CN106625729A - Humanoid type mechanical finger with perceptive functions of temperature and touch force - Google Patents
Humanoid type mechanical finger with perceptive functions of temperature and touch force Download PDFInfo
- Publication number
- CN106625729A CN106625729A CN201611177289.XA CN201611177289A CN106625729A CN 106625729 A CN106625729 A CN 106625729A CN 201611177289 A CN201611177289 A CN 201611177289A CN 106625729 A CN106625729 A CN 106625729A
- Authority
- CN
- China
- Prior art keywords
- finger
- temperature
- phalanges
- dimensional force
- metal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000006870 function Effects 0.000 title abstract description 9
- 229910052751 metal Inorganic materials 0.000 claims abstract description 26
- 239000002184 metal Substances 0.000 claims abstract description 26
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims abstract description 15
- 239000004020 conductor Substances 0.000 claims abstract description 11
- 239000000741 silica gel Substances 0.000 claims abstract description 9
- 229910002027 silica gel Inorganic materials 0.000 claims abstract description 9
- 238000005452 bending Methods 0.000 claims abstract description 4
- 229910000831 Steel Inorganic materials 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 6
- 239000010959 steel Substances 0.000 claims description 6
- 239000004205 dimethyl polysiloxane Substances 0.000 claims description 4
- 229920000435 poly(dimethylsiloxane) Polymers 0.000 claims description 4
- 229910052782 aluminium Inorganic materials 0.000 claims description 3
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical group [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 229920005839 ecoflex® Polymers 0.000 claims description 3
- 239000000017 hydrogel Substances 0.000 claims description 3
- 238000001727 in vivo Methods 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 239000000377 silicon dioxide Substances 0.000 claims description 3
- -1 polydimethylsiloxane Polymers 0.000 claims description 2
- 238000005538 encapsulation Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 6
- 235000013870 dimethyl polysiloxane Nutrition 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000008447 perception Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000004806 packaging method and process Methods 0.000 description 2
- 229920002379 silicone rubber Polymers 0.000 description 2
- 238000007711 solidification Methods 0.000 description 2
- 230000008023 solidification Effects 0.000 description 2
- 210000000988 bone and bone Anatomy 0.000 description 1
- 239000003054 catalyst Substances 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- CXQXSVUQTKDNFP-UHFFFAOYSA-N octamethyltrisiloxane Chemical compound C[Si](C)(C)O[Si](C)(C)O[Si](C)(C)C CXQXSVUQTKDNFP-UHFFFAOYSA-N 0.000 description 1
- 238000004987 plasma desorption mass spectroscopy Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 239000004945 silicone rubber Substances 0.000 description 1
Classifications
-
- 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
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
Abstract
The invention discloses a humanoid type mechanical finger with perceptive functions of temperature and touch force. The humanoid mechanical finger is formed by hinge of three sections of finger metal phalanges which have controllable bending ranges in sequence, and complexion silica gel is utilized to encapsulate the external surface of the humanoid mechanical finger; each section of the finger is hollow, the third section of the finger metal phalanges is internally provided with a micro motor and a minitype circuit, both the first section of the finger metal phalanges and the finger pulp of the second section of the finger metal are provided with plane grooves on the surface and are internally provided with three-dimensional force sensors, the semicircular face of the top end of the first section of the finger metal phalanges is provided with a gap, an cambered heat conductor and a temperature sensor are fixed through snap joints, and the temperature sensor is closely attached to the inner surface of the heat conductor. According to the humanoid type mechanical finger with perceptive functions of temperature and touch force, the temperature of an object touched by the mechanical finger and the three-dimensional force applied to the object can be sensitively measured and be timely transmitted to a control system, slipping, moving, deformation of the object and the like are recognized through the change of the three-dimensional force, the purpose of integrating the artificial touch to the mechanical finger is achieved, and convenience is brought to closed-loop control over the mechanical finger in grabbing the object more intelligently, cleverly and stably.
Description
Technical field
The present invention relates to mechanical hand, more particularly, to a kind of apery type mechanical hand with temperature and tactile force sensing function
Refer to.
Background technology
With the development of information technology and intellectualized technology, intelligence equipment has gradually been deep into side's aspect of human society
Face, in intelligently equipment, usually including Motor execution system and feedback system.In the feedback information of intelligence equipment is supplied to,
Tactilely-perceptible information is to realize intelligentized important step.Contact force, hardness, the bullet of contact object can be obtained by tactile
Various physical messages such as property, roughness, temperature.Apery type mechanical hand as smart machine one of Typical Representative, to tactile, especially
It is temperature and three-dimensional force perception requirement it is higher.
