CN211362292U

CN211362292U - Force sensing structure, dexterous hand finger and multi-finger dexterous hand

Info

Publication number: CN211362292U
Application number: CN201921885902.2U
Authority: CN
Inventors: 王涛; 陈树渠
Original assignee: Shenzhen Dorabot Robotics Co ltd
Current assignee: Shenzhen Lan pangzi machine intelligence Co., Ltd
Priority date: 2019-11-04
Filing date: 2019-11-04
Publication date: 2020-08-28
Anticipated expiration: 2029-11-04

Abstract

The utility model discloses a force-sensing structure, dexterous fingers and multi-finger dexterous hand, which belongs to the technical field of mechanical grippers, wherein the force-sensing structure comprises a first rigid plane plate, a plurality of first stress columns and sensor units, wherein the first stress columns and the sensor units are all arranged on the inner side of the first rigid plane plate, and the first rigid plane plate is used for receiving external force and distributing the external force to the first stress columns; the sensor unit comprises a plurality of sensing blocks and a sensor circuit board, wherein the sensing blocks are arranged corresponding to the first stress columns, the sensor circuit board is electrically connected with the sensing blocks, each sensing block is used for sensing the component force acting on the corresponding first stress column and feeding back the component force to the sensor circuit board, and the sensing blocks are distributed on the surface of one side, facing the first rigid plane board, of the sensor circuit board. By the technical scheme, the technical problem that the multi-finger dexterous hand in the prior art can only simply sense whether the corresponding finger joints are stressed or not and greatly limits the application of the multi-finger dexterous hand can be effectively solved.

Description

Force sensing structure, dexterous hand finger and multi-finger dexterous hand

Technical Field

The utility model relates to a mechanical tongs technical field, in particular to structure, dexterous hand finger and the dexterous hand of many fingers are felt to strength.

Background

At present, the force sensing of the multi-finger dexterous hand comprises various sensors, such as piezoresistance, capacitance, strain, vision and the like, but the sensors arranged on finger knuckles have certain limitations, can only sense whether the corresponding knuckles are stressed or not, and can not accurately sense the specific stress on which side and place of the knuckle, so that the application of the multi-finger dexterous hand is greatly limited.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is to provide a structure is known to power, dexterous hand finger and polydactyly hand, it aims at solving among the prior art whether the application of polydactyly hand has greatly been limited to the atress of the corresponding knuckle of polydactyly hand of simple perception.

In order to solve the above technical problem, the present invention provides a force sensing structure, which includes a first rigid plane plate, a plurality of first force-bearing columns and a sensor unit, wherein the first force-bearing columns and the sensor unit are all disposed inside the first rigid plane plate, and the first rigid plane plate is used for receiving an external force and distributing the external force to the first force-bearing columns; the sensor unit comprises a plurality of sensing blocks and a sensor circuit board, wherein the sensing blocks are arranged corresponding to the first stress columns, the sensor circuit board is electrically connected with the sensing blocks, each sensing block is used for sensing the component force acting on the corresponding first stress column and feeding back the component force to the sensor circuit board, and the sensing blocks are distributed on one side surface, facing the first rigid plane board, of the sensor circuit board.

Optionally, a supporting frame is arranged around the first rigid plane plate in an encircling manner, and the inner side of the supporting frame is in clearance fit connection with the edge of the first rigid plane plate to limit the movement of the first rigid plane plate in the inner side of the supporting frame.

Optionally, a second rigid plane plate symmetrically arranged with the first rigid plane plate is further disposed in the support frame, so that the sensor unit is clamped between the first rigid plane plate and the second rigid plane plate, and the inner side of the support frame is in clearance fit connection with the edge of the second rigid plane plate to limit the movement of the second rigid plane plate in the inner side of the support frame.

Optionally, a side groove is arranged on the inner side of the supporting frame to correspondingly clamp the joint of the edges of the first rigid plane plate and the second rigid plane plate, so that the inner side of the supporting frame is in clearance fit connection with the edge of the first rigid plane plate and the edge of the second rigid plane plate respectively.

Optionally, a plurality of second force-bearing columns corresponding to the plurality of sensing blocks are arranged on the inner side of the second rigid plane board, and each sensing block is further configured to sense the magnitude of a component force acting on the corresponding second force-bearing column and feed the component force back to the sensor circuit board.

Optionally, an elastic pad is disposed on the sensing block.

