Bionic finger tip force testing device and method based on XYZ axis moving platform

Abstract

The application discloses a kind of based on XYZ axis moving platform's bionic finger tip force testing device and method, the device includes support frame, X axis screw module, Z axis screw module, Y axis linear guide rail module, optical axis guide rail module, bionic hand support platform, rotating base and tension sensor, support frame includes vertical support frame, horizontal support frame, inclined support frame and bottom plate;X axis screw module and optical axis guide rail module are installed on vertical support frame, Z axis screw module is installed on optical axis guide rail module, Y axis linear guide rail module is installed on bottom plate, bionic hand support platform is installed on Y axis linear guide rail module, rotating base is installed on bionic hand support platform, tension sensor is installed on Z axis screw module, first hand shake component is connected with X axis screw module, second hand shake component is connected with Z axis screw module.The application greatly improves test efficiency and accuracy, expands the range of fingertip force test, so that the statistical data obtained is more rigorous, reliable.

Description

TECHNICAL FIELD

[0001] The application relates to a bionic finger tip force testing device and method based on an XYZ-axis moving platform and belongs to the field of mechanical bionic hands. BACKGROUND

[0002] At present, the measurement of the bionic finger tip force is mostly achieved by installing a pressure sensor at the bionic hand finger tip, then driving the bionic hand to grab an object or apply force to an electronic scale to obtain the size of the finger tip force. However, this method is generally only applicable to measuring the size of the finger tip force at a specific finger position, and it is extremely difficult to measure the finger tip force when the bionic hand finger is close to the palm, especially for the bionic thumb. Due to its special position, it is difficult to have a real object (finger or palm) that can form a counterforce with the thumb in most of its movement range, and the measurement difficulty is greatly increased. Another solution uses a tension dynamometer, one end of which is connected with the finger tip, and the other end is fixed by the hand, and the hand changes with the change of the position of the bionic hand finger. However, this method is low in efficiency, poor in experimental accuracy and repeatability. SUMMARY

[0003] The application aims to provide a bionic finger tip force testing device based on an XYZ-axis moving platform, which can solve the problem of difficulty in measuring the finger tip force of the bionic hand finger in some positions, especially when the bionic hand finger is close to the palm, and solve the problems of low measurement accuracy, low measurement efficiency, poor experimental repeatability of the hand-held tension dynamometer, and inconvenience in alternating fingers during multi-finger tip force measurement.

[0004] Another object of the application is to provide a bionic finger tip force testing method based on the above-mentioned bionic finger tip force testing device.

[0005] The object of the application can be achieved by adopting the following technical solutions:

[0006] A bionic finger tip force testing device based on an XYZ-axis moving platform, comprising a support frame, an X-axis screw module, a Z-axis screw module, a Y-axis linear guide rail module, an optical axis guide rail module, a bionic hand supporting table, a rotating base, a tension sensor, a first hand crank component and a second hand crank component, wherein the support frame comprises a vertical support frame, a horizontal support frame, an inclined support frame and a bottom plate.

[0007] The vertical support frame and the horizontal support frame are installed on the base plate, the oblique support frame is connected to the vertical support frame and the horizontal support frame respectively, the X-axis screw module and the optical axis guide rail module are installed on the vertical support frame, the Z-axis screw module is installed on the optical axis guide rail module, the Y-axis linear guide rail module is installed on the base plate, the bionic hand support platform is installed on the Y-axis linear guide rail module, the rotating base is installed on the bionic hand support platform, the tension sensor is installed on the Z-axis screw module, the first hand-cranked component is connected to the X-axis screw module, and the second hand-cranked component is connected to the Z-axis screw module.

[0008] Furthermore, the optical axis guide rail module includes two optical axis guide rails, and the two optical axis guide rails are symmetrically installed on the upper and lower parts of the vertical support frame. An optical axis slider is provided on each optical axis guide rail, the X-axis screw rod module is located between the two optical axis guide rails, and the Z-axis screw rod module is installed on the optical axis slider.

