Dexterous hand finger with replaceable fingertips

Abstract

The utility model relates to the technical field of dexterous fingers, and discloses a dexterous hand finger with a replaceable fingertip, which comprises a finger body, one side of the finger body is provided with two symmetrical arc-shaped grooves, arc-shaped plates are slidably connected in the two arc-shaped grooves, one side of each arc-shaped plate is fixedly connected with a joint, and the other side of each arc-shaped plate is fixedly connected with the finger body. An end tool is arranged on one side of the connector, clamping grooves are formed in the arc surfaces of the two arc-shaped plates, inserting grooves communicating with the two arc-shaped grooves are formed in one side of the finger body, and inserting rods are slidably connected into the two inserting grooves. According to the finger, the inserting rod can be pulled out along the inserting groove through the detachable connector so that the inserting rod can be separated from the clamping groove in the arc-shaped plate, the inserting rod can be taken down to be replaced, and therefore the purpose of replacing the fingertip of the finger body is achieved.

Description

Technical Field

[0001] This utility model relates to the field of dexterous finger technology, and more specifically to a dexterous hand finger with replaceable fingertips. Background Technology

[0002] A dexterous hand is a multi-degree-of-freedom mechanical device that mimics the movement capabilities of human fingers. It is widely used in fields such as robot operation, medical prostheses, industrial automation, and special operations. A traditional dexterous hand typically consists of multiple joints, drive units, and sensing modules. Its core objective is to achieve precise grasping, multimodal operation, and dynamic interaction with complex environments.

[0003] A search revealed a Chinese patent with publication number CN211729238U, which discloses a base joint for the fingers of a robot's humanoid dexterous hand. This device achieves two degrees of freedom of movement in the proximal finger joint through a differential structure driven by tendons and pulleys, separating the motion mechanism and the drive mechanism, making the base joint structure more compact. However, the fingertip is prone to bumps and collisions during use, which can easily cause damage. Furthermore, since the finger part is a single piece, replacing the entire finger is cumbersome. Utility Model Content

[0004] In order to overcome the above-mentioned defects of the prior art, the present invention provides a dexterous hand finger with replaceable fingertips to solve the problems existing in the background art.

[0005] This utility model provides the following technical solution: a dexterous hand finger with replaceable fingertips, comprising a finger body, two symmetrical arc-shaped grooves on one side of the finger body, arc-shaped plates slidably connected in each of the two arc-shaped grooves, a connector fixedly connected to one side of each of the two arc-shaped plates, an end tool provided on one side of the connector, slots formed on the arc surfaces of each of the two arc-shaped plates, slots communicating with the two arc-shaped grooves on one side of the finger body, insert rods slidably connected in each of the two slots, and the two insert rods passing through the two slots respectively, a connecting plate fixedly connected to one end of each of the two insert rods, and a fixing component for locking the connecting plate between the connecting plate and the finger body.

[0006] As a further embodiment of this utility model, the fixing component includes two symmetrical grooves formed on the connecting plate, and a clearance opening is formed on one side of each of the two grooves near the end position. Two symmetrical I-shaped sliding grooves are formed on one side of the finger body. I-shaped sliders are slidably connected in each of the two I-shaped sliding grooves. A connecting block is fixedly connected to one side of each of the two I-shaped sliders. An L-shaped locking block is fixedly connected to one side of each of the two connecting blocks, and one side of the L-shaped locking block slides in the groove.

[0007] As a further embodiment of this utility model, a spring is fixedly connected to one side of each of the two I-shaped sliders, and the other end of the spring is fixed to one side of the inner wall of the I-shaped slide groove.

[0008] As a further embodiment of this utility model, a limiting groove is provided on one side of each of the two grooves, and a limiting block is slidably connected in each of the two limiting grooves. One side of the limiting block protrudes through one side of the limiting groove to the outside of the limiting groove. A second spring is welded to one side of the limiting block, and the other end of the second spring is fixed to the inner wall of one side of the limiting groove.

[0009] As a further embodiment of this utility model, a fixing block is fixedly connected to one side of the connecting block, and an anti-slip texture is provided on one side of the fixing block.

[0010] As a further embodiment of this utility model, the connector is provided in multiple ways, and the end tools provided on one side of the multiple connectors are all different.

[0011] The technical effects and advantages of this utility model are as follows:

[0012] 1. This utility model, through the provision of a detachable connector, allows the insertion rod to be pulled out along the slot, disengaging it from the slot on the arc-shaped plate, thus enabling it to be removed and replaced, thereby achieving the purpose of replacing the fingertip of the finger body.

[0013] 2. This utility model, through the provided fixing component, can fix the connecting plate by moving the L-shaped locking block into the groove after the plug rod is fully inserted into the slot, thereby ensuring that the plug rod is always inserted into the slot and its position is fixed.

