Sensory fingers and bionic devices

Abstract

The present invention relates to the technical field of mechanical fingers, and provides a sensing finger and a bionic device, wherein the sensing finger comprises a main body, an end, and a sensor, wherein the end is arranged at one end of the main body; the sensor is at least partially sandwiched between the main body and the end; wherein the main body and / or the end are deformed by force to squeeze the sensor. The purpose is to realize an embedded sensor, sense the force by sensing the deformation of the finger, and improve the sensing ability.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical fingers, and in particular to a sensing finger and a bionic device. Background Art

[0002] Existing mechanical finger sensing generally attaches sensors to the surface of the finger to measure the force on the finger surface. However, when the sensor is attached to the finger surface, only the area on the finger surface where the sensor is attached can measure the force. When the external force is not acting on the sensor, the force on the finger cannot be measured, and the finger sensing ability is poor. Summary of the invention

[0003] The present invention provides a sensing finger to solve the defect of poor sensing ability of mechanical fingers in the prior art, realize an embedded sensor, sense force conditions by sensing deformation of the finger, and improve the sensing ability.

[0004] The present invention provides a finger sensing device, comprising:

[0005] Body part;

[0006] An end portion, the end portion being arranged at one end of the main body portion;

[0007] a sensor, the sensor being at least partially sandwiched between the body portion and the end portion;

[0008] The main body and / or the end portion are deformed by force to squeeze the sensor.

[0009] According to a sensing finger provided by the present invention, the sensing finger also includes a driving line, the driving line passes through the main body and is connected to the end, and the driving line is used to pull the end and / or the main body to deform.

[0010] According to a sensing finger provided by the present invention, the sensing finger comprises a plurality of driving lines, and the plurality of driving lines are arranged at intervals and parallel to each other.

[0011] According to a finger sensing method provided by the present invention, the main body is provided with a connecting channel running through both ends and a plurality of through holes, the plurality of through holes are arranged around the connecting channel, each of the driving lines is passed through a through hole, the sensor is provided with a through hole corresponding to each of the driving lines, and the driving line is passed through the through hole.

[0012] According to a sensing finger provided by the present invention, a mounting hole is opened at the end, and the driving line is passed through the mounting hole to be connected with the end.

[0013] According to a finger sensing sensor provided by the present invention, the sensor comprises:

[0014] A sensing portion, the sensing portion being sandwiched between the main body portion and the end portion;

[0015] A connecting part, one end of which is connected to the sensing part, the connecting part is arranged in the communicating channel, and one end of the connecting part away from the sensing part is used to connect to an external device to transmit data.

[0016] According to a sensing finger provided by the present invention, the sensing finger further includes a plurality of bosses, the plurality of bosses are sandwiched between the main body and the end portion, each of the driving lines passes through a boss, and the boss abuts against the sensor.

[0017] According to a sensing finger provided by the present invention, the sensing finger also includes a gasket, which is clamped between the main body and the end, and the gasket is located on the side of the sensor facing the end or facing away from the end, and a plurality of the bosses are connected to the gasket, and a plurality of the bosses are located on the side of the gasket facing the sensor.

[0018] According to a finger sensing device provided by the present invention, the sensor is a flexible film sensor.

[0019] The present invention also provides a bionic device, comprising a mechanical body and the sensing finger as described above, wherein the sensing finger is arranged on the mechanical body.

[0020] The sensing finger provided by the present invention is provided with an end portion at one end of the main body, and at least a portion of the sensor is provided between the main body and the end portion. When the main body or the end portion is deformed by external force, the main body and the end portion can squeeze the sensor, so that the sensor can measure the force on the cross section of the sensing finger, and then obtain the force and bending conditions of the sensing finger, and complete the collection of sensing information. In this way, even if there is no direct contact with the sensor, information collection can be completed, thereby improving the sensing ability of the sensing finger. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 It is a schematic diagram of the structure of the finger sensing device provided by the present invention;

[0023] Figure 2 It is an exploded diagram of a part of the structure of the finger sensing device provided by the present invention.

