CN105708551A - Control method of robot fingers based on conductive sponge - Google Patents
Control method of robot fingers based on conductive sponge Download PDFInfo
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- CN105708551A CN105708551A CN201610218083.0A CN201610218083A CN105708551A CN 105708551 A CN105708551 A CN 105708551A CN 201610218083 A CN201610218083 A CN 201610218083A CN 105708551 A CN105708551 A CN 105708551A
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- conductive sponge
- robot finger
- control method
- current value
- controller
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a control method of robot fingers based on conductive sponge. A robot finger based on conductive sponge comprises a finger skeleton, conductive sponge, a silicon rubber case, a first resistance measuring electrode, a second electrode measuring electrode, a first electric wire, a second electric wire, a first gear, a micro motor, a support block and a controller. When the silicon rubber case touches the skin of a detected person, the first and second resistance measuring electrodes detect the first and second resistance values at the two ends of the conductive sponge respectively, and the first and second current values corresponding to the first and second resistance values are transmitted to the controller through the first and second electric wires; and the controller controls to increase or reduce the rotation angle of the micro motor according to the first and second current values so as to increase or reduce the rotation amplitude of the finger skeleton. In the invention, the problem of insensitive rotation of the robot fingers is solved, and the comfort and safety of a patient are improved.
Description
Technical field
The present invention relates to technical field of medical equipment, particularly relate to the control method of a kind of robot finger based on conductive sponge.
Background technology
In modern society, robot application in surgical operation is more and more extensive, has higher operation accuracy, reliability, the trembling or the factor such as fatigue of health because of hands that can overcome surgeon in the process of operation.At present, robot finger is one of vitals of surgical operation robot.But, the chucking power of the finger of existing surgical operation robot is smaller, and the mobility of finger tail end is less, therefore operation is had a huge impact.
Based on this, it is necessary to design the control method of a kind of robot finger based on conductive sponge, control the corner size of robot finger flexibly, finger grip size when improving robot finger with patient contact, improves comfort level and the safety of patient.
Summary of the invention
Present invention is primarily targeted at the control method that a kind of robot finger based on conductive sponge is provided, it is intended to solve the problem that corner is insensitive and finger grip during patient contact is excessive or too small of robot finger.
For achieving the above object, the invention provides the control method of a kind of robot finger based on conductive sponge, it is characterized in that, the described robot finger based on conductive sponge includes the finger skeleton, conductive sponge, silica gel sheath, the first measuring resistance electrode, the second measuring resistance electrode, the first electric wire, the second electric wire, micromotor and the controller that are arranged on described robot finger, and the described control method based on the robot finger of conductive sponge includes step:
When described silica gel sheath contacts with the skin of detected person, first resistance value of conductive sponge one end described in described first measuring resistance electrode detection, and by the first corresponding for described first resistance value current value by the first wire transfer to described controller；
Other end of second resistance value of conductive sponge described in described second measuring resistance electrode detection, by the second corresponding for described second resistance value current value by the second wire transfer to described controller；
Described controller receives described first current value and the second current value, and judges whether described first current value and the second current value all reach the current threshold preset；
When described first current value and the second current value are all not up to default current threshold, described controller controls described micromotor and increases corner and makes described finger skeleton rotation amplitude increase；
When described first current value and the second current value all reach the current threshold preset, the described controller described micromotor of control weakens corner makes described finger skeleton rotation amplitude reduce.
Preferably, described first measuring resistance electrode and described second measuring resistance electrode are separately positioned on the two ends of described conductive sponge.
Preferably, one end of described first electric wire electrically connects with described first measuring resistance electrode, and the other end of described first electric wire electrically connects with described controller.
Preferably, one end of described second electric wire electrically connects with described second measuring resistance electrode, and the other end of described second electric wire electrically connects with described controller.
Preferably, described conductive sponge and finger skeleton are separately positioned on the inside various location of described silica gel sheath.
Preferably, the described robot finger based on conductive sponge also includes the first gear, and this first gear is arranged on the bottom of described finger skeleton.
Preferably, described micromotor electrically connects with described controller, and described micromotor includes the second gear described in the second gear with described first gear by being mechanically connected.
