Sensing module, manipulator, mechanical arm and robot

Abstract

The utility model provides an induction module, a manipulator, a mechanical arm and a robot. The sensing module comprises a contact sensing layer, a strain part, a support and a main control part. The support comprises a body structure and a deformation structure arranged at one end of the body structure, the contact sensing layer is arranged on the body structure, the deformation structure deforms when the contact sensing layer is subjected to external force, and the strain component is arranged on the deformation structure. The main control part is electrically connected with the contact induction layer and the strain part so as to determine the external force according to induction information of the contact induction layer and the strain part. According to the structure arrangement, the main control piece can analyze the stress condition of the induction module by comprehensively contacting the force application information obtained by the induction layer and the external force information received by the strain component, and the induction sensitivity, the induction range and the use reliability of the induction module and the robot using the induction module are improved.

Description

Technical Field

[0001] The present disclosure relates to the field of robotics technology, and in particular to a sensing module, a manipulator, a robotic arm and a robot. Background Art

[0002] The tactile perception function of a robot refers to the ability of the robot's fingers, head and other parts of the body to perceive and understand tactile information of the surrounding environment. Tactile perception can be related to the robot's task execution and interaction with humans, and can also help improve the application efficiency and safety of robots in industries such as industry, services, and medical care.

[0003] However, due to the limitations of tactile perception technology and methods, the sensing modules in related technologies cannot meet expectations in terms of sensing sensitivity, sensing range and reliability. Utility Model Content

[0004] The present disclosure provides a sensing module, a manipulator, a mechanical arm and a robot to solve related technical problems.

[0005] A first aspect of the present disclosure provides a sensing module, comprising: a contact sensing layer, a strain component, a bracket and a main control;

[0006] The bracket includes a main structure and a deformation structure arranged at one end of the main structure; the contact sensing layer is arranged on the main structure; the deformation structure is deformed when the contact sensing layer is subjected to external force, and the strain component is arranged on the deformation structure;

[0007] The main control is conductively connected to the contact sensing layer and the strain component respectively, so as to determine the external force according to sensing information of the contact sensing layer and the strain component.

[0008] Optionally, the deformation structure includes a columnar structure, and the strain component is arranged on a side wall of the columnar structure.

[0009] Optionally, the deformation structure includes a disc-shaped structure, the bracket includes a first connecting column connecting the disc-shaped structure and the main structure, and the strain component is arranged on the disc-shaped structure.

[0010] Optionally, the disc-shaped structure includes a plurality of deformable bodies spaced apart along the circumferential direction to form a star-shaped structure, and each of the deformable bodies is provided with the strain component and the first connecting column.

[0011] Optionally, the first connecting column is arranged at an end of the deformable body away from the center of the disc-shaped structure.

[0012] Optionally, the disc-shaped structure includes an annular structure, and the first connecting columns are evenly distributed in the annular structure along the circumference of the annular structure.

[0013] Optionally, the disc-shaped structure includes a triangular structure, and the first connecting columns are evenly distributed in the triangular structure.

[0014] Optionally, the bracket further includes a base, and one end of the deformation structure away from the main structure is connected to the base.

[0015] Optionally, the contact sensing layer includes a base layer and an electrode layer disposed on the base layer; the electrode layer includes a plurality of sensing areas.

[0016] Optionally, the main control is fixedly assembled on a side of the bracket facing away from the touch sensing layer.

[0017] According to a second aspect of the present disclosure, a robot is provided, the robot comprising: any one of the sensing modules described in the first aspect.

[0018] According to a third aspect of the present disclosure, a robotic arm is provided, the robot comprising: any one of the sensing modules described in the first aspect.

[0019] According to a fourth aspect of the present disclosure, a robot is provided, comprising: any sensing module described in the first aspect.

[0020] The technical solution provided by the present disclosure can at least achieve the following beneficial effects:

[0021] The disclosed sensing module includes a contact sensing layer, a strain component and a bracket, the bracket includes a main structure and a deformation structure arranged at one end of the main structure, the contact sensing layer is arranged on the main structure, the strain component is arranged on the deformation structure, and the deformation structure deforms when the contact sensing layer is subjected to external force. The above structural setting enables the main control to analyze the force condition of the sensing module by combining the force information obtained by the contact sensing layer and the external force information received by the strain component, thereby improving the sensing sensitivity, sensing range and use reliability of the sensing module and the robot using the above sensing module.

[0022] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present specification. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the specification and, together with the description, serve to explain the principles of the specification.