[0024] Reference numerals:

[0025] 100. sensing finger; 1. main body; 11. connecting channel; 12. through hole; 2. end; 21. mounting hole; 3. sensor; 31. sensing part; 311. via hole; 32. connecting part; 4. driving line; 5. gasket; 51. boss. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] Please refer to Figure 1 and Figure 2 The present invention provides a sensing finger 100, including a main body 1, an end 2 and a sensor 3, wherein the end 2 is arranged at one end of the main body 1; the sensor 3 is at least partially clamped between the main body 1 and the end 2; wherein the main body 1 and / or the end 2 are deformed by force to squeeze the sensor 3.

[0028] In this embodiment, the main body 1 is a continuum and can be elastically deformed to achieve corresponding functions, such as grasping, bending, etc. Optionally, the main body 1 is cylindrical and the end 2 is hemispherical. In this way, the end face of the end 2 is connected to one end of the main body 1 to clamp the sensor 3 between the end 2 and the main body 1. Optionally, the connection between the end 2 and the main body 1 can be snap connection, bonding, plug-in or connected through a connector, which is not limited here. The end 2 can be made of hard material. When the end 2 is subjected to external force, it can better transmit the force to the sensor 3, thereby better squeezing the sensor 3 and having higher sensing accuracy. Of course, the end 2 can also be made of an elastomeric material to achieve a better bionic effect. It can be understood that the sensing part 31 of the sensor 3 is clamped between the end 2 and the main body 1 to collect sensing information, and the connecting part 32 of the sensor 3 can pass through the main body 1 and connect to an external device to transmit information to the external device. In this way, the external device can learn the force applied to the sensing finger 100 by analyzing the sensing information, and thus timely adjust the contact force between the sensing finger 100 and the contact object.

[0029] The sensing finger 100 provided by the present invention is provided with the end portion 2 at one end of the main body 1, and at least part of the sensor 3 is provided between the main body 1 and the end portion 2. When the main body 1 or the end portion 2 is deformed by external force, the main body 1 and the end portion 2 can squeeze the sensor 3, so that the sensor 3 can measure the force on the cross section of the sensing finger 100, and then obtain the force and bending conditions of the sensing finger 100, and complete the collection of sensing information. In this way, even if there is no direct contact with the sensor 3, information collection can be completed, thereby improving the sensing ability of the sensing finger 100.

[0030] According to a sensing finger 100 provided by the present invention, the sensing finger 100 also includes a driving line 4, the driving line 4 passes through the main body 1 and is connected to the end 2, and the driving line 4 is used to pull the end 2 and / or the main body 1 to deform.

[0031] In this embodiment, the driving wire 4 movably passes through the main body 1, and one end of the driving wire 4 is fixedly connected to the end 2, so that the driving wire 4 can pull the end 2 and drive the main body 1 to deform. It can be understood that the driving wire 4 is eccentrically arranged with the main body 1, that is, one end of the driving wire 4 is connected to the part adjacent to the edge of the end 2, so that when the driving wire 4 is pulled, the end 2 squeezes the main body 1, so that the main body 1 bends. The driving wire 4 can be a wire body such as a steel wire or a copper wire, which is not limited here, as long as it can pull the end 2 and the main body 1 to deform. It can be understood that the end of the driving wire 4 away from the end 2 can be connected to an external driving member, so that the external driving member pulls the driving wire 4 and then causes the end 2 and the main body 1 to deform. The external driving member can be a motor, a telescopic cylinder, etc.

[0032] like Figure 2 As shown, according to a sensing finger 100 provided by the present invention, the sensing finger 100 includes a plurality of driving lines 4, and the plurality of driving lines 4 are arranged at intervals and parallel to each other.

[0033] In this embodiment, in order to sense the bending of the finger 100 at multiple angles and collect different pressure data of the sensor 3, multiple driving wires 4 are respectively connected to the end 2 and spaced from each other. In this way, when different driving wires 4 are pulled, the deformation directions of the end 2 and the main body 1 and the force conditions of the sensor 3 are different, so as to simulate the force conditions when the human finger is bent, abducted and adducted. Exemplarily, the number of driving wires 4 is three, and the sensing finger 100 is divided into the front side, the back side, the left side and the right side. The three driving wires 4 are respectively set on the front side, the left side and the right side. The three driving wires 4 are distributed in an isosceles triangle with the front side as the endpoint, so as to simulate the force conditions when the human finger is bent, abducted and adducted. Multiple driving wires 4 are set parallel to each other. When two of the driving wires 4 are pulled, the two driving wires 4 are evenly stressed, so as to calculate and analyze the force deformation conditions of the sensing finger 100.

