Multi-fingered dexterous hand and multi-fingered dexterous hand control method and system

Abstract

The invention discloses a multi-fingered dexterous hand, a multi-fingered dexterous hand control method and a multi-fingered dexterous hand control system. The multi-fingered dexterous hand comprises a multi-fingered mechanism and a palm mechanism. The multi-finger mechanism comprises a plurality of finger mechanisms and a thumb mechanism; the palm mechanism comprises a palm shell; the thumb mechanism comprises a plurality of steering engines, a bearing and a shaft sleeve; the plurality of steering engines comprise a first steering engine and a second steering engine; the palm shell is connected with one end of the first steering engine; an output shaft of the first steering engine is connected with one end of the second steering engine; the rotation axis of the second steering engine is consistent with the axis of the output shaft of the first steering engine; the other opposite end of the second steering engine is fixedly connected with the bearing, and the shaft sleeve is connected with the palm shell. The bearing is arranged in the shaft sleeve and is in transition fit with the shaft sleeve; the rotation axis of the bearing is consistent with the rotation axis of the second steering engine. By improving the mechanical structure of the multi-fingered dexterous hand, the problems that the multi-fingered dexterous hand is unstable in operation and complex in operation are solved, and the use experience of a user is improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of mechanical hands, and particularly relates to a multi-fingered dexterous hand, a multi-fingered dexterous hand control method and a multi-fingered dexterous hand control system. BACKGROUND

[0002] The multi-fingered dexterous hand can realize complex functions such as grabbing and operating by simulating the multi-joint structure and motion characteristics of human fingers, and shows important application potential in the fields of industrial manufacturing, medical rehabilitation and the like.

[0003] In the prior art, the mechanical structure of the finger joint in the multi-fingered dexterous hand is relatively single.

[0004] The mechanical structure design of the multi-fingered dexterous hand is prone to cause the shaft system to deviate in a long-term use process. This is because the finger joint is subjected to complex forces and moments in the operation process of the multi-fingered dexterous hand, and the existing mechanical structure design is difficult to maintain the accurate position stably for a long time, thereby affecting the user experience. SUMMARY

[0005] The application aims to provide a multi-fingered dexterous hand, a multi-fingered dexterous hand control method and a multi-fingered dexterous hand control system, and at least solve the problem of unstable operation of the multi-fingered dexterous hand in the prior art.

[0006] In a first aspect, the embodiments of the application disclose a multi-fingered dexterous hand, which comprises a multi-fingered mechanism and a palm mechanism; the multi-fingered mechanism comprises a plurality of same finger mechanisms and a thumb mechanism; the palm mechanism comprises a palm shell and a driving plate; The thumb mechanism comprises a plurality of servos, a plurality of first connecting pieces, a plurality of second connecting pieces, a bearing and a shaft sleeve; the plurality of servos comprises a first servo and a second servo; One end of the first servo is fixedly connected to the palm shell through the first connecting piece; An output shaft of the first servo is fixedly connected to one end of the second servo through the second connecting piece; the rotation axis of the second servo is consistent with the axis of the output shaft of the first servo; The opposite end of the second servo is fixedly connected to the bearing, and the shaft sleeve is fixedly connected to the palm shell; the bearing is arranged in the shaft sleeve, and the bearing and the shaft sleeve form a transition fit; the rotation axis of the bearing is consistent with the rotation axis of the second servo.

[0007] In a second aspect, the embodiments of the application further disclose a multi-fingered dexterous hand control method for controlling the multi-fingered dexterous hand as described in the first aspect, and the control method comprises: scan all servo identification numbers on the multi-fingered hand communication bus, determine the servos on the multi-fingered hand communication bus as available servos and generate an available servo list; receive a batch configuration instruction input by a user, the batch configuration instruction being applicable to at least part of the servos in the available servo list; in response to the batch configuration instruction, sequentially perform the same configuration operation sequence on each servo in the available servo list.

[0008] In a third aspect, the embodiments of the present application further disclose a multi-fingered hand control system, comprising: a multi-fingered hand and a controller of the multi-fingered hand; the multi-fingered hand is configured to grasp an object; the controller is configured to scan all servo identification numbers on the multi-fingered hand communication bus, determine the servos on the multi-fingered hand communication bus as available servos and generate an available servo list, receive a batch configuration instruction input by a user, the batch configuration instruction being applicable to at least part of the servos in the available servo list, and in response to the batch configuration instruction, sequentially perform the same configuration operation sequence on each servo in the available servo list.

[0009] In summary, in the embodiments of the present application, the finger joint mechanism of the multi-fingered hand adopts a bearing and shaft sleeve transition support mode, strictly keeps the rotation axis of the servo consistent with the axis of the bearing and the shaft sleeve, makes the servo structure in the finger joint mechanism adopt a symmetric support form, replaces the traditional single-side support form, this design can provide more stable support for the finger joint, effectively resist the action of complex force and torque during operation, avoid shafting deviation caused by long-term use, and improve the accuracy and consistency of the finger joint movement. Therefore, the embodiments of the present application improve the operation stability of the multi-fingered hand through the optimization of the mechanical structure of the multi-fingered hand, make the operation of the user more stable, optimize the user experience, and further expand the practical application value of the multi-fingered hand. BRIEF DESCRIPTION OF DRAWINGS

[0010] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the description of the embodiments of the present application. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0011] Figure 1 is an assembly structure schematic diagram of a multi-fingered hand in the embodiments of the present application; Figure 2 is an exploded structure schematic diagram of a multi-fingered hand in the embodiments of the present application; Figure 3 is a schematic diagram of a connection relationship between a bearing and a shaft sleeve in an embodiment of the present application; Figure 4 is a schematic diagram of a structure of a bearing and a shaft sleeve in an embodiment of the present application; Figure 5 is a schematic diagram of a cross section of a connection relationship between a bearing and a shaft sleeve in an embodiment of the present application; Figure 6 is a schematic diagram of a structure of a second connecting piece in an embodiment of the present application; Figure 7 is a step flow chart of a multi-fingered dexterous hand batch configuration parameter method in an embodiment of the present application; Figure 8 is a block diagram of a multi-fingered dexterous hand control system in an embodiment of the present application.

