CN100522507C - Flexible connecting line structure between integrated circuit board in the finger of robot delicacy hand - Google Patents
Flexible connecting line structure between integrated circuit board in the finger of robot delicacy hand Download PDFInfo
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- CN100522507C CN100522507C CNB2007101444669A CN200710144466A CN100522507C CN 100522507 C CN100522507 C CN 100522507C CN B2007101444669 A CNB2007101444669 A CN B2007101444669A CN 200710144466 A CN200710144466 A CN 200710144466A CN 100522507 C CN100522507 C CN 100522507C
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Abstract
The invention relates to a flexible tie-line structure between the integrated circuit board among fingers of the robot. One end of a second flexible drop-out line (1-3) is connected with a first rigid plate (1-2), and the other end is connected with a second rigid plate (1-4). One end of a fourth flexible drop-out line (1-7) is connected with a second rigid plate (1-4), and the other end of the fourth flexible drop-out line (1-7) is connected with a finger rigid circuit board (2). One end of the base joint lamp cord (3) is connected with the finger rigid circuit board (2), and the other end is connected with the fourth rigid plate (4-1). One end of a fifth flexible drop-out line (4-2) is connected with the fourth rigid plate (4-1) and the other end is connected with the base joint rigid circuit plate (5). The invention has features of reasonable circuit board layout and wire distributing way, not influencing the movement of joint, and good adaptability of finger tie-line to cradle head.
Description
Technical field
The present invention relates to the connecting line construction between the surface-mounted integrated circuit in a kind of robot finger.
Background technology
Robot delicate is as the end-effector of robot system, to the work capacity of robot system, particularly the dexterous manipulation ability has significant effects.After the eighties in 20th century, some countries have carried out the research of robot delicate, some representational Dextrous Hand in succession also have been born, such as Stanford/JPL hand, Utan/M.I.T hand, DLR hand, NASA hand or the like, at aspects such as the notion of Dextrous Hand, driving, sensors to follow-up even today Dextrous Hand research produced very big influence.Electrical system is as one of important component part of robot delicate, the main functions such as collection that realize motor-driven, sensor information, its structure such as form, are electrically connected at the stability of electromechanical integration formation to dexterous hand system, system and reliability etc. significant effects.Built-in and external is two main research directions in the current Dextrous Hand design, built-in is that driving, transmission, sensing and electric etc. is integrated in finger or the palm, for integrated, the reliability of arm hand system, maintainability etc. more rational advantage is arranged, electrical system is had strict more requirement at aspects such as space layout, connection and cablings.Built-in Dextrous Hand requires circuit board smaller and more exquisite, and the integrated design by mechanical, electric can be integrated in finger interior.
Circuit board in the existing robots clever hand finger and line thereof arrange have that circuit-board laying-out is unreasonable, line is complicated, cabling mode is unreasonable, the problem of poor reliability so that be difficult to realize dynamo-electric integrated.And point the bad adaptability of line, even also influence the motion in joint, the also propagation of interfering signal simultaneously to cradle head; Thereby make the rate of breakdown height of finger line, greatly reduced the functional reliability of robot delicate electrical system.
Summary of the invention
The present invention for solve circuit board in the existing robots clever hand finger and line thereof arrange have that circuit-board laying-out is unreasonable, line is complicated, cabling mode is unreasonable, the problem of poor reliability so that be difficult to realize dynamo-electric integrated, finger line to the bad adaptability of cradle head, influence the problem of the motion in joint, and then provide the flexible connecting line structure between the interior surface-mounted integrated circuit of a kind of robot clever hand finger.
