Angular velocity measuring device for anthropomorphic five-fingered hand

Abstract

The application discloses a kind of angular velocity measuring devices of anthropomorphic five-finger dexterous hand, it is related to testing equipment technical field, using non-contact measurement, infrared sensor can be measured without with five-finger dexterous hand mechanical structure contact, avoid the interference and wear and tear to mechanical structure, while also reduce the complexity of installation and maintenance.Infrared sensor usually has higher measurement accuracy and fast response time, can accurately capture the rapid movement of five-finger dexterous hand, to provide accurate angular velocity measurement.Infrared sensor installation is relatively simple, does not need to make large-scale modification to five-finger dexterous hand, also does not need to increase additional weight or volume on mechanical hand, it is crucial to keep the performance and flexibility of mechanical hand.Because infrared measurement is not influenced by mechanical vibration and noise, can provide more stable and reliable data, it is crucial to dynamic performance analysis and control.

Description

Technical Field

[0001] This invention relates to the field of testing equipment technology, and in particular to an angular velocity measuring device for a humanoid five-fingered dexterous hand. Background Technology

[0002] In robotics, a five-fingered dexterous hand is a robotic end effector that highly mimics the structure and function of a human hand. It possesses multiple degrees of freedom and multiple joints, enabling it to perform various complex grasping and manipulation tasks. The design of a five-fingered dexterous hand typically includes multiple joints and links to achieve movements and dexterity similar to a human hand. These dexterous hands integrate advanced sensing technologies, providing force and tactile feedback, allowing robots to interact with their environment more precisely and intelligently.

[0003] With the rapid development of robotics technology, high-precision five-fingered dexterous hands have been widely used in industrial automation, medical surgery, and service robots. The dexterity and adaptability of these five-fingered dexterous hands enable them to perform complex tasks, but this also places higher demands on performance testing and control. Among these, angular velocity, as one of the key parameters for measuring the performance of a five-fingered dexterous hand, is crucial for accurate measurement and optimization of robot motion control and systems.

[0004] Traditional angular velocity measurement methods typically rely on sensors directly mounted on the mechanical structure, such as photoelectric encoders or rotary transformers. While these methods provide accurate measurements, they suffer from drawbacks such as high cost, complex installation, and susceptibility to mechanical wear. Furthermore, for already deployed robotic systems, adding or replacing sensors often requires complex operations and incurs significant costs. Summary of the Invention

[0005] In view of the above problems, the present invention provides an angular velocity measuring device for a humanoid five-fingered dexterous hand to overcome or at least partially solve the above problems.

[0006] This invention provides the following solution:

[0007] An angular velocity measuring device for a human-like five-fingered dexterous hand includes:

[0008] A support frame, the support frame including a first link and a second link, the first link and the second link being connected to a first end respectively, so that a target angle is formed between the first link and the second link;

[0009] A first infrared timing trigger component is connected to the second end of the first connecting rod;

[0010] The second infrared timing trigger component is connected to the second end of the second link;

[0011] A control component is connected to the support frame and is communicatively connected to the first infrared timing trigger component and the second infrared timing trigger component;

[0012] The support frame is used to be set in a non-contact manner at the target position next to the humanoid five-fingered dexterous hand whose angular velocity is to be measured, so that the movement trajectory of the fingers of the humanoid five-fingered dexterous hand from the starting point to the ending point of the movement passes through the first infrared timing trigger component and the second infrared timing trigger component, and the first infrared timing trigger component and the second infrared timing trigger component can be triggered during the movement of the fingers of the humanoid five-fingered dexterous hand.

[0013] The control component is used to perform the following operations:

[0014] The moment when the fingers of the humanoid five-fingered dexterous hand trigger the first infrared timing trigger component is recorded as the starting timing moment;

[0015] The moment when the fingers of the humanoid five-fingered dexterous hand trigger the second infrared timing trigger component is recorded as the time to stop timing;

[0016] Calculate the time difference between the termination time and the start time;

[0017] The angular velocities of the fingers of the anthropomorphic five-fingered dexterous hand are calculated using the time difference and the target angle.

[0018] Preferably, the first ends of the first link and the second link are connected by a pivot and a locking assembly to adjust the target angle between the first link and the second link.

[0019] Preferably, the system further includes a display, which is connected to the support frame and communicatively connected to the control component. The display is used to display the angular velocity.

[0020] Preferably, the control component is further configured to acquire the target angle, and the display is further configured to display the target angle.

