Fingertip module and manipulator

Abstract

The utility model discloses a fingertip module and a manipulator, and the fingertip module comprises a fingertip skeleton part which is an output part of an external power output structure; wherein the fingertip skeleton piece is provided with a first abutting surface and a second abutting surface, and the second abutting surface is adjacent to the first abutting surface to form a space for replacing the non-tactile finger pad assembly or the tactile finger pad assembly. According to the utility model, the space for replacing the non-tactile finger pad assembly or the tactile finger pad assembly is formed on the fingertip skeleton piece, so that different requirements are met, and the application range is enlarged; therefore, different requirements that some users want to change a mechanical arm with a non-tactile fingertip into a mechanical arm with a tactile fingertip or change the mechanical arm with the tactile fingertip into a mechanical arm with a non-tactile fingertip are met, the cost is reduced, and the stability of the non-tactile finger pad assembly or the tactile finger pad assembly is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical arm technical field especially is related to a fingertip module and mechanical hand. BACKGROUND

[0002] In the related art, the mechanical hand of the humanoid robot imitates the human finger, and the fingertip part is usually an integral whole, which is installed or disassembled as a whole, and the application range is narrow. The existing fingertip module has high cost and complex production and assembly process. SUMMARY

[0003] The utility model discloses at least one of the technical problems in the prior art. To this end, the utility model provides a fingertip module, which reduces the cost and simplifies the production and assembly process.

[0004] According to the fingertip module of the utility model embodiment, the output part of the external power output mechanism is directly used as the skeleton of the fingertip module, which can avoid designing the skeleton of the fingertip module separately, reduce the cost and simplify the production and assembly process.

[0005] In some embodiments, the fingertip skeleton part has a first abutting surface and a second abutting surface, and the second abutting surface is adjacent to the first abutting surface, forming a space for placing a non-tactile fingertip component or a tactile fingertip component.

[0006] According to the fingertip module of the utility model embodiment, the space for placing the non-tactile fingertip component or the tactile fingertip component is formed on the fingertip skeleton part, thereby meeting different needs and increasing the application range, so as to meet the different needs of some users who want to change the non-tactile fingertip mechanical hand into a tactile fingertip mechanical hand or change the tactile fingertip mechanical hand into a non-tactile fingertip mechanical hand. At the same time, when the parts are damaged, the damaged parts can be disassembled and replaced, and the parts that are not damaged can still be used, thereby reducing the cost. The first abutting surface and the second abutting surface support the non-tactile fingertip component or the tactile fingertip component, and the stability of the non-tactile fingertip component or the tactile fingertip component is increased.

[0007] In some embodiments, the non-tactile fingertip component or the tactile fingertip component is provided with a first fastener, and the first fastener is connected to the fingertip skeleton part.

[0008] In some embodiments, the fingertip skeleton piece comprises: a skeleton body, the first abutting surface is arranged on the skeleton body; a connecting portion arranged on one side of the skeleton body and extending away from the skeleton body, the connecting portion is used for connecting the external power output structure; a mounting portion arranged on the upper part of the skeleton body, and the second abutting surface is arranged on the mounting portion.

[0009] In some embodiments, the connecting portion is provided with a first mounting hole, and a second fastener is arranged in the first mounting hole, and the second fastener is used for connecting the external power output structure.

[0010] In some embodiments, the skeleton body is further provided with a connecting piece, and the connecting piece is provided with a second mounting hole, and the second mounting hole is used for connecting the external power output structure.

[0011] In some embodiments, a finger back cover plate is further included, and the finger back cover plate is arranged on the fingertip skeleton piece.

[0012] In some embodiments, the finger back cover plate comprises a first positioning portion and a second positioning portion, the first positioning portion and the second positioning portion are connected to the fingertip skeleton piece respectively, and the first positioning portion and the second positioning portion are arranged at intervals in the length direction of the finger back cover plate.

