Tactile joint of robot and robot
By setting up a raised structure and multi-layer bionic skin design on the surface of the robot joint, the problem of skin prone to cracking and deformation is solved, stable connection and flexibility are achieved, and tactile perception and human-computer interaction experience are improved.
Patent Information
- Application Number
- CN202510833159.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-20
- Publication Date
- 2025-08-01
AI Technical Summary
The bionic skin of existing robot joints is prone to cracking and deforming, affecting aesthetics and service life, and limiting the range of joint motion and flexibility, making sensor integration difficult.
The joint surface of the raised structure is uniformly arranged, combined with multi-layer bionic skin structures, including support, sensor and epidermal layers, bonded using silicon-based elastomer materials, designed to have a stable connection and integrate temperature, pressure and tactile sensors.
It improves the durability and aesthetics of the skin, maintains joint flexibility and smooth coordination of movements, and enhances touch perception and human-computer interaction experience.
Smart Images
Figure CN120395974A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of robot technology, and particularly to a tactile joint of a robot and a robot. Background Art
[0002] With the continuous development of robot technology, humanoid robots are increasingly widely used in industrial, medical, service and other fields. In order to improve the human - robot interaction experience, the tactile perception ability of robots has become increasingly important. As a key component for a robot to achieve its motion function, the tactile perception ability of a robot joint directly affects the operation accuracy and safety of the robot.
[0003] At present, there are already various designs of robot joints with tactile functions on the market. Existing robot joints mainly include a flexible tactile sensor, a joint control cavity, a joint cavity, a joint mechanical transmission part and a joint rotating body. Among them, the flexible tactile sensor is attached to the outer surfaces of the joint control cavity and the joint cavity, and realizes two mutually perpendicular rotational degrees of freedom through a differential structure. Although the flexible tactile sensor is attached to the joint surface, the problem of the firm connection between the sensor and the joint has not been solved, and the elasticity and durability of the skin material are not considered.
[0004] The robot joint tactile systems in the prior art generally have some technical problems: First, the bionic skin at the joint is prone to cracking or deformation during the movement of the robot, affecting the aesthetics and service life of the robot; Second, the existing skin materials often limit the range of motion and flexibility of the joint, and cannot meet the motion requirements of the robot with high precision and high flexibility.
[0005] Therefore, there is an urgent need for a new design of a robot tactile joint, which can solve the technical problems such as easy cracking and deformation of the joint skin, limited joint movement, unstable connection and difficult sensor integration in the prior art, and improve the tactile perception ability of the robot and the human - robot interaction experience. Summary of the Invention
[0006] Aiming at the problems of easy cracking and deformation of the joint skin and limited joint movement in the prior art, some embodiments of this application provide a tactile joint of a robot and a robot, which aims to make the skin deform naturally at the joint, without obvious seams, without affecting the range of motion and flexibility of the joint, and ensure the smooth and coordinated movement of the robot.
[0007] To achieve the above - mentioned purpose, some embodiments of this application provide the following aspects:
[0008] In a first aspect, some embodiments of this application also provide a tactile joint of a robot, including:
[0009] A joint, on the surface of which convex structures are uniformly arranged;
[0010] The bionic skin is disposed on the surface of the joint. The bionic skin sequentially includes, from the inside out: a support layer, a sensing layer, and an epidermis layer. The support layer, the sensing layer, and the epidermis layer are bonded using a silicone-based elastomer material.
[0011] Preferably, the height of the protrusions is between 0.3 mm and 0.5 mm; the spacing between the protrusions is between 1 mm and 2 mm.
[0012] Optionally, the support layer is made of a silicone-based elastomer material. The thickness of the support layer is between 1.5 mm and 3 mm. The tensile strength of the support layer is ≥5 Mpa, and the elongation at break is ≥500%.
[0013] Optionally, the support layer adopts a double-layer structure. The thickness of the inner layer is between 1.5 mm and 2 mm, and the elongation at break of the inner layer is ≥800%. The thickness of the outer layer is between 0.5 mm and 1 mm, and the elongation at break of the outer layer is ≥500%.