[0021] Preferably, it also includes a switch button, which is connected to the support frame.

[0022] According to specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0023] This application provides an angular velocity measuring device for a humanoid five-fingered dexterous hand. It employs non-contact measurement, allowing the infrared sensor to perform measurements without contact with the hand's mechanical structure. This avoids interference and wear on the mechanical structure, while also reducing installation and maintenance complexity. Infrared sensors typically offer high measurement accuracy and fast response times, accurately capturing the rapid movements of the five-fingered dexterous hand to provide precise angular velocity measurements. The installation of the infrared sensor is relatively simple, requiring no major modifications to the hand or adding extra weight or volume, which is crucial for maintaining the hand's performance and flexibility. Since infrared measurement is unaffected by mechanical vibration and noise, it provides more stable and reliable data, essential for dynamic performance analysis and control.

[0024] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0026] Figure 1 This is a schematic diagram of the structure of an angular velocity measuring device for a humanoid five-fingered dexterous hand provided in an embodiment of the present invention;

[0027] Figure 2 This is a schematic diagram of the angular velocity measuring device for a humanoid five-fingered dexterous hand provided in an embodiment of the present invention.

[0028] Figure 3 This is a flowchart illustrating the measurement process of an angular velocity measuring device for a humanoid five-fingered dexterous hand, as provided in an embodiment of the present invention.

[0029] In the figure: measuring device 100, humanoid five-fingered dexterous hand 200, host computer 300, first link 1, second link 2, first infrared timing trigger component 3, second infrared timing trigger component 4, display 5, switch button 6. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention are within the scope of protection of the present invention.

[0031] See Figure 1 , Figure 2 , Figure 3 This invention provides an angular velocity measuring device for a humanoid five-fingered dexterous hand, as shown in the embodiments of the present invention. Figure 1 , Figure 2 , Figure 3 As shown, the measuring device 100 may include:

[0032] A support frame, the support frame including a first link 1 and a second link 2, the first link 1 and the second link 2 respectively being connected to a first end, so that a target angle is formed between the first link 1 and the second link 2;

[0033] The first infrared timing trigger component 3 is connected to the second end of the first connecting rod 1;

[0034] The second infrared timing trigger component 4 is connected to the second end of the second connecting rod 2;

[0035] The control component is connected to the support frame and is communicatively connected to the first infrared timing trigger component 3 and the second infrared timing trigger component 4.

[0036] The support frame is used to be set in a non-contact manner at the target position next to the humanoid five-fingered dexterous hand 200 whose angular velocity is to be measured, so that the movement trajectory of the fingers of the humanoid five-fingered dexterous hand 200 from the starting point to the ending point of the movement passes through the first infrared timing trigger component 3 and the second infrared timing trigger component 4, and the first infrared timing trigger component 3 and the second infrared timing trigger component 4 can be triggered during the movement of the fingers of the humanoid five-fingered dexterous hand 200;

[0037] The control component is used to perform the following operations:

[0038] The moment when the fingers of the humanoid five-fingered dexterous hand 200 trigger the first infrared timing trigger component 3 is recorded as the starting timing moment;

[0039] The moment when the fingers of the humanoid five-fingered dexterous hand 200 trigger the second infrared timing trigger component 4 is recorded as the time to stop timing.

[0040] Calculate the time difference between the termination time and the start time;

[0041] The angular velocity of the fingers of the anthropomorphic five-fingered dexterous hand 200 is obtained by using the time difference and the target angle.

[0042] The angular velocity measuring device 100 for a humanoid five-fingered dexterous hand provided in this application embodiment can measure angular velocity without modifying the structure of the five-fingered dexterous hand, reducing measurement costs and complexity. Angular velocity measurement of the five-fingered dexterous hand is performed wirelessly, allowing for contactless placement next to the humanoid five-fingered dexterous hand 200 whose angular velocity is to be measured. Since there is no direct contact with the humanoid five-fingered dexterous hand 200, and no physical contact with mechanical parts, interference or wear on the mechanical structure is prevented, and the entire installation and maintenance process is simplified.

[0043] The device boasts excellent measurement accuracy and rapid response, enabling precise monitoring of the dynamic movements of a dexterous five-fingered hand and ensuring accurate measurement of angular velocity.

[0044] Meanwhile, the installation process of this device is very convenient. It does not require complex modifications to the five-fingered dexterous hand, nor does it increase the weight or size of the robotic hand. This is extremely important for maintaining the robotic hand's operational performance and flexibility.