[0024] Figure 1 is a schematic diagram of a three-dimensional exploded structure of a sensing module in an exemplary embodiment of the present disclosure;

[0025] Figure 2 is a schematic diagram of the assembly structure of a sensing module in an exemplary embodiment of the present disclosure;

[0026] Figure 3 is a schematic diagram of an assembly structure of a sensing module in another exemplary embodiment of the present disclosure;

[0027] Figure 4 It is a schematic diagram of the assembly structure of a sensing module in another exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0028] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with this specification. Instead, they are merely examples of devices and methods consistent with some aspects of this specification as detailed in the appended claims.

[0029] The terms used in this disclosure are only for the purpose of describing specific embodiments and are not intended to limit the disclosure. Unless otherwise defined, the technical terms or scientific terms used in this specification should be understood by people with ordinary skills in the field to which the disclosure belongs. The words "first", "second" and similar words used in this specification and claims do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one" or "one" do not indicate a quantitative limit, but indicate the existence of one. "Multiple" or "several" means two and more than two. Unless otherwise specified, words such as "front", "rear", "lower" and / or "upper" are only for the convenience of explanation and are not limited to one position or one spatial orientation. Words such as "include" or "comprise" mean that the elements or objects appearing in front of "include" or "comprise" include the elements or objects listed after "include" or "comprise" and their equivalents, and do not exclude other elements or objects. Words such as "connect" or "connected" are not limited to physical or mechanical connections, and can include electrical connections, whether direct or indirect.

[0030] The terms used in this specification are for the purpose of describing specific embodiments only and are not intended to limit the present disclosure. The singular forms of "a", "the" and "the" used in this specification and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0031] The tactile perception function of a robot refers to the ability of the robot's fingers, head and other parts of the body to perceive and understand the tactile information of the surrounding environment. Tactile perception can be related to the robot's task execution and interaction with humans, and can also help improve the efficiency and safety of robots in the fields of industry, services, and medical care. However, due to the limitations of tactile perception technology and methods, the sensing modules in related technologies cannot meet expectations in terms of sensing sensitivity, sensing range, and reliability.

[0032] The present disclosure provides a sensing module. Figure 1 is a schematic diagram of a three-dimensional decomposition structure of a sensing module in an exemplary embodiment of the present disclosure, such as Figure 1 As shown, the sensing module 1 includes a contact sensing layer 12, a strain component 13, a bracket 11 and a main control 14. The bracket 11 includes a main structure 111 and a deformation structure 112 arranged at one end of the main structure 111, the contact sensing layer 12 is arranged on the main structure 111, the deformation structure 112 is deformed when the contact sensing layer 12 is subjected to an external force, and the strain component 13 is arranged on the deformation structure 112. The main control 14 is conductively connected to the contact sensing layer 12 and the strain component 13 respectively, so as to determine the external force according to the sensing information of the contact sensing layer 12 and the strain component 13.

[0033] Since the above-mentioned sensing module 1 includes a contact sensing layer 12, a strain component 13 and a bracket 11, the bracket 11 includes a main structure 111 and a deformation structure 112 arranged at one end of the main structure 111, the contact sensing layer 12 is arranged on the main structure 111, and the strain component 13 is arranged on the deformation structure 112, and the deformation structure 112 is deformed when the contact sensing layer 12 is subjected to an external force. The above-mentioned structural setting enables the main control 14 to analyze the force condition of the sensing module 1 by combining the force information obtained by the contact sensing layer 12 and the external force information received by the strain component 13, thereby improving the sensing sensitivity, sensing range and use reliability of the sensing module 1 and the robot using the above-mentioned sensing module 1.

[0034] The contact sensing layer 12 can only be used to identify the sensing position, and the strain component 13 can obtain the torque formed by the external force. The external force at different positions can be calculated by combining the torque and the external force sensing position, which helps to improve the long-term consistency, sensitivity, and range of the sensing module 1. In addition, the contact sensing layer 12 can also be used to sense the contour of the force-applying object and assist in sensing the size of the external force.

[0035] In some embodiments, the contact sensing layer 12 may include a base layer and an electrode layer disposed on the base layer, wherein the electrode layer includes a plurality of sensing areas, so as to determine the force position and the contact surface contour of the force-applying object through a plurality of sensing areas at different positions. For example, the electrode layer may form a 7*15 array of sensing areas, which may independently identify the forces at 105 sensing positions, and the contour of the contact surface of the force-applying object may be identified by scanning the 105 sensing points. After the contact sensing layer 12 is conductively connected to the main control 14, the force position information, the forces at different positions, and the contact surface contour may be sent to the main control 14 for information processing and integration.

