CN110640776A - Dexterous hand finger and multi-finger dexterous hand - Google Patents
Dexterous hand finger and multi-finger dexterous hand Download PDFInfo
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- CN110640776A CN110640776A CN201911067818.4A CN201911067818A CN110640776A CN 110640776 A CN110640776 A CN 110640776A CN 201911067818 A CN201911067818 A CN 201911067818A CN 110640776 A CN110640776 A CN 110640776A
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- 210000001145 finger joint Anatomy 0.000 claims description 6
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- 239000004579 marble Substances 0.000 claims description 4
- 238000012423 maintenance Methods 0.000 abstract description 2
- 238000013461 design Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000010923 batch production Methods 0.000 description 3
- 230000006698 induction Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
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- 238000006467 substitution reaction Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
- B25J13/082—Grasping-force detectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0233—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by chains, cables or ribbons
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Abstract
The invention discloses a dexterous hand finger and a multi-finger dexterous hand, and belongs to the technical field of mechanical grippers. This dexterous finger has realized the modularization of finger, with electromechanical drive and control structure built-in inside the finger, as a finger unit, has independent functional module, easily pegs graft on external equipment and can realize quick replacement, the maintenance of being convenient for.
Description
Technical Field
The invention relates to the technical field of mechanical grippers, in particular to a dexterous hand finger and a multi-finger dexterous hand.
Background
The multi-finger dexterous hand is the necessary hardware for realizing complex operation of the robot. The current dexterous hand product mainly adopts monolithic structure, and the structure is too complicated, is subject to the product demand and is limited, and manufacturing cost is higher, is difficult to batch production. Meanwhile, when multi-degree-of-freedom action is realized, the adopted driving scheme and transmission scheme do not have strong reliability, and the dexterous hand has a small structure, so that the load born by the dexterous hand is limited, and the overload phenomenon is easy to occur, thereby causing damage.
Disclosure of Invention
The invention aims to solve the technical problems that the multi-finger dexterous hand adopts an integral structure, so that the structure is too complicated, the mass production is difficult, the finger units are difficult to modularize, and the maintenance process is complicated.
In order to solve the technical problems, the invention provides a finger of a dexterous hand, which comprises a plurality of finger sections, a power mechanism for driving the finger sections to rotate relatively and a control circuit board for controlling the power mechanism, wherein the control circuit board is electrically connected with the power mechanism and is arranged inside the finger sections.
Optionally, the finger of the dexterous hand is further provided with a plurality of sensors electrically connected with the control circuit board, so as to detect the stress condition of the surface of the finger and/or the rotation angle between the finger joints.
Optionally, an electrical interface is arranged at one end of the finger of the dexterous hand, and the electrical interface is electrically connected with the control circuit board and used for plugging the finger of the dexterous hand into external equipment so as to enable the control circuit board to be electrified or communicated with the external equipment.
Optionally, the dexterous hand finger includes first knuckle, second knuckle and third knuckle in proper order, first knuckle is kept away from the one end of second knuckle is provided with electrical interface, the second knuckle with first knuckle carries out articulated connection, the third knuckle with the second knuckle carries out articulated connection.
Optionally, the third knuckle is provided in an "L" shape, such that the third knuckle is adapted to be inserted into a narrow slot for operation.
Optionally, a first sensor assembly is disposed on the third knuckle; the second knuckle is provided with the control circuit board, a second sensing assembly and a first power mechanism; the first knuckle is provided with a first power mechanism, the control circuit board is electrically connected with the first sensor assembly, the second sensor assembly, the first power mechanism and the second power mechanism respectively, so that the third knuckle is driven to rotate relative to the first knuckle through the first power mechanism according to the surface stress condition of the first knuckle detected by the first sensor assembly, the surface stress condition of the second knuckle detected by the second sensor assembly and the rotation angle between the knuckles, and the second power mechanism drives the second knuckle to rotate relative to the first knuckle.
Optionally, the control circuit board is electrically connected to the first sensor assembly, the second sensor assembly, the first power mechanism, and the second power mechanism through a flexible circuit board, respectively.
Optionally, the first power mechanism includes a first reduction motor electrically connected to the control circuit board, and the first reduction motor drives the third knuckle to rotate relative to the second knuckle through gear set transmission; the second power mechanism comprises a second speed reducing motor electrically connected with the control circuit board, and the second speed reducing motor drives the second knuckle to rotate relative to the first knuckle through gear set transmission.
