KR102265155B1 - Force Sensing Gripper and Method for Manufacturing thereof - Google Patents

Abstract

The present invention provides a sensing gripper which can easily manufacture a sensing gripper. The sensing gripper includes two or more finger units comprising: a first joint unit including a first finger bone and a first sensor skin formed on the surface of at least one side of the first finger bone, having a larger ductility than the first finger bone, and sensing a contact force applied to an object when coming in contact with the object; a second joint unit including a second finger bone and a second sensor skin formed on the surface of at least one side of the second finger bone, having a larger ductility than the second finger bone, and sensing a contact force applied to the object when coming in contact with the object; and a joint unit connecting the first joint unit and the second joint unit, bending during a gripping operation of the finger units, and sensing the bending angle thereof from bending. The first sensor skin includes: a first lower sensor layer formed on the surface of at least one side of the first finger bone; a first upper sensor layer formed on the first lower sensor layer and exposed to the outside; and a first core sensor layer formed between the first lower sensor layer and the first upper sensor layer and having a light waveguide mode.

Description

Sensing gripper and method for manufacturing thereof

The present invention relates to a sensing gripper and a manufacturing method thereof, and more particularly, to a sensing gripper capable of simultaneously sensing not only a contact force applied to an object when in contact with an object, but also a bending angle of a joint during a bending operation, and a manufacturing method thereof will be.

As robot technology develops, many robots are being used in industrial sites or home environments. As an industrial robot, a gripper is used to grab or grip atypical objects.

In general, robot grippers and hands usually use a rigid link, but when in contact with an object, the finger is required to be made soft, as soft contact is more stable and safer for interaction with the object.

Conventional SDM (shape deposition manufacturing) fingers are manufactured with soft joints and tips, but in the end, in order to apply sensors to these fingers to be used in gripper manufacturing, contact sensors for measuring bending or joint angles of fingers as well as contact force with objects I need another type of external pressure sensor.

Fabrication of SDM fingers is generally complex, time-consuming, and often fails over multiple attempts, requiring a lot of time to complete.

One technical problem to be solved by the present invention is to provide a sensing gripper capable of simultaneously sensing not only a contact force applied to an object when it comes into contact with an object, but also a bending angle of a joint during a bending operation, and a manufacturing method thereof.

Another technical problem to be solved by the present invention is to provide a method for manufacturing a force sensing gripper capable of easily manufacturing the sensing gripper.

The technical problem to be solved by the present invention is not limited to the above.

In order to solve the above technical problem, the present invention provides a sensing gripper.

According to an embodiment, the sensing gripper includes a first phalanx and a first phalanx formed on at least one surface of the first phalanx, having greater ductility than the first phalanx, and sensing a contact force applied to the object when in contact with the object 1 first knurled portion including a sensor skin; A second joint portion comprising a second sensor skin formed on at least one surface of the second phalanx and at least one surface of the second phalanx and having greater ductility than the second phalanx and sensing a contact force applied to the object when in contact with the object ; and a finger part connecting the first joint part and the second joint part, bending during the gripping operation of the finger part, and including a joint part sensing a bending angle of the finger part according to the bending, and comprising at least two finger parts, 1 sensor skin, a first lower sensor layer formed on at least one surface of the first phalanx; a first upper sensor layer formed on the first lower sensor layer and exposed to the outside; and a first core sensor layer formed between the first lower sensor layer and the first upper sensor layer and having an optical waveguide mode.

According to an embodiment, the first core sensor layer may be formed in plurality, and the plurality of first core sensor layers may be arranged to cross each other.

According to one embodiment, the second sensor skin, a second lower sensor layer formed on at least one surface of the second phalanx; a second upper sensor layer formed on the second lower sensor layer and exposed to the outside; and a second core sensor layer formed between the second lower sensor layer and the second upper sensor layer and having an optical waveguide mode, wherein the second core sensor layer is formed in a smaller number than the first core sensor layer. can

According to an embodiment, the first lower sensor layer and the second lower sensor layer are made of a first elastomer, the first core sensor layer and the second core sensor layer are made of a second elastomer, and the first lower sensor layer and the second lower sensor layer are made of a second elastomer. The first upper sensor layer and the second upper sensor layer may be formed of a third elastomer, wherein the first elastomer has the smallest ductility and the third elastomer has the highest relative ductility.

According to an embodiment, the first elastomer and the third elastomer may include a pigment.

According to one embodiment, the joint portion, extending in one direction, both ends in the longitudinal direction are coupled to the first node and the second node, respectively, a core sensor unit having an optical waveguide mode; And it may include an outer skin provided in the form of surrounding the outer peripheral surface of the core sensor unit.

According to an embodiment, the outer skin may include a pigment.

According to one embodiment, further comprising a third node portion positioned between the second node portion and the palm portion, wherein the third node portion is formed on at least one surface of the third phalanx and the third phalanx and the third It includes a skin having greater ductility than the phalanx, and the joint portion may be further provided between the second joint portion and the third joint portion.

Meanwhile, the present invention provides a method for manufacturing a sensing gripper.

According to an embodiment, a method for manufacturing a sensing gripper includes: forming a phalanx of the sensing gripper simultaneously forming a first phalanx forming a distal joint of a finger portion and a second phalange forming an intermediate joint of the finger portion; a sensor skin forming step of forming a sensor skin on at least one surface of the first phalanx and the second phalanx for sensing a contact force applied to the object when in contact with the object; And between the first phalanx and the second phalanx, it may include a joint portion forming step of forming a joint for sensing the bending angle of the bending motion.

