Dexterous hand

Abstract

The invention discloses a dexterous hand which comprises at least one finger and comprises angle sensors arranged at joints of the fingers of the dexterous hand and used for detecting the flexion and extension angles of the corresponding joints to form joint detection angles; the communication module is arranged on the dexterous hand and at least used for sending the joint detection angle to the dexterous hand support and / or receiving the mechanical reference angle from the dexterous hand support, and when the fingers of the dexterous hand are placed on the finger supporting structure, the flexion and extension angles of the fingers are located at the mechanical reference angle. The device can communicate with the dexterous hand bracket for placing the dexterous hand to obtain the mechanical reference angle data corresponding to the dexterous hand bracket, so that the dexterous hand can calibrate and detect the joint angle of the dexterous hand based on the joint detection angle and the mechanical reference angle; or the joint detection angle is sent to the dexterous hand support through the communication module, and calibration detection of the joint angle of the dexterous hand is achieved in the dexterous hand support or an external device connected with the dexterous hand support.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a dexterous hand. BACKGROUND

[0002] As an important part of embodied robotics, dexterous hands have shown great potential in various fields such as industrial automation, medical assistance, and scientific exploration due to their multi-joint design and fine manipulation capabilities.

[0003] As an important part of robotics, dexterous hands have shown great potential in various fields such as industrial automation, medical assistance, and scientific exploration due to their multi-joint design and fine manipulation capabilities. However, due to manufacturing tolerances, long-term use wear and tear, and environmental changes (such as temperature and humidity changes leading to material deformation), the joint positions (i.e. initial positions or reference positions) of the dexterous hand may shift. This shift not only reduces the accuracy of its motion control, but also directly affects the stability and precision of the grasping operation, thereby limiting the performance of the dexterous hand in practical applications. SUMMARY

[0004] The embodiments of the present application provide a dexterous hand for calibrating and detecting the joint position shift that is prone to occur in the dexterous hand of the prior art.

[0005] According to a first aspect of the present application, a dexterous hand is provided, comprising at least one finger, comprising: An angle sensor is arranged at each joint of the fingers of the dexterous hand to detect the flexion and extension angle of the corresponding joint, forming a joint detection angle. A communication module is arranged on the dexterous hand, at least for sending the joint detection angle to the dexterous hand support, and / or receiving the mechanical reference angle from the dexterous hand support, wherein the dexterous hand support is used to support the placement of the dexterous hand and is provided with a finger support structure for supporting the placement of the fingers of the dexterous hand, and when the corresponding finger of the dexterous hand is placed on the corresponding finger support structure, the flexion and extension angle of the corresponding finger is at the mechanical reference angle.

[0006] The dexterous hand of the present application itself has an angle sensor to detect the corresponding flexion and extension angle of each joint, forming a joint detection angle, and the dexterous hand has a communication module to communicate with the dexterous hand support for placing the dexterous hand, to obtain the mechanical reference angle data of the dexterous hand support, to realize the joint angle calibration and detection of the dexterous hand based on the joint detection angle and the mechanical reference angle in the dexterous hand itself, or to send the joint detection angle to the dexterous hand support through the communication module, to realize the joint angle calibration and detection of the dexterous hand in the dexterous hand support or the external device connected to the dexterous hand support.

[0007] In some embodiments, the communication module is configured to at least send the joint detection angle to the dexterous hand support, and further configured to receive the calibration result from the dexterous hand support. The whole dexterous hand further comprises: The calibration result prompter is arranged on the dexterous hand and electrically connected with the communication module, and configured to send a corresponding calibration result signal according to the calibration result.

[0008] Therefore, by such an arrangement, the calibration result prompter can send a corresponding calibration result signal according to the calibration result of the joint detection angle of the dexterous hand, so as to facilitate the operator to distinguish the calibration result at the first time.

[0009] The communication module is configured to at least receive the mechanical reference angle from the dexterous hand support. The whole dexterous hand further comprises: The calibration module is arranged on the dexterous hand and electrically connected with the communication module and the angle sensor, and configured to determine the calibration result according to the joint detection angle and the mechanical reference angle, wherein the calibration result comprises calibration success and / or calibration failure.

[0010] Therefore, by such an arrangement, the calibration module can receive the mechanical reference angle of the dexterous hand support, so as to determine the calibration result based on the mechanical reference angle and the joint detection angle in the dexterous hand.

[0011] In some embodiments, the whole dexterous hand further comprises: The calibration result prompter is arranged on the dexterous hand and electrically connected with the calibration module or the communication module, and configured to send a corresponding calibration result signal according to the calibration result.

[0012] Therefore, by such an arrangement, the calibration result prompter can send a corresponding calibration result signal according to the calibration result of the calibration module, so as to facilitate the operator to distinguish the calibration result at the first time. In the embodiment, when the calibration module is arranged on the dexterous hand, the calibration result prompter can be electrically connected with the calibration module to receive the calibration result of the calibration module, or can be connected with the communication module, and then the communication module is connected with the calibration module, so that the communication module receives the calibration result of the calibration module.

