Hand joint angle sensor mounting structure, finger structure and robot

Abstract

The utility model provides a hand joint angle sensor mounting structure, finger structure and robot, the angle sensor mounting structure is arranged between two adjacent knuckles of robot finger, the two adjacent knuckles include third knuckles and second knuckles, the third knuckles are close to palm, the second knuckles are close to palm, and the second knuckles are close to palm. A gear set is arranged at the axis of the second finger joint, the third finger joint is connected with the output end of the gear set through a rotating shaft, an angle sensor is arranged on the rotating shaft, deviates from the axis of the second finger joint and is used for detecting the rotating angle of the second finger joint, and the rotating angle of the third finger joint is adjusted according to the rotating angle of the second finger joint. The gear set is used for amplifying the detection angle of the angle sensor in a multi-stage gear transmission mode. The rotation angle of the knuckle can be enlarged, the angle detection precision of the angle sensor is improved, and therefore the finger control precision of the robot is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of finger robots, and in particular to a hand joint angle sensor installation structure, a finger structure and a robot. Background Art

[0002] Finger robots are high-precision end effectors that simulate the movement and operation of human fingers to achieve functions such as grabbing, holding and placing objects. They have high flexibility, precise control and adaptability, and can handle objects of various shapes and sizes. Finger robots have shown broad application prospects in many fields such as industrial manufacturing, medical care, aerospace, etc. With the continuous development of artificial intelligence technology, finger robots are expected to achieve more intelligent and autonomous operations in the future.

[0003] As a key component in finger robots, angle sensors are mainly used to sense the joint angles of finger robots to achieve high-precision control. Angle sensors can accurately measure the bending angles of finger joints and convert the joint angles into electrical signals to provide necessary information for the robot's control system. The control system can accurately control the movement of the fingers based on the data provided by the angle sensors, thereby achieving high-precision finger simulation operations and ensuring that the robot can accurately perform various tasks. Angle sensors play a vital role in the operation and control of robots.

[0004] In the prior art, the angle sensor is generally installed on the rotating shaft of the finger joint and is coaxially arranged with the rotating shaft so as to directly detect the rotation angle of the finger joint. With this installation method, the detection accuracy is directly determined by the sensor accuracy. If the detection accuracy of the angle sensor is 0.6°, then this installation structure cannot improve its detection accuracy and is insufficient in terms of precise control. On the other hand, in order to avoid the rotating shaft, the angle sensor needs to be installed on the side of the rotating shaft, which increases the joint width and then increases the finger width, which is not conducive to the miniaturization design of the finger. Utility Model Content

[0005] In view of the defects in the prior art, the purpose of the utility model is to provide a hand joint angle sensor installation structure, a finger structure and a robot.

[0006] The utility model is realized by the following technical solutions:

[0007] According to the first aspect of the utility model, a hand joint angle sensor mounting structure is provided, wherein the angle sensor mounting structure is arranged between two adjacent finger joints of a robot finger, wherein the two adjacent finger joints include a third finger joint and a second finger joint, wherein the third finger joint is close to the palm, and a gear set is arranged at the axis of the second finger joint, wherein the third finger joint is connected to the output end of the gear set via a rotating shaft, wherein an angle sensor is arranged on the rotating shaft, wherein the angle sensor deviates from the axis of the second finger joint, and is used to detect the rotation angle of the second finger joint, and wherein the gear set is used to amplify the detection angle of the angle sensor through a multi-stage gear transmission method.

[0008] Furthermore, the gear set includes a driving gear and a driven gear meshing with the driving gear, the driving gear is connected to the axis of the second finger joint, the third finger joint is connected to the driven gear through the rotating shaft, and the number of teeth of the driving gear is greater than the number of teeth of the driven gear.

[0009] Furthermore, the number of teeth of the driving gear is 22, and the number of teeth of the driven gear is 12.

[0010] Furthermore, the angle sensor includes a sensor head and a magnet, and the magnet is located at the output end of the gear set.

[0011] Optionally, the angle sensor is a resistive angle sensor.

[0012] Furthermore, the rotating shaft is a metal shaft.

[0013] According to a second aspect of the utility model, a robot finger structure is provided, the finger structure comprising a plurality of finger joints, and a hand joint angle sensor mounting structure as described in the first aspect is arranged between two adjacent finger joints.

[0014] According to a third aspect of the present utility model, a robot is provided, the robot comprising the hand joint angle sensor mounting structure described in the first aspect or the robot finger structure described in the second aspect.

[0015] Compared with the prior art, the utility model has at least one of the following beneficial effects:

[0016] The hand joint angle sensor installation structure, finger structure and robot provided by the utility model are provided with a gear set between two adjacent finger joints, and the angle sensor is located at the output end of the gear set. The angle sensor is deviated from the rotation axis of the finger joint. The gear set realizes the amplification of the angle detected by the angle sensor through a multi-stage gear transmission, and amplifies the rotation angle of the finger joint. Therefore, the angle detection accuracy of the angle sensor can be improved, thereby improving the control accuracy of the robot finger. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Other features, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0018] Figure 1 This is a schematic diagram of the exploded structure of the angle sensor installation structure in one embodiment of the utility model;

[0019] Figure 2 This is a structural schematic diagram of an angle sensor installation structure in one embodiment of the utility model;

[0020] Figure 3 This is a schematic diagram of the structure in which the finger joint is rotated 90° in one embodiment of the utility model.

