Finger limiting structure, machine hand and robot

Abstract

The utility model discloses a finger limiting structure, machine hand and robot, finger limiting structure includes: finger part, circuit structure is installed in the finger part, response structure, the rear end of response structure is connected with the rear end of circuit structure, and the front end of response structure forms first clamping groove, and the front end of circuit structure is inserted into first clamping groove. Circuit structure and response structure adopt the mode of one end connection one end clamping, make the relative position of circuit structure and response structure fixed, and response structure is also not easy to fall off. The rear end of response structure can adopt lock attachment with the rear end of circuit structure, when two ends adopt different mode connection, convenient dismount and install, and the assembly stability is higher.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a finger limiting structure, a robotic hand, and a robot. Background Technology

[0002] Robotic arms are used in fields such as robotics or prosthetics. They are equipped with multiple sensors or different types of sensors to perceive the environment and perform tasks.

[0003] In the existing technology, sensors need to be stably mounted on the limbs, especially on smaller limbs such as fingers, and the stability of sensor mounting needs to be improved.

[0004] Therefore, existing technologies still need improvement and development. Utility Model Content

[0005] The technical problem to be solved by this utility model is to provide a finger limiting structure, a robotic hand and a robot in view of the above-mentioned defects of the prior art, so as to solve the problem that the assembly stability of the sensor on the finger needs to be improved in the prior art.

[0006] The technical solution adopted by this utility model to solve the technical problem is as follows: A finger restraint structure, wherein it comprises: fingertips; The circuit structure is installed on the finger. A sensing structure, wherein the rear end of the sensing structure is connected to the rear end of the circuit structure, and the front end of the sensing structure forms a first slot; The front end of the circuit structure is inserted into the first slot.

[0007] The finger limiting structure, wherein the circuit structure includes: Circuit board and first bracket; The front end of the circuit board is inserted into the first slot, or the front end of the first bracket is inserted into the first slot.

[0008] The finger limiting structure, wherein the sensing structure includes: The second bracket has the first slot formed at its front end, and a first locking groove formed on the second bracket, with an opening between the first slot and the first locking groove. A sensor is formed on the side of the second bracket away from the circuit board and at a position corresponding to the opening; A protective layer surrounds the sensor and the second support.

[0009] The finger limiting structure wherein a first locking hole is formed on the first bracket, the first locking hole allowing a first locking accessory to pass through and be locked in the first locking groove.

[0010] The finger limiting structure includes a second slot formed on the rear end of the finger; and an extension formed on the rear end of the second bracket, which engages with the second slot.

[0011] In the finger limiting structure, the second bracket forms a placement groove on the side opposite to the sensor, and the circuit structure and the front end of the finger are placed in the placement groove.

[0012] The finger limiting structure wherein a second locking groove is formed on the first bracket and a second locking hole is formed at the front end of the finger, the second locking hole allowing a second locking accessory to pass through and be locked in the second locking groove.

[0013] The finger limiting structure has three second locking grooves, located at the front end, middle part, and rear end of the first bracket, respectively.

[0014] A robotic hand, wherein it includes a finger limiting structure as described above.

[0015] A robot comprising a finger limiting structure as described in any of the above, or a robotic hand as described above.

[0016] Beneficial effects: The circuit structure and sensing structure are connected at one end and snap-fitted at the other, which fixes their relative positions and prevents the sensing structure from easily falling off. The rear end of the sensing structure can be locked to the rear end of the circuit structure. When the two ends are connected in different ways, it is convenient to disassemble and install, and the assembly stability is high. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the finger limiting structure in an embodiment of this utility model.

[0018] Figure 2 This is a top view of the finger limiting structure in an embodiment of this utility model.

[0019] Figure 3 yes Figure 2 Sectional view along line A.

[0020] Figure 4 This is the first exploded view of the finger limiting structure in this embodiment of the utility model.

[0021] Figure 5 This is the second exploded view of the finger limiting structure in an embodiment of this utility model.

