Grabbing device, intelligent terminal and remote control system

Abstract

The invention relates to a grabbing device, an intelligent terminal and a remote operation system. The grabbing device comprises fingers, a palm, a driving module and a pressure sensing module. One end of each finger is rotationally connected with the palm; the driving module is used for driving the fingers to rotate in the direction close to or away from the front face of the palm. The pressure sensing module is arranged on at least one of the front faces of the fingers and the front face of the palm, and the pressure sensing module is used for detecting pressure. When the grabbing device grabs the object, the pressure sensing module can detect the pressure of the grabbing device on the object, so that the corresponding control module can control the driving module according to the pressure, the grabbing force of the grabbing device is regulated and controlled, and the object is effectively prevented from being damaged by the grabbing device.

Description

Technical Field

[0001] This invention belongs to the field of human-computer interaction technology, and particularly relates to a grasping device, a smart terminal and a remote control system. Background Technology

[0002] Fascinating robotic arms are widely used in service robots, space robots, and special-operation robots. They have structures such as palms and fingers that correspond to those of the human hand, enabling them to effectively grasp objects.

[0003] However, existing bionic robotic arms are prone to damaging objects when grasping them. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a gripping device, a smart terminal and a remote control system, addressing the problem that existing robotic arms are prone to damaging objects when grasping them.

[0005] To address the aforementioned problems, one embodiment of the present invention provides a grasping device, including a finger, a palm, a driving module, and a pressure sensing module; one end of the finger is rotatably connected to the palm; the driving module is used to drive the finger to rotate towards or away from the front of the palm; the pressure sensing module is provided on at least one of the front of the finger and the front of the palm, and the pressure sensing module is used to detect pressure.

[0006] Optionally, the grasping device has multiple fingers and multiple drive modules; each finger has a pressure sensing module on its front side; each drive module corresponds to a finger and is used to drive the corresponding finger to rotate.

[0007] Optionally, the grasping device has a plurality of fingers and a plurality of drive modules; each drive module corresponds to one of the fingers and is used to drive the corresponding finger to rotate.

[0008] Optionally, among the plurality of fingers, there is a first finger. Along the length direction of the first finger, the first finger includes a first segment structure and a second segment structure connected in sequence. The end of the first segment structure opposite to the second segment structure is connected to the palm. The first segment structure is rotatable relative to the palm to move closer to or away from the front of the palm. The second segment structure is rotatable relative to the first segment structure to move closer to or away from the front of the palm.

[0009] Optionally, among the plurality of driving modules, there is a first driving module, which corresponds to the first finger. The first driving module includes a first driving unit and a second driving unit. The first driving unit is used to drive the first segment structure to rotate, and the second driving unit is used to drive the second segment structure to rotate. The pressure sensing module is provided on at least one of the front surfaces of the first segment structure and the second segment structure.

[0010] Optionally, the first segment structure is rotatable relative to the palm about a first axis; the second segment structure is rotatable relative to the first segment structure about a second axis; the first axis is parallel to the second axis.

[0011] Optionally, the plurality of fingers may further include a second finger, wherein the angle between the second finger and the first finger is an acute angle; the number of the first finger is greater than or equal to one; when the number of the first finger is greater than one, each of the first fingers is located on the same side of the second finger.

[0012] Optionally, along the length of the second finger, the second finger includes a third segment and a fourth segment connected in sequence; one end of the third segment opposite to the fourth segment is connected to the palm; the third segment is rotatable relative to the palm about a third axis to move closer to or away from the front of the palm; the fourth segment is rotatable relative to the third segment about a fourth axis to move closer to or away from the front of the palm; a second drive module is included among the plurality of drive modules, the second drive module including a third drive unit and a fourth drive unit, the third drive unit being used to drive the third segment to rotate, and the fourth drive unit being used to drive the fourth segment to rotate; the pressure sensing module is provided on at least one of the front of the third segment and the front of the fourth segment; the first axis, the third axis, and the fourth axis intersect each other.

