CN112549056A - Electronic skin glove device applied to robot hand - Google Patents
Electronic skin glove device applied to robot hand Download PDFInfo
- Publication number
- CN112549056A CN112549056A CN202011530518.8A CN202011530518A CN112549056A CN 112549056 A CN112549056 A CN 112549056A CN 202011530518 A CN202011530518 A CN 202011530518A CN 112549056 A CN112549056 A CN 112549056A
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- Prior art keywords
- glove
- skin
- sensor component
- robot hand
- sensor
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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
- B25J15/0009—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
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
- B25J13/084—Tactile sensors
Abstract
The invention provides an electronic skin glove device applied to a robot hand, comprising: the skin simulation glove is characterized by comprising a simulation skin glove made of a flexible waterproof material, a sensor component used for acquiring a sensing signal and an electric connection interface used for leading an internal signal transmission line out of the simulation skin glove and connecting the simulation skin glove with the sensor component; the sensor component is arranged on the inner side of the skin simulation glove, and the electric connection interface is arranged on the skin simulation glove. By adopting the electronic skin glove device applied to the robot hand, the simulated skin glove with certain elasticity can be sleeved on the robot hand after being expanded and connected through the electric connection interface, the installation and the disassembly processes are convenient and quick, and meanwhile, the material, the temperature, the physical property, the chemical property and the like of an operation object of the robot can be more finely sensed through the arranged sensor part, so that the operation performance of the robot hand is improved.
Description
Technical Field
The invention relates to the technical field of artificial intelligence application, in particular to an electronic skin glove device applied to a robot hand, and further relates to a manufacturing method of the electronic skin glove device and a data processing and control system of the electronic skin glove device.
Background
In recent years, with the rapid development of artificial intelligence technology, the intelligent robot is more and more widely applied to industrial production and daily life, and great convenience is brought to the production and life of people. However, at present, recognition of a robot mainly depends on visual assistance, but the motion of the robot under visual assistance can only be precisely controlled in space and time, but the material, temperature, physical properties, chemical properties, and the like of a working object of the robot cannot be more precisely sensed, and information exchange cannot be performed on the object in the working process. For example, machine vision is very limited to the application scenario of garbage classification, cannot sense the nature of the garbage to be processed, only knows that the garbage is located somewhere, and cannot smoothly perform operations such as grabbing only through spatial and temporal control if the object is soft.
The skin is one of the most important organs of the human body, and the structure and the various sensors in the skin jointly act to form the touch feeling of one of five human senses. In order to give machines and devices a similar tactile sensation, electronic skin technology has come to work. The technology can provide a light, thin and flexible touch chip, is integrated with machines, gives artificial touch to the machines, and performs more intelligent and precise control. In the prior art, in order to improve the tactile perception performance of the robot, a sensor unit or a skin device with a sensor is embedded in a hand of the robot. In the above-described system, the artificial tactile sensation is imparted to these robots, so that the operability of the robots can be improved to some extent. However, the design process is often complex and inconvenient to disassemble and assemble, which results in affecting the working efficiency.
Disclosure of Invention
Therefore, the invention provides an electronic skin glove device applied to a robot hand, which is used for solving the defects that the realization mode of robot touch perception is complex, and the working efficiency is influenced due to inconvenient disassembly and assembly in the prior art.
The invention provides an electronic skin glove device applied to a robot hand, which is characterized by comprising: the skin simulation glove is characterized by comprising a simulation skin glove made of a flexible waterproof material, a sensor component used for acquiring a sensing signal and an electric connection interface used for leading an internal signal transmission line out of the simulation skin glove and connecting the simulation skin glove with the sensor component; the sensor component is arranged on the inner side of the skin simulation glove, and the electric connection interface is arranged on the skin simulation glove.
Furthermore, the sensor components are arranged on the inner side of the palm and the inner side of the fingers of the skin-imitated glove according to a preset mode.
Furthermore, the electric connection interface is arranged at the part of the simulated skin glove close to the wrist.
