A humanoid finger pressure sensor
By embedding a pressure sensor on the mounting frame and using an integrated injection-molded flexible sensing layer, the problem of sensor fixation instability is solved, achieving high-precision pressure detection, which is suitable for high-precision tactile feedback in industrial robots.
Patent Information
- Application Number
- CN202521445046.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-10
- Publication Date
- 2026-08-25
- Estimated Expiration
- 2035-07-10
AI Technical Summary
The current method of fixing pressure sensors in industrial robots leads to sensor misdetection and instability, making it difficult to meet the high-precision grasping requirements of complex shapes and fragile items.
The design adopts a human finger pressure sensor. The pressure sensor is embedded in the mounting frame by opening a mounting notch, and the flexible sensing layer is integrally injection molded to avoid the compression of the sensor by the threaded fixing method, ensuring that the sensing interface is flush and the gap is controlled within 0~100μm.
It enables accurate testing of pressure sensors, avoids sensor mis-touch and warping issues, improves sensor detection accuracy and stability, and is suitable for high-precision tactile feedback.
Smart Images
Figure CN224681705U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of pressure sensor technology, specifically relating to a human finger-like pressure sensor. Background Technology
[0002] With the rapid development of industrialization, traditional industrial robots have performed exceptionally well in repetitive tasks, with applications spanning multiple industries such as automobile manufacturing, electronic equipment production, and logistics warehousing. In these complex and diverse work scenarios, extremely high demands are placed on the operational precision and environmental perception capabilities of industrial robots, making high-precision tactile technology a key factor in improving their performance.
[0003] Currently, industrial robots are not yet capable of grasping complex shapes, fragile items, or flexible products, especially in the electronics, food, and medical device industries, where robots require high adaptive grasping capabilities and high-precision tactile feedback. Industrial robots typically install pressure sensors at the gripping point, using screws and nuts to fix the sensors to the end of the gripping area, providing feedback on the gripping pressure during the robot's gripping action. However, with threaded connections, to ensure a stable connection between the pressure sensor and the gripping area, the screw itself applies pressure to the edge of the pressure sensor, leading to false detections. Conversely, when the screw is not tightened, a gap exists between the pressure sensor and the gripping area, causing unstable pressure triggering. This gap is difficult to maintain consistently between different industrial robots, resulting in inconsistent pressure sensing performance. Utility Model Content
[0004] In view of one or more of the above-mentioned defects or improvement needs of the existing technology, this utility model provides a human finger pressure sensor to solve the problem of low pressure sensing accuracy of existing industrial robots.
[0005] To achieve the above objectives, this utility model provides a human-finger-inspired pressure sensor, comprising: The mounting frame has mounting notches on its surface. A pressure sensor is embedded in the mounting notch, and the pressure sensing interface of the pressure sensor is flush with the opening end face of the mounting notch. A flexible sensing layer is provided, which covers the surface of the mounting frame. The inner surface of the flexible sensing layer is in contact with the pressure sensing interface of the pressure sensor, and the average gap between the flexible sensing layer and the pressure sensing interface is 0~100μm.
[0006] As a further improvement of this utility model, the flexible sensing layer is integrally injection molded on the surface of the mounting frame, the flexible sensing layer is made of rubber, and the mounting frame is made of nylon.
[0007] As a further improvement of this utility model, the mounting frame includes a frame body, and the mounting notch is formed by hollowing out the middle of the frame body; The mounting notch extends to one side and penetrates the side wall of the main frame body; A support plate is also provided within the installation notch, and the support plate is connected to the main frame body.
[0008] As a further improvement of this utility model, multiple hollow holes are provided on the side wall of the main body of the skeleton.
[0009] As a further improvement of this utility model, the mounting notch facing the pressure sensor is provided with a plurality of snap-fit protrusions, and the pressure sensor is provided with a plurality of snap-fit grooves. The snap-fit protrusions and the snap-fit grooves are matched one by one, and the pressure sensor and the mounting notch are connected by an interference fit.
[0010] As a further improvement of this utility model, the support plate is provided with a connection notch at the end opposite to the pressure sensor, and the connection notch is used for connection with the outside.
[0011] As a further improvement of this utility model, the flexible sensing layer includes a pressure sensing part and a connecting part. The pressure sensing part is attached to the surface of the pressure sensor, and the connecting part is bonded to the mounting frame.
[0012] As a further improvement of this utility model, the pressure sensor is a piezoresistive sensor, a capacitive sensor, or a piezoelectric sensor.
[0013] As a further improvement of this utility model, the pressure sensor is a piezoresistive sensor, which includes a base layer, a circuit layer, an adhesive layer and a pressure-sensitive layer stacked in sequence. The adhesive layer is hollowed out, and the pressure-sensitive layer and the circuit layer form a pressing gap through the adhesive layer.
