A dexterous hand, a distal phalangeal joint, a distal phalangeal joint sensor module and a dexterous hand

Abstract

The application provides a distal phalanx which can be detachably installed on each finger of a dexterous hand, and the distal phalanx comprises a cover plate, the cover plate comprising a first limiting part and a second limiting part; a mounting base, the mounting base comprising a fixing part, a first elastic supporting part and a second elastic supporting part; the first elastic supporting part comprising a first clamping part, and the second elastic supporting part comprising a second clamping part; when the cover plate is installed on the mounting base, the first clamping part is clamped with the first limiting part, and the second clamping part is clamped with the second limiting part; and the fixing part is fixedly connected with the dexterous hand through fasteners. A relatively stable force transmission link is formed through the cover plate, the first limiting part, the first clamping part, the second limiting part, the second clamping part, the first elastic supporting part and the second elastic supporting part, so that external force can be concentrated on the first elastic supporting part and the second elastic supporting part and cause the first elastic supporting part and the second elastic supporting part to deform, thereby improving the stability of force response.

Description

Technical Field

[0001] This application mainly relates to the field of dexterous hands, and more particularly to a distal phalanx of a dexterous hand, a distal phalanx sensor module, and a dexterous hand. Background Technology

[0002] Dexterous hands require tactile and pressure information from the distal phalanges. Existing solutions involve using a flexible shell for the distal phalanx, with the force calculated by indirectly stretching the sensor through deformation of this shell. However, this approach is susceptible to variations in shell material properties, contact location, and deformation transmission path, resulting in low pressure detection accuracy and difficulty in accurately acquiring localized tactile information.

[0003] Therefore, there is an urgent need for a distal phalanx with a stable deformation transmission path and precise pressure transmission to improve the accuracy of pressure detection. Summary of the Invention

[0004] The technical problem to be solved by this application is to provide a distal phalanx with a stable deformation transmission path and stable force response, which can be detachably installed on each finger of a dexterous hand. The distal phalanx includes: a cover plate, which includes a first limiting part and a second limiting part, the first limiting part being disposed on a first side of the cover plate and the second limiting part being disposed on a second side of the cover plate; a mounting base, which includes a fixing part, a first elastic support part and a second elastic support part, the fixing part being disposed between the first elastic support part and the second elastic support part, and the first elastic support part and the second elastic support part being respectively connected to the fixing part; the first elastic support part includes a first snap-fit ​​part, and the second elastic support part includes a second snap-fit ​​part; when the cover plate is installed on the mounting base, the first snap-fit ​​part snaps into the first limiting part, and the second snap-fit ​​part snaps into the second limiting part; the fixing part is fixedly connected to the dexterous hand by fasteners.

[0005] In one embodiment of this application, the first limiting portion includes a first locking tooth, a first locking groove, and a bearing surface; the first locking tooth extends toward the fixing portion, the first locking tooth and the cover plate form a first locking groove, and the bearing surface is disposed adjacent to the first locking groove; the first engaging portion includes a second locking tooth, a second locking groove, and a first protrusion; the second locking tooth extends toward the first side of the cover plate along a first direction, the second locking tooth and the first elastic support portion form a second locking groove, and the first protrusion is disposed adjacent to the second locking tooth; when the cover plate is installed on the mounting base, the first locking tooth engages with the second locking groove, the second locking tooth engages with the first locking groove, and the first protrusion abuts against the bearing surface.

[0006] In one embodiment of this application, the second limiting part includes a groove with the opening of the groove facing downward along the second direction; the second engaging part includes a protrusion and a second boss, the protrusion extending along the second direction, the second boss being disposed along the second direction, and the second boss being disposed adjacent to the protrusion; when the cover plate is installed on the mounting base, the protrusion engages with the groove, and the second boss abuts against the cover plate.

[0007] In one embodiment of this application, a first slot extends along a third direction and a first closed end is provided at the end of the first slot; a groove extends along a third direction and a second closed end is provided at the end of the groove; when the cover plate is installed on the mounting base, the first closed end and the second closed end restrict the movement of the mounting base in the third direction.

[0008] In one embodiment of this application, the mounting base is provided with a plurality of first elastic support portions and a plurality of second elastic support portions; the plurality of first elastic support portions are spaced apart along a third direction, and the plurality of second elastic support portions are spaced apart along a third direction; when the cover plate is installed on the mounting base, the plurality of first snap-fit ​​portions snap-fit ​​with the corresponding first limiting portions, and the plurality of second snap-fit ​​portions snap-fit ​​with the corresponding second limiting portions.

[0009] In one embodiment of this application, the cover plate has an arc-shaped cross-section along the plane containing the first and second directions; when the cover plate is installed on the mounting base, the cover plate and the mounting base form a receiving space, and the fixing part is disposed in the receiving space.

[0010] In one embodiment of this application, a first snap-fit ​​portion is disposed at the first end of the first elastic support portion, and a second snap-fit ​​portion is disposed at the first end of the second elastic support portion.

