Finger steering engine and dexterous hand

Abstract

The utility model relates to the field of robots, and discloses a finger steering engine and a dexterous hand. The steering engine traction assembly is arranged in the base and comprises a steering engine traction piece which can be connected with a finger; the pressure sensor is arranged in the base and is connected with the steering engine traction piece, and the steering engine traction piece can cause the change of the measured value of the pressure sensor in the process of dragging the finger to move. According to the finger steering engine, the detection precision of the traction force borne by the fingers can be greatly improved, the use number of the pressure sensors can be greatly reduced so as to greatly reduce the cost, the pressure sensors are arranged in the finger steering engine, the arrangement difficulty is greatly reduced, meanwhile, cables cannot be exposed, and wiring is cleaner and tidier.

Description

Technical Field

[0001] The present application belongs to the field of robotics technology, and specifically relates to a finger servo and a dexterous hand. Background Art

[0002] The dexterous hand is an important end-effector of an intelligent robot. It is designed to imitate the human hand, has a lightweight structure, and has the same functions as a human hand, such as grasping, information perception, and feedback. It can be widely used in elderly care, medical care, industry, logistics and other fields.

[0003] Currently, the main ways for dexterous hands on the market to detect the traction force applied to the fingers are current feedback and pasting dot matrix pressure sensors on the surface of the fingers. Among them, the current feedback method is to indirectly feedback the motor output force by measuring the current of the driving motor and combining it with the theoretical model to reflect the traction force applied to the finger, but this method usually has large model and conversion errors. Pasting dot matrix pressure sensors on the surface of the fingers requires the sensors to be laid out over a large area, which has problems such as difficult layout and high price. Utility Model Content

[0004] The purpose of the present application is to provide a finger servo and a dexterous hand, which can use a pressure sensor to accurately detect the traction force on the finger and greatly reduce the difficulty of arranging the pressure sensor and the cost of using it.

[0005] In order to achieve the above-mentioned object, the present application provides a finger servo, which comprises:

[0006] Pedestal;

[0007] A steering gear traction assembly is arranged in the base and includes a steering gear traction member capable of forming a connection with a finger; and

[0008] A pressure sensor is arranged in the base and connected to the steering gear traction member, and the steering gear traction member can cause a measurement value of the pressure sensor to change during the process of traction of the finger.

[0009] In some embodiments, the servo traction member is formed as a linear movable member, and the servo traction assembly also includes an elastic member arranged in the same direction as the linear movable member; when the linear movable member pulls the finger to bend, the linear movable member compresses the elastic member, and the elastic member elastically presses the pressure sensor.

[0010] In some embodiments, the servo traction assembly further includes a traction guide structure that slidably cooperates with the linear movable member; and / or the base is provided with a base slide groove, and the linear movable member slidably cooperates with the base slide groove.

[0011] In some embodiments, the traction guide structure includes a traction guide rod fixed to the base, the linear movable member is provided with a guide hole and is slidably inserted into the traction guide rod through the guide hole, and the elastic member is inserted into the traction guide rod.

[0012] In some embodiments, the base includes two support beams that are arranged in the same direction as the linear movable member and are parallel to each other, the base slide groove is formed between the two support beams, and the linear movable member is slidably engaged with the two support beams.

[0013] In some embodiments, the servo traction member is provided with a rope threading hole for a tendon rope having one end connected to a finger to pass through, and a positioning hole for fixing the other end of the tendon rope. The servo traction assembly also includes a connecting piece that cooperates with the positioning hole and can tighten or loosen the tendon rope.

[0014] In some embodiments, the steering gear traction assembly also includes a traction power device, a primary reduction mechanism and a secondary reduction mechanism. The traction power device is provided with a power shaft. The primary reduction mechanism includes a driving gear fixedly sleeved on the power shaft and a driven gear meshing with the driving gear. The secondary reduction mechanism includes a worm fixedly connected to the driven gear and a worm wheel meshing with the worm. The worm wheel is transmission-connected to the steering gear traction component.