In addition, in order to solve the above technical problem, the present invention further provides a dexterous hand finger, each of which comprises a plurality of finger sections, a power mechanism for driving the finger sections to rotate relatively, and a control circuit board; the plurality of knuckles are provided with the force sensing structure; the control circuit board is electrically connected with the sensor circuit board and the power mechanism and is used for receiving and processing the data information acquired by the force sensing structure and controlling the power mechanism.

Optionally, each finger of the dexterous hand sequentially comprises a first finger joint, a second finger joint and a third finger joint, the second finger joint is rotatably connected with the first finger joint, and the third finger joint is rotatably connected with the second finger joint.

Optionally, the third knuckle is provided with the force sensing structure; the second knuckle is provided with a control circuit board, a second sensor assembly and a first power mechanism; the first knuckle is provided with a second power mechanism, the control circuit board is electrically connected with the force sensing structure, the second sensor assembly, the first power mechanism and the second power mechanism respectively, so that the third knuckle is driven to rotate relative to the second knuckle through the first power mechanism respectively according to the surface stress condition of the third knuckle detected by the force sensing structure, the surface stress condition of the second knuckle detected by the second sensor assembly and the rotation angle between the knuckles, and the second power mechanism drives the second knuckle to rotate relative to the first knuckle.

Optionally, the control circuit board is electrically connected to the force sensing structure, the second sensor assembly, the first power mechanism, and the second power mechanism through a flexible circuit board, respectively.

Optionally, the first power mechanism includes a first reduction motor electrically connected to the control circuit board, and the first reduction motor drives the third knuckle to rotate relative to the second knuckle through gear set transmission; the second power mechanism comprises a second speed reducing motor electrically connected with the control circuit board, and the second speed reducing motor drives the second knuckle to rotate relative to the first knuckle through gear set transmission.

In addition, in order to solve the above technical problems, the present invention further provides a multi-fingered dexterous hand, which comprises a dexterous hand main body and a plurality of fingers, wherein the dexterous hand main body is provided with a plurality of finger mounting grooves, the finger mounting grooves are arranged in one-to-one correspondence with the fingers, and each finger mounting groove is internally provided with a rotary seat body for correspondingly inserting and mounting the corresponding fingers; the smart hand is characterized in that a main control panel and a main power mechanism are arranged in the smart hand body, and the main control panel is electrically connected with the main power mechanism so as to drive the rotary base body in each finger mounting groove to rotate around a central shaft through the main power mechanism.

Optionally, each be provided with connection socket on the rotatory pedestal of finger mounting groove, just connection socket pass through flexible circuit board with the master control board carries out electric connection, the one end that dexterous hand pointed is equipped with electrical interface, electrical interface and corresponding on the rotatory pedestal connection socket carries out the elasticity cooperation of pegging graft, in order to realize each dexterous hand point with electric connection between the dexterous hand main part.

Optionally, be provided with cartridge locking mechanism in the dexterous hand main part, be used for the dexterous hand finger pegs graft during the dexterous hand main part, lock in the grafting direction to prevent that dexterous hand finger from droing in high-speed motion.

Optionally, the main power mechanism includes a third speed reduction motor electrically connected to the main control board, and the third speed reduction motor is in transmission fit with a transmission belt through a gear set to drive the rotary base body in each finger installation slot to rotate around a central shaft.

Optionally, the inner wall of each finger mounting groove is provided with a stop marble to realize the positioning after the rotation of the corresponding rotary seat body.

The utility model provides a strength sensing structure, dexterous hand finger and multi-finger dexterous hand, its strength sensing structure includes a first rigid plane board, a plurality of first stress columns and a sensor unit, the first rigid plane board is used for receiving external force and distributing the external force to a plurality of first stress columns; the sensor unit comprises a plurality of sensing blocks and a sensor circuit board, wherein the sensing blocks are arranged corresponding to the first stress columns, the sensor circuit board is electrically connected with the sensing blocks, each sensing block is used for sensing the component force acting on the corresponding first stress column and feeding back the component force to the sensor circuit board, and the sensing blocks are distributed on the surface of one side, facing the first rigid plane board, of the sensor circuit board. Therefore, no matter where the external force is applied to the first rigid plane plate, the external force can be fed back to the sensor circuit board through the corresponding first force-bearing column and the corresponding sensing block, so as to sense where the force is applied to the side surface of the third knuckle, the force magnitude and the surface moving speed, and further perform more accurate rotation control on the third knuckle. Therefore, the multi-finger dexterous hand can adjust the rotation control and/or the grabbing force of the dexterous hand according to the stress condition of the force sensing structure to realize the accurate grabbing of an object, and can effectively solve the technical problem that the application of the multi-finger dexterous hand is greatly limited because the multi-finger dexterous hand only simply senses whether the corresponding finger joints are stressed or not in the prior art.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.