Preferably, described first gear matches with the size of described second gear.
Preferably, the described robot finger based on conductive sponge also includes a bracer, this bracer is arranged on the bottom of described micromotor, is used for fixing described micromotor, and described micromotor is bolted mode or bearing fixed form is fixed on a described bracer.
Preferably, the described robot finger based on conductive sponge also includes accumulator, and this accumulator is arranged to work offer energy for robot finger.
Compared to prior art, the control method of the robot finger based on conductive sponge provided by the invention, can solve the problem that the corner of robot finger is insensitive and problem that finger grip during patient contact is excessive or too small, thus improving comfort level and the safety of patient.
Accompanying drawing explanation
Fig. 1 is the present invention planar structure schematic diagram based on robot finger's preferred embodiment of conductive sponge；
Fig. 2 is the present invention flow chart based on the control method preferred embodiment of the robot finger of conductive sponge.
The realization of the object of the invention, functional characteristics and advantage will in conjunction with the embodiments, are described further with reference to accompanying drawing.
Detailed description of the invention
For further setting forth that the present invention reaches technological means and effect that above-mentioned purpose is taked, below in conjunction with accompanying drawing and preferred embodiment, the specific embodiment of the present invention, structure, feature and effect thereof are described in detail.Should be appreciated that specific embodiment described herein is only in order to explain the present invention, is not intended to limit the present invention.
With reference to shown in Fig. 1, Fig. 1 is the present invention structural representation based on robot finger's preferred embodiment of conductive sponge.
In the present embodiment, the finger skeleton 4 that includes being arranged on described robot finger based on the robot finger of conductive sponge, conductive sponge 1, silica gel sheath the 2, first measuring resistance electrode the 3, second measuring resistance electrode the 10, first electric wire the 8, second electric wire the 9, first gear 5, micromotor 6, bracer 7 and controller 11, wherein:
Described first measuring resistance electrode 3 and the second measuring resistance electrode 10 are separately positioned on the two ends of described conductive sponge 1；
One end of described first electric wire 8 electrically connects with described first measuring resistance electrode 3, and the other end of described first electric wire 8 electrically connects with described controller 11；
One end of described second electric wire 9 electrically connects with described second measuring resistance electrode 10, and the other end of described second electric wire 9 electrically connects with described controller 11；
Described conductive sponge 1 and described finger skeleton 4 are arranged on the inside of described silica gel sheath 2；
Described first gear 5 is arranged on the bottom of described finger skeleton 4；
Described micromotor 6 electrically connects with described controller 11, and described micromotor 6 includes the second gear 61, the mechanical connection of this second gear 61 and the first gear 5；
Described bracer 7 is arranged on the bottom of described micromotor 6, is used for fixing described micromotor 6.
In the present embodiment, conductive sponge 1, finger skeleton 4 and controller 11 are included based on the robot finger of conductive sponge；The outer surface of conductive sponge 1 and finger skeleton 4 is provided with silica gel sheath 2, and this silica gel sheath 2 is a unified entirety, and conductive sponge 1 and finger skeleton 4 are separately positioned on this various location within silica gel sheath 2.Additionally, the inside of silica gel sheath 2 is additionally provided with accumulator 12, being arranged on and the various location of conductive sponge 1 and finger skeleton 4 of this accumulator 12, this accumulator 12 works offer electric energy for robot finger.The material of this silica gel sheath 2 is generally made up of rubber, has elasticity, is used for protecting robot finger, it is prevented that robot finger surprisingly falls or weares and teares.
In the present embodiment, conductive sponge 1 is produced by polymer composite foaming technique, therefore the foaming uniform pore diameter of conductive sponge 1, and the foam hole of conductive sponge 1 is comparatively soft, has stronger elasticity, also has not desquamation.The even distribution of conductive sponge 1 can protect robot finger, has corrosion resistance, is the perfect medium material of long term storage device.Simultaneously to have the conductive effective phase long for conductive sponge 1, and conductive sponge 1 is by the impact of temperature and humidity, and sheet resistance value can by features such as practical use are customized.In this embodiment, the sheet resistance of conductive sponge 1 is arranged in 103 Ω～5 Ω scopes, it is to avoid the problem that finger grip when robot finger and patient contact is excessive or too small, to meet the safety of human body skin.