[0021] The corresponding reference numerals in the figure are: 1-first finger joint, 2-second finger joint, 3-third finger joint, 4-magnet, 5-driven gear, 6-sensor head, 7-rotating shaft, 8-driving gear. DETAILED DESCRIPTION

[0022] The utility model is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the utility model, but do not limit the utility model in any form. It should be pointed out that for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the utility model. These all fall within the scope of protection of the utility model.

[0023] It should be noted that the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Moreover, the terms "first", "second", etc. are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0024] Reference Figure 1 and Figure 2A hand joint angle sensor installation structure provided by an embodiment of the utility model is arranged between two adjacent finger joints of a robot finger. The finger structure includes a first finger joint 1, a second finger joint 2 and a third finger joint 3. The third finger joint 3 is close to the palm. Two adjacent finger joints include the second finger joint 2 and the third finger joint 3. A gear set is provided at the axis of the second finger joint 2. The third finger joint 3 is connected to the output end of the gear set through a rotating shaft 7. The angle sensor is arranged on the rotating shaft 7. The angle sensor deviates from the axis of the second finger joint 2. The angle sensor is used to detect the rotation angle of the second finger joint 2. The gear set is used to amplify the angle detected by the angle sensor through a multi-stage gear transmission method.

[0025] In the embodiment of the utility model, the rotation angle of the second finger joint 2 is amplified by the gear set, so as to detect the slight angle change of the finger joint, thereby improving the detection accuracy of the angle sensor.

[0026] By selecting a suitable gear combination and deviating the angle sensor from the rotation axis of the finger joint, the measurement accuracy of the angle sensor can be amplified. In some embodiments, the gear set includes a driving gear 8 and a driven gear 5 meshing with the driving gear 8, the driving gear 8 is connected to the axis of the second finger joint 2, the third finger joint 3 is connected to the driven gear 5 through a rotating shaft 7, the rotating shaft 7 serves as the rotation axis of the driven gear 5, the number of teeth of the driving gear 8 is greater than the number of teeth of the driven gear 5, or the radius of the driving gear 8 is greater than the radius of the driven gear 5. As a result, one rotation of the driving gear 8 will drive the driven gear 5 to rotate multiple times, and when the second finger joint 2 rotates a very small angle, the driven gear 5 rotates a larger angle, thereby achieving the purpose of amplifying the rotation angle of the finger joint. Two gears are used in the embodiment of the utility model, and compared with a larger number of gear combinations, the transmission accuracy is higher, which is conducive to improving the accuracy of the detection results.

[0027] It should be noted that, in some other embodiments, if a multi-stage (greater than 2) gear transmission is used, the number of teeth (or radius) of the intermediate transmission part is arbitrary, but the number of teeth of the gear on which the sensor is installed needs to be smaller than the number of teeth of the driving gear 8.

[0028] In some embodiments, the angle sensor includes a sensor head 6 and a magnet 4, and the magnet 4 is located at the output end of the gear set. When the second finger joint 2 rotates, the driving gear 8 thereon drives the driven gear 5 to rotate, and the magnet 4 inside the driven gear 5 also rotates accordingly. When the rotation of the driven gear 5 is detected by the angle sensor, due to the gear ratio between the driving gear 8 and the driven gear 5, the actual rotation angle will be magnified, thereby improving the resolution and accuracy of the angle sensor measurement, and the angle sensor can detect the slight rotation of the finger joint. Since the magnet 4 is installed inside the driven gear 5 and the angle sensor is installed inside the wall thickness of the finger, the detection accuracy is improved without increasing the width of the finger joint, which is conducive to the miniaturization design of the finger.

[0029] For example, Figure 1 and Figure 2 The invention comprises a gear set including a driving gear 8 and a driven gear 5, a magnet 4 is located inside the driven gear 5, which is located on one side of the third finger joint 3, and a sensor head 6 is located on the other side of the third finger joint 3. The magnet 4 is used to generate a magnetic field, which changes with the angle of the driven gear 5. The sensor head 6 detects the change in the magnetic field and converts it into a voltage signal, thereby determining the rotation angle of the finger joint.

[0030] In the embodiment of the utility model, the number of teeth of the driving gear 8 at the joint should be greater than the number of teeth of the driven gear 5 on which the angle sensor is installed. The larger the tooth ratio, the more conducive to improving the accuracy. The maximum diameter of the driving gear 8 cannot exceed the thickness of the joint, otherwise the joint will become larger, which is not conducive to miniaturization design. The inner ring of the driven gear 5 should be larger than the diameter of the sensor magnet, otherwise the sensor magnet cannot be installed. In some preferred embodiments, the number of teeth of the driving gear 8 is 22, and the number of teeth of the driven gear 5 is 12.

