CN112659162A - Touch sensing fingertip device and robot - Google Patents
Touch sensing fingertip device and robot Download PDFInfo
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- CN112659162A CN112659162A CN202011598326.0A CN202011598326A CN112659162A CN 112659162 A CN112659162 A CN 112659162A CN 202011598326 A CN202011598326 A CN 202011598326A CN 112659162 A CN112659162 A CN 112659162A
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Abstract
The invention provides a fingertip tactile sensation device and a robot. The invention provides a finger tip device for tactile sensation, comprising: the flexible fingertip comprises a flexible fingertip main body, wherein a plurality of piezoelectric film sensors are arranged in the flexible fingertip main body to collect pressure information received by the flexible fingertip main body. According to the touch sensing fingertip device provided by the invention, the plurality of piezoelectric film sensors are arranged in the flexible fingertip body, when the flexible fingertip body is contacted with a grabbed object, the piezoelectric film sensors can send out electric signals according to sensed pressure, so that a host computer can judge the specific contact part and grabbing force of the touch sensing fingertip device and the grabbed object according to received pressure data, and the sensing sensitivity of the touch sensing fingertip device is improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a fingertip tactile sensation device and a robot.
Background
The sense of touch is one of five senses of human beings, and the current machines can be endowed with sensitive external sensing capability by giving the sense of touch to the machines. In industrial application, all can set up touch perception device on many manipulators, and conventional touch perception device can only perceive the existence of grabbing the thing at manipulator grabbing in-process, but can't specifically detect and grab which position of thing and being located the manipulator to the regulation snatchs the gesture, firmly snatchs.
Disclosure of Invention
The invention provides a finger tip tactile sensing device and a robot, which are used for solving the defect of low sensing sensitivity of the tactile sensing device in the prior art.
The invention provides a finger tip device for sensing touch, comprising: the flexible fingertip comprises a flexible fingertip main body, wherein a plurality of piezoelectric film sensors are arranged in the flexible fingertip main body to collect pressure information received by the flexible fingertip main body.
According to the present invention, there is provided a tactile fingertip device, said flexible fingertip body including: the piezoelectric film sensors are respectively attached to two ends of a first surface of the flexible liner, wherein the first surface is a surface of the flexible liner, which is in contact with the grabber.
According to the device for sensing fingertips by touch provided by the invention, each piezoelectric film sensor is of a U-shaped structure and is clamped on the first surface.
According to the tactile fingertip device provided by the invention, the flexible fingertip body further comprises a flexible shell, the flexible gasket is arranged in the flexible shell, and the shape of the flexible shell is matched with that of the flexible gasket.
According to the fingertip tactile sensation device provided by the invention, the first surface of the flexible shell is provided with the temperature sensor, the first surface of the flexible gasket is provided with the temperature sensor connecting port at the position corresponding to the temperature sensor, and the first surface of the flexible shell and the first surface of the flexible gasket are arranged adjacently.
According to the fingertip tactile sensation device provided by the invention, the fingertip tactile sensation device further comprises a circuit board, the circuit board is arranged in the flexible shell and is positioned on one side far away from the first surface of the flexible liner, and the temperature sensor penetrates through the temperature sensor connecting port to be electrically connected with the circuit board.
According to the fingertip tactile sensation device provided by the invention, the circuit board is electrically connected with the piezoelectric film sensors.
According to the present invention, there is provided a tactile fingertip device, said flexible case including: a flexible front cover having a temperature sensor disposed thereon, the flexible front cover disposed adjacent to the first surface of the flexible liner; and the flexible rear cover is arranged on one side of the circuit board and can be covered with the flexible front cover.
According to the device for sensing fingertips by touch, provided by the invention, the surface of the flexible front cover is formed with a plurality of ribs.
The present invention also provides a robot including a plurality of tactile fingertip devices as described above, each of the plurality of tactile fingertip devices being provided at a fingertip of a manipulator of the robot.