[0013] In some embodiments, the calibration result prompter comprises at least one of a buzzer, a prompt light and a loudspeaker.

[0014] Thus, by such an arrangement, the calibration result can be prompted by the buzzer (e.g., distinguished by the number or length of the buzzer sound), or prompted by the prompt light (e.g., distinguished by different colors), or prompted by the loudspeaker (e.g., distinguished by voice broadcast of the calibration result).

[0015] In some embodiments, further comprising: The placement sensing module is arranged on the dexterous hand and is used to detect whether the corresponding finger of the dexterous hand has been placed on the finger support structure.

[0016] Thus, by such an arrangement, the placement sensing module can be used to detect whether the finger of the dexterous hand has been placed on the finger support structure, thereby avoiding the impact on the calibration detection result due to incorrect placement position.

[0017] In some embodiments, the communication module is at least used to receive the mechanical reference angle from the dexterous hand support; The overall dexterous hand further comprises: The calibration module is arranged on the dexterous hand and is electrically connected with the placement sensing module and the communication module or electrically connected with the placement sensing module through the communication module, and is used to determine the calibration result according to the joint detection angle and the mechanical reference angle when the placement sensing module detects that the corresponding finger of the dexterous hand has been placed on the finger support structure, wherein the calibration result includes calibration success and / or calibration failure.

[0018] Thus, by such an arrangement, the calibration detection of the dexterous hand can be automatically performed when the placement sensing module detects that the dexterous hand has been placed on the finger support structure.

[0019] In some embodiments, the dexterous hand further comprises: The placement prompter is arranged on the dexterous hand and is used to send a placement prompt signal to prompt whether the corresponding finger of the dexterous hand has been placed on the finger support structure, wherein the placement prompt signal includes a signal indicating placement success of the dexterous hand and / or a signal indicating placement failure of the dexterous hand.

[0020] Thus, by such an arrangement, the placement prompter can be used to prompt the placement success or failure, so that the operator can immediately make a judgment.

[0021] In some embodiments, the placement sensing module includes a tactile sensor arranged on the knuckle surface of each finger of the dexterous hand, and the tactile sensor is used to output a first pressure value.

[0022] Thus, by such an arrangement, the pressure of the finger of the dexterous hand when placed can be detected by using the tactile sensor of the dexterous hand itself.

[0023] In some implementations, it also includes: A placement prompter, mounted on a dexterous hand, is electrically connected to the placement sensing module or via a communication module, and is used to issue a placement prompt signal when the first pressure value output by each of the tactile sensors reaches a preset pressure threshold.

[0024] Therefore, by setting it up in this way, it is possible to determine whether the corresponding finger of the dexterous hand has been placed on the finger support structure by detecting the first pressure value output by the pressure sensor and the preset pressure threshold, and then issue a corresponding prompt signal to prompt the operator in time.

[0025] In some embodiments, the communication module is also configured to receive a second pressure value fed back from a pressure sensor on the finger support structure of the dexterous hand support; Overall dexterity also includes: A placement prompter, mounted on the dexterous hand and electrically connected to the communication module, is used to issue a placement prompt signal when the second pressure value fed back by the pressure sensor on the finger support structure reaches a preset pressure threshold.

[0026] Therefore, by setting it up in this way, it is possible to receive the second pressure value fed back from the pressure sensor on the dexterous hand support by being electrically connected to the communication module. Based on the second pressure value and the preset pressure value, it can be determined whether the corresponding finger of the dexterous hand has been placed on the finger support structure, and then a corresponding prompt signal can be issued to prompt the operator in time.

[0027] In some embodiments, the calibration result indicator is further configured to issue a placement prompt signal to indicate whether the corresponding finger of the dexterous hand has been placed on the finger support structure. The placement prompt signal includes a signal indicating successful placement and / or a signal indicating failed placement. Therefore, this configuration allows the calibration result indicator to also be used to issue a placement prompt signal, so that the placement prompt signal and the calibration result signal share the same set of indicator structures for prompting, thereby reducing the number of components in the dexterity hand support and lowering its cost.

[0028] In some embodiments, the placement indicator includes at least one of a buzzer, an indicator light, and a speaker.

[0029] Therefore, with this setup, a buzzer can be used to indicate the placement result (e.g., by distinguishing the placement result through the number or length of beeps), an indicator light can be used to indicate the placement result (e.g., by distinguishing the placement result through different colors), or a speaker can be used to indicate the placement result (e.g., by distinguishing the placement result through voice announcement).

[0030] In some embodiments, the communication module comprises a dexterous hand communication interface; The dexterous hand communication interface is used to establish communication with a dexterous hand support connector (such as a dexterous hand support communication interface connector on the dexterous hand support), or to establish communication with a third device connector, to establish communication with the dexterous hand support (such as a PC with communication capability, a mobile electronic device, etc.).

[0031] In this way, by such arrangement, the communication interface can be directly connected with the dexterous hand support communication interface on the dexterous hand support to eliminate the plugging step of wire connection.

[0032] In some embodiments, the dexterous hand further comprises a wrist, and the dexterous hand communication interface is arranged on the wrist of the dexterous hand.

