CN110640775B - Force sensing structure, smart hand finger and multi-finger smart hand - Google Patents
Force sensing structure, smart hand finger and multi-finger smart hand Download PDFInfo
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- CN110640775B CN110640775B CN201911067209.9A CN201911067209A CN110640775B CN 110640775 B CN110640775 B CN 110640775B CN 201911067209 A CN201911067209 A CN 201911067209A CN 110640775 B CN110640775 B CN 110640775B
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- 230000007246 mechanism Effects 0.000 claims description 55
- 230000005540 biological transmission Effects 0.000 claims description 15
- 230000009467 reduction Effects 0.000 claims description 8
- 230000033001 locomotion Effects 0.000 claims description 6
- 239000004579 marble Substances 0.000 claims description 4
- 210000001145 finger joint Anatomy 0.000 description 9
- 238000010586 diagram Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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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
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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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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- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a force sensing structure, a smart hand finger and a multi-finger smart hand, which belong to the technical field of mechanical grippers, wherein the force sensing structure comprises a first rigid plane plate, a plurality of first stress columns and sensor units, the first stress columns and the sensor units are arranged on the inner side of the first rigid plane plate, and the first rigid plane plate is used for receiving external force and distributing the external force on the first stress columns; the sensor unit comprises a plurality of sensing blocks and a sensor circuit board, wherein the sensing blocks are arranged corresponding to the first stress columns, the sensor circuit board is electrically connected with the sensing blocks, each sensing block is used for sensing the component force acting on the corresponding first stress column and feeding back the component force to the sensor circuit board, and the sensing blocks are distributed on the surface of one side of the sensor circuit board facing the first rigid plane plate. The technical scheme can effectively solve the technical problem that whether the multi-finger dexterous hand can only simply sense whether the corresponding knuckle is stressed or not greatly limits the application of the multi-finger dexterous hand in the prior art.
Description
Technical Field
The invention relates to the technical field of mechanical grippers, in particular to a force sensing structure, a smart hand finger and a multi-finger smart hand.
Background
The force sensing of the prior multi-finger dexterous hand comprises various sensors, such as piezoresistance, capacitance, strain, vision and the like, but the sensors arranged on the finger joints have certain limitations, and can only sense whether the corresponding finger joints are stressed, but can not accurately sense which side and which specific stress of the finger joints, so that the application of the multi-finger dexterous hand is greatly limited.
Disclosure of Invention
The invention aims to provide a force sensing structure, a smart hand finger and a multi-finger smart hand, and aims to solve the technical problem that in the prior art, the multi-finger smart hand can only sense whether a corresponding knuckle is stressed or not, so that the application of the multi-finger smart hand is greatly limited.
In order to solve the technical problems, the invention provides a force sensing structure, which comprises a first rigid plane plate, a plurality of first stress columns and a sensor unit, wherein the first stress columns and the sensor unit are arranged on the inner side of the first rigid plane plate, and the first rigid plane plate is used for receiving external force and distributing the external force to the first stress columns; the sensor unit comprises a plurality of sensing blocks and a sensor circuit board, wherein the sensing blocks are arranged corresponding to the first stress columns, the sensor circuit board is electrically connected with the sensing blocks, each sensing block is used for sensing the component force acting on the corresponding first stress column and feeding back the component force to the sensor circuit board, and the sensing blocks are distributed on the surface of one side of the sensor circuit board facing the first rigid plane board.
Optionally, a supporting frame is disposed around the first rigid plane plate, and an inner side of the supporting frame is connected with an edge of the first rigid plane plate in a clearance fit manner, so as to limit the first rigid plane plate to move inside the supporting frame.
Optionally, a second rigid plane plate symmetrical to the first rigid plane plate is further disposed in the support frame, so that the sensor unit is clamped between the first rigid plane plate and the second rigid plane plate, and the inner side of the support frame is in clearance fit connection with the edge of the second rigid plane plate, so as to limit the second rigid plane plate to move inside the support frame.