In addition, in order to solve the technical problems, the invention also provides a multi-finger dexterous hand, which comprises a dexterous hand main body and a plurality of fingers of the dexterous hand, wherein the dexterous hand main body is provided with a plurality of finger mounting grooves, and the fingers of the dexterous hand are arranged in a one-to-one corresponding manner and are inserted and mounted;
optionally, a rotating seat body is arranged in the finger mounting groove of the dexterous hand so as to correspondingly insert and mount the corresponding finger of the dexterous hand; the smart hand is characterized in that a main control panel and a main power mechanism are arranged in the smart hand main body, and the main control panel is electrically connected with the main power mechanism so as to drive the rotating base bodies in the finger mounting grooves of the smart hand to rotate around the central shaft through the main power mechanism.
Optionally, each be provided with connection picture peg on the rotatory pedestal of dexterous hand finger mounting groove, just connection picture peg pass through flexible circuit board with the main control board carries out electric connection.
Optionally, the dexterous hand finger with corresponding on the rotatory pedestal connection picture peg carries out the elasticity cooperation of pegging graft, in order to realize each dexterous hand finger with electric connection between the dexterous hand main part.
Optionally, be provided with cartridge locking mechanism in the dexterous hand main part, be used for the dexterous hand finger pegs graft during the dexterous hand main part, lock in the grafting direction to prevent that dexterous hand finger from droing in the motion.
Optionally, the main power mechanism includes a third speed reduction motor electrically connected to the main control board, and the third speed reduction motor is in transmission fit with a transmission belt through a gear set to drive the rotating base body in each dexterous hand finger mounting groove to rotate around the central shaft.
Optionally, the inner wall of each finger mounting groove of the dexterous hand is provided with a stop marble to realize the positioning after the rotation of the corresponding rotary seat body.
The fingers of the dexterous hand and the multi-finger dexterous hand provided by the invention comprise a plurality of finger sections, a power mechanism for driving the finger sections to rotate relatively and a control circuit board for controlling the power mechanism, wherein the control circuit board is electrically connected with the power mechanism and is arranged in the finger sections. Therefore, the finger modularization of the dexterous hand finger is realized, the electromechanical driving and controlling structure is arranged in the finger, and the finger unit is an independent functional module, is easy to be inserted into external equipment and can be quickly replaced, and is convenient to maintain. To the dexterous hand of many fingers, each dexterous hand finger all can dismantle according to the actual demand wantonly as the perfect module of a function, promptly each dexterous hand finger can regard as an independent module, the production configuration, can effectively solve among the prior art dexterous hand of many fingers and adopt integral structure to lead to the structure to excessively complicate the technical problem that is difficult to batch production, and simultaneously, because it adopts the modularized design, make each dexterous hand finger independent, can carry out different quantity combinations according to the demand, in order to satisfy more users 'actual demand, and adopt the quick change design of grafting installation, can quick replacement, provide more facilities for user's actual operation.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic view of the overall structure of a multi-fingered dexterous hand according to an embodiment of the present invention.
Fig. 2 is a partially disassembled structure diagram of the multi-fingered dexterous hand shown in fig. 1.
Figure 3 is a schematic view of the disassembled structure of the fingers of the multi-fingered dexterous hand of figure 1.
FIG. 4 is a side view of the force sensing structure of the multi-fingered dexterous hand of FIG. 1.
Fig. 5 is a schematic diagram of another implementation form of the multi-fingered dexterous hand shown in fig. 1.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1 to 3, the present embodiment provides a multi-fingered dexterous hand 100, the multi-fingered dexterous hand 100 includes a dexterous hand body 110 and a plurality of dexterous hand fingers 120, the dexterous hand body 110 is provided with a plurality of finger mounting grooves 111, and the plurality of dexterous hand fingers 120 are inserted and mounted in a one-to-one correspondence. The dexterous hand finger 120 comprises a plurality of finger sections, a power mechanism for driving the plurality of finger sections to rotate relatively and a control circuit board 125 for controlling the power mechanism, wherein the control circuit board 125 is electrically connected with the power mechanism and is arranged inside the plurality of finger sections.