[0033] In this way, by such arrangement, the dexterous hand communication interface on the dexterous hand can affect the normal operation of the dexterous hand, while ensuring stable connection between the dexterous hand and the dexterous hand support to ensure stable communication.

[0034] In some embodiments, the communication module comprises a dexterous hand wireless communication module for wireless communication with the dexterous hand support.

[0035] In this way, by such arrangement, the dexterous hand can communicate information with the dexterous hand support in a wireless communication manner to eliminate the influence and interference of wire harness, making the overall product more tidy when in use. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 FIG. 1 is a schematic diagram of the overall structure of a dexterous hand of an embodiment of the present application when placed on a dexterous hand support; Figure 2 FIG. 2 is a schematic diagram of the overall structure of a dexterous hand support of a dexterous hand of an embodiment of the present application; Figure 3 FIG. 3 is a schematic diagram of the overall structure of a dexterous hand of an embodiment of the present application; Figure 4 FIG. 4 is a circuit principle block diagram of a dexterous hand of an embodiment of the present application; Figure 5 FIG. 5 is a circuit principle block diagram of a dexterous hand of another embodiment of the present application; Figure 6 FIG. 6 is a circuit principle block diagram of a dexterous hand of yet another embodiment of the present application; Figure 7 FIG. 7 is a circuit principle block diagram of a dexterous hand finger placement position judgment circuit of an embodiment of the present application provided with a placement sensing module; Figure 8The figure placement position judgment circuit principle block diagram of the dexterous hand without the placement induction module is set in the dexterous hand of the embodiment of the present application; Figure 9 The figure placement position judgment circuit principle block diagram of the dexterous hand without the placement induction module is set in the dexterous hand of the embodiment of the present application; Figure 10 The figure placement position judgment circuit principle block diagram of the dexterous hand without the placement induction module is set in the dexterous hand of the embodiment of the present application; Figure 11 The figure placement position judgment circuit principle block diagram of the dexterous hand without the placement induction module is set in the dexterous hand of the embodiment of the present application; Figure 12 The figure placement position judgment circuit principle block diagram of the dexterous hand without the placement induction module is set in the dexterous hand of the embodiment of the present application; Figure 13 The figure placement position judgment circuit principle block diagram of the dexterous hand without the placement induction module is set in the dexterous hand of the embodiment of the present application.

[0037] The figure placement position judgment circuit principle block diagram of the dexterous hand without the placement induction module is set in the dexterous hand of the embodiment of the present application. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical scheme and advantages of the embodiments of the present application more clear, the technical scheme of the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.

[0039] It should be noted that the embodiments and the features in the embodiments in the present application can be combined with each other without conflict.

[0040] In the description of the application, it needs to be understood that if the terms "center", "middle", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application. The features defined as "first", "second" are used to distinguish the feature names, not to have special meanings, and in addition, the features defined as "first", "second" can be explicitly or implicitly include one or more of the features. In the description of the application, the meaning of "a plurality of" is two or more, unless otherwise specified.

[0041] In the description of the application, it needs to be explained that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0042] It also needs to be explained that in this paper, the terms "including", "containing", not only include those elements, but also include other elements not explicitly listed, or also include elements inherent to such processes, methods, articles or devices. Without more limitations, the elements defined by the sentence "including" do not exclude the presence of other identical elements in the process, method, article or device including the elements. The terms used in this paper are generally the terms commonly used by those skilled in the art, and if they are inconsistent with commonly used terms, the terms in this paper shall prevail.

[0043] In order to make the purpose, technical scheme and advantages of the embodiments of the application more clear, the technical scheme in the embodiments of the application will be described clearly and completely in the following with reference to the drawings of the embodiments of the application. Obviously, the described embodiments are part of the embodiments of the application, not all embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the application.

[0044] The application will be described in further detail below with reference to the drawings.

[0045] Figure 1 and Figure 3 The overall structure of the dexterous hand 1 is schematically shown. Referring to Figure 1 and Figure 3 The dexterous hand 1 of the present application comprises at least one finger 11. In the application of the commonly used embodied intelligent robot, it usually comprises five fingers 11 including four fingers and a thumb, and a palm 12 and a wrist 13. The dexterous hand 1 comprises an angle sensor and a communication module 5. The angle sensor is arranged on the dexterous hand 1, which can be arranged at each joint of each finger 11 for detecting the flexion angle of each joint of the dexterous hand 1 to form a joint detection angle.

[0046] The communication module 5 is arranged on the dexterous hand 1 for transmitting communication information between the dexterous hand 1 and the dexterous hand support 2. These communication information can be data information for assisting calibration to realize the calibration of the dexterous hand 1, which can at least include the joint detection angle for sending to the dexterous hand support 2, and / or the mechanical reference angle received from the dexterous hand support 2. In addition, these data information for assisting calibration can also include the calibration result after the calibration of the dexterous hand 1, the calibration prompt information for prompting the calibration result, the placement prompt information for prompting the placement state of the dexterous hand 1, etc. The communication information can also be the instruction information for driving the dexterous hand 1 to realize the test of the action of the dexterous hand 1. The communication information can also include the state information or environmental information on the dexterous hand 1 to realize the acquisition of the working environment and state of the dexterous hand 1. Of course, the communication information can also include other information, which is not exhaustive here, and the present embodiment is not limited thereto.