[0014] As a further improvement of this utility model, the pressure sensor further includes a protective layer, which is disposed on the side of the pressure-sensitive layer away from the adhesive layer. The pressure-sensitive layer is disposed on the surface of the protective layer, and the protective layer is made of TPU.
[0015] The aforementioned improved technical features can be combined with each other as long as they do not conflict with each other.
[0016] In summary, the beneficial effects of the above-described technical solutions conceived by this utility model compared with the prior art include: (1) The human-finger pressure sensor of this utility model is embedded in the mounting notch by opening a mounting notch on the mounting frame. The embedding method avoids the problem of applying pressure to the pressure sensor in the conventional threaded fixing method. At the same time, the pressure sensing interface of the pressure sensor is flush with the opening end face of the mounting notch on the mounting frame. When the flexible sensing layer covers the surface of the mounting frame, the flexible sensing layer is formed around the mounting frame, which avoids the flexible sensing layer from squeezing the surface of the pressure sensor and can adhere to the surface of the pressure sensor. The average gap between the flexible sensing layer and the pressure sensing interface is 0~100μm, which ensures the accurate measurement of pressure by the pressure sensor without causing false touches.
[0017] (2) The humanoid finger pressure sensor of this utility model has a flexible sensing layer integrally injection molded onto the surface of the mounting frame. This eliminates the need for additional connections between the flexible sensing layer and the pressure sensor, avoiding the problem of warping of the flexible sensing layer surface caused by screws or other fixing methods, which would prevent the flexible sensing layer from adhering to the pressure sensor surface. Simultaneously, the integral injection molding method allows the flexible sensing layer to be directly molded onto the pressure sensor surface, adhering tightly to the pressure sensor surface without compressing it, ensuring the detection accuracy of the pressure sensor. Furthermore, the flexible sensing layer uses a rubber support, and the mounting frame is made of PE, allowing the molded flexible sensing layer to contact the surface of the mounting frame, achieving good adhesion between the two. This achieves the integration of the humanoid finger pressure sensor without the need for additional connectors. Attached Figure Description
[0018] Figure 1 This is an exploded structural diagram of the human finger pressure sensor in this embodiment of the present invention; Figure 2 This is a schematic diagram of the overall structure of the human finger pressure sensor in this embodiment of the present invention; Figure 3 This is a side view of the human finger pressure sensor in this embodiment of the present invention. In all the accompanying drawings, the same reference numerals denote the same technical features, specifically: 1. Main frame; 2. Mounting notch; 3. Support plate; 4. Hole; 5. Snap-fit protrusion; 6. Pressure sensor; 7. Snap-fit groove; 8. Flexible sensing layer. Detailed Implementation
[0019] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the present utility model and are not intended to limit the present utility model. Furthermore, the technical features involved in the various embodiments of the present utility model described below can be combined with each other as long as they do not conflict with each other.
[0020] In the description of this utility model, it should be understood that, unless otherwise stated, the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.
[0021] Furthermore, unless otherwise stated, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.
[0022] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.
[0023] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.
[0024] Example: Please see Figures 1-3 In a preferred embodiment of this utility model, the anthropomorphic finger pressure sensor includes a mounting frame with a mounting notch 2 on its surface. A pressure sensor 6 is embedded in the mounting notch 2, and the pressure sensing interface of the pressure sensor 6 is flush with the opening end face of the mounting notch 2. The surface of the mounting frame is also covered with a flexible sensing layer 8, and the inner surface of the flexible sensing layer 8 is in contact with the pressure sensing interface of the pressure sensor 6. The average gap between the flexible sensing layer 8 and the pressure sensing interface is 0~100μm.
[0025] The human-finger-like pressure sensor of this invention features a mounting notch 2 on the mounting frame, allowing the pressure sensor 6 to be fully embedded within it. This embedding method avoids the problem of applying pressure to the pressure sensor 6 in conventional threaded fixing methods. Simultaneously, the pressure sensing interface of the pressure sensor 6 is flush with the opening end face of the mounting notch 2 on the mounting frame. This ensures that when the flexible sensing layer 8 covers the surface of the mounting frame, the frame surrounds the flexible sensing layer 8, preventing the flexible sensing layer 8 from compressing the surface of the pressure sensor 6 and allowing it to adhere to the surface of the pressure sensor 6. This results in an average gap of 0~100μm between the flexible sensing layer 8 and the pressure sensing interface, ensuring accurate pressure measurement by the pressure sensor 6 without causing false triggering.
[0026] It is worth noting that when the average gap between the flexible sensor and the pressure sensing interface is between 0 and 100 μm, the pressure sensor 6 has a pressure detection error of 10g, ensuring the accurate pressure testing of the humanoid finger pressure sensor.
