CN214772102U - Touch sensing fingertip device and robot - Google Patents
Touch sensing fingertip device and robot Download PDFInfo
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- CN214772102U CN214772102U CN202023254526.2U CN202023254526U CN214772102U CN 214772102 U CN214772102 U CN 214772102U CN 202023254526 U CN202023254526 U CN 202023254526U CN 214772102 U CN214772102 U CN 214772102U
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Abstract
The utility model provides a sense of touch perception fingertip device and robot. The utility model provides a sense of touch perception fingertip device includes: 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. The utility model provides a sense of touch perception fingertip device, through set up a plurality of piezoelectric film sensors in flexible fingertip main part, when flexible fingertip main part with snatch the thing contact, piezoelectric film sensor can send out the signal of telecommunication according to the pressure that the perception was arrived to make the host computer can judge sense of touch perception fingertip device and snatch the concrete position of thing contact and snatch the power according to received pressure data, improved the perception sensitivity of sense of touch perception fingertip device.
Description
Technical Field
The utility model relates to the technical field of robot, especially, relate to a sense of touch perception fingertip device and 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.
SUMMERY OF THE UTILITY MODEL
The utility model provides a sense of touch perception fingertip device and robot for solve among the prior art defect that sense of touch perception device perception sensitivity is low.
The utility model provides a sense of touch perception fingertip device, include: 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 utility model provides a pair of sense of touch perception fingertip device, flexible fingertip main part 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.
According to the utility model provides a pair of sense of touch perception fingertip device, every piezoelectric film sensor is the U-shaped structure to the joint is in the first surface.
According to the utility model provides a pair of sense of touch perception fingertip device, flexible fingertip main part still includes flexible shell, flexible liner sets up in the flexible shell, just the appearance of flexible shell with the appearance phase-match of flexible liner.
According to the utility model provides a pair of sense of touch perception fingertip device, the first surface of flexible casing is provided with temperature sensor, the first surface of flexible liner with the corresponding position of temperature sensor is formed with the temperature sensor connector, wherein, the first surface of flexible casing with the first surface of flexible liner closes on the setting.
According to the utility model provides a pair of sense of touch perception fingertip device still includes the circuit board, sets up in the flexible casing to be located and keep away from one side of the first surface of flexible liner, temperature sensor passes the temperature sensor connector with circuit board electric connection.
According to the utility model provides a pair of sense of touch perception fingertip device, the circuit board is with a plurality of piezoelectric film sensor electric connection.
According to the utility model provides a pair of sense of touch perception fingertip device, flexible casing includes: 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 utility model provides a pair of sense of touch perception fingertip device, the surface of flexible protecgulum is formed with a plurality of wales.
The utility model also provides a robot, including a plurality of as above touch perception fingertip devices, it is a plurality of touch perception fingertip devices set up respectively the fingertip of the manipulator of robot.
The utility model provides a sense of touch perception fingertip device, through set up a plurality of piezoelectric film sensors in flexible fingertip main part, when flexible fingertip main part with snatch the thing contact, piezoelectric film sensor can send out the signal of telecommunication according to the pressure that the perception was arrived to make the host computer can judge sense of touch perception fingertip device and snatch the concrete position of thing contact and snatch the power according to received pressure data, improved the perception sensitivity of sense of touch perception fingertip device.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the following briefly introduces the drawings required for the embodiments or the prior art descriptions, and obviously, the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic view of the overall structure of a finger tip tactile sensing device provided by the present invention;
fig. 2 is an exploded view of the tactile fingertip sensing device provided by the present invention;
fig. 3 is a cross-sectional view of a tactile fingertip device provided in the present invention;
fig. 4 is a schematic structural diagram of a circuit control unit of the tactile fingertip sensing device provided by 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
To make the objects, technical solutions and advantages of the present invention clearer, the drawings of the present invention are combined to clearly and completely describe the technical solutions of the present invention, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
The tactile fingertip sensing device and the robot of the present invention will be described below with reference to fig. 1 to 4.
As shown in fig. 2 and fig. 3, the tactile fingertip device provided by the embodiment of the present invention includes a fingertip body, and a plurality of piezoelectric film sensors 201 are provided in the fingertip body to collect pressure information received by the flexible fingertip body.
Particularly, in an embodiment of the present invention, the fingertip body is made of a flexible material, which can be restored to its original shape after being deformed greatly. 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, optionally, the material of the piezoelectric film sensor 201 is polyvinylidene fluoride, which can deform along with the deformation of the fingertip body and can recover to its original shape when not contacting with the object.