[0047] The dexterous hand support 2 is used for supporting the placement of the dexterous hand 1, and is provided with a finger support structure 21 for supporting the placement of at least one finger 11 of the dexterous hand 1. The finger support structure 21 can be arranged only for part of the fingers 11 on the dexterous hand 1, or can be correspondingly arranged for all the fingers 11 on the dexterous hand 1 to support the placement of all the fingers 11 of the dexterous hand 1. Specifically, the finger support structure 21 can support each joint of the fingers 11 of the dexterous hand 1, so as to enable the fingers 11 of the dexterous hand 1 to be in a specific flexion position, which can enable the flexion angle of each joint of the fingers 11 of the dexterous hand 1 to be at a mechanical reference angle. For example, referring to Figure 1 and Figure 2As shown, the finger support structure 21 can include a first support structure 211 for supporting the first knuckle 111 on the finger 11 of the dexterous hand 1 and a second support structure 212 for supporting the second knuckle 112 on the finger 11 of the dexterous hand 1, the support surfaces of the first support structure 211 and the second support structure 212 matching the shapes of the respective knuckles so as to allow the finger 11 to be better placed on the finger support structure 21. Of course, for fingers 11 of different structures of dexterous hands 1, such as fingers 11 having more knuckles or fewer knuckles, different finger support structures 21 can be designed accordingly, which is not limited by the present application.

[0048] The mechanical reference angles mentioned above are the flexion and extension angles of the joints of each finger 11 designed in the finger support structure 21. For example, when the finger support structure 21 is used to support only one or two fingers 11, the mechanical reference angles include the flexion and extension angles of the joints of the corresponding one or two fingers 11 when the fingers 11 are placed in the corresponding positions on the finger support structure 21. When the finger support structure 21 is used to support all the fingers 11, the mechanical reference angles include the flexion and extension angles of the joints of all the fingers 11 when the fingers 11 are placed in the corresponding positions on the finger support structure 21.

[0049] When the communication module 5 is used to send the joint detection angles to the dexterous hand support 2, the calibration and detection process of the dexterous hand 1 can be implemented by using the modules arranged inside the dexterous hand support 2, or by using external modules in communication with the dexterous hand support 2 to calibrate and detect the joints of the fingers 11 of the dexterous hand 1. When the communication module 5 is used to receive the mechanical reference angles from the dexterous hand support 2, the calibration and detection process of the dexterous hand 1 can be implemented by using the modules inside the dexterous hand 1 to calibrate and detect the joints of the fingers 11 of the dexterous hand 1 based on the mechanical reference angles and the joint detection angles detected by the angle sensors.

[0050] Referring to Figure 1 As shown, the communication module 5 can be arranged on a circuit board to realize circuit connection with other modules and elements. The circuit board can be arranged inside the dexterous hand 1, for example, inside the palm 12 of the dexterous hand 1, to avoid exposure of the circuit structure.

[0051] It can be understood that the dexterous hand 1 of the present application can only perform calibration detection on the corresponding fingers 11 placed on the finger support structure 21 of the dexterous hand 1 support frame. That is, when the finger support structure 21 is used to support only one or two specific fingers 11, the present application can perform calibration detection on the corresponding one or more specific fingers 11 of the finger support structure 21 of the dexterous hand support 2. Specifically, it can be implemented based on which angles of the received mechanical reference angles of the dexterous hand support 2 correspond to the angles of which fingers 11 to perform calibration detection on the corresponding fingers 11, and the like. When the finger support structure 21 is used to support all fingers 11, the present application can be used to simultaneously perform calibration detection on all fingers 11 of the dexterous hand 1. For ease of illustration, in the following embodiment description, the design of the finger support structure 21 used to support all fingers 11 is taken as an example for description.