[0009] Furthermore, the X-axis screw module includes an X-axis screw, which is installed on a vertical support frame and is located between two optical axis guide rails. An X-axis screw nut is provided on the X-axis screw, and the X-axis screw nut is connected to a connecting plate, which connects the optical axis sliders of the two optical axis guide rails together, and the first hand-cranked component is connected to the X-axis screw nut.

[0010] Furthermore, the Z-axis screw module includes a Z-axis screw, a first Z-axis screw support frame and a second Z-axis screw support frame, a Z-axis screw nut is provided on the Z-axis screw, one end of the Z-axis screw is installed on the optical axis slider of one of the optical axis guide rails through the first Z-axis screw support frame, and the other end of the Z-axis screw is installed on the optical axis slider of the other optical axis guide rail through the second Z-axis screw support frame, a pulley is installed on the Z-axis screw nut, one end of the tension sensor is fixed on the second Z-axis screw support frame, and the other end is connected to the traction line, the traction line is connected to the fingers of the bionic hand through the pulley, and the second hand-cranked component is connected to the Z-axis screw nut.

[0011] Furthermore, the pulley is installed on the Z-axis screw nut through a pulley support frame, and the pulley support frame is used to fix the relative position of the pulley and the Z-axis screw nut. The pulley is connected to the pulley support frame through a pulley pin.

[0012] Furthermore, the Y-axis linear guide module includes two Y-axis linear guides, and the two Y-axis linear guides are symmetrically installed on the left and right sides of the base plate. Each Y-axis linear guide is provided with a linear guide slider, and the bionic hand support platform is installed on the linear guide slider, and four guide fixing nuts are installed on the bionic hand support platform, and the guide fixing nuts are used to fix the position of the bionic hand support platform.

[0013] Further, the rotating base is provided with a bionic hand mounting base, and the bionic hand mounting base and the bionic hand wrist part are both threaded.

[0014] Further, the rotating base comprises a hollow rotating disc for supporting the bionic hand mounting base and a disc damping rotating shaft for fixing the direction of the bionic hand.

[0015] Further, the vertical support frame and the horizontal support frame are fixed together through an angle code, and the inclined support frame is connected to the vertical support frame and the horizontal support frame at an angle of 45 degrees through 135-degree extruded angle codes.

[0016] Another object of the application can be achieved by adopting the following technical scheme:

[0017] A bionic finger tip force testing method is realized based on the bionic finger tip force testing device, and the method comprises the following steps:

[0018] The bionic hand to be tested is screwed into the bionic hand mounting base;

[0019] The rotating base is sent out along the Y-axis linear guide rail, the damping nut is tightened, the damping of the disc damping rotating shaft is increased, and thus the direction of the bionic hand is fixed;

[0020] The rotating base is sent back along the Y-axis linear guide rail, the guide rail fixing nut of the bionic hand support table is tightened after a suitable position is determined, and thus the bionic hand is fixed in the Y-axis direction;

[0021] The first hand crank part is rotated to adjust the X-axis screw nut, the optical axis slider is driven to move the Z-axis screw, and thus the position of the testing point is changed, so that the traction line is in the same plane as the finger to be tested; when the position of the testing point in the Z-axis direction is unchanged, the orientation of the finger to be tested cannot be ensured to ensure that the traction force of the traction line and the finger tip force are counteracting forces, and the angle between the traction line and the finger tip plane cannot be ensured to be small, and the position of the Z-axis screw nut is adjusted through the second hand crank part to meet the testing requirements;

[0022] The traction line is connected to the finger to be tested through a pulley, the finger motor is started, and the finger tip force is tested.

[0023] The application has the following beneficial effects relative to the prior art:

[0024] The application can quickly and conveniently change the relative position of the test point and the bionic hand, thereby efficiently measuring the fingertip force of the bionic hand fingers in any position, and the bionic hand can change the direction at will through the rotating base, the measurement between the thumb and the remaining four fingers is extremely convenient, the test efficiency and accuracy are greatly improved, the range of fingertip force test is expanded, the repeatability of the experiment is improved, and the obtained statistical data is more rigorous and reliable. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained according to the structures shown in the drawings without creative labor.

[0026] Figure 1 The figure is a structural schematic diagram of the bionic hand fingertip force test device of the embodiment of the present application.