Optionally, a side groove body is arranged on the inner side of the supporting frame, so that the joint of the edges of the first rigid plane plate and the second rigid plane plate is correspondingly clamped, and the inner side of the supporting frame is in clearance fit connection with the edges of the first rigid plane plate and the edges of the second rigid plane plate respectively.
Optionally, a plurality of second stress columns corresponding to the plurality of sensing blocks are arranged on the inner side of the second rigid plane plate, and each sensing block is further used for sensing the magnitude of a component force acting on the corresponding second stress column and feeding back the component force to the sensor circuit board.
Optionally, an elastic pad is arranged on the sensing block.
In addition, in order to solve the technical problems, the invention also provides a smart finger, each smart finger comprises a plurality of knuckles, a power mechanism for driving the knuckles to rotate relatively and a control circuit board; the finger joints are provided with the force sensing structure; the control circuit board is electrically connected with the sensor circuit board and the power mechanism and is used for receiving and processing data information acquired by the force sensing structure and controlling the power mechanism.
Optionally, each smart finger includes a first knuckle, a second knuckle and a third knuckle in sequence, the second knuckle is rotationally connected with the first knuckle, and the third knuckle is rotationally connected with the second knuckle.
Optionally, the third is directly provided with the force sensing structure; the second knuckle is provided with a control circuit board, a second sensing assembly and a first power mechanism; the first knuckle is provided with the second power mechanism, the control circuit board is respectively and electrically connected with the force sensing structure, the second sensor assembly, the first power mechanism and the second power mechanism, so that the third knuckle is driven to rotate relative to the second knuckle through the first power mechanism according to the surface stress condition of the third knuckle detected by the force sensing structure, the surface stress condition of the second knuckle detected by the second sensor assembly and the rotation angle between the knuckles.
Optionally, the control circuit board is electrically connected with the force sensing structure, the second sensor assembly, the first power mechanism and the second power mechanism through flexible circuit boards respectively.
Optionally, the first power mechanism comprises a first gear motor electrically connected with the control circuit board, and the first gear motor drives the third knuckle to rotate relative to the second knuckle through gear set transmission; the second power mechanism comprises a second speed reduction motor electrically connected with the control circuit board, and the second speed reduction 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 body and a plurality of dexterous hand fingers, wherein the dexterous hand body is provided with a plurality of finger mounting grooves which are arranged in a one-to-one correspondence manner with the dexterous hand fingers, and each finger mounting groove is internally provided with a rotary seat body so as to be correspondingly inserted and mounted with the corresponding dexterous hand finger; the smart hand body is internally provided with a main control board and a main power mechanism, and the main control board is electrically connected with the main power mechanism so as to drive the rotating seat body in each finger mounting groove to rotate around the central shaft through the main power mechanism.
Optionally, each finger mounting groove's swivel seat body is last to be provided with the connection picture peg, just the connection picture peg pass through the flexible circuit board with main control panel carries out electric connection, the one end of dexterous hand finger is equipped with electrical interface, electrical interface with corresponding connect the picture peg on the swivel seat body carries out elasticity grafting cooperation, in order to realize each dexterous hand finger with electric connection between the dexterous hand main part.
Optionally, be provided with cartridge locking mechanism on the smart hand main part for when the smart hand finger is pegged graft the smart hand main part, carry out the locking at grafting direction to prevent that smart hand finger from coming off in high-speed motion.
Optionally, the main power mechanism comprises a third gear motor electrically connected with the main control board, and the third gear motor is in transmission fit with a transmission belt through a gear set to drive the rotary seat body in each finger mounting groove to rotate around a central shaft.
Optionally, a stop marble is disposed on an inner wall of each finger mounting groove, so as to realize positioning of the rotary seat body after rotation.
