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CN-122008274-A - Finger module and manipulator

CN122008274ACN 122008274 ACN122008274 ACN 122008274ACN-122008274-A

Abstract

The invention discloses a finger module and a manipulator, which comprise a finger matrix, a mounting seat rotatably connected with the finger matrix, a driving mechanism and a flexible circuit board. The finger base body comprises at least two knuckles and a linkage mechanism which are connected in turn, the driving mechanism is arranged on the mounting seat and connected with the knuckles and used for driving the knuckles closest to the mounting seat to rotate, the flexible circuit board comprises a first part positioned on the side surface of the finger base body, the first part comprises at least two fixed sections fixed on the knuckles and bendable movable sections, and two ends of each movable section are respectively connected with two adjacent fixed sections. When the finger matrix is in a straightened state, the extension lines of the two adjacent fixed sections penetrate through the rotating connection parts of the two adjacent knuckles, and the straightened length of the movable section is larger than the minimum distance between the two adjacent fixed sections in the direction of the central axis of the finger matrix. The movable section bends along with the rotation of the knuckle, so that the risk that the movable section is subjected to pulling acting force due to the relative rotation of the knuckle is reduced, and the service life is prolonged.

Inventors

  • WU QINGHAI

Assignees

  • 深圳市速腾聚创科技有限公司

Dates

Publication Date
20260512
Application Date
20250818

Claims (10)

  1. 1. A finger module, comprising: the finger matrix is provided with a finger abdomen side and a finger back side, the finger abdomen side and the finger back side are oppositely arranged along a first direction, the finger matrix comprises a linkage mechanism and at least two knuckles, the at least two knuckles are sequentially and rotatably connected, and the linkage mechanism is respectively connected with the at least two knuckles; the mounting seat is rotationally connected with the finger matrix; The driving mechanism is arranged on the mounting seat and connected with the knuckle, and is used for driving the knuckle closest to the mounting seat to rotate around a first axis relative to the mounting seat, and the first axis, the central axis of the finger matrix and the first direction are perpendicular to each other; The flexible circuit board comprises a first part positioned on the side surface of the finger matrix, wherein the side surface of the finger matrix is positioned between the finger abdomen side and the finger back side, the first part comprises at least two fixed sections and bendable movable sections, two ends of each movable section are respectively connected with two adjacent fixed sections, and the fixed sections are fixed on the knuckles; When the finger matrix is in a straightening state, extension lines of two adjacent fixed sections penetrate through the rotating connection positions of two adjacent knuckles, and the straightening length of the movable section is larger than the minimum distance between the two adjacent fixed sections along the central axis direction of the finger matrix.
  2. 2. The finger module according to claim 1, wherein the movable section comprises a first movable layer and a second movable layer, opposite ends of the first movable layer are respectively connected with two adjacent fixed sections, opposite ends of the second movable layer are respectively connected with two adjacent fixed sections, and wherein the first movable layer and the second movable layer are separately arranged.
  3. 3. The finger module of claim 1, further comprising a force touch sensor located on a ventral side of the finger base, the force touch sensor mounted to the knuckle; the flexible circuit board further comprises an inner extension section, one end of the inner extension section is connected to the fixed section, and the other end of the inner extension section is connected to the force touch sensor.
  4. 4. The finger module of claim 1, wherein the flexible circuit board further comprises a second portion disposed proximate the knuckle of the mount and connected to the first portion, wherein the second portion extends along a central axis of the finger base at a portion on a dorsal side of the finger base for connection with a control board.
  5. 5. The finger module according to claim 4, wherein the second portion comprises a joint section, a bending section and a connecting section, the joint section is fixed to the knuckle closest to the mounting base, one end of the joint section is connected to the first portion, the other end of the joint section is connected to one end of the bending section, the other end of the bending section is connected to the connecting section, and the connecting section is used for connecting with a control board, wherein the bending section has a straightening length larger than a minimum distance between the joint section and the connecting section on a central axis of the finger base.
  6. 6. The finger module according to claim 5, wherein the bending section is connected to a side of the connecting section facing away from the engagement section.
  7. 7. The finger module according to claim 5, wherein the bending section comprises a first bending layer and a second bending layer, two ends of the first bending layer are respectively connected with the connecting section and the connecting section, two ends of the second bending layer are respectively connected with the connecting section and the connecting section, and the first bending layer and the second bending layer are separately arranged.
  8. 8. The finger module of claim 5, further comprising an angle sensor mounted to the mount for detecting an angle of rotation of the knuckle closest to the mount relative to the mount; the flexible circuit board further comprises an extension section, one end of the extension section is connected with the connecting section, and the other end of the extension section is connected with the angle sensor.
  9. 9. The finger module according to claim 1, wherein the driving mechanism comprises a driving motor and a driving assembly, the driving assembly and the driving motor are both mounted on the mounting base, the driving assembly is connected with the finger base, and the driving assembly is used for driving the finger base to perform bending motion or straightening motion relative to the mounting base under the driving of the driving motor.
  10. 10. A manipulator comprising a finger module according to any one of claims 1-9, a mechanical palm, and a control board, the finger module being attached to the mechanical palm, the control board being disposed on the mechanical palm, the flexible circuit board of the finger module being attached to the control board.