[0011] The distal phalanx of this application forms a relatively clear and stable force transmission link through a cover plate, a first limiting part, a first locking part, a second limiting part, a second locking part, a first elastic support part, and a second elastic support part, so that external forces can be concentrated on the first elastic support part and the second elastic support part and cause deformation of the first elastic support part and the second elastic support part, thereby improving the stability of the force response.

[0012] To address the aforementioned technical problems, this application also provides a distal phalanx sensor module. The distal phalanx sensor module includes the distal phalanx as described above, and further includes: a first pressure sensor disposed between a first latching portion and a fixing portion, and on the upper surface of a first elastic support portion; the first pressure sensor is configured to detect pressure on the distal phalanx and generate a corresponding first pressure signal; a second pressure sensor disposed between a second latching portion and a fixing portion, and on the upper surface of a second elastic support portion; the second pressure sensor is configured to detect pressure on the distal phalanx and generate a corresponding second pressure signal; a flexible tactile sensor disposed on the upper surface of a cover plate; the flexible tactile sensor is configured to detect contact with an external object and generate a corresponding tactile signal; and a control circuit board disposed on the housing of the dexterous hand, electrically connected to the first pressure sensor, the second pressure sensor, and the flexible tactile sensor; the control circuit board is configured to condition and / or transmit and receive pressure signals and tactile signals.

[0013] In one embodiment of this application, the sensor module further includes a third pressure sensor and a fourth pressure sensor; the third pressure sensor is disposed on the lower surface of the first elastic support and is symmetrically disposed with the first pressure sensor along the plane of the first elastic support, and the third pressure sensor is configured to detect the pressure on the distal phalanx and generate a corresponding third pressure signal; the fourth pressure sensor is disposed on the lower surface of the second elastic support and is symmetrically disposed with the second pressure sensor along the plane of the second elastic support, and the fourth pressure sensor is configured to detect the pressure on the distal phalanx and generate a corresponding fourth pressure signal.

[0014] In one embodiment of this application, the first boss is provided with a first through hole, and the second boss is provided with a second through hole; the first through hole is provided through a second direction, and the second through hole is provided through a first direction; the first through hole is configured to pass through a first wire of a first pressure sensor, and the second through hole is configured to pass through a second wire of a second pressure sensor.

[0015] The distal knuckle sensor module provided in this application, through a cover plate, a first limiting part, a first locking part, a second limiting part, a second locking part, a first elastic support part, and a second elastic support part forming a relatively clear force transmission link, allows external forces to be concentrated on the first and second elastic support parts, causing deformation of both. With the first and second sensors respectively installed on the first and second elastic support parts, accurate detection of external object pressure can be achieved. By placing a flexible tactile sensor on the upper surface of the cover plate, the sensor module can detect the contact state between external objects and the fingertip surface. This distal knuckle sensor module is beneficial for improving the dexterity hand's perception of external objects and the precision of grasping control. Attached Figure Description

[0016] The accompanying drawings are included to provide a further understanding of this application; they are incorporated into and constitute a part of this application. The drawings illustrate embodiments of this application and, together with this specification, serve to explain the principles of this application. In the drawings: Figure 1 This is a three-dimensional schematic diagram of a distal phalanx provided in an embodiment of this application; Figure 2 yes Figure 1 The main view along the third direction x; Figure 3 This is a cross-sectional view of a cover plate provided in one embodiment of this application; Figure 4 This is a perspective view of a cover plate provided in one embodiment of this application; Figure 5 This is a perspective view of a mounting base provided in an embodiment of this application; Figure 6 yes Figure 5 The main view along the third direction x; Figure 7 This is a cross-sectional view of a distal knuckle sensor module provided in an embodiment of this application; Figure 8 This is a three-dimensional separation schematic diagram of a distal knuckle sensor module provided in an embodiment of this application.

[0017] Figure label: 100. Distal phalanx; 110. Cover plate; 111. First side of cover plate; 112. Second side of cover plate; 113. First limiting part; 1131. First retaining tooth; 1132. First retaining groove; 1133. Bearing surface; 114. Second limiting part; 1141. Groove; 115. First closed end; 116. Second closed end; 117. First limiting wall; 118. Second limiting wall; 120. Mounting base; 121. Fixing part; 1211. Fixing hole; 122. First elastic support part; 1221. First end of the first elastic support part; 123. Second elastic support part; 1231. First end of the second elastic support part; 124. First latching part; 1241, second latching tooth; 1242, second latching groove; 1243, first boss; 125, second latching part; 1251, protrusion; 1252, second boss; 130, receiving space; 200, distal knuckle sensor module; 210, first pressure sensor; 220, second pressure sensor; 230, third pressure sensor; 240, fourth pressure sensor; 250, flexible tactile sensor; 260, control circuit board; 270, first through hole; 280, second through hole; 201, flexible material; 202, finger shell; 203, connecting rod; y, first direction; z, second direction; x, third direction. Detailed Implementation

[0018] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are merely some examples or embodiments of this application. For those skilled in the art, these drawings can be applied to other similar scenarios without creative effort. Unless obvious from the context or otherwise specified, the same reference numerals in the drawings represent the same structures or operations.