In this embodiment, as shown in fig. 1 to fig. 3, the finger 120 of the dexterous hand is further provided with a plurality of sensors electrically connected to the control circuit board for detecting the force condition on the finger surface and/or the rotation angle between the finger joints. One end of the dexterous hand finger 120 is provided with an electrical interface (not shown), which is electrically connected to the control circuit board 125, for plugging the dexterous hand finger 120 into an external device (i.e. the dexterous hand main body 110), so that the control circuit board 125 is powered on or communicates with the external device. Specifically, as shown in fig. 2 and fig. 3, each finger 120 of the dexterous hand of the present embodiment sequentially includes a first knuckle 121, a second knuckle 122 and a third knuckle 123, wherein an end of the first knuckle 121 away from the second knuckle 122 is provided with an electrical interface, and can be correspondingly inserted into the corresponding finger mounting groove 111 of the dexterous hand body 110, the second knuckle 122 is hinged to the first knuckle 121, and the third knuckle 123 is hinged to the second knuckle 122. A first sensor assembly 124 is disposed on the third knuckle 123. The second knuckle 122 is provided with a control circuit board 125, a second sensing assembly 126 and a first power mechanism 127. The first knuckle 121 is provided with a second power mechanism 128, the control circuit board 125 is electrically connected to the first sensor assembly 124, the second sensor assembly 126, the first power mechanism 127 and the second power mechanism 128, respectively, so that the third knuckle 123 is driven to rotate relative to the second knuckle 122 through the first power mechanism 127 (in this embodiment, positive and negative 90-degree rotation is specific) according to the surface stress condition of the third knuckle 123 detected by the first sensor assembly 124, the surface stress condition of the second knuckle 122 detected by the second sensor assembly 126 and the rotation angle between the knuckles, and the second knuckle 122 is driven to rotate relative to the first knuckle 121 through the second power mechanism 128 (in this embodiment, positive and negative 90-degree rotation is specific). Therefore, each dexterous hand finger 120 is provided with the control circuit board 125 to independently control the finger, that is, each dexterous hand finger 120 is provided with a control unit, which can realize the functions of closed-loop control, sensor information processing, communication and the like of the finger, and the control unit in the finger can realize the real-time control of the finger joint with higher efficiency, realize the control with higher precision and has the characteristic of high modularization. In addition, the third knuckle 123 is driven by the first power mechanism 127 to rotate relative to the second knuckle 122, and the second knuckle 122 is driven by the second power mechanism 128 to rotate relative to the first knuckle 121, that is, each dexterous hand finger 120 adopts a full-drive scheme, so that the motion of each joint can be accurately controlled, and the motion requirements of each joint can be met. The third knuckle 123 is configured in an "L" shape so that the third knuckle 123 can be used to insert into a narrow gap for operation, such as in a gift delivery scenario, insert the "L" shaped knuckle into a hand-held gap of a gift box/bag, and turn the "L" shaped knuckle to hook up the gift box/bag for delivery to the consumer; if the device is used for grabbing goods stacked on a shelf or a box body of a supermarket, a dexterous hand can be inserted into the gap through the L-shaped knuckle due to the small gap between the goods, and the goods can be grabbed out or turned over.
As shown in fig. 3 and 4, the aforementioned first sensor assembly 124 is a force sensing structure, which specifically includes a first rigid plane plate 1241, a plurality of first force-bearing pillars 1242 and a sensor unit 1243, the plurality of first force-bearing pillars 1242 and the sensor unit 1243 are disposed on the inner side of the first rigid plane plate 1241, and the first rigid plane plate 1241 is used for receiving an external force and distributing the external force to the plurality of first force-bearing pillars 1242; the sensor unit 1243 includes a plurality of sensing blocks corresponding to the plurality of first force-bearing columns 1241 and a sensor circuit board electrically connected to the plurality of sensing blocks (which is electrically connected to the control circuit board 125 to receive and process data information collected by the force sensing structure through the control circuit board 125), each sensing block is used for sensing the component force acting on the corresponding first force-bearing column 1242 and feeding the component force back to the sensor circuit board, and the plurality of sensing blocks are uniformly distributed on a side surface of the sensor circuit board where the first rigid plane plate 1241 is located. At this time, the force sensing structure is a single-sided sensing structure, and can only sense the force condition of one side surface of the third knuckle 123, that is, when an external force is applied to the first rigid plane 1241, the force is transmitted to the sensor circuit board through the corresponding first force-bearing column 1242 and the sensing block, so as to sense the force condition of the side surface of the third knuckle 123. The periphery of the first rigid plane board 1241 is provided with the supporting frame 1244 in a looped manner, the inner side of the supporting frame 1244 is in clearance fit connection with the edge of the first rigid plane board 1241, so as to limit the first rigid plane board 1241 to move inside the supporting frame 1244, and meanwhile, a certain clearance is left between the inner side of the supporting frame 1244 and the edge of the first rigid plane board 1241, when the first rigid plane board 1241 is stressed, the clearance can reduce the loss of force transmitted to the corresponding sensing block, i.e., the effect of force transmitted to the sensing block by the rigid plane board is not affected, and the detection capability of the corresponding sensing block is enhanced.