[0013] Optionally, the pressure sensing module is provided on the front of the palm.

[0014] Optionally, the grasping device further includes a wireless communication module, which is disposed on the palm and / or the fingers; the driving module and the pressure sensing module are both communicatively connected to the wireless communication module.

[0015] Optionally, the wireless communication module is disposed on the back of the palm.

[0016] Optionally, the gripping device further includes a first protective layer covering the front of the finger, with the pressure sensing module located between the first protective layer and the front of the finger; and / or, the gripping device further includes a second protective layer covering the front of the palm, with the pressure sensing module located between the first protective layer and the front of the palm.

[0017] To address the aforementioned problems, in another aspect, embodiments of the present invention provide a smart terminal, including the grasping device described in any one of the above claims.

[0018] To address the aforementioned problems, in another aspect, embodiments of the present invention provide a remote operating system, including the grasping device described in any of the above-mentioned claims.

[0019] In the grasping device, smart terminal, and remote operating system provided in the embodiments of the present invention, when the grasping device grasps an object, the pressure sensing module can detect the pressure of the grasping device on the object, so that the corresponding control module can control the drive module according to the pressure, thereby realizing the adjustment of the grasping force of the grasping device and effectively avoiding damage to the object by the grasping device.

[0020] Furthermore, in some scenarios, there are specific requirements for the pressure applied by the gripping device; different pressure levels achieve different functions. Such scenarios could include using the gripping device for massage. Through the settings of this embodiment, the pressure applied by the gripping device to the target object can be adjusted as needed, improving the device's adaptability to different application scenarios. Attached Figure Description

[0021] Figure 1 This is a front view of a gripping device provided in an embodiment of the present invention; Figure 2 This is a rear view of a gripping device provided in an embodiment of the present invention.

[0022] Figure label: 100. Gripping device; 1. Fingers; 11. First segment structure; 12. Second segment structure; 13. Third segment structure; 14. Fourth segment structure; 1a. Thumb; 1b. Index finger; 1c. Middle finger; 1d. Ring finger; 1e. Little finger; 2. Palm; 3. Driver module; 4. Pressure sensing module; 5. Wireless communication module. Detailed Implementation

[0023] To make the technical problems solved, the technical solutions, and the beneficial effects of this invention clearer, 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.

[0024] like Figure 1 As shown, in one embodiment, the gripping device 100 includes a finger 1, a palm 2, a drive module 3, and a pressure sensing module 4; one end of the finger 1 is rotatably connected to the palm 2; the drive module 3 is used to drive the finger 1 to rotate in a direction closer to or further away from the front of the palm 2; at least one of the front of the finger 1 and the front of the palm 2 is provided with a pressure sensing module 4, which is used to detect pressure.

[0025] During operation, the drive module 3 first drives finger 1 to rotate forward, bringing finger 1 closer to the front of the palm 2. At this point, finger 1 can cooperate with the palm 2 to grasp an object. Then, the drive module 3 drives finger 1 to rotate in the opposite direction, moving finger 1 away from the front of the palm 2, at which point the grasped object can be released. Furthermore, when finger 1 and palm 2 cooperate to grasp an object, both the front of finger 1 and the front of palm 2 are in contact with the object.

[0026] In this embodiment, the gripping device 100 can be a biomimetic robotic hand. When the gripping device 100 grips an object, the pressure sensing module 4 can detect the pressure exerted by the gripping device 100 on the object (this pressure is the gripping force of the gripping device 100, specifically the pressure exerted by the fingers 1 and the palm 2 on the object). This pressure can be fed back to the corresponding control module, which can control the drive module 3 according to this pressure, thereby regulating the gripping force of the gripping device 100 and effectively preventing the gripping device 100 from damaging the object.

