CN-121973262-A - Finger of dexterous hand

CN121973262ACN 121973262 ACN121973262 ACN 121973262ACN-121973262-A

Abstract

The application provides a finger of a dexterous hand, which relates to the technical field of artificial intelligence, and comprises at least two knuckles, wherein the at least two knuckles comprise a first knuckle and a second knuckle which are sequentially arranged along the direction from a finger root to a finger tip along the axial direction of the finger, the first knuckle is provided with a first driving module for driving the first knuckle, the second knuckle is provided with a second driving module for driving the second knuckle, the second knuckle comprises a finger tip and a connecting part, the finger tip is arranged on the connecting part through a detachable component, and the connecting part is connected with the first knuckle. In the embodiment of the application, each knuckle is directly driven, and the transmission path is short, thereby being beneficial to improving the control precision. And through detachable fingertip, can be according to actual scene needs, the quick replacement fingertip, and need not to change whole hand, reduce cost.

Inventors

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Assignees

北京中科慧灵机器人技术有限公司

Dates

Publication Date: 20260505
Application Date: 20260324

Claims (13)

1. A finger of a dexterous hand comprising: The finger comprises at least two knuckles, wherein the at least two knuckles comprise a first knuckle and a second knuckle which are sequentially arranged along the direction from a finger root to a finger tip along the axial direction of a finger, the first knuckle is provided with a first driving module for driving the first knuckle, and the second knuckle is provided with a second driving module for driving the second knuckle; the second knuckle comprises a fingertip and a connecting part, wherein the fingertip is installed on the connecting part through a detachable component, and the connecting part is connected with the first knuckle.
2. The finger according to claim 1, wherein the detachable member comprises a clasp provided at the bottom of the fingertip, the connecting portion being provided with a clasp groove matching the clasp; And under the condition that the fingertip is mounted on the connecting part, the buckle is clamped into the buckle groove.
3. The finger according to claim 2, wherein the connecting portion comprises two first connecting rods, a cavity is formed between the two first connecting rods, and a guiding surface is arranged around the bottom of the fingertip and used for guiding the fingertip to be installed in the cavity.
4. The finger according to claim 1, wherein a fingertip printed circuit board PCB and a base PCB are sequentially provided between the fingertip and the connection part; A fingertip contact is arranged on one side of the fingertip PCB, which is close to the connecting part, and an elastic member is arranged on one side of the base PCB, which is far away from the connecting part, wherein the number and the positions of the elastic members are in one-to-one correspondence with the contacts; the elastic member is in contact with the fingertip mounted to the connection part, and electrical conduction between the base PCB and the fingertip PCB; The elastic member is in disconnection contact with the fingertip contacts, and the base PCB is electrically disconnected from the fingertip PCB in a case where the fingertip is detached from the connection part.
5. The finger according to any one of claims 1 to 4, wherein the first driving module comprises two transmission mechanisms arranged on the back side of the finger, and the two transmission mechanisms are arranged in parallel, the first driving module further comprises rotation mechanisms capable of rotating in different directions, and each transmission mechanism is connected with the rotation mechanism through a connecting member; Under the condition that the two transmission mechanisms synchronously execute the bending and stretching motions, triggering the bending and stretching motions of the fingers; And triggering the side swing movement of the finger under the condition that the two transmission mechanisms asynchronously execute the bending and stretching movement.
6. The finger according to claim 5, wherein the rotation mechanism is a cross-shaped rotation shaft, and the cross-shaped rotation shaft comprises a first rotation shaft and a second rotation shaft which are mutually perpendicular; The two transmission mechanisms are respectively and movably connected with the first rotating shaft through joint bearings, and the second rotating shaft is arranged on the finger base of the finger through the rotating shaft bearings; triggering the flexion and extension movements of the fingers under the condition that the two transmission mechanisms execute synchronous flexion and extension movements; and triggering the side swing movement of the finger under the condition that the two transmission mechanisms execute asynchronous flexion and extension movements.
7. The finger according to claim 6, wherein two of said transmission mechanisms are symmetrically disposed along a longitudinal central axis of said finger back, said first rotation shaft including two ends symmetrically disposed along said longitudinal central axis; Each transmission mechanism is movably connected with the corresponding end part of the first rotating shaft through the joint bearing.
8. The finger according to claim 7, wherein the axis of the first shaft is perpendicular to the guiding paths of the two transmission mechanisms; the corresponding end parts of the first rotating shaft are provided with second connecting rods, and the two knuckle bearings are respectively connected with the two end parts of the first rotating shaft through the two second connecting rods; Under the condition that the two transmission mechanisms execute synchronous bending and stretching motions, the two second connecting rods rotate around the first rotating shaft to trigger the bending and stretching motions of the first knuckle; and under the condition that the two transmission mechanisms execute asynchronous bending and stretching motions, at least one second connecting rod rotates around the second rotating shaft to trigger the side swinging motion of the first knuckle.
9. The finger according to claim 6, wherein each transmission mechanism comprises a screw rod and screw rod nuts sleeved on the screw rod, and the two screw rod nuts corresponding to the two transmission mechanisms are respectively connected with two ends of the first rotating shaft through joint bearings; Under the condition that the two screw nuts synchronously move along the screw, triggering the screw nuts to drive the first knuckle to do bending and stretching movement through the knuckle bearing; Under the condition that the two screw nuts move asynchronously along the screw, the screw nuts are triggered to drive the first knuckle to do side swinging motion through the knuckle bearing.
10. The finger according to claim 9, wherein each of the transmission mechanisms includes a lead screw motor coupled to the lead screw for driving the lead screw nut along a guide path of the lead screw.
11. The finger according to claim 10, wherein the screw and the screw motor are arranged side by side, the screw motor is fixedly provided with a motor gear, the screw is fixedly provided with a screw gear, and the motor gear is in meshed connection with the screw gear; The screw motor is used for driving the screw nut to move along the screw through the motor gear and the screw gear.
12. The finger of claim 9, wherein each of the lead screw nuts includes a nut guide post, the lead screw nut moving along a guide path of the nut guide post.
13. The finger according to claim 1, further comprising a third knuckle connected to the first knuckle and the second knuckle; The third knuckle is provided with a corresponding third driving module, the third driving module is used for driving the third knuckle to execute bending and stretching movement, and the second driving module and the third driving module are arranged side by side.

