Humanoid type mechanical finger with perceptive functions of temperature and touch force

Abstract

The invention discloses a humanoid type mechanical finger with perceptive functions of temperature and touch force. The humanoid mechanical finger is formed by hinge of three sections of finger metal phalanges which have controllable bending ranges in sequence, and complexion silica gel is utilized to encapsulate the external surface of the humanoid mechanical finger; each section of the finger is hollow, the third section of the finger metal phalanges is internally provided with a micro motor and a minitype circuit, both the first section of the finger metal phalanges and the finger pulp of the second section of the finger metal are provided with plane grooves on the surface and are internally provided with three-dimensional force sensors, the semicircular face of the top end of the first section of the finger metal phalanges is provided with a gap, an cambered heat conductor and a temperature sensor are fixed through snap joints, and the temperature sensor is closely attached to the inner surface of the heat conductor. According to the humanoid type mechanical finger with perceptive functions of temperature and touch force, the temperature of an object touched by the mechanical finger and the three-dimensional force applied to the object can be sensitively measured and be timely transmitted to a control system, slipping, moving, deformation of the object and the like are recognized through the change of the three-dimensional force, the purpose of integrating the artificial touch to the mechanical finger is achieved, and convenience is brought to closed-loop control over the mechanical finger in grabbing the object more intelligently, cleverly and stably.

Description

technical field [0001] The invention relates to a manipulator, in particular to a humanoid mechanical finger with temperature and tactile force sensing functions. Background technique [0002] With the development of information technology and intelligent technology, intelligent equipment has gradually penetrated into all aspects of human society. In intelligent equipment, motion execution systems and feedback systems are often included. Among the feedback information provided to smart equipment, tactile perception information is an important part of realizing intelligence. A variety of physical information such as contact force, hardness, elasticity, roughness, temperature, etc. of the contact object can be obtained through the sense of touch. As one of the typical representatives of smart devices, humanoid manipulators have higher requirements for the sense of touch, especially the perception of temperature and three-dimensional force. [0003] Traditional humanoid manip...

AI Technical Summary

Problems solved by technology

At present, common perception systems include temperature, humidity sensors, three-dimensional force measurement sensors and position measurement sensors. Although they can provide external information to the manipulator to a certain extent, they are not closely integrated with the manipulator and are only installed on the manipulator without sensing function. The feedback information is single, and it is impossible to fully provide the environmental parameters required by the manipulator to achieve dexterous grasping

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