Robot fingertip touch detection device and system

Abstract

The utility model relates to a robot fingertip touch detection device and system. The robot fingertip touch detection device comprises a glove base material, a flexible pressure sensor, a plurality of flexible bending sensors, a plurality of temperature sensors and a controller, the flexible pressure sensor, the plurality of flexible bending sensors, the plurality of temperature sensors and the controller are regularly arranged and fixed on the glove base material or in the glove base material. According to the robot fingertip touch sense detection device and system, pressure sensing and pressure acquisition are carried out through the plurality of flexible pressure sensors, finger bending sensing and bending angle acquisition are carried out through the plurality of flexible bending sensors, and temperature sensing and temperature acquisition are carried out through the plurality of temperature sensors. Meanwhile, the controller is integrated on the glove base material, and the controller is small in size, light in weight and convenient to wear.

Description

Technical Field

[0001] The utility model relates to the technical field of artificial intelligence, and in particular to a robot fingertip tactile detection device and system. Background Art

[0002] With the rapid development of artificial intelligence (AI), robots are becoming more and more integrated into people's daily lives and production, accelerating humanity into the intelligent era. Traditional robot fingers struggle to intelligently control gripping force and achieve gentle movements, requiring adjustments based on the size of the object to handle hard objects.

[0003] Currently, some technologies such as optical sensors and magnetic sensors have emerged to detect the pressure of robot fingers. However, these sensors are inflexible, bulky, and difficult to integrate into the limited space of the robot arm. They are also difficult to install and are costly.

[0004] Therefore, intelligent robots currently urgently need a light, soft, highly integrated, easy-to-install, low-cost skin-like device to accurately and quickly detect the touch of machine fingers, so that they can adapt to unstructured working environments, use the protagonist's sense of touch to autonomously and truly perceive the physical world, and interact with the environment in real time. Utility Model Content

[0005] The technical problem solved by the utility model is to provide a fingertip tactile detection device based on an array-type flexible sensor, which can give a humanoid robot stronger perception ability and improve the movement ability and precise operation ability of the humanoid robot.

[0006] The technical solution adopted by the utility model to solve its technical problems is:

[0007] A robot fingertip tactile detection device and system includes: a glove base material, a flexible pressure sensor, a plurality of flexible bend sensors, a plurality of temperature sensors, and a controller; the flexible pressure sensor, the plurality of flexible bend sensors, the plurality of temperature sensors, and the controller are regularly arranged and fixed on the glove base material, fixedly disposed within the glove base material, or directly integrated into the robot hand;

[0008] The flexible pressure sensors are regularly arranged on the lower surfaces of the fingers of the glove substrate to sense and collect pressure between the fingers;

[0009] The plurality of flexible bending sensors are regularly arranged on the upper surface of the plurality of finger portions of the glove substrate for finger bending sensing and bending angle acquisition;

[0010] The controller is regularly arranged on the upper surface of the palm portion of the glove substrate and is electrically connected to the flexible pressure sensor and the flexible bending sensors via a plurality of wires to collect data from them;

[0011] The controller includes a bottom shell, a main board, a display screen, and a top cover; the main board and the display screen are arranged and installed in the bottom shell and encapsulated in the bottom shell by the top cover; the top cover and the display area of ​​the display screen are provided with viewing windows for convenient observation and operation;

[0012] The mainboard is regularly welded with a host computer interface, a USB interface, a sensor interface, a display screen interface and a main control MCU; the host computer interface, the USB interface and the sensor interface are regularly arranged on the side of the mainboard and extend out of the bottom shell; the host computer interface communicates with the host computer through a data cable, the USB interface is electrically connected to the host computer through a data cable, or is electrically connected to a power adapter through a data cable, and the sensor interface is electrically connected to the flexible pressure sensor, several flexible bending sensors and several temperature sensors through wires.

