Intelligent bionic hand with rigid-flexible coupling joints based on nuclear environment and control method

Abstract

The invention discloses an intelligent bionic hand of rigid-flexible coupling joints based on a nuclear environment and a control method. The mechanical arm comprises a rigid mechanical arm body and a flexible intelligent driving joint, the rigid mechanical arm body is connected with a mechanical arm controller, the flexible intelligent driving joint is fixed to the tail end of a finger joint of the rigid mechanical arm body, and the flexible intelligent driving joint comprises an inner-layer flexible driving material layer and an outer-layer flexible driving material layer; the inner-layer flexible driving material layer and the outer-layer flexible driving material layer are of U-shaped structures, a thin film sensor is embedded in the tail end of the side, making contact with an object, of the inner-layer flexible driving material layer, the thin film sensor is electrically connected with a flexible driving control power source and a sensing signal collector, and the thin film sensor is controlled through the sensing signal collector and obtains pressure data. Under the extreme condition of the nuclear environment, through the rigid-flexible coupling joints, the intelligent bionic mechanical arm has the sensing performance while being high in driving freedom degree and good in environmental adaptability, and set work such as detection, grabbing and moving can be independently sensed by the intelligent bionic mechanical arm.

Description

Technical Field

[0001] The invention belongs to the field of intelligent bionic hands, and in particular relates to an intelligent bionic hand with rigid-flexible coupling joints based on a nuclear environment and a control method. Background Art

[0002] As a mature application design, the rigid manipulator can stably achieve the given tasks of grasping and moving the target in a conventional environment; while the flexible intelligent bionic hand can achieve more sophisticated tasks in certain complex and special environments due to its soft texture and high degree of freedom, and has considerable engineering application prospects in extreme environments (such as nuclear radiation, ocean, deep space, etc.). At present, there is no bionic hand that can achieve the combination of the performance of the rigid manipulator and the flexible intelligent bionic hand, and there is a gap in the design of the rigid-flexible coupling joint of the intelligent bionic hand. Summary of the invention

[0003] The purpose of the present invention is to provide an intelligent bionic hand and control method based on a rigid-flexible coupling joint in a nuclear environment, to solve the deficiencies in the degree of freedom and adaptability of traditional rigid equipment under extreme conditions in a nuclear environment, to make up for the gap in the design of rigid-flexible coupling joints, and ultimately to achieve a new breakthrough in the rigid-flexible coupling intelligent bionic robot technology in a nuclear environment.

[0004] The purpose of the present invention is achieved through the following technical solutions:

[0005] An intelligent bionic hand with a rigid-flexible coupling joint based on a nuclear environment comprises: a rigid manipulator and a flexible intelligent driving joint, wherein the rigid manipulator is connected to a manipulator controller, and the flexible intelligent driving joint is fixed to the end of the rigid manipulator finger joint, and the flexible intelligent driving joint comprises an inner flexible driving material layer and an outer flexible driving material layer, wherein the inner flexible driving material layer and the outer flexible driving material layer are U-shaped structures, and a thin film sensor is embedded at the end of the inner flexible driving material layer on the side contacting an object, and the thin film sensor is electrically connected to a flexible driving control power supply and a sensor signal collector, and the thin film sensor is controlled and obtains pressure data through the sensor signal collector.

[0006] Furthermore, the flexible intelligent driving joint is made of flexible driving material, and its two tips are respectively connected to the positive and negative electrodes of the flexible driving control power supply to form a U-shaped circulation loop.

[0007] Furthermore, the flexible intelligent joint is coupled to the end of the rigid mechanical finger joint through a bonding process.

[0008] Furthermore, a DC voltage is applied to two ends of the flexible intelligent driving joint to form a conducting loop.

[0009] Furthermore, the inner flexible driving material layer is made of single-walled carbon nanotubes (SWCNTs).

[0010] Furthermore, the outer flexible driving material layer is made of polyimide PI.

[0011] Furthermore, the rigid manipulator includes a base plate, a horizontal servo, a palm servo and a vertical servo, and the horizontal servo, the palm servo and the vertical servo are electrically connected to the manipulator controller respectively.

[0012] The present invention may also include: a control method for an intelligent bionic hand with a rigid-flexible coupling joint based on a nuclear environment as described above, wherein the rigid manipulator and the flexible intelligent driving joint are controlled respectively by a manipulator controller and a flexible driving control power supply, and the action execution program is preset in the mainboard of the manipulator controller. After the manipulator controller is turned on, the rigid manipulator joint will move according to a predetermined path, and at the same time, the flexible intelligent driving joint can also be driven in conjunction with the rigid-flexible coupling joint; when the rigid manipulator control is stopped, the flexible driving control power supply is turned on, a fixed DC voltage is output, and the flexible intelligent driving joint is electrically driven, thereby achieving precise control of the flexible intelligent driving part and completing more detailed target tasks; after the flexible intelligent driving fingertip contacts the target object, the loaded thin film sensor changes its resistance due to deformation due to the force, and finally collects and obtains the corresponding sensor signal.