[0015] In some embodiments, the helix angle of the worm is smaller than the equivalent friction angle between the gear teeth of the worm wheel, so that when the traction power device stops running, the worm and the worm wheel can reverse the stroke and self-lock to keep the servo traction member applying traction force to the fingers.

[0016] In some embodiments, the steering gear traction assembly also includes a traction power device and a final transmission mechanism that are transmission-connected, and the final transmission mechanism includes a transmission rack and a transmission gear that are meshed with each other, and the transmission gear can be driven to rotate by the traction power device, and the transmission rack is fixed to the steering gear traction member.

[0017] In some embodiments, the finger servo further includes a displacement sensor disposed in the base and configured to detect an actual displacement of the servo traction member.

[0018] The second aspect of the present application also provides a dexterous hand, which includes:

[0019] fingers; and

[0020] The finger servo mentioned above.

[0021] In the present application, when the finger servo uses the servo traction member to pull the finger to move, the servo traction member generates displacement and can cause the measured value of the pressure sensor in the finger servo to change, so that the measured value of the pressure sensor can be used to feedback the current traction force on the finger, without the need to set up a complex theoretical model for conversion as in the existing current feedback method. Therefore, the finger servo of the present application can greatly improve the detection accuracy of the traction force on the finger and reduce errors. In addition, from the detection principle of the traction force on the finger by the finger servo of the present application, it can be seen that compared with the existing method of pasting dot matrix pressure sensors on the surface of the finger, the present application can greatly reduce the number of pressure sensors used, thereby greatly reducing costs. Moreover, since the pressure sensor is built into the finger servo, the difficulty of layout is greatly reduced, and the cables will not be exposed, making the wiring neater.

[0022] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without creative work. In the drawings:

[0024] Figure 1 This is a schematic diagram of a finger servo in a specific implementation manner of the present application;

[0025] Figure 2 for Figure 1 Schematic diagram of the finger servo in another perspective;

[0026] Figure 3 for Figure 2 Schematic diagram of the worm gear, transmission gear and connecting shaft;

[0027] Figure 4 for Figure 2 Schematic diagram of the servo traction member and the transmission rack in FIG.

[0028] Figure 5 This is a control principle diagram of a dexterous hand in a specific implementation manner of the present application.

[0029] Description of Reference Numerals

[0030] 1 Traction power unit 2 Worm

[0031] 3 Base 4 Driving gear

[0032] 5 Driven gear 6 Traction guide rod

[0033] 7 Displacement sensor 8 Steering gear traction parts

[0034] 9 Elastic part 10 Transmission gear

[0035] 11 Worm gear 12 Pressure sensor

[0036] 13 Transmission rack

[0037] 81 Rope hole 82 Positioning hole

[0038] 83 guide hole DETAILED DESCRIPTION

[0039] The specific implementation of the present application is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present application, and is not used to limit the present application.

[0040] Reference Figures 1 to 4 A first exemplary embodiment of the present application provides a finger servo, which includes a base 3 and a servo traction assembly and a pressure sensor 12 arranged in the base 3 .

[0041] Specifically, the steering gear traction assembly includes a steering gear traction member 8, which can be connected to the finger. For example, the steering gear traction member 8 can be connected to the finger through different forms of transmission mechanisms such as existing tendon ropes, tendon rope pulley mechanisms, gear transmission mechanisms or connecting rod transmission mechanisms (the steering gear traction member 8 can control the rotation of one or more joints of the finger), and the present application does not exclude the form of the steering gear traction member 8 directly connected to the finger. In this way, the finger steering gear can be pulled by the steering gear traction member 8 to move.

[0042] The pressure sensor 12 is arranged in the base 3 and is connected to the steering gear traction member 8 (it can be directly connected or indirectly connected through other structures). When the steering gear traction member 8 pulls the finger to move, the steering gear traction member 8 is displaced and can cause the measurement value of the pressure sensor 12 to change. Therefore, the measurement value of the pressure sensor 12 can be used to feedback the current traction force on the finger, without the need to set up a complex theoretical model for conversion as in the existing current feedback method. Therefore, the finger steering gear of the present application can greatly improve the detection accuracy of the traction force on the finger and reduce errors.