[0013] Furthermore, the interior of the bottom shell is regularly provided with a number of PCB positioning columns and a number of display screen support columns. The number of PCB positioning columns support and fix the mainboard inside the bottom shell and are used for positioning and installing the mainboard. The number of display screen support columns support the display screen inside the bottom shell and are used for installing the display screen.

[0014] Furthermore, bosses are provided on the several PCB positioning columns, and positioning holes are regularly provided on the main board at the positions of the bosses for their convenient passage. The main board cooperates with the positioning holes and the bosses to quickly position and assemble the main board on the several PCB positioning columns, and is tightened and fixed on the several PCB positioning columns by screws.

[0015] Furthermore, the plurality of display screen support columns are arranged along the inner wall of the bottom shell, and are regularly arranged at the four corners of the inner wall of the bottom shell; support column threaded holes are regularly provided on the display screen support columns, and fixing holes for convenient passage of screws or bolts are regularly provided at the four corners of the main board of the display screen and the top cover at the positions of the support column threaded holes, and the screws or bolts pass through the top cover and the main board of the display screen in turn and cooperate with the support column threaded holes to fix the top cover and the display screen on the display screen support columns, thereby realizing the assembly and fixation of the top cover and the bottom shell.

[0016] Furthermore, the display screen is a touch display screen.

[0017] Furthermore, the bottom end side surface of the bottom plate extends outward to form a bottom plate, and a plurality of fixing holes are regularly arranged on the bottom plate. The controller is sewn and fixed to the glove base material by needle and thread and the plurality of fixing holes.

[0018] Furthermore, the outer layers of the flexible pressure sensor and the flexible bending sensor are both provided with a flexible packaging layer, and the flexible packaging layer wraps the entire flexible pressure sensor or the flexible bending sensor by gluing or by hot pressing cross-linking reaction.

[0019] Furthermore, the flexible pressure sensor includes a lower flexible substrate and an upper flexible substrate, thereby forming an upper and lower flexible substrate, the lower flexible substrate and the upper flexible substrate are bonded together by an elastic packaging layer, the upper surface of the lower flexible substrate and the lower surface of the upper flexible substrate are regularly provided with an electrode layer and a pressure-sensitive layer, the pressure-sensitive layer is provided above the electrode layer, and the pressure-sensitive layer between the upper and lower flexible substrates is relatively provided.

[0020] Furthermore, a plurality of elastic protrusions are regularly arranged between the upper and lower flexible substrates. The electrode layer, the pressure-sensitive layer and the plurality of elastic protrusions are arranged on the inner side of the elastic packaging layer and are sealed between the upper and lower flexible substrates by the elastic packaging layer.

[0021] Furthermore, the glove base material includes an inner base material and an outer base material, the plurality of flexible pressure sensors, the plurality of flexible bend sensors, the plurality of temperature sensors, and the controller are arranged on the inner base material, and the outer base material is sleeved on the outside of the inner base material and fixedly connected thereto; the controller extends out of the outer base material for display and touch operation.

[0022] The beneficial effects of the utility model are:

[0023] This new robotic fingertip tactile detection device and system utilizes flexible pressure sensors for pressure sensing and acquisition, flexible bend sensors for finger bend sensing and angle acquisition, and temperature sensors for temperature sensing and acquisition. Furthermore, a controller is integrated into the glove base, making it compact, lightweight, and easy to wear.

[0024] The robot fingertip tactile detection device and system of the present utility model can be applied to the field of robot human-machine interaction. During the grasping operation of the robot hand, the flexible pressure sensor at the fingertip can help the robot accurately sense the magnitude and direction of the force when grasping the object. The flexible bending sensor at the finger joint can control the bending angle of the finger. The multimodal sensor is combined to achieve stable and accurate grasping and fine operation.