[0019] As indicated in this application, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" do not specifically refer to the singular and may also include the plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of explicitly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0020] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0021] In the description of this application, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms 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 on the scope of protection of this application; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0022] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0023] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, these terms have no special meaning and therefore should not be construed as limiting the scope of protection of this application. In addition, although the terminology used in this application is selected from commonly known and used terms, some terms mentioned in this application's specification may have been chosen by the applicant according to his or her judgment, and their detailed meanings are explained in the relevant sections of this description. Moreover, this application should be understood not only through the actual terms used, but also through the meaning implied by each term.

[0024] This application provides a distal phalanx 100 that can be detachably mounted on the fingers of a dexterous hand. For example... Figure 1 As shown, the distal phalanx 100 includes: a cover plate 110, which includes a first limiting part 113 and a second limiting part 114. The first limiting part 113 is disposed on a first side 111 of the cover plate, and the second limiting part 114 is disposed on a second side 112 of the cover plate; and a mounting base 120, which includes a fixing part 121, a first elastic support part 122, and a second elastic support part 123. The fixing part 121 is disposed between the first elastic support part 122 and the second elastic support part 123. Between 23, the first elastic support portion 122 and the second elastic support portion 123 are respectively connected to the fixing portion 121; the first elastic support portion 122 includes a first snap-fit ​​portion 124, and the second elastic support portion 123 includes a second snap-fit ​​portion 125; when the cover plate 110 is installed on the mounting base 120, the first snap-fit ​​portion 124 snaps into the first limiting portion 113, and the second snap-fit ​​portion 125 snaps into the second limiting portion 114; the fixing portion 121 is fixedly connected to the fingers of the dexterous hand by fasteners.

[0025] The distal phalanx 100 in this application refers to the distal phalanx unit of a robot dexterous hand. The cover plate 110 corresponds to the fingertip of a human distal phalanx, and during finger movement, the cover plate 110 can contact external objects. When the cover plate 110 contacts an external object, the object applies external pressure. Since the first engaging portion 124 engages with the first limiting portion 113, and the second engaging portion 125 engages with the second limiting portion 114, this external pressure can be transmitted through the cover plate 110 to the first elastic support portion 122 and the second elastic support portion 123. Specifically, the transmission path of the external pressure is from the first limiting portion 113 to the first engaging portion 124, and then from the first engaging portion 124 to the first elastic support portion 122; and from the second limiting portion 114 to the second engaging portion 125, and then from the second engaging portion 125 to the second elastic support portion 123. Under this external pressure, the first elastic support 122 and the second elastic support 123 will undergo elastic deformation.

[0026] In some embodiments, reference Figure 1 As shown, the first elastic support portion 122 and the second elastic support portion 123 are made of elastic material, enabling the elastic support portion to undergo elastic deformation under external force and at least partially recover to its initial state after the external force is removed. The elastic material may include at least one of thermoplastic polyurethane, thermoplastic elastomer, polyurethane elastomer, spring steel, stainless steel, phosphor bronze, beryllium copper, titanium alloy, nickel-titanium alloy, engineering plastics, or composite materials. Because the elastic support portion can produce recoverable elastic deformation under force, when the sensor is disposed on or connected to the elastic support portion, the deformation of the elastic support portion can cause the sensor to undergo tensile changes, thereby facilitating the acquisition of force information of the distal phalanx 100 based on the sensor output signal.

[0027] In some embodiments, such as Figures 1-2 and Figure 7 As shown, the fixing part 121 is integrally formed with the first elastic support part 122 and the second elastic support part 123. The fixing part 121 is provided with a fixing hole 1211, and the inner diameter of the fixing hole 1211 is provided with threads. The dexterous hand is provided with a joint module of the distal phalanx 100. The joint module is provided with two connecting rods 203, and the two connecting rods 203 are respectively provided with connecting holes (not shown) opposite to the fixing hole 1211. In some embodiments, the fastener can be a screw, which passes through the connecting hole, fixing hole 1211 and connecting hole of one connecting rod 203, and fixes the distal phalanx 100 to the connecting rod 203 and connects it to the dexterous hand. In some embodiments, there can be multiple connecting holes, fixing holes and screws. With the cooperation of multiple screws, connecting holes and fixing holes, the distal phalanx 100 can be more stably fixedly connected to the connecting rod 203.