[0036] The above-mentioned contact sensing layer 12 can be a film layer structure formed by a base layer, an electrode layer, a pressure-sensitive layer and other structures. When the contact sensing layer 12 is subjected to force, the pressure signal can be converted into an electrical signal for analysis and processing by the main control 14. A miniaturized and integrated sensing function module structure is obtained through a light and thin structure. The contact sensing layer 12 can be a flexible structure to facilitate assembly and adaptation with different parts of the robot.

[0037] In some embodiments, Figure 1 As shown, the deformation structure 112 may be a columnar structure, and the strain component 13 is disposed on the side wall of the columnar structure. The columnar structure simplifies the overall structure of the bracket 11 and helps to increase the structural strength of the bracket 11. For example, the columnar structure may be a quadrangular prism, and each side wall of the quadrangular prism is respectively provided with a strain component 13, so as to sense the moment of the columnar structure at each strain component 13 when an external force acts on the bracket 11, and further determine the magnitude of the external force at the force-bearing position of the contact sensing layer 12.

[0038] In the above embodiment, the columnar structure can be directly connected to one end of the main structure 111. Alternatively, the columnar structure can also be connected to one end of the main structure 111 through a connecting column or a connecting rod. In the direction perpendicular to the main structure 111 pointing to the deformable structure 112, the cross-sectional size of the connecting column or the connecting rod can be smaller than the cross-sectional size of the columnar structure, so as to amplify the deformation effect of the external force on the deformable structure 112 and improve the sensing accuracy.

[0039] In some embodiments, Figure 2-Figure 4 As shown, the deformation structure 112 includes a disc-shaped structure, the bracket 11 includes a first connecting column 114 connecting the disc-shaped structure and the main structure 111, and the strain component 13 is arranged on the disc-shaped structure. The disc-shaped structure and the main structure 111 are connected through the first connecting column 114. On the one hand, the deformation convenience of the disc-shaped structure can be used to improve the sensing accuracy, and the first connecting column 114 can also be used to transmit external force between the main structure 111 and the disc-shaped structure, which helps to improve the accuracy of external force transmission.

[0040] In the above embodiment, if Figure 2As shown, the disc-shaped structure includes a plurality of deformable bodies 1121 spaced apart along the circumferential direction, and each deformable body 1121 is provided with a strain component 13 and a first connecting column 114. The plurality of deformable bodies 1121 spaced apart along the circumferential direction can realize torque sensing of external force at a plurality of circumferential positions.

[0041] Among them, multiple deformable bodies 1121 are arranged at intervals along the circumferential direction to form a star-shaped structure. For example, the disc-shaped structure can include three rectangular deformable bodies 1121 arranged along the circumferential direction to form a star-shaped structure. The sensitivity can be adjusted by changing the length of the deformable body 1121 in the radial direction.

[0042] In addition, one, two or more strain components 13 may be provided on one deformable body 1121 . The strain components 13 may be provided on the upper surface of the deformable body 1121 facing the main structure 111 and / or the lower surface opposite to the upper surface.

[0043] The first connecting column 114 can be disposed at the end of the deformable body 1121 away from the center of the disc-shaped structure to enhance the deformation effect of the deformable body 1121 caused by the external force, and to avoid deformation interference between multiple deformable bodies 1121. In addition, the deformable body 1121 can be rectangular, fan-shaped or other irregular shapes, which is not limited by the present disclosure.

[0044] Or, if Figure 3 , Figure 4 As shown, the disk-shaped structure can be an annular structure, and the first connecting pillars 114 are evenly distributed in the annular structure along the circumference of the annular structure. The annular structure can save the material cost of the disk-shaped structure, and can also use the hollow structure of the annular structure to obtain a better deformation effect. The annular structure can obtain torque sensing at multiple circumferential positions by means of the first connecting pillars 114 evenly distributed in the circumference of the annular structure. Among them, the above annular structure can be as follows Figure 4 The ring shown can also be Figure 3 The triangle ring, rectangular ring or polygonal ring shown in the figure, etc. When the ring structure is a circular ring, the length of the deformation arm can be increased, and the same force magnitude can produce a greater strain, thereby improving the sensing sensitivity.