As shown in fig. 3 and 4, a second rigid plane 1245 is disposed in the support frame 1244 and is symmetrical to the first rigid plane 1241, so that the sensor unit 1243 is clamped between the first rigid plane 1241 and the second rigid plane 1245, and the inner side of the support frame 1244 is in clearance fit connection with the edge of the second rigid plane 1245 to limit the movement of the second rigid plane 1245 in the support frame 1244. Specifically, a side slot (not shown) is disposed inside the supporting frame 1244 to correspondingly clamp the joint of the edges of the first rigid plane 1241 and the second rigid plane 1245, so that the inside of the supporting frame 1244 is in clearance fit connection with the edge of the first rigid plane 1241 and the edge of the second rigid plane 1244, respectively. Thus, when the first rigid board 1241 is pressed by an external force, the force drives the sensor component 1243 to press the second rigid board 1245, and the edge of the second rigid board 1245 abuts against the side slot body to support the external force. When the second rigid plate 1245 is pressed by an external force, the force drives the sensor component 1243 to press the first rigid plate 1241, and the edge of the first rigid plate 1241 abuts against the side slot body to support the external force. In this case, the force sensing structure is a double-sided sensing structure, and can sense the force applied to both surfaces of the third knuckle 123. In addition, in order to enhance the double-sided sensing capability, a plurality of second force-bearing columns (not shown) corresponding to the plurality of sensing blocks may be disposed inside the second rigid plane 1245, each sensing block is further configured to sense the component force acting on the corresponding second force-bearing column and feed the component force back to the sensor circuit board, and the sensor circuit board may determine the direction of the external force applied thereto by combining the angle sensor and the current feedback information. An elastic pad (not shown) is further arranged on the induction block, the surface area of the elastic pad is slightly larger than that of the first stress column, and the elastic pad is used for enabling the induction block to be in full contact with the first stress column, so that the contact plane of the induction block is stable and consistent; on the other hand, the elastic pad can also provide a pre-tightening force, so that the force sensing structure does not loosen too much as a whole, that is, under the condition of not being pressed by external force, the elastic pad itself provides a pre-loading force to the sensing block, so as to reduce the structure shaking, for example, 100gf is provided, the pre-loading force is set to 0gf through program initialization, when being pressed by external force, the force measured by the sensing block is 300gf, the external force measured by the sensing block is 300gf, and the sensing block actually receives a force of 400 gf; in addition, the elastic pad is disposed such that a sufficient gap is left between the first rigid plane 1241 and the second rigid plane 1245, so that the first rigid plane 1241 and the second rigid plane 1245 do not directly interfere with each other when being pressed by an external force.
As shown in fig. 3, the aforementioned second sensor assembly 126 includes two angle sensors and a plurality of pressure sensors, the two angle sensors are respectively disposed at the hinge joint between the first knuckle 121 and the second knuckle 122 and the hinge joint between the second knuckle 122 and the third knuckle 123 to realize sensing of the rotation angle between the knuckles, and the plurality of pressure sensors are tightly attached to the rear rigid plane plate of the second knuckle 122 to sense the force condition on the rear side surface of the second knuckle 122.
As shown in fig. 2, the aforementioned control circuit board 125 is electrically connected to the first sensor assembly 124, the second sensor assembly 126, the first power mechanism 127 and the second power mechanism 128 through the flexible circuit board 11. To avoid the flexible circuit board 11 from being tightened due to the rotation between the knuckles, the length of the flexible circuit board 11 is much longer than the length of the corresponding dexterous hand finger 120.
As shown in fig. 3, the first power mechanism 127 includes a first speed reduction motor electrically connected to the control circuit board 125, and the first speed reduction motor drives the third knuckle 123 to rotate relative to the second knuckle 122 through gear set transmission. Specifically, because the length of the second knuckle 122 is limited, the first reduction motor is a short motor, the short motor of the present embodiment is a TWG1220-N20VA, and the short motor includes a worm gear reduction box and a dc brush motor, that is, a transmission gear set is directly mounted on the motor, and the motor directly extends out of the driving shaft at the side to drive the third knuckle 123 to rotate relative to the second knuckle 122. The second power mechanism 128 includes a second speed reduction motor electrically connected to the control circuit board 125, and the second speed reduction motor drives the second knuckle 122 to rotate relative to the first knuckle 121 through gear set transmission. Specifically, since the length of the third knuckle 123 is long, the second reduction motor is a long motor, which provides better driving effect than a short motor, and the motor shaft drives the third knuckle 123 to rotate relative to the second knuckle 122 through the gear train transmission. Therefore, the rotation of each finger 120 of the dexterous hand is driven by the motor to reduce the speed, so that the transmission can be reduced, and the transmission precision and efficiency can be improved.