[0028] In some embodiments, such as Figure 2As shown, the cover plate 110 has an arc-shaped cross-section along the plane containing the first direction y and the second direction z. When the cover plate 110 is installed on the mounting base 120, the cover plate 110 and the mounting base 120 form a receiving space 130, and the fixing part 121 is disposed in the receiving space 130. In this application, the first direction y, the second direction z, and the third direction are perpendicular to each other, forming a right-handed coordinate system. The cover plate 110 has an arc-shaped cross-section along the plane containing the first direction y and the second direction z, and convexes upward along the second direction z. The cross-section of the cover plate 110 can be an arc with a single radius of curvature, or an arc with a gradually changing radius of curvature. Setting the cover plate 110 to an arc shape, the surface transition of the arc-shaped structure is smoother than that of a shape with sharp edges. When under stress, the arc-shaped surface can distribute the stress more evenly across the entire cover plate 110 area, effectively preventing stress concentration at sharp corners or edges. This reduces the risk of fatigue fracture due to stress concentration during long-term use, further improving the product's reliability and durability. The arc-shaped design of the cover plate 110 also makes the distal phalanx 100 more closely resemble the shape of a human fingertip. In some embodiments, the fixing part 121 has a semi-circular cross-section in the plane containing the first direction y and the second direction z, and convexes upward along the second direction z. The fixing part 121 is generally semi-cylindrical. The fixing part 121 is disposed in the receiving space 130, making the structure of the distal phalanx 100 more compact and smaller in size, which is beneficial for the integration and layout of dexterous hands in limited spaces.

[0029] In some embodiments, such as Figures 1-6 As shown, the first limiting part 113 includes a first locking tooth 1131, a first locking groove 1132, and a bearing surface 1133; the first locking tooth 1131 extends toward the fixing part 121, and the first locking tooth 1131 forms the first locking groove 1132 with the cover plate 110, and the bearing surface 1133 is disposed adjacent to the first locking groove 1132; the first engaging part 124 includes a second locking tooth 1241, a second locking groove 1242, and a first boss 1243; the second locking tooth 1241 extends toward the first side of the cover plate 110 along the first direction y, and the second locking tooth 1241 forms the second locking groove 1242 with the first elastic support part, and the first boss 1243 is disposed adjacent to the second locking tooth 1241; when the cover plate 110 is installed on the mounting base 120, the first locking tooth 1131 engages with the second locking groove 1242, the second locking tooth 1241 engages with the first locking groove 1132, and the first boss 1243 abuts against the bearing surface 1133.

[0030] In some embodiments, continue to refer to Figures 1-6As shown, the first locking tooth 1131 and the cover plate 110 are integrally formed. The first locking tooth 1131 has a first tooth height along the first direction y. The first locking tooth 1131 can extend towards the fixing part 121 along the first direction y, or it can extend towards the fixing part 121 at a certain angle to the first direction y. The first locking tooth 1131 can be disposed at the end of the first side 111 of the cover plate. Since the first locking tooth 1131 has a first tooth height, it can form a first locking groove 1132 with the cover plate 110. In some embodiments, at the cover plate 110 opposite to the first locking groove 1132, the width of the cover plate 110 is reduced along the first direction y, thereby increasing the depth of the first locking groove 1132. The first locking tooth 1131 extending towards the fixing part 121 at a certain angle to the first direction y, and the increased depth of the first locking groove 1132, can increase the connection stability of the two after the second locking tooth 1241 is engaged in the first locking groove 1132. The bearing surface 1133 is arranged adjacent to the first card slot 1132. For example, the bearing surface 1133 is arranged on the right side of the first card slot 1132 along the first direction y, and the bearing surface 1133 is arranged parallel along the third direction.

[0031] In some embodiments, continue to refer to Figures 1-6 As shown, the second locking tooth 1241 can be integrally formed with the first elastic support portion 122. The height of the second locking tooth 1241 in the second direction z is higher than the bottom of the first elastic support portion 122, and the second locking tooth 1241 has a second tooth height. The second locking tooth 1241 can extend towards the cover plate 110 along the first direction y, or it can extend towards the cover plate 110 at an inclined angle to the first direction y. Since the second locking tooth 1241 has a second tooth height and its height is higher than the bottom of the first elastic support portion 122, the second locking tooth 1241 can form a second locking groove 1242 with the bottom of the first elastic support portion 122. The first boss 1243 is disposed adjacent to the second locking tooth 1241, for example, the first boss 1243 is disposed to the right of the second locking tooth 1241 along the first direction y; the first boss 1243 is disposed opposite to the bearing surface 1133 along the second direction z. When the cover plate 110 is installed on the mounting base 120, the first locking tooth 1131 engages with the second locking groove 1242 and abuts against the first elastic support part 122, the second locking tooth 1241 engages with the first locking groove 1132 and abuts against the cover plate 110, and the first boss 1243 abuts against the bearing surface 1133.