[0052] Embodiment one This embodiment is an example in which the communication module 5 is used at least to receive the mechanical reference angles from the dexterous hand support 2. Specifically, for the communication module 5, the communication between it and the dexterous hand support 2 can be achieved through wired connection, wireless communication connection, etc. For example, through wired connection, the communication between the communication module 5 and the dexterous hand support 2 can be achieved by connecting a wire on the dexterous hand 1 to the dexterous hand support communication interface 23 on the dexterous hand support 2. Through wireless communication connection, the communication between the communication module 5 and the dexterous hand support 2 can be achieved through the commonly used wireless communication protocols in the prior art (such as commonly used technologies such as Bluetooth, WiFi, etc.). Referring to Figure 2 and Figure 3 In this embodiment, the communication module 5 can specifically achieve communication with the dexterous hand support 2 through the dexterous hand communication interface 14 provided on the dexterous hand 1. The dexterous hand communication interface 14 is specifically provided as a socket matched with the dexterous hand support communication interface 23 on the dexterous hand support 2, and is arranged at the position where the dexterous hand support communication interface 23 of the dexterous hand support 2 is located when the dexterous hand 1 is placed on the dexterous hand support 2, so that when the dexterous hand 1 is placed on the dexterous hand support 2, the dexterous hand communication interface 14 can be directly connected with the dexterous hand support communication interface 23 on the dexterous hand support 2, forming communication between the communication module 5 and the dexterous hand support 2. Specifically, refer to Figure 2 and Figure 3As shown, the dexterous hand communication interface 14 of the dexterous hand 1 can be arranged on the side of the wrist 13 to adapt to the wrist support structure 22, and the dexterous hand support communication interface 23 of the dexterous hand support 2 arranged on the wrist support structure 22, so that after the dexterous hand 1 is placed on the dexterous hand support 2, the dexterous hand communication interface 14 on the dexterous hand 1 can be directly docked with the dexterous hand support communication interface 23 on the dexterous hand support 2, forming communication between the communication module 5 and the dexterous hand support 2. In addition, the dexterous hand communication interface 14 can also be arranged on the side of the palm 12 of the dexterous hand 1, as long as it does not affect the normal operation of the dexterous hand 1.

[0053] Specifically, in the embodiment, the dexterous hand 1 can also be provided with a calibration module 6, which is used to determine a calibration result according to the joint detection angle and the mechanical reference angle. Referring to Figure 4 As shown in the circuit connection diagram of the calibration detection function part of the dexterous hand 1 of the present application, the calibration module 6 can be electrically connected with the communication module 5 and the angle sensor, so as to obtain the mechanical reference angle received by the communication module 5 and the joint detection angle detected by the angle sensor, and then determine the calibration result based on the joint detection angle and the mechanical reference angle. The calibration result can include calibration success and / or calibration failure. Calibration success means that the calibration detection result is that the positions of the joints of the dexterous hand 1 are not deviated, or the deviation value is within a preset threshold, etc. Calibration failure means that the calibration detection result is that the positions of the joints of the dexterous hand 1 are deviated, or the deviation value exceeds the preset threshold, etc. The specific process of calibration detection based on the joint detection angle and the mechanical reference angle can be designed according to the related calculation method in the prior art, for example, by comparing the joint detection angle of each joint with the mechanical reference angle of the joint, the deviation value of the angle corresponding to each joint in the two parameters can be determined, and then the calibration result can be obtained. Of course, the specific calibration detection process is related to the corresponding calibration detection process of the structure of the dexterous hand support 2, and the present embodiment does not limit this.

[0054] In addition, in the embodiment, a calibration result prompter 31 can also be arranged. The calibration result prompter 31 is used to send a corresponding calibration result signal according to the calibration result. Referring to Figure 4 As shown in the circuit connection diagram of the calibration detection function part of the dexterous hand 1 of the present application, the calibration result prompter 31 can be electrically connected with the calibration module 6, so as to operate based on the calibration result obtained by the calibration module 6, or be electrically connected with the communication module 5, so as to obtain the calibration result in the calibration module 6 through the communication module 5. Referring to Figure 5 As shown, the calibration result prompter 31 can be electrically connected with the calibration module 6, so as to operate based on the calibration result obtained by the calibration module 6, or be electrically connected with the communication module 5, so as to obtain the calibration result in the calibration module 6 through the communication module 5. Referring to Figure 1As shown, the setting position of the calibration result prompter 31 can be set at the wrist 13 of the dexterous hand 1, and specifically can be set at a more conspicuous place after the dexterous hand 1 is placed on the dexterous hand support 2, for example, the top, so that the operator can directly observe and judge the current calibration detection result. The calibration result prompter 31 can specifically adopt at least one of a buzzer, a prompt light, and a loudspeaker. For example, when the calibration result prompter 31 adopts a buzzer, different calibration results can be distinguished by the length, the number of continuous times, etc. of the buzzer sound. When the calibration result prompter 31 adopts a prompt light, different calibration results can be distinguished by different colors of the prompt light or the number of times of flashing of the prompt light. When the calibration result prompter 31 adopts a loudspeaker, the calibration result can be directly broadcasted by a voice broadcast, for example, broadcasting "success" or "failure", and the implementation process of the voice broadcast can be implemented by referring to the related description in the prior art, and the present embodiment will not be described in more detail.

[0055] Embodiment Two The present embodiment is an example that the communication module 5 is at least used for sending the joint detection angle to the dexterous hand support 2. For the design of the communication module 5, the dexterous hand communication interface 14 can be set at the wrist 13 of the dexterous hand 1, so that after the dexterous hand 1 is placed on the dexterous hand support 2 as a whole, the dexterous hand support communication interface 23 on the dexterous hand support 2 can be directly connected with the dexterous hand communication interface 14 on the dexterous hand 1, forming the communication between the communication module 5 and the dexterous hand support 2. The specific setting mode can be referred to the related description in the foregoing embodiment one, which will not be repeated in the present embodiment.