According to one embodiment, the mold used in the phalanx forming step, the sensor skin forming step and the joint part forming step may be a soft mold made by filling an elastomer in a rigid mold manufactured through 3D printing and then drying the elastomer. have.

According to an embodiment, in the sensor skin forming step, a lower sensor layer, a core sensor layer having an optical waveguide mode, and an upper sensor layer exposed to the outside are sequentially stacked on at least one surface of the first and second phalanges. to form the sensor skin having a multilayer structure, and in the formed sensor skin, the ductility of the lower sensor layer may be relatively smallest and the ductility of the upper sensor layer may be relatively greatest.

According to an embodiment, in the joint part forming step, the first phalanx and the second phalanx are connected between the first phalanx and the second phalanx in which the sensor skin is formed on at least one surface, and a core sensor unit having an optical waveguide mode and an outer skin surrounding the outer circumferential surface of the core sensor unit may be sequentially formed to form the joint unit.

According to an embodiment of the present invention, the first sensor is formed on at least one surface of the first phalanx and the first phalanx, has greater ductility than the first phalanx, and senses a contact force applied to the object when in contact with the object a first knurled portion including a skin; A second joint portion comprising a second sensor skin formed on at least one surface of the second phalanx and at least one surface of the second phalanx and having greater ductility than the second phalanx and sensing a contact force applied to the object when in contact with the object ; and a finger part connecting the first joint part and the second joint part, bending during the gripping operation of the finger part, and including a joint part sensing a bending angle of the finger part according to the bending, and comprising at least two finger parts, 1 sensor skin, a first lower sensor layer formed on at least one surface of the first phalanx; a first upper sensor layer formed on the first lower sensor layer and exposed to the outside; and a first core sensor layer formed between the first lower sensor layer and the first upper sensor layer and having an optical waveguide mode.

Accordingly, the sensing gripper capable of simultaneously sensing not only the contact force applied to the object when it comes into contact with the object but also the bending angle of the joint during operation may be provided.

Further, according to an embodiment of the present invention, a method for manufacturing a sensing gripper capable of easily manufacturing a sensing gripper by using a soft mold for each manufacturing step may be provided.

1 is a reference diagram illustrating a sensing gripper according to an embodiment of the present invention.
2 is a schematic diagram illustrating a finger portion of a sensing gripper according to an embodiment of the present invention.
3 is a schematic cross-sectional view showing a first knurled portion of a finger portion according to an embodiment of the present invention.
FIG. 4 is a cross-sectional view taken along line A-A' of FIG. 3 .
5 is a schematic diagram illustrating a first core sensor layer pattern according to an embodiment of the present invention.
6 is a cross-sectional schematic view showing a second knurled portion of a finger portion according to an embodiment of the present invention.
7 is a cross-sectional view taken along line B-B' of FIG. 6 .
8 is a schematic diagram illustrating a second core sensor layer pattern according to an embodiment of the present invention.
9 is a cross-sectional view showing a joint portion according to an embodiment of the present invention.
10 is a cross-sectional view taken along line C-C' of FIG. 9 .
11 is a cross-sectional view illustrating a third knurled portion of a finger portion according to an embodiment of the present invention.
12 is a flowchart illustrating a method for manufacturing a sensing gripper according to an embodiment of the present invention.
13 is a reference view showing the rigid mold, the soft mold, and the phalanges formed through the rigid mold used in step S110 of FIG.
14 is a reference view illustrating a rigid mold and a soft mold used for forming the lower sensor layer used in step S120 of FIG. 12 and phalanges on which the lower sensor layer is formed on the surface thereof.
15 is a reference view illustrating a rigid mold and a soft mold used for forming an upper sensor layer in step S120 of FIG. 12 and first to third nodes made therefrom.
FIG. 16 is a reference view illustrating the rigid mold and soft mold used in step S130 of FIG. 12 and the finger part of the sensing gripper manufactured therefor.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the technical spirit of the present invention is not limited to the embodiments described herein and may be embodied in other forms. Rather, the embodiments introduced herein are provided so that the disclosed content may be thorough and complete, and the spirit of the present invention may be sufficiently conveyed to those skilled in the art.

In this specification, when a component is referred to as being on another component, it may be directly formed on the other component or a third component may be interposed therebetween. In addition, in the drawings, the shape and size are exaggerated for effective description of technical content.

In addition, in various embodiments of the present specification, terms such as first, second, third, etc. are used to describe various components, but these components should not be limited by these terms. These terms are only used to distinguish one component from another. Accordingly, what is referred to as a first component in one embodiment may be referred to as a second component in another embodiment. Each embodiment described and illustrated herein also includes a complementary embodiment thereof. In addition, in the present specification, 'and/or' is used to mean including at least one of the elements listed before and after.

In the specification, the singular expression includes the plural expression unless the context clearly dictates otherwise. In addition, terms such as "comprise" or "have" are intended to designate that a feature, number, step, element, or a combination thereof described in the specification is present, and one or more other features, numbers, steps, configuration It should not be construed as excluding the possibility of the presence or addition of elements or combinations thereof. Also, in the present specification, the term “connection” is used to include both indirectly connecting a plurality of components and directly connecting a plurality of components.

In addition, in the following description of the present invention, if it is determined that a detailed description of a related well-known function or configuration may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted.

1 to 11 are diagrams for explaining a sensing gripper according to an embodiment of the present invention.