Description

Finger module and manipulator Technical Field The embodiment of the invention relates to the field of robots, in particular to a finger module and a manipulator. Background In some radiation scenes, extreme weather or dangerous environments, robots are often used to replace people to work, and the manipulator of the robot is used to complete operation instructions. A manipulator is a robotic end effector that is typically used to simulate the action of a human hand, thereby helping a user perform work in place of a human hand. Generally, a manipulator is formed by connecting a manipulator palm and a plurality of finger modules, each of which is provided with a cable for transmitting an electric signal, the cable being inserted into a slit on the dorsal side or the ventral side of the finger module and connected to a control board on the manipulator palm. The inventor of the present application has found that when the plurality of finger modules perform a movement (for example, a bending movement or a straightening movement), the cables on the plurality of finger modules are arranged at random, and wear occurs after the plurality of movements of the finger modules, so that the normal operation of the finger modules is affected. Disclosure of Invention In order to solve the technical problems, the embodiment of the invention provides a finger module and a manipulator, wherein the position of a flexible circuit board arranged on a finger substrate is designed so as to reduce the influence on the flexible circuit board when the finger substrate moves. The technical scheme adopted by the embodiment of the invention for solving the technical problems is as follows: The finger module comprises a finger matrix, a mounting seat, a driving mechanism and a flexible circuit board, wherein the finger matrix is provided with a finger abdomen side and a finger back side, the finger abdomen side and the finger back side are oppositely arranged along a first direction, the finger matrix comprises a linkage mechanism and at least two knuckles, at least two knuckles are sequentially connected in a rotating mode, the linkage mechanism is respectively connected with at least two knuckles, the mounting seat is rotatably connected with the finger matrix, the driving mechanism is mounted on the mounting seat and is connected with the knuckles, the driving mechanism is used for driving the knuckle closest to the mounting seat to rotate around a first axis relative to the mounting seat, the first axis, the central axis of the finger matrix and the first direction are perpendicular to each other, the flexible circuit board comprises a first part located on the side surface of the finger matrix, the side surface of the finger matrix is located between the finger abdomen side and the finger back side, two ends of the movable section are respectively connected with two adjacent fixed sections, and the movable section is fixed on the finger section. When the finger matrix is in a straightening state, extension lines of two adjacent fixed sections penetrate through the rotating connection positions of two adjacent knuckles, and the straightening length of the movable section is larger than the minimum distance between the two adjacent fixed sections along the central axis direction of the finger matrix. In some embodiments, the active segment includes a first active layer and a second active layer, two opposite ends of the first active layer are respectively connected with two adjacent fixed segments, and two opposite ends of the second active layer are respectively connected with two adjacent fixed segments, wherein the first active layer and the second active layer are separately arranged. The movable section adopts the layering design, and its first movable layer and second movable layer can buckle respectively, and the direction that the first movable layer buckled and the direction that the second movable layer buckled can be the same or different, are favorable to first movable layer and second movable layer to buckle along with respective atress condition, have reduced stress concentration's risk, are favorable to improving the durability of extension movable section, strengthen flexible circuit board's life. In some embodiments, the finger module further comprises a force touch sensor positioned on the abdomen side of the finger base, the force touch sensor is mounted on the knuckle, and the flexible circuit board further comprises an inner extension section, one end of the inner extension section is connected with the fixed section, and the other end of the inner extension section is connected with the force touch sensor. Therefore, the detection result of the force touch sensor can be transmitted through the inner extension section to conveniently control the finger matrix. In some embodiments, the flexible circuit board further comprises a second portion disposed proximate the knuckle of the mount and connected to the first por