[0027] Figure 2 The figure is a structural schematic diagram of the X direction of the embodiment of the present application.

[0028] Figure 3 The figure is a structural schematic diagram of the bionic hand mounting base, the rotating base and the bionic hand supporting table of the embodiment of the present application.

[0029] Figure 4 The figure is a structural schematic diagram of the bionic hand supporting table of the embodiment of the present application.

[0030] Figure 5 The figure is a structural schematic diagram of the bionic hand mounting base of the embodiment of the present application.

[0031] Figure 6 The figure is a structural schematic diagram of the hollow rotating disc of the embodiment of the present application.

[0032] Figure 7 The figure is a structural schematic diagram of the disc damping rotating shaft of the embodiment of the present application.

[0033] Figure 8 The figure is a schematic diagram of the angle between the traction line and the fingertip plane of the finger of the embodiment of the present application.

[0034] Among them, 1-bionic hand support platform, 101-guide rail fixing nut, 2-rotating base, 201-hollow turntable, 202-disc damping shaft, 3-tension sensor, 4-first hand-cranked component, 5-second hand-cranked component, 6-vertical support frame, 7-horizontal support frame, 8-oblique support frame, 9-bottom plate, 10-optical axis guide rail, 11-diamond bearing seat, 12-optical axis slider, 13-X-axis screw, 14-vertical bearing seat, 15-X-axis screw nut, 1 6-connecting plate, 17-Z-axis screw, 18-first Z-axis screw support frame, 19-second Z-axis screw support frame, 1901-inlaid nut, 20-Z-axis screw nut, 21-pulley, 2101-pulley pin, 22-traction line, 23-bearing, 24-pulley support frame, 2401-support frame pin, 25-Y-axis linear guide, 26-linear guide slider, 27-bionic hand mounting base, 28-angle code, 29-135 degree extrusion angle code. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0036] Example:

[0037] like Figures 1-7 As shown, this embodiment provides a bionic fingertip force testing device based on an XYZ-axis mobile platform, which includes a support frame, an X-axis screw module, a Z-axis screw module, a Y-axis linear guide module, an optical axis guide module, a bionic hand support platform 1, a rotating base 2, a tension sensor 3, a first hand-cranked component 4 and a second hand-cranked component 5, and the support frame includes a vertical support frame 6, a horizontal support frame 7, an inclined support frame 8 and a base plate 9.

[0038] The vertical support frame 6 and the horizontal support frame 7 are installed on the bottom plate 9, the inclined support frame 8 is connected with the vertical support frame 6 and the horizontal support frame 7 respectively, the X-axis screw module and the optical axis guide rail module are installed on the vertical support frame 6, the Z-axis screw module is installed on the optical axis guide rail module, the Y-axis linear guide rail module is installed on the bottom plate, the bionic hand supporting table 1 is installed on the Y-axis linear guide rail module, the rotating base 2 is installed on the bionic hand supporting table 1, the tension sensor 3 is installed on the Z-axis screw module, the first hand shaking part 4 is connected with the X-axis screw module, the second hand shaking part 5 is connected with the Z-axis screw module, the position of the test point in the XOZ plane can be quickly changed through the first hand shaking part 4 and the second hand shaking part 4, the relative position of the test point and the bionic hand in the Y-axis direction can be quickly changed through the Y-axis linear guide rail module, and the flexibility of the rotating base lifting device is improved, so that the bionic hand can be conveniently tested.

[0039] Further, the optical axis guide rail module comprises two optical axis guide rails 10, the two optical axis guide rails 10 are symmetrically installed on the upper and lower parts of the vertical support frame 6, and are specifically installed on the vertical support frame 1 through the diamond-shaped bearing seat 11, the optical axis sliding block 12 is arranged on each optical axis guide rail 10, the optical axis sliding block 12 is a box-type optical axis sliding block, the X-axis screw module is located between the two optical axis guide rails, the Z-axis screw module is installed on the optical axis sliding block 12, and the movement of the optical axis sliding block 12 can drive the movement of the Z-axis screw module.

