CN111015704A - Manipulator and robot - Google Patents
Manipulator and robot Download PDFInfo
- Publication number
- CN111015704A CN111015704A CN201911324595.5A CN201911324595A CN111015704A CN 111015704 A CN111015704 A CN 111015704A CN 201911324595 A CN201911324595 A CN 201911324595A CN 111015704 A CN111015704 A CN 111015704A
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- China
- Prior art keywords
- conductive
- conductive layer
- reference potential
- potential point
- manipulator
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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
-
- 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
Abstract
The embodiment of the invention relates to the field of intelligent control, and discloses a manipulator and a robot. In some embodiments of the present application, a robot includes: the mechanical finger comprises a knuckle and a fingertip, the fingertip is connected with the knuckle, a conductive layer is arranged outside the fingertip, and the conductive layer is connected with a reference potential point; the mechanical palm is internally provided with a driving mechanism, and the driving mechanism is connected with the knuckle so as to drive the mechanical finger to rotate; the mechanical palm is also provided with a conductive base, and the reference potential point is the conductive base in the mechanical palm; or the reference potential point is the grounding end of the driving mechanism; alternatively, the reference potential point is a conductive housing of the mechanical palm. In this embodiment, since the conductive layer is provided outside the fingertip, the manipulator can perform a touch operation on the touch screen.
Description
Technical Field
The embodiment of the invention relates to the field of intelligent control, in particular to a manipulator and a robot.
Background
At present, robots are widely applied in human society, particularly, service robots are deeply applied to daily life of people, and the service robots are applied to various life scenes, so that the activities and the production of the people are greatly facilitated. At present, the life service robot is rapidly applied and popularized in the fields of welcoming, guide, consultation, accompanying or accompanying and the like.
However, the inventors found that at least the following problems exist in the prior art: the robot cannot perform touch operation on a touch device (a touch switch of various devices such as a mobile phone, a tablet computer, an elevator, and a home appliance).
It is to be noted that the information disclosed in the above background section is only for enhancement of understanding of the background of the present disclosure, and thus may include information that does not constitute prior art known to those of ordinary skill in the art.
Disclosure of Invention
The invention aims to provide a manipulator and a robot, so that the manipulator can perform touch operation on touch equipment.
In order to solve the above technical problem, an embodiment of the present invention provides a manipulator including: the mechanical finger comprises a knuckle and a fingertip, the fingertip is connected with the knuckle, a conductive layer is arranged outside the fingertip, and the conductive layer is connected with a reference potential point; the mechanical palm is internally provided with a driving mechanism, and the driving mechanism is connected with the knuckle so as to drive the mechanical finger to rotate; the mechanical palm is also provided with a conductive base, and the reference potential point is the conductive base in the mechanical palm; alternatively, the reference potential point is the ground terminal of the driving mechanism, or the reference potential point is the conductive housing of the mechanical palm.
Embodiments of the present invention also provide a robot including: the manipulator is connected with the body.
Compared with the prior art, the conductive layer is arranged on the fingertip, so that when the manipulator approaches or contacts the surface of the touch screen of the touch device, the electric field of the mechanical finger enables the mechanical finger and the surface of the touch screen to form a coupling capacitor. For high-frequency current, the capacitor is a direct conductor, a mechanical finger can suck small current from the touch screen, and a controller of the touch control device can determine the position of a touch point through calculation of the current proportion, activate a corresponding command, realize a corresponding function and further realize clicking or sliding operation of the manipulator on the touch control device.
In addition, the knuckle comprises a conductive transmission part, and the reference potential point is connected with the conductive layer through the conductive transmission part; alternatively, the reference potential point is connected to the conductive layer through a wire.
In addition, the reference potential point is a conductive base, and the conductive base is connected with the grounding end of the driving mechanism. In this embodiment, the stability and reliability of the touch operation are further improved.
In addition, the reference potential point is a conductive base, the conductive base is a conductive fixing support in the mechanical palm, and the conductive fixing support is used for fixing the driving mechanism. In this embodiment, the structure in the mechanical palm is used as the conductive base, so that the conductive base is prevented from occupying unnecessary space.
In addition, the conducting layer is a flexible conducting layer or a hard conducting layer.
In addition, the flexible conducting layer comprises conducting cloth or conducting soft rubber.
In addition, the hard conductive layer comprises metal or conductive plastic.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
Fig. 1 is a schematic configuration diagram of a robot hand according to a first embodiment of the present invention;
fig. 2 is a schematic view illustrating a touch principle of a touch device according to a first embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present application in various embodiments of the present invention. However, the technical solution claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments.
The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings).
