CN100513097C - Robot clever hand modular finger - Google Patents

Abstract

A robot dexterous hand modular finger relates to the technical field of robot dexterous hand fingers. It aims to solve the problems of poor reliability, complex structure and poor maintainability of multi-fingered dexterous hands in the field of robots. The inside of its base joint housing (1) is provided with a double-drive drive mechanism (1-2), a base joint differential mechanism (1-4), and a base joint differential mechanism (1-4) through a U-shaped connector ( 1-5) is movably connected with the first knuckle housing (2), the driving mechanism (2-1) in the first knuckle housing (2) and the coupling steel wire transmission mechanism in the middle knuckle housing (3) (3-1) transmission connection, the middle knuckle shell (3) is connected with the end knuckle shell (4) through the coupling steel wire transmission mechanism (3-1). The finger of the present invention has four joints and three degrees of freedom, and the whole finger has an independent controller. All motors, deceleration, transmission, sensing and control (electrical), etc. are integrated in the finger. The integrated and modular fingers enhance the reliability and maintainability of the dexterous hand system.

Description

Robotic dexterous hand with modular fingers

technical field

The invention relates to the technical field of a robot dexterous hand finger.

Background technique

As an important branch of robotics, robot dexterous hand technology has achieved good results after decades of development, and some representative dexterous hands have been born one after another, such as Stanford/JPL (the dexterous hand developed by Stanford), Utan / M.I.T (dexterous hand developed by MIT), DLR (dexterous hand developed by German Aerospace Center), NASA (dexterous hand developed by NASA), etc. The progress of the above-mentioned dexterous hands is mainly reflected in the aspects of mechanical structure, drive, sensing, integration and control. However, due to the limitations of motor technology and electronic product manufacturing technology, the integration of previous dexterous hands has not reached a satisfactory level, such as Stanford/JPL hands, Utan/M.I.T hands, and commercialized Shadow hands. The driver is placed outside the dexterous hand (such as in the forearm). At this time, the space for transmitting force is far away and the path is irregular, and the transmission is realized through the tendon (rope).

The advantages of the tendon drive system are: the driver can be separated from the finger body, which is beneficial to reduce the size and weight of the finger; the tendon drive has the best comprehensive indicators in terms of compact structure, development flexibility, and cost; tendon drive It is a compliant transmission method with zero backlash, so the design of the force controller can be simplified. But the tendon transmission has its unavoidable defects while realizing the freedom of spatial arrangement: because the stiffness of the tendon is limited, the drive system shows a certain hysteresis, which affects the position accuracy and even causes the instability of the high-gain system; it must Preload the tendon, which increases the complexity of the structure and the difficulty of assembly; at the same time, the degree of preload has a great impact on the performance of the drive system, a larger preload will produce greater friction, and a larger A small preload will lead to relaxation of the tendon, and if the tension and fluctuation of the tendon are large, it may excite the oscillation of the system, thereby causing tendon instability or damage to the tendon. At the same time, due to the complex path of the tendon connection and the existence of hidden dangers such as end wear, the reliability and maintainability of the system are affected. When a tendon breaks, the dexterous hand must be disassembled as a whole, and the workload is heavy.

Contents of the invention

The purpose of the present invention is to provide a modular finger of a robot dexterous hand to solve the problems of poor reliability, complex structure and poor maintainability of multi-fingered dexterous hands in the field of robots.