[0034] According to a sensing finger 100 provided by the present invention, a main body 1 is provided with a connecting channel 11 passing through both ends and a plurality of through holes 12, the plurality of through holes 12 are arranged around the connecting channel 11, each driving line 4 is passed through a through hole 12, and the sensor 3 is provided with a through hole 311 corresponding to each driving line 4, and the driving line 4 is passed through the through hole 311.

[0035] In this embodiment, the connecting channel 11 is coaxially arranged with the main body 1, so that the sensor 3 can be connected to an external device through the connecting channel 11 to transmit data. It can be understood that the extension direction of each through hole 12 is parallel to the extension direction of the connecting channel 11. Each driving wire 4 is movably arranged in a through hole 12, and one end of the driving wire 4 is fixedly connected to the end 2, so that the driving wire 4 pulls the end 2 so that the end 2 and the main body 1 are bent and deformed. At the same time, the sensor 3 is provided with a through hole 311 corresponding to each driving wire 4, so that the driving wire 4 passes through the through hole 311 and is connected to the end 2. It can be understood that when the driving wire 4 pulls the end 2, the end 2 and the part of the main body 1 adjacent to the driving wire 4 are subjected to more concentrated force, that is, the sensor 3 is sleeved on the driving wire 4 to collect the force information of the end 2 and the main body 1.

[0036] According to a sensing finger 100 provided by the present invention, a mounting hole 21 is opened at the end 2 , and a driving line 4 is passed through the mounting hole 21 to be connected with the end 2 .

[0037] In this embodiment, each mounting hole 21 is arranged corresponding to a through hole 12, so that the driving wire 4 can be arranged in the mounting hole 21 after being arranged in the through hole 12. In order to facilitate the connection and fixation of the driving wire 4 with the end 2, the mounting hole 21 is arranged to pass through the end 2, that is, the driving wire 4 passes through the end 2 from the side of the end 2 facing the main body 1, so that the driving wire 4 can be fixed on the side of the end 2 facing away from the main body 1. If the driving wire 4 is fixed on the side of the end 2 facing the main body 1, it is not convenient to fix the driving wire 4 after the end 2 and the main body 1 are close to each other to clamp the sensor 3. When the driving wire 4 is arranged to pass through the mounting hole 21, the side of the end 2 facing away from the main body 1 is not blocked, which facilitates the connection of the driving wire 4 and the end 2. Optionally, the driving wire 4 can be fixed to the end 2 by a connector such as a screw or a nut, as long as the driving wire 4 can be pulled to sense the bending of the finger 100.

[0038] According to a sensing finger 100 provided by the present invention, the sensor 3 includes a sensing part 31 and a connecting part 32, the sensing part 31 is clamped between the main body 1 and the end part 2; one end of the connecting part 32 is connected to the sensing part 31, the connecting part 32 is penetrated by the connecting channel 11, and the end of the connecting part 32 away from the sensing part 31 is used to connect with an external device to transmit data.

[0039] In this embodiment, the sensing portion 31 is adapted to the peripheral shape of the main body 1. For example, the main body 1 is cylindrical, and the sensing portion 31 is arc-shaped, so as to realize the collection of multi-directional force information of the finger 100. The sensing portion 31 and the connecting portion 32 can adopt an integrally formed structure to improve the connection stability. The connecting portion 32 can be bent to pass through the connecting channel 11 and connect to an external device. It can be understood that one end of the connecting portion 32 is connected to the sensing portion 31, and the connecting portion 32 is bent 90° at a position adjacent to the sensing portion 31 to pass through the connecting channel 11 to connect to an external device.

[0040] According to a sensing finger 100 provided by the present invention, the sensing finger 100 further includes a plurality of bosses 51 , which are sandwiched between the main body 1 and the end 2 , each driving line 4 passes through a boss 51 , and the boss 51 abuts against the sensor 3 .

[0041] It is understandable that each boss 51 is set corresponding to the measured point of the sensor 3. When the end 2 and the main body 1 are deformed by force, the boss 51 can concentrate the force of the cross section of the end 2 and the main body 1 to the position of the measured point. In this way, the force signal can be amplified, thereby improving the sensing accuracy. It is understandable that the boss 51 is in the shape of a ring, and the driving line 4 passes through the boss 51. In other words, the measured point of the sensor 3 is located near the driving line 4 to improve the sensing accuracy.