In the present embodiment, the bottom of finger skeleton 4 is provided with the first gear 5, and described micromotor 6 includes the second gear 61, the mechanical connection of this second gear 61 and the first gear 5；The size of described second gear 61 and the first gear 5 matches.Propping up bracer 7 and be arranged on the bottom of micromotor 6, be used for fixing described micromotor 6, this micromotor 6 is bolted the mechanical means such as mode or bearing fixed form and is fixed on a bracer 7.
In the present embodiment, described robot finger also includes the first measuring resistance electrode 3 and second measuring resistance electrode the 10, first electric wire 8 and second electric wire the 9, first gear 5, micromotor 6, a bracer 7.Described micromotor 6 electrically connects with described controller 11, therefore, conductive sponge 1 and finger skeleton 4 can be coupled together by controller 11, when when using robot finger, it is firstly provided at outermost silica gel sheath 2 to contact with the skin of patient, again owing to conductive sponge 1 is arranged on the inside of silica gel sheath 2, the deformation of conductive sponge 1 therefore can be caused；The two ends of conductive sponge 1 are respectively arranged with the first measuring resistance electrode 3 and the second measuring resistance electrode 10, and one end of the first electric wire 8 electrically connects with described first measuring resistance electrode 3, and the other end of described first electric wire 8 electrically connects with described controller 11；One end of second electric wire 9 electrically connects with described second measuring resistance electrode 10, and the other end of described second electric wire 9 electrically connects with described controller 11；Therefore controller 11 is obtained in that the resistance value after conductive sponge 1 deformation is thus obtaining the sizes values of the dynamics that robot finger contacts with the skin of patient, and then controller 11 controls micromotor 6 and carries out the increase of corner or reduce.The size of the dynamics contacted with the skin of patient as robot finger exceedes current threshold, the two ends of conductive sponge 1 are respectively arranged with the first measuring resistance electrode 3 and the second measuring resistance electrode 10 obtains resistance value and diminishes, the electric current being transferred to controller 11 by the first electric wire 8 and the second electric wire 9 is diminished, and controller 11 controls micromotor 6 and carries out reducing of corner；And the first gear 5 size of the second gear 61 on micromotor 6 and the bottom being arranged on finger skeleton 4 matches, and therefore, has also driven the amplitude that finger skeleton 4 rotates also to diminish, robot finger reduces the dynamics that the skin to patient contacts；When the size of the dynamics that robot finger contacts with the skin of patient is lower than current threshold, the first measuring resistance electrode 3 and the second measuring resistance electrode 10 that the two ends of conductive sponge 1 are arranged obtain resistance value and become big, the electric current being transferred to controller 11 by the first electric wire 8 and the second electric wire 9 is also increased, and controller 11 controls the corner of micromotor 6 and increases；And the first gear 5 size of the second gear 61 on micromotor 6 and the bottom being arranged on finger skeleton 4 matches, and therefore, has also driven the amplitude that finger skeleton 4 rotates also to become big, now robot finger enhances the dynamics that the skin to patient contacts.Finally achieve the corner size controlling robot finger flexibly, finger grip size when improving robot finger with patient contact, improves comfort level and the safety of patient.
Owing to the silica gel sheath 2 in robot finger contacts with the skin of detected person, it is arranged on the conductive sponge 1 within described silica gel sheath 2 can be deformed and the resistance change that causes described conductive sponge 1, therefore the invention provides the control method of a kind of robot finger based on conductive sponge, the corner size of robot finger can be controlled flexibly, finger grip size when improving robot finger with patient contact, improves comfort level and the safety of patient.
As in figure 2 it is shown, Fig. 2 is the present invention flow chart based on the control method preferred embodiment of the robot finger of conductive sponge.In the present embodiment, the described control method based on the robot finger of conductive sponge includes step:
Step S10, when silica gel sheath 2 contacts with the skin of detected person, the first measuring resistance electrode 3 detects first resistance value of described conductive sponge 1 one end, is transmitted to controller 11 by the first electric wire 8 by the first corresponding for described first resistance value current value.