[0013] In some embodiments, the non-tactile finger pad assembly is an integral component made of plastic or metal, and the integral component abuts the first abutting surface and the second abutting surface respectively, or the non-tactile finger pad assembly comprises a first finger pad skeleton and a first rubber piece, the first rubber piece is detachably sleeved on the first finger pad skeleton, and at least the first finger pad skeleton abuts the first abutting surface and the second abutting surface respectively.

[0014] In some embodiments, the tactile finger pad assembly comprises a second finger pad skeleton, a second rubber piece, and a sensor, the second rubber piece is detachably sleeved on the second finger pad skeleton, and the sensor is arranged on the second finger pad skeleton, and at least the second finger pad skeleton abuts the first abutting surface and the second abutting surface respectively.

[0015] In some embodiments, the sensor is provided with a connecting lead, the mounting portion is provided with a control panel on the side away from the sensor, the mounting portion is provided with a avoiding hole, and the connecting lead is arranged in the avoiding hole and connected to the control panel.

[0016] The mechanical hand according to the embodiments of the present application comprises the fingertip module.

[0017] The mechanical hand according to the embodiment of the utility model, the space for replacing the non-tactile finger tip component or the tactile finger tip component is constructed on the finger skeleton part, thereby meeting different needs, increasing the application range, thereby meeting the different needs of some users who want to change the non-tactile finger tip mechanical hand into the tactile finger tip mechanical hand or change the tactile finger tip mechanical hand into the non-tactile finger tip mechanical hand, meanwhile, when the parts are damaged, the damaged parts can be disassembled and replaced, and the parts not damaged can still be used, thereby reducing the cost, and the first abutting face and the second abutting face support the non-tactile finger tip component or the tactile finger tip component, thereby increasing the stability of the non-tactile finger tip component or the tactile finger tip component.

[0018] Additional aspects and advantages of the utility model will be in part apparent and in part pointed out hereinafter in the description. BRIEF DESCRIPTION OF DRAWINGS

[0019] The above and / or additional aspects and advantages of the utility model will become apparent and more readily appreciated from the following description of the embodiments, with reference to the following drawings, in which:

[0020] Figure 1 It is the explosion schematic drawing of finger tip module in the first embodiment of the utility model;

[0021] Figure 2 It is the explosion schematic drawing of finger tip module in the second embodiment of the utility model;

[0022] Figure 3 It is the explosion schematic drawing of finger tip module in the third embodiment of the utility model;

[0023] Figure 4 It is the explosion schematic drawing of finger tip module in the fourth embodiment of the utility model.

[0024] Reference Signs:

[0025] 100, finger tip module;

[0026] 10, finger skeleton part;11, first abutting face;12, second abutting face;13, skeleton main body;131, connecting piece;1311, second mounting hole;14, connecting portion;141, first mounting hole;15, mounting portion;151, control panel;152, avoiding hole;

[0027] 20, non-tactile finger tip component;22, first finger tip skeleton;23, first rubber piece;24, tactile finger tip component;30, back cover plate;31, first positioning portion;32, second positioning portion;33, cover plate main body. DETAILED DESCRIPTION

[0028] The embodiments of the present application are described below in detail, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to the drawings are exemplary only, and are merely intended to explain the present application, and cannot be understood as limiting the present application.

[0029] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0030] In addition, the features defined as "first" and "second" can explicitly or implicitly include one or more of the features, for distinguishing the described features, without order or difference.

[0031] In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0032] In the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0033] The fingertip module 100 of the mechanical hand of the embodiment of the present application is described below in conjunction with the drawings.

[0034] Referring to Figures 1 to 4 , the fingertip module 100 of the mechanical hand according to the embodiment of the present application.

[0035] The fingertip module 100 comprises: a fingertip skeleton piece 10 configured as an output piece of an external power output structure. Wherein, the fingertip skeleton piece 10 has a first abutting surface 11 and a second abutting surface 12, the second abutting surface 12 is adjacent to the first abutting surface 11, and constitutes a space for placing a non-tactile finger pad assembly 20 or a tactile finger pad assembly 24.