[0031] In some other embodiments, according to the requirements of angle magnification, the number of teeth of the driving gear 8 and the driven gear 5 can also be set to other numbers to achieve high-precision detection and control.

[0032] In some optional embodiments, the angle sensor is a resistive angle sensor.

[0033] In some embodiments, the rotating shaft 7 is a metal shaft. The metal shaft is not easily deformed, which increases the stability of the angle sensor. Preferably, the finger joint is made of a self-lubricating plastic material, and the metal shaft and the self-lubricating plastic material cooperate to have a self-lubricating effect, without the need for lubricating oil, thereby improving the convenience of installation.

[0034] In the above embodiment, the angle sensor actually measures the rotation angle of the driven gear 5 through the gear set. Due to the effect of gear transmission, the angle is magnified, thereby improving the measurement accuracy of the angle sensor.

[0035] Exemplarily, the number of teeth of the driving gear 8 is 22, and the number of teeth of the driven gear 5 is 12. Figure 2 After the second finger joint rotates 90°, Figure 3 In the state shown, the rotation angle of the driven gear 5 is: 22÷12×90°=165°. That is, the driving gear 8 on the second finger joint 2 drives the driven gear 5 to rotate 165°.

[0036] Assuming that the detection accuracy of the angle sensor is 0.6°, after the gear relationship conversion, the detection accuracy of the second finger joint 2 is 0.6°×12÷22=0.33°. Although the actual detection accuracy of the angle sensor is 0.6°, the detection accuracy of the angle sensor is improved after the joint rotation angle is amplified through gear transmission.

[0037] Based on the same concept, another embodiment of the utility model provides a robot finger structure, which includes a plurality of finger joints, and the above-mentioned hand joint angle sensor installation structure is arranged between two adjacent finger joints.

[0038] Based on the same concept, another embodiment of the utility model further provides a robot, which includes the above-mentioned hand joint angle sensor installation structure or the above-mentioned robot finger structure.

[0039] In the above embodiment of the utility model, a gear set is provided between two adjacent finger joints, and the angle sensor is located at the output end of the gear set. The angle sensor is deviated from the rotation axis of the finger joint. The gear set realizes the amplification of the angle detected by the angle sensor through a multi-stage gear transmission, thereby amplifying the rotation angle of the finger joint. As a result, the angle detection accuracy of the angle sensor can be improved, thereby improving the control accuracy of the robot finger.

[0040] The above embodiment of the utility model combines the angle sensor with the gear set, and utilizes the principle of gear transmission to achieve the amplification of the measurement accuracy. By selecting a suitable gear set, the measurement resolution and accuracy of the angle sensor can be significantly improved to meet various high-precision measurement requirements.

[0041] The above describes the specific embodiments of the utility model. It should be understood that the utility model is not limited to the above specific embodiments, and those skilled in the art can make various deformations or modifications within the scope of the claims, which does not affect the essence of the utility model. The above preferred features can be used in any combination without conflicting with each other.

Claims

1. A hand joint angle sensor installation structure, characterized in that: The angle sensor mounting structure is arranged between two adjacent finger joints of the robot finger, the two adjacent finger joints include a third finger joint and a second finger joint, the third finger joint is close to the palm, a gear set is provided at the axis of the second finger joint, the third finger joint is connected to the output end of the gear set through a rotating shaft, the angle sensor is arranged on the rotating shaft, the angle sensor deviates from the axis of the second finger joint, the angle sensor is used to detect the rotation angle of the second finger joint, and the gear set is used to realize the amplification of the detection angle of the angle sensor through a multi-stage gear transmission method.

2. The hand joint angle sensor installation structure according to claim 1, characterized in that: The gear set includes a driving gear and a driven gear meshing with the driving gear, the driving gear is connected to the axis of the second finger joint, the third finger joint is connected to the driven gear through the rotating shaft, and the number of teeth of the driving gear is greater than that of the driven gear.

3. The hand joint angle sensor installation structure according to claim 2, characterized in that: The number of teeth of the driving gear is 22, and the number of teeth of the driven gear is 12.

4. The hand joint angle sensor installation structure according to claim 1, characterized in that: The angle sensor includes a sensor head and a magnet, and the magnet is located at the output end of the gear set.

5. The hand joint angle sensor installation structure according to claim 1, characterized in that: The angle sensor is a resistive angle sensor.

6. The hand joint angle sensor installation structure according to claim 1, characterized in that: The rotating shaft adopts a metal shaft.

7. A finger structure, characterized in that: The finger structure includes a plurality of finger joints, and a hand joint angle sensor mounting structure according to any one of claims 1 to 6 is provided between two adjacent finger joints.

8. A robot, characterized in that: It includes the hand joint angle sensor mounting structure as described in any one of claims 1 to 6 or the finger structure as described in claim 7.

Images