[0025] The device can also be used in the field of medical-assisted rehabilitation. Patients with hand injuries or diseases can wear the detection gloves described in this utility model for rehabilitation training. By monitoring the force exerted by the patient's fingers, doctors can develop more scientific and effective rehabilitation training plans to help patients quickly regain hand function. Of course, it can also be used in the field of prosthetics. The fingertip tactile detection gloves can provide force feedback for the prosthesis, allowing the wearer to more naturally control the prosthetic movement, improving the effectiveness and comfort of the prosthesis. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is the system structure diagram of the utility model;

[0027] Figure 2 for Figure 1 Another perspective structure diagram;

[0028] Figure 3 for Figure 1 Explosion state diagram of the controller;

[0029] Figure 4 for Figure 3 Combined state diagram of

[0030] Figure 5 for Figure 4 Another perspective structure diagram;

[0031] Figure 6 This is a structural layer diagram of an embodiment of the flexible pressure sensor of the present utility model;

[0032] Figure 7 This is a structural diagram of an embodiment of a flexible pressure sensor in the present utility model;

[0033] Figure 8 This is a structural diagram of an embodiment of the present utility model;

[0034] in:

[0035] 1. Glove substrate, 2. Flexible pressure sensor, 3. Flexible bending sensor; 4. Controller, 5. Temperature sensor;

[0036] 11. Inner base material, 12. Outer base material;

[0037] 21. lower flexible substrate, 22. elastic encapsulation layer, 23. upper flexible substrate, 24. electrode layer, 25. pressure-sensitive layer, 26. elastic protrusion;

[0038] 41. Bottom shell, 411. Bottom plate, 412. PCB positioning column, 413. Display support column, 4111. Fixing hole;

[0039] 42, mainboard, 421, host computer interface, 422, USB interface, 423, sensor interface, 424, display interface;

[0040] 43. Display screen;

[0041] 44. Top cover, 441. Viewing window. DETAILED DESCRIPTION

[0042] To make the above-mentioned objects, features, and advantages of the present invention more clearly understood, the following detailed description of specific embodiments of the present invention is provided in conjunction with the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without departing from the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used herein in the specification of this invention are intended only to describe specific embodiments and are not intended to limit the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0044] like Figures 1-8 As shown, the present invention provides a robot fingertip tactile detection device and system, comprising a glove base material 1, a plurality of flexible pressure sensors 2, a plurality of flexible bend sensors 3, a plurality of temperature sensors 5, and a controller 4. The plurality of flexible pressure sensors 2, a plurality of flexible bend sensors 3, a plurality of temperature sensors 5, and the controller 4 are regularly arranged and fixed on the glove base material 1.

[0045] Among them, a number of flexible pressure sensors 2 are regularly arranged on the lower surface of a number of fingers of the glove substrate 1 for pressure sensing and pressure collection between the fingers. Figure 2 As shown, several flexible pressure sensors 2 are regularly arranged on the lower surface of the fingers and fingertips of the glove substrate 1. In one embodiment, a set of flexible pressure sensors is installed at the fingertips of the thumb cuff for sensing and collecting pressure on the thumb; two sets of flexible pressure sensors are installed at the fingertips and mid-finger portions of the other cuffs for sensing and collecting pressure on the index, middle, ring, and little fingers. Of course, in other embodiments, several flexible pressure sensors can also be regularly arranged near the palm of the glove substrate.

[0046] Among them, a number of flexible bending sensors 3 are regularly arranged on the upper surface of a number of fingers of the glove substrate 1, for sensing the bending of the fingers and collecting the bending angle. Figure 1 As shown, a plurality of flexible bending sensors 4 are regularly arranged on the upper surface of a plurality of finger portions of the glove substrate 1, preferably between adjacent phalanges, so as to be used for sensing the finger bending and collecting the bending angle between adjacent phalanges. Figure 1 As shown, a group of flexible bending sensors 3 are arranged between the metacarpophalangeal joints and the interphalangeal joints. The flexible bending sensors at the metacarpophalangeal joints are used for sensing the curvature and collecting the bending angles between the palm and the fingers, and the flexible bending sensors at the interphalangeal joints are used for sensing the curvature and collecting the bending angles between the fingers.