Furthermore, the simulated skin glove can be sleeved on the robot hand after being expanded, and is sleeved on the robot hand and then is connected with the electric connection interface of the robot hand through the electric connection interface.
Further, the simulated skin glove comprises: a sensing layer and a line wrapping layer; the sensor component is disposed in the sensing layer inside the simulated skin glove; the internal signal transmission line is arranged in the line wrapping layer of the simulated skin glove, and the line wrapping layer is fixed on the inner surface of the simulated skin glove; the sensing layer is arranged on the outer surface of the skin-simulated glove; the sensing layer is a planar structure formed by connecting a plurality of sensor components; wherein the sensor component is a flexible sensor component.
Further, the electronic skin glove device applied to the robot hand further comprises: the singlechip controller is used for acquiring the sensing signals acquired by the sensor component and analyzing and processing the sensing signals; the single chip microcomputer controller is connected with the sensor component through the electric connection interface and the internal signal transmission line.
Further, the electronic skin glove device applied to the robot hand further comprises: the storage battery component is used for providing electric energy for the sensor component and the single chip microcomputer controller; the storage battery component is connected with the sensor component and the single chip microcomputer controller through the electric connection interface.
The invention also provides a manufacturing method of the electronic skin glove device, which comprises the following steps:
performing primary glue injection operation in a first mould to obtain a formed first glove body;
providing a sensor component and an electrical connector component to the first glove body surface;
and after the sensor component and the electrical connector component are arranged, performing secondary glue injection operation in a second mould in which the first glove body is placed to obtain a molded second glove body.
Further, the first die comprises a shell die with a clamping groove and a corresponding glove body die; the second mould includes smooth shell mould and corresponding gloves body mould, wherein, the draw-in groove is used for fixing the sensor part realizes will after the shaping of primary injecting glue the sensor part is installed this body surface of first gloves.
The invention also provides a data processing and control system of the electronic skin glove device, comprising: the device comprises a controller module, an upper computer module, a sampling chip module, a switch array module and a glove sensor array module; the controller module, the upper computer module, the sampling chip module, the switch array module and the glove sensor array module are connected with one another.
The electronic skin glove device applied to the robot hand provided by the invention can realize that the simulated skin glove with certain elasticity is sleeved on the robot hand after being expanded and is connected through the electric connection interface, the installation and disassembly processes are convenient and quick, meanwhile, the arranged sensor part can receive and simulate the hand sensing touch information, the more precise sensing of the material, temperature, physical property, chemical property and the like of the operation object of the robot is realized, and the operation performances of the robot hand in grabbing and the like are further improved.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an electronic skin glove device applied to a robot hand according to the present invention;
FIG. 2 is a schematic diagram of an application of the electronic skin glove device applied to a robot hand according to the present invention;
FIG. 3a is a glove body mold provided by the present invention;
FIG. 3b is a first shell mold provided by the present invention;
FIG. 3c is a second shell mold provided by the present invention;
fig. 4a is a schematic view of a first mold for first injection molding according to the present invention;
fig. 4b is the first glove body after the first glue injection molding provided by the invention;
FIG. 4c is a first glove body of the present invention with a sensor and electrical connector mounted thereto;
fig. 4d is a schematic view of a second mold for second injection molding according to the present invention;
fig. 4e is a second glove body formed by the second glue injection provided by the invention;
FIG. 5 is a schematic circuit diagram of a system according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The following describes an embodiment of the electronic skin glove device applied to a robot hand according to the present invention in detail. As shown in fig. 1, which is a schematic view of the electronic skin glove device applied to a robot hand provided by the present invention, the specific implementation process includes the following components: a simulated skin glove 101, a sensor component 102, and an electrical connection interface 103.
The simulated skin glove 101 may be made of a flexible waterproof material; the sensor component 102 is used for acquiring a sensing signal, and the electrical connection interface 103 is used for leading out an internal signal transmission line to the electrical connection interface 103 which is connected with the sensor component 102 and arranged inside the simulated skin glove 101. The sensor component 102 is arranged inside the simulated skin glove 101 and the electrical connection interface 103 is arranged on the simulated skin glove 101. It should be noted that the skin-imitated glove 101 may be made of a flexible waterproof material with certain elasticity, such as silica gel, and is not limited herein.