The present invention consists of a base joint housing 1, a base joint main circuit board 1-1, a double drive drive mechanism 1-2, a base joint connection circuit board 1-3, a base joint differential mechanism 1-4, and a U-shaped connector 1- 5. Base joint two-dimensional torque sensor 1-6, base joint absolute position sensing device 1-7, first knuckle shell 2, drive mechanism 2-1, first finger circuit board 2-2, middle knuckle shell Body 3, coupling steel wire transmission mechanism 3-1, terminal knuckle shell 4, finger joint one-dimensional position sensor 4-1, one-dimensional torque sensor 4-5;

The base joint main circuit board 1-1 is arranged on the lower end of the base joint shell 1, the base joint connection circuit board 1-3 is set on the upper end of the base joint shell 1, and the first finger circuit board 2-2 is set on the The inner side of the first phalanx shell 2, the back of the first phalanx; the double-drive drive mechanism 1-2 is arranged in the middle and lower part of the base joint shell 1, and the base joint differential mechanism 1-4 is set in the base joint shell 1 In the upper part; the dual-drive drive mechanism 1-2 includes two electric motors 1-2-1, two harmonic reducers 1-2-2 and two tension pulleys 1-2-3; the base joint The differential mechanism 1-4 is composed of two driving bevel gears 1-4-1, two driven bevel gears 1-4-2 and two pulleys 1-4-3; the output of two motors 1-2-1 The pulleys are respectively connected to the input pulleys of the two harmonic reducers 1-2-2 through belts; the output pulleys of the two harmonic reducers 1-2-2 are respectively connected to the two tension pulleys 1-2-3 through the belts , Two belt pulleys 1-4-3 transmission connection on the base joint differential mechanism 1-4; The axes of the two driving bevel gears 1-4-1 coincide, the axes of the two driven bevel gears 1-4-2 coincide, the axes of the two driving bevel gears 1-4-1 and the two slaves The axes of the moving bevel gear 1-4-2 are in the same plane, and the two pulleys 1-4-3 are respectively sleeved on the rotating shafts 1-8 of the two driving bevel gears 1-4-1; U-shaped The shaft hole on the U-shaped end 1-5-1 of the connecting head 1-5 is rotationally connected with the rotating shaft of a driven bevel gear 1-4-2 of the base joint differential mechanism 1-4, and the U-shaped connecting head 1- The hole on the other end 1-5-2 of the U shape of 5 is fixedly connected with the rotating shaft of another driven bevel gear 1-4-2 of the base joint differential mechanism 1-4; the upper end of the U-shaped connector 1-5 is a cross The edge end face of the structure is connected to the lower end of the first knuckle shell 2, and the two-dimensional torque sensor 1-6 of the base joint is arranged on the end face of the cross structure at the upper end of the U-shaped connector 1-5; the first knuckle shell 2 The upper end shaft hole is rotationally connected with the lower end shaft hole of the middle knuckle housing 3 through the first shaft 5; the drive mechanism 2-1 is composed of the first knuckle motor 2-1-1 and the first knuckle harmonic reducer 2 -1-2 composition; the coupling steel wire transmission mechanism 3-1 is composed of the first runner 3-1-1, the second runner 3-1-2, the first steel wire 3-1-3 and the second steel wire 3- 1-4 composition; the first knuckle motor 2-1-1 of the driving mechanism 2-1 is arranged inside the first knuckle housing 2, and the first knuckle harmonic reducer 2-1 of the driving mechanism 2-1 The input hollow shaft of -2 is socketed on the first shaft 5, and the output pulley of the first knuckle motor 2-1-1 is connected to the pulley 2-1-3 on the first shaft 5 through a belt; coupling steel wire transmission mechanism The first runner 3-1-1 of 3-1 is rotatably socketed on the first shaft 5, and one side end surface of the first runner 3-1-1 is fixed to the upper inner end surface of the first knuckle housing 2 Connect, the bracket 3-1-5 on the inner wall of the middle knuckle housing 3 is connected with the driving machine The output rotating end of the first knuckle harmonic reducer 2-1-2 of structure 2-1 is fixedly connected, and the rotating shaft 6 of the second runner 3-1-2 of the coupling steel wire transmission mechanism 3-1 and the middle knuckle shell The shaft hole at the upper end of the body 3 is rotationally connected, and the two ends of the first steel wire 3-1-3 and the two ends of the second steel wire 3-1-4 are respectively fixed on the outer circular surface of the first runner 3-1-1 and the second On the outer circular surface of the runner 3-1-2, the first runner 3-1-1 crosses the second runner 3-1-2 through the first steel wire 3-1-3 and the second steel wire 3-1-4 Transmission; the terminal knuckle housing 4 is fixedly connected to the side end surface of the second runner 3-1-2 of the coupling steel wire transmission mechanism 3-1 through the bracket 4-2 on the inner wall; the bracket 4-2 is parallel to the coupling steel wire transmission mechanism A one-dimensional torque sensor 4-5 is arranged on the end surface of the shaft 6 axis line of the second runner 3-1-2 of the 3-1, and the inner surface of the upper end of the middle knuckle housing 3 is connected to the first inner surface of the coupling steel wire transmission mechanism 3-1. A finger joint one-dimensional position sensor 4-1 is arranged between one end surface of the rotating shaft 6 of the two rotating wheels 3-1-2.

