Dexterous hand fingertip module and bionic dexterous hand

Abstract

The utility model discloses a dexterous hand fingertip module and a bionic dexterous hand. The dexterous hand fingertip module comprises a fingertip shell, and a mounting part is arranged on the fingertip shell; the fingertip rubber is mounted on the mounting part of the fingertip shell, and a medium cavity is formed between the fingertip rubber and the fingertip shell; the pressure sensor is arranged on the fingertip shell and located in the medium cavity; and an induction medium corresponding to the pressure sensor is also arranged in the medium cavity. The fingertip shell and the fingertip rubber fingertip form the appearance of the whole fingertip, the medium cavity is formed between the fingertip shell and the fingertip rubber fingertip, and the pressure sensor and the sensing medium corresponding to the pressure sensor are arranged in the medium cavity, so that the stress of the pressure sensor is converted into the pressure change of the sensing medium; therefore, the stress condition of the fingertip can be detected by using the pressure sensor, and the stress condition in each direction can be detected. The generation cost can be greatly reduced, and meanwhile, the requirement of an existing dexterous hand fingertip for external environment perception is met.

Description

Technical Field

[0001] The utility model relates to the technical field of bionic robots, in particular to a dexterous fingertip module and a bionic dexterous hand. Background Art

[0002] Humanoid robots have received extensive social attention in recent years, and their scientific and technological levels have also been greatly improved. The bionic dexterous hand is the end effector of a humanoid robot. The fingertip phalanx is one of the most critical components of the dexterous hand. Its perception of the external environment is the future trend and is indispensable in the daily work and future development of the robot. However, there are currently few solutions for adding touch to the dexterous fingertip.

[0003] For the existing dexterous fingertips of robots, most are only in the shape of fingertips and do not have any sensors to perceive the external environment. Only a very small number of dexterous fingertips of robots use sensors, but this type of dexterous fingertip of the robot uses three-dimensional and six-dimensional force sensors or flexible sensors, and the cost of such sensors is relatively high. Summary of the Utility Model

[0004] An embodiment of the utility model provides a dexterous fingertip module and a bionic dexterous hand to solve the problem that the dexterous fingertip of a robot in the prior art cannot perceive the external environment.

[0005] According to a first aspect of the utility model, a dexterous fingertip module is provided, including:

[0006] A fingertip housing, on which an installation part is provided;

[0007] A fingertip rubber, installed on the installation part of the fingertip housing and forming a medium cavity between it and the fingertip housing;

[0008] A pressure sensor, provided on the fingertip housing and located in the medium cavity;

[0009] An induction medium corresponding to the pressure sensor is also installed in the medium cavity.

[0010] The dexterous fingertip module of the present utility model forms the overall fingertip shape through the combination of the fingertip housing and the fingertip rubber fingertip. Moreover, a dielectric cavity is formed between the fingertip rubber and the fingertip housing, and a pressure sensor and a corresponding sensing medium for the pressure sensor are arranged in the dielectric cavity to convert the force received by the pressure sensor into the pressure change of the sensing medium. When the fingertip of the dexterous fingertip module of this solution touches, the force condition of the fingertip can be detected by using the pressure sensor, and the force conditions in all directions can also be detected. Compared with the existing dexterous fingertips using three-dimensional and six-dimensional force sensors or flexible sensors, the technical solution of the present utility model can greatly reduce the production cost, and at the same time can also meet the requirements of the existing dexterous fingertips of the robot's biomimetic dexterous hand for the perception of the external environment.

[0011] In some embodiments, the pressure sensor is a hydraulic sensor, and the sensing medium is a non-conductive liquid;

[0012] Or,

[0013] The pressure sensor is a pneumatic sensor, and the sensing medium is a gas medium.

[0014] The liquid has certain compressibility and fluidity. When the fingertip rubber filled with the liquid is pressed, its deformation is more similar to that of the human fingertip when pressed. Therefore, by setting like this, the force condition of the fingertip can be better detected, and the force conditions in all directions can also be better detected.

[0015] In some embodiments, a sensor fixing member is arranged on the fingertip housing. The sensor fixing member is arranged in the dielectric cavity, and the pressure sensor is installed on the sensor fixing member.

[0016] Thus, by setting like this, the installation stability of the sensor fixing member can be ensured, the structural complexity of the overall fingertip housing can be reduced, and the production difficulty of the fingertip housing can be reduced.