[0014] 3. The present invention, through the provision of a limiting block and a limiting groove, can fix the L-shaped card block when it slides along the groove, thereby preventing the L-shaped card block from sliding in the groove during operation. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0016] Figure 2 This utility model Figure 1 A partially enlarged structural diagram.

[0017] Figure 3 This utility model Figure 2 A schematic diagram of a localized explosion structure.

[0018] Figure 4 This utility model Figure 2 A schematic diagram of the bottom structure.

[0019] Figure 5 This utility model Figure 4 A schematic diagram of a localized explosion structure.

[0020] Figure 6 This utility model Figure 4 A magnified structural diagram of part A.

[0021] Figure 7 This utility model Figure 5 A magnified structural diagram of part B.

[0022] The attached figures are labeled as follows: 1. Finger body; 2. Connector; 3. End tool; 4. Arc groove; 5. Arc plate; 6. Slot; 7. Slot; 8. Insert rod; 9. Connecting plate; 10. Groove; 11. Alternating opening; 12. I-shaped slide groove; 13. I-shaped slider; 14. Connecting block; 15. L-shaped locking block; 16. Spring one; 17. Fixing block; 18. Limiting groove; 19. Limiting block; 20. Spring two. Detailed Implementation

[0023] The technical solution of this utility model will be clearly and completely described below with reference to the accompanying drawings. In addition, the forms of the various structures described in the following embodiments are merely illustrative. This utility model is not limited to the structures described in the following embodiments. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0024] Reference Figures 1-6This utility model provides a dexterous hand with replaceable fingertips, including a finger body 1. Two symmetrical arc-shaped grooves 4 are formed on one side of the finger body 1. Arc-shaped plates 5 are slidably connected to each of the two arc-shaped grooves 4. A connector 2 is bolted to one side of each of the two arc-shaped plates 5. An end tool 3 is provided on one side of each of the connector 2. Slots 6 are formed on the arc surfaces of each of the two arc-shaped plates 5. A slot 7 is formed on one side of the finger body 1, communicating with each of the two arc-shaped grooves 4. Insert rods 8 are slidably connected to each of the two slots 7, and each insert rod 8 passes through one of the two slots 6. A connecting plate 9 is bolted to one end of each insert rod 8. A fixing component is provided between the connecting plate 9 and the finger body 1 to lock the connecting plate 9 in place. When replacing the connector 2 on the fingertip, open the fixing component to disengage it from the connecting plate 9, then pull the connecting plate 9 downwards. This will cause the two fixed rods 8 to move downwards along the slot 7. As the rods 8 move downwards, they will completely disengage from the slot 6 on the arc plate 5. Then, pull the connector 2 to one side so that the arc plate 5 slides along the arc groove 4. Once they are completely disengaged, the connector 2 can be removed. After replacing the new connector 2, the above steps can be reversed. The detachable connector 2 allows the rods 8 to be pulled out along the slot 7, disengaging them from the slot 6 on the arc plate 5, thus allowing them to be removed and replaced, thereby achieving the purpose of replacing the fingertip of the finger body 1.

[0025] In this invention, the fixing component includes two symmetrical grooves 10 formed on the connecting plate 9. Each groove 10 has a clearance opening 11 on one side near its end. The finger body 1 has two symmetrical I-shaped sliding grooves 12 on one side. I-shaped sliders 13 are slidably connected within each I-shaped sliding groove 12. Each I-shaped slider 13 has a connecting block 14 bolted to one side. Each connecting block 14 has an L-shaped locking block 15 bolted to one side. The L-shaped locking block 15 is located within the groove. The two I-shaped sliders 13 slide within the groove 10. A spring 16 is welded to one side of each slider 13, and the other end of the spring 16 is fixed to the inner wall of one side of the I-shaped groove 12. A limiting groove 18 is formed on one side of each groove 10. A limiting block 19 is slidably connected within each limiting groove 18, and one side of the limiting block 19 protrudes beyond one side of the limiting groove 18. A spring 20 is welded to one side of the limiting block 19, and the other end of the spring 20 is fixed to the inner wall of one side of the limiting groove 18. When it is necessary to... When the fixing component is opened, first press the limiting block 19 to make it slide along the limiting groove 18, and at this time, the second spring 20 is compressed. When the limiting block 19 is fully embedded in the limiting groove 18, then move the L-shaped locking block 15 towards the relief opening 11, thereby driving the connecting block 14 and the I-shaped slider 13 fixed thereto to move. During the movement of the I-shaped slider 13 along the I-shaped slide groove 12, it compresses the first spring 16 to make it bear force. When the L-shaped locking block 15 moves onto the relief opening 11, The connecting plate 9 can then be removed. After the insert rod 8 is fully inserted into the slot 7 using the provided fixing components, the L-shaped locking block 15 can be moved into the groove 10 to fix the connecting plate 9, thereby ensuring that the insert rod 8 is always inserted into the slot 7 and its position is fixed. The limiting block 19 and the limiting groove 18 can fix the L-shaped locking block 15 when it slides along the groove 10, preventing the L-shaped locking block 15 from sliding in the groove 10 during operation.