[0012] Reference signs: 10 - multi-fingered mechanism; 20 - palm mechanism; 11 - finger mechanism; 12 - thumb mechanism; 21 - palm shell; 22 - driving plate; 121 - steering engine; 122 - first connecting piece, 123 - second connecting piece; 124 - bearing; 125 - shaft sleeve; 1211 - first steering engine; 1212 - second steering engine; 126 - third connecting piece; 1213 - third steering engine; 1214 - fourth steering engine; 1241 - shaft hole; 1242 - convex tooth structure; 1243 - first circular mounting hole; 1251 - circular through hole; 1252 - second circular mounting hole; 1231 - groove; 13 - end knuckle. DETAILED DESCRIPTION

[0013] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0014] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than that illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of a kind and do not limit the number of objects, for example, the first object can be one or more. In addition, the term "and / or" in the specification and claims is used to describe the relationship between the associated objects, which means that there can be three relationships, for example, A and / or B, which means that there are three cases of A alone, A and B together, and B alone. The character " / " generally represents an "or" relationship between the associated objects. The term "multiple" in the embodiments of the present application means two or more, and other quantifiers are similar.

[0015] The embodiments of the present application will be described in detail below with reference to the accompanying drawings, specific embodiments and application scenarios.

[0016] In the first aspect of the present application, with reference to Figure 1 and Figure 2 , a multi-fingered hand of the present application is shown, which includes a multi-fingered mechanism 10 and a palm mechanism 20; the multi-fingered mechanism 10 includes a plurality of identical finger mechanisms 11 and a thumb mechanism 12; the palm mechanism 20 includes a palm shell 21 and a driving board 22; the thumb mechanism 12 includes a plurality of servos 121, a plurality of first connecting members 122, a plurality of second connecting members 123, a bearing 124 and a shaft sleeve 125; the plurality of servos 121 includes a first servo 1211 and a second servo 1212; the palm shell 21 is fixedly connected with one end of the first servo 1211 through the first connecting member 122; the output shaft of the first servo 1211 is fixedly connected with one end of the second servo 1212 through the second connecting member 123; the rotation axis of the second servo 1212 is consistent with the axis of the output shaft of the first servo 1211; the other end of the second servo 1212 is fixedly connected with the bearing 124, and the shaft sleeve 125 is fixedly connected with the palm shell 21; the bearing 124 is arranged in the shaft sleeve 125, and the bearing 124 and the shaft sleeve 125 form a transition fit; the rotation axis of the bearing 124 is consistent with the rotation axis of the second servo 1212.

[0017] In the embodiments of the present application, the multi-fingered mechanism 10 includes a plurality of identical finger mechanisms 11 and a thumb mechanism 12. The multi-fingered mechanism 10 is a key execution component, and the structural design of the multi-fingered mechanism 10 directly affects the motion accuracy and stability of the multi-fingered hand. The palm mechanism 20 includes a palm shell 21 and a driving board 22; wherein the palm shell 21 provides a mounting basis and structural support for the multi-fingered hand, and the driving board 22 integrates control and driving circuits to provide power and signal support for the operation of the multi-fingered hand. The thumb mechanism 12 specifically comprises a plurality of steering engines 121, a plurality of first connecting members 122, a plurality of second connecting members 123, a bearing 124 and a shaft sleeve 125; wherein the plurality of steering engines 121 comprises a first steering engine 1211 and a second steering engine 1212. In the assembly relationship, the palm shell 21 is fixedly connected with one end of the first steering engine 1211 through the first connecting member 122, such as a bolt, a buckle or other fastening structure, to ensure the installation stability of the first steering engine 1211 on the palm mechanism 20. The output shaft of the first steering engine 1211 is fixedly connected with the other end of the second steering engine 1212 through the second connecting member 123, such as a shaft coupling or a flange plate, and the rotation axis of the second steering engine 1212 is consistent with the axis of the output shaft of the first steering engine 1211, to avoid motion interference or precision loss caused by axis deviation. Meanwhile, the other end of the second steering engine 1212 is fixedly connected with the bearing 124, and the shaft sleeve 125 is fixedly integrated with the palm shell 21, the bearing 124 is nested in the shaft sleeve 125, and the bearing 124 and the shaft sleeve 125 form a transition fit, that is, the gap between the outer ring of the bearing and the inner wall of the shaft sleeve is moderate, which ensures smooth rotation and avoids radial shaking, and the rotation axis of the bearing 124 is completely coincident with the rotation axis of the second steering engine 1212, forming stable support for both ends of the thumb mechanism.

[0018] In summary, in the embodiment of the present application, the transition fit structure between the bearing and the shaft sleeve forms stable support for both ends of the thumb mechanism, one end of the second steering engine is connected with the output shaft of the first steering engine through the second connecting member, the other end is fixedly connected with the palm shell through the bearing and the shaft sleeve, and the bearing, the shaft sleeve and the rotation axis of the steering engine are consistent, so that the load resistance of the thumb mechanism is enhanced, the radial force and the torque in the operation process can be resisted, the shafting deviation caused by long-term use is reduced, the motion of the finger joint is consistent and accurate. Since the output shaft of the first steering engine, the rotation axis of the second steering engine, the rotation axis of the bearing and the rotation axis of the shaft sleeve are completely coincident, the motion jamming or trajectory deviation caused by axis deviation can be avoided, and when the multi-fingered hand performs precise grabbing, assembling and other operations, the motion trajectory of the thumb mechanism can be more accurate and controllable, so that the thumb mechanism can stably output the expected action, thereby improving the adaptability of the multi-fingered hand in high-precision demand scenarios such as industrial manufacturing and medical rehabilitation. In addition, the transition fit of the bearing and the shaft sleeve not only ensures smooth rotation, but also reduces the friction loss of the joint components, and compared with the rigid contact under single-side support, the transition fit can disperse the stress and reduce the local wear speed, and the reduction of the shafting deviation can also avoid mechanical damage caused by structural misplacement, thereby prolonging the service life of the multi-fingered hand and reducing the cost caused by maintenance or replacement of components. At the same time, the stable structure design reduces the uncertainty in the motion process, so that the action output by the steering engine is accurate and reliable, and the practicality and application value of the multi-fingered hand are improved. Optionally, with reference toFigure 1 The thumb mechanism 12 further comprises a plurality of third connecting members 126; the plurality of steering wheels 121 further comprises a third steering wheel 1213 and a fourth steering wheel 1214; the output shaft of the second steering wheel 1212 is connected to the output shaft of the third steering wheel 1213 through the third connecting member 126; the third connecting member 126 is in a U-shaped structure, and the two ends of the output shaft of the third steering wheel 1213 are fixedly connected to the opposite two ends of the third connecting member 126; one end of the third steering wheel 1213 is fixedly connected to the first connecting member 122, the first connecting member 122 is fixedly connected to the third connecting member 126, and the opposite two ends of the third connecting member 126 are fixedly connected to the output shaft of the fourth steering wheel 1214; and a threaded hole is arranged at the connection of each first connecting member 122, each second connecting member 123 and each third connecting member 126, and the threaded hole is in a thickened annular boss structure.