According to the touch sensing fingertip device provided by the invention, the plurality of piezoelectric film sensors are arranged in the flexible fingertip body, when the flexible fingertip body is contacted with a grabbed object, the piezoelectric film sensors can send out electric signals according to sensed pressure, so that a host computer can judge the specific contact part and grabbing force of the touch sensing fingertip device and the grabbed object according to received pressure data, and the sensing sensitivity of the touch sensing fingertip device is 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 diagram of the overall structure of a finger tip device for tactile sensation provided by the present invention;
FIG. 2 is an exploded view of a tactile fingertip device provided in accordance with the present invention;
FIG. 3 is a cross-sectional view of a tactile fingertip device provided in accordance with the present invention;
FIG. 4 is a schematic diagram of a circuit control unit of the fingertip tactile sensation device provided in the present invention;
reference numerals:
10: a power supply module; 20: a microcontroller; 30: a digital-to-analog conversion module;
40: a temperature sensor module; 101: a flexible front cover; 102: a flexible rear cover;
103: a relief pattern; 201: a piezoelectric thin film sensor; 202: a temperature sensor;
203: a temperature sensor connector; 210: a flexible liner; 301: a circuit board.
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 tactile fingertip devices and the robot of the present invention are described below with reference to fig. 1 to 4.
As shown in fig. 2 and 3, the tactile fingertip device provided by the embodiment of the present invention includes a fingertip body, and a plurality of piezoelectric thin film sensors 201 are disposed in the fingertip body to collect pressure information received by the flexible fingertip body.
Specifically, in one embodiment of the present invention, the fingertip body is made of a flexible material, which can be restored to its original shape after a large deformation. Optionally, the fingertip body may be made of soft silica gel or a rubber material.
A plurality of piezoelectric film sensor 201 set up in fingertip body's inside, take place deformation when fingertip body snatchs the object, and piezoelectric film sensor 201 perceives pressure, gathers the pressure information that fingertip body received, and this pressure information indicates the position of the pressure that fingertip body received and the size of pressure. The piezoelectric film sensor 201 sends out an analog signal, the analog signal is converted into a digital electric signal, the digital electric signal is processed into pressure data and sent to an upper computer, and the upper computer obtains the position of the grabbing object in the touch sensing fingertip device and the grabbing force according to the received pressure data.
The touch perception fingertip device is arranged at the fingertip position of the manipulator, just like the outermost joint of a human finger, and for convenience of understanding, the fingertip body can be understood as the joint with the fingernail of the human finger, namely the fingertip refers to the front end of the fingertip body, and the finger tail refers to the rear end of the fingertip body. Specifically, the plurality of piezoelectric thin-film sensors 201 may be respectively mounted at a plurality of positions of the fingertip body, such as a fingertip portion and a tail portion of the fingertip body. When the object was snatched to tactile perception fingertip device, if the object contacted with indicating the tail position, set up and to indicate the pressure at the piezoelectric film sensor 201 perception of tail position, send analog signal, the host computer can judge that the finger of manipulator this moment is contacting with the object, and the object snatchs firmly. If the object contacts with the fingertip part, the piezoelectric film sensor 201 arranged at the fingertip part senses the pressure and sends out an analog signal, the upper computer can judge that the fingertip of the manipulator contacts with the object, the object is not firmly grabbed, and then the grabbing action is adjusted. Meanwhile, the upper computer can judge whether the manipulator can grab the grabbed objects according to the pressure collected by the piezoelectric film sensor 201.
Further, in an embodiment of the present invention, the piezoelectric film sensor 201 is made of polyvinylidene fluoride, which can deform along with the deformation of the fingertip body and can recover to the original shape when not contacting with an object.
According to the touch sensing fingertip device provided by the invention, the plurality of piezoelectric film sensors are arranged in the flexible fingertip body, when the flexible fingertip body is contacted with a grabbed object, the piezoelectric film sensors can send out electric signals according to sensed pressure, so that a host computer can judge the specific contact part and grabbing force of the touch sensing fingertip device and the grabbed object according to received pressure data, and the sensing sensitivity of the touch sensing fingertip device is improved.
