Finger module, manipulator and robot

Abstract

The invention provides a finger module, a manipulator and a robot. The finger module comprises a plurality of knuckles and a touch sensing assembly. The tactile sensing assembly is arranged on the ventral side of at least one knuckle, the tactile sensing assembly comprises a plurality of deformation assemblies located on the same plane and sensing assemblies attached to the deformation assemblies, and the sensing assemblies respond to deformation of the deformation assemblies attached to the sensing assemblies to generate corresponding electric signals. In the scheme, the finger module has high-precision tactile perception capability.

Description

Technical Field

[0001] The present application relates to the technical field of robots, and more particularly, to a finger module, a manipulator and a robot. Background Art

[0002] A robotic dexterous hand is a robot end effector that can imitate the human hand, with advantages such as high degrees of freedom, high flexibility, and good bionic effects. It has developed rapidly in recent years and is often integrated at the end of a robotic arm to perform tasks such as grasping or operating tools.

[0003] A robotic dexterous hand is composed of multiple finger modules. During the grasping operation, for the robot to accurately determine whether contact with the object to be grasped is achieved and whether the grasping force meets the operation requirements, each finger needs to have tactile sensing capabilities, so as to more precisely judge the force and posture during grasping. Summary of the Invention

[0004] The present application provides a finger module, a manipulator and a robot, which have high-precision tactile sensing capabilities.

[0005] A finger module includes:

[0006] a plurality of phalanges; and

[0007] a tactile sensing component disposed on the ventral side of at least one of the phalanges, the tactile sensing component including multiple sets of deformation components located in the same plane and sensing components attached to each set of the deformation components, and the sensing components generating corresponding electrical signals in response to the deformation of the deformation components to which they are attached.

[0008] Optionally, at least one of the plurality of deformation components is configured as a cantilever structure with one end being a connection end and the other end being a free end.

[0009] Optionally, the finger module further includes a PCB board, and at least one of the cantilever structures is integrally formed with the PCB board.

[0010] Optionally, the sensing component includes a thin film sensor attached to the cantilever structure.

[0011] Optionally, one of the multiple sets of deformation components is a first deformation component, and the sensing component that generates an electrical signal in response to the deformation of the first deformation component includes a deformable strain gauge. The first deformation component is configured as the cantilever structure, and the connection end of the cantilever structure is connected to the strain gauge.

[0012] Optionally, the finger module further includes a force transmission component capable of transmitting an external force to the plurality of deformation components. The force transmission component includes a rigid plate without deformation and a deformable member connected to the rigid plate. The deformable member faces the plurality of deformation components.

[0013] Optionally, the deformable member is made of a flexible material; or

[0014] The deformable member is provided with a plurality of deformable cantilever branches, and each of the cantilever branches is correspondingly arranged at each deformation component.

[0015] Optionally, the finger module further includes a housing covering the outside of the phalanx. The housing is provided with an inner cavity. The tactile sensing component and the force transmission component are both received in the inner cavity. Along the normal direction of the plane where the plurality of deformation components are located, the part of the housing facing the force transmission component is made of a flexible material, and the area of the flexible material is greater than or equal to the area of the corresponding region.

[0016] Optionally, the outer surface of the flexible material is provided with a deformable and uneven anti-slip structure.

[0017] Optionally, the anti-slip structure includes a plurality of convex parts protruding from the surface. The plurality of convex parts are made of a deformable material with a Shore hardness of A60, and the dimension protruding from the outer surface of the flexible material is 0.5 mm - 1 mm; and / or

[0018] The flexible material and the convex parts are integrally formed; and / or

[0019] The plurality of convex parts are spaced apart, and the area of the distribution region accounts for more than 65% of the total area of the flexible material.

[0020] Optionally, the finger module further includes a module base. The plurality of phalanges include a proximal phalanx close to the module base and a distal phalanx far from the module base. The proximal phalanx and the distal phalanx can be bent or extended relative to each other. The tactile sensing component is arranged on the ventral side of the distal phalanx.