[0019] In the embodiment of the present application, the thumb mechanism 12 further comprises a plurality of third connecting members 126, and the plurality of steering wheels 121 further comprises a third steering wheel 1213 and a fourth steering wheel 1214 to expand the freedom of movement. Among them, the output shaft of the second steering wheel 1212 is connected to the output shaft of the third steering wheel 1213 through the third connecting member 126, the third connecting member 126 adopts a U-shaped structure design, the opposite two ends of the third connecting member 126 are respectively fixed to the two ends of the output shaft of the third steering wheel 1213, one end of the third steering wheel 1213 is fixedly connected to the first connecting member 122, the first connecting member 122 is fixedly connected to the third connecting member 126, forming a multi-node support structure, and the opposite two ends of the third connecting member 126 are also fixedly connected to the output shaft of the fourth steering wheel 1214, and the complex motion trajectory of the thumb mechanism is realized through the cooperative driving of the plurality of steering wheels. In cooperation with the existing first steering wheel and the second steering wheel, the thumb mechanism has more freedom of movement, can simulate the complex actions such as flexion and rotation of the human thumb, and significantly improves the grasping adaptability of the multi-fingered hand to objects of different shapes and sizes.

[0020] In addition, a threaded hole is arranged at the connection of each first connecting member 122, each second connecting member 123 and each third connecting member 126, and the threaded hole adopts a thickened annular boss structure, the boss height is higher than the surface of the connecting member, the structural strength of the threaded connection area is enhanced, the fastening strength between the connecting members is improved, thereby reducing the risk of thread loosening caused by vibration under long-term movement, and prolonging the service life of the connecting structure. At the same time, the cooperative support design of the plurality of connecting members disperses the stress at the joint, thereby enhancing the load resistance of the thumb mechanism, and in combination with the stable support of the bearing and the shaft sleeve, the precision and reliability of the movement of the multi-fingered hand can be improved as a whole, so that the multi-fingered hand is suitable for high-end application scenarios such as industrial precision operation and medical fine auxiliary operation.

[0021] Optionally, referring to Figure 1 , Figure 3 ,Figure 4 、 Figure 5 and Figure 6 The bearing 124 is disc-shaped, and a cylindrical protruding shaft hole 1241 is arranged at the center of the bearing 124; the bearing 124 is further provided with a spline-shaped distributed circumferential convex tooth structure 1242; the bearing 124 is further provided with at least two first circular mounting holes 1243 for cooperating and connecting with the second steering engine 1212; the shaft sleeve 125 is disc-shaped, and a circular through hole 1251 that cooperates with the shaft hole 1241 of the bearing 124 is arranged at the center of the shaft sleeve 125; the shaft sleeve 125 is further provided with at least two second circular mounting holes 1252 for cooperating and connecting with the palm shell 21; one end of the bearing 124 and one end of the shaft sleeve 125 are mutually attached to each other; the driving plate 22 is used for driving the steering engine 121 to work; and the opposite sides of the second connecting piece 123 are provided with grooves 1231 to accommodate the connecting lines of the plurality of steering engines 121.

[0022] In the embodiment of the present application, the bearing 124 adopts a disc-shaped structure, and a cylindrical protruding shaft hole 1241 is arranged at the center of the bearing 124, which can form accurate positioning with the circular through hole 1251 of the shaft sleeve 125 to ensure that the axes of the two are completely consistent, further improving the rotation stability. Meanwhile, the bearing 124 is further provided with a spline-shaped distributed circumferential convex tooth structure 1242, which can reduce the friction between the attached surfaces of the bearing 124 and the shaft sleeve 125. Meanwhile, the bearing 124 is provided with at least two first circular mounting holes 1243 for cooperating and connecting with the second steering engine 1212. The firmness of the connection between the bearing and the second steering engine can be ensured, and the problem of easy loosening of single-point connection can be avoided.

[0023] The shaft sleeve 125 is disc-shaped, and a circular through hole 1251 that cooperates with the shaft hole 1241 of the bearing 124 is arranged at the center of the shaft sleeve 125, which can form accurate positioning with the shaft hole 1241 of the bearing 124 to ensure that the axes of the two are completely consistent, further improving the rotation stability. The shaft sleeve 125 is provided with at least two second circular mounting holes 1252 for cooperating and connecting with the palm shell 21, which can ensure the firmness of the connection between the shaft sleeve and the palm shell, and avoid the problem of easy loosening of single-point connection. The design that the bearing and the shaft sleeve are mutually attached at one end can make the support combination of the bearing and the shaft sleeve more stable for the support of the thumb mechanism, thereby avoiding the problem of axis deviation of the thumb mechanism.

[0024] The driving plate 22 is used for driving the steering engine to work normally and provides power and control signals for the multi-fingered hand. The grooves 1231 on the opposite sides of the second connecting piece 123 can orderly accommodate the steering engine connecting lines, avoiding the problem that the connecting lines are squeezed, entangled or worn in the movement process, reducing the risk of line failure, and improving the structural stability of the multi-fingered hand.

