CN206373923U - A kind of apery type mechanical finger with temperature and tactile force sensing function - Google Patents
A kind of apery type mechanical finger with temperature and tactile force sensing function Download PDFInfo
- Publication number
- CN206373923U CN206373923U CN201621394852.4U CN201621394852U CN206373923U CN 206373923 U CN206373923 U CN 206373923U CN 201621394852 U CN201621394852 U CN 201621394852U CN 206373923 U CN206373923 U CN 206373923U
- Authority
- CN
- China
- Prior art keywords
- finger
- temperature
- phalanges
- apery
- 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.)
- Active
Links
Abstract
The utility model discloses a kind of apery type mechanical finger with temperature and tactile force sensing function.Apery manipulator, which refers to, to be divided into three controllable section finger metal phalanges of bending amplitude and is hinged forms successively, outer surface colour of skin silica gel packaging；Often section finger is hollow, micromachine and miniature circuit are arranged in Section of three finger metal phalanges, the finger pulp of first segment finger metal phalanges and second section finger metal is provided with plane groove, inside it is respectively provided with three-dimensional force sensor, first segment finger metal phalanges top semi circular surface is provided with breach, the heat conductor and temperature sensor of arc fixed by snap, temperature sensor are brought into close contact in heat conductor inner surface.The utility model can contact the temperature of object and the three-dimensional force being applied on object with sensitive measurement mechanical finger, and real-time Transmission is to control system, pass through three-dimensional force change identification sliding, deformation of body etc., artificial tactile is integrated on mechanical finger by realization, is easy to the dexterous stable crawl object of closed-loop control manipulator more intelligence.
Description
Technical field
The utility model is related to manipulator, more particularly, to a kind of with temperature and the apery type of tactile force sensing function machinery
Finger.
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 reponse system.In the feedback information for being supplied to intelligence to equip,
Tactilely-perceptible information is to realize intelligentized important step.The contact force, hardness, bullet of contact object can be obtained by tactile
A variety of physical messages such as property, roughness, temperature.Apery type manipulator is as one of Typical Representative of smart machine, 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 manipulator.Reach that the dexterity operated to Apery manipulator, stability will
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.Sensory perceptual system common at present includes temperature-humidity sensor, three
Tie up force measuring sensors and position measurement sensor, although external information can be provided to a certain extent for manipulator, still
All no and manipulator is tightly combined, and is only simply installed on the manipulator without perceptional function, feedback information is single, it is impossible to complete
The manipulator that provides in face realizes the required ambient parameter of dexterous crawl.
, will be with human hand function class to meet the demand of the puma manipulator of electromechanical integration context-sensitive " perception " to external world
As artificial tactilely-perceptible system be incorporated into arm-and-hand system, be Apery manipulator development inexorable trend and requirement.
Utility model content
The purpose of this utility model is a kind of apery type mechanical finger with temperature and tactile force sensing function of offer, will
Three-dimensional force sensor is integrated in apery type mechanical finger with temperature sensor, is that one kind has three-dimensional force and temperature sensing function
Mechanical finger.
For achieving the above object, the technical solution adopted in the utility model is：
Apery manipulator of the present utility model refer to be divided into bending amplitude it is controllable three section finger metal phalanges be hinged successively and
Into outer surface colour of skin silica gel packaging；Often section finger is hollow, micromachine is arranged in Section of three finger metal phalanges and small-sized
The finger pulp of circuit, first segment finger metal phalanges and second section finger metal phalanges, which is provided with plane groove, plane groove, divides
Not Zhuan You three-dimensional force sensor, first segment finger metal phalanges top semi circular surface is provided with breach, the heat of arc fixed by snap
Conductor and temperature sensor, temperature sensor are brought into close contact in heat conductor inner surface.
The three-dimensional force sensor, includes 4 ~ 64 sensing units of array distribution, each sensing unit from bottom to up according to
Secondary is power transmission convexity layer, sensitive material and flexible circuit layer, and cross sectional dimensions is relevant with the mechanical finger applied, and is highly
2~5mm。
The colour of skin silica gel is dimethyl silicone polymer, Silica hydrogel or Ecoflex.
The heat conductor is aluminium, 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 in 5mm square, measurement range be -50 DEG C ~
300℃。
The utility model has an advantageous effect in that：
Apery manipulator of the present utility model with temperature and three-dimensional force detection sensor refers to, reasonable layout temperature and
Three-dimensional force measuring sensors, therefore the temperature of object and the three-dimensional being applied on object can be contacted with sensitive measurement mechanical finger
Power, and real-time Transmission is to control system, can be realized by three-dimensional force change identification sliding, deformation of body etc. by artificial tactile
It is integrated on mechanical finger, is easy to the dexterous stable crawl object of closed-loop control manipulator more intelligence.
Brief description of the drawings
Fig. 1 is overall appearance schematic diagram of the present utility model.
Fig. 2 (a) is mould appearance schematic diagram of the present utility model.