[0056] In the present embodiment, the calibration detection of the joints of the fingers 11 of the dexterous hand 1 is implemented in the processing module built in the dexterous hand support 2, and thus compared with the embodiment one, the calibration module 6 does not need to be set in the dexterous hand 1. By sending the corresponding joint detection angle of the dexterous hand 1 to the dexterous hand support 2, the corresponding processing module built in the dexterous hand support 2 can perform calibration detection based on the received joint detection angle and the mechanical reference angle preset in the dexterous hand support 2. The calibration result corresponding to the calibration detection can be stored in the dexterous hand support 2, or can be sent back to the dexterous hand 1 through the communication module 5.

[0057] In addition, the dexterous hand 1 can also be provided with the calibration result prompter 31. Referring to Figure 6 As shown, the calibration result prompter 31 is electrically connected with the communication module 5, so as to be able to operate based on the calibration result received by the communication module 5. Similarly, as Figure 1As shown, the setting position of the calibration result prompter 31 can be set on the dexterous hand 1, and specifically can be set at a more conspicuous place after the dexterous hand 1 is placed on the dexterous hand support 2, for example, the top, so that the operator can directly observe and judge the current calibration detection result. The calibration result prompter 31 can specifically adopt at least one of a buzzer, a prompt light, and a loudspeaker. The implementation of the specific calibration result prompter 31 can refer to the related description in the foregoing embodiment one, which will not be repeated in this embodiment.

[0058] In actual use, in order to avoid the situation that the calibration detection result error is too large due to incorrect placement of the dexterous hand 1, the present application further designs whether the placement position of the dexterous hand 1 is correct.

[0059] In some possible implementations, the dexterous hand 1 can also be provided with a placement sensing module 4. The placement sensing module 4 is used to detect whether the fingers 11 of the dexterous hand 1 have been correctly placed on the finger support structure 21 of the dexterous hand support 2. Wherein, the fingers 11 are correctly placed on the finger support structure 21, which means that the knuckles on the fingers 11 are stably placed on the corresponding support structure, that is, each knuckle cannot be offset by a large flexion angle under slight external force. Specifically, the placement sensing module 4 can be implemented as a tactile sensor arranged on the finger pad surface of each knuckle of the fingers 11 of the dexterous hand 1. Refer to Figure 3 As shown in the embodiment, Figure 3 In the embodiment shown, the tactile sensor is arranged on the finger pad surface of each knuckle of the fingers 11 of the dexterous hand 1, and its main purpose is to provide contact feedback to external objects when the dexterous hand 1 is normally active. When each knuckle of the fingers 11 of the dexterous hand 1 is placed on the corresponding support structure, the tactile sensor can sense whether the knuckle contacts an object (i.e. the finger support structure 21), and detect the corresponding pressure value as the first pressure value output by the tactile sensor. By comparing the first pressure value with the preset pressure threshold value, it can be determined whether the fingers 11 of the dexterous hand 1 have been correctly placed on the finger support structure 21.

[0060] In addition, the placement sensing module 4 can also be implemented by using other commonly used sensing modules such as infrared sensors in actual application, such as detecting the distance between the front or side surface of the knuckle and the surface of the support structure to determine whether the fingers 11 of the dexterous hand 1 have been correctly placed on the finger support structure 21, etc., which is not limited in this embodiment.

[0061] In this embodiment, for the comparison between the first pressure value and the preset pressure threshold value, in the embodiment provided with the calibration module 6 (such as embodiment one), refer to Figure 7 and Figure 8As shown, the calculation processing can be realized in the calibration module 6. At this time, the calibration module 6 can be realized to be directly connected with the placement sensing module 4 to obtain relevant data for calculation processing, or connected with the placement sensing module 4 through the communication module 5 to obtain relevant data for calculation processing. Then, the calibration detection is automatically started according to the placement position judgment result of the fingers 11 of the dexterous hand 1, so as to realize that after the detection judges that the fingers 11 of the dexterous hand 1 have been correctly placed on the finger support structure 21, the calibration detection of the fingers 11 of the dexterous hand 1 is automatically started. Referring to Figure 9 and Figure 10 As shown, the calculation processing can also be realized by additionally setting a data processing module 7 on the dexterous hand 1. At this time, the calibration module 6 can be electrically connected with the data processing module 7 to obtain the placement position judgment result of the fingers 11 of the dexterous hand 1 of the data processing module 7, or connected with the data processing module 7 through the communication module 5 to obtain the placement position judgment result of the fingers 11 of the dexterous hand 1 of the data processing module 7, and based on the placement position judgment result of the fingers 11 of the dexterous hand 1, the calibration detection is automatically started.