[0043] In addition, from the detection principle of the traction force exerted on the finger by the finger servo of the present application, it can be known that compared with the existing method of sticking dot matrix pressure sensors on the surface of the finger, the present application can greatly reduce the number of pressure sensors 12 used, thereby greatly reducing costs. Moreover, since the pressure sensor 12 is built into the finger servo, the difficulty of layout is greatly reduced. At the same time, the cables will not be exposed, and the wiring is neater.

[0044] In addition, the pressure sensor 12 built into the finger servo of the present application can also be used in combination with the existing dot matrix pressure sensor pasted on the surface of the finger, increasing the redundancy of the pressure sensor and reducing the risk of directly causing the detection function to fail when some pressure sensors are damaged, thereby improving stability and reliability. At the same time, the setting of multiple forms of pressure sensors is also conducive to further improving the detection accuracy.

[0045] In some embodiments, the steering gear traction assembly further includes a damping buffer structure. When the steering gear traction member 8 pulls the finger to move, the damping buffer structure can damp the steering gear traction member 8, thereby buffering the movement of the steering gear traction member 8 and making the finger move more smoothly.

[0046] Furthermore, the pressure sensor 12 can be connected between the steering gear traction member 8 and the damping buffer structure, or the steering gear traction member 8, the damping buffer structure and the pressure sensor 12 can be connected in sequence, so that the damping buffer structure can apply pressure to the pressure sensor 12 while damping the steering gear traction member 8. It can be seen that the damping buffer structure has multiple uses, which can not only buffer and stabilize the movement of the steering gear traction member 8, but also make the pressure sensor 12 synchronized with the movement of the steering gear traction member 8 and be pressed, which is conducive to improving the compactness of the internal structure of the finger steering gear, and then reducing the overall size of the finger steering gear.

[0047] In some embodiments, when the pressure sensor 12 is connected between the steering gear traction member 8 and the damping buffer structure, the pressure sensor 12 can be directly fixed on the steering gear traction member 8. For example, the pressure sensor 12 can be a thin film pressure sensor that is fixed on the outer wall of the steering gear traction member 8. The thin film pressure sensor has the advantages of easy installation, low price, and small space occupation, which can effectively reduce the production and use cost of the finger steering gear and reduce its overall size.

[0048] In some embodiments, reference Figure 2 , the steering gear traction member 8 can be formed as a linear moving member to simplify the movement mode. At this time, if a tendon rope is used to connect the linear moving member and the finger, when the finger is pulled to move, the moving distance and moving speed of the linear moving member, the tendon rope and the finger are the same, so that the moving distance of the linear moving member can be detected by a displacement sensor built into the finger steering gear to directly obtain the accurate moving distance of the tendon rope and the finger. At the same time, the accurate moving speed of the linear moving member can be calculated by analyzing and converting the processor in the mobile phone steering gear or the dexterous hand that communicates with the displacement sensor, thereby determining the moving speed of the tendon rope and the finger. Of course, the moving speed of the linear moving member can also be directly detected by building a speed sensor into the finger steering gear.

[0049] In contrast, the current dexterous hands that use tendon ropes to pull fingers generally pull the tendon ropes directly through the angular movement of their rotating servos, which is not convenient for directly obtaining the moving distance, moving speed and traction force of the tendon ropes. It can be seen that the finger servo of the present application can overcome the shortcomings of the prior art and facilitate the high-precision detection and control of the moving distance, moving speed and traction force of the tendon rope (or finger).

[0050] Continue to refer to Figure 2 The damping buffer structure may include an elastic member 9 (such as a spring) arranged in the same direction as the linear moving member, and in the process of the linear moving member pulling the finger to bend, the linear moving member compresses the elastic member 9, and the elastic member 9 elastically presses the pressure sensor 12. For example, when the pressure sensor 12 is fixed to the linear moving member, one end of the elastic member 9 abuts against the pressure sensor 12 and the other end is fixed; or, the elastic member 9 may be connected between the linear moving member and the pressure sensor 12.

