Compact touch finger, robot hand and robot

Abstract

The invention discloses a compact tactile finger, a robot hand and a robot, and the compact tactile finger comprises a fingertip which is provided with a gap; the wedge-shaped frame is arranged in the notch, and an obtuse angle is formed between the surface, deviating from the fingertip, of the wedge-shaped frame and the direction pointed by the fingertip; and the touch sensor is arranged on the surface. The touch sensor is installed on the wedge-shaped frame, so that the touch sensor inclines relative to the direction pointed by the fingertip, the touch sensor has an enough sensing area and occupies a small space of the fingertip, and the compact touch finger is formed.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, in particular to a compact tactile finger, a robot hand and a robot. BACKGROUND

[0002] The robot hand is applied to the field of robot or artificial limb, and the robot hand is provided with multiple sensors or multiple types of sensors to perceive the environment and perform tasks.

[0003] In the prior art, for some small limbs, such as fingers, the limb space is limited, and the arrangement of sensors will cause the finger structure to be bulky and not compact.

[0004] Therefore, the prior art still needs to be improved and developed. SUMMARY

[0005] The present application solves the technical problem of the prior art, provides a compact tactile finger, a robot hand and a robot, and aims to solve the problem of the prior art that the arrangement of sensors causes the finger structure to be bulky and not compact.

[0006] The technical scheme adopted by the present application to solve the technical problem is as follows: A compact tactile finger, comprising: a fingertip formed with a notch; a wedge-shaped bracket arranged in the notch, and a surface of the wedge-shaped bracket away from the fingertip forms an obtuse angle with a direction indicated by the fingertip; a tactile sensor arranged on the surface.

[0007] The compact tactile finger, wherein the tactile sensor comprises: a circuit board located on the surface; a capacitive sensing structure connected with the wedge-shaped bracket; wherein an edge of the capacitive sensing structure abuts an edge of the notch.

[0008] The compact tactile finger, wherein the capacitive sensing structure comprises: a frame; a conductive sensing body located on a side of the frame away from the circuit board; a flexible insulating layer covering the conductive sensing body and the frame and extending to the edge of the notch; wherein the frame, the conductive sensing body and the flexible insulating layer form an integrated structure by in-mold injection.

[0009] The compact tactile finger, wherein the conductive sensing body comprises: an outer convex support layer, and an edge of the outer convex support layer abuts a frame edge of the frame. The first spherical cap body, the second spherical cap body and the third spherical cap body are located on the outer convex support layer towards the circuit board; The first spherical cap body, the second spherical cap body and the third spherical cap body are arranged in sequence. The size of the second spherical cap body is greater than the size of the first spherical cap body, and the size of the second spherical cap body is greater than the size of the third spherical cap body.

[0010] The compact tactile finger, wherein the wedge-shaped frame comprises: The base is formed with a groove structure, and the groove opening of the groove structure faces the circuit board. The trapezoidal part is arranged on the side of the base away from the groove structure. The base is connected with the frame. The trapezoidal part is connected with the fingertip.

[0011] The compact tactile finger, wherein the bottom of the groove structure is formed with an opening, and the trapezoidal part is formed with an avoidance part at the position facing the opening. The circuit connecting terminal is connected with the circuit board, the circuit connecting terminal is located in the opening, and the avoidance part avoids the circuit connecting terminal.

[0012] The compact tactile finger, wherein the notch is formed with a first platform part and a second platform part, the first platform part abuts against the base, and the second platform part abuts against the upper base of the trapezoidal part.

[0013] The compact tactile finger, wherein the first platform part is connected with the base in a locking manner. The waist of the trapezoidal part is connected with the fingertip in a locking manner. The front end of the fingertip is clamped with the frame.

[0014] A machine hand, wherein the compact tactile finger according to any one of the above is included.

[0015] A robot, wherein the compact tactile finger according to any one of the above or the machine hand according to the above is included.

[0016] Beneficial effects: the tactile sensor is installed by using the wedge-shaped frame, so that the tactile sensor is inclined relative to the direction pointed by the fingertip, the tactile sensor has sufficient sensing area, and occupies small space of the fingertip, thereby forming the compact tactile finger. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a perspective view of the compact tactile finger in the embodiment of the application.

[0018] Figure 2 This is a top view of the compact tactile finger in an embodiment of the present invention.

[0019] Figure 3 yes Figure 2 Sectional view along line A.

[0020] Figure 4 This is a first exploded view of the compact tactile finger in an embodiment of the present invention.

[0021] Figure 5 This is a second exploded view of the compact tactile finger in an embodiment of the present invention.