[0062] In the embodiment without setting the calibration module 6 (such as embodiment two), referring to Figure 11 As shown, the calculation processing can also be realized by additionally setting a data processing module 7 on the dexterous hand 1. At this time, the calibration module 6 can be electrically connected with the data processing module 7 to obtain the placement position judgment result of the fingers 11 of the dexterous hand 1 of the data processing module 7, or connected with the data processing module 7 through the communication module 5 to obtain the placement position judgment result of the fingers 11 of the dexterous hand 1 of the data processing module 7, and based on the placement position judgment result of the fingers 11 of the dexterous hand 1, the calibration detection is automatically started. Figure 11 As shown, the calculation processing can also be realized by additionally setting a data processing module 7 on the dexterous hand 1. At this time, the calibration module 6 can be electrically connected with the data processing module 7 to obtain the placement position judgment result of the fingers 11 of the dexterous hand 1 of the data processing module 7, or connected with the data processing module 7 through the communication module 5 to obtain the placement position judgment result of the fingers 11 of the dexterous hand 1 of the data processing module 7, and based on the placement position judgment result of the fingers 11 of the dexterous hand 1, the calibration detection is automatically started.

[0063] In other possible embodiments, it can also be judged whether the fingers 11 of the dexterous hand 1 have been correctly placed on the finger support structure 21 based on the second pressure value fed back from the pressure sensor 41 on the dexterous hand support 2. Among them, the pressure sensor 41 on the dexterous hand support 2 can be arranged on the support surface of the finger support structure 21. By comparing the second pressure value with the preset pressure threshold value, it can be realized to judge whether the fingers 11 of the dexterous hand 1 have been correctly placed on the finger support structure 21.

[0064] Among them, in the comparison between the second pressure value and the preset pressure threshold value, in the embodiment with the calibration module 6 (such as embodiment one), as shown in Figure 4 As shown, the placement position of the fingers 11 of the dexterous hand 1 can be determined by receiving the second pressure value fed back from the pressure sensor 41 on the dexterous hand support 2 through the communication module 5 and performing calculation and processing in the calibration module 6. At this time, the calibration module 6 can be automatically started according to the placement position determination result of the fingers 11 of the dexterous hand 1, so as to automatically start the calibration detection of the fingers 11 of the dexterous hand 1 after determining that the fingers 11 of the dexterous hand 1 are correctly placed on the finger support structure 21. Referring to Figure 12 As shown, the placement position of the fingers 11 of the dexterous hand 1 can be determined by receiving the second pressure value fed back from the pressure sensor 41 on the dexterous hand support 2 through the communication module 5 and performing calculation and processing in the calibration module 6. At this time, the calibration module 6 can be automatically started according to the placement position determination result of the fingers 11 of the dexterous hand 1, so as to automatically start the calibration detection of the fingers 11 of the dexterous hand 1 after determining that the fingers 11 of the dexterous hand 1 are correctly placed on the finger support structure 21. Referring to

[0065] In the embodiment without the calibration module 6 (such as Example Two), referring to Figure 13 As shown, the placement position of the fingers 11 of the dexterous hand 1 can be determined by receiving the second pressure value fed back from the pressure sensor 41 on the dexterous hand support 2 through the communication module 5 and performing calculation and processing in the calibration module 6. At this time, the calibration module 6 can be automatically started according to the placement position determination result of the fingers 11 of the dexterous hand 1, so as to automatically start the calibration detection of the fingers 11 of the dexterous hand 1 after determining that the fingers 11 of the dexterous hand 1 are correctly placed on the finger support structure 21. Referring to

[0066] Further, in order to facilitate the operator to quickly determine the placement position of the dexterous hand 1, the dexterous hand 1 can also be provided with a placement prompter 32. The placement prompter 32 is used to send a placement prompt signal when the first pressure value output by the tactile sensor (or the second pressure value fed back by each pressure sensor 41 provided on the dexterous hand support 2) reaches a preset pressure threshold. For example, the placement prompter 32 can be electrically connected with a module (such as the calibration module 6, the data processing module 7, the communication module 5, etc.) for obtaining the placement position judgment result of the fingers 11 of the dexterous hand 1, so as to send a corresponding placement prompt signal based on the judgment result. In addition, the placement prompter 32 can also send a placement failure prompt signal when the first pressure value output by at least one tactile sensor (or the second pressure value fed back by at least one pressure sensor 41 provided on the dexterous hand support 2) does not reach the preset pressure threshold.

[0067] Specifically, referring to FIG. 8, the placement prompter 32 is provided on the dexterous hand 1, and can be specifically provided at a more conspicuous place of the dexterous hand 1 after being placed on the dexterous hand support 2, for example, the top, so that the operator can directly observe and judge the current calibration detection result. The placement prompter 32 can specifically adopt at least one of a buzzer, a prompt light, and a loudspeaker, and the specific implementation process is the same as that of the calibration result prompter 31 described above, and thus will not be repeated here. Further, the placement prompter 32 can also share a prompt structure with the calibration result prompter 31, so as to reduce the structural complexity of the overall support. Figure 1

[0068] The dexterous hand 1 of the present application itself has an angle sensor to be able to detect the flexion and extension angles corresponding to each joint, forming a joint detection angle, and the dexterous hand 1 has a communication module 5 to be able to communicate with the dexterous hand support 2 for placing the dexterous hand 1, acquire the mechanical reference angle data corresponding to the dexterous hand support 2, realize the joint angle calibration detection of the dexterous hand 1 based on the joint detection angle and the mechanical reference angle in the dexterous hand 1 itself, or send the joint detection angle to the dexterous hand support 2 through the communication module 5, realize the joint angle calibration detection of the dexterous hand 1 in the dexterous hand support 2 or the external device connected with the dexterous hand support 2.