[0025] Optionally, referring to Figure 1The multi-fingered mechanism 10 further comprises a plurality of end phalanges 13; each end phalange 13 is a visual-tactile sensor for acquiring tactile information of an object grasped by the multi-fingered hand.

[0026] In the embodiments of the present application, the visual-tactile sensor is integrally installed at the end position of the finger mechanism 11 and the thumb mechanism 12, and can directly contact the grasped object, so that the tactile information of the multi-fingered hand contacting the object during grasping can be acquired in real time.

[0027] In a specific example, the tactile information includes key data such as contact pressure, pressure distribution, surface texture characteristics of the object, and contact position, which can be converted into electrical signals by the visual-tactile sensor and transmitted to the driving board 22 or the control system. The integration of grasping action and perception function is realized, and the directness and accuracy of perception are ensured. By acquiring the contact pressure information in real time, the control system can accurately judge whether the grasping force is appropriate, avoid the problem of object damage caused by excessive force or object falling caused by insufficient force, and improve the stability and safety of grasping; the perception of pressure distribution and contact position can enable the multi-fingered hand to adaptively adjust the posture and stress of each finger according to the shape of the object; and the identification of the surface texture characteristics of the object can provide data support for object material judgment, for example, when grasping fragile or slippery objects, the grasping force and contact method can be adjusted in advance based on the texture information. The multi-fingered hand can be applied to various fields such as precision assembly, medical care, and service robots.

[0028] In the existing multi-fingered hand, the parameter debugging link has long relied on manual operation by connecting each device one by one. The control system of the traditional multi-fingered hand lacks a unified automatic communication and configuration mechanism between the servo motors, sensors, and other components of each finger joint. After initial deployment, function upgrade, or troubleshooting of the device, technical personnel need to connect the debugging device to the control interface of each servo motor one by one through a special connection line, and then manually input parameter instructions with the help of debugging software. For example, for the core parameters such as the rotation angle range, speed threshold, and torque limit of each servo motor, the operator needs to set each parameter one by one according to the device manual, and needs to repeatedly start and stop the device for testing to confirm whether the parameters meet the expectations. Since the multi-fingered hand usually includes multiple finger mechanisms and multiple servo components, this one-by-one connection and sequential debugging method not only consumes a lot of time and labor cost, but also is prone to inconsistent parameter settings due to differences in the experience of the operators, carelessness in operation, or repetitive labor. For example, when the servo parameters of different fingers have slight deviations, the coordination of the hand movement will be reduced, affecting the grasping accuracy. In addition, there is a lack of real-time verification mechanism in the manual parameter adjustment process, and parameter errors are often exposed in actual operation, increasing the debugging period and the difficulty of later maintenance, which seriously restricts the deployment efficiency and operation reliability of the traditional multi-fingered hand, and brings great inconvenience to the daily operation of users.

[0029] Thus, in a second aspect of the application, referring to Figure 7 , a multi-fingered hand control method of the application is shown, for controlling the multi-fingered hand as in the first aspect.

[0030] The method can include the following steps: Step 301, scan all the servo identification numbers on the multi-fingered hand communication bus, determine the servos on the multi-fingered hand communication bus as available servos and generate a list of available servos.

[0031] Wherein, the communication bus of the multi-fingered hand is an information transmission channel connecting each servo and the control core, which undertakes the function of data interaction such as command sending and state feedback between the servo and the control system, providing stable communication support for the cooperative work of each servo. The servo identification number is the unique identity of each servo on the communication bus, through which the control system can accurately identify each servo on the bus, ensuring that the command and data can be accurately transmitted to the target servo.

[0032] In a specific example, first start the control system of the multi-fingered hand, make the communication bus enter the normal working state, then scan all the servos on the communication bus through the ping_for_motors() function, for example, detect the servos from 0 to 50. Each servo on the bus will respond according to its preset identification number after receiving the scanning instruction, and send feedback information containing its identification number back to the control system. The control system continuously receives and analyzes the feedback information on the bus, extracts the valid servo identification numbers, and at the same time, checks the identification numbers for duplication and validity, excluding invalid or duplicate identification information. After verification, the valid servo identification numbers are sorted and summarized to generate a clear list of available servos, which accurately records the identification information of all servos that can normally communicate on the communication bus.

[0033] By actively scanning the communication bus and identifying the servo identification number, the servos in the current multi-fingered hand that are in a normal connection state can be quickly and accurately determined, providing reliable basic data for subsequent control, debugging and management of the servo. The generated list of available servos can make the control system clearly know the available execution components, avoid the problem of command sending error or control failure due to unclear servo state, and can improve the stability and reliability of the multi-fingered hand system operation.

[0034] Step 302, receive the batch configuration instruction input by the user, the batch configuration instruction is applicable to at least part of the servos in the list of available servos.

[0035] Firstly, a communication connection with the user input device needs to be established, which supports the user to input batch configuration instructions through the operation interface, instruction script or special configuration tool. After receiving the batch configuration instructions, the instruction format is first verified, checking the parameter integrity, data type correctness and whether the applicable rudder range is within the available rudder list. After verification, the configuration parameters and target rudder identifiers in the instructions are parsed, and according to the communication protocol in the available rudder list, the configuration instructions are converted into a signal format recognizable by each target rudder, and then the configuration data is sent to the specified rudder through the communication bus one by one, while receiving the configuration confirmation information returned by the rudder in real time, to ensure that each target rudder successfully receives and applies the configuration parameters. With the help of batch configuration instructions, multiple rudders in the available rudder list can be set with unified parameters at the same time, thereby reducing the operation steps of configuring each rudder one by one, improving the configuration efficiency, and especially suitable for scenes that need to quickly adjust the overall running parameters of multi-fingered hand. At the same time, since the instructions only act on the specified rudders in the available rudder list, it avoids sending invalid instructions to unidentified or unavailable rudders, providing convenient support for efficient debugging and function optimization of multi-fingered hand.