[0014] Optionally, the sensing layer includes a base layer, a temperature sensor, a pressure sensor, and a tactile sensor;
[0015] A plurality of mounting grooves are provided on the surface of the base layer;
[0016] The pressure sensor is disposed in the mounting groove and is distributed in an array form on the surface of the base layer;
[0017] The temperature sensor is disposed in the mounting groove and is symmetrically disposed on both sides of the joint;
[0018] The tactile sensor is disposed in the mounting groove and is symmetrically disposed on both sides of the joint.
[0019] Optionally, the base layer adopts a flexible printed circuit board. The temperature sensor, the pressure sensor, and the tactile sensor are respectively connected to the flexible printed circuit board through wires.
[0020] Optionally, the epidermis layer adopts a silicone material. The thickness of the epidermis layer is between 0.8 mm and 1.2 mm.
[0021] Optionally, the epidermis layer adopts a fold-elastic composite structure.
[0022] Optionally, the bionic skin is snap-fitted to the surface of the joint.
[0023] In a second aspect, some embodiments of the present application further provide a robot, including a fuselage, an execution part, and the above-mentioned tactile joint.
[0024] Compared with the related art, in the solution provided by the embodiments of the present application, the tactile joint of the robot includes: a joint and a bionic skin. By arranging the convex structures uniformly on the surface of the joint, the skin adhesion can be improved; the bionic skin adopts a multi-layer bionic skin structure. From the inside to the outside, the bionic skin sequentially includes: a support layer, a sensing layer, and an epidermis layer. The support layer, the sensing layer, and the epidermis layer are bonded with a silicon-based elastomer material. The above structure can effectively enhance the durability of the skin, effectively reduce problems such as cracking and deformation, and at the same time improve the aesthetics of the tactile joint. The bionic skin can deform naturally at the joint without obvious seams, and can maintain its flexibility without affecting the range of joint movement, ensuring the smooth coordination of the robot's movements. BRIEF DESCRIPTION OF THE DRAWINGS
[0025] One or more embodiments are exemplarily illustrated by the pictures in the corresponding drawings. These exemplary illustrations do not limit the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements. Unless otherwise stated, the drawings in the figures do not constitute a proportional limitation.
[0026] Figure 1 It is a schematic structural diagram of an embodiment of the tactile joint of the robot of the present application;
[0027] Figure 2 It is a schematic cross-sectional view of an embodiment of the bionic skin of the present application;
[0028] Figure 3 It is a schematic diagram of an embodiment of the joint of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS
[0029] The advantages of the present application are further elaborated below in conjunction with the drawings and specific embodiments.
[0030] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.
[0031] The terms used in the present disclosure are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure. The singular forms "a", "the", and "said" used in the present disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more of the associated listed items.
[0032] It should be understood that although the terms first, second, third, etc. may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this disclosure, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "when" or "while" or "in response to determining".
[0033] In the description of this application, it should be understood that the numerical labels before the steps do not identify the sequence of execution of the steps, but are only used to facilitate the description of this application and to distinguish each step, and thus should not be construed as a limitation to this application.
[0034] The tactile joints of the robot in the embodiments of this application can be applied in scenarios such as medical treatment, mechanical manufacturing, home service, construction, rescue, education, and entertainment. The tactile joints of the robot include: joint 1 and bionic skin 2. The skin adhesion can be improved by the convex structures uniformly arranged on the surface of joint 1; the bionic skin 2 adopts a multi-layer bionic skin 2 structure. The bionic skin 2 sequentially includes from the inside to the outside: a support layer 23, a sensing layer 22, and an epidermis layer 21. The support layer 23, the sensing layer 22, and the epidermis layer 21 are bonded with a silicon-based elastomer material. By adopting the above structure, the durability of the skin can be effectively enhanced, problems such as cracking and deformation can be effectively reduced, and at the same time, the aesthetics of the tactile joint can be improved. The bionic skin 2 can deform naturally at the joint without obvious seams, and can maintain its flexibility without affecting the range of motion of the joint, ensuring the smooth and coordinated movement of the robot.