[0026] To increase the functionality of the device, a fixing block 17 is fixedly connected to one side of the connecting block 14 by bolts. The fixing block 17 has anti-slip texture on one side. There are multiple connectors 2, and the end tools 3 on one side of each connector 2 are different.

[0027] The use of this utility model involves the following steps:

[0028] S1: When it is necessary to replace the connector 2 on the fingertip, open the fixing component to disengage it from the connecting plate 9, then pull the connecting plate 9 downwards, thereby causing the two plug rods 8 fixed thereto to move downwards along the slot 7. After the plug rods 8 completely disengage from the slot 6 on the arc plate 5 during the downward movement, the connector 2 can be pulled to one side so that the arc plate 5 on it slides along the arc groove 4. When the two are completely disengaged, the connector 2 can be removed. After replacing the new connector 2, the above steps can be reversed.

[0029] S2: When it is necessary to open the fixed component, first press the limiting block 19 to make it slide along the limiting groove 18, and at this time the spring 20 is compressed by force. When the limiting block 19 is fully embedded in the limiting groove 18.

[0030] S3: Then move the L-shaped locking block 15 towards the direction of the relief opening 11, thereby driving the connecting block 14 and the I-shaped slider 13 fixed thereto to move. As the I-shaped slider 13 moves along the I-shaped slide groove 12, it compresses the spring 16 to make it bear force. When the L-shaped locking block 15 moves onto the relief opening 11, the connecting plate 9 can be removed.

[0031] Finally, the following points should be noted: In the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installation", "connection" and "linkage" should be interpreted broadly, and can be mechanical or electrical connection, or internal connection between two components, or direct connection. "Up", "down", "left", "right", etc. are only used to indicate relative positional relationship. When the absolute position of the described object changes, the relative positional relationship may change.

[0032] The accompanying drawings of the embodiments disclosed in this utility model only involve the structures involved in the embodiments disclosed in this utility model. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of this utility model can be combined with each other.

Claims

1. A dexterous hand finger with replaceable fingertips, comprising a finger body (1), characterized in that: Two symmetrical arc-shaped grooves (4) are provided on one side of the finger body (1). Arc-shaped plates (5) are slidably connected in both arc-shaped grooves (4). A connector (2) is fixedly connected to one side of the two arc-shaped plates (5). An end tool (3) is provided on one side of the connector (2). A slot (6) is provided on the arc surface of both arc-shaped plates (5). A slot (7) is provided on one side of the finger body (1) and communicates with the two arc-shaped grooves (4). A rod (8) is slidably connected in both slots (7). The two rods (8) pass through the two slots (6). A connecting plate (9) is fixedly connected to one end of the two rods (8). A fixing component for locking the connecting plate (9) is provided between the connecting plate (9) and the finger body (1).

2. A dexterous hand finger with replaceable fingertip according to claim 1, characterized in that: The fixing component includes two symmetrical grooves (10) on the connecting plate (9). Each of the two grooves (10) has a clearance opening (11) on one side near the end. The finger body (1) has two symmetrical I-shaped sliding grooves (12) on one side. Each of the two I-shaped sliding grooves (12) has an I-shaped slider (13) slidably connected in it. Each of the two I-shaped sliders (13) has a connecting block (14) fixedly connected on one side. Each of the two connecting blocks (14) has an L-shaped locking block (15) fixedly connected on one side. One side of the L-shaped locking block (15) slides in the groove (10).

3. A dexterous hand finger with replaceable fingertip according to claim 2, characterized in that: One side of each of the two I-shaped sliders (13) is fixedly connected to a spring (16), and the other end of the spring (16) is fixed to the inner wall of one side of the I-shaped groove (12).

4. A dexterous hand finger with replaceable fingertip according to claim 2, characterized in that: Each of the two grooves (10) has a limiting groove (18) on one side. Each of the two limiting grooves (18) has a limiting block (19) slidably connected inside. One side of the limiting block (19) protrudes through one side of the limiting groove (18) to the outside of the limiting groove (18). A second spring (20) is welded to one side of the limiting block (19), and the other end of the second spring (20) is fixed to one side of the inner wall of the limiting groove (18).

5. A dexterous hand finger with replaceable fingertip according to claim 2, characterized in that: A fixing block (17) is fixedly connected to one side of the connecting block (14), and the fixing block (17) has anti-slip texture on one side.

6. A dexterous hand finger with replaceable fingertip according to claim 1, characterized in that: The connector (2) is provided in multiple ways, and the end tools (3) provided on one side of each connector (2) are different.

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