Step S20, described second measuring resistance electrode 10 detects other end of second resistance value of described conductive sponge 1, is transmitted to controller 11 by the second electric wire 9 by the second corresponding for described second resistance value current value.
Step S30, described controller 11 receives described first current value and the second current value, and judges whether described first current value and the second current value all reach the current threshold preset；Specifically, described controller 11 is according to the size receiving described first current value and the second current value, and the size described micromotor 6 of control according to described first current value and the second current value carries out increasing or reducing corner, to reach the effect that finger skeleton 4 rotation amplitude increases or reduces.
Step S40, when described first current value and the second current value are all not up to default current threshold, described controller controls described micromotor increase corner makes described finger skeleton rotation amplitude increase, increase contacts dynamics with patient skin, reaches described robot finger and touches tight effect with patient skin.
Step S50, when described first current value and the second current value all reach the current threshold preset, described controller 11 controls described micromotor 6 and carries out weakening corner, described finger skeleton 4 rotation amplitude reduces, robot finger reduces the dynamics that the skin to patient contacts, prevent from scratching, or the generation of other injury, improve comfort level and the safety of patient.
The control method of the robot finger based on conductive sponge provided by the invention causes conductive sponge to deform by the silica gel sheath contacted with the skin of detected person, the resistance change of conductive sponge；First measuring resistance electrode is thus detection obtains first resistance value of conductive sponge one end, by the first electric current by the first wire transfer to controller；Second measuring resistance electrode detection obtains other end of second resistance value of conductive sponge, by the second electric current by the second wire transfer to controller；Controller receives described first current value and the second current value；When the first current value and the second current value are all not up to default current threshold, described controller controls described micromotor and carries out increasing corner, and finger skeleton rotation amplitude increases；When described first current value and the second current value all reach the current threshold preset, controller controls micromotor and carries out weakening corner, and described finger skeleton rotation amplitude reduces.The problem that the present invention can solve the problem that the corner of robot finger is insensitive and finger grip during patient contact is excessive or too small, improves comfort level and the safety of patient.
These are only the preferred embodiments of the present invention; not thereby the scope of the claims of the present invention is limited; every equivalent structure utilizing description of the present invention and accompanying drawing content to make or equivalent function conversion; or directly or indirectly it is used in other relevant technical fields, all in like manner include in the scope of patent protection of the present invention.
Claims (10)
1. the control method based on the robot finger of conductive sponge, it is characterized in that, the described robot finger based on conductive sponge includes the finger skeleton, conductive sponge, silica gel sheath, the first measuring resistance electrode, the second measuring resistance electrode, the first electric wire, the second electric wire, micromotor and the controller that are arranged on described robot finger, and the described control method based on the robot finger of conductive sponge includes step:
When described silica gel sheath contacts with the skin of detected person, first resistance value of conductive sponge one end described in described first measuring resistance electrode detection, and by the first corresponding for described first resistance value current value by the first wire transfer to described controller；
Other end of second resistance value of conductive sponge described in described second measuring resistance electrode detection, by the second corresponding for described second resistance value current value by the second wire transfer to described controller；
Described controller receives described first current value and the second current value, and judges whether described first current value and the second current value all reach the current threshold preset；
When described first current value and the second current value are all not up to default current threshold, described controller controls described micromotor and increases corner and makes described finger skeleton rotation amplitude increase；
When described first current value and the second current value all reach the current threshold preset, the described controller described micromotor of control weakens corner makes described finger skeleton rotation amplitude reduce.
2. the control method of the robot finger based on conductive sponge as claimed in claim 1, it is characterised in that described first measuring resistance electrode and described second measuring resistance electrode are separately positioned on the two ends of described conductive sponge.
3. the control method of the robot finger based on conductive sponge as claimed in claim 2, it is characterised in that one end of described first electric wire electrically connects with described first measuring resistance electrode, and the other end of described first electric wire electrically connects with described controller.