As shown in FIG. 1 , the sensing gripper 10 according to an embodiment of the present invention may include at least two finger parts 100 that are in contact with an object and grip or grip the object. In this case, the sensing gripper 10 may further include a palm part 200 and a wrist part 300 for supporting and operating the finger part 100 .

Briefly describing the palm part 200 and the wrist part 300 , first, the palm part 200 provides a mounting space for the finger part 100 . The palm part 200 may be a holder for supporting the finger part 100 to be mounted. The palm part 200 is provided between the finger part 100 and the wrist part 300 . That is, the finger part 100 may be mounted on the upper side of the palm part 200 , and the wrist part 300 may be connected on the lower side thereof.

The wrist part 300 may be connected to the lower side of the palm part 200 . At this time, at least one actuator (not shown) for operating the finger part 100 may be mounted on the wrist part 300 . At least one actuator (not shown) may be connected to the finger part 100 through the palm part 200 and operate it. In this case, the number of actuators (not shown) may correspond to the number of finger units 100 formed, and one integrated actuator (not shown) may simultaneously control several finger units 100 . Such an actuator (not shown) may be formed of, for example, a combination of a driving motor and various gears.

At least two finger units 100 may be provided to enable gripping of an object. The finger part 100 may be mounted on the palm part 200 to face the upper side of the palm part 200 , and is connected to an actuator (not shown) provided in the wrist part 300 to perform bending and unfolding operations. can do.

Referring to FIG. 2 , the finger part 100 according to an embodiment of the present invention may include a first joint part 110 , a second joint part 120 , and a joint part 130 .

The first knurled portion 110 may be defined as an outermost knurled portion of the finger portion 100 . That is, the first knurled part 110 is a part in the finger part 100 that is in direct contact with an object or a part that is in intensive contact with the object when gripping or gripping an object. It is the distal part of the fingertip part 100 to be focused.

3 and 4 , the first knurled portion 110 according to an embodiment of the present invention may be formed to include a first phalanx 111 and a first sensor skin 112 .

The first phalanx 111 is a member supporting the shape of the first sensor skin 112 , and functions as a finger bone in an actual finger, and may have a set volume and shape corresponding thereto. At least one surface of the first phalanx 111 may be covered with the first sensor skin 112 . The first phalanx 111 may have a rigidity than the first sensor skin 112 . That is, the first phalanx 111 may have weaker ductility than the first sensor skin 112 . For example, the first phalanx 111 may be made of a heat-resistant polyurethane resin (eg, Task 8 of SMOOTH-ON Corporation). However, this is only an example, and the first phalanx 111 may be made of various types of semi-rigid elastomer materials.

The first sensor skin 112 may be formed on at least one surface of the first phalanx 111 . The first sensor skin 112 may serve to protect the first phalanx 111 from the external environment.

The first sensor skin 112 may have greater ductility than the first phalanx 111 . Accordingly, the first sensor skin 112 in contact with the object may be deformed according to the applied contact force. The first sensor skin 112 according to an embodiment of the present invention may sense a contact force applied to the object when it comes into contact with the object. In addition, the first sensor skin 112 may also sense the position of the contact point. In this way, the contact force sensed by the first sensor skin 112 and the information on the position of the contact point are recorded and stored, and the finger part provided in the gripper 10 to grip or hold the object. (100) can be used as a set value to control the contact force.

To this end, the first sensor skin 112 according to an embodiment of the present invention may have a multi-layered optical sensor structure.

That is, in an embodiment of the present invention, the first sensor skin 112 may be formed to include a first lower sensor layer 112a, a first upper sensor layer 112b, and a first core sensor layer 112c. have.

The first lower sensor layer 112a may be formed to form a layer on at least one surface of the first phalanx 111 . The first lower sensor layer 112a may be made of an elastomer material. In this case, in order to have a difference in ductility from the first upper sensor layer 112b, it may be formed of a different type of elastomer from the first upper sensor layer 112b.

The first lower sensor layer 112a may have relatively less ductility than the first upper sensor layer 112b. This is to sense the contact force by deforming only the first upper sensor layer 112b when the first knurled portion 110 comes into contact with the object. For example, the first lower sensor layer 112a may be formed of a semi-rigid black urethane casting resin (eg, Task 13 of SMOOTH-ON).

Meanwhile, on the upper surface of the first lower sensor layer 112a, a waveguide for forming the first core sensor layer 112c through which infrared rays pass may be provided in the depth direction.

Referring to FIG. 4 , in an embodiment of the present invention, the first lower sensor layer 112a may include two waveguides crossing each other. Through this, two first core sensor layers 112c crossing each other may be formed on the first lower sensor layer 112a. Here, as the number of waveguides is formed, the number of the first core sensor layers 112c is increased accordingly, and accordingly, the sensing sensitivity for sensing the contact force may be further improved.

In this case, a dye may be dispersed inside the first lower sensor layer 112a to increase the amount of total reflection of infrared rays passing through the first core sensor layer 112c to improve sensing sensitivity.

The first upper sensor layer 112b may be formed on the first lower sensor layer 112a. The first upper sensor layer 112b is exposed to the outside in the first knurled portion 110 and is in contact with the object. The first upper sensor layer 112b may be made of an elastomer material. In this case, the first upper sensor layer 112b may be formed of a different type of elastomer from the first lower sensor layer 112a in order to have a difference in ductility from the first lower sensor layer 112a.