[0027] Furthermore, in some scenarios, there are specific requirements for the pressure applied by the gripping device 100. Different pressure levels achieve different functions. Such scenarios could include using the gripping device 100 for massage. Through the settings of this embodiment, the pressure applied by the gripping device 100 to the target object can be adjusted as needed, improving the adaptability of the gripping device 100 to different application scenarios.

[0028] Furthermore, "at least one of the front surfaces of finger 1 and palm 2 is provided with a pressure sensing module 4" means that: a pressure sensing module 4 is provided on the front surface of finger 1; or, a pressure sensing module 4 is provided on the front surface of palm 2; or, both the front surfaces of finger 1 and palm 2 are provided with pressure sensing modules 4, in which case there are multiple pressure sensing modules 4, each pressure sensing module 4 being respectively disposed on finger 1 and palm 2. Here, "multiple" means two or more, and the meaning of the term "multiple" is the same in all embodiments, and will not be repeated hereafter.

[0029] It should be understood that the control module may or may not be part of the gripping device 100. When the control module is part of the gripping device 100, it may be mounted on the palm 2. When the control module is not part of the gripping device 100, both the pressure sensing module 4 and the drive module 3 may be connected to the control module via conductive wires, or they may be connected to the control module via wireless communication.

[0030] When the pressure sensing module 4 and the drive module 3 are connected to the control module via wireless communication, the gripping device 100 also includes a wireless communication module 5 (see reference). Figure 2 The wireless communication module 5 is disposed on the palm 2 and / or finger 1. "The wireless communication module 5 is disposed on the palm 2 and / or finger 1" means that: the wireless communication module 5 is disposed on finger 1; or, the wireless communication module 5 is disposed on the palm 2; or, the wireless communication module 5 is disposed on both finger 1 and palm 2. In this case, there are multiple wireless communication modules 4, and each wireless communication module 5 is disposed on finger 1 and palm 2 respectively.

[0031] Both the drive module 3 and the pressure sensing module 4 are connected to the wireless communication module 5. When there are multiple wireless communication modules 4, the wireless communication modules 5 connected to the pressure sensing module 4 and the drive module 3 can be different.

[0032] In this configuration, the drive module 3 and the wireless communication module 5 are connected via conductive wires, the pressure sensing module 4 and the wireless communication module 5 are connected via conductive wires, the wireless communication module 5 is connected to the remote communication module via wireless communication, and the remote communication module is connected to the control module via wireless communication. At this time, the control module is connected to the drive module 3 and the pressure sensing module 4 via the remote communication module and the wireless communication module 5.

[0033] The wireless communication module 5 can be one or more of the following: infrared module, Bluetooth module, and WIFI module.

[0034] In one embodiment, the wireless communication module 5 is disposed on the back of the palm 2, which can improve the communication quality between the wireless communication module 5 and the remote communication module, and also prevent the wireless communication module 5 from being damaged when the gripping device 100 grips the object.

[0035] like Figure 1As shown, in one embodiment, the gripping device 100 has multiple fingers 1, each of which can simultaneously cooperate with the palm 2 to grasp an object, thus making the gripping device 100 grip the object more firmly. In addition, each finger 1 has a pressure sensing module 4 on its front side, which improves the pressure feedback effect and further enhances the control of the gripping force of the gripping device 100, so as to better protect the grasped object. It should be understood that when the gripping device 100 is applied in different scenarios, more functions and effects can be achieved by controlling the pressure of different fingers 1.

[0036] exist Figure 1 In the illustrated embodiment, there are five fingers 1: thumb 1a, index finger 1b, middle finger 1c, ring finger 1d, and little finger 1e. In the actual product, the thumb 1a, index finger 1b, middle finger 1c, ring finger 1d, and little finger 1e of the gripping device 100 are arranged sequentially at intervals along a first direction. The length directions of the four fingers 1 (index finger 1b, middle finger 1c, ring finger 1d, and little finger 1e) can be parallel to each other, and the length directions of these four fingers 1 can be perpendicular to the first direction. The angle between the thumb 1a and index finger 1b of the gripping device 100 is an acute angle, and the distance between the thumb 1a and index finger 1b gradually increases along the direction away from the palm 2. Furthermore, the angle between the thumb 1a and index finger 1b refers to the angle between the length direction of the thumb 1a and the length direction of the index finger 1b.