Technical scheme of the present invention is: the flexible connecting line structure in the robot clever hand finger between the surface-mounted integrated circuit, and it comprises finger flexible PCB, finger rigid circuit board, basic flexibility of joint rat tail, basic flexibility of joint circuit board and basic joint rigid circuit board; Described finger flexible PCB 1 is by first rigid plate, second rigid plate, the 3rd rigid plate, the first flexible winding displacement, the second flexible winding displacement, the 3rd flexible winding displacement, the 4th flexible winding displacement is formed, first rigid plate is fixed on the terminal dactylus, second rigid plate and the 3rd rigid plate are separately fixed on the second knuckle, one end of the first flexible winding displacement is connected with the finger tip torque sensor, the other end of the first flexible winding displacement is connected with first rigid plate, one end of the second flexible winding displacement is connected with first rigid plate, the other end of the second flexible winding displacement is connected with second rigid plate, one end of the 3rd flexible winding displacement is connected with second rigid plate, the other end of the 3rd flexible winding displacement is connected with the 3rd rigid plate, and an end of the 4th flexible winding displacement is connected with second rigid plate; The other end of the 4th flexible winding displacement is connected with the finger rigid circuit board, and the finger rigid circuit board is fixed on the finger back of the body position of first knuckle; One end of base flexibility of joint rat tail with point rigid circuit board and be connected, the other end of basic flexibility of joint rat tail is connected with the 4th rigid plate in the basic flexibility of joint circuit board; Base flexibility of joint circuit board is made up of the 4th rigid plate and the 5th flexible winding displacement, and the 4th rigid plate is fixed on the back of the basic dactylus that does not move; Base joint rigid circuit board is fixed on the bottom of the basic dactylus that does not move; One end of the 5th flexible winding displacement is connected with the 4th rigid plate, and the other end of the 5th flexible winding displacement is connected with basic joint rigid circuit board.
The present invention has following beneficial effect: the present invention has realized that the flexible cabling between circuit board connects, and has reduced the complexity of pointing line, the reliability that has improved electrical system effectively.Have that circuit-board laying-out is reasonable, line is simple, cabling mode is reasonable, abarticular motion, reduce or avoid signal to be interfered, to point the line advantage good the adaptability of cradle head.
Description of drawings
Fig. 1 is the circuit configurations schematic diagram that circuit board of the present invention connects, Fig. 2 is the stereogram that the flexible cabling between circuit board and circuit board is arranged on finger, Fig. 3 is the stereogram (terminal dactylus 6 straight configurations) that the flexible cabling between the circuit board in terminal joint is arranged, Fig. 4 is the stereogram (terminal dactylus 6 case of bendings) that the flexible cabling between the circuit board in terminal joint is arranged, Fig. 5 be in the middle of the stereogram (second knuckle 7 straight configurations) arranged of flexible cabling between the circuit board in joint, Fig. 6 be in the middle of the stereogram (second knuckle 7 case of bendings) arranged of flexible cabling between the circuit board in joint, Fig. 7 is the stereogram that the central shaft hole cabling in basic joint is arranged, Fig. 8 is the A-A cutaway view of Fig. 7, Fig. 9 is the B-B cutaway view of Fig. 8, Figure 10 is the schematic diagram of central shaft hole cabling, Figure 11 is the state diagram of bending in the space of the specific embodiment five described flexible wires, Figure 12 is that an end D of flexible wires fixes and the state diagram of other end E when moving, and Figure 13 is when the state diagram of the mobile terminal E of flexible wires in the process that moves and then get back to initial point in the other direction.