Fig. 1 is a schematic view of the overall structure of a multi-fingered dexterous hand according to an embodiment of the present invention.

Fig. 2 is a partially disassembled structure diagram of the multi-fingered dexterous hand shown in fig. 1.

Figure 3 is a schematic view of the disassembled structure of the fingers of the multi-fingered dexterous hand of figure 1.

FIG. 4 is a side view of the force sensing structure of the multi-fingered dexterous hand of FIG. 1.

Fig. 5 is a schematic diagram of another implementation form of the multi-fingered dexterous hand shown in fig. 1.

Detailed Description

The following describes the present invention with reference to the accompanying drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features related to the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

As shown in fig. 1 to 3, the present embodiment provides a multi-fingered dexterous hand 100, the multi-fingered dexterous hand 100 includes a dexterous hand body 110 and a plurality of dexterous hand fingers 120, the dexterous hand body 110 is provided with a plurality of finger mounting grooves 111, and the plurality of dexterous hand fingers 120 are inserted and mounted in a one-to-one correspondence. The dexterous hand finger 120 comprises a plurality of finger sections, a power mechanism for driving the plurality of finger sections to rotate relatively and a control circuit board 125 for controlling the power mechanism, wherein the control circuit board 125 is electrically connected with the power mechanism and is arranged inside the plurality of finger sections.

In this embodiment, as shown in fig. 1 to fig. 3, the finger 120 of the dexterous hand is further provided with a plurality of sensors electrically connected to the control circuit board for detecting the force condition on the finger surface and/or the rotation angle between the finger joints. One end of the dexterous hand finger 120 is provided with an electrical interface (not shown), which is electrically connected to the control circuit board 125, for plugging the dexterous hand finger 120 into an external device (i.e. the dexterous hand main body 110), so that the control circuit board 125 is powered on or communicates with the external device. Specifically, as shown in fig. 2 and fig. 3, each finger 120 of the dexterous hand of the present embodiment sequentially includes a first knuckle 121, a second knuckle 122 and a third knuckle 123, wherein an end of the first knuckle 121 away from the second knuckle 122 is provided with an electrical interface, and can be correspondingly inserted into the corresponding finger mounting groove 111 of the dexterous hand body 110, the second knuckle 122 is hinged to the first knuckle 121, and the third knuckle 123 is hinged to the second knuckle 122. A first sensor assembly 124 is disposed on the third knuckle 123. The second knuckle 122 is provided with a control circuit board 125, a second sensor assembly 126 and a first power mechanism 127. The first knuckle 121 is provided with a second power mechanism 128, the control circuit board 125 is electrically connected to the first sensor assembly 124, the second sensor assembly 126, the first power mechanism 127 and the second power mechanism 128, respectively, so that the third knuckle 123 is driven to rotate relative to the second knuckle 122 through the first power mechanism 127 (in this embodiment, positive and negative 90-degree rotation is specific) according to the surface stress condition of the third knuckle 123 detected by the first sensor assembly 124, the surface stress condition of the second knuckle 122 detected by the second sensor assembly 126 and the rotation angle between the knuckles, and the second knuckle 122 is driven to rotate relative to the first knuckle 121 through the second power mechanism 128 (in this embodiment, positive and negative 90-degree rotation is specific). Therefore, each dexterous hand finger 120 is provided with the control circuit board 125 to independently control the finger, that is, each dexterous hand finger 120 is provided with a control unit, which can realize the functions of closed-loop control, sensor information processing, communication and the like of the finger, and the control unit in the finger can realize the real-time control of the finger joint with higher efficiency, realize the control with higher precision and has the characteristic of high modularization. In addition, the third knuckle 123 is driven by the first power mechanism 127 to rotate relative to the second knuckle 122, and the second knuckle 122 is driven by the second power mechanism 128 to rotate relative to the first knuckle 121, that is, each dexterous hand finger 120 adopts a full-drive scheme, so that the motion of each joint can be accurately controlled, and the motion requirements of each joint can be met. The third knuckle 123 is configured in an "L" shape so that the third knuckle 123 can be used to insert into a narrow gap for operation, such as in a gift delivery scenario, insert the "L" shaped knuckle into a hand-held gap of a gift box/bag, and turn the "L" shaped knuckle to hook up the gift box/bag for delivery to the consumer; if the device is used for grabbing goods stacked on a shelf or a box body of a supermarket, a dexterous hand can be inserted into the gap through the L-shaped knuckle due to the small gap between the goods, and the goods can be grabbed out or turned over.