[0047] The controller 4 is regularly positioned on the upper surface of the palm portion of the glove substrate 1. It is electrically connected to the flexible pressure sensors 2 and the flexible bend sensors 3 via a number of wires, thereby collecting data from these sensors. Simultaneously, it is electrically connected to a host computer via corresponding interfaces and data cables for communication. Furthermore, the controller 4 is equipped with a display screen for display and touch control.

[0048] like Figures 3-5 As shown in FIG. 4 , it is a specific structural diagram of the controller 4 .

[0049] like Figure 3 As shown, in the present invention, the controller 4 includes a bottom shell 41, a main board 42, a display screen 43 and a top cover 44. The display screen 43 is arranged above the main board 42 and is installed in the bottom shell 41 with the main board 42 through the top cover 44.

[0050] The upper end of the bottom shell 41 is open and extends downward to form an inner cavity of the bottom shell, and the main board 42 and the display screen 43 are regularly arranged and installed in the inner cavity of the bottom shell.

[0051] Furthermore, the bottom end of the bottom shell 41 extends outward to form a bottom plate 411. The bottom plate 411 is regularly provided with a plurality of fixing holes 4111. The controller 4 can subsequently be sewn and fixed to the glove base material 1 using a needle and thread through the fixing holes 4111. Of course, the controller 4 can also be fixed to the glove base material 1 using other methods, such as adhesive bonding.

[0052] Furthermore, a plurality of PCB positioning posts 412 are regularly arranged within the inner cavity of the bottom shell 41. The PCB positioning posts 412 are regularly arranged within the inner cavity of the bottom shell and are used for positioning and installing the mainboard 42. Simultaneously, the PCB positioning posts 412 serve as support posts for the mainboard 42, supporting and securing the mainboard 42 within the inner cavity of the bottom shell.

[0053] Further, the bottom shell inner cavity is regularly provided with a plurality of display screen support columns 413. The plurality of display screen support columns are regularly arranged in the bottom shell inner cavity, and are used for supporting and fixing the display screen 43.

[0054] Further, as shown in the embodiment, the plurality of display screen support columns 413 are arranged in a rectangular shape, and are arranged along the inner wall of the bottom shell inner cavity. The plurality of display screen support columns are regularly arranged at the four corners of the bottom shell inner cavity, and are used for supporting the four corners of the display screen 43. Figure 3

[0055] Further, the plurality of display screen support columns 413 are regularly provided with threaded holes. The four corners of the display screen 43 and the top cover 44 are regularly provided with through holes through which fasteners such as screws or bolts pass. The screw rod of the screw or bolt passes through the four corners of the display screen and the top cover 44 in sequence, and cooperates with the threaded hole of the display screen support column 413, so as to fix the top cover 44 and the display screen 43 at the upper end of the bottom shell 41.

[0056] Further, the lower end of the top cover 44 is regularly provided with a pressing plate portion for pressing the display screen 43. Thus, the display screen 43 is stably fixed at the upper end of the bottom shell 41 by the pressing plate portion of the top cover, and is fixed in the bottom shell 41.

[0057] Further, the main board 42 is regularly provided with an upper computer interface 421, a USB interface 422, a sensor interface 423, a display screen interface 424, and a main control MCU.

[0058] The upper computer interface 421 is regularly arranged at the front side of the main board 42, and extends out of the bottom shell 41, and is used for communicating with the upper computer.

[0059] The USB interface 422 is regularly arranged at the left and right sides of the main board 42, and extends out of the bottom shell 41. The USB interface is used for communicating with the upper computer, or is electrically connected with the power adapter, and supplies power to the controller 4 through the power adapter and the cable. Alternatively, the USB interface is electrically connected with the upper computer, and directly supplies power to the controller 4 through the upper computer or a terminal device such as a notebook computer. The firmware of the controller 4 can be upgraded through the USB interface 422 in the future.