[0045] Alternatively, the disc-shaped structure may be a rectangular, triangular, circular, or irregular plate-shaped structure, and the first connecting pillars 114 may be evenly distributed in the plate-shaped structure. When the disc-shaped structure is a triangular structure, the first connecting pillars 114 may be evenly distributed in the triangular structure.

[0046] In some embodiments, the strain component 13 can be arranged on the upper surface of the annular structure or plate-like structure facing the main structure 111 and / or the lower surface opposite to the upper surface. There can be one, two or more strain components 13 arranged on the annular structure or plate-like structure.

[0047] It should be noted that the strain component 13 can be a component that can make the channel strain resistance change with deformation, and can convert the external force signal into an electrical signal and send it to the main control 14 for force analysis. The present disclosure does not limit the specific structure of the strain component 13.

[0048] In the above embodiment, the strain component 13 may include two sensing channels, and the plurality of strain components 13 can collect pressure information at at least a plurality of points, thereby accurately determining the magnitude and direction of the pressure. The number of strain components 13 may be selected according to the specific pressure monitoring scenario and the shape and properties of the deformable structure 112.

[0049] In some embodiments, the bracket 11 may further include a base 113, and one end of the deformable structure 112 away from the main structure 111 is connected to the base 113 to improve the stability of the deformable structure 112 during deformation and the overall structural reliability of the bracket 11. The base 113 may be directly connected to the end of the deformable structure 112 away from the main structure 111 to simplify the structural setting of the bracket 11. Alternatively, the base 113 may be connected to the deformable structure 112 via one, two or more second connecting columns 115 to improve the deformation flexibility of the deformable structure 112.

[0050] In some embodiments, the main control 14 is fixedly assembled on the side of the bracket 11 facing away from the touch sensing layer 12 to avoid interference with the structure and function of the touch sensing layer 12. The touch sensing layer 12 can be conductively connected to the main control 14 through a flexible circuit board or a wire. Taking wire connection as an example, one end of the touch sensing layer 12 is conductively connected to the main control 14 through a wire.

[0051] Alternatively, the main control 14 may also be assembled on the sensing module 1 or other parts of the robot, and the present disclosure is not limited to this.

[0052] In some embodiments, the sensing module 1 may further include a jacket 15, which covers the outside of the assembly formed by the touch sensing layer 12 and the main structure 111. The jacket 15 may be made of silicone material, which is used to form the appearance of the sensing module 1 and protect the touch sensing layer 12. The position corresponding to the touch sensing layer 12 may be designed with a texture to increase the friction of the contact surface with the external object.

[0053] A shell may be provided outside the assembly formed by the deformable structure 112 and the strain component 13 for decoration and protection. The shell may be made of plastic, metal, etc., which is not limited in the present disclosure.

[0054] According to the present disclosure, a robot arm is further provided, and the robot arm includes the above-mentioned sensing module 1.

[0055] It should be noted that the above-mentioned manipulator can be applied to fields such as industrial manufacturing, medical services, logistics loading and unloading, and automated production, and the present disclosure does not limit this. Since the sensing module 1 includes a contact sensing layer 12, a strain component 13, and a bracket 11, the bracket 11 includes a main structure 111 and a deformation structure 112 arranged at one end of the main structure 111, the contact sensing layer 12 is arranged on the main structure 111, and the strain component 13 is arranged on the deformation structure 112, and the deformation structure 112 is deformed when the contact sensing layer 12 is subjected to an external force. The above-mentioned structural setting enables the main control 14 to analyze the force condition of the sensing module 1 by comprehensively analyzing the force information obtained by the contact sensing layer 12 and the external force information received by the strain component 13, thereby improving the sensing sensitivity, sensing range, and reliability of use of the sensing module 1 and the manipulator using the above-mentioned sensing module 1.

[0056] According to the present disclosure, a robotic arm is further provided, and the robotic arm includes the above-mentioned sensing module 1.

[0057] It should be noted that the above-mentioned robotic arm can be applied to fields such as industrial manufacturing, medical services, logistics loading and unloading, and automated production, and the present disclosure does not limit this. Since the sensing module 1 includes a contact sensing layer 12, a strain component 13, and a bracket 11, the bracket 11 includes a main structure 111 and a deformation structure 112 arranged at one end of the main structure 111, the contact sensing layer 12 is arranged on the main structure 111, and the strain component 13 is arranged on the deformation structure 112, and the deformation structure 112 is deformed when the contact sensing layer 12 is subjected to an external force. The above-mentioned structural setting enables the main control 14 to analyze the force condition of the sensing module 1 by comprehensively analyzing the force information obtained by the contact sensing layer 12 and the external force information received by the strain component 13, thereby improving the sensing sensitivity, sensing range, and reliability of use of the sensing module 1 and the robotic arm using the above-mentioned sensing module 1.