[0021] Optionally, the finger module further includes a transmission assembly for driving the proximal phalanx and the distal phalanx to bend or extend. The transmission assembly includes a first link, a second link, and a third link. The first link is hinged to the module base to form a first hinge point. The first link is also hinged to the second link to form a second hinge point. One end of the third link is hinged to the module base to form a third hinge point, and the other end of the third link is hinged to the second link to form a fourth hinge point. The first link is provided with an active rod. The connection line between the first hinge point and the second hinge point and the connection line between the third hinge point and the fourth hinge point intersect in space. The proximal phalanx is connected to the first link, and the distal phalanx is connected to the second link.

[0022] A manipulator includes:

[0023] A base; and

[0024] The finger module as described in any one of the above, wherein the module base of the finger module is hinged to the base.

[0025] A robot includes the manipulator as described above.

[0026] The present application provides a finger module, a manipulator, and a robot. A tactile sensing component is provided on the ventral side of at least one phalanx. Among them, the sensing component responds to the deformation of the respective attached deformation component, thereby generating corresponding electrical signals. Thus, the posture of the finger module can be judged according to the electrical signals generated by each sensing component, so that the finger module has the ability of high-precision force sensing and the ability to distinguish the direction of the applied force, in order to achieve better refined operation. Description of the Drawings

[0027] Figure 1 is a schematic diagram of a finger module shown in an exemplary embodiment of the present application. Among them, the finger module is in an extended state;

[0028] Figure 2 is Figure 1 a cross-sectional view of the finger module shown in;

[0029] Figure 3 is Figure 1 another schematic diagram of the finger module shown in, wherein the finger module is in a bent state;

[0030] Figure 4 is Figure 1 an exploded view of the finger module shown in. Detailed Embodiments

[0031] Exemplary embodiments will be described in detail herein, and examples thereof are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application.

[0032] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit the present application. Unless otherwise defined, the technical terms or scientific terms used in this application should have the ordinary meanings understood by those of ordinary skill in the art to which this application pertains. The "first", "second" and similar terms used in this application do not denote any order, quantity or importance, but are only used to distinguish different components. Similarly, terms such as "a" or "an" do not denote a quantity limitation, but mean that there is at least one, and will be specifically stated if only referring to "one". "Plurality" or "several" means two or more. Unless otherwise indicated, terms such as "front", "rear", "lower" and / or "upper", "top", "bottom" are for convenience of description only and are not limited to a position or a spatial orientation. The terms "including" or "comprising" and the like mean that the elements or items appearing before "including" or "comprising" cover the elements or items listed after "including" or "comprising" and their equivalents, and do not exclude other elements or items. The terms "connected" or "coupled" and the like are not limited to physical or mechanical connections, and may include electrical connections, whether direct or indirect.

[0033] Please refer to Figure 1 , Figure 1 a schematic diagram of a finger module 100 shown in an exemplary embodiment of the present application.

[0034] The present application provides a finger module 100, which includes a module base 10, a driving assembly 20, and a plurality of phalanges 30. The driving assembly 20 is installed on the module base 10, and the driving assembly 20 can drive the plurality of phalanges 30 to extend or bend through a transmission assembly ( Figure 1 not shown in the figure) to achieve the grasping operation of the finger module 100. The driving assembly 20 includes, but is not limited to, a linear motor, and the transmission assembly includes, but is not limited to, a linkage mechanism. The specific number of the phalanges 30 is not limited, and for example, it may include two or more phalanges.

[0035] In this embodiment, the number of phalanges 30 is two. One of them is the proximal phalanx 31 close to the module base 10, that is, the finger root, and the other is the distal phalanx 32 far from the module base 10, that is, the fingertip. Setting two phalanges 30 can shorten the length of the transmission link, making the structure of the finger module 100 more compact.

[0036] Please refer to Figure 2 , Figure 2 is Figure 1 the cross-sectional view of the finger module 100 shown in

[0037] In one embodiment, the driving component 20 drives the proximal phalanx 31 and the distal phalanx 32 to relatively extend or bend through the transmission component 40. Among them, the transmission component 40 adopts a planar link mechanism, and the planar link mechanism can ensure the structural reliability while reducing the weight of the finger module 100.