The present invention has the following beneficial effects: the finger of the present invention has four joints and three degrees of freedom, wherein the base joint mechanism has two degrees of freedom, and two motors drive the high-speed toothed belt, harmonic reducer, and low-speed toothed belt The differential mechanism composed of four bevel gears realizes the warping and sideways movement of the finger, and the movement of the two degrees of freedom of the finger base joint is realized through the motion synthesis of the active bevel gear of the differential mechanism. In order to facilitate the selection of belts, the motors, deceleration and transmission structures of the two drive systems are the same. The two motors are placed side by side at the bottom of the frame, and the two harmonic reducers are placed side by side above the two motors. The output torque of the finger base joint is synthesized by two sets of drive systems, so that under the same joint output torque, it is beneficial to use a smaller drive system, minimize the size and weight, and make the structure more compact. Assembly is easier, with separate controls for the entire finger. All motors, deceleration, transmission, sensing and control (electrical), etc. are integrated in the finger. The integrated and modular fingers enhance the reliability and maintainability of the dexterous hand system.

Description of drawings

Fig. 1 is a schematic diagram of the overall three-dimensional structure of the present invention, and Fig. 2 is a double-drive driving mechanism 1-2 inside the base joint housing 1 in Fig. The three-dimensional structure schematic diagram of the right rear view of the connector 1-5, Fig. 3 is a schematic structural diagram of the base joint absolute position sensing device 1-7 in Fig. 2, Fig. 4 is the left view of Fig. 3, 5 is the base joint and the The three-dimensional structure diagram of the first knuckle U-shaped connector 1-5, Fig. 6 is the drive mechanism 2-1 and the coupling steel wire transmission mechanism 3- inside the first knuckle housing 2 and the middle knuckle housing 3 in Fig. 1 1, FIG. 7 is a schematic diagram of a rear perspective structure in FIG. 6, FIG. 8 is a rear view of the finger joint one-dimensional position sensor 4-1 in FIG. 6, and FIG. 9 is a bracket 4-2 in FIG. Schematic diagram of the stereoscopic structure on the left.

Detailed ways

Specific Embodiment 1: This embodiment will be described with reference to Figures 1 to 9. This embodiment consists of a base joint housing 1, a base joint main circuit board 1-1, a dual-drive drive mechanism 1-2, and a base joint connection circuit board 1- 3. Base joint differential mechanism 1-4, U-shaped connector 1-5, base joint two-dimensional torque sensor 1-6, base joint absolute position sensing device 1-7, first knuckle housing 2, driving mechanism 2-1, the first finger circuit board 2-2, the middle knuckle shell 3, the coupling steel wire transmission mechanism 3-1, the end knuckle shell 4, the finger joint one-dimensional position sensor 4-1, one-dimensional torque sensor 4 -5 composition;