[0027] Furthermore, as an optional embodiment of this utility model, the flexible sensing layer 8 is integrally injection molded onto the surface of the mounting frame, and the flexible sensing layer 8 is made of rubber, while the mounting frame is made of nylon. The integral injection molding method eliminates the need for additional connections between the flexible sensing layer 8 and the pressure sensor 6, avoiding the problem of warping of the flexible sensing layer 8 caused by screws or other fixing methods, which would prevent the flexible sensing layer 8 from adhering to the surface of the pressure sensor 6. Simultaneously, the integral injection molding allows the flexible sensing layer 8 to be directly molded onto the surface of the pressure sensor 6, adhering tightly to the surface of the pressure sensor 6 without compressing it, ensuring the detection accuracy of the pressure sensor 6. On the other hand, the flexible sensing layer 8 uses rubber support, and the mounting frame is made of nylon. The relatively rough surface of nylon facilitates rubber adhesion, allowing the molded flexible sensing layer 8 to contact the surface of the mounting frame, achieving good adhesion between the two. This achieves the integration of a human finger-like pressure sensor without the need for additional connectors. Preferably, the nylon material of the mounting frame may be internally doped with glass fiber to increase the overall strength of the mounting frame.
[0028] Furthermore, as an optional embodiment of this utility model, the mounting frame includes a frame body 1, with a mounting notch 2 formed by hollowing out the middle of the frame body 1; the mounting notch 2 extends to one side and penetrates the side wall of the frame body 1; and a support plate 3 is also provided inside the mounting notch 2, which is connected to the frame body 1. The pressure sensor 6, relative to the entire mounting frame, is equivalent to a thin layer structure. The pressure sensor 6 cannot occupy the entire space of the mounting notch 2 on the frame body 1. Therefore, a support plate 3 is provided inside the mounting notch 2 to support the pressure sensor 6, so that the pressure sensing interface of the pressure sensor 6 is flush with the opening end face of the mounting notch 2; in another direction, the mounting notch 2 extends to one side and penetrates the side wall of the frame body 1, facilitating the connection of the pressure sensor 6 to an external power supply and a host computer, etc., to achieve stable testing of the pressure sensor 6.
[0029] Preferably, the sidewall of the skeleton body 1 has multiple perforated holes 4. The multiple perforated holes 4 on the sidewall of the skeleton can reduce the overall weight of the humanoid finger pressure sensor, and the perforated holes 4 can also serve as connection holes between the humanoid finger pressure sensor and external structural components.
[0030] Optionally, the support plate 3 is also provided with multiple receiving ports on the side facing the pressure sensor 6. The receiving ports are used to accommodate the electronic components on the pressure sensor 6, so that the pressure sensing interface of the pressure sensor 6 can be stably flush with the opening end face of the mounting notch 2.
[0031] Preferably, the mounting notch 2 facing the pressure sensor 6 is further provided with multiple snap-fit protrusions 5, and the pressure sensor 6 is provided with multiple snap-fit grooves 7. The snap-fit protrusions 5 and snap-fit grooves 7 are matched one-to-one, and the pressure sensor 6 and the mounting notch 2 are connected by an interference fit. To ensure a stable connection between the pressure sensor 6 and the mounting frame, multiple snap-fit protrusions 5 are provided on the side wall of the mounting notch 2, and multiple snap-fit grooves 7 are provided on the pressure sensor 6. The pressure sensor 6 and the mounting notch 2 are connected by an interference fit to achieve a stable connection between the two. It is worth noting that the interference fit connection between the pressure sensor 6 and the mounting notch 2 will not put pressure on the pressure sensing interface of the pressure sensor 6, so that the sensing accuracy of the pressure sensor 6 will not be affected.
[0032] Preferably, the support plate 3 has a connection notch at the end opposite to the pressure sensor 6 for external connection. The anthropomorphic finger pressure sensor in this invention is mainly used to assemble into the robot's hand to achieve high-precision tactile sensing. Therefore, a connection notch is reserved on the support plate 3 for the assembly of the anthropomorphic finger pressure sensor.
[0033] Furthermore, as an optional embodiment of this utility model, the flexible sensing layer 8 includes a pressure sensing part and a connecting part. The pressure sensing part is attached to the surface of the pressure sensor 6, and the connecting part is bonded to the mounting frame. The flexible sensing layer 8 is an integral structure, with the pressure sensing part and the connecting part corresponding to the pressure sensor 6 and the mounting frame, respectively. During the actual connection process, the pressure sensing part and the connecting part can be distinguished, making it easy to identify the sensing area of the humanoid finger pressure sensor. Optionally, a rough texture is provided on the surface of the pressure sensing part facing away from the pressure sensor 6 to increase the surface friction of the humanoid finger pressure sensor, facilitating the grasping and handling of objects by the robot equipped with the humanoid finger pressure sensor.