[0022] Figure 6 This is a schematic diagram of the first structure of the fingertip in an embodiment of the present invention.

[0023] Figure 7 This is a schematic diagram of the second structure of the fingertip in an embodiment of the present invention.

[0024] Figure 8 This is a schematic diagram of the third structure of the fingertip in an embodiment of the present invention.

[0025] Figure 9 This is an exploded view of the capacitive sensing structure in an embodiment of the present invention.

[0026] Figure 10 This is a schematic diagram of the capacitive sensing structure in an embodiment of the present invention.

[0027] Figure 11 This is a schematic diagram of the wedge frame and circuit board in an embodiment of the present invention.

[0028] Figure 12 This is an exploded view of the wedge-shaped frame and the circuit board in an embodiment of the present invention.

[0029] Figure 13 This is a schematic diagram of the first structure of the wedge frame in an embodiment of the present invention.

[0030] Figure 14 This is a schematic diagram of the second structure of the wedge-shaped frame in an embodiment of the present invention.

[0031] Figure 15 This is a schematic diagram of the third structure of the wedge frame in an embodiment of the present invention.

[0032] Figure 16 This is a schematic diagram of the structure of the robotic arm in an embodiment of the present invention.

[0033] Figure 17 This is a schematic diagram of the robot in an embodiment of the present invention.

[0034] Explanation of reference numerals in the attached figures: 10. Fingertip; 11. Notch; 111. First platform section; 112. Second platform section; 12. Nail section; 121. Hook; 13. Baffle section; 131. Recessed groove; 132. First through hole; 133. Second through hole; 134. Third through hole; 14. Reinforcing section; 141. Positioning post; 15. Connecting section; 20. Wedge-shaped frame; 21. Base; 211. Groove structure; 212. Opening; 213. Positioning hole; 214. Through hole; 22. Trapezoidal part; 221. Clearance part; 222. Clearance groove; 30. Tactile sensor; 31. Circuit board; 32. Capacitive sensing structure; 321. Frame; 3211. Locking hole; 3212. Slot; 322. Conductive sensor; 3221. Outwardly protruding support layer; 3222. First spherical crown; 3223. Second spherical crown; 3224. Third spherical crown; 323. Flexible insulating layer; 3231. Limiting part; 33. Circuit connection terminal. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this invention clearer and more explicit, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0036] Please also refer to Figures 1-15 The present invention provides some embodiments of a compact tactile finger.

[0037] like Figures 1-3 As shown, the compact tactile finger of the present invention includes: Fingertip 10, forming a notch 11; A wedge-shaped bracket 20 is disposed within the notch 11, and the surface of the wedge-shaped bracket 20 facing away from the fingertip 10 forms an obtuse angle with the direction in which the fingertip 10 points; A tactile sensor 30 is disposed on the surface.

[0038] Specifically, the fingertip of a real finger, located at the distal phalanx, contains numerous nerve endings, enabling it to perceive objects through touch. However, the fingertip area is relatively small, especially the thumb, which is short, making it difficult to place a tactile sensor 30 within this area to achieve the finger's object-sensing function. This application uses a wedge-shaped bracket 20 to mount the tactile sensor 30, tilting it relative to the fingertip 10 (i.e., the direction the fingertip 10 points). This provides the tactile sensor 30 with a sufficient sensing area while occupying minimal space at the fingertip 10, resulting in a compact tactile finger.

[0039] Specifically, the wedge-shaped frame 20 is a component that is smaller at one end and larger at the other. Viewed from the side, the wedge-shaped frame 20 is roughly triangular, with two short sides and one long side. The two short sides of the triangle correspond to the positions of the notches 11 on the fingertips 10, and the long side corresponds to the positions of the tactile sensors 30. The length of the long side is greater than the length of either short side, ensuring that the surface of the wedge-shaped frame 20 facing away from the fingertips 10 has a sufficiently large area for mounting the tactile sensors 30, and that the sensing area of ​​the tactile sensors 30 is relatively large. Simultaneously, the length of the notches 11 is relatively short, so it does not excessively occupy the space of the fingertips 10, resulting in a more compact finger structure. An acute angle is formed between the long and short sides, and an obtuse angle is formed between the direction the fingertips 10 point and the long side, as well as between the direction the fingertips 10 point and the surface of the wedge-shaped frame 20 facing away from the fingertips 10.