[0035] Embodiment 1
[0036] The first embodiment of this application relates to a tactile joint of a robot. As Figures 1 - 3 shown, a tactile joint of a robot includes: joint 1 and bionic skin 2.
[0037] Joint 1, on the surface of which convex structures are uniformly arranged;
[0038] Bionic skin 2, arranged on the surface of joint 1. The bionic skin 2 sequentially includes from the inside to the outside: a support layer 23, a sensing layer 22, and an epidermis layer 21. The support layer 23, the sensing layer 22, and the epidermis layer 21 are bonded with a silicon-based elastomer material.
[0039] Silicone-based elastomer materials have good elasticity and adhesion properties, which can ensure the tight combination of the three-layer structure while maintaining the flexibility of the overall structure. The silicone-based elastomer materials can be polydimethylsiloxane (PDMS)-based adhesives, silicone-modified polyethers (such as polysiloxane-polyurethane hybrids), or UV-curable polysiloxane pressure-sensitive adhesives, etc. Using silicone-based elastomer materials can ensure a stable connection between different material layers. The adhesion strength of the silicone-based elastomer material adhesion is ≥2.5 MPa to ensure no delamination between layers under repeated bending.
[0040] In this embodiment, the tactile joint of the robot includes: joint 1 and bionic skin 2. The skin adhesion can be improved by the convex structures uniformly arranged on the surface of joint 1; the bionic skin 2 adopts a multi-layer bionic skin 2 structure. The bionic skin 2 includes, from the inside to the outside in sequence: a support layer 23, a sensing layer 22, and an epidermis layer 21. The support layer 23, the sensing layer 22, and the epidermis layer 21 are adhered by a silicone-based elastomer material. Using the above structure can effectively enhance the durability of the skin, effectively reduce problems such as cracking and deformation, and at the same time improve the aesthetics of the tactile joint. The bionic skin 2 can deform naturally at joint 1 without obvious seams, and can maintain its flexibility without affecting the movement range of joint 1, ensuring the smooth coordination of the robot's actions.
[0041] It should be noted that the tactile joint in this embodiment can be a load-bearing joint (such as a knee joint), a non-load-bearing joint (such as an elbow joint), or a fine joint (such as the corner of the mouth joint on the face).
[0042] Embodiment Two
[0043] Embodiment Two of this application relates to a tactile joint of a robot. Embodiment Two is an improvement based on Embodiment One. The specific improvement lies in:
[0044] The height of the protrusions is between 0.3 mm and 0.5 mm; the spacing between the protrusions is between 1 mm and 2 mm.
[0045] In this embodiment, joint 1 can be set as a mechanical joint 1 with 360° mobility, and a micro-concave-convex structure is designed on the surface to increase the adhesion to the skin. At the same time, the bearing of joint 1 adopts a low-friction material to reduce the movement resistance.
[0046] By way of example and not limitation, the height of the convex structure is 0.4 mm, and the spacing between the protrusions is 1.5 mm. The design of the convex structure makes a more stable connection between the bionic skin 2 and joint 1, and at the same time increases the contact area and improves the sensitivity of tactile perception.
[0047] Embodiment Three
[0048] Embodiment 3 of this application relates to a tactile joint of a robot. Embodiment 3 is an improvement based on Embodiment 1. The specific improvement lies in:
[0049] The support layer 23 is made of a silicon-based elastomer material. The thickness of the support layer 23 is between 1.5 mm and 3 mm. The tensile strength of the support layer 23 is ≥ 5 Mpa, and the elongation at break is ≥ 500%.
[0050] As an example rather than a limitation, the thickness of the support layer 23 is 2.5 mm, the tensile strength is 6 MPa, and the elongation at break is 650%.
