CN101161426A - Flexible connecting line structure between integrated circuit board in the finger of robot delicacy hand - Google Patents

Abstract

The invention relates to a flexible tie-line structure between the integrated circuit board among fingers of the robot. One end of a second flexible drop-out line (1-3) is connected with a first rigid plate (1-2), and the other end is connected with a second rigid plate (1-4). One end of a fourth flexible drop-out line (1-7) is connected with a second rigid plate (1-4), and the other end of the fourth flexible drop-out line (1-7) is connected with a finger rigid circuit board (2). One end of the base joint lamp cord (3) is connected with the finger rigid circuit board (2), and the other end is connected with the fourth rigid plate (4-1). One end of a fifth flexible drop-out line (4-2) is connected with the fourth rigid plate (4-1) and the other end is connected with the base joint rigid circuit plate (5). The invention has features of reasonable circuit board layout and wire distributing way, not influencing the movement of joint, and good adaptability of finger tie-line to cradle head.

Description

Translated fromChinese

机器人灵巧手手指内集成电路板之间的柔性连线结构Flexible wiring structure between integrated circuit boards in the fingers of a robotic dexterous hand

技术领域technical field

本发明涉及一种机器人手指内集成电路板之间的连线结构。The invention relates to a wiring structure between integrated circuit boards in a robot finger.

背景技术Background technique

机器人灵巧手作为机器人系统的末端操作器，对机器人系统的作业能力、特别是灵巧操作能力具有重要的影响。20世纪80年代后，一些国家进行了机器人灵巧手的研究，也相继诞生了一些有代表性的灵巧手，比如Stanford/JPL手、Utan/M.I.T手、DLR手、NASA手等等，在灵巧手的概念、驱动、传感器等方面对后续甚至今天灵巧手的研究产生了很大的影响。电气系统作为机器人灵巧手的重要组成部分之一，主要实现电机驱动、传感器信息的采集等功能，其结构组成、电气连接等对灵巧手系统的机电一体化构成、系统的稳定性和可靠性等有重要的影响。内置式和外置式是当前灵巧手设计中的两个主要的研究方向，内置式是将驱动、传动、传感及电气等集成在手指或手掌中，对于臂手系统的集成、可靠性、可维护性等有更合理的优势，在空间布置、连接及走线等方面对电气系统有更加严格的要求。内置式的灵巧手要求电路板更加小巧，通过机械、电气的一体化设计，能够集成在手指内部。As the end effector of the robot system, the robotic dexterous hand has an important impact on the operation ability of the robot system, especially the dexterous operation ability. After the 1980s, some countries carried out research on robotic dexterous hands, and some representative dexterous hands were born one after another, such as Stanford/JPL hand, Utan/M.I.T hand, DLR hand, NASA hand, etc. The concept, drive, sensor and other aspects of the dexterous hand have had a great impact on the follow-up and even today's research on dexterous hands. As one of the important components of the robot dexterous hand, the electrical system mainly realizes functions such as motor drive and sensor information collection. have an important impact. Built-in and external are the two main research directions in the current dexterous hand design. The built-in is the integration of drive, transmission, sensing and electricity in the finger or palm. There are more reasonable advantages in maintainability, etc., and there are stricter requirements on the electrical system in terms of space layout, connection and wiring. The built-in dexterous hand requires a smaller circuit board, which can be integrated inside the finger through an integrated mechanical and electrical design.

现有的机器人灵巧手手指内的电路板及其连线布置存在电路板布局不合理、连线复杂、走线方式不合理、可靠性差的问题以致难于实现机电集成。而且手指连线对转动关节的适应性差，甚至还影响关节的运动，同时还干扰信号的传播；从而使手指连线的故障发生率高，极大地降低了机器人灵巧手电气系统的工作可靠性。The circuit board and its connection arrangement in the existing robot dexterous hand fingers have the problems of unreasonable circuit board layout, complicated connection, unreasonable wiring method and poor reliability, so that it is difficult to realize electromechanical integration. Moreover, the adaptability of the finger connection to the rotating joint is poor, and even affects the movement of the joint, and at the same time interferes with the propagation of the signal; thus the failure rate of the finger connection is high, which greatly reduces the working reliability of the robot dexterous hand electrical system.

