Fingertip assembly and manipulator

Abstract

The utility model discloses a fingertip assembly and a manipulator. The fingertip assembly is used for the mechanical arm and comprises a fingertip body, an elastic piece and a sensing assembly, a mounting groove is formed in one side of the fingertip body, and the mounting groove extends out of the tip end of the fingertip body; the elastic piece is connected with the fingertip body and covers the mounting groove; the sensing assembly is located in the mounting groove and arranged between the fingertip body and the elastic piece. Wherein the sensing assembly comprises a first pressure sensor and a second pressure sensor, the first pressure sensor is closer to the tip of the fingertip body relative to the second pressure sensor and closer to the other side of the fingertip body, and the sensitive surface of the first pressure sensor and the sensitive surface of the second pressure sensor are arranged at an angle; therefore, the first pressure sensor and the second pressure sensor can respectively detect forces in different directions. The elastic piece can deform under the action of external force so as to press the sensitive surface of the first pressure sensor and / or the sensitive surface of the second pressure sensor.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical hand technical field, especially a fingertip subassembly and mechanical hand. BACKGROUND

[0002] With the development of future humanoid robots, the mechanical hand of humanoid robots must achieve specific functions to be commercialized and landed, and the perception of the mechanical hand is an important development direction, and the touch is an important information source in the humanoid robot system, among which the sensing device of the fingertip is the most critical, and all the gripping actions of the mechanical hand need the fingertip to contact the object. The existing sensing device cannot be well integrated in the fingertip of the mechanical hand due to the volume or installation method. SUMMARY

[0003] The utility model embodiment provides a fingertip subassembly and mechanical hand to solve at least one technical problem existing above.

[0004] The fingertip subassembly of the utility model embodiment is used for the mechanical hand, and the fingertip subassembly comprises:

[0005] A fingertip body, one side of the fingertip body is provided with a mounting groove, and the mounting groove extends out the tip end of the fingertip body;

[0006] An elastic member, the elastic member is connected with the fingertip body and covers the mounting groove;

[0007] A sensing assembly, the sensing assembly is located in the mounting groove and is arranged between the fingertip body and the elastic member;

[0008] The sensing assembly comprises a first pressure sensor and a second pressure sensor, the first pressure sensor is closer to the tip end of the fingertip body and closer to the other side of the fingertip body than the second pressure sensor, and the sensitive surface of the first pressure sensor and the sensitive surface of the second pressure sensor are arranged at an angle, so that the first pressure sensor and the second pressure sensor can detect forces in different directions respectively;

[0009] The elastic member can be deformed under the action of external force to press the sensitive surface of the first pressure sensor and / or the sensitive surface of the second pressure sensor.

[0010] In the above fingertip subassembly, the sensing assembly is arranged in the mounting groove and between the fingertip body and the elastic member, the elastic member can be deformed under the action of external force to press the sensitive surface of the first pressure sensor and / or the sensitive surface of the second pressure sensor in the sensing assembly, so that the first pressure sensor and the second pressure sensor can detect forces in different directions respectively, and the sensing assembly is better integrated in the fingertip subassembly.

[0011] In some embodiments, the elastic member has a sensing curved surface on the side away from the second pressure sensor, and the part of the sensing curved surface corresponding to the sensing surface of the first pressure sensor is convex outward.

[0012] In some embodiments, the angle between the plane where the sensing surface of the first pressure sensor is located and the plane where the sensing surface of the second pressure sensor is located is obtuse.

[0013] In some embodiments, the first pressure sensor and the second pressure sensor are MEMS chip pressure sensors or strain gauge pressure sensors.

[0014] In some embodiments, the sensing assembly comprises a pressing member movably arranged in the mounting groove, and the pressing member is arranged above the first pressure sensor and the second pressure sensor correspondingly, and the elastic member can drive the pressing member to press the sensing surface of the first pressure sensor and / or the sensing surface of the second pressure sensor when subjected to external force.

[0015] In some embodiments, the sensing assembly comprises a fixing frame, the fixing frame comprises a first connecting portion and a second connecting portion, the first connecting portion is connected to the second connecting portion, the first connecting portion is close to the tip of the fingertip body, the second connecting portion is away from the tip of the fingertip body, and the first connecting portion and the second connecting portion are arranged at an angle.