Fig. 2 (b) is die inside face of the present utility model schematic diagram.
Fig. 2 (c) is another medial surface schematic diagram of mould of the present utility model.
Fig. 3 is sensor distribution schematic diagram of the present utility model.
In figure：1st, first segment finger metal phalanges, 2, second section finger metal phalanges, 3, Section of three finger metal phalanges,
4th, three-dimensional force sensor, 5, temperature sensor, 6, colour of skin silica gel, 7, particular manufacturing craft, 8, mould positioning hole, 9, wire.
Embodiment
The utility model is further described with reference to the accompanying drawings and examples.
As shown in Figure 1, Figure 3, Apery manipulator of the present utility model, which refers to, is divided into three controllable section finger metals of bending amplitude
Phalanges is hinged forms successively, and outer surface colour of skin silica gel 6 is encapsulated；Often section finger is hollow, the cloth in Section of three finger metal phalanges
Put micromachine and miniature circuit, the finger pulp of first segment finger metal phalanges 1 and second section finger metal phalanges 2 is provided with plane
Three-dimensional force sensor 4 is respectively provided with groove, plane groove, the top semi circular surface of first segment finger metal phalanges 1 is provided with breach, led to
Heat conductor and temperature sensor 5 that buckle fixes arc are crossed, temperature sensor 5 is brought into close contact in heat conductor inner surface；Temperature is passed
Sensor 5 can dexterous measurement contact object temperature.
The three-dimensional force sensor 4, includes 4 ~ 64 sensing units of array distribution, each sensing unit from bottom to up according to
Secondary is power transmission convexity layer, sensitive material and flexible circuit layer, and cross sectional dimensions is relevant with the mechanical finger applied, and is highly
2~5mm。
The colour of skin silica gel 6 is dimethyl silicone polymer（PDMS）, Silica hydrogel or Ecoflex etc..
The heat conductor is aluminium, 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 in 5mm square, measurement range be -50 DEG C ~
300℃.And will not because temperature outranges and 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 influence digital flexion.
As shown in Fig. 2 (a), Fig. 2 (b), Fig. 2 (c), it is mould structure schematic diagram, finger metal phalanges is integrally stretched into
In the particular manufacturing craft 7 for filling liquid silica gel, two half molds are alignd by positioning 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.
Operation principle of the present utility model：
As shown in figure 3, wire 9 in finger metal phalanges by the forms such as stickup, buckle be fixed and attached to temperature with
On the drive circuit of three-dimensional force sensor, go out small part as flexion and extension surplus in finger metal finger exposed bone, coat silica gel
Skin.Motor in finger is connected by referring to the wire 9 of root with control axis, and control axis sends the rotation of order controlled motor
Direction and speed, are driven finger the first two hinges to rotate in the way of a kind of drive lacking, realize digital flexion or stretch.
During performing grasping movement, temperature sensor is perceiving environment temperature change always, is converted into electric signal transmission to control
Maincenter, judges whether working environment is suitable；When finger is contacted with object, three-dimensional force sensor experiences grasp force and is converted into electricity
Signal is transferred to control axis, and whether judgment object occurs to slide or by conquassation, so as to provide the order promptly or loosened.
By this closed loop feedback control, the crawl precision and stability of manipulator are improved.
Three-dimensional force sensor 4 is known features, can commercially be chosen.
Above-mentioned embodiment is used for illustrating the utility model, rather than the utility model is limited,
In spirit and scope of the claims of the present utility model, any modifications and changes made to the utility model all fall
Enter protection domain of the present utility model.
Claims (6)
1. a kind of apery type mechanical finger with temperature and tactile force sensing function, it is characterised in that：Apery manipulator, which refers to, to be divided into
Three controllable section finger metal phalanges of bending amplitude are hinged successively to be formed, outer surface colour of skin silica gel（6）Encapsulation；Often in section 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, plane groove and be respectively provided with three-dimensional force sensor（4）, first segment
Finger metal phalanges（1）Top semi circular surface is provided with breach, the heat conductor and temperature sensor of arc fixed by snap（5）, temperature
Spend sensor（5）It is brought into close contact in heat conductor inner surface.
2. a kind of apery type mechanical finger with temperature and tactile force sensing function according to claim 1, its feature exists
In：The three-dimensional force sensor（4）, include 4 ~ 64 sensing units of array distribution, each sensing unit is from bottom to up successively
For power transmission convexity layer, sensitive material and flexible circuit layer, cross sectional dimensions is relevant with the mechanical finger applied, highly for 2 ~
5mm。
3. a kind of apery type mechanical finger with temperature and tactile force sensing function according to claim 1, its feature exists
In：The colour of skin silica gel（6）For dimethyl silicone polymer, Silica hydrogel or Ecoflex.
4. a kind of apery type mechanical finger with temperature and tactile force sensing function according to claim 1, its feature exists
In：The heat conductor is aluminium, steel or steel.