[0032] As mentioned above, refer to Figures 1-6When the cover plate 110 comes into contact with an external object, the external object applies external pressure to the cover plate 110. Since the bearing surface 1133 abuts against the first protrusion 1243, the external pressure can be transmitted from the bearing surface 1133 to the first protrusion 1243. The first protrusion 1243 is also located in the first elastic support portion 122. Therefore, through the arrangement of the bearing surface 1133 and the first protrusion 1243, the external pressure can be transmitted to the first elastic support portion 122, causing the first elastic support portion 122 to deform. Furthermore, since the first locking tooth 1131 engages with the second locking groove 1242, and the second locking tooth 1241 engages with the first locking groove 1132, the first side 111 of the cover plate can also be tightly connected to the first elastic support portion 122. It can be imagined that when external pressure mainly acts on the first side 111 of the cover plate or the end of the first side 111 of the cover plate, the external pressure can be transmitted to the first elastic support 122 through the first locking tooth 1131 and the second locking tooth 1241, thereby causing the first elastic support 122 to deform. If only the bearing surface 1133 and the first boss 1243 are provided, then because the cross-section of the cover plate 110 is arc-shaped, the first side of the cover plate 110 cannot tightly abut against the first elastic support 122. When the external pressure mainly acts on the first side 111 of the cover plate, the cover plate 110 can only transmit part of the external pressure to the first elastic support 122. Therefore, through the first locking tooth 1131, the second locking tooth 1241, the first locking groove, the second locking groove, the bearing surface 1133, and the first boss 1243, the cover plate 110 can be tightly connected to the first elastic support, forming a stable pressure transmission path, and can transmit external pressure from different directions.

[0033] In some embodiments, reference Figures 1-6As shown, the second limiting portion 114 includes a groove 1141, the opening of which faces downward along the second direction z; the second engaging portion 125 includes a protrusion 1251 and a second boss 1252, the protrusion 1251 extending along the second direction z, the second boss 1252 extending along the second direction z, and the second boss 1252 being disposed adjacent to the protrusion 1251; when the cover plate 110 is installed on the mounting base 120, the protrusion 1251 engages with the groove 1141, and the second boss 1252 abuts against the cover plate 110. In some embodiments, the height of the protrusion 1251 along the second direction z is greater than the height of the second boss 1252, and the top surface of the protrusion 1251 is parallel to the bottom surface of the groove 1141. The groove 1141 is disposed on the second side 112 of the cover plate, forming a first limiting wall 117 and a second limiting wall 118. When the cover plate 110 is installed on the mounting base 120, the protrusion 1251 engages with the bottom surface of the groove 1141, and the first limiting wall 117 and the second limiting wall 118 abut against the second boss 1252, respectively. At this time, the first limiting wall and the second limiting wall restrict the movement of the mounting base 120 along the first direction y. Simultaneously, when external pressure is applied to the cover plate 110, this external pressure can be transmitted to the second elastic support portion 123 through the protrusion 1251 and the second boss 1252, causing the second elastic support portion 123 to undergo elastic deformation. Therefore, the arrangement of the protrusion 1251, the second boss 1252, and the groove 1141 forms a stable pressure transmission path, transmitting the pressure on the cover plate 110.

[0034] In some embodiments, such as Figure 5 As shown, a first engaging portion 124 is disposed at the first end 1221 of the first elastic support portion, and a second engaging portion 125 is disposed at the first end 1231 of the second elastic support portion. This arrangement creates a lever arm between the first engaging portion 124 and the fixing portion 121, with the lever arm being longest when the first engaging portion 124 is disposed at the first end of the first elastic support portion 122. Similarly, the lever arm formed by the second engaging portion 125 and the fixing portion 121 is also the longest. The first elastic support portion 122 and the second elastic support portion 123 can readily undergo elastic deformation under external pressure.

[0035] In some embodiments, such as Figure 4As shown, the first slot 1132 extends along a third direction, and a first closed end 115 is provided at the end of the first slot 1132; the groove 1141 extends along a third direction, and a second closed end 116 is provided at the end of the groove 1141; when the cover plate 110 is installed on the mounting base 120, the first closed end 115 and the second closed end 116 restrict the movement of the mounting base 120 in the third direction. In some embodiments, the first locking tooth 1131 engages with the second locking groove, and after the second locking tooth 1241 engages with the first locking groove, the movement of the mounting base 120 in the second direction z can be restricted. Therefore, after the cover plate 110 is installed on the mounting base 120, the connection between the cover plate 110 and the mounting base 120 is tight, and relative movement is not easy to occur.

[0036] In some embodiments, such as Figure 1 and Figure 6 As shown, the mounting base 120 is provided with a plurality of first elastic support portions 122 and a plurality of second elastic support portions 123; the plurality of first elastic support portions 122 are spaced apart along a third direction x, and the plurality of second elastic support portions 123 are spaced apart along a third direction; when the cover plate 110 is installed on the mounting base 120, the plurality of first snap-fit ​​portions 124 snap-fit ​​with the corresponding first limiting portions 113 respectively, and the plurality of second snap-fit ​​portions 125 snap-fit ​​with the corresponding second limiting portions 114 respectively.