[0040] Further, the X-axis screw module comprises an X-axis screw 13, the X-axis screw 13 is installed on the vertical support frame 6, specifically installed on the vertical support frame 1 through the vertical bearing seat 14, and located between the two optical axis guide rails 10, the X-axis screw nut 15 is arranged on the X-axis screw 13, the X-axis screw nut 15 is connected to the connecting plate 16, the connecting plate 16 connects the optical axis sliding blocks 12 of the two optical axis guide rails 10 together, the first hand shaking part 4 is connected with the X-axis screw nut 15, the reciprocating movement of the X-axis screw nut 15 in the X-axis direction is realized by rotating the first hand shaking part 4, and the optical axis sliding block 12 is moved by the movement of the X-axis screw nut 15.

[0041] Further, the Z-axis screw module comprises a Z-axis screw 17, a first Z-axis screw support frame 18 and a second Z-axis screw support frame 19, the Z-axis screw 17 is provided with a Z-axis screw nut 20, one end of the Z-axis screw 17 is installed on the optical axis slider 12 of one of the optical axis guide rails 10 through the first Z-axis screw support frame 18, the other end of the Z-axis screw is installed on the optical axis slider 12 of the other optical axis guide rail 10 through the second Z-axis screw support frame 19, the Z-axis screw nut 20 is installed with a pulley 21, one end of the tension sensor 3 is fixed on the second Z-axis screw support frame 19, the other end is connected with a traction line 22, the traction line 22 is connected with the fingers of the bionic hand through the pulley 21, the direction of the traction line 22 can be changed at will with the change of the position of the fingers of the bionic hand, the second hand crank 5 is connected with the Z-axis screw nut 20, and the position of the Z-axis screw nut 20 can be adjusted by adjusting the second hand crank 5.

[0042] Further, the first Z-axis screw support frame 18 and the second Z-axis screw support frame 19 are respectively installed with a bearing 23, which is used to reduce the friction between the Z-axis screw 17 and the two support frames.

[0043] Further, the second Z-axis screw support frame 19 is used to install the tension sensor 16, has an inlaid nut 1901, one end of the tension sensor 3 is connected with the inlaid nut 1901 to be fixed on the second Z-axis screw support frame 19.

[0044] Further, the pulley 21 is installed on the Z-axis screw nut 20 through a pulley support frame 24, the pulley support frame 24 is used to fix the relative position of the pulley 21 and the Z-axis screw nut 20, the pulley 21 is connected with the pulley support frame 24 through a pulley pin 2101, the position of the pulley 21 is the test point, and the pulley support frame 24 is fixed on the Z-axis screw nut 20 through a support frame pin 2401.

[0045] Further, the Y-axis linear guide rail module comprises two Y-axis linear guide rails 25, which are symmetrically installed on the left and right sides of the bottom plate 9, each Y-axis linear guide rail 25 is provided with a linear guide rail slider 26, the bionic hand support table 1 is installed on the linear guide rail slider 26, and four guide rail fixed nuts 101 are installed on the bionic hand support table 1, the guide rail fixed nuts are used to fix the position of the bionic hand support table, specifically, when it is necessary to fix the position, it is screwed down to make the guide rail fixed nut contact with the bottom plate so as to fix the bionic hand support table.

[0046] Further, the rotating base 2 is installed with a bionic hand installation base 27, the bionic hand installation base 27 and the bionic hand wrist part are both threaded, and the bionic hand is installed after being buckled on the bionic hand installation base 27 and being rotated.

[0047] Further, the rotating base 2 comprises a hollow rotating disc 201 for supporting the bionic hand mounting base 27 and a disc damping rotating shaft 202 for fixing the direction of the bionic hand.

[0048] Further, the horizontal support frame 7 is installed on the bottom plate 9 through cooperation of a plurality of bolts and sliding block nuts; the vertical support frame 6 and the horizontal support frame 7 are fixed together through an angle code 28, and the inclined support frame is connected together with the vertical support frame and the horizontal support frame at an angle of 45 degrees through 135-degree extruded angle codes 29, further reinforcing the support frame.