[0016] In some embodiments, the sensing assembly comprises a circuit board arranged between the fixing frame and the fingertip body, the circuit board comprises a first mounting portion and a second mounting portion, the first mounting portion is connected to the second mounting portion, the first pressure sensor is arranged on the first mounting portion, the second pressure sensor is arranged on the second mounting portion, and the first mounting portion and the second mounting portion are arranged at an angle.

[0017] In some embodiments, the first connecting portion and the second connecting portion are both provided with a connecting hole, and the pressing member is arranged through the connecting hole.

[0018] In some embodiments, the sensing assembly comprises a wiring terminal arranged on the side of the circuit board away from the fixing frame, the bottom of the mounting groove is provided with a through slot, the through slot is communicated with the mounting groove, the side of the fingertip body away from the circuit board is provided with a wiring slot, the wiring slot is communicated with the through slot, and the wiring terminal is arranged out of the through slot and electrically connected with the electrically connecting wire in the wiring slot.

[0019] In some embodiments, the circuit board is a flexible circuit board.

[0020] In some embodiments, the wiring terminal is arranged at the second mounting portion and located at an end of the second mounting portion away from the first mounting portion.

[0021] In some embodiments, a side of the fingertip body opposite to the elastic member is provided with a notch, the notch being communicated with the penetrating slot and the wiring slot; and the fingertip assembly comprises a cover plate covering the notch.

[0022] The mechanical hand in the embodiment comprises a finger root, a base, and the fingertip assembly in any of the above embodiments, the finger root is rotatably connected to the base, and the fingertip assembly is rotatably connected to the finger root.

[0023] In the above mechanical hand, the sensing assembly is arranged in the mounting slot and between the fingertip body and the elastic member, the elastic member can be deformed under the action of external force to press the sensitive surface of the first pressure sensor and / or the sensitive surface of the second pressure sensor in the sensing assembly, so that the first pressure sensor and the second pressure sensor can detect forces in different directions respectively, and the sensing assembly is better integrated in the fingertip assembly.

[0024] The additional aspects and advantages of the present application will be partially given in the following description, partially will become obvious from the following description, or will be understood by the practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0025] The above and / or additional aspects and advantages of the present application will become apparent and more readily appreciated from the following description of embodiments, taken in conjunction with the following drawings of which:

[0026] Figure 1 is a structure schematic view of the fingertip assembly of the embodiment of the present application;

[0027] Figure 2 is an exploded structure schematic view of the fingertip assembly of the embodiment of the present application;

[0028] Figure 3 is a top view of the fingertip assembly of the embodiment of the present application;

[0029] Figure 4 is Figure 3 is a sectional view of the section line A-A in FIG. 6;

[0030] Figure 5 is a partial exploded structure schematic view of the fingertip assembly of the embodiment of the present application;

[0031] Figure 6is a partial structure schematic view of a sensing assembly of an embodiment of the utility model;

[0032] Figure 7 is a structure schematic view of a mechanical hand of an embodiment of the utility model.

[0033] Reference signs:

[0034] 100, fingertip assembly;10, fingertip body;12, elastic piece;14, sensing assembly;15, installation slot;16, fixed frame;17, first connecting portion;18, pressing piece;19, second connecting portion;20, circuit board;24, first pressure sensor;26, second pressure sensor;28, first installation portion;30, second installation portion;32, connecting hole;34, notch;36, through slot;38, wiring terminal;40, wiring slot;42, cover plate;50, finger root;52, through hole;54, rotating shaft;56, base;300, mechanical hand;S1, sensitive surface of first pressure sensor;S2, sensitive surface of second pressure sensor;T, sensing curved surface;T1, partial outward bulge of sensing curved surface. DETAILED DESCRIPTION

[0035] The embodiments of the utility model are described in detail below, examples of the embodiments are shown in the drawings, wherein the same or similar reference signs represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary, only for explaining the utility model, and cannot be understood as limiting the utility model.