[0036] Step 303, in response to the batch configuration instructions, the same configuration operation sequence is performed on each rudder in the available rudder list.

[0037] After receiving the batch configuration instructions, the target rudder identifier sequence to be executed for the configuration operation is first extracted from the available rudder list, which is consistent with the applicable rudder range specified in the batch configuration instructions. Then, according to the preset configuration operation process, a standard configuration operation sequence for a single rudder is generated, which covers parameter writing, state initialization, function verification and other continuous operation steps, and the execution logic and data format of each step are uniformly adapted to the communication bus protocol and rudder hardware requirements. The control system selects a single rudder identifier in sequence according to the order of the target rudder identifier sequence, sends the first operation instruction in the configuration operation sequence to it through the communication bus, and after receiving the operation completion confirmation signal returned by the rudder, sends the next operation instruction, until the rudder completes the entire configuration operation sequence and returns the final configuration success feedback. By performing the same configuration operation sequence on each rudder in the available rudder list, the configuration environment, parameter setting and function state of each target rudder are highly consistent, avoiding performance deviations of the rudders caused by differences in operation steps, and providing a unified running basis for the coordinated motion of each joint of the multi-fingered hand. At the same time, the operation mode executed in sequence can monitor the configuration process of each rudder in real time, ensuring the controllability of the configuration process and the reliability of the results.

[0038] In summary, in the embodiments of the present application, step 301 ensures that the subsequent configuration instructions only act on the normally connected servo motors by identifying available servo motors and generating a list of available servo motors, thereby avoiding invalid operations and resource waste. On this basis, step 302 implements unified parameter setting for the specified servo motors in the list of available servo motors by receiving batch configuration instructions, greatly reducing the cumbersome steps of individual configuration, significantly improving the configuration efficiency, and being particularly suitable for scenarios that require rapid adjustment of the overall operating parameters of multi-fingered dexterous hands. Step 303 responds to the batch configuration instructions and sequentially executes the same configuration operation sequence for each target servo motor, ensuring that the configuration environment, parameter settings, and functional state of each servo motor are highly consistent, thereby avoiding performance deviations caused by operational differences and providing a unified operating basis for the coordinated motion of the joints of the multi-fingered dexterous hand. At the same time, throughout the process, from the accurate identification of available servo motors to the targeted transmission of batch instructions, to real-time monitoring and exception recording during the configuration process, a closed-loop operation system is formed, effectively reducing communication redundancy, reducing configuration errors, improving the standardization of system configuration, and ensuring the controllability of the configuration process and the reliability of the results. Ultimately, the stability and efficiency of the multi-fingered dexterous hand system operation can be enhanced.

[0039] Optionally, the configuration operation sequence in step 303 includes: Sequentially setting the disable output torque instruction, the write protection release instruction, the write protection lock instruction, and the enable output torque instruction.

[0040] Among them, the function of the disable output torque instruction is to cut off the motor coil current to make the servo motor enter a free state, preventing mechanical resistance interference caused by maintaining position during parameter writing, and avoiding accidental operation of the servo motor; the enable output torque instruction can restore the power supply of the servo motor to make it regain the position maintaining ability, marking the final completion of the configuration process.

[0041] Among them, EEPROM (Electrically Erasable Programmable Read-Only Memory) is a key non-volatile storage chip that permanently stores core control parameters in the servo motor. The function of the write protection release instruction is to temporarily open the write permission of the EEPROM memory of the servo motor. By sending a command such as unLockEprom to the servo motor, the hardware write protection lock of the non-volatile storage area is released, allowing the key control parameters to be modified and permanently saved to the EEPROM. The write protection lock instruction corresponds to the LockEprom command, which immediately re-enables the EEPROM write protection lock after the parameter writing is completed, solidifying the written data and preventing subsequent errors or accidental power failure from causing parameter tampering or loss.

[0042] Optionally, the same configuration operation sequence performed on each rudder in the list of available rudders in step 303 can specifically include: Sub-step 3031, send the disable output torque instruction and the write protection release instruction to the current rudder.

[0043] Sub-step 3032, write the corresponding parameters to the corresponding registers of the current rudder according to the batch configuration instruction.

[0044] Sub-step 3033, after completing the parameter writing, send the write protection locking instruction and the output torque enabling instruction to the current rudder.

[0045] Specifically, for sub-steps 3031-3033, first, sub-step 3031 sends the disable output torque instruction, which can avoid unnecessary mechanical movement of the rudder due to accidental output torque during parameter configuration, prevent collision damage to the multi-fingered hand structure or the surrounding environment; At the same time, the write protection release instruction is released, which clears the permission barrier for subsequent parameter writing to the register, ensuring that the configuration instruction can act on the target rudder smoothly. On this basis, sub-step 3032 writes parameters to the corresponding registers according to the batch configuration instruction. Since the permission has been released and the torque has been disabled in advance, the parameter writing process is more stable and reliable, reducing the risk of writing failure due to mechanical interference or permission problems, and ensuring the accuracy of the configuration parameters. Sub-step 3033 sends the write protection locking instruction in a timely manner after the parameter writing is completed, which can prevent subsequent unrelated instructions from modifying the configured parameters, ensuring the persistence of parameter settings; At the same time, the output torque enabling instruction is sent, so that the rudder can restore the normal torque output function after completing the configuration, ensuring that the rudder can normally participate in the collaborative work of the multi-fingered hand according to the new parameters. Through the coherent operation of disabling torque and releasing protection first, then accurately writing parameters, and finally locking protection and restoring torque, not only the safe and stable configuration of parameters is realized, but also the mechanical risk and parameter tampering risk in the configuration process are avoided, ensuring that each rudder can be put into operation with unified and correct parameter state after configuration, providing a basis for stable work of the multi-fingered hand. Optionally, before the step of scanning all rudder identification numbers on the multi-fingered hand communication bus in step 301, the method further comprises: Step 304, encapsulate the underlying communication protocol of the rudder, and convert the register read-write operation into a callable function interface.