[0049] The embodiment also provides a bionic finger tip force testing method, which is realized based on the bionic finger tip force testing device and comprises the following steps:

[0050] S1, screwing the bionic hand to be tested into the bionic hand mounting base;

[0051] S2, sending the rotating base out along the Y-axis linear guide rail, tightening the damping nut, increasing the damping of the disc damping rotating shaft, and thus fixing the direction of the bionic hand;

[0052] S3, sending the rotating base back along the Y-axis linear guide rail, tightening the guide rail fixing nut of the bionic hand supporting table after determining the appropriate position, so as to fix the bionic hand in the Y-axis direction;

[0053] S4, rotating the first hand crank component to adjust the X-axis screw nut, driving the optical axis sliding block to move the Z-axis screw, and thus changing the position of the testing point, so that the traction line is in the same plane as the finger to be tested; the position of the Z-axis screw nut generally does not need to be changed, and when necessary, the position of the Z-axis screw nut can be adjusted through the second hand crank component to obtain a more appropriate testing point.

[0054] S5, connecting the traction line with the finger to be tested through the pulley, starting the finger motor, and testing the finger tip force.

[0055] The principles of adjusting the bionic hand direction and the testing point position in S2, S3 and S4 are as follows: the front or back of the finger to be tested is perpendicular to the testing surface, and the front or back is determined according to the position of the finger to be tested, so as to ensure that the position of the finger to be tested can ensure that the traction force of the traction line and the finger tip force are counteracting forces, and the angle between the traction line and the finger tip plane (as shown in FIG. 8) should not be too small (otherwise, the range of the tensile force sensor is too large at this time, and a large force is applied to the finger structure). Figure 8

[0056] ​If the tested finger needs to be changed, adjust the device as follows, assuming that the first tested finger is one of the four fingers except the thumb, if the next tested finger is also one of the four fingers except the thumb, then:

[0057] S6, disconnect the traction line and the finger, repeat the operation S4, S5.

[0058] If the next tested finger is the thumb, then:

[0059] S7, disconnect the traction line and the finger, repeat the operation S2, S3, S4, S5.

[0060] In the description of the present application, it should be noted that, unless otherwise explicitly specified and agreed, the terms "set", "install", "connect" should be understood broadly, for example, "connect" can be fixedly connected, or detachably connected, or integrally connected; can be mechanically connected, or electrically connected; can be directly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances, and the terms "up", "down", "left", "right" and similar expressions are only for the purpose of illustration, and do not represent the only embodiment.

[0061] In summary, the present application can quickly and conveniently change the relative position of the test point and the bionic hand, thereby efficiently measuring the fingertip force of the bionic hand finger in any position, and the bionic hand can change the direction at will by rotating the base, which is extremely convenient between the measurement switching of the thumb and the remaining four fingers, greatly improves the test efficiency and accuracy, expands the range of fingertip force test, improves the repeatability of the experiment, and makes the obtained statistical data more rigorous and reliable.

[0062] The above is only a preferred embodiment of the present application, but the protection scope of the present application is not limited to this, any skilled person in the art can make equivalent replacement or change according to the technical scheme and the inventive concept of the present application within the scope disclosed by the present application, which belongs to the protection scope of the present application.

Claims

1. A bionic fingertip force testing device based on an XYZ axis moving platform, characterized in that: It includes a support frame, an X-axis screw module, a Z-axis screw module, a Y-axis linear guide module, an optical axis guide module, a bionic hand support platform, a rotating base, a tension sensor, a first hand-cranked component and a second hand-cranked component. The support frame includes a vertical support frame, a horizontal support frame, an oblique support frame and a bottom plate; The vertical support frame and the horizontal support frame are mounted on the base plate, the oblique support frame is connected to the vertical support frame and the horizontal support frame respectively, the X-axis screw module and the optical axis guide rail module are mounted on the vertical support frame, the Z-axis screw module is mounted on the optical axis guide rail module, the Y-axis linear guide rail module is mounted on the base plate, the bionic hand support platform is mounted on the Y-axis linear guide rail module, the rotating base is mounted on the bionic hand support platform, the tension sensor is mounted on the Z-axis screw module, the first hand-cranked component is connected to the X-axis screw module, and the second hand-cranked component is connected to the Z-axis screw module; The Y-axis linear guide module includes two Y-axis linear guides, which are symmetrically installed on the left and right sides of the base plate. Each Y-axis linear guide is provided with a linear guide slider. The bionic hand support platform is installed on the linear guide slider, and four guide rail fixing nuts are installed on the bionic hand support platform. The guide rail fixing nuts are used to fix the position of the bionic hand support platform. A bionic hand mounting base is installed on the rotating base. The bionic hand mounting base and the bionic hand wrist part are both threaded. The bionic hand is buckled onto the bionic hand mounting base and rotated to achieve installation. The rotating base includes a hollow turntable and a disc damping shaft. The hollow turntable is used to support the bionic hand mounting base, and the disc damping shaft is used to fix the direction of the bionic hand.