The first upper sensor layer 112b may have relatively greater ductility than the first lower sensor layer 112a. Through this, only the first upper sensor layer 112b directly in contact with the object may be deformed when it comes into contact with the object. For example, the first upper sensor layer 112b may be formed of a silicone resin (eg, Eco-Flex 30 manufactured by SMOOTH-ON).

The first upper sensor layer 112b includes a first core sensor layer 112c formed in the waveguide provided in the depth direction on the upper surface of the first lower sensor layer 112a on the first lower sensor layer 112a. It may be provided in the form of being wrapped together with the lower sensor layer 112b.

At this time, inside the first upper sensor layer 112b, like the first lower sensor layer 112a, the dye is added to increase the total reflection amount of infrared rays passing through the first core sensor layer 112c to improve the sensing sensitivity. can be dispersed.

The first core sensor layer 112c may be formed between the first lower sensor layer 112a and the first upper sensor layer 112b. A plurality of first core sensor layers 112c may be provided.

5 , the plurality of first core sensor layers 112c may be arranged in a shape that crosses each other, for example, a cross shape. The first core sensor layer 112c is a first lower sensor layer 112a It is formed on the two waveguides constituting the cross structure provided in the cross section to form a cross structure.

The first core sensor layer 112c according to an embodiment of the present invention may have an optical waveguide mode. To this end, although not shown, a first light source, for example, an LED may be provided on one side of one first core sensor layer 112c, and a photodiode may be provided on the other side. Accordingly, the light emitted from the first light source may pass through the first core sensor layer 112c and be incident toward the photodiode to be converted into an electrical signal. In this case, the first upper sensor layer 112b and the first core sensor layer 112c are deformed upon contact with the object, and the degree of deformation varies according to the contact force. As a result, the amount of light incident to the photodiode, which is the light receiving unit, also changes. Therefore, it is possible to estimate how much contact force is applied to the object through the electrical signal generated by the photodiode.

In addition, a second light source, for example, an IRED, may be provided on one side of the other first core sensor layer 112c intersecting with the one first core sensor layer 112c, and a photodiode may be provided on the other side. have. Accordingly, the second light source may pass through the other first core sensor layer 112c and be incident toward the photodiode, and may be converted into an electrical signal by the photodiode.

In an embodiment of the present invention, the reason for using two different light sources is that the two first core sensor layers 112c cross each other in a cross shape, and thus share a central portion. In this case, the two first core sensor layers 112c are crossed. This is to prevent interference in each waveguide mode of the core sensor layer 112c.

Meanwhile, the first core sensor layer 112c may have intermediate ductility between the first lower sensor layer 112a and the first upper sensor layer 112b. That is, ductility may increase in the order of the first lower sensor layer 112a, the first core sensor layer 112c, and the first upper sensor layer 112b. To this end, the first core sensor layer 112c may be made of an elastomer material different from the first lower sensor layer 112a and the first upper sensor layer 112b. For example, the first core sensor layer 112c may be made of urethane rubber (eg, VytaFlex 30 manufactured by SMOOTH-ON).

6 and 7 , the second joint part 120 may be formed to include the second phalanx 121 and the second sensor skin 122 .

The second phalanx 121 is a member that supports the shape of the second sensor skin 122 , and functions as a finger bone in an actual finger, and may have a set volume and shape corresponding thereto. At least one surface of the second phalanx 121 may be covered with the second sensor skin 122 . The second phalanx 121 may have a rigidity than the second sensor skin 122 . That is, the second phalanx 121 may have weaker ductility than the first sensor skin 122 .

The second phalanx 121 may be made of the same material as the first phalanx 111 . For example, the second phalanx 121 may be made of a heat-resistant polyurethane resin (eg, Task 8 of SMOOTH-ON Corporation). However, this is only an example, and the second phalanx 121 may be made of various types of semi-rigid elastomer materials.

The second sensor skin 122 may be formed on at least one surface of the second phalanx 121 . The second sensor skin 122 may serve to protect the second phalanx 121 from the external environment.

The second sensor skin 122 may have greater ductility than the second phalanx 121 . Accordingly, the second sensor skin 122 in contact with the object may be deformed according to the applied contact force. The second sensor skin 122 according to an embodiment of the present invention may sense a contact force applied to the object when it comes into contact with the object. In addition, the second sensor skin 122 may also sense the position of the contact point. In this way, the information on the contact force sensed by the second sensor skin 122 and the position of the contact point is recorded and stored, and may be used as a set value for controlling the force of the gripper 10 performing the gripping operation. .

To this end, the second sensor skin 122 according to an embodiment of the present invention, like the first sensor skin 112 , may have a multi-layered optical sensor structure.

That is, in an embodiment of the present invention, the second sensor skin 122 may be formed to include a second lower sensor layer 122a, a second upper sensor layer 122b, and a second core sensor layer 122c. have.

The second lower sensor layer 122a may be formed to form a layer on at least one surface of the second phalanx 121 . The second lower sensor layer 122a may be made of an elastomer material. In this case, in order to have a difference in ductility from the second upper sensor layer 122b, it may be made of a different type of elastomer from the second upper sensor layer 122b.

The second lower sensor layer 122a may have relatively less ductility than the second upper sensor layer 122b. This is to sense the contact force by deforming only the second upper sensor layer 122b when the second knurled portion 120 comes into contact with the object.

The second lower sensor layer 122a may be made of the same material as the first lower sensor layer 112a. For example, the second lower sensor layer 122a, like the first lower sensor layer 112a, may be made of a semi-rigid black urethane casting resin (eg, Task 13 of SMOOTH-ON Corporation).