[0046] Specifically, by developing a driving control intermediate layer, an angle mapping and interface protocol mapping algorithm is adopted, and standard protocol support and standardized joint space control are preset. At the protocol abstraction level, the register operation is converted into an object-oriented function interface call, which automatically handles register address mapping, data packaging, byte sequence conversion, and error checking and other underlying work.

[0047] In one specific example, first select the development library that adapts to the underlying communication protocol of the servo, and through the construction of a special encapsulation class, the underlying communication details are abstracted. In the encapsulation process, first sort out the various register operations required for servo control, and solidify these address information into the encapsulation logic. Then, for the technical details in the register read-write process, automatically process through the writing of specific functions to achieve byte sequence conversion, data packaging, integration of error checking mechanism, and unified analysis of communication status code. Finally, these underlying operation logics are encapsulated as a series of callable function interfaces, and the user only needs to pass in the parameter values when calling the interface, without manually specifying the register address or processing the communication protocol details. In step 304, the complex register read-write operation is converted into an intuitive function interface through protocol encapsulation, which can hide the technical details of the underlying communication, so that the developer does not need to remember the register address, handle the byte sequence or the checking mechanism, so that the user can focus on the control logic design rather than the communication protocol implementation. At the same time, the standardized function interface unifies the operation method, which can solve the problem of confusion between forward and reverse directions caused by manual processing of underlying details in traditional servo control, and reduce human operation errors. This encapsulation also provides a basis for the compatibility of the servo with other control systems. In addition, the encapsulated function interface provides support for batch operations, which can be beneficial to the batch setting of multi-joint parameters, laying a technical foundation for a significant reduction in debugging time.

[0048] Step 305, define the mapping relationship between the servo control parameters and the corresponding register addresses.

[0049] Specifically, sort out various control parameters of the servo, for example, which can include position loop parameters, speed threshold, torque limit, zero calibration value and other key parameters. According to the servo communication protocol, determine the specific storage address of each control parameter in the servo register, and clearly define the register start address, data length and data format corresponding to different parameters. Store the control parameter names and corresponding register addresses in association to form a fixed mapping relationship table, for example, map the proportional gain parameter of the position loop to register address 21, and map the differential gain parameter of the position loop to register address 22.

[0050] By clearly defining the mapping relationship between the control parameters and the register addresses, the developer does not need to remember the complex register addresses when calling the function interface for parameter configuration, but only needs to implement the operation of the target register through the parameter name, which can reduce the configuration errors caused by address mistakes or confusion in the development process. At the same time, the unified mapping relationship provides a stable parameter addressing basis for the upper function interface, so that the protocol-encapsulated function can automatically find the corresponding register address according to the parameter name and perform read-write operation, which can ensure the accuracy and consistency of parameter configuration, and improve the convenience and maintainability of system development.

[0051] In step 306, a command line interactive interface is provided for receiving a batch configuration instruction input by a user.

[0052] The command line interactive interface builds an intuitive and convenient interactive bridge between the user and the system, and the user does not need to deeply understand the underlying communication protocol or register operation details. The user only needs to input the batch configuration instruction through a simple command format to realize the parameter setting of multiple steering wheels. This method simplifies the user operation process, avoids the tedious steps and repetitive labor in traditional manual configuration, and can reduce the input error probability caused by complex operation. At the same time, the command line interactive interface can clearly feedback the instruction receiving state and execution result, so that the user can master the configuration progress in real time and find and correct possible instruction problems in time. In addition, combined with the mapping relationship between the steering wheel control parameters and the register addresses defined in the early stage, the batch configuration instruction received by the command line interactive interface can be directly parsed by the system as the corresponding register operation, which guarantees the accuracy and efficiency of the instruction execution and provides support for quickly completing the unified configuration of multiple steering wheels.

[0053] In a specific example, the command line interactive interface can be displayed as follows: Please select an operation mode: 0: Steering wheel zero position calibration; 1: Batch edit the position loop gain of all steering wheels; 2: Batch write to register; 3: Batch read from register; q: Exit.

[0054] Optionally, the batch configuration instruction includes a gain setting instruction for configuring the proportional gain, integral gain and derivative gain of the steering wheel position loop.

[0055] The position loop is a closed-loop control link in the steering engine control system for stabilizing the output position. The role of the position loop is to adjust the output torque or driving force by comparing the deviation between the current actual position and the target position of the steering engine, so that the steering engine can accurately run to the target position and remain stable. The proportional gain is a parameter in the position loop control that directly outputs the control amount according to the size of the position deviation. The larger the deviation, the larger the output of the proportional link, which can quickly respond to the position deviation and play a role in preliminary adjustment, thereby speeding up the response speed of the system. However, too large a gain may cause the system to oscillate. The integral gain is used to accumulate the position deviation and produce a continuous control effect, mainly to solve the problem of static deviation that cannot be eliminated by proportional control. Through long-term accumulation of the deviation, the deviation is gradually corrected, so that the steering engine can accurately reach the target position when stable, and position deviation can be avoided. However, too large a gain may cause the system to respond slowly or overshoot. The derivative gain can output a control amount according to the rate of change of the position deviation, which can predict the trend of the deviation and apply a reverse adjustment effect in advance when the deviation changes rapidly, thereby suppressing the oscillation and overshoot of the system and enhancing the stability of the system, making the steering engine run more smoothly. However, too large a gain may cause the system to be too sensitive to interference.

[0056] The zero position calibration instruction is used to read and display the current position value of the steering engine, receive a confirmation signal after the user manually adjusts the current position of the steering engine, and set the confirmed current position value as the midpoint value.

[0057] The zero position calibration instruction is used to specify the reference position of the steering engine. The zero position calibration instruction first reads the current actual position value of the steering engine and displays it in real time to the user, allowing the user to intuitively understand the current physical position state of the steering engine. Then, the user can manually adjust the mechanical position of the steering engine according to the actual needs, so that the steering engine is at the expected reference position, i.e. the midpoint position. After the adjustment is completed, a confirmation signal is sent to the system. After receiving the confirmation signal, the system records the current position value of the steering engine at that time and sets it as the midpoint value of the steering engine, which serves as the reference point for subsequent position control. Through the explicit interaction process, the accurate setting of the zero position of the steering engine is ensured, which can solve the problem of inconsistent initial positions of multiple steering engines and provide a unified reference for subsequent position loop control and other parameter configurations, ensuring the accuracy and consistency of the positions of multiple steering engines when working together.