发明内容Contents of the invention

本发明为了解决现有的机器人灵巧手手指内的电路板及其连线布置存在电路板布局不合理、连线复杂、走线方式不合理、可靠性差的问题以致难于实现机电集成、手指连线对转动关节的适应性差、影响关节的运动的问题，进而提供了一种机器人灵巧手手指内集成电路板之间的柔性连线结构。The present invention solves the problems of unreasonable circuit board layout, complex wiring, unreasonable routing and poor reliability in the circuit board and its connection arrangement in the existing robot dexterous hand fingers, so that it is difficult to realize electromechanical integration and finger connection. The problem of poor adaptability to rotating joints and affecting the movement of joints provides a flexible connection structure between integrated circuit boards in the fingers of a robot dexterous hand.

本发明的技术方案是：机器人灵巧手手指内集成电路板之间的柔性连线结构，它包括手指柔性电路板、手指刚性电路板、基关节柔性连接线束、基关节柔性电路板和基关节刚性电路板；所述的手指柔性电路板1由第一刚性板、第二刚性板、第三刚性板、第一柔性排线、第二柔性排线、第三柔性排线、第四柔性排线组成，第一刚性板固定在末端指节上，第二刚性板和第三刚性板分别固定在第二指节上，第一柔性排线的一端与指尖力矩传感器连接，第一柔性排线的另一端与第一刚性板连接，第二柔性排线的一端与第一刚性板连接，第二柔性排线的另一端与第二刚性板连接，第三柔性排线的一端与第二刚性板连接，第三柔性排线的另一端与第三刚性板连接，第四柔性排线的一端与第二刚性板连接；第四柔性排线的另一端与手指刚性电路板连接，手指刚性电路板固定在第一指节的指背位置；基关节柔性连接线束的一端与手指刚性电路板连接，基关节柔性连接线束的另一端与基关节柔性电路板中的第四刚性板连接；基关节柔性电路板由第四刚性板和第五柔性排线组成，第四刚性板固定在不运动的基指节的背部；基关节刚性电路板固定在不运动的基指节的底部；第五柔性排线的一端与第四刚性板连接，第五柔性排线的另一端与基关节刚性电路板连接。The technical scheme of the present invention is: the flexible wiring structure between the integrated circuit boards in the fingers of the robot dexterous hand, which includes a flexible circuit board for fingers, a rigid circuit board for fingers, a flexible connection harness for base joints, a flexible circuit board for base joints, and a rigid circuit board for base joints. Circuit board; the fingerflexible circuit board 1 is composed of a first rigid board, a second rigid board, a third rigid board, a first flexible cable, a second flexible cable, a third flexible cable, and a fourth flexible cable Composition, the first rigid board is fixed on the terminal knuckle, the second rigid board and the third rigid board are respectively fixed on the second knuckle, one end of the first flexible cable is connected to the fingertip torque sensor, and the first flexible cable The other end of the second flexible cable is connected to the first rigid board, one end of the second flexible cable is connected to the first rigid board, the other end of the second flexible cable is connected to the second rigid board, and one end of the third flexible cable is connected to the second rigid board. Board connection, the other end of the third flexible cable is connected to the third rigid board, one end of the fourth flexible cable is connected to the second rigid board; the other end of the fourth flexible cable is connected to the finger rigid circuit board, and the finger rigid circuit The board is fixed at the dorsal position of the first knuckle; one end of the flexible connection harness of the base joint is connected with the rigid circuit board of the finger, and the other end of the flexible connection harness of the base joint is connected with the fourth rigid board in the flexible circuit board of the base joint; The flexible circuit board is composed of the fourth rigid board and the fifth flexible cable. The fourth rigid board is fixed on the back of the non-moving base knuckle; the base joint rigid circuit board is fixed on the bottom of the non-moving base knuckle; the fifth flexible circuit board One end of the cable is connected to the fourth rigid board, and the other end of the fifth flexible cable is connected to the rigid circuit board of the base joint.