[0022] Figure 6 This is the third exploded view of the finger limiting structure in this embodiment of the utility model.

[0023] Figure 7 This is a first cross-sectional view of the sensing structure in an embodiment of this utility model.

[0024] Figure 8 This is a second cross-sectional view of the sensing structure in an embodiment of this utility model.

[0025] Figure 9 This is an exploded view of the induction structure in an embodiment of this utility model.

[0026] Figure 10 This is a schematic diagram of the sensing structure and circuit structure in an embodiment of this utility model.

[0027] Figure 11 This is a schematic diagram of the finger portion in another embodiment of the present invention.

[0028] Figure 12 This is a cross-sectional view of the sensing structure and circuit structure in another embodiment of the present invention.

[0029] Figure 13 This is a schematic diagram of the robotic arm in the utility model.

[0030] Figure 14 This is a structural schematic diagram of the robot in the utility model.

[0031] Explanation of reference numerals in the attached figures: 10. Finger part; 11. Second slot; 12. Second locking hole; 13. Limiting groove; 20. Circuit structure; 21. Circuit board; 22. First bracket; 221. First locking hole; 222. Second locking groove; 223. Limiting post; 30. Sensing structure; 31. Second bracket; 311. First slot; 312. First locking slot; 313. Opening; 314. Extension; 315. Placement slot; 32. Sensor; 33. Protective layer; 41. First lock accessory; 42. Second lock accessory. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this utility model clearer and more explicit, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0033] Please also refer to Figures 1-12 This utility model provides some preferred embodiments of a finger limiting structure.

[0034] like Figures 1-3 and Figure 12 As shown, the finger limiting structure includes: Finger part 10; Circuit structure 20 is installed on the finger portion 10; The sensing structure 30 has its rear end connected to the rear end of the circuit structure 20, and its front end forms a first slot 311. The front end of the circuit structure 20 is inserted into the first slot 311.

[0035] Specifically, the finger portion 10 is shaped like a finger, and the circuit structure 20 is installed on the finger portion 10. The circuit structure 20 and the sensing structure 30 are connected at one end and snap-fitted at the other, which fixes the relative position of the circuit structure 20 and the sensing structure 30 and makes it difficult for the sensing structure 30 to fall off. The rear end of the sensing structure 30 and the rear end of the circuit structure 20 can be locked together. When the two ends are connected in different ways, it is convenient to disassemble and install, and the assembly stability is high. In order to further improve the connection strength between the sensing structure 30 and the circuit structure 20, the middle part of the sensing structure 30 is connected to the middle part of the circuit structure 20. The middle parts of the sensing structure 30 and the middle parts of the circuit structure 20 can be locked together.

[0036] In a preferred embodiment of this utility model, please also refer to... Figure 3 and Figure 12 The circuit structure 20 includes: Circuit board 21 and first bracket 22; The front end of the circuit board 21 is inserted into the first slot 311, or the front end of the first bracket 22 is inserted into the first slot 311.

[0037] Specifically, the circuit structure 20 includes a circuit board 21 and a first bracket 22. Either the front end of the circuit board 21 or the front end of the first bracket 22 can be inserted into the first slot 311. The rear end of the first bracket 22 is connected to the rear end of the sensing structure 30, thereby clamping the circuit board 21 between the first bracket 22 and the sensing structure 30. The middle part of the first bracket 22 is connected to the middle part of the sensing structure 30, further assisting in clamping the circuit board 21. The opening of the first slot 311 faces the circuit board 21 or the first bracket 22. By horizontally moving the circuit board 21 or the first bracket 22, the front end of the circuit board 21 or the front end of the first bracket 22 can be inserted into the first slot 311.

[0038] In a preferred embodiment of this utility model, please also refer to... Figures 7-9 The sensing structure 30 includes: The second bracket 31 has the first slot 311 formed at its front end, and the first locking groove 312 formed on the second bracket 31. An opening 313 is formed between the first slot 311 and the first locking groove 312. The sensor 32 is formed on the side of the second bracket 31 away from the circuit board 21 and corresponds to the position of the opening 313; The protective layer 33 encloses the sensor 32 and the second bracket 31.