[0051] When the linear moving part is in the zero position (i.e., the initial position), the traction force on the finger is zero, the elastic part 9 is not compressed and does not apply pressure to the pressure sensor 12; when the linear moving part pulls the finger to bend, the linear moving part compresses the elastic part 9, and the elastic part 9 elastically presses the pressure sensor 12, so that under the reaction force of the elastic part 9, the linear moving part is buffered and moves smoothly, and it is ensured that the pressure sensor 12 is compressed during the movement of the linear moving part and feeds back the traction force on the finger.

[0052] In some embodiments, the servo traction assembly also includes a traction guide structure that slides with the servo traction member 8. At this time, the servo traction member 8 moves along the traction guide structure in a sliding manner, with higher movement accuracy (especially for linear moving parts), less prone to friction and jamming, making the traction finger movement process smoother.

[0053] For example, refer to Figure 2 The traction guide structure may include a traction guide rod 6 fixed to the base 3, and the steering gear traction member 8 is a linear moving member, and the linear moving member is provided with a guide hole 83 and can be slidably inserted into the traction guide rod 6 through the guide hole 83, and the elastic member 9 is inserted into the traction guide rod 6. Such a configuration can achieve the above-mentioned high movement accuracy and the effect of not being easy to be stuck by friction. Since the traction guide rod 6 has the functions of sliding guide and installing the linear moving member and the elastic member 9, it is beneficial to save the number of components, simplify the internal structure of the finger steering gear, and improve compactness.

[0054] In some embodiments, a base slide groove may be provided in the base 3 so that the steering gear traction member 8 can slide with the base slide groove. It should be noted that the base slide groove and the aforementioned traction guide structure may be provided either alone or in combination, and the present application does not limit this, as long as the sliding of the steering gear traction member 8 can be achieved.

[0055] For example, refer to Figure 2 The steering gear traction member 8 adopts a linear moving member, and the base 3 may include two support beams 31 arranged in the same direction as the linear moving member and parallel to each other, and a base slide groove is formed between the two support beams 31. At this time, the linear moving member is arranged in the base slide groove and slidably cooperates with the two support beams 31. It can be seen that the two support beams 31 can form a limiting effect on the linear moving member, thereby preventing the linear moving member from overturning and rotating during the sliding process, and improving the traction stability.

[0056] In some embodiments, reference Figure 4 , the steering gear traction member 8 is provided with a rope threading hole 81 and a positioning hole 82. When the finger is connected to the steering gear traction member 8 through a tendon rope, one end of the tendon rope is connected to the finger and the other end passes through the rope threading hole 81 and can be loosely fixed to the positioning hole 82 (for example, a threaded hole) by a connecting member (for example, a screw), which is easy to install and replace the tendon rope, and can pre-tighten the tendon rope. In addition, compared with some existing methods of fixing the tendon rope with a wire clamp, the connecting member and the positioning hole 82 of the present application are simple in structure, occupy less space, and are more conducive to realizing the compact and miniaturized design of the finger steering gear.

[0057] In some embodiments, the steering gear traction assembly further includes a traction power device 1 and a multi-stage reduction mechanism, and the traction power device 1, the multi-stage reduction mechanism and the steering gear traction member 8 are sequentially connected in transmission. Among them, the traction power device 1 can be a servo motor, a stepper motor, a pneumatically driven rotating device and other different types of devices, providing the original power for the traction finger. By setting a multi-stage reduction mechanism, the steering gear traction assembly can obtain a larger reduction ratio, amplify the driving torque of the traction power device 1 to meet the load requirements, and can meet the large load drive.

[0058] In some embodiments, the multi-stage reduction mechanism includes at least a gear meshing mechanism and a worm gear mechanism, and the transmission order of the gear meshing mechanism and the worm gear mechanism can be swapped, and this application does not limit this. The gear meshing mechanism and the worm gear mechanism can theoretically be selected or designed within a larger reduction ratio range, especially the worm gear mechanism, which has a large reduction ratio (generally 10 to 100), and a stable transmission and low noise, which can effectively improve the overall load-bearing capacity and structural rigidity of the steering gear traction assembly and realize large load drive.