本发明具有以下有益效果：本发明实现了电路板间的柔性走线连接，有效地降低了手指连线的复杂性、提高了电气系统的可靠性。具有电路板布局合理、连线简单、走线方式合理、不影响关节的运动、减小或避免信号受到干扰、手指连线对转动关节的适应性好的优点。The invention has the following beneficial effects: the invention realizes the flexible wiring connection between the circuit boards, effectively reduces the complexity of the finger connection, and improves the reliability of the electrical system. The utility model has the advantages of reasonable circuit board layout, simple wiring, reasonable wiring method, no influence on joint movement, reduced or avoided signal interference, and good adaptability of finger wiring to rotating joints.

附图说明Description of drawings

图1是本发明的电路板连接的线路构造示意图，图2是电路板及电路板间的柔性走线在手指上布置的立体图，图3是末端关节的电路板间的柔性走线布置的立体图(末端指节6伸直状态)，图4是末端关节的电路板间的柔性走线布置的立体图(末端指节6弯曲状态)，图5是中间关节的电路板间的柔性走线布置的立体图(第二指节7伸直状态)，图6是中间关节的电路板间的柔性走线布置的立体图(第二指节7弯曲状态)，图7是基关节的中心轴孔走线布置的立体图，图8是图7的A-A剖视图，图9是图8的B-B剖视图，图10是中心轴孔走线的原理图，图11是具体实施方式五所述的柔性线的弯曲在空间内的状态图，图12是柔性线的一端D固定而另一端E移动时的状态图，图13是当柔性线的移动端E向反方向移动进而回到初始点的过程中的状态图。Fig. 1 is a schematic diagram of the circuit structure of the circuit board connection of the present invention, Fig. 2 is a perspective view of the layout of the circuit board and the flexible wiring between the circuit boards on the finger, Fig. 3 is a perspective view of the flexible wiring arrangement between the circuit boards of the terminal joint (end phalanx 6 stretched state), Fig. 4 is a perspective view of the flexible wiring arrangement between the circuit boards of the end joint (end phalanx 6 bending state), Fig. 5 is a flexible wiring arrangement between the circuit boards of the middle joint Stereoscopic view (thesecond phalanx 7 is in a straightened state), Figure 6 is a perspective view of the flexible wiring layout between the circuit boards of the middle joint (thesecond phalanx 7 is in a bent state), Figure 7 is the wiring layout of the central axis hole of the base joint Figure 8 is a cross-sectional view of A-A in Figure 7, Figure 9 is a cross-sectional view of B-B in Figure 8, Figure 10 is a schematic diagram of the central axis hole routing, Figure 11 is the bending of the flexible wire described in the fifth embodiment in the space Figure 12 is a state diagram when one end D of the flexible wire is fixed and the other end E moves, and Figure 13 is a state diagram when the moving end E of the flexible wire moves in the opposite direction and returns to the initial point.