[0036] In the description of the utility model, it is understood that the orientation or position relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" are based on the orientation or position relationship shown in the drawings, only for the convenience of describing the utility model and simplifying the description, and cannot be understood as indicating or implying that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, therefore cannot be understood as limiting the utility model. In the description of the utility model, the meaning of "multiple" is two or more than two, unless otherwise explicitly and specifically limited.

[0037] In the description of the utility model, it is necessary to explain that, unless there is definite stipulation and limitation, the term "mount", "link", "connect" should be broad sense understanding, for example, can be fixed connection, also can be detachable connection, or integrally connect. Can be mechanical connection, also can be electrical connection. Can be direct connection, also can indirectly connect through intermediate medium, can be two element internal communication or two element mutual action relation. For ordinary skilled in the art, the above-mentioned term can be understood according to the specific meaning of the utility model.

[0038] In the utility model, unless there is definite stipulation and limitation, the first feature is "on" or "under" the second feature can include that the first and second features are in direct contact, or the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "above" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "under", "below" and "below" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0039] The disclosure herein provides many different implementations or examples to implement different structures of the utility model. In order to simplify the disclosure of the utility model, the components and settings of specific examples are described herein. Of course, they are only examples, and the purpose is not to limit the utility model. In addition, the utility model can repeatedly refer to numbers and / or reference letters in different examples, and such repetition is for the purpose of simplification and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the utility model provides various specific examples of processes and materials, but those skilled in the art can realize the application of other processes and / or the use of other materials.

[0040] Please refer to Figure 1 , Figure 2 , Figure 6 and Figure 7The fingertip assembly 100 is used for a mechanical hand 300. The fingertip assembly 100 comprises a fingertip body 10, an elastic member 12 and a sensing assembly 14. The fingertip body 10 is provided with a mounting groove 15 at one side, and the mounting groove 15 extends to the tip of the fingertip body 10. The elastic member 12 is connected to the fingertip body 10 and covers the mounting groove 15. The sensing assembly 14 is located in the mounting groove 15 and is arranged between the fingertip body 10 and the elastic member 12. The sensing assembly 14 comprises a first pressure sensor 24 and a second pressure sensor 26. The first pressure sensor 24 is closer to the tip of the fingertip body 10 and closer to the other side of the fingertip body 10 than the second pressure sensor 26. The sensitive surface S1 of the first pressure sensor 24 and the sensitive surface S2 of the second pressure sensor 26 are arranged at an angle, so that the first pressure sensor 24 and the second pressure sensor 26 can detect forces in different directions, respectively. The elastic member 12 deforms under the action of external force to press the sensitive surface S1 of the first pressure sensor 24 and / or the sensitive surface S2 of the second pressure sensor 26.

[0041] In the fingertip assembly 10, the sensing assembly 14 is arranged in the mounting groove 15 and between the fingertip body 10 and the elastic member 12. The elastic member 12 deforms under the action of external force to press the sensitive surface S1 of the first pressure sensor 24 and / or the sensitive surface S2 of the second pressure sensor 26 in the sensing assembly 14, so that the first pressure sensor 24 and the second pressure sensor 26 can detect forces in different directions, respectively, and the sensing assembly 14 is better integrated in the fingertip assembly 100.

[0042] Specifically, in the fingertip assembly 10, Figure 1 The elastic member 12 can be similar to the shape of the bottom of the fingertip of the human finger, and can comprise soft glue, which is beneficial to grasp objects and can ensure accurate detection. The elastic member 12 can be adhered to the fingertip body 10 by glue or the like, and the sensing assembly 14 can be accommodated in the mounting groove 15 and arranged between the fingertip body 10 and the elastic member 12.

[0043] In the fingertip assembly 10, Figure 6 The plane where the sensitive surface S1 of the first pressure sensor 24 is located and the plane where the sensitive surface S2 of the second pressure sensor 26 is located can be arranged at an angle α. In one embodiment, the angle α can be an obtuse angle.