The base joint main circuit board 1-1 is arranged on the lower end of the base joint shell 1, the base joint connection circuit board 1-3 is set on the upper end of the base joint shell 1, and the first finger circuit board 2-2 is set on the The inner side of the first phalanx shell 2, the back of the first phalanx; the double-drive drive mechanism 1-2 is arranged in the middle and lower part of the base joint shell 1, and the base joint differential mechanism 1-4 is set in the base joint shell 1 In the upper part; the dual-drive drive mechanism 1-2 includes two electric motors 1-2-1, two harmonic reducers 1-2-2 and two tension pulleys 1-2-3; the base joint The differential mechanism 1-4 is composed of two driving bevel gears 1-4-1, two driven bevel gears 1-4-2 and two pulleys 1-4-3; the output of two motors 1-2-1 The pulleys are respectively connected to the input pulleys of the two harmonic reducers 1-2-2 through belts; the output pulleys of the two harmonic reducers 1-2-2 are respectively connected to the two tension pulleys 1-2-3 through the belts , Two belt pulleys 1-4-3 transmission connection on the base joint differential mechanism 1-4; The axes of the two driving bevel gears 1-4-1 coincide, the axes of the two driven bevel gears 1-4-2 coincide, the axes of the two driving bevel gears 1-4-1 and the two slaves The axes of the moving bevel gear 1-4-2 are in the same plane, and the two pulleys 1-4-3 are respectively sleeved on the rotating shafts 1-8 of the two driving bevel gears 1-4-1; U-shaped The shaft hole on the U-shaped end 1-5-1 of the connecting head 1-5 is rotationally connected with the rotating shaft of a driven bevel gear 1-4-2 of the base joint differential mechanism 1-4, and the U-shaped connecting head 1- The hole on the other end 1-5-2 of the U shape of 5 is fixedly connected with the rotating shaft of another driven bevel gear 1-4-2 of the base joint differential mechanism 1-4; the upper end of the U-shaped connector 1-5 is a cross The edge end face of the structure is connected to the lower end of the first knuckle shell 2, and the two-dimensional torque sensor 1-6 of the base joint is arranged on the end face of the cross structure at the upper end of the U-shaped connector 1-5; when two driving bevel gears 1-5 4-1 When the direction of rotation is the same, the first knuckle housing 2 is warped with the shafts 1-8 of the two driving bevel gears 1-4-1 as the axis, and the range of motion is -20°～+90° ; When the two driving bevel gears 1-4-1 rotate in opposite directions, the side swing motion of the first knuckle housing 2 is realized, and the motion range is -20°～+20°.

The upper end shaft hole of the first knuckle housing 2 is rotationally connected with the lower end shaft hole of the middle knuckle housing 3 through the first shaft 5; the drive mechanism 2-1 is composed of the first knuckle motor 2-1-1 and the second knuckle motor A knuckle harmonic reducer 2-1-2; the coupling steel wire transmission mechanism 3-1 is composed of the first runner 3-1-1, the second runner 3-1-2, the first steel wire 3-1 -3 and the second steel wire 3-1-4; the first knuckle motor 2-1-1 of the drive mechanism 2-1 is arranged inside the first knuckle housing 2, and the first finger of the drive mechanism 2-1 The input hollow shaft of the joint harmonic reducer 2-1-2 is socketed on the first shaft 5, and the output pulley of the first knuckle motor 2-1-1 is connected to the pulley 2-1- on the first shaft 5 through a belt. 3 transmission connection; the first runner 3-1-1 of the coupling steel wire transmission mechanism 3-1 is rotated and socketed on the first shaft 5, and one side end surface of the first runner 3-1-1 is connected to the first knuckle shell The upper inner end surface of the body 2 is fixedly connected, and the bracket 3-1-5 on the inner wall of the middle knuckle housing 3 is connected to the output rotating end of the first knuckle harmonic reducer 2-1-2 of the drive mechanism 2-1 Fixedly connected, the rotating shaft 6 of the second runner 3-1-2 of the coupled steel wire transmission mechanism 3-1 is rotationally connected with the shaft hole at the upper end of the middle knuckle housing 3, the two ends of the first steel wire 3-1-3, the second The two ends of the two steel wires 3-1-4 are respectively fixed on the outer circular surface of the first runner 3-1-1 and the outer circular surface of the second runner 3-1-2, and the first runner 3-1-1 passes through the The first steel wire 3-1-3, the second steel wire 3-1-4 and the second runner 3-1-2 cross transmission; the terminal knuckle housing 4 is coupled with the steel wire transmission mechanism 3 through the bracket 4-2 on the inner wall - The side end face of the second runner 3-1-2 of -1 is fixedly connected; the support 4-2 is parallel to the end face of the rotating shaft 6 axis line of the second runner 3-1-2 of the coupled steel wire transmission mechanism 3-1 A one-dimensional torque sensor 4-5 is provided, and a finger joint one-dimensional sensor is provided between the inner surface of the upper end of the middle knuckle housing 3 and one end surface of the rotating shaft 6 of the second runner 3-1-2 of the coupled steel wire transmission mechanism 3-1. Position sensor 4-1.