[0045] Furthermore, the device's immunity to mechanical vibration and noise enables it to generate more stable and reliable measurement data, which is crucial for accurate dynamic performance analysis and effective motion control. It is suitable for rapid diagnostics and real-time monitoring, providing effective technical support for robot motion control.

[0046] To facilitate adjustment of the target angle according to actual usage scenarios and ensure that the first infrared timing trigger component 3 and the second infrared timing trigger component 4 can be triggered during the finger movements of the humanoid five-fingered dexterous hand 200, this embodiment of the application may also provide that the first ends of the first link 1 and the second link 2 are connected by a rotating shaft and a locking component, so as to adjust the target angle between the first link 1 and the second link 2. When the finger movement range of the humanoid five-fingered dexterous hand 200 in the usage scenario is large, the target angle can be appropriately increased, so that the interval between the triggering of the first infrared timing trigger component 3 and the second infrared timing trigger component 4 is larger, which can improve the measurement accuracy of angular velocity.

[0047] To facilitate the display of the calculated angular velocity and target angle, this embodiment of the application may also provide a display 5, which is connected to the support frame and communicatively connected to the control component. The display 5 is used to display the angular velocity. Furthermore, the control component is also used to acquire the target angle, and the display 5 is also used to display the target angle.

[0048] To facilitate the switching of the various components of the device, this embodiment may also provide a switch button 6, which is connected to the support frame.

[0049] In practical use, the angular velocity measuring device 100 for the humanoid five-fingered dexterous hand 200 sends a command through the host computer 300 of the humanoid five-fingered dexterous hand 200. After the humanoid five-fingered dexterous hand 200 responds to the command, the angular velocity measuring device 100 can display the angular velocity of the humanoid five-fingered dexterous hand 200.

[0050] The angular velocity measuring device 100 for the anthropomorphic five-fingered dexterous hand includes a first infrared timing trigger component 3, a first connecting rod 1, a switch button 6, a control component, a display screen, a second connecting rod 2, and a second infrared timing trigger component 4. The first infrared timing trigger component 3 uses infrared light to identify the starting position of the anthropomorphic five-fingered dexterous hand 200 for measuring angular velocity. In practical applications, one connecting rod can be fixed as a base connecting rod, while the other can be rotated, facilitating adjustment of the angle between the two connecting rods. The angular velocity measuring electronic device is activated via the switch button 6. The first connecting rod 1 and the second connecting rod 2 can be rotated to the desired angle. The second infrared timing trigger component 4 identifies the ending position of the anthropomorphic five-fingered dexterous hand 200, obtaining the time from the starting position to the ending position, and further calculates the angular velocity of the anthropomorphic five-fingered dexterous hand 200, which is then displayed digitally on the display screen 5.

[0051] like Figure 3 As shown in the figure, the specific operation of the angular velocity measuring device for the humanoid five-fingered dexterous hand provided in this application embodiment is as follows: Fix the angular velocity measuring device 100 of the humanoid five-fingered dexterous hand 200 at a suitable position next to it. During installation, ensure that the infrared emission ports of the first infrared timing trigger component 3 and the second infrared timing trigger component 4 are aligned with the humanoid five-fingered dexterous hand 200, so that the first infrared timing trigger component 3 and the second infrared timing trigger component 4 can be triggered during the finger movement of the humanoid five-fingered dexterous hand 200. Adjust the first link 1 and the second link 2 to the target angle. After the humanoid five-fingered dexterous hand 200 begins to move, it can be recognized by the first infrared timing trigger component 3. The moment when the first infrared timing trigger component 3 is triggered is taken as the start time. After the continuous finger movement of the humanoid five-fingered dexterous hand 200 is recognized by the second infrared timing trigger component 4, the moment when the second infrared timing trigger component 4 is triggered can be taken as the end time.

[0052] Calculate the time difference between the termination time and the start time, that is, the time period between the first infrared timing trigger component 3 and the second infrared timing trigger component 4 during the finger movement. Since the target angle between the first infrared timing trigger component 3 and the second infrared timing trigger component 4 has been locked in advance, the time for the finger to move to the target angle is the time difference. Dividing the target angle by the time difference will give the finger movement angular velocity of the humanoid five-fingered dexterous hand 200.