[0058] The steering calibration instruction is used to adjust the rotation direction of the steering engine.

[0059] The steering calibration instruction is an operation instruction for unifying the rotation direction of the steering engine. The steering calibration instruction is used to solve the problem of the rotation direction of the steering engine being reversed. When the steering calibration instruction is executed, the current rotation direction feedback information of the steering engine is first obtained, and then the user sends a direction adjustment instruction according to the actual requirement, for example, by specifying a positive or negative parameter to correct the rotation logic of the steering engine. After receiving the adjustment instruction, the direction calibration parameter is written into the corresponding control register of the steering engine through the underlying protocol, and the rotation direction of the steering engine after receiving the control signal is redefined, so that the actual physical rotation direction of the steering engine is consistent with the expected direction. This process does not require the user to manually modify the underlying register address or communication protocol details. By combining the simple operation of the command line interactive interface, the rotation direction of multiple steering engines can be uniformly calibrated, ensuring the consistency of the movement direction of each joint of the multi-fingered hand and avoiding movement errors caused by chaotic direction.

[0060] In a third aspect of the present application, referring to Figure 8 , a multi-fingered hand control system 40 of the present application is shown, comprising: a multi-fingered hand 401 and a controller 402 of the multi-fingered hand; The multi-fingered hand 401 is used to grasp an object; The controller 402 of the multi-fingered hand is used to scan all steering engine identification numbers on the multi-fingered hand communication bus, determine the steering engines on the multi-fingered hand communication bus as available steering engines and generate a list of available steering engines; receive a batch configuration instruction input by a user, the batch configuration instruction being applicable to at least part of the steering engines in the list of available steering engines; and in response to the batch configuration instruction, sequentially execute the same configuration operation sequence on each steering engine in the list of available steering engines.

[0061] Optionally, the configuration operation sequence in the multi-fingered hand control system 40 comprises: sequentially setting a disable output torque instruction, a write protection release instruction, a write protection lock instruction, and an enable output torque instruction.

[0062] Optionally, the multi-fingered hand control system 40 is further configured to send a disable output torque instruction and a write protection release instruction to the current steering engine; write a corresponding parameter into a corresponding register of the current steering engine according to the batch configuration instruction; and after completing the parameter writing, send a write protection lock instruction and an enable output torque instruction to the current steering engine.

[0063] Optionally, the multi-fingered hand control system 40 is further configured to encapsulate the underlying communication protocol of the steering engine, convert the register read-write operation into a callable function interface; define a mapping relationship between the steering engine control parameter and the corresponding register address; and provide a command line interactive interface for receiving a batch configuration instruction input by a user.

[0064] Optionally, the batch configuration instructions in the multi-fingered hand control system 40 include: gain setting instructions for configuring the proportional gain, integral gain and differential gain of the servo position loop; zero calibration instructions for reading and displaying the current position value of the servo, receiving a confirmation signal after the user manually adjusts the current position of the servo, and setting the confirmed current position value as the midpoint value; and steering calibration instructions for adjusting the rotation direction of the servo.

[0065] In summary, in the embodiments of the present application, through the cooperative work of the multi-fingered hand and the controller, the controller first accurately scans the servo identification number on the communication bus and generates a list of available servos, ensuring that subsequent operations are only for normally connected servos, avoiding invalid instruction transmission and resource waste. The controller receives the batch configuration instructions input by the user and acts on the specified servo in the available servo list, combined with the command line interactive interface, the user does not need to master the details of the underlying communication protocol or register operation, and can complete the multi-servo configuration through simple instructions, which can simplify the operation process, reduce the tedious steps and repetitive labor of traditional individual configuration, and reduce the probability of input errors. In the configuration operation sequence, the pre-operation of disabling the output torque and unlocking the write protection can prevent the servo from being damaged by accidental movement during parameter writing, and can ensure the mechanical safety of the configuration process; after completing the parameter writing, the write protection is locked and the output torque is enabled, which can avoid parameter modification and enable the servo to quickly recover to the working state. The encapsulation of the underlying communication protocol and the definition of the mapping relationship between the control parameter registers ensure that the batch configuration instructions can be accurately parsed into precise register operations, ensuring the accuracy and efficiency of instruction execution. The batch configuration instructions such as gain setting, zero calibration and steering calibration can solve the problems of inconsistent parameters, zero deviation and reversed rotation direction caused by manufacturing or assembly differences, ensuring the uniformity of the performance of each servo, providing a stable and reliable control basis for the cooperative gripping and movement of each joint of the multi-fingered hand, and improving the usability, configuration efficiency and running stability of the system.

[0066] It should be noted that the various information and data obtained in the embodiments of the present application are obtained with the authorization of the information / data holder.

[0067] In the specification provided herein, a large number of specific details are described. However, it can be understood that the embodiments of the present application can be practiced without these specific details. In some embodiments, well-known methods, structures and techniques are not shown in detail in order not to obscure the understanding of the present specification.

[0068] Similarly, it is to be understood that the features of the present application that are of a proprietary nature are sometimes illustrated in the description of the exemplary embodiments of the application above as being grouped in single embodiments, figures, or portions thereof. This method of disclosure, however, is not to be interpreted as reflecting an intention that the application requires more features than are explicitly recited in each claim. Rather, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Following, the claims are inoperative to define the scope of the application. The summary of the application merely identifies some of the fundamental technical problems. The claims, however, define the scope of the application. The claims specifically recite features of the application that are essential to the application.

[0069] Those skilled in the art will appreciate that the modules in the apparatuses in the embodiments can be adapted and placed in one or more apparatuses other than the embodiments. The modules or units or components in the embodiments can be combined into one module or unit or component, and further can be divided into more sub-modules or sub-units or sub-components. Any combination of all the features disclosed in the specification (including the accompanying claims, abstract and drawings), and any method or apparatus so disclosed, can be taken, except that at least some of such features and / or processes or units are mutually exclusive, unless explicitly stated otherwise. Each feature disclosed in the specification (including the accompanying claims, abstract and drawings), can be replaced by alternative features serving the same, equivalent or similar purpose, unless explicitly stated otherwise.