Meanwhile, on the upper surface of the second lower sensor layer 122a, a waveguide for forming the second core sensor layer 122c through which infrared rays pass may be provided in the depth direction.

Referring to FIG. 8 , in an embodiment of the present invention, the second lower sensor layer 122a may include one waveguide. Through this, one second core sensor layer 122c may be formed on the second lower sensor layer 122a. This is because the second knurled portion 120 is a portion of one side of the finger portion 100 that has relatively less contact with an object than the first knurled portion 110 .

In this case, a dye may be dispersed inside the second lower sensor layer 122a to increase the amount of total reflection of infrared rays passing through the second core sensor layer 122c to improve sensing sensitivity.

The second upper sensor layer 122b may be formed on the second lower sensor layer 122a. The second upper sensor layer 122b is exposed to the outside from the second knurled portion 120 and is in contact with the object. The second upper sensor layer 122b may be made of an elastomer material. In this case, the second upper sensor layer 122b may be formed of a different type of elastomer from the second lower sensor layer 122a in order to have a difference in ductility from the second lower sensor layer 122a.

The second upper sensor layer 122b may be relatively more flexible than the second lower sensor layer 122a. Through this, only the second upper sensor layer 122b directly in contact with the object may be deformed when it comes into contact with the object.

The second upper sensor layer 122b may be made of the same material as the first upper sensor layer 112b. For example, the second upper sensor layer 122b, like the first upper sensor layer 112b, may be made of a silicone resin (eg, Eco-Flex 30 manufactured by SMOOTH-ON).

The second upper sensor layer 122b includes a second core sensor layer 122c formed in the waveguide provided in the depth direction on the upper surface of the second lower sensor layer 122a on the second lower sensor layer 122a. It may be provided in the form of being wrapped together with the lower sensor layer 122b.

At this time, inside the second upper sensor layer 122b, like the second lower sensor layer 122a, the dye is added to increase the total reflection amount of infrared rays passing through the second core sensor layer 122c to improve the sensing sensitivity. can be dispersed.

The second core sensor layer 122c may be formed between the second lower sensor layer 122a and the second upper sensor layer 122b. In an embodiment of the present invention, the second core sensor layer 122c may be formed in a smaller number than the first core sensor layer 112c. In an embodiment of the present invention, as two first core sensor layers 112c are provided in a cross shape, one second core sensor layer 122c may be provided. This is because the second knurled portion 120 provided with the second core sensor layer 122c has relatively less contact with the object than the first knurled portion 110 .

That is, referring to FIG. 8 , one second core sensor layer 122c may be formed in one direction between the second lower sensor layer 122a and the second upper sensor layer 122b.

The second core sensor layer 122c according to an embodiment of the present invention may have an optical waveguide mode. To this end, although not shown, a light source such as an LED or an IRED may be provided on one side of the second core sensor layer 122c, and a photodiode may be provided on the other side of the second core sensor layer 122c. Accordingly, light emitted from the light source, for example, infrared light, passes through the second core sensor layer 122c and is incident toward the photodiode, and may be converted into an electrical signal by the photodiode.

Meanwhile, the second core sensor layer 122c may have intermediate ductility between the second lower sensor layer 122a and the second upper sensor layer 122b. That is, ductility may increase in the order of the second lower sensor layer 122a , the second core sensor layer 122c , and the second upper sensor layer 122b . To this end, the second core sensor layer 122c may be made of an elastomer material different from the second lower sensor layer 122a and the second upper sensor layer 122b. The second core sensor layer 122c may be made of the same material as the first core sensor layer 112c. For example, the second core sensor layer 122c, like the first core sensor layer 112c, may be made of urethane rubber (eg, VytaFlex 30 manufactured by SMOOTH-ON).

9 and 10 , the joint part 130 may be provided between the first joint part 110 and the second joint part 120 . The joint part 130 may connect the first joint part 110 and the second joint part 120 . The finger part 100 may perform a bending operation and an unfolding operation by the joint part 130 .

The joint part 130 is bent when the finger part 100 tries to grip the object, so that the first joint part 110 or the first joint part 110 or the first joint part 110 and the second joint part 120 can contact the object. can do. In this case, the joint part 130 according to an embodiment of the present invention may sense a bending angle of itself according to bending. In this way, the information on the bending angle of the joint sensed by the joint part 130 is recorded and stored, and the bending angle of the finger part 100 provided in the gripper 10 to be gripped or gripped on an object is performed. It can be used as a setting value to control

To this end, the joint part 130 according to an embodiment of the present invention may be formed to include the core sensor part 131 and the outer skin 132 .

The core sensor unit 131 may extend in one direction. Both end portions in the longitudinal direction of the core sensor unit 131 may be respectively coupled to the first knurled portion 110 and the second knurled portion 120 .

The core sensor unit 131 according to an embodiment of the present invention may have an optical waveguide mode. To this end, although not shown, a light source such as an LED or an IRED may be provided on one side in the longitudinal direction of the core sensor unit 131 , and a photodiode may be provided on the other side of the core sensor unit 131 . Accordingly, light emitted from the light source, for example, infrared rays, passes through the core sensor unit 131 in the longitudinal direction and is incident toward the photodiode, and may be converted into an electrical signal by the photodiode.