2. The bionic fingertip force testing device according to claim 1, characterized in that: The optical axis guide rail module includes two optical axis guide rails, which are symmetrically installed on the upper and lower parts of the vertical support frame. An optical axis slider is provided on each optical axis guide rail. The X-axis screw rod module is located between the two optical axis guide rails, and the Z-axis screw rod module is installed on the optical axis slider.

3. The bionic fingertip force testing device according to claim 2, characterized in that: The X-axis screw module includes an X-axis screw, which is installed on a vertical support frame and is located between two optical axis guide rails. An X-axis screw nut is provided on the X-axis screw, and the X-axis screw nut is connected to a connecting plate. The connecting plate connects the optical axis sliders of the two optical axis guide rails together, and the first hand-cranked component is connected to the X-axis screw nut.

4. The bionic fingertip force testing device according to claim 3, characterized in that: The Z-axis screw module includes a Z-axis screw, a first Z-axis screw support frame and a second Z-axis screw support frame, a Z-axis screw nut is provided on the Z-axis screw, one end of the Z-axis screw is installed on the optical axis slider of one of the optical axis guide rails through the first Z-axis screw support frame, and the other end of the Z-axis screw is installed on the optical axis slider of the other optical axis guide rail through the second Z-axis screw support frame, a pulley is installed on the Z-axis screw nut, one end of the tension sensor is fixed on the second Z-axis screw support frame, and the other end is connected to the traction line, the traction line is connected to the fingers of the bionic hand through the pulley, and the second hand-cranked component is connected to the Z-axis screw nut.

5. The bionic fingertip force testing device according to claim 4, characterized in that: The pulley is installed on the Z-axis screw nut through a pulley support frame. The pulley support frame is used to fix the relative position of the pulley and the Z-axis screw nut. The pulley is connected to the pulley support frame through a pulley pin.

6. The bionic fingertip force testing device according to any one of claims 1 to 5, characterized in that: The vertical support frame and the horizontal support frame are fixed together by angle brackets, and the oblique support frame is connected to the vertical support frame and the horizontal support frame at an angle of 45 degrees by 135-degree extrusion angle brackets.

7. A bionic fingertip force testing method, implemented based on the bionic fingertip force testing device according to claim 4, characterized in that: The method comprises: Screw the bionic hand to be tested into the bionic hand mounting base; Move the rotating base along the Y-axis linear guide rail and tighten the damping nut to increase the damping of the disc damping shaft, thereby fixing the direction of the bionic hand. Return the rotating base along the Y-axis linear guide rail. After determining the appropriate position, tighten the guide rail fixing nut of the bionic hand support platform to fix the bionic hand in the Y-axis direction. Turn the first hand-cranked component to adjust the X-axis screw nut, drive the optical axis slider, and thus move the Z-axis screw, thereby changing the position of the test point, so that the traction line and the finger to be tested are in the same plane; when the test point remains unchanged on the Z axis, it is impossible to ensure that the orientation of the finger to be tested can ensure that the traction force of the traction line and the fingertip force are opposing forces, and ensure that the angle between the traction line and the fingertip plane is not too small, and adjust the position of the Z-axis screw nut through the second hand-cranked component to meet the test requirements; The traction line is connected to the finger to be tested through a pulley, and the finger motor is started to perform the fingertip force test.

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