[0017] In some embodiments, a chute structure for installing the pressure sensor is arranged on the sensor fixing member.

[0018] Thus, by setting like this, the pressure sensor can be slidably installed on the sensor fixing member to ensure the stable installation of the pressure sensor.

[0019] In some embodiments, an injection hole communicating the outside of the dielectric cavity with the inside of the dielectric cavity is arranged on the fingertip housing.

[0020] Thus, by setting like this, the medium can be injected into the dielectric cavity through the injection hole.

[0021] In some embodiments, a sensor fixing member is provided on the fingertip housing. The sensor fixing member is disposed within the medium cavity, and the pressure sensor is mounted on the sensor fixing member. A diversion groove is provided at a position on the sensor fixing member corresponding to the injection hole.

[0022] Thus, by such an arrangement, the convenience of injecting the medium can be improved through the diversion groove.

[0023] In some embodiments, an injection boss matching the structure of the diversion groove is provided on the fingertip housing. The injection hole penetrates through the injection boss to communicate with the medium cavity.

[0024] Thus, by such an arrangement, the installation positioning during the installation of the sensor fixing member can be achieved by utilizing the structural cooperation between the injection boss and the diversion groove.

[0025] In some embodiments, a first wire groove is provided on the fingertip housing. The first wire groove is used to lead out the circuit of the pressure sensor from the medium cavity.

[0026] Thus, by such an arrangement, the wiring of the pressure sensor can be achieved by using the first wire groove.

[0027] In some embodiments, a sensor fixing member is provided on the fingertip housing. The sensor fixing member is disposed within the medium cavity, and the pressure sensor is mounted on the sensor fixing member. A second wire groove is further provided at a position on the sensor fixing member corresponding to the first wire groove.

[0028] Thus, by such an arrangement, the circuit of the pressure sensor can be regulated by combining the second wire groove and the first wire groove, and the circuit can be led out of the medium cavity.

[0029] In some embodiments, a chute structure for mounting the pressure sensor is provided on the sensor fixing member. The second wire groove is provided at the opening side of the chute structure.

[0030] Thus, by such an arrangement, the circuit of the pressure sensor can be better organized, facilitating the wiring of the circuit of the pressure sensor.

[0031] In some embodiments, the sensor fixing member is configured in the shape of a fingertip to form an inner skeleton of the fingertip.

[0032] Thus, by such an arrangement, excessive deformation can be effectively avoided when the fingertip rubber contacts an object.

[0033] In some embodiments, the mounting portion includes a circular concave structure provided at the front end of the fingertip housing.

[0034] Thus, by such an arrangement, the installation of the fingertip rubber can be positioned and limited, and the sealing performance between the fingertip rubber and the fingertip housing can be improved.

[0035] In some embodiments, an output member is further provided at the end of the fingertip housing.

[0036] Thus, by such an arrangement, it can be connected to other bionic dexterous hand joints through the output member.

[0037] In some embodiments, shallow grooves are provided on the fingertip housing, and / or a weight-reducing cavity is provided inside the fingertip housing.

[0038] Thus, by such an arrangement, while ensuring the structural stability of the fingertip, the weight of the fingertip can be reduced.

[0039] In some embodiments, convex stripes are provided on the fingertip rubber.

[0040] Thus, by such an arrangement, the contact area can be increased, the deformable thickness of the rubber can be increased, and it is convenient for grasping.

[0041] According to a second aspect of the present invention, a bionic dexterous hand is provided, and at least one fingertip joint of the bionic dexterous hand is provided with the dexterous fingertip module described in the first aspect above. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0043] Figure 1 It is a schematic diagram of the overall structure of the dexterous fingertip module according to an embodiment of the present invention;

[0044] Figure 2 It is a schematic diagram of the disassembled state structure of the dexterous fingertip module according to an embodiment of the present invention;

[0045] Figure 3 It is a schematic diagram of the overall structure of the sensor fixing member of the dexterous fingertip module according to an embodiment of the present invention;

[0046] Figure 4 It is a schematic diagram of one side of the fingertip housing of the dexterous fingertip module located in the dielectric cavity according to an embodiment of the present invention;

[0047] Figure 5Schematic diagram of the internal structure of the fingertip housing of a dexterous fingertip module according to an embodiment of the present invention.