A first embodiment of the present invention relates to a robot hand, as shown in fig. 1, including: at least one mechanical finger 10 and a mechanical palm 20. The mechanical finger 10 comprises a knuckle 101 and a fingertip 102, the fingertip 102 is connected with the knuckle 101, a conductive layer 103 is arranged outside the fingertip 102, and the conductive layer 103 is connected with a reference potential point. A driving mechanism 201 is arranged in the mechanical palm 20, and the driving mechanism 201 is connected with the knuckle 101 to drive the mechanical finger 10 to rotate; wherein, the mechanical palm is further provided with a conductive base 202, and the reference potential point is the conductive base 202 in the mechanical palm 20; alternatively, the reference potential point is a ground terminal (not shown) of the driving mechanism 201, or the reference potential point is a conductive housing (not shown) of the mechanical palm 20.
Specifically, as shown in fig. 2, since the fingertip 102 is provided with the conductive layer 103, when the manipulator approaches or contacts the touch screen surface of the touch device 3, the electric field of the mechanical finger causes the mechanical finger and the touch screen surface to form a coupling capacitor. For high-frequency current, the capacitor is a direct conductor, a mechanical finger can suck small current from the touch screen, and the controller of the touch device 3 can determine the position of a touch point by calculating the current proportion, activate a corresponding command, and realize a corresponding function, so that the manipulator clicks or slides the touch device 3. In addition, the conductive layer 103 is connected with the reference potential point, when the conductive layer 103 sucks charges from the surface of the touch device, the charges can flow from the conductive layer 103 of the fingertip 102 to the reference potential point, so that the whole conductive area of the manipulator is increased, the manipulator can provide a larger capacitance space, a sufficient potential difference is realized, and the stability and reliability of touch operation are improved.
In one embodiment, the reference potential point is the ground terminal of the driving mechanism 201. The driving Circuit of the driving mechanism 201 may be disposed on a Printed Circuit Board (PCB), and a ground plate of the PCB may be disposed with a spring plate as a ground terminal of the driving mechanism 201. The conductive layer 103 is connected with the elastic sheet, so that the manipulator can realize sufficient potential difference through a larger capacitance space, and the stability and reliability of touch operation are improved.
In another embodiment, the reference potential point is the conductive housing of the mechanical palm 20. Specifically, the conductive housing of the machine palm 20 is made of a conductive material (e.g., metal), and the conductive layer 103 is connected to the conductive housing of the machine palm 20. The shape of the conductive housing of the mechanical palm 20 can refer to the arrangement of the housing of the existing mechanical palm 20, and is not described herein again.
In yet another embodiment, the reference potential point is a conductive base 202. The conductive base 202 may be a conductive mounting bracket in the machine palm 20 for mounting the drive mechanism. The conductive fixing bracket refers to a fixing bracket made of a conductive material such as metal. The position and the arrangement mode of the conductive fixing support can refer to the arrangement mode of the fixing support in the prior art, and the position and the arrangement mode between the conductive fixing supports are not the key points of the embodiment.
It should be noted that, as will be understood by those skilled in the art, in practical applications, the conductive base 202 may also be other devices that may have a conductive property inside the machine palm 20, and the conductive base 202 may also be a metal block that is disposed inside the machine palm 20 and is specifically used for transferring charges absorbed by the conductive layer 103.
In one embodiment, the reference potential point is connected to the conductive layer 103 by a wire.
In one embodiment, the knuckles 101 include conductive transmission members through which the reference potential points are connected to the conductive layer 103. Specifically, the conductive transmission member may be a transmission member made of a conductive material, or a transmission member whose outer surface is coated with a conductive material.
In practical applications, the reference potential point and the conductive layer 103 may be connected in other manners, and this embodiment is merely an example.
In one embodiment, knuckle 101 of mechanical finger 10 includes a first knuckle 1011 and a second knuckle 1012, with one end of first knuckle 1011 connected to drive mechanism 201, the other end of first knuckle 1011 connected to one end of second knuckle 1012, and the other end of second knuckle 1012 connected to fingertip 102. The first knuckle 1011 includes at least a first gear 10111, a second gear 10112 and a first conveyor 10113, and the second knuckle 1012 includes at least a third gear 10121, a fourth gear 10122 and a second conveyor 10123. The first gear 10111 can be connected to the driving mechanism 201 through teeth or levers of the first gear 10111, and the first gear 10111 is connected to the second gear 10112 through a first belt 10113. The second gear 10112 is connected to the third gear 10121 through the teeth or levers of the second gear 10112, the third gear 10121 is connected to the fourth gear 10122 through the second belt 10123, and the fourth gear 10122 is connected to the fingertips 102. When the mechanical finger 10 is controlled to move, the driving mechanism 201 drives the first gear 10111 to rotate, the first gear 10111 drives the second gear 10112 to rotate, the second gear 10112 drives the third gear 10121 to rotate, the third gear 10121 drives the fourth gear 10122 to rotate, and the fourth gear 10122 drives to move therebetween, so as to control the mechanical finger 10.