[0059] For example, refer to Figure 1 and Figure 2The gear meshing mechanism can be used as a primary reduction mechanism, and the worm gear mechanism can be used as a secondary reduction mechanism. More specifically, the primary reduction mechanism includes a driving gear 4 fixedly sleeved on the power shaft of the traction power device 1 and a driven gear 5 meshed with the driving gear 4, and the secondary reduction mechanism includes a worm 2 fixedly penetrated through the driven gear 5 and a worm gear 11 meshed with the worm 2, and the worm gear 11 is transmission-connected to the steering gear traction member 8.

[0060] When the power shaft of the traction power device 1 rotates, it drives the driving gear 4 to rotate synchronously, and the driving gear 4 drives the driven gear 5 meshing with it to rotate, thereby realizing the first deceleration; the driven gear 5 drives the worm 2 connected and fixed thereto to rotate, and the worm 2 drives the worm wheel 11 meshing therewith to rotate, thereby realizing the second deceleration; the worm wheel 11 transmits power to the steering gear traction member 8 (via other transmission mechanisms), so that the steering gear traction member 8 pulls the finger to move.

[0061] In some embodiments, the helix angle of the worm 2 can be set to be smaller than the equivalent friction angle between the teeth of the worm wheel 11, so that when the traction power device 1 stops running, the worm 2 and the worm wheel 11 can reverse the stroke and self-lock to keep the servo traction member 8 applying traction force to the fingers.

[0062] For example, when the fingers have grasped the target object, the traction power device 1 can be stopped, and when the torque output of the traction power device 1 is disconnected, the heating of the traction power device 1 can be reduced, the traction power device 1 can be protected, and its service life can be extended. At the same time, the servo traction member 8 can maintain the traction force on the fingers through the reverse stroke self-locking of the worm 2 and the worm wheel 11, so as to stably maintain the grasping posture of the fingers, and the fingers can firmly grasp the target object.

[0063] In some embodiments, the steering gear traction assembly may further include a final transmission mechanism connected between the multi-stage reduction mechanism and the steering gear traction member 8. In order to further improve the load capacity of the steering gear traction assembly, a gear rack meshing mechanism may be provided in the final transmission mechanism.

[0064] For example, refer to Figures 2 to 4 The final transmission mechanism may include a transmission rack 13 and a transmission gear 10 that mesh with each other. The transmission gear 10 is connected and fixed with the worm gear 11 through a connecting shaft, and the transmission rack 13 is fixed with the steering gear traction member 8. It can be seen that the worm gear 11 can transmit power to the transmission gear 10 coaxially fixed therewith, so that the transmission gear 10 rotates synchronously, and then the steering gear traction member 8 fixed with the transmission rack 13 can be driven to move through the meshing of the transmission gear 10 and the transmission rack 13. When the transmission rack 13 is a spur rack, the steering gear traction member 8 is equivalent to a linear moving member. The mutually meshing transmission rack 13 and transmission gear 10 are conducive to further improving the load capacity of the steering gear traction assembly.

[0065] In some embodiments, the multi-stage reduction mechanism may be omitted, so that the traction power device 1 is directly connected to the steering gear traction member 8, or the traction power device 1, the final transmission mechanism and the steering gear traction member 8 are directly connected in sequence. For example, when the final transmission mechanism is provided with the aforementioned transmission rack 13 and transmission gear 10, the traction power device 1 may be directly connected to the transmission gear 10, and at this time, the traction power device 1, the transmission gear 10, the transmission rack 13 and the steering gear traction member 8 are connected in sequence.

[0066] In some embodiments, the finger servo further includes a displacement sensor 7 disposed in the base 3 and used to detect the actual displacement of the servo traction member 8. Figure 2 The displacement sensor 7 may be a magnetic inductive displacement sensor fixed on the inner wall of the base 3. The magnetic inductive displacement sensor has the advantages of small size and easy integration, which is beneficial to improving the compactness of the finger servo structure.

[0067] The finger servo of the present application can detect the actual displacement of the servo traction member 8 through the displacement sensor 7 to directly obtain the precise finger movement distance. At the same time, the analysis and conversion of the processor in the mobile phone servo or the dexterous hand that communicates with the displacement sensor 7 can also be used to calculate the precise movement speed of the servo traction member 8, thereby determining the finger movement speed. In this way, high-precision detection of the finger movement distance and movement speed can be achieved.