具体实施方式Detailed ways

具体实施方式一：如图1～9所示，本实施方式的机器人灵巧手手指内集成电路板之间的柔性连线结构由手指柔性电路板1、手指刚性电路板2、基关节柔性连接线束3、基关节柔性电路板4和基关节刚性电路板5组成；所述的手指柔性电路板1由第一刚性板1-2、第二刚性板1-4、第三刚性板1-6、第一柔性排线1-1、第二柔性排线1-3、第三柔性排线1-5、第四柔性排线1-7组成，第一刚性板1-2固定在末端指节6上，第二刚性板1-4和第三刚性板1-6分别固定在第二指节7上且相互垂直，第一柔性排线1-1的一端与指尖力矩传感器20连接，第一柔性排线1-1的另一端与第一刚性板1-2连接，第二柔性排线1-3的一端与第一刚性板1-2连接，第二柔性排线1-3的另一端与第二刚性板1-4连接，第三柔性排线1-5的一端与第二刚性板1-4连接，第三柔性排线1-5的另一端与第三刚性板1-6连接，第四柔性排线1-7的一端与第二刚性板1-4连接；第四柔性排线1-7的另一端与手指刚性电路板2连接，手指刚性电路板2固定在第一指节8的指背位置；基关节柔性连接线束3的一端与手指刚性电路板2连接，基关节柔性连接线束3的另一端与基关节柔性电路板4中的第四刚性板4-1连接；基关节柔性电路板4由第四刚性板4-1和第五柔性排线4-2组成，第四刚性板4-1固定在不运动的基指节9的背部；基关节刚性电路板5固定在不运动的基指节9的底部；第五柔性排线4-2的一端与第四刚性板4-1连接，第五柔性排线4-2的另一端与基关节刚性电路板5连接。手指刚性电路板2还与基关节力矩传感器、驱动电机连接；基关节柔性电路板4与基关节绝对位置传感器通过插座连接；基关节刚性电路板5驱动基关节的两个直流电机并通过弹簧触针连接方式实现手指电气与手掌电气的连接。当中间关节11和末端关节10转动时，通过第二柔性排线1-3和第四柔性排线1-7走线路径发生变化，使柔性线能够适应由于关节转动对线长变化的要求。Embodiment 1: As shown in Figures 1 to 9, the flexible connection structure between the integrated circuit boards in the fingers of the robotic dexterous hand in this embodiment consists of a fingerflexible circuit board 1, a fingerrigid circuit board 2, and a base jointflexible connection harness 3. The base jointflexible circuit board 4 and the base jointrigid circuit board 5 are composed; the fingerflexible circuit board 1 is composed of a first rigid board 1-2, a second rigid board 1-4, a third rigid board 1-6, The first flexible cable 1-1, the second flexible cable 1-3, the third flexible cable 1-5, and the fourth flexible cable 1-7, the first rigid plate 1-2 is fixed on theterminal knuckle 6 Above, the second rigid board 1-4 and the third rigid board 1-6 are respectively fixed on thesecond knuckle 7 and are perpendicular to each other, one end of the first flexible cable 1-1 is connected to thefingertip torque sensor 20, the first The other end of the flexible cable 1-1 is connected to the first rigid board 1-2, one end of the second flexible cable 1-3 is connected to the first rigid board 1-2, and the other end of the second flexible cable 1-3 Connect with the second rigid board 1-4, connect one end of the third flexible cable 1-5 with the second rigid board 1-4, and connect the other end of the third flexible cable 1-5 with the third rigid board 1-6 , one end of the fourth flexible cable 1-7 is connected to the second rigid board 1-4; the other end of the fourth flexible cable 1-7 is connected to the fingerrigid circuit board 2, and the fingerrigid circuit board 2 is fixed on the first finger The finger dorsum position ofsection 8; one end of the base jointflexible connection harness 3 is connected to the fingerrigid circuit board 2, and the other end of the base jointflexible connection harness 3 is connected to the fourth rigid board 4-1 in the base jointflexible circuit board 4; The base jointflexible circuit board 4 is composed of a fourth rigid board 4-1 and a fifth flexible cable 4-2, and the fourth rigid board 4-1 is fixed on the back of thenon-moving base knuckle 9; the base jointrigid circuit board 5 Fixed at the bottom of thenon-moving base knuckle 9; one end of the fifth flexible cable 4-2 is connected to the fourth rigid board 4-1, and the other end of the fifth flexible cable 4-2 is connected to the base jointrigid circuit board 5 connect. The fingerrigid circuit board 2 is also connected with the base joint torque sensor and the driving motor; the base jointflexible circuit board 4 is connected with the base joint absolute position sensor through a socket; The needle connection method realizes the connection between finger electricity and palm electricity. When themiddle joint 11 and theend joint 10 rotate, the routing paths of the second flexible cable 1-3 and the fourth flexible cable 1-7 change, so that the flexible cable can adapt to the requirement of the change of the cable length due to the joint rotation.