[0037] Specifically, multiple first elastic support portions 122 are spaced apart along a third direction (x), which has the advantage of preventing interference between them. Similarly, multiple second elastic support portions 123 are spaced apart along a third direction (x), also preventing interference between them. After installing a pressure sensor, the pressure on the distal phalanx 100 can be measured more accurately. The multiple first elastic support portions 122 have the same structure and are connected to the cover plate 110 in the same way, all through a first limiting portion 113 and a first snap-fit ​​portion 124. Similarly, the multiple second elastic support portions 123 have the same structure and are connected to the cover plate 110 in the same way, all through a second limiting portion 114 and a second snap-fit ​​portion 125, which will not be described in detail here.

[0038] The advantages of having multiple elastic supports also include: stress dispersion and enhanced local connection reliability. The multiple elastic supports are distributed along the third direction x, so that the clamping force between the cover plate 110 and the mounting base 120 is no longer concentrated in one place, but is evenly distributed throughout the entire cover plate 110. This design effectively reduces the stress at individual clamping points, reducing the risk of fatigue wear or breakage of the clamping parts due to repeated insertion and removal or impact, thereby extending the service life of the distal phalanx 100. It also improves connection stability and torsional resistance.

[0039] The distal phalanx 100 of this application forms a relatively clear and stable force transmission link through the cover plate 110, the first limiting part 113, the first locking part 124, the second limiting part 114, the second locking part 125, the first elastic support part 122, and the second elastic support part 123, so that the external force can be concentrated on the first elastic support part 122 and the second elastic support part 123 and cause the first elastic support part 122 and the second elastic support part 123 to deform, thereby improving the stability of the force response.

[0040] like Figures 7-8 As shown, this application also provides a distal phalanx sensor module 200, which includes the distal phalanx 100 as described above. The distal phalanx sensor module 200 further includes: a first pressure sensor 210, disposed between the first latching portion 124 and the fixing portion 121, and located on the upper surface of the first elastic support portion 122; the first pressure sensor 210 is configured to detect the pressure on the distal phalanx 100 and generate a corresponding first pressure signal; and a second pressure sensor 220, disposed between the second latching portion 125 and the fixing portion 121. The second pressure sensor 220 is disposed on the upper surface of the second elastic support 123 and is configured to detect the pressure on the distal phalanx 100 and generate a corresponding second pressure signal; the flexible tactile sensor 250 is disposed on the upper surface of the cover plate 110 and is configured to detect the contact of an external object and generate a corresponding tactile signal; the control circuit board 260 is disposed on the finger shell 202 and is electrically connected to the first pressure sensor 210, the second pressure sensor 220 and the flexible tactile sensor 250. The control circuit board 260 is configured to condition and / or transmit and receive pressure signals and tactile signals.

[0041] In some embodiments, continue to refer to Figures 7-8 As shown, the distal phalanx sensor module 200 further includes a third pressure sensor 230 and a fourth pressure sensor 240. The third pressure sensor 230 is disposed on the lower surface of the first elastic support portion 122 and is symmetrically arranged with the first pressure sensor 210 along the plane of the first elastic support portion 122. The third pressure sensor 230 is configured to detect the pressure on the distal phalanx 100 and generate a corresponding third pressure signal. The fourth pressure sensor 240 is disposed on the lower surface of the second elastic support portion 123 and is symmetrically arranged with the second pressure sensor 220 along the plane of the second elastic support portion 123. The fourth pressure sensor 240 is configured to detect the pressure on the distal phalanx 100 and generate a corresponding fourth pressure signal.

[0042] In some embodiments, the first pressure sensor 210, the second pressure sensor 220, the third pressure sensor 230, and the fourth pressure sensor 240 may be piezoresistive pressure sensors, capacitive pressure sensors, piezoelectric pressure sensors, strain gauge pressure sensors, or flexible pressure sensors, as long as they can generate a corresponding pressure signal in response to the pressure transmitted by the distal phalanx 100.

[0043] In some embodiments, the flexible tactile sensor 250 is an electronic skin, including a sensitive layer, an electrode layer, a substrate layer, and an encapsulation layer. Depending on its operating principle, the flexible tactile sensor 250 can also be classified as capacitive, piezoelectric, or Hall effect type. The flexible tactile sensor 250 is directly disposed on the upper surface of the pressure-sensitive cover, and can detect the contact of external objects and generate corresponding tactile signals. The electronic skin can sense the distribution range of external pressure. The control circuit board 260 includes a full-bridge circuit, a signal conditioning circuit, and a controller circuit. The controller can be a microcontroller (MCU), a field-programmable logic device (FPGA), an application-specific integrated circuit (ASIC), or a system-on-a-chip (SOC). The control circuit board 260 is configured to receive and condition the pressure signal from the first pressure sensor 210. Conditioning the pressure signal includes filtering, amplifying, and reducing the pressure signal from the first pressure sensor 210. The control circuit board 260 is also configured to receive the tactile signal from the flexible tactile sensor 250. The control circuit board 260 can also send tactile signals and pressure signals to the next sensor module or the main control circuit board of the dexterous hand. The transmission can be wired, and the transmission protocol can be CAN bus communication or RS485 communication, etc.