[0036] The external power output structure outputs power, and an output end of the external power output structure is connected with the fingertip framework 10, so as to drive the fingertip framework 10 to move. The touchless fingertip assembly 20 or the tactile fingertip assembly 24 is detachably mounted on the fingertip framework 10, and the touchless fingertip assembly 20 or the tactile fingertip assembly 24 can be detached from the fingertip framework 10. One of the touchless fingertip assembly 20 or the tactile fingertip assembly 24 can be separated from the fingertip framework 10, so as to meet different requirements of some users who want to change the fingertip touchless mechanical hand into the fingertip tactile mechanical hand or change the fingertip tactile mechanical hand into the fingertip touchless mechanical hand.

[0037] In the related art, the mechanical hand of the humanoid robot imitates the human finger, and the fingertip part is usually an integral whole, which is mounted or detached integrally, and the application range is narrow.

[0038] In the embodiment of the utility model, the touchless fingertip assembly 20 or the tactile fingertip assembly 24 is detachably arranged on the fingertip framework 10. The fingertip assembly can be constructed in multiple ways, such as the tactile fingertip assembly 24 including a sensor or the touchless fingertip assembly 20 without a sensor. The tactile fingertip assembly 24 with a sensor has a sensing capability, and the touchless fingertip assembly 20 without a sensor reduces the cost, so as to meet different requirements, increase the application range, and when the parts are damaged, the damaged parts can be detached and replaced, and the undamaged parts can still be used, so as to reduce the cost.

[0039] Specifically, the touchless fingertip assembly 20 or the tactile fingertip assembly 24 can be detachably mounted on the fingertip framework 10 through a first fastener such as a screw or a bolt, or can be buckled on the fingertip framework 10 through a clamping groove.

[0040] The fingertip framework 10 is provided with a first abutting surface 11 and a second abutting surface 12, the first abutting surface 11 is adjacent to the second abutting surface 12, and the touchless fingertip assembly 20 or the tactile fingertip assembly 24 is connected with the first abutting surface 11 and the second abutting surface 12 respectively. The first abutting surface 11 and the second abutting surface 12 play a supporting effect and stably support the touchless fingertip assembly 20 or the tactile fingertip assembly 24. On the basis of the detachability of the touchless fingertip assembly 20 or the tactile fingertip assembly 24 relative to the fingertip framework 10, the stability of the touchless fingertip assembly 20 or the tactile fingertip assembly 24 is increased.

[0041] The fingertip module 100 of the mechanical hand according to the embodiment of the utility model, the space for replacing the non-tactile finger pad assembly 20 or the tactile finger pad assembly 24 is structured on the fingertip framework 10, thereby meeting different requirements, increasing the application range, thereby meeting the different requirements of some users who want to change the fingertip non-tactile mechanical hand into the fingertip tactile mechanical hand or change the fingertip tactile mechanical hand into the fingertip non-tactile mechanical hand, simultaneously, when the parts are damaged, the damaged parts can be disassembled and replaced, and the parts not damaged can still be used, thereby reducing the cost, and the first abutting surface 11 and the second abutting surface 12 support the non-tactile finger pad assembly 20 or the tactile finger pad assembly 24, and the stability of the non-tactile finger pad assembly 20 or the tactile finger pad assembly 24 is increased.

[0042] In some embodiments, the non-tactile finger pad assembly 20 or the tactile finger pad assembly 24 is provided with a first fastener, and the first fastener is connected to the fingertip framework 10.

[0043] In some embodiments, the non-tactile finger pad assembly 20 or the tactile finger pad assembly 24 is provided with a first fastener, and the first fastener is connected to the fingertip framework 10.

[0044] In the above scheme, the first fastener is arranged to stabilize the non-tactile finger pad assembly or the tactile finger pad assembly, the overall structure is stable, and the implementation is convenient.

[0045] Specifically, the first fastener can be a threaded part, such as a screw or a bolt, and the fingertip framework 10 is provided with a mounting hole.