[0040] like Figures 6-8 As shown, the fingertip 10 includes a nail portion 12 and a baffle portion 13. The nail portion 12 is disposed at one end of the baffle portion 13, and a notch 11 is formed between the other end of the baffle portion 13 and the nail portion 12. A wedge-shaped frame 20 and a tactile sensor 30 fill the notch 11, making the fingertip 10 form the shape of a real fingertip. The fingertip 10 also includes a reinforcing portion 14, which is connected to the nail portion 12 and the baffle portion 13 respectively. The reinforcing portion 14 mainly strengthens the structure of the nail portion 12. One or two reinforcing portions 14 can be provided. The reinforcing portion 14 is located within the notch 11 and does not hinder the installation of the wedge-shaped frame 20. A positioning post 141 is provided on the reinforcing portion 14, and a positioning hole 213 is provided on the wedge-shaped frame 20. The positioning post 141 passes through the positioning hole 213 to position the wedge-shaped frame 20, facilitating the assembly between the fingertip 10 and the wedge-shaped frame 20. The fingertip 10 also includes a connecting portion 15, which is located on the side of the baffle portion 13 opposite to the nail portion 12, and is used to connect other components.

[0041] In a preferred implementation of this invention, such as Figures 3-5 As shown, the tactile sensor 30 includes: Circuit board 31 is located on the surface; The capacitive sensing structure 32 is connected to the wedge-shaped frame 20; The edge of the capacitive sensing structure 32 abuts against the edge of the notch 11.

[0042] Specifically, the tactile sensor 30 is a capacitive tactile sensor. The tactile sensor 30 includes a circuit board 31 and a capacitive sensing structure 32. When an object touches the capacitive sensing structure 32, the capacitive sensing structure 32 deforms, causing the capacitance of the tactile sensor 30 to change, thereby detecting the presence of the object.

[0043] In a preferred implementation of this invention, such as Figures 9-10As shown, the capacitive sensing structure 32 includes: Frame 321; The conductive sensor 322 is located on the side of the frame 321 away from the circuit board 31; A flexible insulating layer 323 covers the conductive sensor 322 and the frame 321, and extends to the edge of the notch 11; The frame 321, the conductive sensor 322, and the flexible insulating layer 323 are formed into an integral structure by in-mold injection molding.

[0044] Specifically, the capacitive sensing structure 32 is a single, integral structure that cannot be disassembled. First, a frame 321 is prepared, for example, by injection molding. Then, the frame 321 is placed in a mold, and a first in-mold injection molding process is performed to form a conductive sensor 322 on top of the frame 321. Finally, the frame 321 and the conductive sensor 322 are placed in another mold, and a second in-mold injection molding process is performed to form a flexible insulating layer 323 on top of the frame 321 and the conductive sensor 322. These two in-mold injection molding processes form a single, integral structure of the frame 321, the conductive sensor 322, and the flexible insulating layer 323 within the mold. The frame 321 is made of a rigid material and can support the conductive sensor 322 and the flexible insulating layer 323. When an object comes into contact with the flexible insulating layer 323, the flexible insulating layer 323 deforms, causing the conductive sensor 322 to deform and move. The capacitive sensing structure 32 forms a single, integral structure, which is convenient for installation and makes the capacitive sensing structure 322 more durable. The conductive sensor 322 is made of a flexible conductive material, such as conductive silicone. The flexible insulating layer 323 is made of a flexible insulating material, such as insulating silicone. Using the same base material, for example, silicone, for both the flexible conductive and flexible insulating materials enhances the connection strength between the conductive sensor 322 and the flexible insulating layer 323. Conductive silicone is made by adding conductive dopants to the base material (silicone), thereby achieving conductivity.

[0045] In a preferred implementation of this invention, such as Figures 9-10 As shown, the conductive sensor 322 includes: An outwardly protruding support layer 3221, the edge of which abuts against the frame edge of the frame 321; The first spherical crown 3222, the second spherical crown 3223, and the third spherical crown 3224 are all located on the outwardly convex support layer 3221 facing the circuit board 31; The first spherical cap 3222, the second spherical cap 3223, and the third spherical cap 3224 are arranged in sequence; the size of the second spherical cap 3223 is larger than the size of the first spherical cap 3222, and the size of the second spherical cap 3223 is larger than the size of the third spherical cap 3224.