The specific embodiment
The specific embodiment one: shown in Fig. 1～9, the flexible connecting line structure in the robot clever hand finger of present embodiment between the surface-mounted integrated circuit is made up of finger flexible PCB 1, finger rigid circuit board 2, basic flexibility of joint rat tail 3, basic flexibility of joint circuit board 4 and basic joint rigid circuit board 5; Described finger flexible PCB 1 is by the first rigid plate 1-2, the second rigid plate 1-4, the 3rd rigid plate 1-6, the first flexible winding displacement 1-1, the second flexible winding displacement 1-3, the 3rd flexible winding displacement 1-5, the 4th flexible winding displacement 1-7 forms, the first rigid plate 1-2 is fixed on the terminal dactylus 6, the second rigid plate 1-4 and the 3rd rigid plate 1-6 are separately fixed on the second knuckle 7 and are vertical mutually, the end of the first flexible winding displacement 1-1 is connected with finger tip torque sensor 20, the other end of the first flexible winding displacement 1-1 is connected with the first rigid plate 1-2, the end of the second flexible winding displacement 1-3 is connected with the first rigid plate 1-2, the other end of the second flexible winding displacement 1-3 is connected with the second rigid plate 1-4, the end of the 3rd flexible winding displacement 1-5 is connected with the second rigid plate 1-4, the other end of the 3rd flexible winding displacement 1-5 is connected with the 3rd rigid plate 1-6, and the end of the 4th flexible winding displacement 1-7 is connected with the second rigid plate 1-4; The other end of the 4th flexible winding displacement 1-7 is connected with finger rigid circuit board 2, and finger rigid circuit board 2 is fixed on the finger back of the body position of first knuckle 8; One end of base flexibility of joint rat tail 3 with point rigid circuit board 2 and be connected, the other end of basic flexibility of joint rat tail 3 is connected with the 4th rigid plate 4-1 in the basic flexibility of joint circuit board 4; Base flexibility of joint circuit board 4 is made up of the 4th rigid plate 4-1 and the 5th flexible winding displacement 4-2, and the 4th rigid plate 4-1 is fixed on the back of the basic dactylus 9 that does not move; Base joint rigid circuit board 5 is fixed on the bottom of the basic dactylus 9 that does not move; The end of the 5th flexible winding displacement 4-2 is connected with the 4th rigid plate 4-1, and the other end of the 5th flexible winding displacement 4-2 is connected with basic joint rigid circuit board 5.Finger rigid circuit board 2 also is connected with basic joint moment sensor, drive motors; Base flexibility of joint circuit board 4 is connected by socket with basic joint absolute position transducer; Base joint rigid circuit board 5 drive basic joint two direct current generators and by the spring stylus connected mode realize finger electric with electric being connected of palm.When middle joint 11 and 10 rotations of terminal joint, change by the second flexible winding displacement 1-3 and the 4th flexible winding displacement 1-7 wiring path, flexible wires can be adapted to because the requirement that line length is changed is rotated in the joint.
The specific embodiment two: as shown in Figure 3 and Figure 4, present embodiment also comprises lead pin 13, and described lead pin 13 is arranged on the terminal dactylus 6, and the described second flexible winding displacement 1-3 is wrapped on the described lead pin 13.When stretched in the finger tips joint, the distance between the first rigid plate 1-2 and the second rigid plate 1-4 was minimum, and the second long flexible winding displacement 1-3 is under the effect of lead pin 13 and himself rigidity, and lap wound is in the inboard of second knuckle 7; When terminal joint 10 is crooked gradually, distance between the first rigid plate 1-2 and the second rigid plate 1-4 increases, spur the second flexible winding displacement 1-3, simultaneously lead pin 13 turns clockwise around terminal joint 10, and the second flexible winding displacement 1-3 can satisfy above-mentioned two rigid plate apart from the requirement that increases.The effect of lead pin 13 mainly is under the finger straight configuration, with the second flexible winding displacement 1-3 pull-up, avoids pushing mutually, disturbing with the 4th flexible winding displacement 1-7.Other composition is identical with the specific embodiment one with annexation.
The specific embodiment three: as shown in Figure 5 and Figure 6, joint 11, the second rigid plate 1-4 and finger rigid circuit board 2 in the middle of present embodiment the described the 4th flexible winding displacement 1-7 crosses over.When stretched in joints in the middle of 11, the distance between the second rigid plate 1-4 and the finger rigid circuit board 2 was minimum, and the 4th long flexible winding displacement 1-7 is under the effect of self rigidity, around the outward flange in middle joint 11, the inboard of second knuckle 7; When finger second knuckle 7 was crooked gradually, the distance between above-mentioned two rigid plate increased, and spurs the 4th flexible winding displacement 1-7, and the 4th flexible winding displacement 1-7 can satisfy rigid plate apart from the requirement that increases.Other composition is identical with the specific embodiment one with annexation.