In a specific implementation process, in order to effectively acquire an accurate tactile sensing signal, the sensor component 102 may be disposed at an inner side of the palm and an inner side of the finger of the simulated skin glove 101 according to a preset manner, and an internal signal transmission line thereof is led out to the electrical connection interface 103 at the lower side of the simulated skin glove 101. In order to facilitate connection with a single chip microcomputer controller arranged in the robot and preset in the robot, the electric connection interface 103 is arranged at a position, close to the wrist and the like, of the simulated skin glove 101. The skin-simulated glove 101 has certain elasticity, can be expanded and then sleeved on the robot hand, and is connected with the electric connection interface 103 of the robot hand through the electric connection interface 103 after being sleeved on the robot hand, so that the connection with a single-chip microcomputer controller is realized, and a complete robot arm 202 shown in fig. 2 is formed.
Fig. 2 is a schematic view of an electronic skin glove device applied to a robot hand according to the present invention. In the practical application process, after the electronic skin gloves are assembled on the robot hand, the simulated skin gloves 101 can be used for waterproof protection, so that touch sensing can be performed in a liquid environment, and operation in complex environments such as water, oil and the like can be realized.
The simulated skin glove 101 may comprise at least a sensing layer and a wire wrap layer, the sensor component 102 being arranged in the sensing layer inside the simulated skin glove 101. The internal signal transmission lines are arranged in the line pack of the simulated skin glove 101.
In practical implementation, the sensing layer is disposed on the outer surface of the simulated skin glove 101, and the circuit wrapping layer may be fixed on the inner surface of the simulated skin glove 101. The sensor components 102 are arranged in grooves preset on a sensing layer in the skin-simulated glove 101, the sensing layer is a corresponding planar structure formed by mutually connecting a plurality of sensor components 102, and specifically, the sensor components 102 can be mutually connected through an internal circuit. The sensor member 102 is preferably a flexible sensor member 102.
In the embodiment of the application, the electronic skin glove device applied to the robot hand further comprises a single-chip microcomputer controller. The single chip microcomputer controller is used for acquiring the sensing signals acquired by the sensor component 102 and analyzing and processing the sensing signals. Specifically, the single chip microcomputer controller may be disposed on the skin-simulated glove 101, or may be disposed inside the robot arm. When the single-chip microcomputer controller is arranged inside the robot arm, the single-chip microcomputer controller can be connected with the sensor component 102 through the electric connection interface 103 and the internal signal transmission line, so that the touch sensing signals collected by the sensor component 102 can be acquired in time.
In addition, the electronic skin glove device applied to the robot hand can further comprise a storage battery component and a corresponding power supply circuit. The storage battery component is used for providing electric energy for the sensor component 102 and the single chip microcomputer controller, and can be arranged on the simulated skin glove 101 or inside a robot arm. When the storage battery component is arranged inside the robot arm 201 and the single chip microcomputer controller is arranged on the simulated skin glove 101, the storage battery component is connected with the sensor component 102 and the single chip microcomputer controller through the electric connection interface 103 to provide electric energy for the sensor component 102 and the single chip microcomputer controller. When the storage battery component and the single chip microcomputer controller are arranged inside the robot arm 201, the storage battery component is connected with the sensor component 102 through the electric connection interface 103 to provide electric energy for the sensor component 102, and is directly connected with the single chip microcomputer controller inside the robot arm 201 through a power supply line to provide electric energy for the single chip microcomputer controller.
The electronic skin glove device applied to the robot hand can be used for sleeving the expanded simulated skin glove with certain elasticity on the robot hand and connecting the simulated skin glove with the robot hand through the electric connection interface, the installation and disassembly processes are convenient and quick, meanwhile, the arranged sensor part can be used for receiving and simulating the hand sensing touch information, the more precise sensing of the material, the temperature, the physical property, the chemical property and the like of an operation object of the robot is realized, and the operation performances of grabbing by the robot hand and the like are improved.