[0044] In one embodiment, by arranging the sensing assembly 14 in the mounting groove 15 and between the fingertip body 10 and the elastic member 12, when the elastic member 12 is subjected to an external force, the elastic member 12 can be elastically deformed, and can press the sensitive surface S1 of the first pressure sensor 24 and / or the sensitive surface S2 of the second pressure sensor 26, so that the magnitude of the external force and the position range of the force point on the elastic member 12 can be calculated by detecting the magnitude of the pressure through the first pressure sensor 24 and the second pressure sensor 26, thereby facilitating the judgment of the specific area of the object gripped by the robot hand.

[0045] In one example, the elastic member 12 can press the sensitive surface S1 of the first pressure sensor 24 when subjected to an external force.

[0046] In one example, the elastic member 12 can press the sensitive surface S2 of the second pressure sensor 26 when subjected to an external force.

[0047] In one example, the elastic member 12 can press the sensitive surface S1 of the first pressure sensor 24 and the sensitive surface S2 of the second pressure sensor 26 when subjected to an external force.

[0048] It should be noted that the elastic member 12 can also be arranged as a compression spring. In one embodiment, the first pressure sensor 24 and the second pressure sensor 26 are both MEMS (Micro Electro Mechanical System) chip pressure sensors, and the acquisition unit and the signal processing unit are integrated in the MEMS chip pressure sensor. The MEMS chip pressure sensor has small volume, light weight, low cost, can be integrated in the product, is not easily affected by the external environment, and has stronger anti-interference ability. In addition, in other embodiments, the first pressure sensor 24 and the second pressure sensor 26 can also be strain gauge pressure sensors.

[0049] Please refer to Figure 4 and Figure 6 In some embodiments, the side of the elastic member 12 away from the second pressure sensor 26 has a sensing curved surface T, and the part of the sensing curved surface T corresponding to the sensitive surface S1 of the first pressure sensor 24 and the part of the sensing curved surface T corresponding to the sensitive surface S2 of the second pressure sensor 26 are outwardly convex T1.

[0050] In this way, the external force can act on the sensing curved surface T, and the external force received by the part of the sensing curved surface T can be respectively transmitted to the sensitive surface S1 of the first pressure sensor 24 and the sensitive surface S2 of the second pressure sensor 26.

[0051] Specifically, the part of the sensing surface T corresponding to the sensitive surface S1 of the first pressure sensor 24 and the part of the sensing surface T corresponding to the sensitive surface S2 of the second pressure sensor 26 are outwardly convex T1. In an embodiment, an external force can act on the sensing surface T, and the part of the sensing surface T and the part of the sensing surface T outwardly convex T1 can correspond to the sensitive surface S1 of the first pressure sensor 24 and the sensitive surface S2 of the second pressure sensor 26, respectively.

[0052] Please refer to Figure 2 and Figure 4 In some embodiments, the sensing assembly 14 comprises a pressing piece 18 movably arranged in the mounting groove 15, and the pressing piece 18 is arranged above the first pressure sensor 24 and the second pressure sensor 26. When the elastic piece 12 is subjected to an external force, the elastic piece 12 can drive the pressing piece 18 to press the sensitive surface S1 of the first pressure sensor 24 and / or the sensitive surface S2 of the second pressure sensor 26.

[0053] In this way, the sensitive surface S1 of the first pressure sensor 24 and the sensitive surface S2 of the second pressure sensor 26 can be pressed by the pressing piece 18, and the magnitude of the pressure can be detected.

[0054] Specifically, in Figure 2 , the pressing piece 18 can be provided with two, and the two pressing pieces 18 are arranged in the mounting groove 15 and can move in the mounting groove 15 along a predetermined direction. The sensitive surface S1 of the first pressure sensor 24 and the sensitive surface S2 of the second pressure sensor 26 are correspondingly connected with one pressing piece 18. In an embodiment, when the elastic piece 12 is subjected to an external force, the elastic piece 12 can drive the pressing piece 18 to press the sensitive surface S1 of the first pressure sensor 24 and / or the sensitive surface S2 of the second pressure sensor 26, and the magnitude of the pressure can be detected.