[0042] According to a sensing finger 100 provided by the present invention, the sensing finger 100 also includes a gasket 5, which is clamped between the main body 1 and the end 2, and the gasket 5 is located on the side of the sensor 3 facing the end 2 or facing away from the end 2, and multiple bosses 51 are connected to the gasket 5, and the multiple bosses 51 are located on the side of the gasket 5 facing the sensor 3.

[0043] In order to facilitate the installation of multiple bosses 51, multiple bosses 51 are connected to the gasket 5, and multiple bosses 51 are integrally formed with the gasket 5 to reduce the number of installation steps. It is understandable that multiple bosses 51 are connected to the gasket 5. In this way, by installing the gasket 5 between the end 2 and the main body 1, multiple bosses 51 corresponding to the measured points of the sensor 3 can be installed simultaneously, avoiding the need to install multiple bosses 51 separately, saving installation steps, and improving installation convenience. It is understandable that the boss 51 is located on the side of the gasket 5 facing the sensor 3, so that the boss 51 can contact the measured point of the sensor 3, thereby concentrating the force on the measured point.

[0044] According to a sensing finger 100 provided by the present invention, the sensor 3 is a flexible film sensor 3, and the material of the sensor 3 is thermoplastic polyester.

[0045] In this embodiment, the sensor 3 can be deformed following the squeezing of the end portion 2 and the main body 1 to avoid damage to the sensor 3 caused by squeezing of the end portion 2 and the main body 1. The sensor 3 can sense the pressure signal when being squeezed, and can convert the pressure signal into a usable output electrical signal according to a certain rule, thereby transmitting it to an external device to realize the collection of sensor information.

[0046] The present invention also provides a bionic device, including a mechanical body and the above-mentioned sensing finger 100, wherein the sensing finger 100 is arranged on the mechanical body. It can be understood that the bionic device can be a robot, a prosthetic device, a rehabilitation device, etc., and the mechanical body can be a mechanical arm, a rehabilitation glove, etc., which is not limited here, as long as the device has a mechanical finger.

[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A sensing finger, characterized in that: The sensing finger comprises: Body part; An end portion, the end portion being arranged at one end of the main body portion; a sensor, the sensor being at least partially sandwiched between the body portion and the end portion; Wherein, the main body and / or the end portion are deformed by force to squeeze the sensor; The sensing finger further includes a driving line, the driving line passes through the main body and is connected to the end, and the driving line is used to pull the end and / or the main body to deform; There are multiple driving lines, which are arranged at intervals and parallel to each other; the sensing finger also includes multiple bosses, which are clamped between the main body and the end part, each driving line passes through one boss, and the boss abuts against the sensor.

2. The sensing finger according to claim 1, characterized in that: The main body is provided with a connecting passage passing through both ends and a plurality of through holes, the plurality of through holes are arranged around the connecting passage, each of the driving wires is passed through a through hole, the sensor is provided with a through hole corresponding to each of the driving wires, and the driving wire is passed through the through hole.

3. The sensing finger according to claim 1, characterized in that: The end portion is provided with a mounting hole, and the driving wire is passed through the mounting hole to be connected with the end portion.

4. The sensing finger according to claim 2, characterized in that: The sensor comprises: A sensing portion, the sensing portion being sandwiched between the main body portion and the end portion; A connecting part, one end of which is connected to the sensing part, the connecting part is arranged in the communicating channel, and one end of the connecting part away from the sensing part is used to connect to an external device to transmit data.

5. The sensing finger according to claim 1, characterized in that: The sensing finger also includes a gasket, which is clamped between the main body and the end, and is located on the side of the sensor facing the end or facing away from the end, and multiple bosses are connected to the gasket, and multiple bosses are located on the side of the gasket facing the sensor.

6. The sensing finger according to any one of claims 1 to 5, characterized in that: The sensor is a flexible film sensor.

7. A bionic device, characterized in that: It comprises a mechanical body and a sensing finger as claimed in any one of claims 1 to 6, wherein the sensing finger is arranged on the mechanical body.

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