The core sensor unit 131 may be made of an elastomer material. For example, the core sensor unit 131 may be made of a semi-rigid black urethane casting resin (eg, Task 13 of SMOOTH-ON Corporation).

The outer skin 132 may be provided in a shape surrounding the outer peripheral surface of the core sensor unit 131 . Accordingly, only the outer skin 132 may be exposed to the outside. At this time, the outer skin 132 according to an embodiment of the present invention may include a dye therein in order to increase the total reflection amount of light passing through the core sensor unit 131, for example, infrared rays to improve sensing sensitivity. .

The outer skin 132 may be made of an elastomer material like the core sensor unit 131 . For example, the outer skin 132 may be made of a semi-rigid black urethane casting resin (eg, Task 13 of SMOOTH-ON Corporation).

Meanwhile, referring to FIG. 11 , the finger part 100 according to an embodiment of the present invention may further include a third joint part 140 .

The third knurled portion 140 may be positioned between the second knurled portion 120 and the palm portion 200 . At this time, in order to connect the second knurled portion 120 and the third knurled portion 140 , the joint portion 130 may be provided between the second knurled portion 120 and the third knurled portion 140 . Accordingly, the finger unit 100 may perform a joint motion similar to that of an actual finger.

The third node portion 140 may be formed to include the third phalanx 141 and the skin 142 .

The third phalanx 141 is a member that supports the shape of the skin 142 , and serves as a finger bone in an actual finger, and may have a set volume and shape corresponding thereto. At least one surface of the third phalanx 141 may be covered by the skin 142 . The third phalanx 141 is provided with the same material as the first phalanx 111 and the second phalanx 121 and plays the same role, so a detailed description thereof will be omitted.

The skin 142 may be formed on at least one surface of the third phalanx 141 . In this case, the skin 142 may have greater ductility than the third phalanx 141 . At this time, the skin 142 only serves to protect the third phalanx 141 from the external environment, and may not act as a sensor.

In one embodiment of the present invention, the skin 142 may include a lower layer 142a in contact with the third phalanx 141 and an upper layer 142b covering the lower layer 142a. In this case, the lower layer 142a and the upper layer 142b may be formed of the same or different types of elastomers. However, this is only an example, and the skin 142 may be provided as a single layer. Also, the skin 142 may be omitted if necessary.

Hereinafter, a method for manufacturing a sensing gripper according to an embodiment of the present invention will be described with reference to FIGS. 12 to 16 . In this case, reference numerals of respective components refer to FIGS. 1 to 11 .

12 is a flowchart illustrating a method for manufacturing a sensing gripper according to an embodiment of the present invention, and FIG. 13 is a reference diagram showing the rigid mold and soft mold used in step S110 of FIG. 12 and the phalanges formed therethrough, and FIG. 14 is a reference view showing the rigid mold and soft mold used for forming the lower sensor layer used in step S120 of FIG. 12 and the phalanges on which the lower sensor layer is formed on the surface thereof, and FIG. 15 is the upper sensor layer in step S120 of FIG. It is a reference view showing the rigid mold and the soft mold used for formation, and the first to third nodes made therefrom, and FIG. 16 is the rigid mold, the soft mold, and the sensing gripper manufactured through the rigid mold and the soft mold used in step S130 of FIG. 12 . It is a reference diagram showing the finger part of

Referring to FIG. 12 , the method for manufacturing a sensing gripper according to an embodiment of the present invention may include forming a phalanx ( S110 ), forming a sensor skin ( S120 ), and forming a joint part ( S130 ).

First, referring to FIG. 13 , the phalanx forming step ( S110 ) is a step of simultaneously forming the first phalanx 111 and the second phalanx 121 . At this time, in the phalanx forming step (S110), the third phalanx 141 may also be simultaneously formed.

In the phalanx formation step (S110), first, a rigid mold RM1 in which the first phalanx 111, the second phalanx 121, and the third phalanx 141 are embossed is manufactured through 3D printing. Then, in the phalanx formation step (S110), the elastomer is filled in this rigid mold (RM1). In this case, SMOOTH-ON's Dragon Skin 30 product may be used as the elastomer, but various elastomer products may be used depending on desired elasticity.

Next, in the phalanx formation step (S110), the elastomer-filled rigid mold RM1 is placed in a vacuum chamber to remove air bubbles, and then placed in an oven and dried. Next, in the phalanx forming step (S110), the soft mold SM1 made by drying the elastomer is removed from the rigid mold RM1.

Next, in the phalanx formation step (S110), an elastomer for phalanx shaping, for example, SMOOTH-ON's Task 8 product is quickly put in a soft mold (SM1), and waits for about 15 minutes until it is completely hardened. Through this, in the phalanx forming step (S110), the first phalanx 111 forming the first joint portion 110 of the finger portion 100, the second phalanx forming the second joint portion 120 of the finger portion 100. 121 and the third phalanx 141 constituting the third knurled portion 140 of the finger portion 100 are simultaneously molded with one soft mold SM1.

Next, the sensor skin forming step (S120) is a sensor skin (112, 122) for sensing the contact force applied to the object when in contact with the object on at least one surface of the first phalanx 111 and the second phalanx 121 It is a forming step.

Referring to FIG. 14 , first, in the sensor skin forming step S120 , first, the first lower sensor layer 112a to be formed on the surface of the first phalanx 111 , the second to be formed on the surface of the second phalanx 121 . 2 A rigid mold RM2 in which the shape of the lower sensor layer 122a and the lower layer 142a to be formed on the surface of the third phalanx 141 is embossed is manufactured. Next, in the sensor skin forming step ( S120 ), an elastomer is filled in the rigid mold RM2 . In this case, SMOOTH-ON's Dragon Skin 30 product may be used as the elastomer, but various elastomer products may be used depending on desired elasticity.