[0055] Please refer to Figure 2 In some embodiments, the sensing assembly 14 comprises a fixing frame 16, and the fixing frame 16 comprises a first connecting portion 17 and a second connecting portion 19. The first connecting portion 17 is connected with the second connecting portion 19, the first connecting portion 17 is close to the tip of the fingertip body 10, the second connecting portion 19 is away from the tip of the fingertip body 10, and the first connecting portion 17 and the second connecting portion 19 are arranged at an angle.

[0056] In this way, the sensitive surface S1 of the first pressure sensor 24 and the sensitive surface S2 of the second pressure sensor 26 can be arranged at an angle α, and the pressing piece 18 can be conveniently installed.

[0057] Specifically, the screw can be arranged to screw the fixing frame 16 and the fingertip body 10, so as to fix the fixing frame 16 on the fingertip body 10. The first pressure sensor 24 can be arranged below the first connecting portion 17, and the second pressure sensor 26 can be arranged below the second connecting portion 19. Figure 2 In the embodiment, the first connecting portion 17 and the second connecting portion 19 can be arranged at a β angle, the β angle can be an obtuse angle, and the α angle and the β angle can be equal in size, so as to adapt to the arrangement of the sensitive surface S1 of the first pressure sensor 24 and the sensitive surface S2 of the second pressure sensor 26 at an α angle, and facilitate the installation of the pressing piece 18.

[0058] Please refer to Figure 2 In some embodiments, the sensing assembly 14 includes a circuit board 20 arranged between the fixing frame 16 and the fingertip body 10, the circuit board 20 includes a first mounting portion 28 and a second mounting portion 30, the first mounting portion 28 is connected to the second mounting portion 30, the first pressure sensor 24 is arranged on the first mounting portion 28, the second pressure sensor 26 is arranged on the second mounting portion 30, and the first mounting portion 28 and the second mounting portion 30 are arranged at an angle.

[0059] In this way, the sensitive surface S1 of the first pressure sensor 24 and the sensitive surface S2 of the second pressure sensor 26 can be arranged at an α angle.

[0060] Specifically, in the embodiment shown in Figure 2 The circuit board 20 can be bent, and a θ angle is formed between the first mounting portion 28 and the second mounting portion 30, and the θ angle can be an obtuse angle. The θ angle and the α angle can be equal in size. Along the length direction L of the fingertip assembly 100, the first mounting portion 28 is located on the left side of the fingertip assembly 100, and the second mounting portion 30 is located on the right side of the fingertip assembly 100. In one embodiment, the first mounting portion 28 and the second mounting portion 30 are arranged at a θ angle, which can adapt to the arrangement of the sensitive surface S1 of the first pressure sensor 24 and the sensitive surface S2 of the second pressure sensor 26 at an α angle.

[0061] It should be noted that the θ angle formed between the first mounting portion 28 and the second mounting portion 30 can be 155°. It can be understood that in other embodiments, the θ angle formed between the first mounting portion 28 and the second mounting portion 30 can also be other values, which are not limited herein. In one embodiment, the circuit board 20 is a flexible circuit board, which can adapt to the space layout requirements of bending and folding, is lighter and thinner, more wear-resistant, not easy to be damaged by impact, and has a long service life.

[0062] Please refer to Figure 2 and Figure 4 In some embodiments, the first connecting portion 17 and the second connecting portion 19 are both provided with a connecting hole 32, and the pressing piece 18 is arranged in the connecting hole 32.

[0063] In this way, the movement space of the pressing member 18 can be defined so that the pressing member 18 slides along the opening direction of the connecting hole 32.

[0064] Specifically, the connecting hole 32 can be provided with two, one is provided in the first connecting part 17, and the other is provided in the second connecting part 19, and one pressing member 18 is correspondingly provided in one connecting hole 32. In an embodiment, the pressing member 18 can abut against the hole wall of the connecting hole 32, and the elastic member 12 can drive the pressing member 18 to slide along the opening direction of the connecting hole 32, thereby defining the movement space of the pressing member 18, so that the pressing member 18 slides along the opening direction of the connecting hole 32 to press the sensitive surface S1 of the first pressure sensor 24 and the sensitive surface S2 of the second pressure sensor 26.