Traditional Apery manipulator only has similar structure and mechanically actuated ability, and lacks the sense of information to external world
Know ability, significantly limit the sensitivity level of mechanical hand.Reach the dexterity to Apery manipulator operation, stability to want
Ask, to complete stable, fine manipulation under various complex environments, in addition to needing more precisely to move with operational control,
Also require itself identification and perception aspect do it is more preferable.At present common sensory perceptual system include temperature-humidity sensor, three
Dimension force measuring sensors and position measurement sensor, although external information can be provided for mechanical hand to a certain extent, but
All no and mechanical hand is tightly combined, and only simply installs on the mechanical hand without perceptive function, and feedback information is single, it is impossible to complete
The mechanical hand that provides in face realizes the required ambient parameter of dexterous crawl.
To meet the demand of the puma manipulator of electromechanical integration context-sensitive " perception " to external world, will be with human hand function class
As artificial tactilely-perceptible system be incorporated in arm-and-hand system, be Apery manipulator development inexorable trend with require.
The content of the invention
It is an object of the invention to provide a kind of apery type mechanical finger with temperature and tactile force sensing function, by three-dimensional
Force transducer is integrated in apery type mechanical finger with temperature sensor, is a kind of machine with three-dimensional force Yu temperature sensing function
Tool finger.
For achieving the above object, the technical solution used in the present invention is：
The Apery manipulator of the present invention refers to that being divided into three controllable section finger metal phalanges of bending amplitude is hinged forms successively, outer surface
Use colour of skin silica gel packaging；Often save finger hollow, arrangement micromachine and miniature circuit in Section of three finger metal phalanges, first
The finger pulp of section finger metal phalanges and second section finger metal phalanges is provided with plane groove, and three-dimensional is respectively provided with plane groove
Force transducer, first segment finger metal phalanges top semi circular surface is provided with breach, the heat conductor and temperature of arc fixed by snap
Sensor, temperature sensor is brought into close contact in heat conductor inner surface.
The three-dimensional force sensor, including 4 ~ 64 sensing units of array distribution, each sensing unit from bottom to up according to
It is secondary for power transmission convexity layer, sensitive material and flexible circuit layer, cross sectional dimensions are relevant with the mechanical finger applied, and are highly
2~5mm。
The colour of skin silica gel is polydimethylsiloxane, Silica hydrogel or Ecoflex.
The heat conductor is aluminum, steel or steel.
The temperature sensor is SMD thermal resistance temperature sensor.
The three-dimensional force sensor, spatial resolution is 1mm ~ 4mm, and range is 0.1N ~ 30N；Its operation principle is pressure drag
Formula, piezoelectric type, condenser type or conducting solution formula；Temperature sensor volume 5mm pros in vivo, measurement range is -50 DEG C ~
300℃。
The invention has the advantages that：
The Apery manipulator with temperature and three-dimensional force detection sensor of the present invention refers to, reasonable layout temperature and three-dimensional force are surveyed
Quantity sensor, therefore can be with temperature that sensitive measurement mechanical finger contacts object and the three-dimensional force being applied on object, and in fact
When be transferred to control system, artificial tactile can be integrated in by machine by three-dimensional force change identification sliding, deformation of body etc., realization
On tool finger, it is easy to the dexterous stable crawl object of closed loop control mechanical hand more intelligence.
Description of the drawings
Fig. 1 is the overall appearance schematic diagram of the present invention.
Fig. 2 (a) is the mould appearance schematic diagram of the present invention.
Fig. 2 (b) is the die inside face schematic diagram of the present invention.
Fig. 2 (c) is another medial surface schematic diagram of mould of the present invention.
Fig. 3 is sensor of the invention distribution schematic diagram.
In figure：1st, first segment finger metal phalanges, 2, second section finger metal phalanges, Section of 3, three finger metal phalanges,
4th, three-dimensional force sensor, 5, temperature sensor, 6, colour of skin silica gel, 7, particular manufacturing craft, 8, mould location hole, 9, wire.
Specific embodiment
With reference to the accompanying drawings and examples the present invention is further illustrated.