[0037] exist Figure 1 In the middle, the first direction is parallel to the X-axis.

[0038] In addition, in actual scenarios, each finger 1 can be driven to rotate individually. That is, the grasping device 100 includes multiple drive modules 3, each drive module 3 corresponding to a finger 1. The drive module 3 is used to drive the corresponding finger 1 to rotate relative to the palm 2.

[0039] In one embodiment, when there are multiple fingers 1, the multiple fingers 1 include a first finger and a second finger, wherein the angle between the first finger and the second finger is an acute angle. Furthermore, the angle between the first finger and the second finger refers to the angle between the length direction of the first finger and the length direction of the second finger.

[0040] In one embodiment, the number of first fingers is greater than or equal to one; when the number of first fingers is greater than one, each first finger is located on the same side of a second finger, specifically, in a first direction, each first finger is located on the same side of a second finger. Figure 1 In the example shown, the index finger 1b, middle finger 1c, ring finger 1d, and little finger 1e are all first fingers, and the thumb 1a is the second finger.

[0041] At this time, the multiple drive modules 3 include a first drive module and a second drive module, wherein the first drive module corresponds to the first finger and the second drive module corresponds to the second finger.

[0042] like Figure 1 As shown, in one embodiment, the first finger includes a first segment structure 11 and a second segment structure 12 connected in sequence, wherein the first segment structure 11 and the second segment structure 12 are arranged sequentially along the length direction of the first finger. The end of the first segment structure 11 facing away from the second segment structure 12 is connected to the palm 2; the first segment structure 11 can rotate relative to the palm 2 to move closer to or away from the front of the palm 2; the second segment structure 12 can rotate relative to the first segment structure 11 to move closer to or away from the front of the palm 2; the first driving module includes a first driving unit and a second driving unit, the first driving unit being used to drive the first segment structure 11 to rotate, and the second driving unit being used to drive the second segment structure 12 to rotate.

[0043] The front of the first finger includes the front of the first segment structure 11 and the front of the second segment structure 12. At least one of the front of the first segment structure 11 and the front of the second segment structure 12 is provided with a pressure sensing module 4.

[0044] Furthermore, when the gripping device 100 grasps an object, the front of the first segment 11 can contact the object, and the front of the second segment 12 can also contact the object. To improve the pressure detection effect, pressure sensing modules 4 are provided on the front of both the first segment 11 and the second segment 12.

[0045] Define the axis around which the first segment structure 11 rotates relative to the palm 2 as the first axis, and the axis around which the second segment structure 12 rotates relative to the first segment structure 11 as the second axis. That is, the first segment structure 11 can rotate relative to the palm 2 around the first axis; the second segment structure 12 can rotate relative to the first segment structure 11 around the second axis. The first axis and the second axis can be parallel to each other, and both the first axis and the second axis can be parallel to the first direction mentioned above.

[0046] In addition, both the first segment 11 and the second segment 12 are elongated structures, and their length direction can be perpendicular to the first direction.

[0047] In one embodiment, the first driving unit may be mounted on the palm 2 and connected to the first segment structure 11; the second driving unit may be mounted on the first segment structure 11 and connected to the second segment structure 12.

[0048] Both the first driving unit and the second driving unit can include a motor. The torque of the motor is delivered to the driven object (the driven object is the first segment 11 and the second segment 12) to make the driven object rotate.

