Control device and robot

Abstract

The utility model belongs to the technical field of grabbing device, disclose control device and manipulator. Control device includes first control panel group, adapter plate, first conduction panel group, main control board and self -rotation control panel. First control panel group and at least partial detection piece in finger conduction; Adapter plate can rotate with finger synchronously; First conduction panel group is used for conduction of adapter plate, first control panel group and the encoder of the base phalanx of finger, and first conduction panel group can bend with the bending of finger;Main control board is conducted with adapter plate through conducting sheet;Self -rotation control panel is conducted with main control board through second conduction panel group and is conducted with the self -rotation drive element of finger. Therefore, the transmission path of the signal mainly consists of multiple layers of customized circuit board when the control device is in use, effectively reducing the use of cable, avoiding the problem of cable winding, so that the movement range and flexibility of the finger will not be affected by the cable, ensuring smooth operation of the finger.

Description

Technical Field

[0001] This utility model relates to the field of gripping device technology, and in particular to control devices and robotic arms. Background Technology

[0002] In today's era of rapid technological development, dexterous robotic hands are key execution components for robots to interact with the external environment. Their performance directly affects the robot's operational capabilities and task completion quality. Dexterous robotic hands, with their high flexibility and precise operation capabilities, can simulate the complex movements of human fingers to complete diverse tasks such as grasping, carrying, assembling, and operating tools. Thus, they play an irreplaceable role in scenarios such as hazardous environment operations, precision manufacturing, and rehabilitation assistance.

[0003] The fingers of existing dexterous robotic hands mainly consist of two core modules: a drive module and a control module. The drive module, as the power source for finger movement, typically uses drive components such as motors, pneumatic muscles, or shape memory alloys in conjunction with corresponding transmission structures to drive the finger to perform movements such as rotation or bending. The control module is responsible for receiving external commands and precisely controlling the drive module according to a preset program to achieve precise finger movement and posture adjustment. The control module is generally composed of cables connecting corresponding circuit boards and sensors or drive components. The cables transmit electrical energy from the control module to the drive module, providing the energy required for the drive components to operate; simultaneously, the cables also undertake the task of transmitting control signals and data feedback signals, ensuring that the control module can monitor the working status of the drive module in real time and make adjustments as needed.

[0004] However, when the fingers of a dexterous robotic hand perform rotation or bending movements, the cables move and deform accordingly. When the fingers need to rotate or bend significantly, the cables are subjected to severe tension. This tension not only causes physical damage to the cables, such as damage to the cable sheath or breakage of internal wires, affecting the stability of power supply and signal transmission, but also causes the cables to become tangled, further restricting the range and flexibility of finger movement, and may even lead to obstructed finger movement, preventing the completion of the intended action. Utility Model Content

[0005] The purpose of this invention is to provide a control device and a robotic arm, which solves the problem in the prior art that the control module of the robotic arm is prone to cable damage or entanglement when the finger movement range is large, thus limiting the finger's range of motion and flexibility.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] Firstly, a control device for controlling the rotation and bending of the fingers in a robotic hand to grip different products, comprising:

[0008] A first control board assembly is disposed on the finger and is in communication with at least a portion of the detection element within the finger;

[0009] The adapter plate can rotate synchronously with the fingers.

[0010] The first conductive plate group is used to connect the adapter plate with the first control plate group and the encoder of the base phalanx of the finger, and the first conductive plate group can bend with the bending of the finger.

[0011] The main control board is connected to the adapter board via a conductive plate;

[0012] The rotation control board is connected to the main control board and the rotation drive element of the finger through the second conductive board group.

[0013] Optionally, the first conductive board group includes:

[0014] A connecting plate is disposed on the base of the finger and is plugged into and connected to the first control board assembly;

[0015] The first connecting piece has one end electrically connected to the connecting plate and the other end electrically connected to the adapter plate;

[0016] The second connecting piece has one end electrically connected to the encoder of the base phalanx of the finger, and the other end electrically connected to the adapter plate.

[0017] Optionally, the bottom wall of the adapter plate is provided with a mounting groove, and the second connecting piece and the second connecting piece are both partially embedded in the mounting groove; a pressure block is provided at the opening of the mounting groove to close the mounting groove.

[0018] Optionally, the control device further includes a plurality of first encoders and a plurality of second encoders, wherein the plurality of first encoders are respectively disposed at the bend of the finger and the end of the finger; and the plurality of second encoders are respectively disposed at the end of the drive element.