As shown in fig. 3 and 4, the aforementioned first sensor assembly 124 is a force sensing structure, which specifically includes a first rigid plane plate 1241, a plurality of first force-bearing pillars 1242 and a sensor unit 1243, the plurality of first force-bearing pillars 1242 and the sensor unit 1243 are disposed on the inner side of the first rigid plane plate 1241, and the first rigid plane plate 1241 is used for receiving an external force and distributing the external force to the plurality of first force-bearing pillars 1242; the sensor unit 1243 includes a plurality of sensing blocks corresponding to the plurality of first force-bearing columns 1241 and a sensor circuit board electrically connected to the plurality of sensing blocks (which is electrically connected to the control circuit board 125 to receive and process data information collected by the force sensing structure through the control circuit board 125), each sensing block is used for sensing the component force acting on the corresponding first force-bearing column 1242 and feeding the component force back to the sensor circuit board, and the plurality of sensing blocks are uniformly distributed on a side surface of the sensor circuit board where the first rigid plane plate 1241 is located. At this time, the force sensing structure is a single-sided sensing structure, and can only sense the force condition of one side surface of the third knuckle 123, that is, when an external force is applied to the first rigid plane 1241, the force is transmitted to the sensor circuit board through the corresponding first force-bearing column 1242 and the sensing block, so as to sense the force condition of the side surface of the third knuckle 123. The periphery of the first rigid plane board 1241 is provided with the supporting frame 1244 in a looped manner, the inner side of the supporting frame 1244 is in clearance fit connection with the edge of the first rigid plane board 1241, so as to limit the first rigid plane board 1241 to move inside the supporting frame 1244, and meanwhile, a certain clearance is left between the inner side of the supporting frame 1244 and the edge of the first rigid plane board 1241, when the first rigid plane board 1241 is stressed, the clearance can reduce the loss of force transmitted to the corresponding sensing block, i.e., the effect of force transmitted to the sensing block by the rigid plane board is not affected, and the detection capability of the corresponding sensing block is enhanced.

As shown in fig. 3 and 4, a second rigid plane 1245 is disposed in the support frame 1244 and is symmetrical to the first rigid plane 1241, so that the sensor unit 1243 is clamped between the first rigid plane 1241 and the second rigid plane 1245, and the inner side of the support frame 1244 is in clearance fit connection with the edge of the second rigid plane 1245 to limit the movement of the second rigid plane 1245 in the support frame 1244. Specifically, a side slot (not shown) is disposed inside the supporting frame 1244 to correspondingly clamp the joint of the edges of the first rigid plane 1241 and the second rigid plane 1245, so that the inside of the supporting frame 1244 is in clearance fit connection with the edge of the first rigid plane 1241 and the edge of the second rigid plane 1244, respectively. Thus, when the first rigid board 1241 is pressed by an external force, the force drives the sensor component 1243 to press the second rigid board 1245, and the edge of the second rigid board 1245 abuts against the side slot body to support the external force. When the second rigid plate 1245 is pressed by an external force, the force drives the sensor component 1243 to press the first rigid plate 1241, and the edge of the first rigid plate 1241 abuts against the side slot body to support the external force. In this case, the force sensing structure is a double-sided sensing structure, and can sense the force applied to both surfaces of the third knuckle 123. In addition, in order to enhance the double-sided sensing capability, a plurality of second force-bearing columns (not shown) corresponding to the plurality of sensing blocks may be disposed inside the second rigid plane 1245, each sensing block is further configured to sense the component force acting on the corresponding second force-bearing column and feed the component force back to the sensor circuit board, and the sensor circuit board may determine the direction of the external force applied thereto by combining the angle sensor and the current feedback information. An elastic pad (not shown) is further arranged on the induction block, the surface area of the elastic pad is slightly larger than that of the first stress column, and the elastic pad is used for enabling the induction block to be in full contact with the first stress column, so that the contact plane of the induction block is stable and consistent; on the other hand, the elastic pad can also provide a pre-tightening force, so that the force sensing structure does not loosen too much as a whole, that is, under the condition of not being pressed by external force, the elastic pad itself provides a pre-loading force to the sensing block, so as to reduce the structure shaking, for example, 100gf is provided, the pre-loading force is set to 0gf through program initialization, when being pressed by external force, the force measured by the sensing block is 300gf, the external force measured by the sensing block is 300gf, and the sensing block actually receives a force of 400 gf; in addition, the elastic pad is disposed such that a sufficient gap is left between the first rigid plane 1241 and the second rigid plane 1245, so that the first rigid plane 1241 and the second rigid plane 1245 do not directly interfere with each other when being pressed by an external force.