As shown in fig. 2, a rotary base 112 is disposed in the finger mounting groove 111 for correspondingly inserting and mounting a corresponding finger 120 of a dexterous hand. The main body 110 of the dexterous hand is provided with a main control panel 113 and a main power mechanism 114, wherein the main control panel 113 is electrically connected to the main power mechanism 114, so as to drive the rotation base 112 in each finger mounting groove 111 to rotate around the central axis through the main power mechanism 114. Specifically, as shown in fig. 2, a connection board 12 is disposed on the rotation base 112 of each finger installation slot 111, and the connection board 12 is electrically connected to the main control board 113 through a flexible circuit board (not shown). One end of each of the fingers 120 of the dexterous hand is provided with an electrical interface (not shown) which is elastically inserted and matched with the corresponding connecting plug board 12 on the rotating base 112, so as to realize the electrical connection between each of the fingers 120 of the dexterous hand and the main body 110 of the dexterous hand. Through such a structural arrangement, it can be ensured that the electrical connection between each dexterous hand finger 120 and the dexterous hand main body 110 does not affect the rotation of each dexterous hand finger 120 itself. The main power mechanism 114 includes a third speed reduction motor electrically connected to the main control board 113, and the third speed reduction motor is in transmission fit with a transmission belt through a gear set to drive the rotation seat 112 in each finger installation slot 111 to rotate around the central axis. Specifically, two dexterous fingers 120 are arranged in this embodiment (for those skilled in the art, three fingers 120 can be also arranged according to actual requirements (as shown in fig. 5, the three fingers 120 are distributed on the main body 110 of the dexterous hand in a triangular manner), five fingers and the like), at this time, the third speed reduction motor drives two rotating base bodies 112 to rotate synchronously through double gears and belt transmission, so that each dexterous finger 120 rotates around the central shaft along with the rotating base body 112 in the corresponding finger mounting groove 111. Because the inner wall of each finger mounting groove 111 is provided with a stop marble (not shown) to realize the positioning when the corresponding rotary seat body 112 rotates to a specific angle, the stop marble can be installed at a position which enables the dexterous hand to be in a more universal state, not only can realize the accurate positioning of the fingers of the dexterous hand under the drive of the motor, but also can enable the rotary seat body to be in a clamping position when the drive of the motor is turned off, thereby avoiding the manual random rotation of the fingers. The dexterous hand main body 110 is provided with an insertion locking mechanism (not shown) for locking in the insertion direction when the fingers 120 of the dexterous hand are inserted into the dexterous hand main body 110 so as to prevent the fingers 120 of the dexterous hand from falling off in high-speed motion or under the influence of external force; on the other hand, the device is convenient to disassemble and maintain, namely, the device can be directly pulled out without manual unlocking operation and the like by applying larger external force.
The fingers of the dexterous hand and the multi-finger dexterous hand provided by the embodiment of the invention comprise a plurality of finger sections, a power mechanism for driving the finger sections to rotate relatively and a control circuit board for controlling the power mechanism, wherein the control circuit board is electrically connected with the power mechanism and is arranged in the finger sections. Therefore, the finger modularization of the dexterous hand finger is realized, the electromechanical driving and controlling structure is arranged in the finger, and the finger unit is an independent functional module, is easy to be inserted into external equipment and can be quickly replaced, and is convenient to maintain. To the dexterous hand of many fingers, each dexterous hand finger all can dismantle according to the actual demand wantonly as the perfect module of a function, promptly each dexterous hand finger can regard as an independent module, the production configuration, can effectively solve among the prior art dexterous hand of many fingers and adopt integral structure to lead to the structure to excessively complicate the technical problem that is difficult to batch production, and simultaneously, because it adopts the modularized design, make each dexterous hand finger independent, can carry out different quantity combinations according to the demand, in order to satisfy more users 'actual demand, and adopt the quick change design of grafting installation, can quick replacement, provide more facilities for user's actual operation.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, and the scope of protection is still within the scope of the invention.