Next, in the sensor skin forming step ( S120 ), the rigid mold RM2 filled with the elastomer is placed in a vacuum chamber to remove air bubbles, and then placed in an oven and dried. Next, in the sensor skin forming step S120 , the soft mold SM2 made by drying the elastomer is removed from the rigid mold RM2 .

Next, in the sensor skin forming step (S120), Easy Release spray is sprayed on the soft mold (SM2). Next, in the sensor skin forming step (S120), after putting the first phalanx 111, the second phalanx 121 and the third phalanx 141 in the soft mold SM2, the first lower sensor layer 112a, The space where the second lower sensor layer 122a and the lower layer 142a are to be formed is filled with an elastomer, for example, Task 13 manufactured by SMOOTH-ON, and dried in an oven for 30 minutes. In this case, in the sensor skin forming step ( S120 ), a dye may be added to the elastomer. Through this, in the sensor skin forming step (S120), the first lower sensor layer 112a on the surface of the first phalanx 111, the second lower sensor layer 122a and the third phalanx on the surface of the second phalanx 121 A lower layer 142a is simultaneously formed on the surface of a single soft mold SM2.

Next, in the sensor skin forming step ( S120 ), LED and IRED, which are different light sources, are attached to one side in the longitudinal direction of the waveguides formed in the first lower sensor layer 112a and the second lower sensor layer 122a, respectively. A photodiode corresponding to the light source is attached to the other side in the longitudinal direction of the waveguides.

Next, in the sensor skin forming step (S120), an elastomer, for example, SMOOTH-ON's Vyta Flex 30 product, is filled and dried along the waveguide so as not to overflow, and the first core sensor layer (112c) and the second core sensor layer (122c) can form. In this case, in the skin forming step ( S120 ), before filling the elastomer in the waveguide, it is preferable to perform a process of removing air bubbles generated therein in a vacuum chamber.

Referring to FIG. 15 , next, in the sensor skin forming step S120 , the first upper sensor layer 112b and the second to be formed on the first lower sensor layer 112a on which the first core sensor layer 112c is formed. The shape of the second upper sensor layer 122b to be formed on the second lower sensor layer 122a on which the core sensor layer 122c is formed and the upper layer 142b to be formed on the lower sensor layer 142a are embossed rigid A mold (RM3) is manufactured. Next, in the sensor skin forming step (S120), the rigid mold RM3 is filled with an elastomer, for example, Dragon Skin 30 manufactured by SMOOTH-ON.

Next, in the sensor skin forming step (S120), the elastomer-filled rigid mold RM3 is placed in a vacuum chamber to remove air bubbles, and then placed in an oven and dried. Next, in the sensor skin forming step S120 , the soft mold SM3 made by drying the elastomer is removed from the rigid mold RM3 .

Next, in the sensor skin forming step (S120), Easy Release spray is sprayed on the soft mold (SM3). Next, in the sensor skin forming step S120 , the first lower sensor layer 112a and the first core sensor layer 112c are formed in the soft mold SM3 , the first phalanges 111 , and the second lower sensor layer 122a ) and the second core sensor layer 122c, the second phalanx 121 and the lower sensor layer 142a are formed, and the third phalanx 141 is put in, the first upper sensor layer 112b, the second upper sensor The space where the layer 122b and the upper layer 142b are to be formed is filled with an elastomer, for example, Eco-Flex 30 manufactured by SMOOTH-ON, and dried in an oven for 30 minutes. In this case, in the sensor skin forming step ( S120 ), a dye may be added to the elastomer. Through this, in the sensor skin forming step ( S120 ), the first upper sensor layer 112b and the second core sensor layer 122c are formed on the first lower sensor layer 112a on which the first core sensor layer 112c is formed. The second upper sensor layer 122b on the second lower sensor layer 122a and the upper layer 142b on the lower layer 142a are simultaneously formed as one soft mold SM3. That is, in the sensor skin forming step (S120), the first sensor skin 112 is formed on the surface of the first phalanx 111, the first knurled portion 110, and the second sensor skin ( 122) is formed on the surface of the second knurled portion 120 and the third phalanx 141, the skin 142 is formed on the third knurled portion 140 is formed at the same time.

Finally, the joint part forming step (S130) is between the first phalanx 111 and the second phalanx 121, that is, between the first joint part 110 and the second joint part 120, when the bending operation itself This is a step of forming the joint part 130 for sensing the bending angle.

In the joint forming step ( S130 ), the core sensor unit 131 having a light guide mode between the first node part 110 and the second node part 120 , and the outer skin 132 surrounding the outer peripheral surface of the core sensor part 131 . ) may be formed in the joint portion 130 that sequentially forms. In addition, in the joint part forming step ( S130 ), the joint part 130 may be formed between the second joint part 120 and the third joint part 140 .