[0060] The sensor interface 423 is regularly arranged at the rear side of the main board 42, and extends out of the bottom shell 41. The sensor interface is electrically connected with the plurality of flexible pressure sensors 2 and the plurality of flexible bending sensors 3, and is used for collecting data.

[0061] The display screen interface 424 is regularly arranged on the upper surface of the main board 42. The main board 42 is electrically connected with the display screen 43 through the display screen interface and the display screen flat cable. ​

[0062] Among them, the main control MCU is the core control of the controller and is used for the system operation of the controller.

[0063] To drive the host computer interface, USB interface, sensor interface, and display interface, motherboard 42 is also equipped with a compatible interface chip. To collect pressure values ​​from the flexible pressure sensors 2 and the flexible bend sensors 3, motherboard 42 is also equipped with an operational amplifier for signal amplification. To provide power to the components on the motherboard, motherboard 42 is also equipped with a corresponding power management chip.

[0064] Furthermore, in order to achieve wireless data transmission, a wireless communication unit is also provided on the mainboard 42, and a power-saving WIFI Bluetooth chip is preferably used in the wireless communication unit. Of course, a 5G chip can also be used for 5G communication.

[0065] like Figure 3 As shown, the upper ends of several PCB positioning columns 412 are also provided with bosses, and the bosses on the several PCB positioning columns pass through the main board 42, thereby quickly restricting the installation of the main board 42 on the several PCB positioning columns, thereby realizing rapid positioning and assembly of the main board 42.

[0066] Furthermore, the bosses of the PCB positioning posts are also regularly provided with positioning post threaded holes, so that the mainboard 42 can be fixed on the PCB positioning posts by screws or fasteners such as screws cooperating with the positioning post threaded holes.

[0067] Furthermore, the mainboard 42 adopts a double-panel design, and the mainboard 42 is supported and suspended in the air by a number of PCB positioning columns, so that the area on the mainboard can be effectively utilized, and the mainboard 42 can be miniaturized, thereby effectively utilizing the internal space of the bottom shell 41 and reducing the volume of the controller 4.

[0068] Furthermore, the display screen 42 is mounted above the mainboard 42 via a plurality of display screen support columns 413 and is enclosed at the upper end of the bottom case 1 via an upper cover 44. In one embodiment, the display screen 42 is a touch screen, which provides external display and allows for human-computer interaction and system settings.

[0069] Furthermore, the upper cover 44 is provided with a viewing window 441 in the display area of ​​the display screen 42 for conveniently exposing the display screen.

[0070] The communication protocol adopted by the host computer interface 421 of the present invention is not limited, and includes but is not limited to a CAN bus interface protocol, a UART interface protocol, and the like.

[0071] like Figure 1As shown, in one embodiment, the flexible pressure sensor adopts an array-type flexible pressure sensor for pressure sensing and pressure collection of the fingertip or the fingertip and the finger.

[0072] Furthermore, the array-type flexible pressure sensor includes an integrated structure of a flexible sensitive material and a flexible electrode plate (fully flexible form) and an integrated structure of a flexible sensitive material and a PCB circuit board. The fully flexible array-type flexible pressure sensor includes an array-type flexible sensor body and a flexible packaging layer.

[0073] The array-type flexible sensor body is preferably a flexible piezoresistive sensor based on the piezoresistive effect, that is, the corresponding resistance is different under different pressures, and the fingertip pressure can be indirectly measured by measuring the change in resistance value. In order to facilitate the integration of the fully flexible flexible sensor, the present application adds a flexible packaging layer. The flexible packaging layer uses an ultra-thin film to wrap the sensor as a whole through a physical packaging method (such as bonding) or a thin layer of fabric to wrap the sensor as a whole through a chemical packaging method (such as hot pressing cross-linking reaction). The edge of the flexible packaging material is integrated with the glove by stitching.

[0074] Of course, the array-type flexible pressure sensor can also be directly bonded to the glove base material 1 using adhesive products.