[0070] It should be noted that the above-mentioned embodiments illustrate rather than limit the application, and that one skilled in the art will be able to design many alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps other than those listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application can be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claim enumerating several means, the several means can be embodied by one and the same item of hardware. The use of the word at the beginning of the abstract is not limiting the scope of the application to a specific abstract. The word "comprise" and variations of the word, such as "comprising", "comprises" and "comprised", means "including but not limited to".

[0071] The above merely illustrates the specific embodiments of the present application, but the protection scope of the present application is not limited thereto, and any skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A multi-fingered dexterous hand, characterized by, The multi-fingered hand comprises a multi-finger mechanism and a palm mechanism; the multi-finger mechanism comprises a plurality of identical finger mechanisms and a thumb mechanism; the palm mechanism comprises a palm shell and a driving plate; The thumb mechanism comprises a plurality of servos, a plurality of first connecting members, a plurality of second connecting members, a bearing and a shaft sleeve; the plurality of servos comprises a first servo and a second servo; One end of the first servo is fixedly connected to the palm shell through the first connecting member; The output shaft of the first servo is fixedly connected to one end of the second servo through the second connecting member; the rotation axis of the second servo is consistent with the axis of the output shaft of the first servo; The opposite end of the second servo is fixedly connected to the bearing, and the shaft sleeve is fixedly connected to the palm shell; the bearing is arranged in the shaft sleeve, and the bearing and the shaft sleeve form a transition fit; the rotation axis of the bearing is consistent with the rotation axis of the second servo.

2. The multi-digit dexterous hand of claim 1, wherein, The thumb mechanism further comprises a plurality of third connecting members; the plurality of servos further comprises a third servo and a fourth servo; The output shaft of the second servo is connected to the output shaft of the third servo through the third connecting member; the third connecting member is a U-shaped structure, and the two ends of the output shaft of the third servo are fixedly connected to the opposite ends of the third connecting member; One end of the third servo is fixedly connected to the first connecting member, the first connecting member is fixedly connected to the third connecting member, and the opposite ends of the third connecting member are fixedly connected to the output shaft of the fourth servo; Each of the first connecting member, the second connecting member and the third connecting member is provided with a threaded hole at the connection position, and the threaded hole is a thickened annular boss structure.

3. The multi-fingered dexterous hand of claim 1 wherein, The bearing is disc-shaped, and the center of the bearing is provided with a cylindrical protruding shaft hole; the bearing is further provided with a circumferential tooth structure in spline shape; the bearing is further provided with at least two first circular mounting holes for cooperating with the second servo; The shaft sleeve is disc-shaped, and the center of the shaft sleeve is provided with a circular through hole matched with the shaft hole of the bearing; the shaft sleeve is further provided with at least two second circular mounting holes for cooperating with the palm shell; One end of the bearing is matched with one end of the shaft sleeve; The driving plate is used for driving the servos to work; The opposite sides of the second connecting member are provided with grooves to accommodate the connecting lines of the plurality of servos.

4. The multi-fingered dexterous hand of claim 1 wherein, The multi-finger mechanism further comprises a plurality of terminal knuckles; each of the terminal knuckles is a visual tactile sensor, and the visual tactile sensor is used to acquire the tactile information of the object gripped by the multi-fingered hand.

5. A multi-fingered hand control method characterized by comprising: The control method for controlling the multi-fingered hand as claimed in any one of claims 1 to 4 comprises: Scanning all servo identification numbers on the multi-fingered hand communication bus to determine the servos on the multi-fingered hand communication bus as available servos and generate an available servo list; Receiving a batch configuration instruction input by a user, the batch configuration instruction being applicable to at least part of the servos in the available servo list; In response to the batch configuration instruction, sequentially performing the same configuration operation sequence on each servo in the available servo list.

6. The multi-fingered hand control method according to claim 5, wherein The configuration operation sequence comprises: The disabling output torque instruction, the write-protection release instruction, the write-protection locking instruction and the enabling output torque instruction are set in sequence.

7. The multi-fingered hand control method according to claim 6, wherein The same configuration operation sequence comprises: The disabling output torque instruction and the write-protection release instruction are sent to the current rudder; According to the batch configuration instruction, corresponding parameters are written to the corresponding registers of the current rudder; After the writing of the parameters is completed, the write-protection locking instruction and the enabling output torque instruction are sent to the current rudder.

8. The multi-fingered hand control method according to claim 5, wherein Before the step of scanning all rudder identification numbers on the multi-fingered hand communication bus, the method further comprises: The underlying communication protocol of the rudder is encapsulated, and the register read-write operation is converted into a callable function interface; A mapping relationship between the rudder control parameters and the corresponding register addresses is defined; A command line interactive interface is provided for receiving the batch configuration instruction input by the user.

9. The multi-fingered hand control method according to claim 5, wherein The batch configuration instruction comprises: A gain setting instruction for configuring the proportional gain, integral gain and differential gain of the rudder position loop; A zero position calibration instruction for reading and displaying the current position value of the rudder, receiving a confirmation signal after the user manually adjusts the current position of the rudder, and setting the confirmed current position value as a midpoint value; A steering calibration instruction for adjusting the rotation direction of the rudder.

10. A multi-fingered hand control system, characterized by, Comprise: A multi-fingered hand and a controller of the multi-fingered hand; The multi-fingered hand is used to grasp an object; The controller is used to scan all rudder identification numbers on the multi-fingered hand communication bus, determine the rudders on the multi-fingered hand communication bus as available rudders and generate an available rudder list; receive a batch configuration instruction input by a user, the batch configuration instruction being applicable to at least part of the rudders in the available rudder list; in response to the batch configuration instruction, execute the same configuration operation sequence for each rudder in the available rudder list in sequence.

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