[0044] In some embodiments, the distal knuckle sensor module 200 further includes an elastic material 201 disposed on the upper surface of the flexible tactile sensor 250. The elastic material 201 serves as an intermediate medium, uniformly transmitting the pressure generated when the distal knuckle sensor 200 contacts an object to the flexible tactile sensor 250 below, while also acting as a buffer to prevent damage to the distal knuckle sensor module 200 from impact.

[0045] In some embodiments, a differential measurement structure can be formed by symmetrically arranging a plurality of first pressure sensors 210 on both sides of the first elastic support portion and symmetrically arranging a plurality of second pressure sensors 220 on both sides of the second elastic support portion 123. On the one hand, the resistance drift generated by changes in ambient temperature on the two pressure sensors is a common-mode signal, which can be effectively canceled by differential processing, thereby suppressing temperature drift and improving detection accuracy. On the other hand, the differential structure can also suppress common-mode noise such as external electromagnetic interference, improving signal quality. This design does not require additional temperature compensation components, has a compact structure, is compatible with the highly integrated design of the distal knuckle sensor module 200, simplifies subsequent signal processing algorithms, reduces the computational burden on the controller, and significantly improves the reliability, stability, and response speed of force detection.

[0046] In some embodiments, such as Figure 8 As shown, the first boss 1243 is provided with a first through hole 270, and the second boss 1252 is provided with a second through hole 280; the first through hole 270 is provided through in the second direction z, and the second through hole 280 is provided through in the first direction y; the first through hole 270 is configured to pass through the first wire of the first pressure sensor 210, and the second through hole 280 is configured to pass through the second wire of the second pressure sensor 220.

[0047] The distal knuckle sensor module 200 provided in this application, because the distal knuckle 100 forms a relatively clear force transmission link through the cover plate 110, the first limiting part 113, the first locking part 124, the second limiting part 114, the second locking part 125, the first elastic support part 122, and the second elastic support part 123, allows external forces to be concentrated on the first elastic support part 122 and the second elastic support part 123, causing deformation of the first elastic support part 122 and the second elastic support part 123. After the first sensor and the second sensor are respectively set on the first elastic support part 122 and the second elastic support part 123, the pressure of external objects can be accurately detected. By setting the flexible tactile sensor 250 on the upper surface of the cover plate 110, the sensor module can detect the contact state between the external object and the fingertip surface. This distal knuckle sensor module 200 is beneficial to improving the dexterity of the hand's perception of external objects and the accuracy of grasping control.

[0048] The basic concepts have been described above. Obviously, for those skilled in the art, the above disclosure is merely illustrative and does not constitute a limitation of this application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to this application. Such modifications, improvements, and corrections are suggested in this application, and therefore remain within the spirit and scope of the exemplary embodiments of this application.

[0049] Furthermore, this application uses specific terms to describe embodiments of the application. For example, "an embodiment," "one embodiment," and / or "some embodiments" refer to a particular feature, structure, or characteristic related to at least one embodiment of the application. Therefore, it should be emphasized and noted that "an embodiment," "one embodiment," or "an alternative embodiment" mentioned twice or more in different locations in this specification do not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of the application can be appropriately combined.

[0050] Similarly, it should be noted that, in order to simplify the description of the present application and thus aid in the understanding of one or more embodiments of the invention, the foregoing description of the embodiments of the present application sometimes combines multiple features into a single embodiment, drawing, or description thereof. However, this disclosure method does not imply that the subject matter of the present application requires more features than those mentioned. In fact, the embodiments contain fewer features than all the features of the single embodiments disclosed above.

[0051] In some embodiments, numbers describing the quantity of components and attributes are used. It should be understood that such numbers used to describe embodiments are sometimes modified by the terms "approximately," "approximately," or "generally." Unless otherwise stated, "approximately," "approximately," or "generally" indicates that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in this application are approximate values, which may be changed depending on the characteristics required by individual embodiments. In some embodiments, numerical parameters should take into account specified significant digits and employ a general method of digit reservation. Although the numerical ranges and parameters used to confirm their breadth of range in some embodiments of this application are approximate values, in specific embodiments, such values ​​are set as precisely as feasible.

[0052] Although this application has been described with reference to specific embodiments, those skilled in the art should recognize that the above embodiments are only used to illustrate this application, and various equivalent changes or substitutions can be made without departing from the spirit of this application. Therefore, any changes or modifications to the above embodiments within the scope of the essential spirit of this application will fall within the scope of this application.