[0048] Description of reference numerals: 1, fingertip rubber; 11, protruding stripes; 2, pressure sensor; 3, sensor fixing member; 31, diversion groove; 32, installation groove; 33, chute structure; 331, chute entrance; 34, second wiring groove; 4, fingertip housing; 41, installation part; 42, shallow groove; 43, injection hole; 431, injection boss; 44, installation hole; 45, first wiring groove; 46, weight reduction cavity; 5, output member; 51, connection structure. Detailed implementation manners

[0049] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments may be combined with each other.

[0050] In the description of the present application, it should be understood that if terms such as "center", "middle part", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. are used to indicate the orientation or positional relationship, it is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, so it should not be construed as a limitation to the present application. The features defined with "first" and "second" are used to distinguish the feature names and do not have special meanings. In addition, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, unless otherwise specified, the meaning of "a plurality" is two or more.

[0051] In the description of the present application, it should be noted that, unless otherwise clearly defined and limited, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.

[0052] It should also be noted that in this text, the terms "include" and "comprise" not only include those elements, but also other elements not explicitly listed, or elements inherent to such a process, method, article, or device. Without further limitation, the elements defined by the statement "including..." do not exclude the existence of additional identical elements in the process, method, article, or device that includes the said elements. The terms used in this text are generally those commonly used by those skilled in the art. In case of inconsistency with the commonly used terms, the terms in this text shall prevail.

[0053] To make the objectives, technical solutions, and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are some, but not all, of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0054] The present utility model will be further described in detail below with reference to the accompanying drawings.

[0055] Figure 1 Schematically shows the overall structural schematic of the dexterous fingertip module of an embodiment of the present utility model. Referring to Figure 1 as shown, the dexterous fingertip module of the present utility model includes a fingertip housing 4, a fingertip rubber 1, and a pressure sensor 2. Among them, the fingertip housing 4 is the main outer shell framework of the overall fingertip module. It includes a rear end for connecting with other finger joints and a front end for installing the fingertip rubber 1. An installation portion 41 is provided on the front end so that the fingertip rubber 1 can be installed on the fingertip housing 4. The fingertip rubber 1 is a structure for forming the fingertip end of the fingertip module. After the fingertip rubber 1 is installed on the fingertip housing 4, a medium cavity is formed between the two. The pressure sensor 2 is arranged in the medium cavity and installed on the fingertip housing 4. The formed medium cavity is filled with an induction medium corresponding to the pressure sensor 2, so as to convert the pressure change of the induction medium into the pressure change sensed by the pressure sensor 2. When the fingertip of the dexterous fingertip module of this solution touches, the pressure sensor 2 can be used to detect the force condition of the fingertip and can detect the force conditions in all directions.

[0056] Among them, for the sensing medium in the medium cavity and the selection of the pressure sensor 2, a pneumatic sensor and a corresponding gas medium (such as air, nitrogen, etc.) can be selected, or a hydraulic sensor and a corresponding liquid medium (such as water, oil, etc.) can be selected. Other pressure sensors 2 and corresponding sensing media can also be used, which will not be listed one by one here. Exemplarily, in this embodiment, a hydraulic sensor can be used as the pressure sensor 2, and a non-conductive liquid can be selected as the sensing medium, thereby avoiding electrical failures in the overall fingertip module. Specifically, the non-conductive liquid can be oil. Selecting a hydraulic sensor and a liquid sensing medium can enable the fingertip rubber 1 filled with liquid to have better bionic performance, be more similar to the deformation of a human fingertip under pressure, so as to better detect the force on the fingertip and better detect the force in all directions.

[0057] The specific shape of the fingertip housing 4 can generally be set as cylindrical or square-columnar. A weight-reducing cavity 46 can be provided inside the fingertip housing 4. The weight-reducing cavity 46 can be specifically provided in the middle of the fingertip housing 4 and communicate with the rear end of the fingertip housing 4, so as to effectively reduce the weight of the fingertip housing 4 without affecting the structural stability of the overall external structure of the fingertip housing 4. An output member 5 can also be provided at the rear end of the fingertip housing 4. The main function of the output member 5 is to be hinged to the upper finger joint of the bionic dexterous hand. The connection between the output member 5 and the fingertip housing 4 can be a detachable connection or a fixed connection. Specifically, exemplarily, referring to Figure 2 shown in Figure 2 In the shown embodiment, the shape of the fingertip housing 4 is set as a square-column structure. Its front end is connected to the fingertip rubber 1, and its rear end is detachably connected to the output member 5. Among them, one side of the output member 5 is provided with a structure for mounting on the fingertip housing 4, such as threaded mounting posts. There are four threaded mounting posts, which are arranged at the four corners of the side of the output member 5 facing the fingertip housing 4. Correspondingly, four threaded mounting holes 44 corresponding to the threaded mounting posts are also provided on the fingertip housing 4. Thus, the output member 5 can be installed and fixed on the fingertip housing 4 by means of bolt fixation. The other side of the output member 5 is provided with a connection structure 51 for hinging with the upper finger joint, so as to be able to be connected with the upper finger joint through the connection structure 51 to drive the movement of the dexterous fingertip module of the present invention.