[0038] Specifically, the transmission component 40 includes a first link 41, a second link 42 and a third link 43. The first link 41 is set as the driving rod. The first link 41 is hinged to the driving shaft 21 of the driving component 20, and the hinge point is B. The first link 41 is also respectively hinged to the module base 10 and the second link 42. The hinge point with the module base 10 is the first hinge point C, and the hinge point with the second link 42 is the second hinge point F. Among them, the first hinge point C is closer to the hinge point B than the second hinge point F.

[0039] One end of the third link 43 is hinged to the module base 10, and the hinge point is the third hinge point D. The other end of the third link 43 is hinged to the second link 42, and the hinge point is the fourth hinge point E. Among them, the connection line between the first hinge point C and the second hinge point F and the connection line between the third hinge point D and the fourth hinge point E cross in space. The proximal phalanx 31 is connected to the first link 41, and the distal phalanx 32 is connected to the second link 42. With such a setting, the first link 41 and the third link 43 cross to form a crossed quadrilateral planar link mechanism. When the first link 41 is subjected to the driving force of the driving component 20, the movement modes of the first link 41 and the second link 42 are more similar to the bending or unfolding modes of the human finger. Therefore, the above link mechanism has a better effect when applied to the finger module 100 and is more convenient for the finger module 100 to achieve the grasping operation.

[0040] In Figure 2In the illustrated embodiment, the proximal phalanx 31 adopts a shell-like structure, and the first link 41 and the third link 43 are covered within the proximal phalanx 31. In one embodiment, the proximal phalanx 31 includes a plurality of shell-shaped parts provided separately, and the plurality of shell-shaped parts are joined and together enclose an inner cavity, and the first link 41 and the third link 43 are covered within this inner cavity. In a specific embodiment, the proximal phalanx 31 may include a first outer shell 310 and a second outer shell 312, and the first outer shell 310 and the second outer shell 312 together enclose the inner cavity, and the first outer shell 310 and the second outer shell 312 are connected in a detachable manner. The first link 41 may be connected to at least one of the first outer shell 310 and the second outer shell 312.

[0041] In one embodiment, the distal phalanx 32 adopts a shell-like structure, and the second link 42 is covered within the distal phalanx 32. In one embodiment, the distal phalanx 32 includes a plurality of shell-shaped parts provided separately, and the plurality of shell-shaped parts are joined and together enclose an inner cavity, and the second link 42 is covered within this inner cavity. Specifically, the distal phalanx 32 includes a third outer shell 320, a fourth outer shell 322, and a fifth outer shell 324, and the third outer shell 320, the fourth outer shell 322, and the fifth outer shell 324 together enclose an inner cavity, and the third outer shell 320, the fourth outer shell 322, and the fifth outer shell 324 are connected in a detachable manner. The second link 42 may be connected to at least one of the third outer shell 320, the fourth outer shell 322, and the fifth outer shell 324.

[0042] Please refer to Figure 2 and Figure 3 , when the drive shaft 21 extends, the first link 41 rotates counterclockwise around the hinge point C, and then drives the second link 42 to move toward the side close to the module base 10. At this time, the proximal phalanx 31 and the distal phalanx 32 bend to achieve grasping. When the drive shaft 21 retracts, the first link 41 rotates clockwise around the hinge point C, and then drives the second link 42 to move toward the side away from the module base 10. At this time, the proximal phalanx 31 and the distal phalanx 32 extend (refer to Figure 1 ), to achieve releasing.

[0043] Please refer to Figure 4 , Figure 4 is Figure 1 the exploded view of the finger module 100 shown in

[0044] The finger module 100 further includes a tactile sensing component 50, and the tactile sensing component 50 is disposed on the ventral side of at least one phalanx 30. For example, the tactile sensing component 50 may be disposed on the proximal phalanx 31 close to the module base 10, or the tactile sensing component 50 may also be disposed on the distal phalanx 32 away from the module base 10, or the ventral sides of both the proximal phalanx 31 and the distal phalanx 32 are provided with the tactile sensing component 50.