To this end, in the joint part forming step (S130), the rigid mold RM4 and the soft mold SM4 are manufactured in the same manner as described above, and then, the first node part 110 at the corresponding position of the soft mold SM4, Position the second knurled portion 120 and the third knurled portion 140 . Next, in the joint portion forming step (S130), the joint portion 130 is fixed to one side and the other side in the longitudinal direction of the portion to be formed, respectively, for example, an LED and a photodiode. Next, in the joint portion forming step (S130), the soft mold (SM4) area where the joint portion 130 is to be formed is filled with an elastomer, for example, SMOOTH-ON's Task 13 product, and dried in an oven for 30 minutes, the core sensor portion 131 . After forming, the same elastomer is again filled around the core sensor unit 131 and dried to form the outer skin 132 on the outer circumferential surface of the core sensor unit 131 . In this case, a pigment may be added to the elastomer for forming the outer skin 132 .

When the joint part forming step ( S130 ) is completed, the finger part 100 including the first joint part 110 , the second joint part 120 , and the third joint part 140 connected by the joint part 130 , respectively. ) is manufactured.

As mentioned above, although the present invention has been described in detail using preferred embodiments, the scope of the present invention is not limited to specific embodiments and should be construed according to the appended claims. In addition, those skilled in the art will understand that many modifications and variations are possible without departing from the scope of the present invention.

10; force sensing gripper 100; finger part
200; palm 300; wrist
110; 1st node part 111; 1st phalanx
112; first sensor skin 112a; first lower sensor layer
112b; a first upper sensor layer 112c; second core sensor layer
120; second node 121; 2nd phalanx
122; a second sensor skin 122a; second lower sensor layer
122b; a second upper sensor layer 122c; second core sensor layer
130; joint 131; core sensor
132; outer skin 140; 3rd node
141; 3rd phalanx 142; skin
142a; lower layer 142b; upper layer

Claims (12)

A first joint portion comprising a first sensor skin formed on at least one surface of the first phalanx and at least one surface of the first phalanx and having greater ductility than the first phalanx and sensing a contact force applied to the object when in contact with the object;
A second joint portion comprising a second sensor skin formed on at least one surface of the second phalanx and at least one surface of the second phalanx and having greater ductility than the second phalanx and sensing a contact force applied to the object when in contact with the object ; and
It includes a joint part connecting the first joint part and the second joint part, bending during the gripping operation of the finger part, and sensing the bending angle of the finger part according to the bending, and including at least two finger parts,
The first sensor skin,
a first lower sensor layer formed on at least one surface of the first phalanx;
a first upper sensor layer formed on the first lower sensor layer and exposed to the outside; and
and a first core sensor layer formed between the first lower sensor layer and the first upper sensor layer and having an optical waveguide mode.
According to claim 1,
The sensing gripper, wherein the first core sensor layer is formed in plurality, and the plurality of first core sensor layers are arranged to cross each other.
3. The method of claim 2,
The second sensor skin,
a second lower sensor layer formed on at least one surface of the second phalanx;
a second upper sensor layer formed on the second lower sensor layer and exposed to the outside; and
a second core sensor layer formed between the second lower sensor layer and the second upper sensor layer and having an optical waveguide mode;
The sensing gripper, wherein the second core sensor layer is formed in a smaller number than the first core sensor layer.
4. The method of claim 3,
The first lower sensor layer and the second lower sensor layer are made of a first elastomer, the first core sensor layer and the second core sensor layer are made of a second elastomer, and the first upper sensor layer and the The second upper sensor layer is made of a third elastomer,
wherein the first elastomer has the smallest ductility and the third elastomer has the highest ductility.
5. The method of claim 4,
The first elastomer and the third elastomer include a dye.
According to claim 1,
The joint part,
a core sensor unit extending in one direction and having both ends in the longitudinal direction coupled to the first and second nodes, respectively, and having an optical waveguide mode; and
A sensing gripper comprising an outer skin provided in a shape surrounding the outer circumferential surface of the core sensor unit.
7. The method of claim 6,
The outer skin includes a pigment, sensing gripper.
According to claim 1,
Further comprising a third knurled portion positioned between the second knurled portion and the palm portion,
The third node portion comprises a third phalanx and a skin formed on at least one surface of the third phalanx and having greater ductility than the third phalanx,
The joint portion is further provided between the second joint portion and the third joint portion, the sensing gripper.
A phalanx forming step of simultaneously forming a first phalange forming a distal joint of the finger portion and a second phalanx forming an intermediate joint of the finger portion provided in the sensing gripper;
a sensor skin forming step of forming a sensor skin on at least one surface of the first phalanx and the second phalanx for sensing a contact force applied to the object when in contact with the object; and
A method of manufacturing a sensing gripper comprising a; between the first phalanx and the second phalanx, forming a joint portion for sensing a bending angle of itself during a bending operation.
10. The method of claim 9,
The mold used in the phalanx forming step, the sensor skin forming step, and the joint forming step is a soft mold made by filling an elastomer in a rigid mold produced through 3D printing and then drying the elastomer, a sensing gripper manufacturing method.
10. The method of claim 9,
The sensor skin forming step is
A lower sensor layer, a core sensor layer having an optical waveguide mode, and an upper sensor layer exposed to the outside are sequentially stacked on at least one surface of the first phalanx and the second phalanx to form the sensor skin of a multi-layer structure,
In the formed sensor skin, the ductility of the lower sensor layer is relatively smallest and the ductility of the upper sensor layer is relatively greatest.
10. The method of claim 9,
The joint part forming step is,
The first phalanx and the second phalanx are connected between the first phalanx and the second phalanx on which the sensor skin is formed on at least one surface, and the core sensor unit having an optical waveguide mode and the outer skin surrounding the outer circumferential surface of the core sensor unit sequentially A method for manufacturing a sensing gripper, which forms the joint part by forming it.

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