[0068] Further development on the hardware platform of the finger servo provided in the embodiment of the present application can enable the finger servo to work in multiple modes, refer to Figure 5 When the finger approaches the target object, the finger servo can be set to enter the position control mode. In the position control mode, the finger servo can determine the target displacement of the servo traction member 8 according to the distance between the finger and the target object (i.e., x in the figure). G ), and determine the actual displacement of the steering gear traction member 8 (i.e., x in the figure) according to the measured value of the displacement sensor 7 s ), so that the finger servo can determine whether the finger grasps the target object by comparing the difference between the target displacement and the actual displacement. In the case where the finger servo determines that the finger does not grasp the target object, when the distance between the finger and the target object is greater than the preset critical distance, the finger servo can control the servo traction member 8 to move at a first speed (faster speed) to make the finger approach the target object faster; when the distance between the finger and the target object is not greater than the preset critical distance, the finger servo can control the servo traction member 8 to slow down, so that the servo traction member 8 moves at a second speed to avoid a rigid collision between the finger and the target object.

[0069] Reference Figure 5, when the fingers grasp the target object, the finger servo can be set to enter the force control mode. In the force control mode, the finger servo can adjust the target traction force applied by the servo traction member 8 on the finger according to the type of the target object, and determine the actual traction force applied by the servo traction member 8 on the finger according to the measurement value of the pressure sensor 12. In this way, it can be ensured that the finger servo finally grasps the target object of the corresponding type with the target traction force to avoid excessive or insufficient traction. Usually, when the target object is hard, it is not necessary to apply a large traction force to the fingers to ensure that the fingers firmly grasp the target object; when the target object is soft, it is necessary to apply a relatively large traction force to the fingers to increase the gripping force of the fingers.

[0070] Reference Figure 5 The finger servo can determine whether the finger is grasping the target object by comparing the difference between the target displacement and the actual displacement, and when it is determined that the finger does not grasp the target object (i.e., Δx>0, Δx=x G -x s ), the finger servo enters the aforementioned position control mode; when it is determined that the finger has grasped the target object (i.e., Δx≤0), the finger servo enters the aforementioned force control mode. In this way, the finger servo can realize force-position hybrid control, effectively taking into account the operating efficiency, adaptability to the target object, and flexible grasping ability, effectively solving the overshoot and jitter (i.e., jitter caused by the need to readjust the finger position after overshoot) problems existing when the existing servo grasps the target object, and greatly improving the intelligence of the finger servo.

[0071] In this way, compared with existing servos, the finger servo can control finger movements more delicately and accurately, and can be designed to be lighter and smaller due to its compact internal structure. Therefore, it can be used in miniaturized dexterous hands, and it is convenient for miniaturized dexterous hands to control finger movements with high precision in a small space, thereby broadening the application scenarios and greatly improving adaptability and versatility.

[0072] In addition, the second exemplary embodiment of the present application further provides a dexterous hand, which includes a finger and the above-mentioned finger servo. Generally, the finger and the servo traction member 8 of the finger servo can be connected by different forms of transmission mechanisms such as existing tendon ropes, tendon rope pulley mechanisms, gear transmission mechanisms or connecting rod transmission mechanisms. Due to the use of the above-mentioned finger servo, the dexterous hand of the present application naturally has all the technical effects brought by it, so it will not be repeated here.

[0073] In some embodiments, the dexterous hand further includes a distance sensor (such as a depth vision sensor, etc.) for detecting the distance between the finger and the target object, a displacement sensor 7 for detecting the actual displacement of the steering gear traction member 8, and a processor communicating with the distance sensor and the displacement sensor 7. In some application scenarios, the processor is configured to generate a target displacement required for the finger to grasp the target object according to the distance between the finger and the target object, and to determine whether the finger grasps the target object according to the difference between the target displacement and the actual displacement.

[0074] It should be noted that the present application does not exclude that in some embodiments, the finger servo is provided with the above-mentioned distance measuring sensor, displacement sensor 7 and processor.

[0075] Reference Figure 5 By further developing on the hardware platform of the dexterous hand, the processor determines the actual displacement of the steering gear traction member 8 (i.e., x s ) is less than the target displacement (i.e., x G ) (i.e., Δx>0), the dexterous hand controls the finger servo to enter the aforementioned position control mode; when the processor determines that the actual displacement of the servo traction member 8 is not less than the target displacement (i.e., Δx≤0), the dexterous hand controls the finger servo to enter the aforementioned force control mode.

[0076] In the description of the present application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0077] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0078] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0079] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. Finger servo, characterized in that, include: Base (3); A steering gear traction assembly is arranged in the base (3) and comprises a steering gear traction member (8) capable of forming a connection with a finger; and A pressure sensor (12) is arranged in the base (3) and connected to the steering gear traction member (8), wherein the steering gear traction member (8) can cause a change in a measured value of the pressure sensor (12) during the process of traction of the finger.

2. The finger servo according to claim 1, characterized in that: The steering gear traction member (8) is formed as a linear moving member, and the steering gear traction assembly further comprises an elastic member (9) arranged in the same direction as the linear moving member; when the linear moving member tractions the finger to bend, the linear moving member compresses the elastic member (9), and the elastic member (9) elastically presses the pressure sensor (12).

3. The finger servo according to claim 2, characterized in that: The steering gear traction assembly further comprises a traction guide structure that is slidably matched with the linear moving part; and / or the base (3) is provided with a base slide groove, and the linear moving part is slidably matched with the base slide groove.

4. The finger servo according to claim 3, characterized in that: The traction guide structure comprises a traction guide rod (6) fixed to the base (3); the linear movable member is provided with a guide hole (83) and can be slidably inserted into the traction guide rod (6) through the guide hole (83); and the elastic member (9) is inserted into the traction guide rod (6).

5. The finger servo according to claim 3, characterized in that: The base (3) comprises two support beams (31) arranged in the same direction as the linear moving member and parallel to each other, a base slide groove is formed between the two support beams (31), and the linear moving member is slidably matched with the two support beams (31).

6. The finger servo according to claim 1, characterized in that: The steering gear traction member (8) is provided with a rope threading hole (81) for a tendon rope having one end connected to a finger to pass through, and a positioning hole (82) for fixing the other end of the tendon rope. The steering gear traction assembly also includes a connecting member that cooperates with the positioning hole (82) and can tighten or loosen the tendon rope.

7. The finger servo according to claim 1, characterized in that: The steering gear traction assembly also includes a traction power device (1), a primary reduction mechanism and a secondary reduction mechanism. The traction power device (1) is provided with a power shaft. The primary reduction mechanism includes a driving gear (4) fixedly sleeved on the power shaft and a driven gear (5) meshed with the driving gear (4). The secondary reduction mechanism includes a worm (2) fixedly penetrating the driven gear (5) and a worm wheel (11) meshed with the worm (2). The worm wheel (11) is drivingly connected to the steering gear traction member (8).

8. The finger servo according to claim 7, characterized in that: The helix angle of the worm (2) is smaller than the equivalent friction angle between the gear teeth of the worm wheel (11), so that when the traction power device (1) stops running, the worm (2) and the worm wheel (11) can be self-locked in reverse stroke to keep the steering gear traction member (8) applying traction force to the finger.

9. The finger servo according to claim 1, characterized in that: The steering gear traction assembly also includes a traction power device (1) and a final transmission mechanism that are transmission-connected, the final transmission mechanism including a transmission rack (13) and a transmission gear (10) that mesh with each other, the transmission gear (10) being capable of being driven to rotate by the traction power device (1), and the transmission rack (13) and the steering gear traction member (8) being fixed to each other.

10. The finger servo according to claim 1, characterized in that: The finger steering gear further comprises a displacement sensor (7) which is arranged in the base (3) and is used to detect the actual displacement of the steering gear traction member (8).

11. A dexterous hand, characterized in that include: finger; and A finger servo according to any one of claims 1 to 10.

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