[0046] Referring to Figures 1 to 4 In some embodiments, the fingertip framework 10 includes a framework body 13, a connecting portion 14, and a mounting portion 15.

[0047] The first abutting surface 11 is arranged on the framework body 13. The connecting portion 14 is arranged on one side of the framework body 13 and extends away from the framework body 13, and the connecting portion 14 is used to connect an external power output structure. The mounting portion 15 is arranged on the upper portion of the framework body 13, and the second abutting surface 12 is arranged on the mounting portion 15.

[0048] Specifically, the mounting portion 15 is arranged on the side of the framework body 13 away from the connecting portion 14 and extends away from the framework body 13, the non-tactile finger pad assembly 20 or the tactile finger pad assembly 24 is mounted on the mounting portion 15, and the side surface of the mounting portion 15 facing the non-tactile finger pad assembly 20 or the tactile finger pad assembly 24 is structured as the second abutting surface 12.

[0049] The connecting portion 14 and the mounting portion 15 are respectively located on opposite sides of the framework body 13, the connecting portion 14 is connected to the output end, the mounting portion 15 is connected to the non-tactile finger tip assembly 20 or the tactile finger tip assembly 24, the first abutting surface 11 is located on the framework body 13, and the second abutting surface 12 is located on the mounting portion 15.

[0050] In the above scheme, by arranging the connecting portion 14 and the mounting portion 15 on opposite sides of the framework body 13, the connecting portion 14 is connected to the output end, the mounting portion 15 is connected to the non-tactile finger tip assembly 20 or the tactile finger tip assembly 24, and the space on the opposite sides of the framework body 13 is respectively utilized, so that the space is fully utilized and the overall structure is compact.

[0051] It should be noted that the mounting portion 15 is arranged on the upper portion of the framework body 13, so that one side surface of the mounting portion 15 is configured as the second abutting surface 12 and has a certain height, and a certain space is formed below the mounting portion 15, the bottom surface of the non-tactile finger tip assembly 20 or the tactile finger tip assembly 24 is a curved surface, the second abutting surface 12 has a certain height, and a certain space is formed below the mounting portion 15, so that the curved surface has a certain radial depth, and the pressure at each point of the curved surface can be detected, thereby increasing the finger tip tactile surface and improving the detection accuracy, and facilitating the mutual replacement between the non-tactile finger tip assembly 20 and the tactile finger tip assembly 24.

[0052] In some embodiments, a projection of the mounting portion 15 on the framework body 13 is adjacent to the second abutting surface 12, the non-tactile finger tip assembly 20 or the tactile finger tip assembly 24 is in full contact with the first abutting surface 11, and the non-tactile finger tip assembly 20 or the tactile finger tip assembly 24 is in full contact with the second abutting surface 12, thereby further improving the stability.

[0053] Referring to Figures 1 to 4 In some embodiments, the connecting portion 14 is provided with a first mounting hole 141, and a second fastener is arranged in the first mounting hole 141, and the second fastener is used to connect an external power output structure.

[0054] The external power output structure is connected to the first mounting hole 141 through the second fastener, and the external power output structure is directly connected to the fingertip module 100.

[0055] In the above scheme, by arranging the first mounting hole 141 on the connecting portion 14, the external power output structure is directly connected to the fingertip module 100, and the shell of the fingertip does not need to be additionally arranged, thereby optimizing the structure, making the structure more compact, and reducing the cost.

[0056] Referring to Figures 1 to 4In some embodiments, the skeleton body 13 is further provided with a connecting piece 131, and the connecting piece 131 is provided with a second mounting hole 1311, which is used to connect an external power output structure.

[0057] In the above scheme, the connecting piece 131 is provided, the connecting piece 131 is connected to the external power output structure, and the connecting piece 131 supports the skeleton body 13, so that the whole fingertip module 100 moves stably.

[0058] In the above scheme, the connecting piece 131 is provided, the connecting piece 131 is connected to the external power output structure, and the connecting piece 131 supports the skeleton body 13, so that the whole fingertip module 100 moves stably.