[0045] In this embodiment, the tactile sensing component 50 is disposed on the ventral side of the distal knuckle 32 and is located inside the ventral side of the distal knuckle 32. Figure 4 As shown, the third housing 320 is located at the rear end of the back of the distal knuckle 32, the fourth housing 322 is located at the rear end of the ventral side of the distal knuckle 32, and the fifth housing 324 is located at the front end of the distal knuckle 32, with the opening facing the rear end. The fifth housing 324 is a flexible housing, and the material includes but is not limited to rubber and silicone. The tactile sensing component 50 is arranged on the inner side of the fifth housing 324 and is located on the ventral side of the fifth housing 324.

[0046] The tactile sensing component 50 includes a plurality of groups of deformation components 51 and a sensing component 52 attached to each group of deformation components 51. The plurality of groups of deformation components 51 are located in the same plane. The sensing components 52 respond to the deformation of the deformation components 51 to which they are attached, thereby generating corresponding electrical signals. Thus, the posture of the finger module 100 can be determined according to the electrical signals generated by each sensing component 52, so that the finger module 100 has high-precision force sensing capability and the ability to distinguish the force direction, so as to achieve better refined operation.

[0047] exist Figure 4 In the embodiment shown, there are four deformation components 51, and the four deformation components 51 are arranged in two rows and two columns. That is to say, the multiple deformation components 51 are regularly arranged in the same plane, which can facilitate the setting of the spatial coordinates of the multiple deformation components 51 and simplify the algorithm for determining the posture of the finger touch group 100. Of course, in some other embodiments, according to actual needs, the deformation components 51 can also be less than four or more than four, such as two, six, eight, etc.

[0048] In one embodiment, the electrical signals collected by the multiple sets of sensing components 52 can be output to the storage unit 80 and uploaded to the processing unit, and the processing unit is used to analyze and determine the data changes, thereby determining the magnitude and direction of the force on the finger module 100. The specific determination method can be implemented by formulas, algorithms, etc., or by table lookup and mapping relationships. Among them, the storage unit 80 can be set on the second connecting rod 42.

[0049] In one embodiment, at least one of the multiple groups of deformation components 51 adopts a cantilever structure, that is, one end is a connection end and the other end is a free end. The cantilever structure is easier to deform when subjected to force, so the action sensitivity when subjected to force is higher. In this embodiment, the multiple groups of deformation components 51 can all adopt a cantilever structure. Figure 4 FIG. 5 shows an embodiment in which the deformation component 51 adopts a cantilever structure.

[0050] Specifically, the finger module 100 further includes a PCB board 60, and at least one of the cantilever structures 61 can be integrally formed with the PCB board, that is to say, one or more cantilever structures 61 can be directly cut out on the PCB board. Such an arrangement can reduce the number of components of the finger module 100 and can also output the electrical signals generated by the sensing component 52 through the PCB board 60, facilitating signal transmission.

[0051] In Figure 4 In the illustrated embodiment, multiple groups of deformation components 51 all adopt cantilever structures 61 integrally formed with the PCB board 60, and a sensing component 52 is correspondingly attached to each cantilever structure 61, and each sensing component 52 is electrically connected to the PCB board 60. The sensing component 52 can adopt a thin-film sensor, and the thin-film sensor can generate corresponding electrical signals when the cantilever structure 61 deforms. For example, when the thin-film sensor is squeezed, its resistance value changes, thereby generating an electrical signal, and the force sensing ability can be achieved by calibrating the relationship between the resistance value change and the force magnitude. It should be noted that one or more sensing components 52 can be provided at different positions of each cantilever structure 61.