Description

Finger of dexterous hand Technical Field The application relates to the technical field of artificial intelligence, in particular to a finger of a smart hand. Background The smart hand of the robot is an end actuating mechanism for the robot to realize fine operation, and the structure of the smart hand determines the flexibility and the operation precision of the hand operation. In an actual application scene, different tasks have significant differences in requirements on operation modes, load capacity and operation precision. At present, special robot dexterous hands are generally adopted to respectively execute different types of tasks, and in a multi-task scene facing different requirements, different dexterous hands are required to be used for executing tasks, so that the production cost of the robot dexterous hands is high. Disclosure of Invention The embodiment of the application provides fingers of a dexterous hand to solve the problem of high production cost of the dexterous hand of a robot. In order to solve the technical problems, the application is realized as follows: the embodiment of the application provides a finger of a dexterous hand, which comprises the following steps: The finger comprises at least two knuckles, wherein the at least two knuckles comprise a first knuckle and a second knuckle which are sequentially arranged along the direction from a finger root to a finger tip along the axial direction of a finger, the first knuckle is provided with a first driving module for driving the first knuckle, and the second knuckle is provided with a second driving module for driving the second knuckle; the second knuckle comprises a fingertip and a connecting part, wherein the fingertip is installed on the connecting part through a detachable component, and the connecting part is connected with the first knuckle. In the embodiment of the application, each knuckle is directly driven, and the transmission path is short, thereby being beneficial to improving the control precision. And through detachable fingertip, can be according to actual scene needs, the quick replacement fingertip, and need not to change whole hand, reduce cost. Drawings In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments of the present application will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort to a person of ordinary skill in the art. FIG. 1 is a back view of a finger of a dexterous hand provided in an embodiment of the present application; FIG. 2 is a cross-sectional view of the L-L based on FIG. 1, provided by an embodiment of the present application; FIG. 3 is a schematic illustration of a fingertip installation provided by an embodiment of the present application; FIG. 4 is an exploded view of a finger of a dexterous hand provided by an embodiment of the present application; fig. 5 is a structural diagram of a cross-shaped rotating shaft according to an embodiment of the present application. Detailed Description The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application. The embodiment of the application provides fingers of a dexterous hand to solve the problem of high production cost of the dexterous hand of a robot. Referring to fig. 1 to 3, an embodiment of the present application provides a finger of a smart hand, including: The finger comprises at least two knuckles, wherein the at least two knuckles comprise a first knuckle 1 and a second knuckle 2 which are sequentially arranged along the finger axial direction from a finger root to a finger tip, the first knuckle 1 is provided with a first driving module 11 for driving the first knuckle, and the second knuckle 2 is provided with a second driving module 21 for driving the second knuckle 2; wherein the second knuckle 2 comprises a fingertip 22 and a connecting portion 23, the fingertip 22 is mounted on the connecting portion 23 by a detachable member 221, and the connecting portion 23 is connected with the first knuckle 1. Wherein the at least two knuckles may be two knuckles, three knuckles, or more than three knuckles. Wherein the first knuckle is close to the finger root and the second knuckle is a fingertip. When the finger is a thumb, the at least two knuckles may be two knuckles, and when the finger is an index finger, a middle finger, a ring finger or a l