[0051] Furthermore, the support layer 23 can adopt a double-layer structure. The thickness of the inner layer is between 1.5 mm and 2 mm, and the elongation at break of the inner layer is ≥ 800%. The thickness of the outer layer is between 0.5 mm and 1 mm, and the elongation at break of the outer layer is ≥ 500%.
[0052] In this embodiment, the support layer 23 adopts a double-layer structure. The thickness of the inner layer is 1.8 mm, and the elongation at break of the inner layer is 850%. The thickness of the outer layer is 0.7 mm, and the elongation at break of the outer layer is 550%. This double-layer structure design enables the support layer 23 to have better mechanical properties. The higher elongation at break of the inner layer provides good buffering performance, while the outer layer provides appropriate support stiffness.
[0053] In practical applications, when the tactile joint serves as the load-bearing joint 1, the support layer 23 provided on the front side of the knee joint 1 can increase the thickness by 1 mm.
[0054] Embodiment 4
[0055] Embodiment 4 of this application relates to a tactile joint of a robot. Embodiment 4 is an improvement based on Embodiment 1. The specific improvement lies in:
[0056] The sensing layer 22 includes a base layer, a temperature sensor, a pressure sensor, and a tactile sensor;
[0057] Several mounting grooves are provided on the surface of the base layer for mounting various sensors;
[0058] The pressure sensor is arranged in the mounting groove and is distributed in an array form on the surface of the base layer, capable of accurately sensing the pressure changes at different positions;
[0059] The temperature sensor is arranged in the mounting groove and is symmetrically arranged on both sides of the joint 1 for monitoring the ambient temperature and the temperature of the contacting object;
[0060] The tactile sensor is arranged in the mounting groove and is symmetrically arranged on both sides of the joint 1 for sensing the surface characteristics of the contacting object.
[0061] Compared with the sensor integration method between the skin and the joint 1 in the prior art, it is relatively complex, and it is difficult to effectively integrate multiple sensors, thus affecting the interaction experience and perception ability of the robot. In this embodiment, through the combination of a temperature sensor, a pressure sensor and a tactile sensor, the seamless integration of the sensors can be effectively achieved, improving the interaction experience and the perception ability of the robot.
[0062] Furthermore, the base layer adopts a flexible printed circuit board, and the temperature sensor, the pressure sensor and the tactile sensor are respectively connected to the flexible printed circuit board through wires to form a complete sensing network.
[0063] In this embodiment, the base layer adopts a flexible printed circuit board, which has good flexibility and electrical connection performance. The depth of the installation groove is 0.5 mm. The sensor connection wires are made by flexible printed circuit board technology, with a wire width of 0.1 mm and a thickness of 0.05 mm, ensuring that the signal transmission is not affected when the joint 1 moves.
[0064] Embodiment Five
[0065] Embodiment Five of the present application relates to a tactile joint of a robot. Embodiment Five is an improvement based on Embodiment One. The specific improvement lies in:
[0066] The skin layer 21 adopts a silicone material, and the thickness of the skin layer 21 is between 0.8 mm and 1.2 mm.
[0067] As a preferred embodiment, the thickness of the skin layer 21 is 1.0 mm.
[0068] In this embodiment, the skin layer 21 can simulate the texture of human skin, and the color matching conforms to human skin color.
[0069] Furthermore, the skin layer 21 adopts a fold-elastic composite structure.
[0070] In practical applications, the fold-elastic composite structure presents natural folds (depth 2 mm - 3 mm) in the static state, and can smoothly stretch in the active state, with a maximum stretch rate of up to 180%.
[0071] In this embodiment, the skin layer 21 adopts a fold-elastic composite structure, which simulates the characteristics of human skin, has good elasticity and touch, and can effectively transmit external stimuli to the sensing layer 22. The fold structure increases the surface friction and improves the ability of the robot to grasp objects.
