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CN-122028300-A - Control system of finger module, preparation method of control system and finger module

CN122028300ACN 122028300 ACN122028300 ACN 122028300ACN-122028300-A

Abstract

The application discloses a control system of a finger module, a preparation method of the control system and the finger module, wherein the control system comprises a plurality of electronic elements, a controller and a flexible circuit board, the flexible circuit board comprises a board body and a plurality of conductive wires arranged on the board body, the conductive wires are distributed along the width direction of the flexible circuit board, the controller is in communication connection with the plurality of electronic elements through the conductive wires, and the controller is used for sending chip selection signals to the different electronic elements through the different conductive wires so as to activate the corresponding electronic elements and enable the activated electronic elements to perform data interaction with the controller through the conductive wires. The flexible circuit board is used for connecting the electronic element and the controller, so that the problems of cable winding, movement interference of the cable and a mechanical structure in the finger module and the like can be prevented.

Inventors

  • CAI YOUFEI

Assignees

  • 深圳市速腾聚创科技有限公司

Dates

Publication Date
20260512
Application Date
20251024

Claims (10)

  1. 1. A control system for a finger module, comprising: A plurality of electronic components; A controller, and The flexible circuit board comprises a board body and a plurality of conductive wires arranged on the board body, wherein the conductive wires are arranged along the width direction of the flexible circuit board in a separated mode, the controller is connected with the electronic elements in a communication mode through the conductive wires, and the controller is used for sending chip selection signals to the electronic elements through the conductive wires to activate the corresponding electronic elements and enabling the electronic elements to be activated to conduct data interaction with the controller through the conductive wires.
  2. 2. The control system of a finger module according to claim 1, wherein the plurality of conductive traces comprises: the controller is electrically connected with the plurality of electronic elements through the power line so as to supply power for the electronic elements through the power line; The controller is in communication connection with the electronic elements through the communication lines so as to perform data interaction with the electronic elements through the communication lines; the chip select lines are electrically connected with the controller, the chip select lines are in one-to-one correspondence and are in communication connection with the electronic elements, and the controller is used for sending chip select signals to the corresponding electronic elements through the chip select lines.
  3. 3. The control system of the finger module according to claim 2, wherein the line width of the conductive trace is D, and the center-to-center distance between two adjacent conductive traces along the width direction of the flexible circuit board is D, wherein D is not less than 3*d.
  4. 4. The control system of the finger module according to claim 2, wherein the line width of the conductive trace is D, and the center-to-center distance between two adjacent communication lines along the width direction of the flexible circuit board is D1, wherein D1 is not less than 5*d.
  5. 5. The control system of a finger module according to claim 2, wherein a plurality of the communication lines form a communication line group, a plurality of the chip select lines form a chip select line group, and the communication line group is located on a side of the power line remote from or close to the chip select line group.
  6. 6. The control system of a finger module according to claim 2, wherein the board body comprises a main body part and a plurality of branch parts connected with the main body part, the main body part is connected with the controller, and the plurality of branch parts are in one-to-one correspondence and are connected with the plurality of electronic components; The communication line comprises a first main body part and a plurality of first branch parts, the first main body part is positioned at the main body part and extends along the extending direction of the main body part, the first main body part is in communication connection with the controller, the plurality of first branch parts are arranged at the plurality of branch parts in one-to-one correspondence, and the electronic element is in communication connection with the first main body part through the corresponding first branch parts; The chip select line comprises a second main body part and a second branch part, wherein the second main body part is positioned at the main body part and extends along the extending direction of the main body part, the second main body part is in communication connection with the controller, the second branch part of one chip select line is correspondingly arranged at one branch part, and the electronic element is in communication connection with the second main body part through the corresponding second branch part.
  7. 7. The control system of a finger module according to claim 1, wherein the flexible circuit board further comprises: The reference layer is arranged on one side, deviating from the conductive wires, of the plate body, the reference layer comprises a plurality of shielding wires, the shielding wires correspond to the conductive wires one by one, the shielding wires are arranged opposite to the conductive wires, the shielding wires are electrically connected with the electronic element and the controller, and the shielding wires are used for grounding.
  8. 8. The control system of a finger module according to claim 1, wherein the backbone portion comprises a kink zone having a thickness of less than or equal to 7.5 microns.
  9. 9. A method of manufacturing a control system, characterized by being applied to the control system according to any one of claims 1 to 8, the method comprising: Providing the plate body; forming a wiring layer on one side of the board body; Patterning the wiring layer to form a plurality of initial wirings; electroplating conductive materials onto a plurality of initial wires through an electroplating process to form a plurality of conductive wires, and further forming the flexible circuit board, wherein the thickness of the plurality of conductive wires is the same; and the flexible circuit board is in communication connection with the controller and the electronic element.
  10. 10. A finger module comprising a finger base and a control system according to any one of claims 1 to 8, the electronic component and the flexible circuit board being mounted on the finger base.