As shown in fig. 3a-3c and 4a-4 e. The invention also provides a manufacturing method of the electronic skin glove device, which comprises the following steps: performing a first glue injection operation into the first mold to obtain a molded first glove body 305; providing a sensor component 306 and an electrical connector component 307 to the first glove body 305 surface; after the sensor component and the electrical connector component are arranged, a second glue injection operation is performed on the second mold in which the first glove body 305 is placed, so that a molded second glove body 308 is obtained. And (5) demolding to finish the processing preparation.
Further, the first mold comprises a shell mold 302 with a clamping groove and a corresponding glove body mold 301; the second mould includes smooth shell mould 302 and corresponding gloves body mould 301, wherein, draw-in groove 303 is used for fixing the sensor part, will after realizing the shaping of primary injecting glue the sensor part is installed first gloves body surface. The second mold comprises a shell mold 304.
By adopting the manufacturing method of the electronic skin glove device, the electronic skin glove device applied to the robot hand can be quickly manufactured, and the manufacturing efficiency is improved.
As shown in fig. 5, the present invention further provides a data processing and controlling system of an electronic skin glove device, comprising: the device comprises a controller module, an upper computer module, a sampling chip module, a switch array module and a glove sensor array module; the controller module, the upper computer module, the sampling chip module, the switch array module and the glove sensor array module are connected with one another.
The glove sensor array modules are mainly distributed in the parts, located in key touch areas of fingers, of the electronic skin glove device, can convert corresponding physical quantity signals such as touch pressure and temperature into electrical signals through the glove sensor array, and are connected and transmitted to the sampling chip module through the switch array module to realize signal sampling. The switch array module: the glove sensor array switching device is used for switching between the sensor array and the data line through a small number of control lines when the glove sensor array is large in scale, and the effect of time-sharing multiplexing of the data line is achieved, so that the sampling chip module can scan and sample signals of the large-scale glove sensor array. The sampling chip module adopts Cypress PSoC4 series chips, can realize high-speed and accurate sampling of multi-channel capacitance, and further realizes interconnection and switching sampling with a large-scale glove sensor array through the switch array module under the coordination of the microcontroller. The controller module can be a microcontroller MCU (microprogrammed control unit), generally consists of a singlechip unit, and internal software can well coordinate the cooperative work among the modules and mainly realizes three core functions: and controlling the switch array module, acquiring data, packing and arranging the data, and sending the data to the upper computer module. The upper computer module: the glove sensor array parameter display device is used for receiving related data collected by the glove sensor array which is processed and packaged by the controller module, and realizing parameter display of the sensed physical quantity of the sensor array on the glove. In addition, still include the power module: the power supply management module is used for being responsible for power management of the whole system and providing reliable and stable power supply for different modules.
The above-described system embodiments are merely illustrative, wherein the modules illustrated as separate components may or may not be physically separate, and the components shown as modules may be hardware units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. Those skilled in the art will understand and implement the teachings of the above-described embodiments without inventive effort.
Through the description of the above embodiments, those skilled in the art can clearly understand that the embodiments can be implemented by means of a general hardware platform. Based on such understanding, the technical solutions mentioned above substantially or contributing to the prior art may be embodied in the form of hardware or software products with special functions, and the hardware or software products may implement the functions described in various embodiments or some parts of the embodiments through a computer device (which may be a personal computer, a server, or a network device).
Finally, it should be noted that: the above embodiments are only used to illustrate the specific technical solutions of the present invention, and are not limited thereto; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An electronic skin glove device for use on a robot hand, comprising: the skin simulation glove is characterized by comprising a simulation skin glove made of a flexible waterproof material, a sensor component used for acquiring a sensing signal and an electric connection interface used for leading an internal signal transmission line out of the simulation skin glove and connecting the simulation skin glove with the sensor component; the sensor component is arranged on the inner side of the skin simulation glove, and the electric connection interface is arranged on the skin simulation glove.