The one-dimensional position sensor 4-1 of the finger joint is composed of the terminal knuckle circuit board 4-6, the terminal knuckle Hall sensitive chip 4-4, and the terminal knuckle magnetic steel 4-3; the terminal knuckle circuit board 4-6 Set on the middle knuckle shell 3, end knuckle circuit board 4-6 is provided with a terminal knuckle Hall sensitive chip 4-4, coupled with the second runner 3-1-2 of the steel wire transmission mechanism 3-1 One end face of the rotating shaft 6 is inlaid with a terminal knuckle magnetic steel 4-3, and there is a gap L1 between the terminal knuckle Hall sensitive chip 4-4 and the terminal knuckle magnetic steel 4-3, and the L1 is 0.4mm.

The base joint absolute position sensing device 1-7 is composed of a circuit board 1-7-1, two Hall sensitive chips 1-7-2, and two magnetic steel 1-7-3; the circuit board 1-7- Hall sensitive chips 1-7-2 are respectively fixed on both sides of 1, and magnetic steel 1-7- 3. There is a gap L2 between the two Hall sensitive chips 1-7-2 and the two magnets 1-7-3 respectively, and the L2 is 0.4mm.

The base joint main circuit board 1-1 is provided with a plurality of spring contact pins 1-1-1, and the spring contact pins 1-1-1 are composed of blind tubes 1-1-2, coil springs 1-1-3 and contactors. Head 1-1-4; blind tube 1-1-2 is slidingly sleeved on the tail end of contact 1-1-4, and coil spring 1-1-3 is arranged on the inner bottom of blind tube 1-1-2 and Between the tail ends of the contacts 1-1-4; the outer bottom end of the dead tube 1-1-2 of each spring contact pin 1-1-1 is connected with the soldering hole on the main circuit board 1-1 of the base joint . This electrical connection method has the advantages of simple and convenient connection, and resistance to repeated installation and disassembly.

The two-dimensional torque sensor 1-6 of the base joint with a cross beam structure is placed at the connection position between the U-shaped connector 1-5 of the base joint connector and the first knuckle shell 2 of the finger, as the only channel for torque transmission. The one-dimensional torque sensor 4-5 is placed on the end rotation joint and the end knuckle fingertip as the only channel for torque transmission.

The models of motor 1-2-1 and first knuckle motor 2-1-1 are EC20 (disc type) manufactured by maxon (Switzerland), with a power of 3W, a supply voltage of 9V, and a continuous output torque of 4mNm; Harmonic reducer 1-2-2, the first knuckle harmonic reducer 2-1-2 models are all selected from Harmonic Drive (Japan) company, the model is HDUC-5-80-2A-BLR, the reduction ratio It is 100:1, and the maximum continuous output torque is 0.5Nm.

In this embodiment, the housing and the support can be made of aluminum alloy, and the material of the rotating shaft can be made of stainless steel.