[0065] Please refer to Figure 5 In some embodiments, the sensing assembly 14 includes a wiring terminal 38, which is provided on the side of the circuit board 20 away from the fixed frame 16, and the bottom of the mounting groove 15 is provided with a passing groove 36, which is communicated with the mounting groove 15. The side of the fingertip body 10 away from the circuit board 20 is provided with a wiring groove 40, which is communicated with the passing groove 36. The wiring terminal 38 passes out of the passing groove 36 and is electrically connected with the electric connection wire (not shown) in the wiring groove 40.

[0066] In some embodiments, the wiring terminal 38 is provided on the second mounting part 30 and located at the end of the second mounting part 30 away from the first mounting part 28.

[0067] In this way, the electric connection wire and the wiring terminal 38 can be electrically connected through the wiring groove 40 and the passing groove 36.

[0068] Specifically, in Figure 5 In the length direction L of the fingertip assembly 100, the passing groove 36 is provided on the right side of the bottom of the mounting groove 15, and the wiring groove 40 is provided on the right side of the fingertip body 10. In an embodiment, one end of the wiring terminal 38 is connected to the second mounting part 30, and the other end of the wiring terminal 38 can pass out of the passing groove 36. The electric connection wire is provided in the wiring groove 40, and the wiring groove 40 is communicated with the passing groove 36. In this way, the electric connection wire and the wiring terminal 38 can be electrically connected through the wiring groove 40 and the passing groove 36.

[0069] Please refer to Figure 5 In some embodiments, the side of the fingertip body 10 away from the elastic member 12 is provided with a notch 34, which is communicated with the passing groove 36 and the wiring groove 40.

[0070] In this way, the openings of the passing groove 36 and the wiring groove 40 can be exposed, which is convenient for installation and connection.

[0071] Specifically, the notch 34 is located at the right side of the fingertip assembly 100 along the length direction L of the fingertip assembly 100. The penetrating slot 36 is located at the left side of the bottom of the notch 34, and the wiring slot 40 is located at the middle of the bottom of the notch 34 along the length direction L of the fingertip assembly 100. In one embodiment, the side of the fingertip body 10 away from the elastic member 12 is provided with the notch 34, the notch 34 is communicated with the penetrating slot 36 and the wiring slot 40, the openings of the penetrating slot 36 and the wiring slot 40 are exposed, and the installation connection is facilitated.

[0072] Please refer to Figure 4 and Figure 5 In some embodiments, the fingertip assembly 100 comprises a cover plate 42 covering the notch 34.

[0073] In this way, the wiring terminal 38 and the electric connecting wire can be protected to prevent circuit damage during work.

[0074] Specifically, in Figure 4 , the cover plate 42 is detachably connected to the fingertip body 10, and then covers the notch 34, so that the wiring terminal 38 and the electric connecting wire can be protected to prevent circuit damage during work.

[0075] Please refer to Figure 7 The mechanical hand 300 of the embodiment of the utility model comprises a finger root 50, a base 56 and the fingertip assembly 100 of any of the above embodiments, the finger root 50 is rotatably connected to the base 56, and the fingertip assembly 100 is rotatably connected to the finger root 50.

[0076] In the above mechanical hand 300, by arranging the sensing assembly 14 in the mounting slot 15 and between the fingertip body 10 and the elastic member 12, the elastic member 12 can be deformed under the action of external force to press the sensitive surface S1 of the first pressure sensor 24 and / or the sensitive surface S2 of the second pressure sensor 26 in the sensing assembly 14, so that the first pressure sensor 24 and the second pressure sensor 26 can detect forces in different directions respectively, and the sensing assembly 14 is better integrated in the fingertip assembly 100.

[0077] Specifically, the right end of the fingertip body 10 can be provided with a through hole 52, one end of the finger root 50 has a rotating shaft 54, and the rotating shaft 54 is arranged in the through hole 52. In one example, the fingertip body 10 can rotate around the rotating shaft 54, so that the fingertip assembly 100 is rotatably connected to the finger root 50. The base 56 can be in a columnar shape, and one end of the finger root 50 can be rotatably connected to the base 56, so that the finger root 50 can rotate.