As shown in fig. 2 and 3, in one embodiment of the present invention, the flexible fingertip body includes a flexible pad 210, and a plurality of piezoelectric film sensors 201 are respectively attached to both ends of a first surface of the flexible pad 210, wherein the first surface is a surface of the flexible pad 210 contacting with the grabber.
Specifically, on the surface of the flexible pad 210 contacting with the grabber, the piezoelectric film sensors 201 may be respectively disposed at two ends thereof, such as at the front end of the flexible pad 210, i.e., at the positions of the fingertips; such as at the rear end of the flexible liner 210, i.e., at the location of the finger tails. When the fingertip touch sensing device senses pressure when an object is gripped by the fingertip touch sensing device, an electric signal is sent out, and the upper computer knows that the fingertip position of the flexible liner 210 is in contact with the gripped object; similarly, when the finger tail position senses the pressure, an electric signal is sent, and the upper computer knows that the finger tail position of the flexible liner 210 is in contact with the grabbed object.
Further, in one embodiment of the present invention, the flexible gasket 210 is made of a flexible material, which can be restored to its original shape after a large deformation. Optionally, the material of the flexible gasket 210 may be soft silicone or rubber.
Further, in one embodiment of the present invention, the plurality of piezoelectric film sensors 201 are fixed to both ends of the first surface of the flexible liner 210 using glue.
In one embodiment of the present invention, each of the piezoelectric film sensors 201 has a U-shaped structure to be snapped on the first surface of the flexible pad 210. Specifically, the bottom surface of the U-shaped structure may be adhered to the first surface of the flexible liner 210, and two side surfaces connected to the bottom surface may be respectively adhered to two surfaces on both sides of the first surface. Accordingly, the bottom surface of the U-shaped structure may also be attached to the surface adjacent to the first surface of the flexible liner 210, and the side surfaces of the U-shaped structure may be attached to the first surface of the flexible liner 210, wherein the side surfaces attached to the first surface should be as long as possible to cover the first surface.
Further, as shown in fig. 2, the two U-shaped piezoelectric film sensors 201 are respectively disposed on two sides of the flexible gasket 210, and one side of each of the two U-shaped structures is attached to the first surface of the flexible gasket 210, so that the tail portion of the first surface of the flexible gasket 210 can sense pressure.
Correspondingly, the piezoelectric film sensor 201 with the U-shaped structure can be clamped at the end part of the fingertip of the flexible liner 210, so that the bottom surface of the U-shaped structure is contacted with the end surface of the fingertip, and one side surface of the U-shaped structure is contacted with the first surface; at the same time, the bottom surface of the U-shaped structure may also be brought into contact with the first surface.
It should be noted that: the shape of the flexible liner 210 may be various and is not limited to the shape shown in the figures; similarly, the shape of the piezoelectric film sensor 201 can be various, and is not limited to the U-shaped structure illustrated in the embodiment of the present invention, for example, the piezoelectric film sensor 201 can be a straight plate shape and is directly fixed on the flexible pad 210.
According to the fingertip tactile sensation device provided by the embodiment of the invention, the piezoelectric film sensor is designed into the U-shaped structure and is clamped on the first surface of the flexible liner, so that the piezoelectric film sensor can be always connected with the flexible liner 210 in the deformation process without falling off.
In one embodiment of the present invention, the flexible fingertip body further includes a shell, the flexible pad 210 is disposed inside the shell, and the shape of the shell matches the shape of the flexible pad 210, so that the flexible pad 210 deforms synchronously with the shell when the shell deforms.
Further, in one embodiment of the present invention, the housing is made of a flexible material, which can be restored to its original shape after a large deformation. Optionally, the material of the housing may be soft silica gel or a rubber material.