As shown in fig. 3, the aforementioned second sensor assembly 126 includes two angle sensors and a plurality of pressure sensors, the two angle sensors are respectively disposed at the hinge joint between the first knuckle 121 and the second knuckle 122 and the hinge joint between the second knuckle 122 and the third knuckle 123 to realize sensing of the rotation angle between the knuckles, and the plurality of pressure sensors are tightly attached to the rear rigid plane plate of the second knuckle 122 to sense the force condition on the rear side surface of the second knuckle 122.

As shown in fig. 2, the aforementioned control circuit board 125 is electrically connected to the first sensor assembly 124, the second sensor assembly 126, the first power mechanism 127 and the second power mechanism 128 through the flexible circuit board 11. To avoid the flexible circuit board 11 from being tightened due to the rotation between the knuckles, the length of the flexible circuit board 11 is much longer than the length of the corresponding dexterous hand finger 120.

As shown in fig. 3, the first power mechanism 127 includes a first speed reduction motor electrically connected to the control circuit board 125, and the first speed reduction motor drives the third knuckle 123 to rotate relative to the second knuckle 122 through gear set transmission. Specifically, because the length of the second knuckle 122 is limited, the first reduction motor is a short motor, the short motor of the present embodiment is a TWG1220-N20VA, and the short motor includes a worm gear reduction box and a dc brush motor, that is, a transmission gear set is directly mounted on the motor, and the motor directly extends out of the driving shaft at the side to drive the third knuckle 123 to rotate relative to the second knuckle 122. The second power mechanism 128 includes a second speed reduction motor electrically connected to the control circuit board 125, and the second speed reduction motor drives the second knuckle 122 to rotate relative to the first knuckle 121 through gear set transmission. Specifically, since the length of the third knuckle 123 is long, the second reduction motor is a long motor, which provides better driving effect than a short motor, and the motor shaft drives the third knuckle 123 to rotate relative to the second knuckle 122 through the gear set transmission. Therefore, the rotation of each finger 120 of the dexterous hand is driven by the motor to reduce the speed, so that the transmission can be reduced, and the transmission precision and efficiency can be improved.