Claims

1. A distal phalanx of a dexterous hand, characterized in that, The distal phalanx is detachably mounted on each finger of the dexterous hand, and the distal phalanx includes: A cover plate, the cover plate including a first limiting part and a second limiting part, the first limiting part being disposed on a first side of the cover plate, and the second limiting part being disposed on a second side of the cover plate; The mounting base includes a fixing part, a first elastic support part, and a second elastic support part. The fixing part is disposed between the first elastic support part and the second elastic support part, and the first elastic support part and the second elastic support part are respectively connected to the fixing part. The first elastic support portion includes a first snap-fit ​​portion, and the second elastic support portion includes a second snap-fit ​​portion; When the cover plate is installed on the mounting base, the first snap-fit ​​part snaps into the first limiting part, and the second snap-fit ​​part snaps into the second limiting part; The fixing part is fixedly connected to the dexterous hand by fasteners.

2. The distal phalanx as described in claim 1, characterized in that, The first limiting part includes a first locking tooth, a first locking groove, and a bearing surface; the first locking tooth extends toward the fixing part, the first locking tooth and the cover plate form a first locking groove, and the bearing surface is disposed adjacent to the first locking groove; The first latching portion includes a second latching tooth, a second latching groove, and a first protrusion; the second latching tooth extends toward the first side of the cover plate along a first direction, the second latching tooth and the first elastic support portion form a second latching groove, and the first protrusion is disposed adjacent to the second latching tooth; When the cover plate is installed on the mounting base, the first locking tooth engages with the second locking groove, the second locking tooth engages with the first locking groove, and the first boss abuts against the bearing surface.

3. The distal phalanx as described in claim 1, characterized in that, The second limiting part includes a groove, the opening of which faces downward along the second direction; The second snap-fit ​​portion includes a protrusion and a second boss, the protrusion extending along the second direction, the second boss extending along the second direction, and the second boss being disposed adjacent to the protrusion; When the cover plate is installed on the mounting base, the protrusion engages with the groove, and the second protrusion abuts against the cover plate.

4. The distal phalanx as described in any one of claims 2-3, characterized in that, The first card slot extends along a third direction, and a first closed end is provided at the end of the first card slot; The groove extends in a third direction and has a second closed end at the end of the groove; When the cover plate is installed on the mounting base, the first closed end and the second closed end restrict the movement of the mounting base in a third direction.

5. The distal phalanx as described in claim 1, characterized in that, The mounting base is provided with multiple first elastic support parts and multiple second elastic support parts; A plurality of first elastic support portions are spaced apart along the third direction, and a plurality of second elastic support portions are spaced apart along the third direction; When the cover plate is installed on the mounting base, the plurality of first snap-fit ​​parts snap into the corresponding first limiting parts, and the plurality of second snap-fit ​​parts snap into the corresponding second limiting parts.

6. The distal phalanx as described in claim 1, characterized in that, The cover plate has an arc-shaped cross-section along the plane containing the first and second directions; When the cover plate is installed on the mounting base, the cover plate and the mounting base form a receiving space, and the fixing part is disposed in the receiving space.

7. The distal phalanx as described in claim 1, characterized in that, The first snap-fit ​​portion is disposed at the first end of the first elastic support portion, and the second snap-fit ​​portion is disposed at the first end of the second elastic support portion.

8. A distal knuckle sensor module, characterized in that, The distal phalanx sensor module includes the distal phalanx as described in any one of claims 1-7, and the distal phalanx sensor module further includes: A first pressure sensor is disposed between the first snap-fit ​​portion and the fixing portion, and the first pressure sensor is disposed on the upper surface of the first elastic support portion. The first pressure sensor is configured to detect the pressure on the distal phalanx and generate a corresponding first pressure signal. The second pressure sensor is disposed between the second snap-fit ​​portion and the fixing portion, and is disposed on the upper surface of the second elastic support portion. The second pressure sensor is configured to detect the pressure on the distal phalanx and generate a corresponding second pressure signal. A flexible tactile sensor is disposed on the upper surface of the cover plate, and the flexible tactile sensor is configured to detect contact with an external object and generate a corresponding tactile signal; A control circuit board is disposed on the housing of the dexterous hand. The control circuit board is electrically connected to the first pressure sensor, the second pressure sensor, and the flexible tactile sensor. The control circuit board is configured to condition and / or transmit and receive the pressure signal and the tactile signal.

9. The distal knuckle sensor module as described in claim 8, characterized in that, The sensor module also includes a third pressure sensor and a fourth pressure sensor; The third pressure sensor is disposed on the lower surface of the first elastic support and is symmetrically arranged with the first pressure sensor along the plane of the first elastic support. The third pressure sensor is configured to detect the pressure on the distal phalanx and generate a corresponding third pressure signal. The fourth pressure sensor is disposed on the lower surface of the second elastic support and is symmetrically arranged with the second pressure sensor along the plane of the second elastic support. The fourth pressure sensor is configured to detect the pressure on the distal phalanx and generate a corresponding fourth pressure signal.

10. The distal knuckle sensor module as described in claim 9, characterized in that, The first boss is provided with a first through hole, and the second boss is provided with a second through hole; The first through hole is disposed through the second direction, and the second through hole is disposed through the first direction; The first via is configured to pass through a first wire of a first pressure sensor, and the second via is configured to pass through a second wire of a second pressure sensor.

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