Claims (15)
1. The dexterous hand finger is characterized by comprising a plurality of finger sections, a power mechanism for driving the finger sections to rotate relatively and a control circuit board for controlling the power mechanism, wherein the control circuit board is electrically connected with the power mechanism and arranged inside the finger sections.
2. The finger of the dexterous hand according to claim 1, wherein the finger of the dexterous hand is further provided with a plurality of sensors electrically connected with the control circuit board for detecting the stress condition of the finger surface and/or the rotation angle between the finger joints.
3. The dexterous hand finger according to claim 2, wherein one end of the dexterous hand finger is provided with an electrical interface, and the electrical interface is electrically connected with the control circuit board and used for plugging the dexterous hand finger into an external device so as to enable the control circuit board to be electrified or communicated with the external device.
4. A dexterous hand finger according to claim 3, comprising in sequence a first knuckle, a second knuckle, and a third knuckle, the first knuckle being provided with the electrical interface at an end remote from the second knuckle, the second knuckle being hingedly connected to the first knuckle, and the third knuckle being hingedly connected to the second knuckle.
5. A dexterous hand finger according to claim 4, wherein said third knuckle is arranged in an "L" shape such that said third knuckle is adapted to be inserted into a narrow gap for manipulation.
6. A dexterous hand finger according to claim 4, wherein a first sensor assembly is provided on the third knuckle; the second knuckle is provided with the control circuit board, a second sensing assembly and a first power mechanism; the first knuckle is provided with a first power mechanism, the control circuit board is electrically connected with the first sensor assembly, the second sensor assembly, the first power mechanism and the second power mechanism respectively, so that the third knuckle is driven to rotate relative to the first knuckle through the first power mechanism according to the surface stress condition of the first knuckle detected by the first sensor assembly, the surface stress condition of the second knuckle detected by the second sensor assembly and the rotation angle between the knuckles, and the second power mechanism drives the second knuckle to rotate relative to the first knuckle.
7. The dexterous hand finger according to claim 6, wherein the control circuit board is electrically connected to the first sensor assembly, the second sensor assembly, the first power mechanism and the second power mechanism through flexible circuit boards, respectively.
8. The dexterous hand finger according to claim 6, wherein the first power mechanism comprises a first speed reduction motor electrically connected with the control circuit board, and the first speed reduction motor drives the third finger joint to rotate relative to the second finger joint through gear set transmission; the second power mechanism comprises a second speed reducing motor electrically connected with the control circuit board, and the second speed reducing motor drives the second knuckle to rotate relative to the first knuckle through gear set transmission.
9. A multi-fingered dexterous hand, which is characterized by comprising a dexterous hand body and a plurality of dexterous hand fingers according to any one of claims 1 to 8, wherein the dexterous hand body is provided with a plurality of finger mounting grooves, and the plurality of dexterous hand fingers are inserted and mounted in a one-to-one correspondence manner.
10. The multi-fingered dexterous hand according to claim 9, wherein a rotating seat body is arranged in the finger mounting groove of the dexterous hand for correspondingly inserting and mounting the corresponding finger of the dexterous hand; the smart hand is characterized in that a main control panel and a main power mechanism are arranged in the smart hand main body, and the main control panel is electrically connected with the main power mechanism so as to drive the rotating base bodies in the finger mounting grooves of the smart hand to rotate around the central shaft through the main power mechanism.
11. The multi-fingered dexterous hand according to claim 10, wherein a connection board is provided on the rotating base of each finger mounting groove of said dexterous hand, and said connection board is electrically connected to said main control board through a flexible circuit board.
12. A multi-fingered dexterous hand according to claim 11, wherein the fingers of the dexterous hand are elastically fitted to the corresponding connection board on the rotating base to achieve electrical connection between each of the fingers and the main body of the dexterous hand.
13. The multi-fingered dexterous hand according to claim 9, characterized in that the dexterous hand body is provided with a plug-in locking mechanism for locking the fingers in the plug-in direction when the fingers are plugged into the dexterous hand body, so as to prevent the fingers from falling off during the movement.
14. The multi-fingered dexterous hand of claim 10, wherein the main power mechanism comprises a third speed reduction motor electrically connected to the main control board, and the third speed reduction motor is in transmission fit with a transmission belt through a gear set to drive the rotation base body in each finger mounting groove of the dexterous hand to rotate around a central shaft.
15. The multi-fingered dexterous hand according to claim 10, wherein the inner wall of each finger mounting groove of said dexterous hand is provided with a stop marble for positioning after the corresponding rotation of said rotating seat body.
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