The invention provides a force sensing structure, a smart hand finger and a multi-finger smart hand, wherein the force sensing structure comprises a first rigid plane plate, a plurality of first stress columns and a sensor unit, wherein the first rigid plane plate is used for receiving external force and distributing the external force to the plurality of first stress columns; the sensor unit comprises a plurality of sensing blocks and a sensor circuit board, wherein the sensing blocks are arranged corresponding to the first stress columns, the sensor circuit board is electrically connected with the sensing blocks, each sensing block is used for sensing the component force acting on the corresponding first stress column and feeding back the component force to the sensor circuit board, and the sensing blocks are distributed on the surface of one side of the sensor circuit board facing the first rigid plane plate. Therefore, no matter where the external force is applied to the first rigid plane plate, the external force can be fed back to the sensor circuit board through the corresponding first stress column and the corresponding sensing block so as to sense where stress is applied to the side surface of the third knuckle, the force and the surface moving speed, and further more accurate rotation control can be performed on the third knuckle. Therefore, the multi-finger dexterous hand can adjust the rotation control and/or the grabbing force of the dexterous hand according to the stress condition of the force sensing structure, so that the accurate grabbing of objects is realized, and the technical problem that whether the multi-finger dexterous hand is stressed by the corresponding knuckle is limited greatly in the prior art can be effectively solved.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained according to these drawings without inventive faculty for a person skilled in the art.
Fig. 1 is a schematic diagram of the overall structure of a multi-fingered dexterous hand according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a partial split structure of the multi-fingered dexterous hand shown in fig. 1.
Fig. 3 is a schematic diagram of a split structure of the dexterous hand fingers of the multi-finger dexterous hand of fig. 1.
Fig. 4 is a schematic 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 of the multi-fingered dexterous hand of fig. 1.
Detailed Description
The following describes the embodiments of the present invention further with reference to the drawings. The description of these embodiments is provided to assist understanding of the present invention, but is not intended to limit the present invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
As shown in fig. 1 to 3, the present embodiment provides a multi-finger smart hand 100, the multi-finger smart hand 100 includes a smart hand body 110 and a plurality of smart fingers 120, and the smart hand body 110 is provided with a plurality of finger mounting grooves 111 for mounting the plurality of smart fingers 120 in a one-to-one correspondence arrangement. The dexterous finger 120 comprises a plurality of knuckles, a power mechanism for driving the knuckles 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 knuckles.
In this embodiment, as shown in fig. 1 to 3, the smart finger 120 is further provided with a plurality of sensors electrically connected to the control circuit board for detecting the stress condition of the finger surface and/or the rotation angle between the joints. One end of the smart finger 120 is provided with an electrical interface (not shown) electrically connected to the control circuit board 125, for plugging the smart finger 120 into an external device (i.e., the smart hand body 110) so that the control circuit board 125 is powered on or in communication with the external device. Specifically, as shown in fig. 2 and 3, each dexterous finger 120 of the present embodiment sequentially includes a first knuckle 121, a second knuckle 122, and a third knuckle 123, wherein an electrical interface is disposed at an end of the first knuckle 121 far from the second knuckle 122, and the electrical interface can be correspondingly inserted and mounted on the corresponding finger mounting groove 111 of the dexterous finger main body 110, the second knuckle 122 is hinged with the first knuckle 121, and the third knuckle 123 is hinged with the second knuckle 122. The third knuckle 123 has a first sensor assembly 124 disposed thereon. 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, and the control circuit board 125 is electrically connected with 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 (in this embodiment, the second knuckle 122 is driven to rotate (in this embodiment, the third knuckle rotates by plus or minus 90 degrees) through the first power mechanism 127 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. In this way, each smart finger 120 is provided with the control circuit board 125 to control itself independently, that is, each smart finger 120 has a control unit, which can realize the functions of closed loop control, sensor information processing, communication, etc. of the finger, and the control unit in the finger can realize the real-time control of the finger joint with higher efficiency, can realize the control with higher precision, and has the characteristic of high modularization. In addition, the first power mechanism 127 drives the third knuckle 123 to rotate relative to the second knuckle 122, and the second power mechanism 128 drives the second knuckle 122 to rotate relative to the first knuckle 121, that is, each smart finger 120 adopts a full-drive scheme, so that the movement of each joint can be accurately controlled, and the movement requirement of each joint can be met. The third finger joint 123 is configured in an "L" shape such that the third finger joint 123 is operable for insertion into a narrow gap, such as in a gift delivery scenario, inserting the "L" finger joint into a hand-held gap of a gift box/handbag, and turning the "L" finger joint to pick up the gift box/handbag for delivery to a consumer; for example, the utility model is used for grabbing goods stacked on the supermarket shelves or boxes, and because smaller gaps exist between the goods, the smart hand can insert into the gap through the L-shaped knuckle to grasp or turn over the goods.