[0039] Specifically, a first slot 311 is formed in the second bracket 31, and a first locking groove 312 is also formed on the second bracket 31. The first locking groove 312 can be located at the rear end of the second bracket 31 or at the middle of the second bracket 31. An opening 313 is formed between the first slot 311 and the first locking groove 312. The first locking groove 312 is used to connect with the first bracket 22. The second bracket 31 is used to support the sensor 32 and the protective layer 33. Both the second bracket 31 and the first bracket 22 are made of a material with a certain strength, such as plastic. The sensor 32 and the protective layer 33 can be deformed by pressing and are both made of a flexible material, such as silicone. The sensor 32 is conductive; for example, the sensor 32 can be made of conductive silicone. The protective layer 33 is insulating; for example, the protective layer 33 can be made of insulating silicone. When the protective layer 33 touches another object, the protective layer 33 deforms, causing the sensor 32 to deform and move. The deformation or movement of the sensor 32 is sensed by the electrodes on the circuit board 21, thereby detecting that the finger limiting structure has touched another object. There can be at least two electrodes, and there is an electric field between the two electrodes. When the sensor 32 deforms and moves, it changes the electric field distribution between the two electrodes, causing a change in the capacitance between the two electrodes.

[0040] In a preferred embodiment of this utility model, please also refer to... Figures 3-5 The first bracket 22 has a first locking hole 221, through which the first locking attachment 41 passes and is locked in the first locking groove 312.

[0041] Specifically, a first locking hole 221 is formed on the first bracket 22. The first locking hole 221 can be located in the middle of the first bracket 22 or at the rear end of the first bracket 22. The first locking hole 221 allows the first locking accessory 41 to pass through, and the first locking groove 312 locks and connects to the first locking accessory 41.

[0042] In a preferred embodiment of this utility model, please also refer to... Figure 6 , Figure 7 , Figure 10 and Figure 11A second slot 11 is formed on the rear end of the finger portion 10; an extension portion 314 is formed on the rear end of the second bracket 31, and the extension portion 314 is inserted into the second slot 11.

[0043] Specifically, a second slot 11 is formed at the rear end of the finger portion 10, and an extension portion 314 is formed at the rear end of the second bracket 31. The extension portion 314 is inserted into the second slot 11, further restricting the movement of the sensing structure 30 relative to the finger portion 10.

[0044] In a preferred embodiment of this utility model, please also refer to... Figures 7-8 The second bracket 31 forms a placement groove 315 on the side opposite to the sensor 32, and the circuit structure 20 and the front end of the finger 10 are placed in the placement groove 315.

[0045] Specifically, a placement groove 315 is formed on the second bracket 31, and the circuit structure 20 and the front end of the finger 10 are placed in the placement groove 315.

[0046] In a preferred embodiment of this utility model, please also refer to... Figure 4 , Figure 5 , Figures 10-12 A second locking groove 222 is formed on the first bracket 22, and a second locking hole 12 is formed at the front end of the finger 10. The second locking hole 12 allows the second locking attachment 42 to pass through and be locked in the second locking groove 222.

[0047] Specifically, a second locking groove 222 is formed on the first bracket 22, and a second locking hole 12 is formed at the front end of the finger 10. The second locking hole 12 allows the second locking accessory 42 to pass through, and the second locking groove 222 is locked to the second locking accessory 42. The second locking accessory 42 achieves a fixed connection between the front end of the finger 10 and the first bracket 22.

[0048] In a preferred embodiment of this utility model, please also refer to... Figure 4 , Figure 5 and Figure 11 There are three second locking slots 222, which are located at the front end, the middle part and the rear end of the first bracket 22, respectively.

[0049] Specifically, there can be three second locking slots 222, arranged in sequence, which can improve the connection strength of the first bracket 22.