As shown in fig. 2, a rotary base 112 is disposed in the finger mounting groove 111 for correspondingly inserting and mounting a corresponding finger 120 of a dexterous hand. The main body 110 of the dexterous hand is provided with a main control panel 113 and a main power mechanism 114, wherein the main control panel 113 is electrically connected to the main power mechanism 114, so as to drive the rotation base 112 in each finger mounting groove 111 to rotate around the central axis through the main power mechanism 114. Specifically, as shown in fig. 2, a connection board 12 is disposed on the rotation base 112 of each finger installation slot 111, and the connection board 12 is electrically connected to the main control board 113 through a flexible circuit board (not shown). One end of each of the fingers 120 of the dexterous hand is provided with an electrical interface (not shown) which is elastically inserted and matched with the corresponding connecting plug board 12 on the rotating base 112, so as to realize the electrical connection between each of the fingers 120 of the dexterous hand and the main body 110 of the dexterous hand. Through such a structural arrangement, it can be ensured that the electrical connection between each dexterous hand finger 120 and the dexterous hand main body 110 does not affect the rotation of each dexterous hand finger 120 itself. The main power mechanism 114 includes a third speed reduction motor electrically connected to the main control board 113, and the third speed reduction motor is in transmission fit with a transmission belt through a gear set to drive the rotation seat 112 in each finger installation slot 111 to rotate around the central axis. Specifically, two dexterous fingers 120 are arranged in this embodiment (for those skilled in the art, three fingers 120 can be also arranged according to actual requirements (as shown in fig. 5, the three fingers 120 are distributed on the main body 110 of the dexterous hand in a triangular manner), five fingers and the like), at this time, the third speed reduction motor drives two rotating base bodies 112 to rotate synchronously through double gears and belt transmission, so that each dexterous finger 120 rotates around the central shaft along with the rotating base body 112 in the corresponding finger mounting groove 111. Because the inner wall of each finger mounting groove 111 is provided with a stop marble (not shown) to realize the positioning when the corresponding rotary seat body 112 rotates to a specific angle, the stop marble can be installed at a position which enables the dexterous hand to be in a more universal state, not only can realize the accurate positioning of the fingers of the dexterous hand under the drive of the motor, but also can enable the rotary seat body to be in a clamping position when the drive of the motor is turned off, thereby avoiding the manual random rotation of the fingers. The dexterous hand main body 110 is provided with an insertion locking mechanism (not shown) for locking in the insertion direction when the fingers 120 of the dexterous hand are inserted into the dexterous hand main body 110 so as to prevent the fingers 120 of the dexterous hand from falling off in high-speed motion or under the influence of external force; on the other hand, the device is convenient to disassemble and maintain, namely, the device can be directly pulled out without manual unlocking operation and the like by applying larger external force.

The embodiment of the utility model provides a structure, dexterous hand finger and the dexterous hand of indicate more that feel with strength, its structure is known with strength includes first rigid plane board, a plurality of first stress columns and sensor unit, and first rigid plane board is used for receiving external force and distributes external force in a plurality of first stress columns; the sensor unit comprises a plurality of sensing blocks and a sensor circuit board, wherein the sensing blocks are arranged corresponding to the first stress columns, the sensor circuit board is electrically connected with the sensing blocks, each sensing block is used for sensing the component force acting on the corresponding first stress column and feeding back the component force to the sensor circuit board, and the sensing blocks are distributed on the surface of one side, facing the first rigid plane board, of the sensor circuit board. Therefore, no matter where the external force is applied to the first rigid plane plate, the external force can be fed back to the sensor circuit board through the corresponding first force-bearing column and the corresponding sensing block, so as to sense where the force is applied to the side surface of the third knuckle, the force magnitude and the surface moving speed, and further perform more accurate rotation control on the third knuckle. Therefore, the multi-finger dexterous hand can adjust the rotation control and/or the grabbing force of the dexterous hand according to the stress condition of the force sensing structure to realize the accurate grabbing of an object, and can effectively solve the technical problem that the application of the multi-finger dexterous hand is greatly limited because the multi-finger dexterous hand only simply senses whether the corresponding finger joints are stressed or not in the prior art.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made in the embodiments without departing from the principles and spirit of the invention, and the scope of the invention is to be accorded the full scope of the claims.

Claims

1. A force sensing structure is characterized by comprising a first rigid plane plate, a plurality of first stress columns and a sensor unit, wherein the first stress columns and the sensor unit are arranged on the inner side of the first rigid plane plate;

the sensor unit comprises a plurality of sensing blocks and a sensor circuit board, wherein the sensing blocks are arranged corresponding to the first stress columns, the sensor circuit board is electrically connected with the sensing blocks, each sensing block is used for sensing the component force acting on the corresponding first stress column and feeding back the component force to the sensor circuit board, and the sensing blocks are distributed on one side surface, facing the first rigid plane board, of the sensor circuit board.

2. The force sensing structure of claim 1, wherein a support frame is disposed around the first rigid planar plate, and an inner side of the support frame is in clearance fit with an edge of the first rigid planar plate to limit movement of the first rigid planar plate within the support frame.

3. The force sensing structure of claim 2, further comprising a second rigid planar plate disposed symmetrically to the first rigid planar plate within the supporting frame, such that the sensor unit is sandwiched between the first rigid planar plate and the second rigid planar plate, and an inner side of the supporting frame is in clearance fit with an edge of the second rigid planar plate to limit the movement of the second rigid planar plate within the supporting frame.