[0049] In addition, when the first drive unit and the second drive unit include motors, the housing of the motor of the first drive unit can be mounted on the palm 2, and its main shaft is connected to the first segment structure 11; the housing of the motor of the second drive unit can be mounted on the first segment structure 11, and its main shaft is connected to the second segment structure 12.

[0050] Of course, either the first drive unit or the second drive unit may include other mechanisms besides a motor. In this case, the motor drives the driven object to rotate through these other mechanisms. These other mechanisms may be a reduction gear, a pull rope, etc.

[0051] In one embodiment, at least one of the front surfaces of the first segment 11 and the second segment 12 is provided with a plurality of pressure sensing modules 4. Providing a segment with a plurality of pressure sensing modules 4 can improve the pressure detection performance of that segment. Preferably, both the front surfaces of the first segment 11 and the second segment 12 are provided with a plurality of pressure sensing modules 4.

[0052] Along the length of the second finger, the second finger includes a third segment structure 13 and a fourth segment structure 14 connected in sequence; the end of the third segment structure 13 facing away from the fourth segment structure 14 is connected to the palm 2; the third segment structure 13 can rotate relative to the palm 2 about a third axis to move closer to or away from the front of the palm 2; the fourth segment structure 14 can rotate relative to the third segment structure 13 about a fourth axis to move closer to or away from the front of the palm 2; the second drive module includes a third drive unit and a fourth drive unit, the third drive unit is used to drive the third segment structure 13 to rotate, and the fourth drive unit is used to drive the fourth segment structure 14 to rotate; a pressure sensing module 4 is provided on at least one of the front of the third segment structure 13 and the front of the fourth segment structure 14.

[0053] The front of the second finger includes the front of the third segment 13 and the front of the fourth segment 14. In use, both the front of the third segment 13 and the front of the fourth segment 14 can come into contact with an object. Preferably, at least one of the front of the third segment 13 and the front of the fourth segment 14 is provided with a pressure sensing module 4.

[0054] Furthermore, the first, third, and fourth axes intersect each other, meaning that no two of them are parallel. The first and third axes can be perpendicular to each other.

[0055] In one embodiment, both the third segment 13 and the fourth segment 14 can be elongated structures.

[0056] In addition, the structure of the third and fourth drive units can be the same as that of the first drive unit.

[0057] In one embodiment, a pressure sensing module 4 is also provided on the front of the palm 2, and multiple pressure sensing modules 4 can be provided on the front of the palm 2, which can improve the pressure detection effect.

[0058] In addition, when each finger 1 and palm 2 of the gripping device 100 is equipped with a pressure sensing module 4, if the front of the finger 1 or the front of the palm 2 collides with an object when the gripping device 100 is not gripping an object, it can be sensed so as to adjust the movement of the gripping device 100 in time and effectively avoid damage to the gripping device 100 or other objects.

[0059] In one embodiment, the gripping device 100 further includes a first protective layer covering the front of the finger 1, with the pressure sensing module 4 located between the first protective layer and the front of the finger 1; and / or, the gripping device 100 further includes a second protective layer covering the front of the palm 2, with the pressure sensing module 4 located between the first protective layer and the front of the palm 2.

[0060] That is, when the pressure sensing module 4 is provided on the front of the finger 1, the front of the finger 1 is also covered with a first protective layer, which protects the pressure sensing module 4 on the finger 1. The first protective layer can be a rubber layer or the like.

[0061] When the pressure sensing module 4 is provided on the front of the palm 2, the front of the palm 2 is also covered with a second protective layer. The pressure sensing module 4 on the palm 2 is protected by the second protective layer, which can be a rubber layer or the like.

[0062] This invention also provides an intelligent terminal, which includes the grasping device 100 described in any of the above embodiments. The intelligent terminal can be a service robot, a space robot, or a special-operation robot, etc.

[0063] This invention also provides a remote operating system, which includes the gripping device 100 described in any of the above embodiments. An operator can remotely control the gripping device 100 to perform corresponding gripping operations.