[0034] Optionally, the pressure sensor 6 is a piezoresistive sensor, a capacitive sensor, or a piezoelectric sensor. The pressure sensor 6 in this invention can be a sensor based on different pressure sensing principles. Besides piezoresistive sensors, capacitive sensors, and piezoelectric sensors, other sensors capable of pressure sensing and testing can be used as the pressure sensor 6 in this invention.
[0035] Preferably, the pressure sensor 6 is a piezoresistive sensor, comprising a substrate layer, a circuit layer, an adhesive layer, and a pressure-sensitive layer stacked sequentially. The adhesive layer is perforated, and a pressing gap is formed between the pressure-sensitive layer and the circuit layer through the adhesive layer. As the basic structure of the pressure sensor 6, it mainly achieves the connection between the circuit layer and the pressure-sensitive layer through the adhesive layer, and utilizes the adhesive layer to form a pressing gap between the circuit layer and the pressure-sensitive layer. When the pressure sensor 6 is pressed, the pressure-sensitive layer deforms towards the circuit layer. As the pressure increases, the contact area between the pressure-sensitive layer and the circuit layer increases, and the corresponding resistance on the circuit layer changes, thereby realizing the change in voltage and current, thus characterizing the pressure magnitude.
[0036] Optionally, the pressure sensor 6 also includes a protective layer. The protective layer is located on the side of the pressure-sensitive layer opposite to the adhesive layer. The pressure-sensitive layer is located on the surface of the protective layer, and the protective layer is made of TPU (thermoplastic polyurethane elastomer). The pressure-sensitive layer is made of carbon paste material, and the protective layer supports the pressure-sensitive layer, fixing the pressure-sensitive layer to the surface of the protective layer. At the same time, the TPU protective layer is incompatible with the rubber flexible sensing layer 8, avoiding the bonding between the integrally injection-molded flexible sensing layer 8 and the protective layer. The flexible sensor is in contact with but incompatible with the surface of the protective layer, allowing the pressure on the flexible sensing layer 8 to be accurately transmitted to the pressure sensor 6, realizing high-precision pressure measurement by the human finger-like pressure sensor.
[0037] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.
Claims
1. A human-finger-inspired pressure sensor, characterized in that, include: The mounting frame has mounting notches on its surface. A pressure sensor is embedded in the mounting notch, and the pressure sensing interface of the pressure sensor is flush with the opening end face of the mounting notch. A flexible sensing layer is provided, which covers the surface of the mounting frame. The inner surface of the flexible sensing layer is in contact with the pressure sensing interface of the pressure sensor, and the average gap between the flexible sensing layer and the pressure sensing interface is 0~100μm.
2. The human-like finger pressure sensor according to claim 1, characterized in that, The flexible sensing layer is integrally injection molded onto the surface of the mounting frame. The flexible sensing layer is made of rubber, and the mounting frame is made of nylon.
3. The human-like finger pressure sensor according to claim 1, characterized in that, The mounting frame includes a frame body, and the mounting notch is formed by hollowing out the middle of the frame body. The mounting notch extends to one side and penetrates the side wall of the main frame body; A support plate is also provided within the installation notch, and the support plate is connected to the main frame body.
4. The human-like finger pressure sensor according to claim 3, characterized in that, The main body of the skeleton has multiple hollow holes on its side wall.
5. The human-like finger pressure sensor according to claim 3, characterized in that, The mounting notch facing the pressure sensor is also provided with multiple snap-fit protrusions, and the pressure sensor is provided with multiple snap-fit grooves. The snap-fit protrusions and snap-fit grooves are matched one by one, and the pressure sensor and the mounting notch are connected by an interference fit.
6. The human-like finger pressure sensor according to claim 3, characterized in that, The support plate also has a connection notch at the end opposite to the pressure sensor, which is used for connection with the outside.
7. The human-like finger pressure sensor according to claim 1, characterized in that, The flexible sensing layer includes a pressure sensing part and a connecting part. The pressure sensing part is attached to the surface of the pressure sensor, and the connecting part is bonded to the mounting frame.
8. The human-like finger pressure sensor according to claim 1, characterized in that, The pressure sensor is a piezoresistive sensor, a capacitive sensor, or a piezoelectric sensor.
9. The human-like finger pressure sensor according to claim 8, characterized in that, The pressure sensor is a piezoresistive sensor, which includes a base layer, a circuit layer, an adhesive layer and a pressure-sensitive layer stacked in sequence. The adhesive layer is hollowed out, and the pressure-sensitive layer and the circuit layer form a pressing gap through the adhesive layer.
10. The humanoid finger pressure sensor according to claim 9, characterized in that, The pressure sensor further includes a protective layer, which is disposed on the side of the pressure-sensitive layer opposite to the adhesive layer. The pressure-sensitive layer is disposed on the surface of the protective layer, and the protective layer is made of TPU.