[0059] It should be noted that the connecting piece 131 can be used as an output of the external power output structure, that is, the connecting piece 131 of the fingertip module 100 can be used as an output of the external power output structure after assembly.

[0060] Reference Figures 1 to 4 In some embodiments, the fingertip module 100 further comprises a dorsal cover 30, which is arranged on the fingertip skeleton 10.

[0061] In some specific embodiments, the dorsal cover 30 is arranged on one side of the mounting portion 15, and one of the touchless finger pad assembly 20 or the tactile finger pad assembly 24 is arranged on the opposite side of the mounting portion 15.

[0062] More specifically, the dorsal cover 30 comprises a first positioning portion 31 and a second positioning portion 32, the first positioning portion 31 and the second positioning portion 32 are respectively connected to the fingertip skeleton 10, and the first positioning portion 31 and the second positioning portion 32 are arranged at intervals in the length direction of the dorsal cover 30.

[0063] In the above scheme, the first positioning portion and the second positioning portion are arranged at intervals in the length direction, and a plurality of fixing portions are provided, so that the stability of the dorsal cover 30 is improved.

[0064] In the above scheme, the first positioning portion and the second positioning portion are arranged at intervals in the length direction, and a plurality of fixing portions are provided, so that the stability of the dorsal cover 30 is improved.

[0065] Specifically, a third positioning portion can also be provided, and the first positioning portion, the second positioning portion and the third positioning portion are arranged at intervals in the length direction, or more connecting portions can also be provided, which will not be described here.

[0066] Referring to Figure 1 , Figure 2 In some embodiments, the finger back cover plate 30 further comprises a cover plate body 33, and the first positioning part and the second positioning part are arranged on the cover plate body 33. The first positioning part 31 abuts against one side of the mounting part 15 away from the cover plate body 33. The second positioning part is configured as a protruding part. The skeleton body 13 is provided with a positioning groove matched with the protruding part.

[0067] In the finger tip module 100 after installation, a certain space is arranged between the cover plate body 33 and the first positioning part. The mounting part 15 is inserted between the cover plate body 33 and the first positioning part to limit the finger back cover plate 30. The protruding part is inserted into the positioning groove to further limit the finger back cover plate 30, and the finger back cover plate 30 is fixed on the mounting part 15.

[0068] In the above scheme, the mounting part 15 is installed in the space between the cover plate body 33 and the first positioning part, and the protruding part and the positioning groove are matched to fix the finger back cover plate 30 on the mounting part 15. The overall structure is simple and convenient to install.

[0069] Specifically, the cover plate body 33 is located above the mounting part 15, the first positioning part is located below the mounting part 15, the mounting part 15 is located between the cover plate body 33 and the first positioning part to limit the up-down movement of the finger back cover plate 30, the second positioning part is located to the right of the first positioning part, the positioning groove is recessed along the front-rear direction, and the protruding part is located in the positioning groove to limit the up-down and left-right movement of the cover plate body 33.

[0070] Referring to Figure 3 , Figure 4 In other embodiments, the finger back cover plate 30 further comprises a cover plate body 33, and the first positioning part and the second positioning part are arranged on the cover plate body 33. The first positioning part is arranged on one side of the mounting part 15 away from the cover plate body 33 and abuts against the mounting part 15. The second positioning part is arranged on one side of the mounting part 15 away from the cover plate body 33 and abuts against the mounting part 15.

[0071] In the finger tip module 100 after installation, a certain space is arranged between the cover plate body 33 and the first positioning part. The mounting part 15 is inserted between the cover plate body 33 and the first positioning part to limit the finger back cover plate 30. A certain space is arranged between the cover plate body 33 and the second positioning part. The mounting part 15 is inserted between the cover plate body 33 and the second positioning part to further limit the finger back cover plate 30.

[0072] In the above scheme, the mounting part 15 is installed in the space between the cover plate body 33 and the first positioning part, and the second positioning part and the cover plate body 33 are matched to fix the finger back cover plate 30 on the mounting part 15. The overall structure is simple and convenient to install.