As shown in fig. 1 to 3, a temperature sensor 202 is disposed on a first surface of the flexible housing, and a temperature sensor connection port 203 is formed on a first surface of the flexible gasket 210 at a position corresponding to the temperature sensor 202, wherein the first surface of the flexible housing is disposed adjacent to the first surface of the flexible gasket 210. Specifically, the first surface of the flexible shell is a surface in contact with the gripper.
Further, in an embodiment of the present invention, the fingertip touch sensing device further includes a circuit board 301, disposed in the flexible casing and located on a side away from the first surface of the flexible gasket 210, for performing real-time communication with an upper computer or a host computer, so as to transmit the pressure information and the temperature information collected by the piezoelectric film sensor 201 and the temperature sensor 202 to the upper computer or the host computer.
Specifically, the temperature sensor 202 is disposed on the first surface of the flexible casing, and the temperature sensor 202 is electrically connected to the circuit board 301 through the temperature sensor connection port 203 formed on the flexible gasket 210 to transmit temperature information of the grasping object sensed by the tactile sensing fingertip device to the circuit board 301.
Further, in an embodiment of the present invention, the circuit board 301 is further electrically connected to the plurality of piezoelectric film sensors 201 to collect pressure information sensed by the piezoelectric film sensors 201.
As shown in fig. 1 and 2, in one embodiment of the invention, a flexible housing comprises: a flexible front cover 101 and a flexible rear cover 102. Specifically, the flexible front cover 101 is provided with the temperature sensor 202, the front cover is disposed adjacent to the first surface of the flexible gasket 210, and the flexible rear cover 102 is disposed on one side of the circuit board 301 and can be covered with the flexible front cover 101, so as to encapsulate the circuit board 301 and the flexible gasket 210 in the flexible casing.
Further, the flexible front cover 101 and the flexible rear cover 102 can be restored after being largely deformed, and optionally, the flexible front cover 101 and the flexible rear cover 102 may be made of soft silicone or a rubber material.
As shown in fig. 1 and 2, in one embodiment of the invention, the surface of the flexible front cover 101 is formed with a plurality of ridges 103 to increase friction when the fingertip device is tactilely sensed to be in contact with a grabber.
As shown in fig. 4, a circuit control unit is disposed on the circuit board 301, and the circuit control unit includes a power module 10, a microcontroller 20, a digital-to-analog conversion module 30, and a temperature sensor module 40. Specifically, the power module 10 is used to supply power to the microcontroller 20, the digital-to-analog conversion module 30, and the temperature sensor module 40. When the piezoelectric film sensor 201 senses pressure, an analog signal is sent out, the digital-to-analog conversion module 30 is used for converting the analog signal into a digital electric signal and sending the digital electric signal to the microcontroller 20, the microcontroller 20 processes the digital electric signal into pressure data and then sends the pressure data to an upper computer, and the upper computer can judge the position of the pressure applied to the touch sensing fingertip device and the magnitude of the grabbing force according to each pressure data. The temperature sensor module 40 is used for collecting the temperature of the grasped object sensed by the temperature sensor 202, transmitting the temperature information to the microcontroller 20, processing the temperature information by the microcontroller 20 and then transmitting the processed temperature information to the upper computer, judging whether the touch sensing fingertip device can be grasped by the upper computer according to the temperature of the grasped object, and when the temperature of the grasped object exceeds the bearing temperature of the touch sensing fingertip device, suspending grasping by the touch sensing fingertip device so as to avoid burning out the touch sensing fingertip device.
The embodiment of the invention also provides a robot, which comprises a plurality of touch sensing fingertip devices, wherein the plurality of touch sensing fingertip devices are respectively arranged at the fingertips of the manipulator of the robot, so that the manipulator has sensitive sensing capability just like the fingers of a human body.