[0058] A sealed connection is required between the fingertip rubber 1 and the fingertip housing 4, so as to ensure the sealing of the formed dielectric cavity and prevent the induction medium from leaking out of the dielectric cavity. In some possible implementation manners, the mounting portion 41 on the fingertip housing 4 may include a concave structure provided in a circle at the front end of the fingertip housing 4. Thus, the fingertip rubber 1 can be mounted along the position of the concave structure, so that the connection position between the fingertip rubber 1 and the fingertip housing 4, in addition to the outer side of the fingertip housing 4 and the inner side of the fingertip rubber 1, also includes the stepped side surface on the concave structure, so as to better improve the sealing performance between the fingertip rubber 1 and the fingertip housing 4. Exemplarily, referring to Figure 2 as shown, in Figure 2 the shown implementation manner, the front end of the fingertip housing 4 is finger-shaped (such as Figure 2 shown, with a relatively long top, a relatively short bottom, and an arc-shaped end, or other common different finger shapes), and the shape of the fingertip rubber 1 is also finger-shaped. The concave structure forming the mounting portion 41 on the fingertip housing 4 is arranged in a circle along the finger shape at the end of the fingertip housing 4, and its depth corresponds to the thickness of the fingertip rubber 1, so that the fingertip rubber 1 can be correspondingly mounted on the fingertip housing 4. The mounting between the fingertip rubber 1 and the fingertip housing 4 can be fixed by using a good-sealing method such as glue to mount the fingertip rubber 1, or other good-sealing methods commonly used in the prior art can be used to mount and fix the fingertip rubber 1, which is not limited in this embodiment. In addition, in order to improve the performance of the formed dexterous fingertip during operation, a plurality of protruding stripes 11 can be provided on the fingertip rubber 1 to increase the contact area and the deformable thickness of the rubber, so that it is more convenient and easier for the dexterous fingertip to grasp an object.

[0059] Since it is necessary to ensure the sealing of the dielectric cavity, a sealed connection is made between the fingertip rubber 1 and the fingertip housing 4. In some possible implementation manners, an injection hole 43 can be provided on the fingertip housing 4. The injection hole 43 communicates the outside of the dielectric cavity with one side surface of the fingertip housing 4 located inside the dielectric cavity, so as to be able to inject the induction medium into the sealed dielectric cavity. Specifically, the injection hole 43 can communicate with the outside of the fingertip housing 4, so as to facilitate injecting the induction medium into the dielectric cavity from the outside of the fingertip housing 4. The injection hole 43 can also only communicate with the weight reduction cavity 46 inside the fingertip housing 4, so that only by removing the output member 5 can the injection hole 43 be used to inject the induction medium into the dielectric cavity. Exemplarily, referring to Figure 4 and Figure 5 as shown, in Figure 4 and Figure 5 the shown implementation manner, an injection hole 43 is provided on the fingertip housing 4. One end of the injection hole 43 can be arranged to be located at Figure 4In the upper left corner of one side of the fingertip housing 4 located inside the medium cavity, the injection hole 43 can be set as a round hole. The path of the injection hole 43 can be linear or can be appropriately bent, and the other end of the injection hole 43 can be located Figure 5 on the inner side surface of the weight reduction cavity 46 of the fingertip housing 4 as shown. For the sealing of the injection hole 43, it can be achieved by screwing a screw for sealing on the injection hole 43 to seal the injection hole 43. In order to improve the sealing performance of the injection hole 43, a rubber gasket can also be added between the screw and the injection hole 43 when screwing the screw to act as a sealing washer to further improve the sealing performance of the injection hole 43.