[0013] The beneficial effects of the present invention are:

[0014] The present invention can combine traditional rigid manipulators with flexible driving / sensing devices under the extreme conditions of a nuclear environment, and through rigid-flexible coupling joints, manufacture a rigid-flexible composite intelligent bionic hand with high driving freedom, good environmental adaptability and sensing performance under the extreme conditions of a nuclear environment. This further achieves breakthroughs in the ability of intelligent bionic manipulators to independently sense, detect, grasp, move and other established work tasks under the extreme conditions of a nuclear environment.

[0015] The present invention can obtain relevant sensor signals by contacting unknown objects under extreme conditions in a nuclear environment to achieve perception and detection of target objects, and complete tasks such as capturing and moving objects through intelligent bionic manipulators, thereby improving the operating capabilities and environmental adaptability of intelligent bionic robots in special environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Attached Figure 1 It is a structural schematic diagram of the present invention.

[0017] Attached Figure 2 It is the appearance diagram of the present invention.

[0018] Attached Figure 3It is a schematic diagram of the installation of the flexible intelligent driving joint of the present invention.

[0019] Attached Figure 4 It is a front view of the flexible intelligent driving joint of the present invention.

[0020] Attached Figure 5 Yes Figure 4 Left view of .

[0021] Attached Figure 6 Yes Figure 4 Top view of the . DETAILED DESCRIPTION

[0022] The present invention will be further described below in conjunction with the accompanying drawings.

[0023] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme 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 only 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 should fall within the scope of protection of the present invention.

[0024] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged where appropriate, so as to describe the embodiments of the present invention described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0025] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0026] According to an embodiment of the present invention, an intelligent bionic hand with a rigid-flexible coupling joint based on a nuclear environment is provided, as shown in the attached Figure 1-2 As shown, it includes a rigid manipulator and a flexible intelligent drive joint 6.

[0027] The rigid manipulator is connected to a manipulator controller 1 , and comprises a base plate 2 , a horizontal servo 3 , a palm servo 4 and a vertical servo 5 , and the horizontal servo 3 , the palm servo 4 and the vertical servo 5 are electrically connected to the manipulator controller 1 respectively.

[0028] The horizontal servo 3, the palm servo 4 and the vertical servo 5 are connected in a rigid mechanical manner, and the horizontal servo 3 realizes preliminary regulation of the horizontal direction of the intelligent bionic wrist; the palm servo 4 realizes position control of the intelligent bionic palm, and the vertical servo 5 realizes rough regulation of the bending / opening of the intelligent bionic hand joints.

[0029] As attached Figure 3 As shown, the two tips of the flexible intelligent driving joint 6 in the embodiment are fixed on the ends of the rigid mechanical finger joints, and a thin film sensor 7 is embedded at the end of the flexible intelligent driving joint 6. The thin film sensor 7 is electrically connected to a flexible driving control power supply 8 and a sensor signal collector 9. The thin film sensor 7 can obtain corresponding strain sensing signals by contacting a target object, and the thin film sensor 7 is controlled and obtains pressure data through the sensor signal collector 9.

[0030] Preferably, the thin film sensor 7 in the embodiment can be a strain sensor.

[0031] In the embodiment, a rigid manipulator is used as the main body, and a double-layer structure flexible intelligent driving joint with a U-shaped loop is prepared using flexible driving materials. It is connected to the rigid finger end joint of the vertical servo to realize a joint with rigid-flexible coupling. The two tips of the flexible intelligent driving joint are respectively connected to the positive and negative poles of the power supply to form a "U"-shaped circulation loop.

[0032] As attached Figure 4-6 As shown, the flexible intelligent driving joint 6 in the embodiment includes an inner flexible driving material layer 10 and an outer flexible driving material layer 11. The inner flexible driving material layer 10 and the outer flexible driving material layer 11 are U-shaped structures, and a thin film sensor 7 is embedded at the end of the inner flexible driving material layer 10 on the side contacting the object.

[0033] Preferably, in the embodiment, the constituent material of the inner flexible driving material layer 10 is single-walled carbon nanotubes SWCNTs, and the constituent material of the outer flexible driving material layer 11 is polyimide PI.

[0034] Specifically, the flexible intelligent joint 6 combines origami technology to construct a (stacked) double-layer structure based on two different flexible materials. On the basis of the close combination of the two structural material layers of carbon nanomaterials and polymer materials, the final "U-shaped" structure is prepared through the paper cutting technology, which can form a conductive loop when a DC voltage is applied at both ends.

