1, characterized in that, The camera assembly includes an elongated extension rod, a camera, and a gimbal. The gimbal is disposed at one end of the elongated extension rod, and the camera is disposed at the end of the elongated extension rod or the gimbal.

9. The dexterous hand actuator according to claim 1, characterized in that, The tool assembly includes a working head; the working head is one of a screwdriver head, a clamping head, a lever, a pressing head, or a micro-operating lever.

10. A robotic dexterous hand, characterized in that, It includes at least one finger and a dexterous hand actuation end as described in any one of claims 1 to 9, which is mounted on the tip of the finger or the end of the palm.

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