The specific embodiment four: shown in Fig. 7～10, through hole 14-1 and the radial hole 12-1 on the basic joint turning cylinder 12 that the described basic flexibility of joint rat tail 3 of present embodiment passes on the connector 14 penetrate in the basic joint turning cylinder 12, described basic flexibility of joint rat tail 3 is in the radial hole 12-1 (centre position of basic joint turning cylinder 12, the crosspoint of pitch orientation and side-sway direction) punishes into two bundles, the i.e. first rat tail 3-1 and the second rat tail 3-2, the end of the described first rat tail 3-1 along the axial bore 12-2 of basic joint turning cylinder from basic joint turning cylinder 12 passes, the other end of the described second rat tail 3-2 along the axial bore 12-2 of basic joint turning cylinder from basic joint turning cylinder 12 passes, the described first rat tail 3-1 is connected on the 4th rigid plate 4-1 along basic dactylus right side wall 9-1, and the described second rat tail 3-2 is connected on the 4th rigid plate 4-1 along basic dactylus left side wall 9-2.Cabling like this, when basic joint when pitching, side-sway direction are rotated, because the center of basic flexibility of joint rat tail 3 by turning cylinder, rotate in the joint and the length of basic flexibility of joint rat tail 3 does not change, thereby avoided because the requirement that line length is changed is rotated in the joint.Its principle is equivalent to structure shown in Figure 10, and line passes the centre of sphere, when flexible line end C when Spherical Surface S is moved, flexible line end C is constant to the distance L of centre of sphere O.Greatly strengthened the adaptability of finger interior line to cradle head.Other composition is identical with the specific embodiment one with annexation.
The specific embodiment five: shown in Figure 11～13, the present embodiment described first flexible winding displacement 1-1, the second flexible winding displacement 1-3, the 3rd flexible winding displacement 1-5, the 4th flexible winding displacement 1-7, basic flexibility of joint rat tail the 3, the 5th flexible winding displacement 4-2 in axial direction all have certain rigidity, radially all can finish the bending of certain curvature.Could satisfy connection request between the plate of crossing over the joint like this, adjust bending position, wiring path, the track lengths of flexible wires, thereby adapt to because the variation of the wire length that arthrogryposis caused according to the bending in joint.The flexible wires bending is in having two plane spaces of certain distance, and an end D of line fixes, when other end E moves, and the pulling flexible wires, bending point F moves thereupon; When mobile terminal E moves, gets back in the process of initial point to opposite direction, because the rigidity of flexible wires self can promote bending point F and move, gets back to initial position thereupon.Other composition is identical with the specific embodiment one with annexation.
Claims (4)
1, the flexible connecting line structure between the surface-mounted integrated circuit in a kind of robot clever hand finger, it comprises finger flexible PCB (1), finger rigid circuit board (2), basic flexibility of joint rat tail (3), basic flexibility of joint circuit board (4) and basic joint rigid circuit board (5); It is characterized in that described finger flexible PCB (1) is by first rigid plate (1-2), second rigid plate (1-4), the 3rd rigid plate (1-6), the first flexible winding displacement (1-1), the second flexible winding displacement (1-3), the 3rd flexible winding displacement (1-5), the 4th flexible winding displacement (1-7) is formed, first rigid plate (1-2) is fixed on the terminal dactylus (6), second rigid plate (1-4) and the 3rd rigid plate (1-6) are separately fixed on the second knuckle (7), one end of the first flexible winding displacement (1-1) is connected with finger tip torque sensor (20), the other end of the first flexible winding displacement (1-1) is connected with first rigid plate (1-2), one end of the second flexible winding displacement (1-3) is connected with first rigid plate (1-2), the other end of the second flexible winding displacement (1-3) is connected with second rigid plate (1-4), one end of the 3rd flexible winding displacement (1-5) is connected with second rigid plate (1-4), the other end of the 3rd flexible winding displacement (1-5) is connected with the 3rd rigid plate (1-6), and an end of the 4th flexible winding displacement (1-7) is connected with second rigid plate (1-4); The other end of the 4th flexible winding displacement (1-7) is connected with finger rigid circuit board (2), and finger rigid circuit board (2) is fixed on the finger back of the body position of first knuckle (8); One end of base flexibility of joint rat tail (3) with point rigid circuit board (2) and be connected, the other end of basic flexibility of joint rat tail (3) is connected with the 4th rigid plate (4-1) in the basic flexibility of joint circuit board (4); Base flexibility of joint circuit board (4) is made up of the 4th rigid plate (4-1) and the 5th flexible winding displacement (4-2), and the 4th rigid plate (4-1) is fixed on the back of the basic dactylus (9) that does not move; Base joint rigid circuit board (5) is fixed on the bottom of the basic dactylus (9) that does not move; One end of the 5th flexible winding displacement (4-2) is connected with the 4th rigid plate (4-1), and the other end of the 5th flexible winding displacement (4-2) is connected with basic joint rigid circuit board (5).