[0060] Similarly, due to the sealing of the medium cavity, in some possible implementation manners, a first wire groove 45 can be provided on the fingertip housing 4. The first wire groove 45 communicates with one side surface of the fingertip housing 4 located inside the medium cavity, so as to be able to lead out the circuit of the pressure sensor 2 from inside the medium cavity. Specifically, the first wire groove 45 can communicate with the outside of the fingertip housing 4 to directly lead out the circuit of the pressure sensor 2 to the outside of the fingertip housing 4. The first wire groove 45 can also only communicate with the weight reduction cavity 46 inside the fingertip housing 4, so as to realize leading out the circuit of the pressure sensor 2 from the medium cavity and reduce the wiring limitation on the circuit. Exemplarily, referring to Figure 4 and Figure 5 as shown, in Figure 4 the implementation manner shown, a first wire groove 45 is provided on the fingertip housing 4. One end of the first wire groove 45 can be set to be located Figure 4 directly below one side surface of the fingertip housing 4 located inside the medium cavity as shown. The first wire groove 45 can be set as a kidney-shaped hole so that the circuits can be led out side by side neatly and orderly. The path of the first wire groove 45 can be linear or can be appropriately bent, and the other end of the first wire groove 45 can be located Figure 5 on the inner side surface of the weight reduction cavity 46 of the fingertip housing 4 as shown. For the sealing of the first wire groove 45, first, a rubber ring can be sleeved outside the circuit of the pressure sensor 2, so as to realize the sealing of the first wire groove 45 through the extrusion deformation between the rubber ring and the first wire groove 45.

[0061] In some possible implementation manners, in addition to the above structures for sealing the injection hole 43 and the structure for sealing the first wire groove 45, a layer of sealing glue can also be coated on the inner side surface of the weight reduction cavity 46 of the fingertip housing 4, so as to further ensure the sealing performance of the injection hole 43 and the first wire groove 45, and avoid the induction medium from leaking out of the medium cavity, affecting the pressure sensing performance of the overall dexterous fingertip module during use.

[0062] In some possible embodiments, a sensor fixing member 3 may also be provided at the front end of the fingertip housing 4. The sensor fixing member 3 is used to mount and fix the pressure sensor 2, and the sensor fixing member 3 is also disposed within the medium cavity. The provision of the sensor fixing member 3 can ensure the fixation and stable installation of the pressure sensor 2 on the fingertip housing 4, thereby ensuring the accuracy of the overall dexterous fingertip module when detecting the force condition. Among them, in this embodiment, the shape of the sensor fixing member 3 can be set to the fingertip shape, so as to replace part of the function of the fingertip housing 4, form an inner fingertip skeleton, and play a supporting role for the fingertip rubber 1 provided on the between housing, avoiding excessive deformation of the fingertip rubber 1 when it contacts an object. At the same time, such a setting can also avoid the problem that when only using a single fingertip housing 4 as a support, the structure of the fingertip housing 4 is too complex, resulting in increased processing costs and difficulties. Exemplarily, referring to Figure 3 as shown, in Figure 3 the embodiment shown, the sensor fixing member 3 is set in the shape of a right trapezoid with rounded corners, so as to form a fingertip shape (the longer side is the back of the fingertip, and the shorter side is the front of the fingertip). Among them, the size of the sensor fixing member 3 needs to be smaller than the size of the fingertip rubber 1, so as to provide a margin for the deformation of the fingertip rubber 1.

[0063] The sensor fixing member 3 is provided with a structure for mounting the pressure sensor 2, and this structure can be a common snap structure, bolt mounting structure, etc. In this embodiment, this structure can be set as a chute structure 33 provided on the sensor fixing member 3. Exemplarily, referring to Figure 3 as shown, in Figure 3 the embodiment shown, the front end of the sensor fixing member 3 is provided with a concave mounting groove 32, and the bottom surface of the concave mounting groove 32 is parallel to the rear end surface of the sensor fixing member 3. The chute structure 33 is disposed on both sides of the bottom surface of the mounting groove 32, so that the cross-section of the overall mounting groove 32 forms a "convex" shape, and is set to be arranged along the direction from the back of the fingertip to the front of the fingertip, and at the same time, it penetrates out in the front direction of the fingertip to form a chute entrance 331. The height of the chute structure 33 corresponds to the thickness of the housing of the pressure sensor 2. Furthermore, when the pressure sensor 2 is installed, its housing can be slid into the chute structure 33 from the chute entrance 331 to achieve the installation of the pressure sensor 2.