[0058] According to the present disclosure, a robot is further provided, the robot comprising the above-mentioned sensing module 1.

[0059] Since the sensing module 1 includes a contact sensing layer 12, a strain component 13 and a bracket 11, the bracket 11 includes a main structure 111 and a deformable structure 112 arranged at one end of the main structure 111, the contact sensing layer 12 is arranged on the main structure 111, the strain component 13 is arranged on the deformable structure 112, and the deformable structure 112 is deformed when the contact sensing layer 12 is subjected to an external force. The above structural setting enables the main control 14 to analyze the force condition of the sensing module 1 by combining the force information obtained by the contact sensing layer 12 and the external force information received by the strain component 13, thereby improving the sensing sensitivity, sensing range and use reliability of the sensing module 1 and the robot using the above sensing module 1.

[0060] The robot may be a humanoid robot or a robot of other appearances. Taking a humanoid robot as an example, the sensing module 1 may be applied to fingers, face or other parts of the body of the humanoid robot, and the present disclosure does not limit this.

[0061] For example, when the sensing module 1 is applied to the fingertips of a humanoid robot, when the fingertips touch an object, the contact sensing layer 12 can obtain the outline of the object and the force position on the surface of the fingertips. The external force of the object acting on the fingertip contact sensing layer 12 is transmitted to the deformation structure 112 through the main structure 111 of the bracket 11. The strain component 13 senses the torque formed by the above external force. The main control 14 can determine the magnitude of the external force at the force position on the fingertip surface based on the torque information and the external force position information of the contact sensing layer 12, thereby forming force analysis data for the entire fingertip.

[0062] The above is only a preferred embodiment of the present disclosure and does not limit the present disclosure in any form. Although the present disclosure has been disclosed as a preferred embodiment as above, it is not used to limit the present disclosure. Any technician familiar with this profession can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present disclosure. However, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present disclosure without departing from the content of the technical solution of the present disclosure are still within the scope of the technical solution of the present disclosure.

Claims

1. A sensing module, characterized in that: include: contact sensing layer, strain gauge, bracket and main control; The bracket includes a main structure and a deformation structure arranged at one end of the main structure; The contact sensing layer is arranged on the main structure; the deformation structure is deformed when the contact sensing layer is subjected to external force, and the strain component is arranged on the deformation structure; The main control is conductively connected to the contact sensing layer and the strain component respectively, so as to determine the external force according to sensing information of the contact sensing layer and the strain component.

2. The sensing module according to claim 1, characterized in that: The deformation structure comprises a columnar structure, and the strain component is arranged on a side wall of the columnar structure.

3. The sensing module according to claim 1, characterized in that: The deformation structure comprises a disc-shaped structure, the bracket comprises a first connecting column connecting the disc-shaped structure and the main structure, and the strain component is arranged on the disc-shaped structure.

4. The sensing module according to claim 3, characterized in that: The disc-shaped structure includes a plurality of deformable bodies spaced apart along a circumferential direction to form a star-shaped structure, and each of the deformable bodies is provided with the strain component and the first connecting column.

5. The sensing module according to claim 4, characterized in that: The first connecting column is arranged at an end of the deformable body away from the center of the disc-shaped structure.

6. The sensing module according to claim 3, characterized in that: The disc-shaped structure includes an annular structure, and the first connecting columns are evenly distributed in the annular structure along the circumference of the annular structure.

7. The sensing module according to claim 3, characterized in that: The disc-shaped structure includes a triangular structure, and the first connecting columns are evenly distributed in the triangular structure.

8. The sensing module according to claim 1, characterized in that: The bracket also includes a base, and one end of the deformation structure away from the main structure is connected to the base.

9. The sensing module according to claim 1, characterized in that: The contact sensing layer includes a base layer and an electrode layer arranged on the base layer; the electrode layer includes a plurality of sensing areas.

10. The sensing module according to claim 1, characterized in that: The main control is fixedly assembled on a side of the bracket facing away from the touch sensing layer.

11. A robot, characterized in that: include: The sensing module according to any one of claims 1 to 10.

12. A robotic arm, characterized in that: include: The sensing module according to any one of claims 1 to 10.

13. A robot, characterized in that: include: The sensing module according to any one of claims 1 to 10.

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