[0053] In summary, the angular velocity measuring device for the humanoid five-fingered dexterous hand provided in this application employs non-contact measurement. The infrared sensor can perform measurements without contacting the mechanical structure of the five-fingered dexterous hand, avoiding interference and wear on the mechanical structure, while also reducing the complexity of installation and maintenance. It features high precision and high response speed; infrared sensors typically have high measurement accuracy and fast response time, accurately capturing the rapid movements of the five-fingered dexterous hand, thus providing precise angular velocity measurements. It is easy to install and deploy; the installation of the infrared sensor is relatively simple, requiring no large-scale modification of the five-fingered dexterous hand, nor adding extra weight or volume to the robotic hand, which is crucial for maintaining the performance and flexibility of the robotic hand. Data stability is also ensured; since infrared measurements are unaffected by mechanical vibration and noise, they can provide more stable and reliable data, which is essential for dynamic performance analysis and control.

[0054] Furthermore, the apparatus provided in this application embodiment can improve measurement safety. Non-contact measurement reduces potential contact between the sensor and the robot arm, lowering safety risks caused by sensor failure or damage. It can enhance system reliability; the durability and stability of the infrared sensor contribute to improving the overall reliability of the measurement system and reducing system failures caused by sensor problems. It is suitable for various environments; infrared sensors can operate under various lighting conditions, including low-light or no-light environments, allowing them to maintain performance in different working environments. It is also easy to integrate and expand; infrared sensors can be easily integrated into existing robot control systems and can be combined with other sensor systems (such as vision systems) to provide more comprehensive performance monitoring.

[0055] It can reduce costs. Compared to the need to install additional contact sensors on robotic arms, infrared sensors are generally less expensive, especially when deployed on a large scale, where this cost advantage is even more pronounced.

[0056] Infrared sensors enhance measurement flexibility by measuring any part of a dexterous hand with five fingers, as long as that part can reflect infrared light, thus providing greater flexibility in measurement.

[0057] Supporting remote monitoring, the infrared sensor can be combined with wireless transmission technology to achieve remote monitoring and data analysis, which is of great significance for remote operation and maintenance.

[0058] In summary, the device for measuring the angular velocity of a five-finger dexterity hand using infrared technology not only solves the technical problems of traditional measurement methods but also brings a series of additional advantages, making the device more attractive in practical applications.

[0059] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0060] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0061] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for system or system embodiments, since they are basically similar to method embodiments, the description is relatively simple, and relevant parts can be referred to the descriptions in the method embodiments. The systems and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0062] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. An angular velocity measuring device that mimics a human five-fingered dexterous hand, characterized in that, include: A support frame, the support frame including a first link and a second link, the first link and the second link being connected to a first end respectively, so that a target angle is formed between the first link and the second link; A first infrared timing trigger component is connected to the second end of the first connecting rod; The second infrared timing trigger component is connected to the second end of the second link; A control component is connected to the support frame and is communicatively connected to the first infrared timing trigger component and the second infrared timing trigger component; The support frame is used to be set in a non-contact manner at the target position next to the humanoid five-fingered dexterous hand whose angular velocity is to be measured, so that the movement trajectory of the fingers of the humanoid five-fingered dexterous hand from the starting point to the ending point of the movement passes through the first infrared timing trigger component and the second infrared timing trigger component, and the first infrared timing trigger component and the second infrared timing trigger component can be triggered during the movement of the fingers of the humanoid five-fingered dexterous hand. The control component is used to perform the following operations: The moment when the fingers of the humanoid five-fingered dexterous hand trigger the first infrared timing trigger component is recorded as the starting timing moment; The moment when the fingers of the humanoid five-fingered dexterous hand trigger the second infrared timing trigger component is recorded as the time to stop timing; Calculate the time difference between the termination time and the start time; The angular velocities of the fingers of the anthropomorphic five-fingered dexterous hand are calculated using the time difference and the target angle.

2. The angular velocity measuring device for a humanoid five-fingered dexterous hand according to claim 1, characterized in that, The first end of the first link and the second link are connected by a pivot and a locking assembly to adjust the target angle between the first link and the second link.

3. The angular velocity measuring device for a humanoid five-fingered dexterous hand according to claim 1, characterized in that, It also includes a display connected to the support frame and communicatively connected to the control components, the display being used to display the angular velocity.

4. The angular velocity measuring device for a humanoid five-fingered dexterous hand according to claim 3, characterized in that, The control component is also used to acquire the target angle, and the display is also used to display the target angle.

5. The angular velocity measuring device for a humanoid five-fingered dexterous hand according to claim 1, characterized in that, It also includes a switch button, which is connected to the support frame.

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