[0073] Specifically, the cover plate body 33 is located above the mounting portion 15, the first positioning portion is located below the mounting portion 15, the mounting portion 15 is located between the cover plate body 33 and the first positioning portion, and the mounting portion 15 limits the up-down movement of the finger back cover plate 30; the second positioning portion is located to the right of the first positioning portion, and the second positioning portion is located below the mounting portion 15, and the mounting portion 15 is located between the cover plate body 33 and the first positioning portion, and the mounting portion 15 limits the up-down and left-right movement of the finger back cover plate 30.

[0074] In some embodiments, the non-haptic finger pad assembly 20 is an integral component made of plastic or metal, and the integral component abuts the first abutting surface 11 and the second abutting surface 12, respectively.

[0075] In some embodiments, the non-haptic finger pad assembly 20 is an integral component made of plastic or metal, and the integral component abuts the first abutting surface 11 and the second abutting surface 12, respectively.

[0076] In some embodiments, the non-haptic finger pad assembly 20 is an integral component made of plastic or metal, and the integral component abuts the first abutting surface 11 and the second abutting surface 12, respectively.

[0077] In some embodiments, the non-haptic finger pad assembly 20 is an integral component made of plastic or metal, and the integral component abuts the first abutting surface 11 and the second abutting surface 12, respectively.

[0078] In some embodiments, the non-haptic finger pad assembly 20 is an integral component made of plastic or metal, and the integral component abuts the first abutting surface 11 and the second abutting surface 12, respectively.

[0079] In some embodiments, the non-haptic finger pad assembly 20 is an integral component made of plastic or metal, and the integral component abuts the first abutting surface 11 and the second abutting surface 12, respectively.

[0080] In some embodiments, the non-haptic finger pad assembly 20 is an integral component made of plastic or metal, and the integral component abuts the first abutting surface 11 and the second abutting surface 12, respectively.

[0081] In some embodiments, the non-haptic finger pad assembly 20 is an integral component made of plastic or metal, and the integral component abuts the first abutting surface 11 and the second abutting surface 12, respectively.

[0082] In some embodiments, the sensor is provided with a connecting wire, the mounting portion 15 is provided with a control board 151 away from one side of the sensor, the mounting portion 15 is provided with a avoiding hole 152, the connecting wire is arranged in the avoiding hole 152 and connected with the control board 151.

[0083] Wherein, the control board 151 and the sensor are respectively arranged on opposite sides of the mounting portion 15, and the control board 151 and the sensor are connected through the connecting wire.

[0084] In the above scheme, by arranging the avoiding hole 152 to avoid the connecting wire, the control board 151 and the sensor are respectively arranged on opposite sides of the mounting portion 15, and the space on both sides of the mounting portion 15 is fully utilized, so that the structure is compact.

[0085] Specifically, the sensor is arranged between the dorsal cover plate 30 and the mounting portion 15, the sensor is limited by the dorsal cover plate 30, the number of parts is reduced, no additional fixing member is needed, and the disassembly and replacement of the fingertip module 100 can be completed by only separating the active input end and the connecting piece 131.

[0086] The mechanical hand according to the embodiment of the present application comprises the fingertip module 100.

[0087] The mechanical hand according to the embodiment of the present application is provided with a space for replacing the touchless fingertip assembly 20 or the tactile fingertip assembly 24 on the fingertip skeleton 10, so that different requirements are met, the application range is increased, and different requirements of some users who want to change the touchless fingertip mechanical hand into the tactile fingertip mechanical hand or change the tactile fingertip mechanical hand into the touchless fingertip mechanical hand are met. Meanwhile, when the parts are damaged, the damaged parts can be disassembled and replaced, and the parts not damaged can still be used, so that the cost is reduced, and the first abutting surface 11 and the second abutting surface 12 support the touchless fingertip assembly 20 or the tactile fingertip assembly 24, and the stability of the touchless fingertip assembly 20 or the tactile fingertip assembly 24 is increased.