[0035] Preferably, the flexible intelligent joint in the embodiment is connected to the rigid finger end joint with a vertical servo by coupling through an adhesive process.

[0036] The embodiment also includes a control method for an intelligent bionic hand with a rigid-flexible coupling joint based on a nuclear environment, wherein the rigid manipulator and the flexible intelligent driving joint 6 are respectively controlled by a manipulator controller 1 and a flexible driving control power supply 8, and the action execution program is preset in the main board of the manipulator controller 1. After the manipulator controller 1 is turned on, the rigid manipulator joint will move according to a predetermined path, and at the same time, the flexible intelligent driving joint 6 can also be driven by the rigid-flexible coupling joint; when the rigid manipulator control is stopped, the flexible driving control power supply 8 is turned on, a fixed DC voltage is output, and the flexible intelligent driving joint 6 is electrically driven, thereby achieving precise control of the flexible intelligent driving part and completing more detailed target tasks; after the flexible intelligent driving fingertip contacts the target object, the loaded thin film sensor 7 changes its resistance due to deformation due to the force, and finally collects and obtains the corresponding sensor signal.

[0037] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:

[0038] The present invention can combine the traditional rigid manipulator with the flexible driving / sensing device under the extreme conditions of the nuclear environment. Through the rigid-flexible coupling joint, the driving freedom is high and the environmental adaptability is good under the extreme conditions of the nuclear environment while also having sensing performance.

[0039] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0040] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0041] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the devices or elements referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention. The directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0042] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An intelligent bionic hand with rigid-flexible coupling joints based on a nuclear environment, characterized in that: include: A rigid manipulator and a flexible intelligent driving joint (6), wherein the rigid manipulator is connected to a manipulator controller (1), and the flexible intelligent driving joint (6) is fixed to the end of the rigid manipulator finger joint, and the flexible intelligent driving joint (6) comprises an inner flexible driving material layer (10) and an outer flexible driving material layer (11), wherein the inner flexible driving material layer (10) and the outer flexible driving material layer (11) are U-shaped structures, and a thin film sensor (7) is embedded at the end of the inner flexible driving material layer (10) on the side contacting an object, and the thin film sensor (7) is electrically connected to a flexible driving control power supply (8) and a sensor signal collector (9), and the thin film sensor (7) is controlled and obtains pressure data through the sensor signal collector (9).

2. The intelligent bionic hand with rigid-flexible coupling joint based on nuclear environment according to claim 1, characterized in that: The flexible intelligent driving joint (6) is made of a flexible driving material, and its two tips are respectively connected to the positive and negative electrodes of the flexible driving control power supply to form a U-shaped circulation loop.

3. The intelligent bionic hand with rigid-flexible coupling joint based on nuclear environment according to claim 2, characterized in that: The flexible intelligent joint (6) is coupled and connected to the end of the rigid mechanical finger joint through a bonding process.

4. The intelligent bionic hand with rigid-flexible coupling joint based on nuclear environment according to claim 2, characterized in that: A direct current voltage is applied to the two ends of the flexible intelligent driving joint (6) to form a conducting loop.

5. The intelligent bionic hand with rigid-flexible coupling joint based on nuclear environment according to claim 1, characterized in that: The inner flexible driving material layer (10) is made of single-walled carbon nanotubes (SWCNTs).

6. The intelligent bionic hand with rigid-flexible coupling joint based on nuclear environment according to claim 1, characterized in that: The outer flexible driving material layer (11) is made of polyimide (PI).

7. The intelligent bionic hand with rigid-flexible coupling joint based on nuclear environment according to claim 1, characterized in that: The rigid manipulator comprises a base plate (2), a horizontal steering gear (3), a palm steering gear (4) and a vertical steering gear (5); the horizontal steering gear (3), the palm steering gear (4) and the vertical steering gear (5) are respectively electrically connected to a manipulator controller (1).

8. A control method for an intelligent bionic hand with a rigid-flexible coupling joint based on a nuclear environment as claimed in any one of claims 1 to 7, characterized in that: The rigid manipulator and the flexible intelligent drive joint (6) are controlled respectively by the manipulator controller (1) and the flexible drive control power supply (8), and the action execution program is preset in the main board of the manipulator controller (1). After the manipulator controller (1) is turned on, the rigid manipulator joint will move according to a predetermined path, and the flexible intelligent drive joint (6) can also be driven by the rigid-flexible coupling joint; when the rigid manipulator control is stopped, the flexible drive control power supply (8) is turned on to output a fixed DC voltage, and the flexible intelligent drive joint (6) is electrically driven, thereby realizing precise control of the flexible intelligent drive part and completing more detailed target tasks; After the flexible intelligent driving fingertip contacts the target object, the loaded thin film sensor (7) is deformed due to the force, and its resistance changes, and finally the corresponding sensing signal is collected and acquired.

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