具体实施方式二：如图3和图4所示，本实施方式还包括导线销钉13，所述的导线销钉13设置在末端指节6上，所述的第二柔性排线1-3缠绕在所述的导线销钉13上。当手指末端关节伸直时，第一刚性板1-2和第二刚性板1-4之间的距离最小，过长的第二柔性排线1-3在导线销钉13和其自身刚度的作用下，叠绕在第二指节7的内侧；当末端关节10逐渐弯曲时，第一刚性板1-2和第二刚性板1-4之间的距离增大，拉动第二柔性排线1-3，同时导线销钉13绕末端关节10顺时针旋转，第二柔性排线1-3能够满足上述两刚性板距离增大的要求。导线销钉13的作用，主要是在手指伸直状态下，将第二柔性排线1-3拉起，避免与第四柔性排线1-7相互推挤、干扰。其它组成和连接关系与具体实施方式一相同。Specific embodiment two: as shown in Figure 3 and Figure 4, this embodiment also includes a wire pin 13, the wire pin 13 is arranged on theterminal knuckle 6, and the second flexible cable 1-3 is wound on On the said wire pin 13. When the finger end joints are straightened, the distance between the first rigid plate 1-2 and the second rigid plate 1-4 is the smallest, and the excessively long second flexible cable 1-3 is affected by the guide pin 13 and its own rigidity down, folded on the inner side of thesecond knuckle 7; when theend joint 10 gradually bends, the distance between the first rigid board 1-2 and the second rigid board 1-4 increases, and the secondflexible cable 1 is pulled -3, at the same time, the wire pin 13 rotates clockwise around theend joint 10, and the second flexible cable 1-3 can meet the requirement of increasing the distance between the two rigid plates. The function of the wire pin 13 is mainly to pull up the second flexible cable 1-3 when the fingers are straightened, so as to avoid pushing and interfering with the fourth flexible cable 1-7. Other compositions and connections are the same as in the first embodiment.

具体实施方式三：如图5和图6所示，本实施方式所述的第四柔性排线1-7“跨越”中间关节11、第二刚性板1-4和手指刚性电路板2。当11中间关节伸直时，第二刚性板1-4和手指刚性电路板2之间的距离最小，过长的第四柔性排线1-7在自身刚度的作用下，绕在中间关节11的外边缘、第二指节7的内侧；当手指第二关节7逐渐弯曲时，上述两个刚性板之间的距离增大，拉动第四柔性排线1-7，第四柔性排线1-7能够满足刚性板距离增大的要求。其它组成和连接关系与具体实施方式一相同。Embodiment 3: As shown in FIG. 5 and FIG. 6 , the fourth flexible cable 1-7 in this embodiment "straddles" themiddle joint 11 , the second rigid board 1-4 and the fingerrigid circuit board 2 . When themiddle joint 11 is straightened, the distance between the second rigid board 1-4 and the fingerrigid circuit board 2 is the smallest, and the excessively long fourth flexible cable 1-7 winds around themiddle joint 11 under the action of its own stiffness the outer edge of thesecond knuckle 7; when thesecond knuckle 7 of the finger is gradually bent, the distance between the two rigid plates increases, pulling the fourth flexible cable 1-7, the fourth flexible cable 1 -7 can meet the requirement of increased rigid board distance. Other compositions and connections are the same as in the first embodiment.