[0072] In this embodiment, the bionic skin 2 is snap-connected to the surface of the joint 1. The snap-connection structure cooperates with the convex structure on the surface of the joint 1 to form a stable connection. The snap-connection method facilitates the installation and replacement of the bionic skin 2, and at the same time ensures that there will be no displacement or detachment during the movement of the robot.
[0073] Specifically, slots (depth 1.0 mm, width 2.0 mm) are provided on both sides of the joint 1, and corresponding snap-fasteners are adaptively provided on both sides of the inner layer of the bionic skin 2 corresponding to the joint 1. The snap-fasteners are snap-connected into the slots to achieve a stable connection between the bionic skin 2 and the joint 1. Compared with the existing connection method between the joint 1 and the skin, which is not stable enough and is prone to detachment or damage after long-term movement of the robot, the snap-connection method is adopted in this embodiment, which facilitates the detachable maintenance of the bionic skin 2 and at the same time ensures a tight fit with the joint 1.
[0074] Embodiment Six
[0075] A tactile joint of a robot includes a joint 1 and a bionic skin 2. The surface of the joint 1 is uniformly provided with convex structures, the height of these convex structures is 0.3 mm, and the distance between the convexes is 1.0 mm.
[0076] The bionic skin 2 is disposed on the surface of the joint 1 and is fixed on the surface of the joint 1 by a snap-connection method. The bionic skin 2 includes a support layer 23, a sensing layer 22, and an epidermis layer 21 from the inside out, and these three layers are bonded with a silicon-based elastomer material.
[0077] The support layer 23 is made of a silicon-based elastomer material, its thickness is 1.5 mm, the tensile strength is 5 MPa, and the elongation at break is 500%. The support layer 23 adopts a single-layer structure and has uniform mechanical properties.
[0078] The sensing layer 22 includes a base layer, a temperature sensor, a pressure sensor, and a tactile sensor. A number of mounting grooves are provided on the surface of the base layer for mounting various sensors. The base layer adopts a flexible printed circuit board, which has good flexibility and electrical connection performance. The pressure sensors are disposed in the mounting grooves and are distributed in an array form on the surface of the base layer. The temperature sensors are disposed in the mounting grooves and are symmetrically disposed on both sides of the joint 1. The tactile sensors are disposed in the mounting grooves and are also symmetrically disposed on both sides of the joint 1. The temperature sensors, pressure sensors, and tactile sensors are respectively connected to the flexible printed circuit board through wires.
[0079] The epidermis layer 21 is made of a silicone material, and the thickness of the epidermis layer 21 is 0.8 mm. The epidermis layer 21 adopts a common elastic structure and has certain elasticity and wear resistance.
[0080] The bionic skin 2 is fixed on the surface of the joint 1 by a snap-connection method. The snap-connection structure cooperates with the convex structure on the surface of the joint 1 to form a stable connection.
[0081] Example 7
[0082] A tactile joint of a robot includes joint 1 and bionic skin 2. The surface of joint 1 is evenly provided with raised structures, the height of these raised structures is 0.5 mm, and the spacing between the raised structures is 2.0 mm.
[0083] The bionic skin 2 is arranged on the surface of joint 1 and is fixed on the surface of joint 1 by a snap connection method. The bionic skin 2 includes a support layer 23, a sensing layer 22, and an epidermis layer 21 from the inside to the outside, and these three layers are bonded with a silicon-based elastomer material.
[0084] The support layer 23 is made of a silicon-based elastomer material, its thickness is 3.0 mm, the tensile strength is 7 MPa, and the elongation at break is 600%. The support layer 23 adopts a double-layer structure, the thickness of the inner layer is 2.0 mm, and the elongation at break of the inner layer is 800%; the thickness of the outer layer is 1.0 mm, and the elongation at break of the outer layer is 500%.