Description

Control system of finger module, preparation method of control system and finger module Technical Field The application relates to the field of robots, in particular to a control system of a finger module, a preparation method of the control system and the finger module. Background In some environments such as a radiation scene or a heavy physical labor scene, a robot is used to replace people to work, and an operation instruction is completed by a manipulator of the robot. A manipulator is a robotic end effector that is typically used to simulate the action of a human hand, thereby helping a user perform work in place of a human hand. Generally, the manipulator is formed by connecting a mechanical palm and a plurality of finger modules, and each finger module is generally provided with a plurality of electronic components which need to be in communication connection with the main control panel, wherein the electronic components can be devices such as a sensor for sensing, an actuator for executing actions and the like. The inventor of the present application has found that in the related art, each electronic component is usually connected to the main control board by a separate cable, and the arrangement positions of the plurality of cables are relatively random, not easy to fix, and winding and the like are easy to occur. Disclosure of Invention The application provides a control system of a finger module, a preparation method of the control system and the finger module, wherein an electronic element is connected with a controller through a flexible circuit board, so that the problems of cable winding, movement interference of a cable and a mechanical structure in the finger module and the like can be prevented. In a first aspect, the present application provides a control system for a finger module, comprising: A plurality of electronic components; A controller, and The flexible circuit board comprises a board body and a plurality of conductive wires arranged on the board body, wherein the conductive wires are arranged along the width direction of the flexible circuit board in a separated mode, the controller is connected with the electronic elements in a communication mode through the conductive wires, and the controller is used for sending chip selection signals to the electronic elements through the conductive wires to activate the corresponding electronic elements and enabling the electronic elements to be activated to conduct data interaction with the controller through the conductive wires. In some embodiments of the application, the plurality of conductive traces comprises: the controller is electrically connected with the plurality of electronic elements through the power line so as to supply power for the electronic elements through the power line; The controller is in communication connection with the electronic elements through the communication lines so as to perform data interaction with the electronic elements through the communication lines; the chip select lines are electrically connected with the controller, the chip select lines are in one-to-one correspondence and are in communication connection with the electronic elements, and the controller is used for sending chip select signals to the corresponding electronic elements through the chip select lines. In some embodiments of the present application, the line width of the conductive trace is D, and the center-to-center distance between two adjacent conductive traces along the width direction of the flexible circuit board is D, where D is greater than or equal to 3*d. In some embodiments of the present application, the line width of the conductive trace is D, and the center-to-center distance between two adjacent communication lines along the width direction of the flexible circuit board is D1, where D1 is greater than or equal to 5*d. In some embodiments of the present application, a plurality of the communication lines form a communication line group, and a plurality of the chip select lines form a chip select line group, the communication line group being located on a side of the power line that is far from or near the chip select line group. In some embodiments of the present application, the board body includes a main portion and a plurality of branch portions connected to the main portion, the main portion is connected to the controller, and the plurality of branch portions are in one-to-one correspondence and connected to the plurality of electronic components; The communication line comprises a first main body part and a plurality of first branch parts, the first main body part is positioned at the main body part and extends along the extending direction of the main body part, the first main body part is in communication connection with the controller, the plurality of first branch parts are arranged at the plurality of branch parts in one-to-one correspondence, and the electronic element is in communication connection with the