As shown in Figure 1, Figure 3, Apery manipulator of the invention refers to and is divided into three controllable section finger metal phalanges of bending amplitude
It is hinged successively and forms, outer surface colour of skin silica gel 6 is encapsulated；Often save finger hollow, arrange micro- in Section of three finger metal phalanges
It is recessed that the finger pulp of type motor and miniature circuit, first segment finger metal phalanges 1 and second section finger metal phalanges 2 is provided with plane
Groove, is respectively provided with three-dimensional force sensor 4 in plane groove, the top semi circular surface of first segment finger metal phalanges 1 is provided with breach, passes through
Buckle fixes the heat conductor of arc and temperature sensor 5, and temperature sensor 5 is brought into close contact in heat conductor inner surface；Temperature sensing
Device 5 can dexterous measurement contact object temperature.
The three-dimensional force sensor 4, including 4 ~ 64 sensing units of array distribution, each sensing unit from bottom to up according to
It is secondary for power transmission convexity layer, sensitive material and flexible circuit layer, cross sectional dimensions are relevant with the mechanical finger applied, and are highly
2~5mm。
The colour of skin silica gel 6 is polydimethylsiloxane（PDMS）, Silica hydrogel or Ecoflex etc..
The heat conductor is aluminum, steel or steel.
The temperature sensor 5 is SMD thermal resistance temperature sensor.
The three-dimensional force sensor 4, spatial resolution is 1mm ~ 4mm, and range is 0.1N ~ 30N；Its operation principle is pressure drag
Formula, piezoelectric type, condenser type or conducting solution formula；Temperature sensor volume 5mm pros in vivo, measurement range is -50 DEG C ~
300℃.And will not because temperature outranges Rapid Damage.Packaging silicon rubber 2 ~ 5mm of thickness, there is the random of similar fingerprint on surface
Beam ridge, overall flexibility and elasticity preferably, do not affect digital flexion.
It is mould structure schematic diagram as shown in Fig. 2 (a), Fig. 2 (b), Fig. 2 (c), finger metal phalanges is integrally stretched into
In filling the particular manufacturing craft 7 of liquid silica gel, two half molds are alignd by location hole 8, are closely fastened, using true after being completely immersed in
Sky is heating and curing, adds the solidifications such as catalyst cold curing, moisture-curable and ultraviolet source irradiation solidification, de- using releasing agent
Mould.
The operation principle of the present invention：
As shown in figure 3, wire 9 is fixed and attached to temperature with three-dimensional in finger metal phalanges by forms such as stickup, buckles
On the drive circuit of force transducer, small part is gone out as flexion and extension surplus in finger metal finger exposed bone, coat Silicone Rubber skin.
Motor in finger is connected by referring to the wire 9 of root with control axis, and control axis send the direction of order controlled motor rotation
With speed, drive finger the first two hinges to rotate in the way of a kind of drive lacking, realize digital flexion or stretch.Performing
During grasping movement, temperature sensor is perceiving always environment temperature change, is converted into electric signal transmission to control axis,
Judge whether working environment is suitable；When finger is contacted with object, three-dimensional force sensor experiences grasp force and is converted into the signal of telecommunication
Control axis are transferred to, whether judgment object occurs to slide or by conquassation, so as to the order for providing promptly or loosen.Pass through
This closed loop feedback control, improves the crawl precision and stability of mechanical hand.
Three-dimensional force sensor 4 is known features, can commercially be chosen.
Above-mentioned specific embodiment is used for illustrating the present invention, rather than limits the invention, the present invention's
In spirit and scope of the claims, any modifications and changes made to the present invention both fall within the protection model of the present invention
Enclose.
Claims (6)
1. a kind of apery type mechanical finger with temperature and tactile force sensing function, it is characterised in that：Apery manipulator refers to and is divided into
Three controllable section finger metal phalanges of bending amplitude are hinged form successively, outer surface colour of skin silica gel（6）Encapsulation；Often save in finger
Sky, arranges micromachine and miniature circuit, first segment finger metal phalanges in Section of three finger metal phalanges（1）And second section
Finger metal phalanges（2）Finger pulp be provided with plane groove, three-dimensional force sensor is respectively provided with plane groove（4）, first segment
Finger metal phalanges（1）Top semi circular surface is provided with breach, the heat conductor of arc fixed by snap and temperature sensor（5）, temperature
Degree sensor（5）It is brought into close contact in heat conductor inner surface.