[0046] Specifically, the fingertip of a real finger is convex, and the convex support layer 3221 is also convex. The convex support layer 3221 supports the spherical caps, which are structures formed by removing a portion of a sphere. The sphere can be a spherical or an ellipsoid. There are three spherical caps: a first spherical cap 3222, a second spherical cap 3223, and a third spherical cap 3224. The three spherical caps are arranged sequentially in a straight line. The second spherical cap 3223, located in the middle, is larger, while the first spherical cap 3222 and the third spherical cap 3224, located at the ends, are smaller. All three spherical caps can abut against the circuit board 31. Each spherical cap is independent of the others. When an object contacts a corresponding position on a different spherical cap, the corresponding spherical cap deforms and moves. Electrodes are present on the circuit board 31. Each spherical cap has at least two electrodes, and an electric field exists between the two electrodes. Due to the movement of the spherical caps, the electric field distribution between the two electrodes changes, causing a change in the capacitance between the two electrodes. The number of spherical caps can be adjusted according to needs and the size of the surface of the wedge frame 20. Since the surface of the wedge frame 20 is an inclined surface, a larger number of spherical caps can be arranged, enabling the tactile perception of more details of the object.

[0047] In a preferred implementation of this invention, such as Figures 11-15 As shown, the wedge-shaped frame 20 includes: The base 21 has a groove structure 211, the groove opening of which faces the circuit board 31; A trapezoidal portion 22 is disposed on the side of the base 21 opposite to the groove structure 211; The base 21 is connected to the frame 321; the trapezoidal part 22 is connected to the fingertip 10.

[0048] Specifically, the circuit board 31 is located between the frame 321 and the base 21. The frame 321 is connected to the base 21 and clamps the circuit board 31. Multiple through holes 214 are formed on the edge of the base 21. Locking holes 3211 are formed on the frame 321 corresponding to the positions of the through holes 214. Locking accessories pass through the through holes 214 and are locked into the locking holes 3211. The circuit board 31 avoids the positions of the through holes 214 and the locking holes 3211, so as not to interfere with the locking of the locking accessories. A groove structure 211 is formed on the base 21, with the groove opening facing the circuit board 31. The groove structure 211 can accommodate slight deformations of the circuit board 31 and can also accommodate electronic components on the circuit board 31. The trapezoidal portion 22 is trapezoidal, having an upper base, a lower base, and two waists. The lower base of the trapezoidal portion 22 is connected to the base 21, and the upper base of the trapezoidal portion 22 abuts against the notch 11. The trapezoidal portion 22 is located between the two reinforcing portions 14. The width of the base 21 is greater than the width of the trapezoidal portion 22, the trapezoidal portion 22 is located at the center of the base 21, and the positioning hole 213 is formed at the edge of the base 21.

[0049] In a preferred implementation of this invention, such as Figures 11-15 As shown, the bottom of the groove structure 211 has an opening 212, and the trapezoidal part 22 has a clearance part 221 facing the opening 212; the circuit board 31 is connected to a circuit connection terminal 33, the circuit connection terminal 33 is located in the opening 212, and the clearance part 221 avoids the circuit connection terminal 33.

[0050] Specifically, an opening 212 is formed at the bottom of the groove structure 211, and a circuit connection terminal 33 is connected to the side of the circuit board 31 facing the wedge frame 20. The circuit connection terminal 33 is located in the groove structure 211 and the opening 212, and due to the presence of the clearance part 221, the circuit connection terminal 33 does not contact the trapezoidal part 22.

[0051] In a preferred implementation of this invention, such as Figure 3 , Figures 6-8 and Figure 11 As shown, a first platform portion 111 and a second platform portion 112 are formed within the notch 11. The first platform portion 111 abuts against the base portion 21, and the second platform portion 112 abuts against the upper bottom of the trapezoidal portion 22.

[0052] Specifically, two platform portions are formed within the notch 11, namely a first platform portion 111 and a second platform portion 112. The first platform portion 111 is located between the two reinforcing portions 14, and the second platform portion 112 is located at the connection position between the nail portion 12 and the baffle portion 13. A relief groove 222 is formed on the waist of the trapezoidal portion 22, and the first platform portion 111 passes through the relief groove 222 and abuts against the base portion 21. The second platform portion 112 abuts against the upper bottom of the trapezoidal portion 22.

[0053] In a preferred implementation of this invention, such as Figure 3 , Figures 6-8 and Figure 11 As shown, the first platform portion 111 is locked to the base portion 21; the waist of the trapezoidal portion 22 is locked to the fingertip 10; and the front end of the fingertip 10 is engaged with the frame 321.