[0075] like Figure 6 As shown, the flexible pressure sensor includes a lower flexible substrate 21 and an upper flexible substrate 23, which are bonded together by an elastic encapsulation layer 22. The upper surface of the lower flexible substrate 21 and the lower surface of the upper flexible substrate 23 are regularly provided with an electrode layer 24 and a pressure-sensitive layer 25. The pressure-sensitive layer 25 is disposed above the electrode layer 24. The pressure-sensitive layers of the upper and lower flexible substrates are disposed relative to each other. When the pressure-sensitive layers of the upper and lower flexible substrates contact, the resistance value changes accordingly as the contact area of ​​the pressure-sensitive layers changes, thereby achieving pressure sensing and pressure acquisition.

[0076] Furthermore, in order to improve the sensitivity of the flexible pressure sensor, a plurality of elastic protrusions 26 are regularly arranged between the upper and lower flexible substrates, and the upper and lower flexible substrates can be quickly released and separated by the plurality of elastic protrusions 26 .

[0077] Furthermore, the electrode layer 24 , the pressure-sensitive layer 25 and the plurality of elastic protrusions 26 are arranged on the inner side of the elastic packaging layer 22 and are sealed between the upper and lower flexible substrates through the elastic packaging layer.

[0078] The robot fingertip tactile detection device and system of the present invention also includes a plurality of temperature sensors for temperature detection. The plurality of temperature sensors are regularly arranged on the glove base material 1, or as shown in FIG. Figure 7As shown, it is integrated on the flexible pressure sensor 2. When the robot grasps an object, it can collect and obtain the pressure between each finger and the grasped object, and at the same time obtain the temperature between the fingers and the grasped object through several temperature sensors.

[0079] Furthermore, several flexible bending sensors 3 use flexible fabric sensors to sense the bending of the fingers of the robot arm and collect the bending angle.

[0080] The detection principle of flexible pressure sensor 2 and flexible bend sensor 3 utilizes the resistance change effect of the flexible sensor. When the flexible sensor is subjected to external force or bent, its resistance value changes accordingly. Using this principle, a stable voltage reference signal output by the power supply circuit serves as the reference voltage. This reference voltage is provided by an LDO (low-dropout linear regulator) to ensure its stability. This reference voltage is connected to the flexible sensor to provide power, and the other end of the flexible sensor is connected to the inverting input of an operational amplifier.

[0081] This reference voltage, along with the flexible sensor and operational amplifier, forms an inverse amplifier circuit to amplify the reference voltage, generating an amplified voltage value. This amplified voltage value is collected by the ADC module of the main control MCU and analyzed by an algorithm to determine the resistance corresponding to the current pressure applied to the flexible sensor. The fingertip pressure is then determined based on the recorded curve between the resistance and pressure of the array-type flexible sensor. The amplified voltage value of the flexible bend sensor is also collected by the ADC module of the main control MCU and analyzed by an algorithm to determine the resistance corresponding to the current degree of bend applied to the flexible bend sensor. The finger bend angle is then determined based on the recorded curve between the resistance and bend angle of the flexible bend sensor.

[0082] Furthermore, the flexible bend sensor 3 can also adopt the same design as the flexible pressure sensor 2, with a flexible packaging layer wrapped around the outer layer of the flexible fabric sensor, thereby facilitating the subsequent fixing of the flexible bend sensor 3 to the glove substrate 1. Of course, it can also be directly bonded to the glove substrate using adhesive products.

[0083] like Figure 1 and Figure 8As shown, the flexible pressure sensors 2, the flexible bend sensors 3, and the controller 4 are electrically connected via wires. To prevent safety hazards caused by wire leakage, the glove substrate 1 includes an inner substrate 11 and an outer substrate 12. The flexible pressure sensors 2, the flexible bend sensors 3, and the controller 4 are mounted on the inner substrate 11. The flexible pressure sensors 2 and the flexible bend sensors 3 are led out via wires, the outer ends of which are regularly provided with connection terminals. The flexible pressure sensors and the flexible bend sensors are directly plugged into the sensor interface 423 on the controller 4 via the terminals at the outer ends of the wires, thereby establishing an electrical connection between the controller and the flexible sensors.