[0088] Other configurations and operations of the fingertip module 100 according to the embodiment of the present application are known to those skilled in the art, and will not be described in detail here.

[0089] In the description of the present specification, the description of the terms "embodiment", "example" and the like means that the specific features, structures, materials or characteristics described in combination with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0090] Although the embodiments of the utility model have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and purposes of the utility model, and the scope of the utility model is defined by the claims and their equivalents.

Claims

1. A fingertip module for a robotic hand, characterized in that, include: Fingertip skeleton component (10), wherein the fingertip skeleton component (10) is configured as an output component of an external power output structure.

2. The fingertip module of the robotic arm according to claim 1, characterized in that, The fingertip skeleton component (10) has a first abutting surface (11) and a second abutting surface (12), the second abutting surface (12) being adjacent to the first abutting surface (11), forming a space for replacing a non-tactile fingertip assembly (20) or a tactile fingertip assembly (24).

3. The fingertip module of the robotic hand according to claim 2, characterized in that, The non-tactile fingertip assembly (20) or the tactile fingertip assembly (24) is provided with a first fastener, which is connected to the fingertip skeleton member (10).

4. The fingertip module of the robotic arm according to claim 2, characterized in that, The fingertip skeleton component (10) includes: The main body of the skeleton (13) has the first abutting surface (11) disposed on the main body of the skeleton (13); A connecting part (14) is provided on one side of the frame body (13) and extends away from the frame body (13). The connecting part (14) is used to connect the external power output structure. Mounting part (15) is provided on the upper part of the frame body (13), and the second abutment surface (12) is provided on the mounting part (15).

5. The fingertip module of the robotic hand according to claim 4, characterized in that, The connecting part (14) is provided with a first mounting hole (141), and a second fastener is inserted into the first mounting hole (141). The second fastener is used to connect the external power output structure.

6. The fingertip module of the robotic hand according to claim 5, characterized in that, The main body of the skeleton (13) is also provided with a connector (131), and the connector (131) is provided with a second mounting hole (1311), which is used to connect the external power output structure.

7. The fingertip module of the robotic hand according to claim 1 or 2, characterized in that, It also includes a back of finger cover plate (30), which is disposed on the fingertip skeleton member (10).

8. The fingertip module of the robotic hand according to claim 7, characterized in that, The finger back cover plate (30) includes a first positioning part (31) and a second positioning part (32). The first positioning part (31) and the second positioning part (32) are respectively connected to the fingertip skeleton member (10). The first positioning part (31) and the second positioning part (32) are spaced apart in the length direction of the finger back cover plate (30).

9. The fingertip module of the robotic hand according to claim 2, characterized in that, The non-tactile fingertip assembly (20) is an integral part made of plastic or metal, which abuts against the first contact surface (11) and the second contact surface (12) respectively. Alternatively, the non-tactile fingertip assembly (20) includes a first fingertip skeleton (22) and a first rubber part (23), with the first rubber part (23) detachably fitted over the first fingertip skeleton (22). At least the first fingertip skeleton (22) abuts against the first contact surface (11) and the second contact surface (12) respectively.

10. The fingertip module of the robotic hand according to claim 4, characterized in that, The tactile fingertip assembly (24) includes a second fingertip skeleton, a second rubber component, and a sensor. The second rubber component is detachably fitted onto the second fingertip skeleton, and the sensor is disposed on the second fingertip skeleton. At least the second fingertip skeleton abuts against the first contact surface and the second contact surface, respectively.

11. The fingertip module of the robotic hand according to claim 10, characterized in that, The sensor is provided with a connecting wire, and the mounting part (15) is provided with a control board (151) on the side away from the sensor. The mounting part (15) is provided with a clearance hole (152), and the connecting wire passes through the clearance hole (152) and is connected to the control board (151).

12. A robotic arm, characterized in that, Includes the fingertip module according to any one of claims 1 to 10.

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