The utility model provides a sense of touch perception fingertip device, through set up a plurality of piezoelectric film sensors in flexible fingertip main part, when flexible fingertip main part with snatch the thing contact, piezoelectric film sensor can send out the signal of telecommunication according to the pressure that the perception was arrived to make the host computer can judge sense of touch perception fingertip device and snatch the concrete position of thing contact and snatch the power according to received pressure data, improved the perception sensitivity of sense of touch perception fingertip device.
As shown in fig. 2 and 3, in an embodiment of the present invention, the flexible fingertip body includes a flexible pad 210, and the plurality of piezoelectric film sensors 201 are respectively attached to two 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 an embodiment of the present invention, the flexible liner 210 is made of a flexible material, which can be restored to its original shape after a large deformation occurs. Optionally, the material of the flexible gasket 210 may be soft silicone or rubber.
Further, in an embodiment of the present invention, the plurality of piezoelectric film sensors 201 are fixed at both ends of the first surface of the flexible liner 210 by glue.
In one embodiment of the present invention, each piezoelectric film sensor 201 is a U-shaped structure to be engaged with 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 listed in the embodiments of the present invention, for example, the piezoelectric film sensor 201 can be a straight plate shape and directly fixed on the flexible pad 210.
The embodiment of the utility model provides a touch perception fingertip device through designing piezoelectric film sensor into the U-shaped structure, makes its joint at the first surface of flexible liner, makes its in-process taking place deformation can be connected with flexible liner 210 all the time, and can not take place to drop.
In an embodiment of the present invention, the flexible fingertip body further includes a housing, the flexible pad 210 is disposed inside the housing, and the shape of the housing matches with the shape of the flexible pad 210, so that when the housing deforms, the flexible pad 210 deforms synchronously with the housing.
Further, in an embodiment of the present invention, the housing is made of a flexible material, and the housing can be restored to its original shape after being deformed greatly. 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 touch sensing fingertip device further includes a circuit board 301 disposed in the flexible casing and located on one side of the first surface of the flexible gasket 210 for real-time communication with the upper computer or the host computer, so as to collect the pressure information and the temperature information from the piezoelectric film sensor 201 and the temperature sensor 202 and transmit the pressure information and the temperature information 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 present invention, the 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 present invention, the surface of the flexible front cover 101 is formed with a plurality of ribs 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 utility model provides a robot is still provided, including a plurality of touch-sensation perception fingertip devices, a plurality of touch-sensation perception fingertip devices set up the fingertip at the manipulator of robot respectively, make the manipulator have sensitive perceptibility just like human finger.
The embodiment of the utility model provides a robot, every fingertip position through the manipulator at the robot sets up touch perception fingertip device, give the sensitive perception ability of manipulator, when it snatchs the object, can judge the position of object and manipulator contact and the size of grabbing power, but simultaneously the perception grabs the temperature of getting the thing, in order to avoid grabbing the too high burning out touch perception fingertip device of thing temperature, the sensitivity of manipulator operation has been improved, make the perception of manipulator more exquisite, it is accurate, make it not only be applicable to general industrial production, also can be applicable to if the laser chip snatchs, in more meticulous production processes such as transport, and simultaneously, also be applicable to the medical industry, the suitability of robot has been strengthened, make it have more extensive application.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; 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; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.
Claims (10)
1. A finger tip tactile sensing device to be attached to a finger tip of a manipulator, 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 |
|---|---|---|---|
| CN202023254526.2U CN214772102U (en) | 2020-12-29 | 2020-12-29 | Touch sensing fingertip device and robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023254526.2U CN214772102U (en) | 2020-12-29 | 2020-12-29 | Touch sensing fingertip device and robot |
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| CN214772102U true CN214772102U (en) | 2021-11-19 |
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| CN202023254526.2U Active CN214772102U (en) | 2020-12-29 | 2020-12-29 | Touch sensing fingertip device and robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114211516A (en) * | 2021-12-31 | 2022-03-22 | 重庆电子工程职业学院 | Flexible machine touch sensing device |
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- 2020-12-29 CN CN202023254526.2U patent/CN214772102U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114211516A (en) * | 2021-12-31 | 2022-03-22 | 重庆电子工程职业学院 | Flexible machine touch sensing device |
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