[0019] Optionally, the second conductive plate assembly includes:

[0020] A connecting plate is electrically connected to the rotation drive element and has a second encoder; the connecting plate is also electrically connected to the rotation control board.

[0021] The first connecting piece has one end electrically connected to the second encoder and the other end electrically connected to the rotation control board;

[0022] The second connecting piece is electrically connected at one end to the rotation control board and at the other end to the main control board.

[0023] Optionally, the main control board includes:

[0024] The first main control board has a wiring groove, and the conductive piece and the second conductive board group are both electrically connected to the first main control board through the wiring groove.

[0025] The second main control board is located below the first main control board and is connected to the first main control board via a pin header.

[0026] Optionally, the control device further includes:

[0027] A slip ring assembly, comprising a mover and a stator, wherein the stator is mounted on the main control board and electrically connected to the main control board.

[0028] Optionally, the control device further includes:

[0029] The finger base plate has multiple contacts that correspond to and are conductive to the elastic probe assembly of the palm control plate of the robotic hand, and the stator is disposed on the finger base plate.

[0030] Optionally, both the main control board and the finger base plate have clearance holes to avoid the slip ring assembly.

[0031] Secondly, this application also provides a robotic arm, which includes:

[0032] The palm has multiple fingers spaced apart on it. Each finger is provided with a drive mechanism and a control device as described in any one of the first aspects. The control device is used to control the drive mechanism to drive the finger to rotate and bend and to acquire the finger's posture information in real time.

[0033] The beneficial effects of this utility model are:

[0034] A first encoder is installed at each joint of the finger, and a second encoder is installed at the end of each driving element. This allows for real-time and accurate acquisition of the movement state of each joint of the finger. The signals from the first encoder and the second encoder inside the finger can be acquired in real time through the first control board group and the first conduction board group, thus obtaining the bending amplitude of the finger. The rotation control board can acquire the signal from the rotation driving element, thereby obtaining the rotation amplitude of the finger. The above signals are transmitted to the main control board through the adapter board and the second conduction board group to precisely and flexibly control various operating postures of the finger. Therefore, when this control device is in use, the signal transmission path mainly consists of a first control board group, a first conductive board group, an adapter board, a conductive plate, a rotation control board, and a second conductive board group, which effectively reduces the use of cables. When the finger rotates and bends, the adapter board and the first conductive board group can rotate synchronously, and when the finger bends, the first conductive board group can bend synchronously, with its bending axis coinciding with the bending axis of the finger. This results in a small change in the length of the first conductive board group, with only bending occurring. This significantly reduces the tension on each connection point, ensuring good stability at each connection point. It also avoids the problem of cable tangling, ensuring that the range of motion and flexibility of the finger are not affected by the cable, and ensuring smooth finger movements. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the structure of the robotic arm in an embodiment of this utility model;

[0036] Figure 2 This is a schematic diagram of the control device from a first-view perspective in an embodiment of this utility model;

[0037] Figure 3 This is a structural schematic diagram of the control device from a second perspective in an embodiment of this utility model;

[0038] Figure 4 This is a side view of the control device in an embodiment of the present invention;

[0039] Figure 5 This is an exploded view of the control device in an embodiment of this utility model;

[0040] Figure 6 This is a front view of the control device in an embodiment of this utility model;

[0041] Figure 7 yes Figure 6 The AA section view in the implementation shown.

[0042] In the picture:

[0043] 1. First control panel assembly; 11. First tactile panel; 12. Second tactile panel; 13. Extension sheet;

[0044] 2. Adapter board;

[0045] 3. First conductive plate assembly; 31. Connecting plate; 32. First connecting piece; 33. Second connecting piece;

[0046] 4. Main control board; 4a. First main control board; 4b. Second main control board;

[0047] 5. Rotation control panel;

[0048] 6. Conductive pad;

[0049] 7. Second conductive plate assembly; 71. Connecting plate; 72. First connecting piece; 73. Second connecting piece;

[0050] 8. Slip ring assembly; 81. Mover; 82. Stator;

[0051] 10. Finger; 101. Base phalanx; 102. Terminal phalanx; 103. Finger base plate;

[0052] 20. Drive mechanism;

[0053] 30. Palm. Detailed Implementation

[0054] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar parts or parts having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0055] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0056] In the description of this utility model, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0057] The technical solutions of the control device and the robotic arm in this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0058] like Figure 1 As shown, the palm 30 of the robotic hand has multiple fingers 10 spaced apart. In this embodiment, taking three fingers 10 spaced apart on the sleeve-shaped palm 30 as an example, each finger 10 is provided with a corresponding drive mechanism 20. The drive mechanism 20 can drive the finger 10 to rotate and bend. In order to control the drive mechanism 20 and obtain the posture of the finger 10 in real time, a control device is set in the finger 10 and the drive mechanism 20. The control device can realize the transmission of signals and power.

[0059] like Figures 2 to 7 As shown, this utility model provides a control device for controlling the rotation and bending of a finger 10 in a robotic hand to grip different products. It includes a first control board assembly 1, a transition plate 2, a first conductive plate assembly 3, a main control board 4, and a rotation control board 5. The first control board assembly 1 is disposed on the finger 10 and is conductive to at least a portion of the detection elements within the finger 10. The transition plate 2 can rotate synchronously with the finger 10. The first conductive plate assembly 3 is used to connect the transition plate 2 to the first control board assembly 1 and the encoder of the base phalanx 101 of the finger 10, and the first conductive plate assembly 3 can bend with the bending of the finger 10. The main control board 4 is conductive to the transition plate 2 via a conductive piece 6. The rotation control board 5 is conductive to the main control board 4 via a second conductive plate assembly 7 and is also conductive to the rotation drive element of the finger 10.

[0060] Specifically, the detection components include both tactile sensors and encoders. The tactile sensors are located on the side where the finger 10 grips the product, while the encoders include multiple first encoders, which are correspondingly located at the bend of the finger 10 and the tip of the finger 10. The first control board assembly 1 includes a first tactile plate 11 and a second tactile plate 12. The first tactile plate 11 is located on the distal phalanx 102 of the finger 10 and is connected to the tactile sensor of the distal phalanx 102. An extension piece 13 is also provided on the side of the first tactile plate 11. The extension piece 13 is a customized FPC that can be connected to the encoder board of the distal phalanx 102. The MCU (Microcontroller Unit) on the first tactile plate 11 can process tactile signals and encoder signals, so both tactile signals and encoder signals can be transmitted to the first tactile plate 11 for processing.

[0061] The second tactile plate 12 is disposed on the base joint 101 of the finger 10 and is connected to the tactile sensor of the base joint 101. The second tactile plate 12 is also connected to the first tactile plate 11 via a customized FPC connection. The adapter plate 2 is disposed on the drive mechanism 20 of the finger 10. Specifically, the drive mechanism 20 has a rotating disk, the finger 10 is disposed on the rotating disk, and the adapter plate 2 is also disposed on the rotating disk of the finger 10. The rotating disk is connected to a self-rotating drive element to drive the finger 10 and the adapter plate 2 to rotate synchronously.

[0062] The first conductive board group 3 is embedded in the base phalanx 101. It may include multiple circuit boards to connect the sensors of the first control board group 1 and the base phalanx 101 to the adapter board 2. The adapter board 2 is connected to the main control board 4 through a conductive piece 6. The conductive piece 6 is also a customized FPC and is embedded in the drive mechanism 20 to further save space. The main control board 4 is set in the drive mechanism 20 corresponding to the finger 10. The main control board 4 is equipped with corresponding control elements to control the corresponding drive elements. The rotation control board 5 is set opposite to the rotation drive element and is embedded in the drive mechanism 20. The second conductive board group 7 is connected to the rotation drive element of the drive mechanism 20, such as a rotation motor, to supply power to the automatic drive element. At the same time, the second conductive board group 7 can also connect the rotation control board 5 to the main control board 4. Multiple second encoders are also set at the end of the rotation drive element to realize signal transmission between the rotation drive element and the main control board 4.

[0063] The signals from the encoder and other detection components inside the finger 10 can be acquired in real time through the first control board group 1 and the first conductive board group 3, thus enabling the acquisition of the bending amplitude of the finger 10. The rotation control board 5 can acquire the signals from the rotation drive element, thereby acquiring the rotation amplitude of the finger 10. The above signals are transmitted to the main control board 4 through the adapter board 2 and the second conductive board group 7 to flexibly control various operating postures of the finger 10. Therefore, when the control device is in use, the signal transmission path mainly consists of the first control board group 1, the first conductive board group 3, the adapter board 2, the conductive piece 6, the rotation control board 5, and the second conductive board group 7, which effectively reduces the use of cables. When the finger 10 rotates and bends, the adapter board 2 and the first conductive board group 3 can rotate synchronously. When the finger 10 bends, the first conductive board group 3 can bend synchronously, and its bending axis coincides with the bending axis of the finger 10. This makes the length change of the first conductive board group 3 small, only bending, which significantly reduces the tension on each connection point, ensuring good stability of each connection point. At the same time, it can also avoid the problem of cable entanglement, so that the range of motion and flexibility of the finger 10 are not affected by the cable, ensuring smooth movement of the finger 10.

[0064] Optionally, the first conductive plate group 3 includes a connecting plate 31, a first connecting piece 32, and a second connecting piece 33. The connecting plate 31 is disposed on the base joint 101 of the finger 10 and is plugged into and connected to the first control plate group 1; one end of the first connecting piece 32 is electrically connected to the connecting plate 31, and the other end is electrically connected to the adapter plate 2; one end of the second connecting piece 33 is electrically connected to the encoder of the base joint 101 of the finger 10, and the other end is electrically connected to the adapter plate 2.

[0065] Specifically, the connecting plate 31 is embedded in the skeleton of the base phalanx 101 of the finger 10. Its upper side is connected to the second tactile plate 12 via a pin. The connecting plate 31, the first connecting piece 32, and the second connecting piece 33 are all made of customized FPC, and their shapes are adapted to the space inside the base phalanx 101. The upper end of the first connecting piece 32 is connected to the connecting plate 31, and its lower end can be embedded in the adapter plate 2. The second connecting piece 33 is arranged opposite to the first connecting piece 32. Its upper end is connected to the circuit board of the encoder of the base phalanx 101, and its lower end can also be embedded in the adapter plate 2. In this embodiment, the bottom wall of the adapter plate 2 has a mounting groove. The second connecting piece 33 and the second connecting piece 33 are both partially embedded in the mounting groove. A pressure block is provided at the opening of the mounting groove to close the mounting groove, thereby fixing the first connecting piece 32 and the second connecting piece 33 to the adapter plate 2.

[0066] Optionally, the second conductive plate group 7 includes a connecting plate 71, a first connecting piece 72, and a second connecting piece 73. The connecting plate 71 is electrically connected to the rotation drive element and the rotation control board 5, and the second encoder is disposed on the connecting plate 71; one end of the first connecting piece 72 is electrically connected to the second encoder, and the other end is electrically connected to the rotation control board 5; one end of the second connecting piece 73 is electrically connected to the rotation control board 5, and the other end is electrically connected to the main control board 4.

[0067] Specifically, the connecting plate 71 is located at the tail shaft of the rotation drive element, and has welding points that can be welded to the three-phase wires of the rotation drive element. It is electrically connected to the rotation drive element and the rotation control board 5 to transmit signals and supply power to the rotation drive element. Multiple second encoders can be arranged on the connecting plate 71 according to the detection requirements. The first connecting piece 72 and the second connecting piece 73 are both made of customized FPC, which are long strips and embedded in the drive mechanism 20. Two first connecting pieces 32 can be arranged at intervals to adapt to the transmission of corresponding signals. The second connecting pieces 73 are distributed vertically at intervals with the first connecting pieces 72, and their lower ends extend downward to the main control board 4 to connect and conduct with the main control board 4.

[0068] Optionally, the main control board 4 includes a first main control board 4a and a second main control board 4b. The first main control board 4a has a wiring groove, and the conductive piece 6 and the second conductive board group 7 are electrically connected to the first main control board 4a through the wiring groove; the second main control board 4b is disposed on the lower side of the first main control board 4a and is connected to the first main control board 4a through a pin header.

[0069] Specifically, the first main control board 4a is positioned above the second main control board 4b. The drive mechanism 20 includes multiple drive elements, each capable of driving the bending of one end of the finger 10. The first main control board 4a is equipped with a second encoder and a main control element corresponding to the drive element of each finger joint, which can cooperate with the first encoder of each finger joint to form a closed-loop control. A through hole is provided on the first main control board 4a as a wiring groove. The conductive piece 6, the first connecting piece 72, and one end of the second connecting piece can all pass through the wiring groove and connect to the bottom wall of the first main control board 4a. The first main control board 4a and the second main control board 4b are connected by a pin header.

[0070] Optionally, the control device also includes a slip ring assembly 8. The slip ring assembly 8 includes a mover 81 and a stator 82, the stator 82 is mounted through and electrically connected to the main control board 4, and the stator 82 is disposed on the finger base plate 103.

[0071] Specifically, the main control board 4 has a slot through which the wiring of the mover 81 can pass and be soldered to the back of the main control board 4, thereby increasing the bending radius of the corresponding wiring and improving its stress and lifespan. The stator 82 can be fixed to the finger base plate 103 and is electrically connected to it. The finger base plate 103 has multiple contacts that correspond to the elastic probe assemblies of the hand control board of the robotic hand, so that the signals of the rotation and bending of the finger 10 can be transmitted to the hand control board, while the hand control board can also supply power to the finger base plate 103.

[0072] Both the main control board 4 and the finger base plate 103 have clearance holes in their centers to allow the movement 81 and stator 82 of the slip ring assembly 8 to pass through, thus forming a nested structure between the movement 81, the main control board 4, and the finger base plate 103, which helps to reduce the overall height. Adjacent circuit boards, such as the main control board 4, can be connected together via isolation pillars and fixedly connected to the inner sleeve of the drive mechanism 20. The rotating disk is fixed to the inner sleeve, which can rotate under the drive of the self-rotating drive element, causing the entire control device to rotate synchronously with the finger 10. The slip ring stator 82 and the finger base plate 103 are fixed together and fixedly connected to the outer sleeve of the inner sleeve, keeping them stationary relative to the palm 30.

[0073] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A control device for controlling the rotation and bending of the fingers (10) of a robotic hand to grip different products, characterized in that, include: A first control board assembly (1) is disposed on the finger (10) and is in communication with at least a portion of the detection element within the finger (10); The adapter plate (2) can rotate synchronously with the finger (10); The first conductive plate group (3) is used to connect the adapter plate (2) with the first control plate group (1) and the encoder of the base phalanx (101) of the finger (10), and the first conductive plate group (3) can bend with the bending of the finger (10); The main control board (4) is connected to the adapter board (2) through the conductive piece (6); The rotation control board (5) is connected to the main control board (4) and the rotation drive element of the finger (10) through the second conductive board group (7).

2. The control device according to claim 1, characterized in that, The first conductive plate group (3) includes: A connecting plate (31) is disposed on the base joint (101) of the finger (10) and is connected to the first control board assembly (1); The first connecting piece (32) is electrically connected at one end to the connecting plate (31) and at the other end to the adapter plate (2); The second connecting piece (33) is electrically connected at one end to the encoder of the base phalanx (101) of the finger (10) and at the other end to the adapter plate (2).

3. The control device according to claim 2, characterized in that, The bottom wall of the adapter plate (2) is provided with an installation groove, and the second connecting piece (33) and the second connecting piece (33) are both partially embedded in the installation groove; a pressure block is provided at the opening of the installation groove to close the installation groove.

4. The control device according to claim 1, characterized in that, It also includes a plurality of first encoders and a plurality of second encoders, wherein the plurality of first encoders are respectively disposed at the bend of the finger (10) and the tail end of the finger (10); and the plurality of second encoders are respectively disposed at the end of the self-rotation drive element.

5. The control device according to claim 4, characterized in that, The second conductive plate assembly (7) includes: The connecting plate (71) is electrically connected to the rotation drive element and the rotation control plate (5), and the second encoder is disposed on the connecting plate (71); The first connecting piece (72) is electrically connected at one end to the second encoder and at the other end to the rotation control board (5); The second connecting piece (73) is electrically connected at one end to the rotation control board (5) and at the other end to the main control board (4).

6. The control device according to claim 1, characterized in that, The main control board (4) includes: The first main control board (4a) has a wiring groove, and the conductive piece (6) and the second conductive board group (7) are electrically connected to the first main control board (4a) through the wiring groove; The second main control board (4b) is located below the first main control board (4a) and is connected to the first main control board (4a) via a pin header.

7. The control device according to claim 1, characterized in that, The control device further includes: The slip ring assembly (8) includes a mover (81) and a stator (82), the stator (82) being mounted on the main control board (4) and electrically connected to the main control board (4).

8. The control device according to claim 7, characterized in that, Also includes: The finger base plate (103) has multiple contacts that correspond to the elastic probe assembly of the palm control plate of the robotic hand, and the stator (82) is disposed on the finger base plate (103).

9. The control device according to claim 8, characterized in that, Both the main control board (4) and the finger base plate (103) have clearance holes to avoid the slip ring assembly (8).

10. A robotic arm, characterized in that, include: A palm (30) on which a plurality of fingers (10) are spaced apart, each of the fingers (10) being provided with a drive mechanism (20) and a control device as described in any one of claims 1 to 9, the control device being used to control the drive mechanism (20) to drive the finger (10) to rotate and bend and to acquire the posture information of the finger (10) in real time.

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