4. The force sensing structure of claim 3, wherein a side slot is disposed inside the supporting frame to correspondingly clamp the connection between the edges of the first and second rigid flat plates, such that the inside of the supporting frame is in clearance fit with the edges of the first and second rigid flat plates.

5. The force sensing structure of claim 3, wherein a plurality of second force-bearing columns are disposed inside the second rigid plane board and correspond to the plurality of sensing blocks, and each sensing block is further configured to sense a magnitude of a component force acting on the corresponding second force-bearing column and feed the component force back to the sensor circuit board.

6. The force sensing structure of claim 1, wherein an elastomeric pad is disposed on the sensing block.

7. The dexterous hand fingers are characterized in that each dexterous hand finger comprises a plurality of finger sections, a power mechanism for driving the finger sections to rotate relatively and a control circuit board;

the plurality of knuckles are provided with a force sensing structure according to any of claims 1-6; the control circuit board is electrically connected with the sensor circuit board and the power mechanism and is used for receiving and processing the data information acquired by the force sensing structure and controlling the power mechanism.

8. A dexterous hand finger according to claim 7 wherein each finger comprises in sequence a first finger segment, a second finger segment in rotational connection with the first finger segment, and a third finger segment in rotational connection with the second finger segment.

9. A dexterous hand finger according to claim 8, wherein the third knuckle is provided with the force sensing structure; the second knuckle is provided with a control circuit board, a second sensor assembly and a first power mechanism; the first knuckle is provided with a second power mechanism, the control circuit board is electrically connected with the force sensing structure, the second sensor assembly, the first power mechanism and the second power mechanism respectively, so that the third knuckle is driven to rotate relative to the second knuckle through the first power mechanism respectively according to the surface stress condition of the third knuckle detected by the force sensing structure, the surface stress condition of the second knuckle detected by the second sensor assembly and the rotation angle between the knuckles, and the second power mechanism drives the second knuckle to rotate relative to the first knuckle.

10. The dexterous hand finger of claim 9, wherein the control circuit board is electrically connected to the force sensing structure, the second sensor assembly, the first power mechanism, and the second power mechanism through a flexible circuit board, respectively.

11. The dexterous hand finger according to claim 9, wherein the first power mechanism comprises a first speed reduction motor electrically connected with the control circuit board, and the first speed reduction motor drives the third finger joint to rotate relative to the second finger joint through gear set transmission; the second power mechanism comprises a second speed reducing motor electrically connected with the control circuit board, and the second speed reducing motor drives the second knuckle to rotate relative to the first knuckle through gear set transmission.

12. A multi-finger dexterous hand is characterized by comprising a dexterous hand main body and a plurality of dexterous hand fingers as claimed in any one of claims 7 to 11, wherein the dexterous hand main body is provided with a plurality of finger mounting grooves, the finger mounting grooves and the fingers of the dexterous hand are arranged in a one-to-one correspondence manner, and each finger mounting groove is internally provided with a rotating seat body so as to correspondingly insert and mount the corresponding fingers of the dexterous hand; the smart hand is characterized in that a main control panel and a main power mechanism are arranged in the smart hand body, and the main control panel is electrically connected with the main power mechanism so as to drive the rotary base body in each finger mounting groove to rotate around a central shaft through the main power mechanism.

13. The multi-fingered dexterous hand according to claim 12, wherein each of said finger mounting grooves is provided with a connection board on the rotating base, and said connection board is electrically connected to said main control board through a flexible circuit board, one end of the fingers of said dexterous hand is provided with an electrical interface, said electrical interface is in elastic insertion fit with said connection board on said rotating base, so as to realize each of said fingers of said dexterous hand and said electric connection between said main bodies of said dexterous hand.

14. The multi-fingered dexterous hand according to claim 12, wherein the dexterous hand body is provided with an insertion locking mechanism for locking in the insertion direction when the fingers of the dexterous hand are inserted into the dexterous hand body, so as to prevent the fingers of the dexterous hand from falling off in high-speed movement.

15. The multi-fingered dexterous hand according to claim 12, wherein the main power mechanism comprises a third speed reduction motor electrically connected to the main control board, and the third speed reduction motor is in transmission fit with a transmission belt through a gear set to drive the rotation seat body in each finger mounting groove to rotate around a central shaft.

16. The multi-fingered dexterous hand according to any one of claims 12-15, wherein the inner wall of each finger mounting groove is provided with a stop marble for positioning after the corresponding rotary seat body rotates.