[0064] In addition, in the embodiment where a first wire groove 45 is provided on the fingertip housing 4, since the wires of the pressure sensor 2 need to be led to the first wire groove 45, a second wire groove 34 corresponding to the position of the first wire groove 45 can also be provided on the sensor fixing member 3. Exemplarily, referring to Figure 3 as shown, in Figure 3In the illustrated embodiment, the second wire groove 34 is specifically disposed below the chute entrance 331. After the pressure sensor 2 is installed in the chute structure 33, the circuit can naturally lead to the first wire groove 45 along the second wire groove 34 and then lead out of the dielectric cavity. The second wire groove 34 is a groove disposed on the front side of the fingertip of the sensor fixing member 3. In other possible embodiments, the second wire groove 34 can also be configured as a through groove similar to the structure of the first wire groove 45.

[0065] In some other embodiments where the injection hole 43 is provided on the fingertip housing 4, a diversion groove 31 can be provided at a corresponding position on the sensor fixing member 3, so as to avoid blocking the injection hole 43 on the fingertip housing 4 and also have a certain diversion effect on the injected sensing medium. Moreover, in some possible embodiments, an injection boss 431 can be formed at the position where the injection hole 43 is provided on the fingertip housing 4. The injection hole 43 penetrates through the injection boss 431 to communicate with the dielectric cavity. The structural shape of the injection boss 431 matches the structure of the diversion groove 31, so that the installation positioning can be achieved by using the structural cooperation between the injection boss 431 and the diversion groove 31 when installing the sensor fixing member 3. Exemplarily, referring to Figures 2 to 4 as shown in Figure 4 the illustrated embodiment, the injection hole 43 of the fingertip housing 4 is provided at the upper left on the side located in the dielectric cavity, and an injection boss 431 is provided. The shape of the injection boss 431 is a square column with rounded corners. Referring to Figure 2 and Figure 3 as shown, a diversion groove 31 is provided on the sensor fixing member 3, and the shape of the injection boss 431 matches the shape of the diversion groove 31, so that when the sensor fixing member 3 is installed and fixed to the fingertip housing 4, the installation positioning can be achieved by using the structural matching between the injection boss 431 and the diversion groove 31. The installation and fixation between the sensor fixing member 3 and the fingertip housing 4 can be achieved by providing a through hole in the installation groove 32 of the sensor fixing member 3, and then installing a self-tapping screw sleeve through the through hole to install the sensor fixing member 3 to the front end of the fingertip housing 4 by means of bolt fixation. The specific installation method between the sensor fixing member 3 and the fingertip housing 4 can also be set as other common installation and fixation methods in the prior art, such as snap connection, mortise and tenon connection, etc. This embodiment does not limit this.

[0066] Since the structure of the sensor fixing member 3 is relatively diverse and the overall structure is relatively complex, the sensor fixing member 3 can specifically adopt non-metallic parts and be processed by additive manufacturing technology, thereby significantly reducing the processing difficulty of the sensor fixing member 3 and appropriately reducing the weight of the sensor fixing member 3 to improve the flexibility of the fingertip module. Additionally, in some possible implementation manners, some structural settings for reducing the weight of the overall fingertip module can also be provided on the fingertip housing 4. For example, shallow grooves 42 can be provided on the fingertip housing 4, or a weight-reducing cavity 46 can be provided inside the fingertip housing 4. Exemplarily, referring to Figure 5 as shown in Figure 5 in the shown implementation manner, shallow grooves 42 are provided on each outer side surface of the fingertip housing 4, thereby being able to reduce the weight of the fingertip without affecting the stability of the fingertip structure.

[0067] The dexterous fingertip module of the present utility model forms the overall fingertip shape through the combination of the fingertip housing 4 and the fingertip rubber 1 of the fingertip. Moreover, a medium cavity is formed between the fingertip rubber 1 and the fingertip housing 4. A pressure sensor 2 and an induction medium corresponding to the pressure sensor 2 are provided in the medium cavity to convert the force received by the pressure sensor 2 into a pressure change of the induction medium. When the fingertip of the dexterous fingertip module of this solution touches, the force condition of the fingertip can be detected by using the pressure sensor 2, and the force conditions in all directions can be detected. Compared with the existing dexterous fingertip using three-dimensional and six-dimensional force sensors or flexible sensors, the technical solution of the present utility model can significantly reduce the production cost and at the same time meet the requirements of the existing dexterous fingertip of the robot's biomimetic dexterous hand for perceiving the external environment.