As shown in fig. 3 and 4, the first sensor assembly 124 is a force sensing structure, and the force sensing structure specifically includes a first rigid plane plate 1241, a plurality of first stress columns 1242 and a sensor unit 1243, wherein the plurality of first stress columns 1242 and the sensor unit 1243 are disposed inside the first rigid plane plate 1241, and the first rigid plane plate 1241 is used for receiving external forces and distributing the external forces to the plurality of first stress columns 1242; the sensor unit 1243 includes a plurality of sensing blocks corresponding to the plurality of first stress 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), where each sensing block is used for sensing a component force acting on the corresponding first stress column 1242 and feeding back the component force to the sensor circuit board, and the plurality of sensing blocks are uniformly distributed on a surface of the sensor circuit board facing the first rigid plane board 1241. At this time, the force sensing structure is a single-sided sensing structure, and only one side surface stress condition of the third knuckle 123 can be sensed, i.e. when an external force is applied to the first rigid plane plate 1241, the force is transmitted to the sensor circuit board through the corresponding first stress column 1242 and the sensing block, so as to sense the side surface stress condition of the third knuckle 123. The support frame 1244 is arranged around the first rigid plane plate 1241 in a surrounding mode, the inner side of the support frame 1244 is connected with the edge of the first rigid plane plate 1241 in a clearance fit mode, so that the first rigid plane plate 1241 is limited to move inside the support frame 1244, a certain gap is reserved between the inner side of the support frame 1244 and the edge of the first rigid plane plate 1241, and when the first rigid plane plate 1241 is stressed, the gap can reduce loss of force transmitted to a corresponding sensing block, namely the effect of the force transmitted to the sensing block by the rigid plane plate is not influenced, and the detection capability of the corresponding sensing block is enhanced.
As shown in fig. 3 and 4, a second rigid plane plate 1245 symmetrical to the first rigid plane plate 1241 is further disposed in the support frame 1244, so that the sensor unit 1243 is sandwiched between the first rigid plane plate 1241 and the second rigid plane plate 1245, and the inner side of the support frame 1244 is connected with the edge of the second rigid plane plate 1245 in a clearance fit manner, so as to limit the movement of the second rigid plane plate 1245 inside the support frame 1244. Specifically, a side groove (not shown) is disposed on the inner side of the support frame 1244, so as to correspondingly clamp the connection between the edges of the first rigid flat plate 1241 and the second rigid flat plate 1245, so that the inner side of the support frame 1244 is connected with the edges of the first rigid flat plate 1241 and the edges of the second rigid flat plate 1244 in a clearance fit manner. In this way, when the first rigid plane plate 1241 is pressed by an external force, the force drives the sensor assembly 1243 to press the second rigid plane plate 1245, and the edge of the second rigid plane plate 1245 abuts against the side slot body to support the external force. When the second rigid plane plate 1245 is pressed by an external force, the force drives the sensor assembly 1243 to press the first rigid plane plate 1241, and the edge of the first rigid plane plate 1241 is abutted against the side slot body to support the external force. At this time, the force sensing structure is a double-sided sensing structure, and can sense the stress condition of the two side surfaces of the third knuckle 123. In addition, in order to enhance the double-sided sensing capability, a plurality of second stress columns (not shown) corresponding to the plurality of sensing blocks may be disposed on the inner side of the second rigid plane plate 1245, and each sensing block is further used for sensing the magnitude of the component force acting on the corresponding second stress column and feeding back to the sensor circuit board, where the sensor circuit board may combine the angle sensor and the current feedback information to determine the direction of the external force. The sensing block is also provided with an elastic pad (not shown), and the surface area of the elastic pad is slightly larger than that of the first stress column, so that the sensing block is fully contacted with the first stress column, and the contact plane of the sensing block is stable and consistent; on the other hand, the elastic pad can also provide pretightening force, so that the whole force sensing structure is not too loose, namely, under the condition of not being pressed by external force, the elastic pad provides pretightening force for the sensing block, so that the structure shaking is reduced, for example, 100gf is provided, the force measured by the sensing block is 300gf when the external force is pressed, the external force measured by the sensing block is 300gf, and the sensing block is in fact subjected to 400 gf; in addition, the elastic pad is disposed such that a sufficient gap is reserved between the first rigid plane plate 1241 and the second rigid plane plate 1245, so that the first rigid plane plate 1241 and the second rigid plane plate 1245 do not directly collide with each other when being pressed by an external force.