[0064] It should be understood that the above-mentioned settings can also be replaced in other ways, such as: Of course, in other embodiments, the number of fingers 1 can also be one.

[0065] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0066] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A gripping device, characterized in that This includes fingers, palm, drive module, and pressure sensing module; One end of the finger is rotatably connected to the palm; The driving module is used to drive the fingers to rotate in a direction that is closer to or further away from the front of the palm; The pressure sensing module is provided on at least one of the front of the finger and the front of the palm, and the pressure sensing module is used to detect pressure.

2. The gripping device according to claim 1, characterized in that The grasping device has multiple fingers and multiple drive modules; The pressure sensing module is provided on the front of each of the fingers; Each driving module corresponds to one of the fingers, and the driving module is used to drive the corresponding finger to rotate.

3. The gripping device of claim 1, wherein The grasping device has multiple fingers and multiple driving modules; each driving module corresponds to one of the fingers and is used to drive the corresponding finger to rotate.

4. The gripping device according to claim 3, characterized in that Among the plurality of fingers, there is a first finger, and along the length direction of the first finger, the first finger includes a first segment structure and a second segment structure connected in sequence; The end of the first segment that faces away from the second segment is connected to the palm. The first segment is capable of rotating relative to the palm to move closer to or further away from the front of the palm; The second segment can rotate relative to the first segment to move closer to or further away from the front of the palm.

5. The gripping device according to claim 4, characterized in that Among the plurality of driving modules, there is a first driving module, which corresponds to the first finger. The first driving module includes a first driving unit and a second driving unit. The first driving unit is used to drive the first segment structure to rotate, and the second driving unit is used to drive the second segment structure to rotate. The pressure sensing module is provided on at least one of the front surfaces of the first segment and the second segment.

6. The gripping device of claim 4, wherein The first segment structure is capable of rotating relative to the palm about a first axis; The second segment can rotate relative to the first segment about the second axis; The first axis is parallel to the second axis.

7. The gripping device according to claim 6, characterized in that, The plurality of fingers also includes a second finger, wherein the angle between the second finger and the first finger is an acute angle; The number of the first finger is greater than or equal to one; When the number of first fingers is greater than one, each of the first fingers is located on the same side of the second finger.

8. The gripping device according to claim 7, characterized in that, Along the length of the second finger, the second finger includes a third segment and a fourth segment connected in sequence; The end of the third segment that is opposite to the fourth segment is connected to the palm. The third segment structure is capable of rotating relative to the palm about a third axis to move closer to or further away from the front of the palm; The fourth segment structure is capable of rotating relative to the third segment structure about a fourth axis to move closer to or further away from the front of the palm; The plurality of driving modules include a second driving module, the second driving module including a third driving unit and a fourth driving unit, the third driving unit being used to drive the third segment structure to rotate, and the fourth driving unit being used to drive the fourth segment structure to rotate; The pressure sensing module is provided on at least one of the front surfaces of the third segment structure and the fourth segment structure. The first axis, the third axis, and the fourth axis intersect each other.

9. The gripping device according to claim 1, characterized in that, The pressure sensing module is located on the front of the palm.

10. The gripping device according to claim 1, characterized in that, It also includes a wireless communication module, which is disposed on the palm and / or the fingers; Both the drive module and the pressure sensing module are communicatively connected to the wireless communication module.

11. The gripping device according to claim 10, characterized in that, The wireless communication module is located on the back of the palm.

12. The gripping device according to claim 1, characterized in that, It also includes a first protective layer covering the front of the finger, with the pressure-sensing module located between the first protective layer and the front of the finger; and / or, The gripping device further includes a second protective layer that covers the front of the palm, and the pressure sensing module is located between the first protective layer and the front of the palm.

13. A smart terminal, characterized in that, Includes the gripping device according to any one of claims 1-12.

14. A remote operating system, characterized in that, Includes the gripping device according to any one of claims 1-12.

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