In the present embodiment, the structure of the robot finger 10 is illustrated by taking the robot finger 10 including two knuckles as an example, in practical applications, the robot finger 10 may include one knuckle, or three or more knuckles, and the present embodiment does not limit the specific structure of the robot finger 10.
It is worth mentioning that the reference potential point and the conductive layer 103 are connected through the conductive transmission component, and compared with a mode of connecting the conductive base 202 and the conductive layer 103 by using a wire, under the condition of ensuring the stability and reliability of touch operation, the situation that the manipulator cannot move due to the fact that the wire is clamped in a gap between devices inside the knuckle 101 in the movement process of the manipulator can be avoided.
In one embodiment, if the conductive layer 103 is disposed in a manner that after the fingertip 102 is prepared, the conductive layer 103 is wrapped around the outside of the fingertip 102, so that the conductive base 202 and the conductive layer 103 can be connected, a through hole is left in the fingertip 102, and a conductive material is deposited at the through hole of the fingertip 102 and outside the fingertip 102 to form the conductive layer 103. The conductive base 202 is connected to the conductive layer 103 at the through hole and further to the conductive layer 103 outside the fingertip 102.
In one embodiment, the conductive base 202 is connected to the ground of the drive mechanism 201. When there is not enough space inside the machine palm 20 to dispose the larger conductive base 202, the smaller conductive base 202 may be used to connect the conductive base 202 to the ground terminal of the driving mechanism 201, and the electric charges attracted by the conductive layer 103 are drawn away by the ground of the driving mechanism 201.
It is worth mentioning that connecting the conductive base 202 with the ground end of the driving mechanism 201 reduces the requirement for the volume of the conductive base 201, so that the manipulator can be applied to more scenes.
Note that the touch panel mentioned in this embodiment may be a capacitive touch panel, and this embodiment is not limited thereto.
It should be noted that the conductive layer 103 may be disposed in a manner that after the fingertip 102 is prepared, one or more sides of the exterior of the fingertip 102 are wrapped with a layer of the conductive layer 103, and the preparation manner of the conductive layer 103 may be determined according to the material of the conductive layer 103, for example, the conductive layer 103 is formed by spraying or the like on the exterior of the fingertip 102. The conductive layer 103 may also be disposed by directly using a conductive material to prepare the fingertip 102, and the fingertip 102 itself is the conductive layer 103, and the preparation manner can be determined according to the material of the conductive layer 103. The arrangement mode of the conductive layer 103 may also be that a part of the fingertip 102 is prepared by using a common material, another part of the fingertip 102 is prepared by using a conductive material, the two parts are spliced to obtain the fingertip 102, and the part 102 between the parts prepared by the conductive material is the conductive layer 103. The present embodiment does not limit the manner of disposing the conductive layer 103 of the fingertip 102.
In one embodiment, conductive layer 103 is a flexible conductive layer. The flexible conductive layer may include conductive cloth or conductive soft gel, for example, the flexible conductive layer is made of conductive cloth or conductive soft gel. The conductive layer 103 is made of a flexible conductive material, so that the surface of the conductive layer 103 is softer, and the probability that the mechanical finger 10 damages the touch screen is reduced. For example, the conductive layer 103 is made of conductive soft glue, which can provide a larger friction force, so that the robot can grasp an object more easily.
In one embodiment, the conductive layer 103 is a hard conductive layer. The hard conductive layer may comprise a metal or a conductive plastic, for example, the hard conductive layer is made of a metal or a conductive plastic. When the manipulator is used in a harsh environment, the conducting layer 103 is made of a hard conducting material, so that the loss of the conducting layer 103 in the harsh environment can be reduced.
It should be noted that, as can be understood by those skilled in the art, the conductive layer 103 is made of a conductive material, and this embodiment is merely an example, and in practical applications, the conductive layer 103 may be made of other materials.
The above description is only for illustrative purposes and does not limit the technical aspects of the present invention.
It should be noted that, in practical applications, one unit in the present embodiment may be one physical unit, may be a part of one physical unit, and may be implemented by a combination of a plurality of physical units. In addition, in order to highlight the innovative part of the present invention, elements that are not so closely related to solving the technical problems proposed by the present invention are not introduced in the present embodiment, but this does not indicate that other elements are not present in the present embodiment.