As shown in fig. 3, the second sensor assembly 126 includes two angle sensors and a plurality of pressure sensors, the two angle sensors are respectively disposed at the hinge connection between the first knuckle 121 and the second knuckle 122 and the hinge connection between the second knuckle 122 and the third knuckle 123, so as to realize the sensing of the rotation angle between the knuckles, and the plurality of pressure sensors are closely attached to the rear rigid plane plate of the second knuckle 122, so as to sense the stress condition of the rear surface of the second knuckle 122.
As shown in fig. 2, the above-mentioned 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, respectively. To avoid twisting between the individual knuckles causing the flexible circuit board 11 to tighten, 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 gear motor electrically connected to the control circuit board 125, and the first gear motor drives the third knuckle 123 to rotate relative to the second knuckle 122 through a gear set transmission. Specifically, because the second knuckle 122 has a limited length, the first gear motor is a short motor, and the specific model of the short motor in this embodiment is TWG1220-N20VA, which includes a worm gear reduction box and a dc brush motor, that is, the motor directly drives the gear set of the transmission on the motor, and the motor directly extends out of the driving shaft at the lateral side to drive the third knuckle 123 to rotate relative to the second knuckle 122. The second power mechanism 128 includes a second gear motor electrically connected to the control circuit board 125, and the second gear motor drives the second knuckle 122 to rotate relative to the first knuckle 121 through a gear set transmission. Specifically, since the third knuckle 123 has a longer length, the second gear motor is a long motor, which provides a 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 a gear train transmission. In this way, the rotation between the joints of each smart finger 120 is driven by motor speed reduction, so that the transmission can be reduced, and the transmission precision and efficiency can be improved.
As shown in fig. 2, the finger mounting groove 111 is internally provided with a rotary seat 112 for correspondingly inserting and mounting the corresponding smart finger 120. The smart hand body 110 has a main control board 113 and a main power mechanism 114 built therein, and the main control board 113 is electrically connected to the main power mechanism 114 to drive the rotation base 112 in each finger installation 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 rotating base 112 of each finger mounting groove 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 smart finger 120 is provided with an electrical interface (not shown) which is elastically inserted and matched with the connecting plugboard 12 on the corresponding rotating base 112, so as to realize the electrical connection between each smart finger 120 and the smart hand body 110. By such a structural arrangement, it is ensured that the electrical connection between each smart finger 120 and the smart hand body 110 does not affect the rotation of each smart hand finger 120 itself. The main power mechanism 114 includes a third gear motor electrically connected to the main control board 113, and the third gear motor is in driving engagement with a driving belt through a gear set to drive the rotary base 112 in each finger mounting groove 111 to rotate about the central axis. In this embodiment, two smart fingers 120 are specifically provided (for those skilled in the art, three smart fingers 120 may be provided according to actual needs (as shown in fig. 5, three smart fingers 120 are distributed on the smart hand body 110 in a triangle shape), five smart fingers, etc.), at this time, the third gear motor drives the two rotating bases 112 to rotate synchronously through the transmission of the double gears and the belt, so that each smart finger 120 rotates around the central axis along with the rotating base 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 of the corresponding rotating seat 112 rotating to a specific angle, the stop marble can be mounted at a position enabling the dexterous hand to be in a more general state, so that the accurate positioning of the dexterous finger can be realized under the driving of a motor, and the rotating seat can be positioned at a clamping position when the driving of the motor is closed, thereby avoiding the manual random rotation of the finger. The smart hand body 110 is provided with a plug-in locking mechanism (not shown) which is used for locking the smart hand body 110 in the plug-in direction when the smart hand 120 is plugged in, so as to prevent the smart hand 120 from falling off in high-speed movement or under the influence of external force, and further, the plug-in locking mechanism is arranged to be elastically locked, so that quick plug-in is facilitated, namely, automatic elastic locking is realized when the smart hand is completely plugged in; on the other hand, the device is convenient to detach and maintain, namely, the device is directly pulled out by applying larger external force without manual unlocking operation and the like.