具体实施方式四：如图7～10所示，本实施方式所述的基关节柔性连接线束3穿过连接件14上的通孔14-1和基关节转动轴12上的径向孔12-1穿入基关节转动轴12内，所述的基关节柔性连接线束3在径向孔12-1(基关节转动轴12的中间位置，俯仰方向和侧摆方向的交叉点)处分成两束，即第一连接线束3-1和第二连接线束3-2，所述的第一连接线束3-1沿基关节转动轴的轴向内孔12-2从基关节转动轴12的一端穿出，所述的第二连接线束3-2沿基关节转动轴的轴向内孔12-2从基关节转动轴12的另一端穿出，所述的第一连接线束3-1沿基指节右侧壁9-1连接到第四刚性板4-1上，所述的第二连接线束3-2沿基指节左侧壁9-2连接到第四刚性板4-1上。这样走线，当基关节沿俯仰、侧摆方向转动时，由于基关节柔性连接线束3通过转动轴的中心，关节转动而基关节柔性连接线束3的长度不变化，从而避免了由于关节转动对线长度变化的要求。其原理相当于图10所示的结构，线穿过球心，当柔性线端C沿着球面S运动时，柔性线端C到球心0的距离L不变。极大增强了手指内部连线对转动关节的适应性。其它组成和连接关系与具体实施方式一相同。Embodiment 4: As shown in Figures 7 to 10, the base jointflexible connection harness 3 according to this embodiment passes through the through hole 14-1 on theconnector 14 and the radial hole 12-1 on the basejoint rotation shaft 12. 1 penetrates into the basejoint rotation shaft 12, and the base jointflexible connection harness 3 is divided into two bundles at the radial hole 12-1 (the middle position of the basejoint rotation shaft 12, the intersection point of the pitch direction and the roll direction) , that is, the first connecting wire harness 3-1 and the second connecting wire harness 3-2, the first connecting wire harness 3-1 passes through one end of the base joint rotatingshaft 12 along the axial inner hole 12-2 of the base joint rotating shaft The second connection wire harness 3-2 passes through the axial inner hole 12-2 of the base joint rotation shaft from the other end of the basejoint rotation shaft 12, and the first connection wire harness 3-1 passes through the base joint rotation shaft along the base finger The right side wall 9-1 of the knuckle is connected to the fourth rigid board 4-1, and the second connection harness 3-2 is connected to the fourth rigid board 4-1 along the left side wall 9-2 of the base phalanx. In this way, when the base joint rotates in the direction of pitch and roll, because the base jointflexible connection harness 3 passes through the center of the rotation axis, the joint rotates while the length of the base jointflexible connection harness 3 does not change, thus avoiding the impact caused by the joint rotation. Varying wire length requirements. Its principle is equivalent to the structure shown in Figure 10. The wire passes through the center of the sphere. When the flexible wire end C moves along the spherical surface S, the distance L from the flexible wire end C to the sphere center 0 remains unchanged. Greatly enhanced the adaptability of the internal connection of the finger to the rotating joint. Other compositions and connections are the same as in the first embodiment.

具体实施方式五：如图11～13所示，本实施方式所述的第一柔性排线1-1、第二柔性排线1-3、第三柔性排线1-5、第四柔性排线1-7、基关节柔性连接线束3、第五柔性排线4-2沿轴向方向均具有一定的刚度、沿径向方向均能完成一定曲率的弯曲。这样才能满足“跨越”关节的板间连接要求，根据关节的弯曲调整柔性线的弯曲位置、走线路径、走线长度，从而适应由于关节弯曲所造成的连线长度的变化。柔性线弯曲在有一定距离的两个平面空间内，线的一端D固定，当另一端E移动时，拉动柔性线，弯曲点F随之移动；当移动端E向反方向移动、回到初始点的过程中，由于柔性线自身的刚度，能够推动弯曲点F随之移动、回到初始位置。其它组成和连接关系与具体实施方式一相同。Embodiment 5: As shown in Figures 11-13, the first flexible cable 1-1, the second flexible cable 1-3, the third flexible cable 1-5, and the fourth flexible cable described in this embodiment The wires 1-7, the base joint flexible connectingwire harness 3, and the fifth flexible cable 4-2 all have a certain rigidity along the axial direction, and can complete bending with a certain curvature along the radial direction. Only in this way can the board-to-board connection requirements of "crossing" joints be met, and the bending position, routing path, and routing length of the flexible wires be adjusted according to the bending of the joints, so as to adapt to the change in the length of the connecting wires caused by the bending of the joints. The flexible line is bent in two plane spaces with a certain distance, one end D of the line is fixed, when the other end E moves, the flexible line is pulled, and the bending point F moves accordingly; when the moving end E moves in the opposite direction, it returns to the initial In the process of pointing, due to the stiffness of the flexible line itself, it can push the bending point F to move accordingly and return to the initial position. Other compositions and connections are the same as in the first embodiment.