[0084] Furthermore, the outer substrate 12 cooperates with the inner substrate 11 to conceal the flexible pressure sensors 2, the flexible bend sensors 3, and the wires between the inner and outer substrates. Meanwhile, the controller 4 extends out of the outer substrate 12 for display and touch operation.

[0085] Furthermore, in order to facilitate the maintenance of the flexible pressure sensors 2, the flexible bending sensors 3 and the wires, the outer substrate 12 is placed on the inner substrate 11, and the inner substrate 11 and the outer substrate 12 are bonded together by Velcro, so that the outer substrate 12 can be easily removed to replace and update the corresponding accessories. Figure 1 and Figure 8 As shown, the Velcro components are regularly sewn to the rear ends of the palm portion of the inner layer base material 11 and the outer layer base material 12 .

[0086] Furthermore, in one embodiment, the aforementioned flexible pressure sensors 2, flexible bend sensors 3, temperature sensors 5, and controller 4 are directly integrated into the robot's manipulator, regularly arranged on the palm, fingers, and fingertips of the manipulator. In this embodiment, the flexible sensitive layer of the sensors is directly integrated onto the manipulator's PCB.

[0087] When the robot grasps different objects, each fingertip will form a certain amount of pressure with the object. The ADC module of the main control MCU collects the pressure of each fingertip and sends it to the robot system control module via the CAN bus. The system control module adjusts the gripping force appropriately according to the pressure to adapt to objects of various shapes, hardness and materials.

[0088] Therefore, the detection device of the present invention can be applied to the field of human-computer interaction of robots. In the grasping operation of the robot hand, the fingertip pressure sensor can help the robot accurately sense the magnitude and direction of the force when grasping objects, and the flexible bending sensor can control the bending angle of the finger. The multimodal sensor is combined to achieve stable, accurate grasping and precise operation.

[0089] The specific embodiments described above further illustrate the purpose, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A robot fingertip tactile detection device and system, characterized by: The invention comprises a glove base material (1), a flexible pressure sensor (2), a plurality of flexible bending sensors (3), a plurality of temperature sensors and a controller (4); the flexible pressure sensor (2), the plurality of flexible bending sensors (3), the plurality of temperature sensors and the controller (4) are regularly arranged and fixed on the glove base material (1), or fixedly arranged inside the glove base material, or directly integrated and arranged on the hand of a robot; The flexible pressure sensors (2) are regularly arranged on the lower surfaces of several finger portions of the glove substrate (1) and are used for pressure sensing and pressure collection between the fingers; The plurality of flexible bending sensors (3) are regularly arranged on the upper surfaces of the plurality of finger portions of the glove base material (1) and are used for finger bending sensing and bending angle acquisition; The controller is regularly arranged on the upper surface of the palm portion of the glove substrate (1), and is electrically connected to the flexible pressure sensor (2) and the flexible bending sensors (3) via a plurality of wires to collect data from them; The controller comprises a bottom shell (41), a main board (42), a display screen (43) and a top cover (44); the main board (42) and the display screen (43) are arranged and installed in the bottom shell (41) and are encapsulated in the bottom shell (41) by the top cover (44); a viewing window (441) is provided on the top cover (44) and in the display area of ​​the display screen for convenient observation and operation; The mainboard (42) is regularly welded with a host computer interface (421), a USB interface (422), a sensor interface (423), a display screen interface (424) and a main control MCU; the host computer interface (421), the USB interface (422) and the sensor interface (423) are regularly arranged on the side of the mainboard and extend out of the bottom shell (41); the host computer interface (421) communicates with the host computer via a data line, the USB interface (422) is electrically connected to the host computer via a data line, or is electrically connected to a power adapter via a data line, and the sensor interface (423) is electrically connected to the flexible pressure sensor (2), a plurality of flexible bending sensors (3) and a plurality of temperature sensors via a wire.