The force sensing structure comprises a first rigid plane plate, a plurality of first stress columns and a sensor unit, wherein the first rigid plane plate is used for receiving external force and distributing the external force to the plurality of first stress columns; the sensor unit comprises a plurality of sensing blocks and a sensor circuit board, wherein the sensing blocks are arranged corresponding to the first stress columns, the sensor circuit board is electrically connected with the sensing blocks, each sensing block is used for sensing the component force acting on the corresponding first stress column and feeding back the component force to the sensor circuit board, and the sensing blocks are distributed on the surface of one side of the sensor circuit board facing the first rigid plane plate. Therefore, no matter where the external force is applied to the first rigid plane plate, the external force can be fed back to the sensor circuit board through the corresponding first stress column and the corresponding sensing block so as to sense where stress is applied to the side surface of the third knuckle, the force and the surface moving speed, and further more accurate rotation control can be performed on the third knuckle. Therefore, the multi-finger dexterous hand can adjust the rotation control and/or the grabbing force of the dexterous hand according to the stress condition of the force sensing structure, so that the accurate grabbing of objects is realized, and the technical problem that whether the multi-finger dexterous hand is stressed by the corresponding knuckle is limited greatly in the prior art can be effectively solved.
The embodiments of the present invention have been described in detail above 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 to these embodiments without departing from the principles and spirit of the invention, and yet fall within the scope of the invention.
Claims (11)
1. A multi-finger dexterous hand is characterized in that,
comprises a smart hand body and a plurality of smart fingers;
each smart finger sequentially comprises a first knuckle, a second knuckle and a third knuckle;
each smart finger also comprises a power mechanism and a control circuit board, wherein the power mechanism drives each knuckle to rotate relatively, and the control circuit board is electrically connected with the power mechanism and is arranged in each knuckle;
the third knuckle is provided with a force sensing structure;
the smart hand comprises a smart hand body, wherein a plurality of finger mounting grooves are formed in the smart hand body, the finger mounting grooves are arranged in one-to-one correspondence with the fingers of the smart hand, and a rotary seat body is arranged in each finger mounting groove so as to correspondingly plug and mount the corresponding finger of the smart hand;
the smart hand body is internally provided with a main control board and a main power mechanism, and the main control board is electrically connected with the main power mechanism so as to drive the rotating seat body in each finger mounting groove to rotate around a central shaft through the main power mechanism;
a connecting plugboard is arranged on the rotary seat body of each finger mounting groove, the connecting plugboard is electrically connected with the main control board through a flexible circuit board, one end of each smart hand finger is provided with an electric interface, and the electric interface is elastically spliced and matched with the connecting plugboard on the corresponding rotary seat body so as to realize the electric connection between each smart hand finger and the smart hand body;
the force sensing structure comprises a first rigid plane plate, a plurality of first stress columns and a sensor unit, wherein the first stress columns and the sensor unit are arranged on the inner side of the first rigid plane plate, and the first rigid plane plate is used for receiving external force and distributing the external force to the first stress columns;
the sensor unit comprises a plurality of sensing blocks and a sensor circuit board, the sensing blocks are arranged corresponding to the first stress columns, the sensor circuit board is electrically connected with the sensing blocks, each sensing block is used for sensing the magnitude of component force acting on the corresponding first stress column and feeding back the component force to the sensor circuit board, and the sensing blocks are distributed on the surface of one side of the sensor circuit board facing the first rigid plane board;
the support frame is arranged around the first rigid plane plate in a surrounding way, and the inner side of the support frame is in clearance fit connection with the edge of the first rigid plane plate so as to limit the first rigid plane plate to move inside the support frame;
the inside of the supporting frame is connected with the edge of the second rigid plane plate in a clearance fit manner, so that the second rigid plane plate is limited to move inside the supporting frame.