Compared with the prior art, in the manipulator provided in this embodiment, because the conductive layer is disposed on the fingertip, when the manipulator approaches or contacts the surface of the touch screen of the touch device, the electric field of the mechanical finger causes the mechanical finger and the surface of the touch screen to form a coupling capacitor. For high-frequency current, the capacitor is a direct conductor, a mechanical finger can suck small current from the touch screen, and a controller of the touch control device can determine the position of a touch point through calculation of the current proportion, activate a corresponding command, realize a corresponding function and further realize clicking or sliding operation of the manipulator on the touch control device.
A second embodiment of the present invention relates to a robot including: a body, and a manipulator as mentioned in the first embodiment connected to the body.
Compared with the prior art, the robot provided in the embodiment, as shown in the first embodiment, can implement touch operation on a touch device by the manipulator of the robot. Therefore, the robot can interact with the touch control equipment, and the flexibility of the robot is improved.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.
Claims (8)
1. A manipulator, characterized by comprising:
at least one mechanical finger, wherein the mechanical finger comprises a knuckle and a fingertip, the fingertip is connected with the knuckle, a conductive layer is arranged outside the fingertip, and the conductive layer is connected with a reference potential point; and the number of the first and second groups,
the mechanical palm is internally provided with a driving mechanism, and the driving mechanism is connected with the knuckle so as to drive the mechanical fingers to rotate;
the mechanical palm is also provided with a conductive base, and the reference potential point is the conductive base in the mechanical palm; alternatively, the first and second electrodes may be,
the reference potential point is the grounding end of the driving mechanism; alternatively, the first and second electrodes may be,
the reference potential point is a conductive shell of the mechanical palm.
2. The manipulator according to claim 1, wherein the knuckle includes a conductive transmission member through which the reference potential point is connected to the conductive layer; alternatively, the first and second electrodes may be,
the reference potential point is connected with the conductive layer through a lead.
3. The robot hand according to claim 1, wherein the reference potential point is the conductive base, and the conductive base is connected to a ground terminal of the driving mechanism.
4. The robot hand of claim 1, wherein the reference potential point is the conductive base, and the conductive base is a conductive fixing bracket in the palm of the machine, the conductive fixing bracket being used for fixing the driving mechanism.
5. The robot hand of claim 1, wherein the conductive layer is a flexible conductive layer or a rigid conductive layer.
6. The manipulator of claim 5, wherein the flexible conductive layer comprises a conductive cloth or a conductive soft gel.
7. The manipulator of claim 5, wherein the rigid conductive layer comprises a metal or a conductive plastic.
8. A robot, comprising: a body, and the manipulator of any one of claims 1 to 7 connected to the body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911324595.5A CN111015704A (en) | 2019-12-20 | 2019-12-20 | Manipulator and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911324595.5A CN111015704A (en) | 2019-12-20 | 2019-12-20 | Manipulator and robot |
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| Publication Number | Publication Date |
|---|---|
| CN111015704A true CN111015704A (en) | 2020-04-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911324595.5A Pending CN111015704A (en) | 2019-12-20 | 2019-12-20 | Manipulator and robot |
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| CN106493739A (en) * | 2016-11-21 | 2017-03-15 | 电子科技大学中山学院 | Mechanical control device of capacitive touch screen equipment |
| CN106671113A (en) * | 2017-02-10 | 2017-05-17 | 清华大学 | Translational motion idle-stroke transmission coupled and self-adaptive robot finger device |
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2019
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| JP2002355785A (en) * | 2001-05-31 | 2002-12-10 | Yukio Saito | Artificial hand and artificial hand control system |
| CN2493825Y (en) * | 2001-06-04 | 2002-05-29 | 林逢禧 | Rotary decoration lamp string |
| CN202628568U (en) * | 2012-05-13 | 2012-12-26 | 宁波市久友塑料制品有限公司 | Rotatable fan |
| CN204129683U (en) * | 2014-08-07 | 2015-01-28 | 宋东东 | Capacitive touch screen refers to paste |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20210207 Address after: 200245 2nd floor, building 2, no.1508, Kunyang Road, Minhang District, Shanghai Applicant after: Dalu Robot Co.,Ltd. Address before: 518000 Room 201, building A, No. 1, Qian Wan Road, Qianhai Shenzhen Hong Kong cooperation zone, Shenzhen, Guangdong (Shenzhen Qianhai business secretary Co., Ltd.) Applicant before: Shenzhen Qianhaida Yunyun Intelligent Technology Co.,Ltd. |
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Address after: 201111 Building 8, No. 207, Zhongqing Road, Minhang District, Shanghai Applicant after: Dayu robot Co.,Ltd. Address before: 200245 2nd floor, building 2, no.1508, Kunyang Road, Minhang District, Shanghai Applicant before: Dalu Robot Co.,Ltd. |
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