2. A robot fingertip tactile detection device and system according to claim 1, characterized in that: The interior of the bottom shell (41) is regularly provided with a plurality of PCB positioning columns (412) and a plurality of display screen support columns (413). The plurality of PCB positioning columns (412) support and fix the mainboard inside the bottom shell (41) and are used for positioning and installing the mainboard (42). The plurality of display screen support columns (413) support the display screen (43) inside the bottom shell (41) and are used for installing the display screen (43).

3. A robot fingertip tactile detection device and system according to claim 2, characterized in that: The plurality of PCB positioning columns (412) are provided with bosses, and the main board (42) is regularly provided with positioning holes at the positions of the bosses for convenient passage thereof. The main board (42) cooperates with the bosses through the positioning holes, and the main board is quickly positioned and assembled on the plurality of PCB positioning columns (412), and is fastened and fixed on the plurality of PCB positioning columns by screws.

4. A robot fingertip tactile detection device and system according to claim 2, characterized in that: The plurality of display screen support columns (413) are arranged along the inner wall of the bottom shell (41) and are regularly arranged at the four corners of the inner wall of the bottom shell; support column threaded holes are regularly arranged on the display screen support columns (413); fixing holes for convenient passage of screws or bolts are regularly arranged at the four corners of the main board of the display screen (43) and the top cover (44) at the positions of the support column threaded holes; the screws or bolts pass through the top cover and the main board of the display screen in turn and cooperate with the support column threaded holes to fix the top cover and the display screen on the display screen support columns (413), and at the same time realize the assembly and fixation of the top cover (44) and the bottom shell (41).

5. The robot fingertip tactile detection device and system according to claim 1, characterized in that: The display screen (43) is a touch display screen.

6. The robot fingertip tactile detection device and system according to claim 1, characterized in that: The bottom side of the bottom shell (41) extends outward to form a bottom plate (411), and a plurality of fixing holes (4111) are regularly arranged on the bottom plate (411). The controller (4) is sewn and fixed to the glove base material (1) by sewing with the plurality of fixing holes (4111) through needle and thread.

7. The robot fingertip tactile detection device and system according to claim 1, characterized in that: The outer layers of the flexible pressure sensor (2) and the flexible bending sensor (3) are both provided with a flexible packaging layer, and the flexible packaging layer wraps the entirety of the flexible pressure sensor or the flexible bending sensor by gluing or by a hot-pressing cross-linking reaction.

8. The robot fingertip tactile detection device and system according to claim 1, characterized in that: The flexible pressure sensor (2) comprises a lower flexible substrate and an upper flexible substrate, thereby forming an upper and lower flexible substrate, wherein the lower flexible substrate and the upper flexible substrate are bonded together via an elastic packaging layer, an electrode layer and a pressure-sensitive layer are regularly arranged on the upper surface of the lower flexible substrate and the lower surface of the upper flexible substrate, the pressure-sensitive layer is arranged above the electrode layer, and the pressure-sensitive layers between the upper and lower flexible substrates are arranged relative to each other.

9. The robot fingertip tactile detection device and system according to claim 8, characterized in that: A plurality of elastic protrusions are regularly arranged between the upper and lower flexible substrates. The electrode layer, the pressure-sensitive layer and the plurality of elastic protrusions are arranged on the inner side of the elastic packaging layer and are sealed between the upper and lower flexible substrates by the elastic packaging layer.

10. The robot fingertip tactile detection device and system according to claim 1, characterized in that: The glove substrate (1) comprises an inner substrate (11) and an outer substrate (12); the plurality of flexible pressure sensors, the plurality of flexible bending sensors, the plurality of temperature sensors and the controller are arranged on the inner substrate (11); the outer substrate (12) is sleeved on the outside of the inner substrate (11) and fixedly connected thereto; the controller (4) extends out of the outer substrate (12) for display and touch operation.

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