Claims (4)

1. the flexible connecting line structure between the surface-mounted integrated circuit in the robot clever hand finger, it comprises finger flexible PCB (1), finger rigid circuit board (2), basic flexibility of joint rat tail (3), basic flexibility of joint circuit board (4) and basic joint rigid circuit board (5); It is characterized in that described finger flexible PCB (1) is by first rigid plate (1-2), second rigid plate (1-4), the 3rd rigid plate (1-6), the first flexible winding displacement (1-1), the second flexible winding displacement (1-3), the 3rd flexible winding displacement (1-5), the 4th flexible winding displacement (1-7) is formed, first rigid plate (1-2) is fixed on the terminal dactylus (6), second rigid plate (1-4) and the 3rd rigid plate (1-6) are separately fixed on the second knuckle (7), one end of the first flexible winding displacement (1-1) is connected with finger tip torque sensor (20), the other end of the first flexible winding displacement (1-1) is connected with first rigid plate (1-2), one end of the second flexible winding displacement (1-3) is connected with first rigid plate (1-2), the other end of the second flexible winding displacement (1-3) is connected with second rigid plate (1-4), one end of the 3rd flexible winding displacement (1-5) is connected with second rigid plate (1-4), the other end of the 3rd flexible winding displacement (1-5) is connected with the 3rd rigid plate (1-6), and an end of the 4th flexible winding displacement (1-7) is connected with second rigid plate (1-4); The other end of the 4th flexible winding displacement (1-7) is connected with finger rigid circuit board (2), and finger rigid circuit board (2) is fixed on the finger back of the body position of first knuckle (8); One end of base flexibility of joint rat tail (3) with point rigid circuit board (2) and be connected, the other end of basic flexibility of joint rat tail (3) is connected with the 4th rigid plate (4-1) in the basic flexibility of joint circuit board (4); Base flexibility of joint circuit board (4) is made up of the 4th rigid plate (4-1) and the 5th flexible winding displacement (4-2), and the 4th rigid plate (4-1) is fixed on the back of the basic dactylus 9 that does not move; Base joint rigid circuit board (5) is fixed on the bottom of the basic dactylus (9) that does not move; One end of the 5th flexible winding displacement (4-2) is connected with the 4th rigid plate (4-1), and the other end of the 5th flexible winding displacement (4-2) is connected with basic joint rigid circuit board (5).

2. the flexible connecting line structure in the robot clever hand finger according to claim 1 between the surface-mounted integrated circuit, it is characterized in that it also comprises lead pin (13), described lead pin (13) is arranged on the terminal dactylus (6), and the described second flexible winding displacement (1-3) is wrapped on the described lead pin (13).

3. the flexible connecting line structure in the robot clever hand finger according to claim 1 between the surface-mounted integrated circuit is characterized in that the middle joint (11) of the described the 4th flexible winding displacement (1-7) " leap ", second rigid plate (1-4) and finger rigid circuit board (2).

4. the flexible connecting line structure in the robot clever hand finger according to claim 1 between the surface-mounted integrated circuit, it is characterized in that described basic flexibility of joint rat tail (3) passes through hole (14-1) on the connector (14) and the radial hole (12-1) on the basic joint turning cylinder (12) and penetrates in the basic joint turning cylinder (12) and be divided into two bundles, i.e. first rat tail (3-1) and second rat tail (3-2), the end of described first rat tail (3-1) along the axial bore (12-2) of basic joint turning cylinder from basic joint turning cylinder (12) passes, the other end of described second rat tail (3-2) along the axial bore (12-2) of basic joint turning cylinder from basic joint turning cylinder (12) passes, described first rat tail (3-1) is connected on the 4th rigid plate (4-1) along basic dactylus right side wall (9-1), and described second rat tail (3-2) is connected on the 4th rigid plate (4-1) along basic dactylus left side wall (9-2).

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