[0050] In a preferred embodiment of this utility model, please also refer to... Figures 10-12A limiting post 223 can also be formed on the first support 22, and a limiting groove 13 is formed at the front end of the finger 10. The limiting post 223 is inserted into the limiting groove 13. The limiting groove 13 limits the limiting post 223, thereby restricting the relative movement between the first support 22 and the finger 10.

[0051] Based on the finger limiting structure of any of the above embodiments, this utility model also provides a robotic hand, including the finger limiting structure described in any of the above embodiments, as specifically as described above.

[0052] The robotic hand provided by this utility model possesses all the aforementioned beneficial effects due to the finger limiting structure described in any of the above technical solutions, which will not be elaborated further here. The robotic hand can be a single-finger robotic hand or a multi-finger robotic hand, such as a two-finger robotic hand or a three-finger robotic hand. The robotic hand can perform expected tasks such as grasping or transporting objects, operating tools, and displaying different gestures. Figure 13 The robotic hand has five fingers, any one of which can adopt the finger limiting structure described in any of the above embodiments. For example, the index finger, middle finger, ring finger, and little finger can adopt the finger limiting structure described in any of the above embodiments.

[0053] Based on the finger limiting structure or robotic hand of any of the above embodiments, this utility model also provides a robot, including the finger limiting structure or robotic hand described in any of the above embodiments, as specifically as described above.

[0054] The robot provided by this utility model, due to the inclusion of the finger-limiting structure or robotic arm described in any of the above technical solutions, possesses all the aforementioned beneficial effects, which will not be elaborated further here. The robot can be a special robot, wheeled robot, legged robot, crawler robot, squirming robot, flying robot, floating robot, diving robot, ground robot, underground robot, space robot, SCARA robot, parallel robot, master-slave robot, collaborative robot, etc. The robot can be a single-armed robot or a multi-armed robot. Figure 14It is a wheeled robot with bionic dual arms, wherein either bionic arm can adopt the robotic hand or the finger limiting structure described in any of the above embodiments.

[0055] It should be understood that the application of this utility model is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A finger-limiting structure, characterized in that, It includes: fingertips; The circuit structure is installed on the finger. A sensing structure, wherein the rear end of the sensing structure is connected to the rear end of the circuit structure, and the front end of the sensing structure forms a first slot; The front end of the circuit structure is inserted into the first slot.

2. The finger limiting structure according to claim 1, characterized in that, The circuit structure includes: Circuit board and first bracket; The front end of the circuit board is inserted into the first slot, or the front end of the first bracket is inserted into the first slot.

3. The finger limiting structure according to claim 2, characterized in that, The sensing structure includes: The second bracket has the first slot formed at its front end, and a first locking groove formed on the second bracket, with an opening between the first slot and the first locking groove. A sensor is formed on the side of the second bracket away from the circuit board and at a position corresponding to the opening; A protective layer surrounds the sensor and the second support.

4. The finger limiting structure according to claim 3, characterized in that, The first bracket has a first locking hole, through which a first locking accessory passes and is locked in the first locking groove.

5. The finger limiting structure according to claim 3, characterized in that, A second slot is formed on the rear end of the finger; an extension is formed on the rear end of the second bracket, and the extension is inserted into the second slot.

6. The finger limiting structure according to claim 3, characterized in that, The second bracket forms a placement groove on the side opposite to the sensor, and the circuit structure and the front end of the finger are placed in the placement groove.

7. The finger limiting structure according to any one of claims 2 to 6, characterized in that, A second locking groove is formed on the first bracket, and a second locking hole is formed at the front end of the finger. The second locking hole allows a second locking accessory to pass through and be locked in the second locking groove.

8. The finger limiting structure according to claim 7, characterized in that, There are three second locking slots, located at the front end, middle part and rear end of the first bracket respectively.

9. A robotic arm, characterized in that, It includes the finger limiting structure as described in any one of claims 1 to 8.

10. A robot, characterized in that, It includes the finger limiting structure as described in any one of claims 1 to 8, or the robotic hand as described in claim 9.

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