[0069] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.​

Claims

1. A dexterous hand comprising at least one finger (11), characterized in that, The application relates to a dexterous hand (1) comprising: angle sensors arranged at each joint of each finger (11) of the dexterous hand (1) for detecting the flexion angle of the corresponding joint, forming a joint detection angle; a communication module (5) arranged on the dexterous hand (1) for at least transmitting the joint detection angle to a dexterous hand support (2) and / or receiving a mechanical reference angle from the dexterous hand support (2), wherein the dexterous hand support (2) is arranged to support the dexterous hand (1) and is provided with at least one finger support structure (21) for supporting each finger (11) of the dexterous hand (1), and when the corresponding finger (11) of the dexterous hand (1) is placed on the corresponding finger support structure (21), the flexion angle of the corresponding finger (11) is at the mechanical reference angle.

2. The dexterous hand of claim 1, wherein, The communication module (5) is arranged to at least transmit the joint detection angle to the dexterous hand support (2) and is further arranged to receive a calibration result from the dexterous hand support (2); The dexterous hand (1) further comprises: a calibration result prompter (31) arranged on the dexterous hand (1) for outputting a corresponding calibration result signal according to the calibration result.

3. The dexterous hand of claim 1, wherein, The communication module (5) is arranged to at least receive the mechanical reference angle from the dexterous hand support (2); The dexterous hand (1) further comprises: a calibration module (6) arranged on the dexterous hand (1) for determining a calibration result according to the joint detection angle and the mechanical reference angle, wherein the calibration result comprises calibration success and / or calibration failure.

4. The dexterous hand of claim 3, wherein, The dexterous hand (1) further comprises: a calibration result prompter (31) arranged on the dexterous hand (1) for outputting a corresponding calibration result signal according to the calibration result.

5. The dexterous hand of any one of claims 1 to 4, wherein, The dexterous hand (1) further comprises: a placement sensing module (4) arranged on the dexterous hand (1) for detecting whether each finger (11) of the dexterous hand (1) has been placed on the corresponding finger support structure (21).

6. The dexterous hand of claim 5, wherein, The communication module (5) is arranged to at least receive the mechanical reference angle from the dexterous hand support (2); The dexterous hand (1) further comprises: a calibration module (6) arranged on the dexterous hand (1) for determining a calibration result according to the joint detection angle and the mechanical reference angle when the placement sensing module (4) detects that each finger (11) of the dexterous hand (1) has been placed on the corresponding finger support structure (21), wherein the calibration result comprises calibration success and / or calibration failure.

7. The dexterous hand of claim 5, wherein, The dexterous hand (1) further comprises: a placement prompter (32) arranged on the dexterous hand (1) for outputting a placement prompt signal to prompt whether each finger (11) of the dexterous hand (1) has been placed on the corresponding finger support structure (21), wherein the placement prompt signal comprises a signal indicating that the dexterous hand (1) is successfully placed and / or a signal indicating that the dexterous hand (1) is unsuccessfully placed.

8. The dexterous hand of claim 5, wherein, The placement sensing module (4) comprises a tactile sensor arranged on the palm surface of each joint of each finger (11) of the dexterous hand (1), and the tactile sensor is arranged to output a first pressure value.

9. The dexterous hand of claim 8, wherein, The dexterous hand (1) further comprises: a placement prompter (32) arranged on the dexterous hand (1) and arranged to output a placement prompt signal when the first pressure value output by each tactile sensor reaches a preset pressure threshold.

10. The dexterous hand of any one of claims 1 to 4, wherein, The communication module (5) is further configured to receive a second pressure value fed back from a pressure sensor (41) on the finger support structure (21) of the dexterous hand support (2); The whole dexterous hand (1) further comprises: A placement prompter (32) is arranged on the dexterous hand (1) and is configured to send a placement prompt signal when the second pressure values fed back from the pressure sensors (41) on the finger support structure (21) all reach a preset pressure threshold.

11. The dexterous hand of claim 2 or 4, wherein, The calibration result prompter (31) is further configured to send a placement prompt signal to prompt whether the corresponding finger (11) of the dexterous hand (1) has been placed on the finger support structure (21), and the placement prompt signal comprises a signal indicating that the dexterous hand (1) is successfully placed and / or a signal indicating that the dexterous hand (1) is unsuccessfully placed.

12. The dexterous hand of claim 1, wherein, The communication module (5) comprises a dexterous hand communication interface (14). The dexterous hand communication interface (14) is configured to establish communication with a dexterous hand support (2) or is configured to be connected with a third device to establish communication with the dexterous hand support (2).

13. The dexterous hand of claim 12, wherein, The dexterous hand communication interface (14) is arranged on the wrist (13) of the dexterous hand (1).

14. The dexterous hand of claim 1, wherein, The communication module (5) comprises a dexterous hand wireless communication module configured to wirelessly communicate with the dexterous hand support (2).

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