[0085] The sensing layer 22 includes a base layer, a temperature sensor, a pressure sensor, and a tactile sensor. A number of mounting grooves are provided on the surface of the base layer for mounting various sensors. The base layer adopts a flexible printed circuit board, which has good flexibility and electrical connection performance. The pressure sensor is arranged in the mounting groove and is distributed in an array form on the surface of the base layer. The temperature sensor is arranged in the mounting groove and is symmetrically arranged on both sides of joint 1. The tactile sensor is arranged in the mounting groove and is also symmetrically arranged on both sides of joint 1. The temperature sensor, the pressure sensor, and the tactile sensor are respectively connected to the flexible printed circuit board through lines.
[0086] The epidermis layer 21 is made of silicone material, and the thickness of the epidermis layer 21 is 1.2 mm. The epidermis layer 21 adopts a wrinkled-elastic composite structure, which simulates the characteristics of human skin and has good elasticity and touch.
[0087] The bionic skin 2 is fixed on the surface of joint 1 by a snap connection method, and the snap connection structure cooperates with the raised structures on the surface of joint 1 to form a stable connection.
[0088] It should be noted that Example 1, Example 2, Example 3, Example 4, Example 5, Example 6, and Example 7 are all types of tactile joints of the robot.
[0089] Example 8
[0090] A robot includes a fuselage, an execution part, and a tactile joint. The fuselage is the main structure of the robot, providing space for support and accommodating internal components. The execution part includes execution mechanisms such as a robotic arm and a robotic hand, which are used to complete various operation tasks. The tactile joint connects the fuselage and the execution part, enabling the execution part to move flexibly and at the same time sense the external environment.
[0091] For the skin set on the face, the thickness can be reduced to 0.5 mm - 0.8 mm, increasing softness and sensitivity.
[0092] The tactile joint includes joint 1 and bionic skin 2. The surface of joint 1 is evenly provided with convex structures, the height of these convex structures is 0.4 mm, and the spacing between the convexes is 1.5 mm. The design of the convex structures enables a more stable connection between the bionic skin 2 and joint 1, while increasing the contact area and improving the sensitivity of tactile perception.
[0093] The bionic skin 2 is set on the surface of joint 1 and fixed on the surface of joint 1 by a snap connection. The bionic skin 2 sequentially includes a support layer 23, a sensing layer 22, and an epidermis layer 21 from the inside out. These three layers are bonded with a silicon-based elastomer material. The silicon-based elastomer material has good elasticity and bonding properties, which can ensure the tight combination of the three-layer structure while maintaining the flexibility of the overall structure.
[0094] The support layer 23 is made of a silicon-based elastomer material, its thickness is 2.5 mm, the tensile strength is 6 MPa, and the elongation at break is 650%. The support layer 23 adopts a double-layer structure, the inner layer thickness is 1.8 mm, and the elongation at break of the inner layer is 850%; the outer layer thickness is 0.7 mm, and the elongation at break of the outer layer is 550%. This double-layer structure design enables the support layer 23 to have better mechanical properties. The higher elongation at break of the inner layer provides good buffering performance, while the outer layer provides appropriate support stiffness.
[0095] The sensing layer 22 includes a base layer, a temperature sensor, a pressure sensor, and a tactile sensor. The surface of the base layer is provided with several mounting grooves for mounting various sensors. The base layer adopts a flexible printed circuit board, which has good flexibility and electrical connection performance. The pressure sensors are set in the mounting grooves and are distributed in an array form on the surface of the base layer, and can accurately sense the pressure changes at different positions. The temperature sensors are set in the mounting grooves and are symmetrically set on both sides of joint 1 to monitor the ambient temperature and the temperature of the contacted object. The tactile sensors are set in the mounting grooves and are also symmetrically set on both sides of joint 1 to sense the surface characteristics of the contacted object. The temperature sensors, pressure sensors, and tactile sensors are respectively connected to the flexible printed circuit board through wires to form a complete sensing network.