[0078] In the description of the present specification, the description referring to the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" and the like means that the specific feature, structure, material or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In the present specification, the exemplary description of the above terms does not necessarily refer to the same embodiment or example. Also, the specific feature, structure, material or characteristic described can be combined in any suitable manner in one or more embodiments or examples.

[0079] Although the embodiments of the present application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the present application, the scope of which is defined by the claims and their equivalents.

Claims

1. A fingertip assembly for a robot hand, characterized by The fingertip assembly comprises: a fingertip body, one side of the fingertip body being provided with a mounting groove extending out of a tip end of the fingertip body; a resilient member connecting the fingertip body and covering the mounting groove; a sensing assembly located in the mounting groove and arranged between the fingertip body and the resilient member; wherein the sensing assembly comprises a first pressure sensor and a second pressure sensor, the first pressure sensor being closer to the tip end of the fingertip body and to the other side of the fingertip body than the second pressure sensor, the sensitive surface of the first pressure sensor being arranged at an angle with the sensitive surface of the second pressure sensor so that the first pressure sensor and the second pressure sensor can respectively detect forces in different directions; the resilient member can be deformed under external force to press the sensitive surface of the first pressure sensor and / or the sensitive surface of the second pressure sensor.

2. The fingertip assembly of claim 1, wherein, the side of the resilient member away from the second pressure sensor has a sensing curved surface, the part of the sensing curved surface corresponding to the sensitive surface of the second pressure sensor being outwardly convex relative to the part of the sensing curved surface corresponding to the sensitive surface of the first pressure sensor; and / or the angle between the plane where the sensitive surface of the first pressure sensor is located and the plane where the sensitive surface of the second pressure sensor is located is obtuse; and / or the first pressure sensor and the second pressure sensor are MEMS chip pressure sensors or strain gauge pressure sensors.

3. The fingertip assembly of claim 1, wherein, the sensing assembly comprises a pressing member movably arranged in the mounting groove, the pressing member being arranged above the first pressure sensor and the second pressure sensor, the resilient member being able to drive the pressing member to press the sensitive surface of the first pressure sensor and / or the sensitive surface of the second pressure sensor when subjected to external force.

4. The fingertip assembly of claim 3, wherein, the sensing assembly comprises a fixing frame, the fixing frame comprising a first connecting portion and a second connecting portion, the first connecting portion connecting the second connecting portion, the first connecting portion being close to the tip end of the fingertip body, the second connecting portion being away from the tip end of the fingertip body, the first connecting portion and the second connecting portion being arranged at an angle.

5. The fingertip assembly of claim 4, wherein, the sensing assembly comprises a circuit board arranged between the fixing frame and the fingertip body, the circuit board comprising a first mounting portion and a second mounting portion, the first mounting portion connecting the second mounting portion, the first pressure sensor being arranged in the first mounting portion, the second pressure sensor being arranged in the second mounting portion, the first mounting portion and the second mounting portion being arranged at an angle.

6. The fingertip assembly of claim 4, wherein, the first connecting portion and the second connecting portion are both provided with a connecting hole, the pressing member being arranged in the connecting hole.

7. The fingertip assembly of claim 5, wherein, The sensing assembly comprises a wiring terminal arranged on the side of the circuit board away from the fixing frame, a through slot is arranged in the bottom of the mounting slot, the through slot is communicated with the mounting slot, a wiring slot is arranged in the side of the fingertip body away from the circuit board, the wiring slot is communicated with the through slot, the wiring terminal is arranged to pass through the through slot and is electrically connected with the electric connecting wire arranged in the wiring slot; and / or, The circuit board is a flexible circuit board.

8. The fingertip assembly of claim 7, wherein, The wiring terminal is arranged on the second mounting part and is arranged at the end of the second mounting part away from the first mounting part.

9. The fingertip assembly of claim 7, wherein, A notch is arranged in the side of the fingertip body away from the elastic member, the notch is communicated with the through slot and the wiring slot; the fingertip assembly comprises a cover plate arranged on the notch.

10. A robot, characterized in that The fingertip assembly comprises a root, a base and the fingertip assembly of any one of claims 1-9, the root is rotatably connected with the base, and the fingertip assembly is rotatably connected with the root.

Images