[0052] In some other embodiments, a cantilever structure can also be used as the deformation component 51, but the way the sensing component 52 is attached to the deformation component 51 can be different. For example, for the sake of convenience of description, one of the multiple groups of deformation components 51 is named the first deformation component, the first deformation component is arranged as a cantilever structure, and the sensing component 52 that generates an electrical signal in response to the deformation of the first deformation component is arranged as a strain gauge sensor. The strain gauge sensor includes a deformable strain gauge, and the connection end of the cantilever structure is connected to the strain gauge. Such an arrangement, when the cantilever structure is deformed by an external force, the strain gauge deforms accordingly, and the strain gauge sensor can generate corresponding electrical signals according to the deformation amount of the strain gauge. The strain gauge sensor can adopt a resistance strain gauge sensor, but is not limited thereto.

[0053] Please continue to refer to Figure 4 , in one embodiment, the multiple groups of deformation components 51 and each of the sensing components 52 are both located inside the distal phalanx 32, more precisely, inside the flexibly deformable fifth housing 324, so as to protect the deformation components 51 and each of the sensing components 52. In some other embodiments, the multiple groups of deformation components 51 and each of the sensing components 52 can also be exposed and arranged outside the phalanx 30.

[0054] In one embodiment, the finger module 100 further includes a force transmission component 70. The force transmission component 70 includes a rigid plate 71 without deformation and a deformable member 72 connected to the rigid plate 71. The deformable member 72 faces the plurality of deformation components 51, and an external force is transmitted to the deformation components 51 through the force transmission component 70. Among them, the deformable member 72 is used to contact the deformation components 51. The external force is transmitted to the deformable member 72 through the rigid plate 71, and then transmitted to the deformation components 51 through the deformable member 72, causing the deformation components 51 to deform. Among them, the role of the rigid plate 71 is to make the acting force more evenly transmitted to the deformation components 51 through the deformable member 72. In an alternative embodiment, the deformable member 72 can be adhesively fixed to the plurality of deformation components 51 to ensure that the deformation components 51 can be synchronously pressed when the deformable member 72 deforms, improving the deformation sensitivity.

[0055] In one embodiment, the deformable member 72 is made of a flexible material. The flexible material is easily deformed and has a fast deformation response during the force transmission process. In another embodiment, the deformable member 72 can be made of a hard material. For example, a plurality of deformable cantilever branches can be provided on a hard material substrate, and the plurality of cantilever branches are arranged in one-to-one correspondence with the plurality of deformation components 51. That is to say, one or more of the cantilever branches will deform during the force transmission process, whereby the corresponding deformation components 51 can be deformed. The hard material includes but is not limited to metals and hard plastic parts.

[0056] In this embodiment, the force transmission component 70 is disposed inside the fifth housing 324. The fifth housing 324 can be entirely made of a flexible material, or can adopt a flexible material only at the position facing the force transmission component 70 along the normal direction of the plane where the plurality of deformation components 51 are located. Thus, the acting force on the fifth housing 324 can be transmitted to the deformation components 51 through the force transmission component 70.

[0057] As Figure 3 shown, the fifth housing 324 is further provided with a deformable and uneven anti-slip structure 90. The anti-slip structure 90 can increase the friction force when grasping an external object and reduce the risk of the object falling. In one embodiment, the anti-slip structure can be set as a plurality of convex portions that are centrally arranged and spaced from each other, but is not limited thereto. The convex portions can be circular convex portions, strip-shaped convex portions, etc. The convex portions can be integrally formed with the flexible material on the fifth housing 324. In a specific embodiment, the convex portions can adopt a deformable material with a Shore hardness A60, such as silica gel, rubber, etc. The size of the convex portions protruding from the outer surface of the fifth housing 324 can be 0.5 mm - 1 mm, specifically 0.5 mm, 0.6 mm, 0.7 mm, 0.8 mm, 0.9 mm, 1 mm.

[0058] In one embodiment, the plurality of convex portions are concentrated and spaced apart, and the area of the distribution region accounts for more than 65% of the total area of the flexible material on the fifth housing 324 opposite to the force transmission component 70, so as to enhance the anti-slip effect.

[0059] The present application also provides a manipulator (not shown in the figure), and the manipulator includes the finger module 100 described above. In one embodiment, the manipulator includes a base body and a plurality of fingers provided on the base body. The number of fingers can be, for example, three or five, and at least one finger adopts the finger module 100. The finger module 100 can be hinged to the base body of the manipulator through the hinge point A (refer to Figure 2 ).