[0096] The epidermis layer 21 is made of a silicone material, and the thickness of the epidermis layer 21 is 1.0 mm. The epidermis layer 21 adopts a fold - elastic composite structure, which simulates the characteristics of the human skin, has good elasticity and touch, and can effectively transmit external stimuli to the sensing layer 22. The fold structure increases the surface friction and improves the ability of the robot to grasp objects.
[0097] The bionic skin 2 is fixed on the surface of the joint 1 by a snap connection. The snap connection structure cooperates with the convex structure on the surface of the joint 1 to form a stable connection. The snap connection method facilitates the installation and replacement of the bionic skin 2, and at the same time ensures that there will be no displacement or detachment during the movement of the robot.
[0098] The robot can perceive the external environment through the tactile joint, including the temperature, pressure and surface characteristics of the contacted object. This information is transmitted to the control system of the robot through the sensing network to assist the robot in making decisions and operations. For example, when the robot grasps an object, the tactile joint can perceive the weight, hardness and surface friction coefficient of the object, helping the robot adjust the grasping force and posture to avoid the object from slipping or being damaged. At the same time, the temperature sensor can detect the temperature of the object to avoid the robot from contacting overheated or overcooled objects and protect the safety of the robot and the object.
[0099] The bionic skin 2 structure of the tactile joint simulates the multi-layer structure and function of the human skin, enabling the robot to have a tactile perception ability similar to that of humans. This design not only improves the operation accuracy and safety of the robot, but also enables the robot to better adapt to complex and changeable environments and perform more delicate and complex tasks.
[0100] As described above, it is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily make changes or replacements, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims, and the above embodiments should be regarded as exemplary and non-limiting.
Claims
1. A tactile joint of a robot, characterized in that, Comprising: A joint, on the surface of which convex structures are uniformly arranged; A bionic skin, arranged on the surface of the joint, which successively includes from inside to outside: a support layer, a sensing layer and an epidermis layer, and the support layer, the sensing layer and the epidermis layer are bonded by a silicon-based elastomer material.
2. The tactile joint of the robot according to claim 1, characterized in that, The height of the protrusions is between 0.3 mm and 0.5 mm; the distance between the protrusions is between 1 mm and 2 mm.
3. The tactile joint of the robot according to claim 1, characterized in that, The support layer is made of a silicon-based elastomer material, the thickness of the support layer is between 1.5 mm and 3 mm, the tensile strength of the support layer is ≥5 Mpa, and the elongation at break is ≥500%.
4. The tactile joint of the robot according to claim 3, characterized in that, The support layer adopts a double-layer structure, the thickness of the inner layer is between 1.5 mm and 2 mm, the elongation at break of the inner layer is ≥800%, the thickness of the outer layer is between 0.5 mm and 1 mm, and the elongation at break of the outer layer is ≥500%.
5. The tactile joint of the robot according to claim 1, characterized in that, The sensing layer includes a base layer, a temperature sensor, a pressure sensor and a tactile sensor; A plurality of mounting grooves are arranged on the surface of the base layer; The pressure sensor is arranged in the mounting groove and is distributed in an array form on the surface of the base layer; The temperature sensor is arranged in the mounting groove and is symmetrically arranged on both sides of the joint; The tactile sensor is arranged in the mounting groove and is symmetrically arranged on both sides of the joint.
6. The tactile joint of the robot according to claim 5, characterized in that, The base layer adopts a flexible printed circuit board, and the temperature sensor, the pressure sensor and the tactile sensor are respectively connected to the flexible printed circuit board through circuits.
7. The tactile joint of the robot according to claim 1, characterized in that, The epidermis layer adopts a silicone material, and the thickness of the epidermis layer is between 0.8 mm and 1.2 mm.
8. The tactile joint of the robot according to claim 1 or 7, characterized in that, The epidermis layer adopts a wrinkled-elastic composite structure.
9. The tactile joint of the robot according to claim 1, characterized in that, The bionic skin is snap-connected to the surface of the joint.
10. A robot, characterized in that, Comprising a fuselage, an execution part and the tactile joint as claimed in claims 1-9.