2. a kind of Apery manipulator with temperature and three-dimensional force detection sensor according to claim 1 refers to, its feature
It is：The three-dimensional force sensor（4）, including 4 ~ 64 sensing units of array distribution, each sensing unit from bottom to up according to
It is secondary for power transmission convexity layer, sensitive material and flexible circuit layer, cross sectional dimensions are relevant with the mechanical finger applied, and are highly
2~5mm。
3. a kind of Apery manipulator with temperature and three-dimensional force detection sensor according to claim 1 refers to, its feature
It is：The colour of skin silica gel（6）For polydimethylsiloxane, Silica hydrogel or Ecoflex.
4. a kind of Apery manipulator with temperature and three-dimensional force detection sensor according to claim 1 refers to, its feature
It is：The heat conductor is aluminum, steel or steel.
5. a kind of Apery manipulator with temperature and three-dimensional force detection sensor according to claim 1 refers to, its feature
It is：The temperature sensor（5）For SMD thermal resistance temperature sensor.
6. a kind of Apery manipulator with temperature and three-dimensional force detection sensor according to claim 2 refers to, its feature
It is：The three-dimensional force sensor（4）, spatial resolution is 1mm ~ 4mm, and range is 0.1N ~ 30N；Its operation principle is pressure drag
Formula, piezoelectric type, condenser type or conducting solution formula；Temperature sensor volume 5mm pros in vivo, measurement range is -50 DEG C ~
300℃。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611177289.XA CN106625729A (en) | 2016-12-19 | 2016-12-19 | Humanoid type mechanical finger with perceptive functions of temperature and touch force |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611177289.XA CN106625729A (en) | 2016-12-19 | 2016-12-19 | Humanoid type mechanical finger with perceptive functions of temperature and touch force |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106625729A true CN106625729A (en) | 2017-05-10 |
Family
ID=58822385
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611177289.XA Pending CN106625729A (en) | 2016-12-19 | 2016-12-19 | Humanoid type mechanical finger with perceptive functions of temperature and touch force |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106625729A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108748164A (en) * | 2018-07-19 | 2018-11-06 | 深圳市慧传科技有限公司 | The control method of manipulator automatic clamping dynamics and gripping state |
| CN108789459A (en) * | 2018-07-19 | 2018-11-13 | 深圳市慧传科技有限公司 | A kind of control system of puma manipulator |
| CN108908379A (en) * | 2018-06-27 | 2018-11-30 | 天津大学 | A kind of pneumatic software finger with haptic force and shape perceptional function |
| CN108972607A (en) * | 2018-07-19 | 2018-12-11 | 深圳市慧传科技有限公司 | A kind of Intelligent mechanical arm device |
| CN109551504A (en) * | 2017-09-26 | 2019-04-02 | 丰田研究所股份有限公司 | Robot gripper finger |
| CN112025745A (en) * | 2020-08-20 | 2020-12-04 | 广西大学 | Mechanical knuckle, mechanical finger and mechanical arm |
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2016
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Patent Citations (5)
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109551504A (en) * | 2017-09-26 | 2019-04-02 | 丰田研究所股份有限公司 | Robot gripper finger |
| CN109551504B (en) * | 2017-09-26 | 2023-08-11 | 丰田研究所股份有限公司 | Robot gripper finger |
| CN108908379A (en) * | 2018-06-27 | 2018-11-30 | 天津大学 | A kind of pneumatic software finger with haptic force and shape perceptional function |
| CN108748164A (en) * | 2018-07-19 | 2018-11-06 | 深圳市慧传科技有限公司 | The control method of manipulator automatic clamping dynamics and gripping state |
| CN108789459A (en) * | 2018-07-19 | 2018-11-13 | 深圳市慧传科技有限公司 | A kind of control system of puma manipulator |
| CN108972607A (en) * | 2018-07-19 | 2018-12-11 | 深圳市慧传科技有限公司 | A kind of Intelligent mechanical arm device |
| CN112025745A (en) * | 2020-08-20 | 2020-12-04 | 广西大学 | Mechanical knuckle, mechanical finger and mechanical arm |
| CN112025745B (en) * | 2020-08-20 | 2022-06-17 | 广西大学 | Mechanical knuckle, mechanical finger and mechanical arm |
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Application publication date: 20170510 |