[0054] Specifically, the first platform portion 111 is locked to the base portion 21 using a locking attachment. The waist of the trapezoidal portion 22 is locked to the fingertip 10 using a locking attachment. A recessed groove 131 is formed on the baffle portion 13, and a first through hole 132 is formed at the bottom of the recessed groove 131. The first through hole 132 allows the locking attachment to pass through and is locked to the waist of the trapezoidal portion 22. A second through hole 133 is formed on the side of the recessed groove 131, and the wire of the circuit connection terminal 33 passes through the second through hole 133. The front end of the fingertip 10 is engaged with the frame 321. A hook 121 is formed at the front end of the nail portion 12, and a groove 3212 is formed at the front end of the frame 321. The hook 121 engages with the groove 3212, thereby engaging the nail portion 12 with the frame 321. A third through hole 134 is formed on the baffle portion 13. The reinforcing portion 14 adopts a stepped reinforcing portion. The position of the third through hole 134 corresponds to the position of the stepped reinforcing portion 14. The stepped reinforcing portion 14 enables the third through hole 134 to communicate with the clearance portion 221, which facilitates wiring.

[0055] Based on the compact tactile finger described in any of the above embodiments, the present invention also provides an embodiment of a robotic hand.

[0056] The robotic hand of the present invention includes a compact tactile finger as described in any of the above embodiments. The robotic hand can be a single-finger robotic hand or a multi-finger robotic hand, such as a two-finger robotic hand or a three-finger robotic hand. The robotic hand can perform expected tasks such as grasping or moving objects, manipulating tools, and displaying different gestures. Figure 16 The robotic hand has five bionic fingers, any one of which can be a compact tactile finger as described in any of the above embodiments. For example, the bionic thumb can be a compact tactile finger as described in any of the above embodiments.

[0057] Based on the compact tactile finger or robotic hand described in any of the above embodiments, the present invention also provides an embodiment of a robot.

[0058] The robot of this invention includes a compact tactile finger or robotic hand as described in any of the above embodiments. The robot can be a special robot, a wheeled robot, a legged robot, a crawler robot, a squirming robot, a flying robot, a floating robot, a diving robot, a ground robot, an underground robot, a space robot, a SCARA robot, a parallel robot, a master-slave robot, a collaborative robot, etc. The robot can be a single-armed robot or a multi-armed robot. Figure 17 It is a wheeled robot with bionic arms, wherein either bionic arm can be the robotic hand described in any of the above embodiments or the compact tactile finger.

[0059] It should be understood that the application of the present invention is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A compact tactile finger, characterized in that, include: The fingertips have notches; A wedge-shaped bracket is disposed within the notch, and the surface of the wedge-shaped bracket facing away from the fingertip forms an obtuse angle with the direction in which the fingertip points; A tactile sensor is disposed on the surface.

2. The compact tactile finger according to claim 1, characterized in that, The tactile sensor includes: Circuit board, located on the surface; A capacitive sensing structure is connected to the wedge-shaped frame; The edge of the capacitive sensing structure abuts against the edge of the notch.

3. The compact tactile finger according to claim 2, characterized in that, The capacitive sensing structure includes: Frame; A conductive sensor is located on the side of the frame away from the circuit board; A flexible insulating layer covers the conductive sensor and the frame, and extends to the edge of the notch; The frame, the conductive sensor, and the flexible insulating layer are formed into an integral structure by in-mold injection molding.

4. The compact tactile finger according to claim 3, characterized in that, The conductive sensor includes: An outwardly convex support layer, the edge of which abuts against the frame edge of the frame body; The first, second, and third spherical caps are all located on the convex support layer facing the circuit board; The first spherical cap, the second spherical cap, and the third spherical cap are arranged in sequence. The size of the second spherical cap is larger than the size of the first spherical cap, and the size of the second spherical cap is larger than the size of the third spherical cap.

5. The compact tactile finger according to claim 3, characterized in that, The wedge-shaped frame includes: The base has a groove structure, with the groove opening facing the circuit board. A trapezoidal portion is disposed on the side of the base that is away from the groove structure; The base is connected to the frame. The trapezoidal portion is connected to the fingertip.

6. The compact tactile finger according to claim 5, characterized in that, The bottom of the groove structure has an opening, and the trapezoidal part forms a clearance portion facing the opening; The circuit board is connected to a circuit connection terminal, which is located inside the opening, and the clearance portion is positioned to avoid the circuit connection terminal.

7. The compact tactile finger according to claim 5, characterized in that, A first platform portion and a second platform portion are formed within the notch. The first platform portion abuts against the base portion, and the second platform portion abuts against the upper bottom of the trapezoidal portion.

8. The compact tactile finger according to claim 7, characterized in that, The first platform section is locked and connected to the base section; The waist of the trapezoidal portion is connected to the fingertip lock; The tip of the fingertip engages with the frame.

9. A robotic arm, characterized in that, include: The compact tactile finger as described in any one of claims 1 to 8.

10. A robot, characterized in that, include: The compact tactile finger as described in any one of claims 1 to 8, or the robotic hand as described in claim 9.

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