[0068] The present utility model also provides a biomimetic dexterous hand. At least one fingertip module of the biomimetic dexterous hand is set as the dexterous fingertip module described in any one of the above embodiments. Among them, for a general biomimetic dexterous hand, it usually has five fingers. The fingertip modules corresponding to each finger can all be set as the above dexterous fingertip module, or only some fingertip modules can be set as the above dexterous fingertip module. And this biomimetic dexterous hand can be set on various different robots to enable it to have the performance of perceiving the external environment through the fingertip.

[0069] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not intended to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present application.

Claims

1. A dexterous fingertip module, characterized in that Comprising: A fingertip housing (4) provided with a mounting portion (41) thereon; A fingertip rubber (1) mounted on the mounting portion (41) of the fingertip housing (4) and forming a dielectric cavity with the fingertip housing (4); A pressure sensor (2) provided on the fingertip housing (4) and located within the dielectric cavity; An induction medium corresponding to the pressure sensor (2) is further installed within the dielectric cavity.

2. The dexterous fingertip module according to claim 1, characterized in that The pressure sensor (2) is a hydraulic sensor, and the induction medium is a non-conductive liquid; Or, The pressure sensor (2) is a pneumatic sensor, and the induction medium is a gas medium.

3. The dexterous fingertip module according to claim 1, wherein A sensor fixing member (3) is provided on the fingertip housing (4), the sensor fixing member (3) is arranged within the dielectric cavity, and the pressure sensor (2) is mounted on the sensor fixing member (3).

4. The dexterous fingertip module according to claim 3, wherein A chute structure (33) for mounting the pressure sensor (2) is provided on the sensor fixing member (3).

5. The dexterous fingertip module according to claim 1, characterized in that, An injection hole (43) communicating the outside of the dielectric cavity with the inside of the dielectric cavity is provided on the fingertip housing (4).

6. The dexterous fingertip module according to claim 5, characterized in that, A sensor fixing member (3) is provided on the fingertip housing (4), the sensor fixing member (3) is arranged within the dielectric cavity, the pressure sensor (2) is mounted on the sensor fixing member (3), and a diversion groove (31) is provided at a position corresponding to the injection hole (43) on the sensor fixing member (3).

7. The dexterous fingertip module according to claim 6, wherein An injection boss (431) having a structure matching that of the diversion groove (31) is provided on the fingertip housing (4), and the injection hole (43) penetrates through the injection boss (431) to communicate with the inside of the dielectric cavity.

8. The dexterous fingertip module according to claim 1, wherein A first wire groove (45) is provided on the fingertip housing (4) for leading out the line of the pressure sensor (2) from the dielectric cavity.

9. The dexterous fingertip module according to claim 8, characterized in that, A sensor fixing member (3) is provided on the fingertip housing (4), the sensor fixing member (3) is arranged within the dielectric cavity, the pressure sensor (2) is mounted on the sensor fixing member (3), and a second wire groove (34) is further provided at a position corresponding to the first wire groove (45) on the sensor fixing member (3).

10. The dexterous fingertip module according to claim 9, wherein A chute structure (33) for mounting the pressure sensor (2) is provided on the sensor fixing member (3), and the second wire groove (34) is provided on the opening side of the chute structure (33).

11. The dexterous fingertip module according to any one of claims 3, 6, and 9, characterized in that The sensor fixing member (3) is arranged in the shape of a fingertip to form an inner skeleton of the fingertip.

12. The dexterous fingertip module according to claim 1, characterized in that, The mounting portion (41) includes a circular concave structure provided at the front end of the fingertip housing (4).

13. The dexterous fingertip module according to claim 1, wherein An output member (5) is further provided at the end of the fingertip housing (4).

14. The dexterous fingertip module according to claim 1, wherein A shallow groove (42) is provided on the fingertip housing (4), and / or a weight reduction cavity (46) is provided within the fingertip housing (4).

15. The dexterous fingertip module according to claim 1, wherein Convex stripes (11) are provided on the fingertip rubber (1).

16. A bio-inspired dexterous hand, characterized in that, At least one fingertip phalanx of the biomimetic dexterous hand is provided with the dexterous fingertip module as described in any one of claims 1 to 15 above.

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