[0060] The present application also provides a robot (not shown in the figure), and the robot includes the manipulator described above. The robot includes a left hand and a right hand, and at least one of the left hand and the right hand adopts the manipulator described above.

[0061] The above are only the preferred embodiments of the present application, and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included within the scope of protection of the present application.

Claims

1. A finger module, characterized in that, Comprising: Multiple phalanges; And A tactile perception component disposed on the ventral side of at least one of the phalanges. The tactile perception component includes multiple sets of deformation components located in the same plane and sensing components attached to each set of the deformation components. The sensing components generate corresponding electrical signals in response to the deformation of the deformation components to which they are attached.

2. The finger module according to claim 1, wherein At least one of the multiple deformation components is arranged as a cantilever structure with one end being a connection end and the other end being a free end.

3. The finger module according to claim 2, wherein The finger module further includes a PCB board, and at least one of the cantilever structures is integrally formed with the PCB board.

4. The finger module according to claim 3, wherein The sensing component includes a thin film sensor attached to the cantilever structure.

5. The finger module according to claim 2, wherein One of the multiple sets of deformation components is a first deformation component. The sensing component that generates an electrical signal in response to the deformation of the first deformation component includes a deformable strain gauge. The first deformation component is arranged as the cantilever structure, and the connection end of the cantilever structure is connected to the strain gauge.

6. The finger module according to any one of claims 1 to 5, characterized in that The finger module further includes a force transmission component capable of transmitting an external force to the multiple deformation components. The force transmission component includes a rigid plate without deformation and a deformable member connected to the rigid plate. The deformable member faces the multiple deformation components.

7. The finger module according to claim 6, characterized in that The deformable member is made of a flexible material; or The deformable member is provided with multiple deformable cantilever branches, and each of the deformation components is correspondingly provided with a cantilever branch.

8. The finger module according to claim 6, wherein The finger module further includes a housing covering the phalanges. The housing is provided with an inner cavity. The tactile perception component and the force transmission component are both received in the inner cavity. Along the normal direction of the plane where the multiple sets of deformation components are located, the part of the housing facing the force transmission component is provided with a flexible material, and the area of the flexible material is greater than or equal to the area of the corresponding region.

9. The finger module according to claim 8, characterized in that, The outer surface of the flexible material is provided with a deformable and uneven anti-slip structure.

10. The finger module according to claim 9, wherein The anti-slip structure includes multiple convex portions protruding. The multiple convex portions are made of a deformable material with a Shore hardness of A60, and the size protruding from the outer surface of the flexible material is 0.5 mm - 1 mm; and / or The flexible material and the convex portions are integrally formed; and / or The multiple convex portions are spaced apart, and the area of the distribution region accounts for more than 65% of the total area of the flexible material.

11. The finger module according to any one of claims 1 to 5, 7 to 10, characterized in that, The finger module further includes a module base. The multiple phalanges include a proximal phalanx close to the module base and a distal phalanx far from the module base. The proximal phalanx and the distal phalanx can be bent or extended relatively, and the tactile perception component is disposed on the ventral side of the distal phalanx.

12. The finger module according to claim 11, wherein The finger module further includes a transmission assembly for driving the finger joints to bend or extend. The transmission assembly includes a first link, a second link, and a third link. The first link is hinged to the module base to form a first hinge point. The first link is also hinged to the second link to form a second hinge point. One end of the third link is hinged to the module base to form a third hinge point, and the other end of the third link is hinged to the second link to form a fourth hinge point. The first link is provided as the driving rod. The line connecting the first hinge point and the second hinge point and the line connecting the third hinge point and the fourth hinge point cross in space. The proximal finger joint is connected to the first link, and the distal finger joint is connected to the second link.

13. A manipulator, characterized in that, Comprising: a base body; and The finger module according to any one of claims 1 to 12, wherein the module base of the finger module is hinged to the base body.

14. A robot, characterized in that, Comprising the robotic hand according to claim 13.

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