2. The multi-fingered dexterous hand of claim 1, wherein,
the second knuckle is rotatably connected with the first knuckle, and the third knuckle is rotatably connected with the second knuckle.
3. The multi-fingered dexterous hand of claim 2, wherein,
the second knuckle is provided with a control circuit board, a second sensor assembly and a first power mechanism; the first knuckle is provided with a second power mechanism, the control circuit board is respectively and electrically connected with the force sensing structure, the second sensor assembly, the first power mechanism and the second power mechanism, so that the third knuckle is driven to rotate relative to the second knuckle through the first power mechanism according to the surface stress condition of the third knuckle detected by the force sensing structure, the surface stress condition of the second knuckle detected by the second sensor assembly and the rotation angle between the knuckles.
4. A multi-fingered dexterous hand according to claim 3, wherein,
the control circuit board is electrically connected with the force sensing structure, the second sensor assembly, the first power mechanism and the second power mechanism through flexible circuit boards respectively.
5. A multi-fingered dexterous hand according to claim 3, 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 knuckle to rotate relative to the second knuckle through gear set transmission; the second power mechanism comprises a second speed reduction motor electrically connected with the control circuit board, and the second speed reduction motor drives the second knuckle to rotate relative to the first knuckle through gear set transmission.
6. The multi-fingered dexterous hand of claim 5, wherein,
the smart hand is characterized in that the smart hand body is provided with an inserting locking mechanism, and the inserting locking mechanism is used for locking the smart hand body in the inserting direction when the fingers of the smart hand are inserted into the smart hand body, so that the fingers of the smart hand are prevented from falling off in high-speed movement.
7. The multi-fingered dexterous hand of claim 5, wherein,
the main power mechanism comprises a third gear motor electrically connected with the main control board, and the first gear motor is in transmission fit with the transmission belt through a gear set to drive the rotary seat body in each finger mounting groove to rotate around the central shaft.
8. The multi-fingered dexterous hand of any of claims 6-7, wherein,
the inner wall of each finger mounting groove is provided with a stop marble so as to realize the positioning of the corresponding rotating seat body after rotation.
9. The multi-fingered dexterous hand of claim 1, wherein,
the inner side of the supporting frame is provided with a side groove body, so that the joint of the edges of the first rigid plane plate and the second rigid plane plate is correspondingly clamped, and the inner side of the supporting frame is in clearance fit connection with the edges of the first rigid plane plate and the edges of the second rigid plane plate respectively.
10. The multi-fingered dexterous hand of claim 1, wherein,
the inner side of the second rigid plane plate is provided with a plurality of second stress columns which are arranged corresponding to the plurality of sensing blocks, and each sensing block is also used for sensing the magnitude of component force acting on the corresponding second stress column and feeding back the component force to the sensor circuit board.
11. The multi-fingered dexterous hand of claim 1, wherein,
and an elastic pad is arranged on the sensing block.
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| CN115057229B (en) * | 2022-08-19 | 2022-11-18 | 时代广汽动力电池有限公司 | Improve new forms of energy electricity core grasping system of security |
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