2. The device of claim 1, wherein the sensor elements are arranged in a predetermined pattern on the inner side of the palm and fingers of the simulated skin glove.
3. The device as claimed in claim 1, wherein the electrical connection interface is disposed on the skin-simulated glove near the wrist.
4. The electronic skin glove device applied to the robot hand according to claim 1, wherein the skin-imitated glove can be expanded and then sleeved on the robot hand, and after being sleeved on the robot hand, the skin-imitated glove is connected with the electric connection interface of the robot hand through the electric connection interface.
5. The device of claim 1, wherein the simulated skin glove comprises: a sensing layer and a line wrapping layer; the sensor component is arranged in a sensing layer on the inner side of the skin-simulated glove; the internal signal transmission line is arranged in the line wrapping layer of the simulated skin glove, and the line wrapping layer is fixed on the inner surface of the simulated skin glove; the sensing layer is arranged on the outer surface of the skin-simulated glove; the sensing layer is a planar structure formed by connecting a plurality of sensor components; wherein the sensor component is a flexible sensor component.
6. The device of claim 1, further comprising: the singlechip controller is used for acquiring the sensing signals acquired by the sensor component and analyzing and processing the sensing signals; the single chip microcomputer controller is connected with the sensor component through the electric connection interface and the internal signal transmission line.
7. The device of claim 1, further comprising: the storage battery component is used for providing electric energy for the sensor component and the single chip microcomputer controller; the storage battery component is connected with the sensor component and the single chip microcomputer controller through the electric connection interface.
8. A method of making an electronic skin glove device, comprising:
performing primary glue injection operation in a first mould to obtain a formed first glove body;
providing a sensor component and an electrical connector component to the first glove body surface;
and after the sensor component and the electrical connector component are arranged, performing secondary glue injection operation in a second mould in which the first glove body is placed to obtain a molded second glove body.
9. The method of manufacturing an electronic skin glove device according to claim 8, wherein the first mold comprises a shell mold with a slot and a corresponding glove body mold; the second mould comprises a flat shell mould and a corresponding glove body mould; the clamping groove is used for fixing the sensor component, and the sensor component is mounted on the surface of the first glove body after the first glue injection molding is achieved.
10. A data processing and control system for an electronic skin glove device, comprising: the device comprises a controller module, an upper computer module, a sampling chip module, a switch array module and a glove sensor array module; the controller module, the upper computer module, the sampling chip module, the switch array module and the glove sensor array module are connected with one another.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011530518.8A CN112549056A (en) | 2020-12-22 | 2020-12-22 | Electronic skin glove device applied to robot hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011530518.8A CN112549056A (en) | 2020-12-22 | 2020-12-22 | Electronic skin glove device applied to robot hand |
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| CN112549056A true CN112549056A (en) | 2021-03-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011530518.8A Pending CN112549056A (en) | 2020-12-22 | 2020-12-22 | Electronic skin glove device applied to robot hand |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113510726A (en) * | 2021-07-13 | 2021-10-19 | 吉林大学 | Intelligent manipulator based on bionic rigid-flexible coupling multi-dimensional force perception |
| CN113721515A (en) * | 2021-08-30 | 2021-11-30 | 太原理工大学 | Active safety device of mechanical arm and safety control method thereof |
-
2020
- 2020-12-22 CN CN202011530518.8A patent/CN112549056A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113510726A (en) * | 2021-07-13 | 2021-10-19 | 吉林大学 | Intelligent manipulator based on bionic rigid-flexible coupling multi-dimensional force perception |
| CN113510726B (en) * | 2021-07-13 | 2022-07-29 | 吉林大学 | Intelligent manipulator based on bionic rigid-flexible coupling multi-dimensional force perception |
| CN113721515A (en) * | 2021-08-30 | 2021-11-30 | 太原理工大学 | Active safety device of mechanical arm and safety control method thereof |
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