Claims (8)

1, robot clever hand modular finger, it is by basic joint housing (1), base joint main circuit board (1-1), two driving mechanisms (1-2) that drive, base joint connecting circuit plate (1-3), base joint differential attachment (1-4), U-shaped connector (1-5), base joint two dimension torque sensor (1-6), base joint absolute position sensing device (1-7), first knuckle housing (2), driving mechanism (2-1), first refers to circuit board (2-2), middle dactylus housing (3), coupling steel wire transmission mechanism (3-1), terminal dactylus housing (4), finger-joint one dimension position sensor (4-1) and one dimension torque sensor (4-5) are formed;

It is characterized in that basic joint main circuit board (1-1) is arranged on the lower end of basic joint housing (1), base joint connecting circuit plate (1-3) is arranged on the upside of basic joint housing (1), and first refers to that circuit board (2-2) is arranged on the back side of first knuckle housing (2) inboard, first knuckle;

Two driving mechanisms (1-2) that drive are arranged in the middle and lower part of basic joint housing (1), and basic joint differential attachment (1-4) is arranged in the top of basic joint housing (1); Described pair is driven driving mechanism (1-2) and comprises two motor (1-2-1), two harmonic speed reducers (1-2-2) and two regulating wheels (1-2-3); Described basic joint differential attachment (1-4) is made up of two drive bevel gear (1-4-1), two driven wheels of differential (1-4-2) and two belt pulleys (1-4-3); The output belt pulley of two motor (1-2-1) is in transmission connection with the input belt pulley of two harmonic speed reducers (1-2-2) respectively by belt; The output belt pulley of two harmonic speed reducers (1-2-2) is in transmission connection by two belt pulleys (1-4-3) on belt and two regulating wheels (1-2-3), the basic joint differential attachment (1-4) respectively; Two drive bevel gear (1-4-1) and two driven wheels of differential (1-4-2) are apart from one another by being connected with a joggle, the axial line of two drive bevel gear (1-4-1) overlaps, the axial line of two driven wheels of differential (1-4-2) overlaps, the axial line of the axial line of two drive bevel gear (1-4-1) and two driven wheels of differential (1-4-2) is in the same plane, and two belt pulleys (1-4-3) are socketed in respectively in the rotating shaft (1-8) of two drive bevel gear (1-4-1); The rotating shaft of the axis hole on one end (1-5-1) of the U-shaped of U-shaped connector (1-5) and a driven wheel of differential (1-4-2) of basic joint differential attachment (1-4) is rotationally connected, and the rotating shaft of another driven wheel of differential (1-4-2) of the Kong Yuji joint differential attachment (1-4) on the other end (1-5-2) of the U-shaped of U-shaped connector (1-5) is fixedly connected; The edge end face of U-shaped connector (1-5) upper end cross structure is connected on the lower end of first knuckle housing (2), and basic joint two dimension torque sensor (1-6) is arranged on the end face of U-shaped connector (1-5) upper end cross structure; The upper end axis hole of first knuckle housing (2) is rotationally connected by first (5) lower end axis hole with middle dactylus housing (3); Described driving mechanism (2-1) is made up of first knuckle motor (2-1-1) and first knuckle harmonic speed reducer (2-1-2); Described coupling steel wire transmission mechanism (3-1) is made up of first runner (3-1-1), second runner (3-1-2), first steel wire (3-1-3) and second steel wire (3-1-4); The first knuckle motor (2-1-1) of driving mechanism (2-1) is arranged on the inside of first knuckle housing (2), the input hollow shaft sleeve of the first knuckle harmonic speed reducer (2-1-2) of driving mechanism (2-1) is connected on first (5), and the output belt pulley of first knuckle motor (2-1-1) is in transmission connection by the belt pulley (2-1-3) on belt and first (5); First runner (3-1-1) turning set of coupling steel wire transmission mechanism (3-1) is connected on first (5), fixedly connected with the upside inner face of first knuckle housing (2) in a side end face of first runner (3-1-1), support (3-1-5) on middle dactylus housing (3) madial wall rotates end with the output of the first knuckle harmonic speed reducer (2-1-2) of driving mechanism (2-1) fixedlys connected, the rotating shaft (6) of second runner (3-1-2) of coupling steel wire transmission mechanism (3-1) is rotationally connected with the axis hole of middle dactylus housing (3) upper end, the two ends of first steel wire (3-1-3), the two ends of second steel wire (3-1-4) are separately fixed on first runner (3-1-1) periphery and second runner (3-1-2) periphery, and first runner (3-1-1) is by first steel wire (3-1-3), second steel wire (3-1-4) and second runner (3-1-2) intersect transmission; Terminal dactylus housing (4) is fixedlyed connected with the side end face of second runner (3-1-2) of coupling steel wire transmission mechanism (3-1) by the support on the inwall (4-2); The end face of rotating shaft (6) axial line that support (4-2) is parallel to second runner (3-1-2) of coupling steel wire transmission mechanism (3-1) is provided with one dimension torque sensor (4-5), is provided with finger-joint one dimension position sensor (4-1) between the end face of middle dactylus housing (3) upper end medial surface and the rotating shaft (6) of second runner (3-1-2) of the steel wire transmission mechanism (3-1) that is coupled.