According to the robot provided by the embodiment of the invention, the touch sensing fingertip devices are arranged at the fingertip positions of the manipulator of the robot, so that the manipulator is endowed with sensitive sensing capability, when the manipulator grabs an object, the contact position of the object and the manipulator and the grabbing force can be judged, meanwhile, the temperature of the grabbed object can be sensed, the phenomenon that the touch sensing fingertip devices are burnt out due to overhigh temperature of the grabbed object is avoided, the operation sensitivity of the manipulator is improved, the sensing of the manipulator is more exquisite and accurate, the robot is not only suitable for common industrial production, but also suitable for more precise production processes such as grabbing and carrying of laser chips and the like, and is also suitable for the medical industry, the applicability of the robot is enhanced, and the robot has wider application.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill 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. A tactile fingertip device, comprising: the flexible fingertip comprises a flexible fingertip main body, wherein a plurality of piezoelectric film sensors are arranged in the flexible fingertip main body to collect pressure information received by the flexible fingertip main body.
2. A haptic fingertip device according to claim 1, wherein said flexible fingertip body includes:
the piezoelectric film sensors are respectively attached to two ends of a first surface of the flexible liner, wherein the first surface is a surface of the flexible liner, which is in contact with the grabber.
3. A finger tip tactile sensing device according to claim 2, wherein each of said piezoelectric film sensors is U-shaped to snap-fit to said first surface.
4. A haptic fingertip device according to claim 2, wherein the flexible fingertip body further includes a flexible shell, the flexible pad is disposed within the flexible shell, and an outer shape of the flexible shell matches an outer shape of the flexible pad.
5. A fingertip device according to claim 4, wherein the first surface of the flexible shell is provided with a temperature sensor, and a temperature sensor connection port is formed on the first surface of the flexible pad at a position corresponding to the temperature sensor, wherein the first surface of the flexible shell is disposed adjacent to the first surface of the flexible pad.
6. A fingertip device according to claim 5, further comprising a circuit board disposed within the flexible casing on a side away from the first surface of the flexible pad, wherein the temperature sensor is electrically connected to the circuit board through the temperature sensor connection port.
7. A fingertip device according to claim 6, wherein said circuit board is electrically connected to a plurality of said piezoelectric thin film sensors.
8. A tactile fingertip device according to claim 6, wherein said flexible housing comprises:
a flexible front cover having a temperature sensor disposed thereon, the flexible front cover disposed adjacent to the first surface of the flexible liner;
and the flexible rear cover is arranged on one side of the circuit board and can be covered with the flexible front cover.
9. A tactile fingertip device according to claim 8, wherein a surface of said flexible front cover is formed with a plurality of ridges.
10. A robot comprising a plurality of the fingertip tactile sensation devices according to any one of claims 1 to 9, wherein the plurality of fingertip tactile sensation devices are provided to fingertips of a manipulator of the robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011598326.0A CN112659162A (en) | 2020-12-29 | 2020-12-29 | Touch sensing fingertip device and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011598326.0A CN112659162A (en) | 2020-12-29 | 2020-12-29 | Touch sensing fingertip device and robot |
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| Publication Number | Publication Date |
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| CN112659162A true CN112659162A (en) | 2021-04-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011598326.0A Pending CN112659162A (en) | 2020-12-29 | 2020-12-29 | Touch sensing fingertip device and robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114636489A (en) * | 2022-05-18 | 2022-06-17 | 湖南大学 | Curved array type touch sensor and working method and manipulator thereof |
| CN114894379A (en) * | 2022-05-26 | 2022-08-12 | 湖南大学 | Calibration device and calibration method for fingertip type touch sensor of manipulator |
-
2020
- 2020-12-29 CN CN202011598326.0A patent/CN112659162A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114636489A (en) * | 2022-05-18 | 2022-06-17 | 湖南大学 | Curved array type touch sensor and working method and manipulator thereof |
| CN114894379A (en) * | 2022-05-26 | 2022-08-12 | 湖南大学 | Calibration device and calibration method for fingertip type touch sensor of manipulator |
| CN114894379B (en) * | 2022-05-26 | 2023-03-07 | 湖南大学 | Calibration device and calibration method for fingertip type touch sensor of manipulator |
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