4. the control method of the robot finger based on conductive sponge as claimed in claim 3, it is characterised in that one end of described second electric wire electrically connects with described second measuring resistance electrode, and the other end of described second electric wire electrically connects with described controller.
5. the control method of the robot finger based on conductive sponge as claimed in claim 1, it is characterised in that described conductive sponge and finger skeleton are separately positioned on the inside various location of described silica gel sheath.
6. the control method of the robot finger based on conductive sponge as described in any one of claim 1 to 5, it is characterised in that the described robot finger based on conductive sponge also includes the first gear, this first gear is arranged on the bottom of described finger skeleton.
7. the control method of the robot finger based on conductive sponge as claimed in claim 6, it is characterised in that described micromotor electrically connects with described controller, described micromotor includes the second gear, and described second gear and described first gear are by being mechanically connected.
8. the control method of the robot finger based on conductive sponge as claimed in claim 7, it is characterised in that the size of described first gear and described second gear matches.
9. the control method of the robot finger based on conductive sponge as claimed in claim 1, it is characterized in that, the described robot finger based on conductive sponge also includes a bracer, this bracer is arranged on the bottom of described micromotor, for fixing described micromotor, described micromotor is bolted mode or bearing fixed form is fixed on a described bracer.
10. the control method of the robot finger based on conductive sponge as claimed in claim 1, it is characterised in that the described robot finger based on conductive sponge also includes accumulator, this accumulator is arranged to work offer energy for robot finger.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610218083.0A CN105708551A (en) | 2016-04-09 | 2016-04-09 | Control method of robot fingers based on conductive sponge |
| PCT/CN2016/081254 WO2017173697A1 (en) | 2016-04-09 | 2016-05-06 | Control method for conductive sponge-based robot fingers |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610218083.0A CN105708551A (en) | 2016-04-09 | 2016-04-09 | Control method of robot fingers based on conductive sponge |
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| CN105708551A true CN105708551A (en) | 2016-06-29 |
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| CN201610218083.0A Pending CN105708551A (en) | 2016-04-09 | 2016-04-09 | Control method of robot fingers based on conductive sponge |
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| CN (1) | CN105708551A (en) |
| WO (1) | WO2017173697A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017173746A1 (en) * | 2016-04-09 | 2017-10-12 | 深圳市兼明科技有限公司 | Conductive sponge-based robot fingers |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101258389B (en) * | 2005-09-05 | 2010-05-12 | Ew系统有限公司 | Touch feeling sensor and touch feeling sensor application apparatus |
| JP5045577B2 (en) * | 2008-06-26 | 2012-10-10 | 株式会社豊田自動織機 | Robot hand mechanism, robot having robot hand mechanism, and control method of robot hand mechanism |
| JP5281377B2 (en) * | 2008-12-04 | 2013-09-04 | トヨタ自動車株式会社 | Robot equipment |
| CN101766510B (en) * | 2009-12-18 | 2012-02-01 | 东南大学 | Force touch sensation feedback and force intensity control method of mechanical artificial hand based on myoelectric control |
| CN102303316B (en) * | 2011-04-13 | 2013-08-14 | 清华大学 | Multi-sensor feedback adaptive robot finger device and control method thereof |
| CN103846921A (en) * | 2012-12-03 | 2014-06-11 | 重庆市众力水电开发有限公司 | Mechanical hand finger sac micro-pressure sensor |
| JP6233961B2 (en) * | 2013-11-01 | 2017-11-22 | 国立大学法人東京工業大学 | Fingertip stimulation system |
| CN203765630U (en) * | 2013-12-31 | 2014-08-13 | 安徽大巨工业机器人制造有限公司 | Robot force adjustable grabbing grip |
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2016
- 2016-04-09 CN CN201610218083.0A patent/CN105708551A/en active Pending
- 2016-05-06 WO PCT/CN2016/081254 patent/WO2017173697A1/en active Application Filing
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017173746A1 (en) * | 2016-04-09 | 2017-10-12 | 深圳市兼明科技有限公司 | Conductive sponge-based robot fingers |
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Application publication date: 20160629 |