2, the flexible connecting line structure between the surface-mounted integrated circuit in the robot clever hand finger according to claim 1, it is characterized in that it also comprises lead pin (13), described lead pin (13) is arranged on the terminal dactylus (6), and the described second flexible winding displacement (1-3) is wrapped on the described lead pin (13).
3, the flexible connecting line structure between the surface-mounted integrated circuit in the robot clever hand finger according to claim 1 is characterized in that the middle joint (11) of the described the 4th flexible winding displacement (1-7) leap, second rigid plate (1-4) and finger rigid circuit board (2).
4, flexible connecting line structure in the robot clever hand finger according to claim 1 between the surface-mounted integrated circuit, it is characterized in that described basic flexibility of joint rat tail (3) passes through hole (14-1) on the connector (14) and the radial hole (12-1) on the basic joint turning cylinder (12) and penetrates in the basic joint turning cylinder (12) and be divided into two bundles, i.e. first rat tail (3-1) and second rat tail (3-2), the end of described first rat tail (3-1) along the axial bore (12-2) of basic joint turning cylinder from basic joint turning cylinder (12) passes, the other end of described second rat tail (3-2) along the axial bore (12-2) of basic joint turning cylinder from basic joint turning cylinder (12) passes, described first rat tail (3-1) is connected on the 4th rigid plate (4-1) along basic dactylus right side wall (9-1), and described second rat tail (3-2) is connected on the 4th rigid plate (4-1) along basic dactylus left side wall (9-2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007101444669A CN100522507C (en) | 2007-10-19 | 2007-10-19 | Flexible connecting line structure between integrated circuit board in the finger of robot delicacy hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007101444669A CN100522507C (en) | 2007-10-19 | 2007-10-19 | Flexible connecting line structure between integrated circuit board in the finger of robot delicacy hand |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101161426A CN101161426A (en) | 2008-04-16 |
| CN100522507C true CN100522507C (en) | 2009-08-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2007101444669A Expired - Fee Related CN100522507C (en) | 2007-10-19 | 2007-10-19 | Flexible connecting line structure between integrated circuit board in the finger of robot delicacy hand |
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| CN (1) | CN100522507C (en) |
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Inventor after: Liu Hong Inventor after: Liu Yiwei Inventor after: Chen Zhaopi Inventor after: Jin Minghe Inventor after: Fan Shaowei Inventor after: Jiang Li Inventor after: Ni Fenglei Inventor before: Liu Hong Inventor before: Liu Yiwei Inventor before: Chen Zhaopi Inventor before: Jin Minghe Inventor before: Fan Shaowei Inventor before: Jiang Li |
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Free format text: CORRECT: INVENTOR; FROM: LIU HONG LIU YIWEI CHEN ZHAOZHAO JIN MINGHE FAN SHAOWEI JIANG LI TO: LIU HONG LIU YIWEI CHEN ZHAOZHAO JIN MINGHE FAN SHAOWEI JIANG LI NI FENGLEI |
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Granted publication date: 20090805 Termination date: 20101019 |