2, robot clever hand modular finger according to claim 1 is characterized in that described finger-joint one dimension position sensor (4-1) is made up of terminal dactylus circuit board (4-6), terminal dactylus Hall sensitive chip (4-4) and terminal dactylus magnet steel (4-3); Terminal dactylus circuit board (4-6) is arranged on the middle dactylus housing (3), terminal dactylus circuit board (4-6) end is provided with terminal dactylus Hall sensitive chip (4-4), an end face of the rotating shaft (6) of second runner (3-1-2) of coupling steel wire transmission mechanism (3-1) is inlaid with terminal dactylus magnet steel (4-3), between terminal dactylus Hall sensitive chip (4-4) and the terminal dactylus magnet steel (4-3) gapped (L1).

3, robot clever hand modular finger according to claim 1 is characterized in that described basic joint absolute position sensing device (1-7) is made up of circuit board (1-7-1), two Hall sensitive chips (1-7-2) and two magnet steel (1-7-3); The two sides of circuit board (1-7-1) fixedly are equipped with Hall sensitive chip (1-7-2) respectively, be respectively arranged with magnet steel (1-7-3) on two axle heads that drive two regulating wheels (1-2-3) in the driving mechanism (1-2), two Hall sensitive chips (1-7-2) are respectively and between two magnet steel (1-7-3) gapped (L2).

4, robot clever hand modular finger according to claim 1, the described basic joint two dimension torque sensor (1-6) that it is characterized in that having the rood beam structure places the link position of basic joint connector U-shaped connector (1-5) and first knuckle housing (2), as unique passage of carry-over moment.

5, robot clever hand modular finger according to claim 1 is characterized in that described one dimension torque sensor (4-5) places terminal cradle head and terminal dactylus finger tip, as unique passage of carry-over moment.

6, robot clever hand modular finger according to claim 1, it is characterized in that described basic joint main circuit board (1-1) is provided with a plurality of spring stylus (1-1-1), spring stylus (1-1-1) is made up of blind pipe (1-1-2), helical spring (1-1-3) and contact (1-1-4); Blind pipe (1-1-2) slip cap is connected on the tail end of contact (1-1-4), and helical spring (1-1-3) is arranged between the tail end of the interior end of blind pipe (1-1-2) and contact (1-1-4); The outer bottom of the blind pipe (1-1-2) of each spring stylus (1-1-1) all is connected with welding hole on the basic joint main circuit board (1-1).

7, robot clever hand modular finger according to claim 2 is characterized in that the gap (L1) between terminal dactylus Hall sensitive chip (4-4) and the terminal dactylus magnet steel (4-3) is 0.4mm.

8, robot clever hand modular finger according to claim 3, it is characterized in that two Hall sensitive chips (1-7-2) respectively and the gap (L2) between two magnet steel (1-7-3) for 0.4mm.

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