5. a kind of apery type mechanical finger with temperature and tactile force sensing function according to claim 1, its feature exists
In：The temperature sensor（5）For SMD thermal resistance temperature sensor.
6. a kind of apery type mechanical finger with temperature and tactile force sensing function according to claim 2, its feature exists
In：The three-dimensional force sensor（4）, spatial resolution is 1mm ~ 4mm, and range is 0.1N ~ 30N；Its operation principle be pressure resistance type,
Piezoelectric type, condenser type or conducting solution formula；Temperature sensor volume is in 5mm square, and measurement range is -50 DEG C ~ 300
℃。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621394852.4U CN206373923U (en) | 2016-12-19 | 2016-12-19 | A kind of apery type mechanical finger with temperature and tactile force sensing function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621394852.4U CN206373923U (en) | 2016-12-19 | 2016-12-19 | A kind of apery type mechanical finger with temperature and tactile force sensing function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206373923U true CN206373923U (en) | 2017-08-04 |
Family
ID=59406729
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621394852.4U Active CN206373923U (en) | 2016-12-19 | 2016-12-19 | A kind of apery type mechanical finger with temperature and tactile force sensing function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206373923U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625729A (en) * | 2016-12-19 | 2017-05-10 | 浙江大学 | Humanoid type mechanical finger with perceptive functions of temperature and touch force |
| CN111093914A (en) * | 2017-08-14 | 2020-05-01 | 新南创新私人有限公司 | Friction-based tactile sensor for measuring clamping safety |
| CN112873197A (en) * | 2019-11-29 | 2021-06-01 | 韩山师范学院 | Intelligent mechanical arm based on pressure film sensor and working process |
-
2016
- 2016-12-19 CN CN201621394852.4U patent/CN206373923U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625729A (en) * | 2016-12-19 | 2017-05-10 | 浙江大学 | Humanoid type mechanical finger with perceptive functions of temperature and touch force |
| CN111093914A (en) * | 2017-08-14 | 2020-05-01 | 新南创新私人有限公司 | Friction-based tactile sensor for measuring clamping safety |
| CN111093914B (en) * | 2017-08-14 | 2023-01-03 | 肯塔泰尔私人有限公司 | Friction-based tactile sensor for measuring clamping safety |
| US11945098B2 (en) | 2017-08-14 | 2024-04-02 | Contactile Pty Ltd | Friction-based tactile sensor for measuring grip security |
| CN112873197A (en) * | 2019-11-29 | 2021-06-01 | 韩山师范学院 | Intelligent mechanical arm based on pressure film sensor and working process |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106625729A (en) | Humanoid type mechanical finger with perceptive functions of temperature and touch force | |
| Shih et al. | Custom soft robotic gripper sensor skins for haptic object visualization | |
| Guo et al. | 3D printed stretchable tactile sensors | |
| Park et al. | Exoskeletal force-sensing end-effectors with embedded optical fiber-Bragg-grating sensors | |
| Roberts et al. | Soft-matter capacitive sensor for measuring shear and pressure deformation | |
| Din et al. | A stretchable multimodal sensor for soft robotic applications | |
| She et al. | Design and fabrication of a soft robotic hand with embedded actuators and sensors | |
| Jamone et al. | Highly sensitive soft tactile sensors for an anthropomorphic robotic hand | |
| Al-Handarish et al. | A survey of tactile-sensing systems and their applications in biomedical engineering | |
| Jin et al. | Bioinspired soft caterpillar robot with ultra-stretchable bionic sensors based on functional liquid metal | |
| CN206373923U (en) | A kind of apery type mechanical finger with temperature and tactile force sensing function | |
| CN108318162A (en) | A kind of flexible sensor and preparation method thereof | |
| JP2017526543A (en) | Sensors for soft robots and soft actuators | |
| KR20160124755A (en) | Conformal electronics with deformation indicators | |
| CN111751038B (en) | High-sensitivity capacitive flexible three-dimensional force touch sensor based on bionic mushroom structure | |
| McInroe et al. | Towards a soft fingertip with integrated sensing and actuation | |
| CN111947813B (en) | Fully-flexible capacitive three-dimensional force touch sensor based on corrugated pipe microstructure | |
| Wang et al. | A highly stretchable hydrogel sensor for soft robot multi-modal perception | |
| Kim et al. | Microdome-induced strain localization for biaxial strain decoupling toward stretchable and wearable human motion detection | |
| Kim et al. | A soft three-axis load cell using liquid-filled three-dimensional microchannels in a highly deformable elastomer | |
| Tomar et al. | Multi-layer robot skin with embedded sensors and muscles | |
| Goh et al. | 3D printing of soft sensors for soft gripper applications | |
| Liu et al. | Fully soft pressure sensor based on bionic spine–pillar structure for robotics motion monitoring | |
| Zhang et al. | A gas–ribbon-hybrid actuated soft finger with active variable stiffness | |
| Jiao et al. | Self-sensing actuators with programmable actuation performances for soft robots |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |