Bionic mechanical finger and bionic manipulator and bionic mechanical arm with same

Abstract

The utility model provides a bionic mechanical finger, a bionic manipulator with the bionic mechanical finger and a bionic mechanical arm with the bionic mechanical finger. The bionic mechanical finger comprises a finger part and a touch sensor. The tactile sensor is mounted on the finger part, and at least part of a sensing element of the tactile sensor is exposed relative to the finger part; the part, exposed relative to the finger part, of the sensing element and the side, close to the sensing element, of the finger part jointly form a contact surface used for making contact with an external object, and the curvature of the contact surface in at least one direction is not equal to 0. According to the utility model, the highly integrated touch sensor is arranged on the finger part simulating the shape of a human finger, and the sensing element on the touch sensor is exposed relative to the finger part and forms a contact surface for contacting an external object together with the finger part; furthermore, the contact surface is designed to be a curved surface, the natural radian of the fingertip of a human finger is simulated, and high-precision perception and flexible operation on the external environment are achieved.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a bionic mechanical finger and a bionic mechanical hand and a bionic mechanical arm having the same. Background Technology

[0002] In recent years, robotics technology has seen rapid development in both industrial and civilian applications. The robotic arm is the final actuator in a robot's work, and its performance directly determines the robot's capabilities. Similar to humans, the development of highly versatile and dexterous robotic arms is essential. For the gripping operating system of a robotic arm, tactile sensors are necessary components to generate effective feedback to maintain a stable grip during movement.

[0003] Existing robotic arms have poor sensitivity and resolution of tactile sensors, and their structures are complex and bulky. Utility Model Content

[0004] This invention addresses the shortcomings of existing technologies by providing a bionic mechanical finger, the specific solution of which is as follows:

[0005] In its first part, this application provides a bionic mechanical finger, including a finger portion and a tactile sensor; the tactile sensor is mounted on the finger portion, and the sensing element of the tactile sensor is at least partially exposed relative to the finger portion; the exposed portion of the sensing element relative to the finger portion and the side of the finger portion near the sensing element together form a contact surface for contacting an external object, and the curvature of the contact surface is not equal to 0 in at least one direction.

[0006] In one specific embodiment, the finger portion includes a finger pad and a finger back, wherein the finger pad is connected to the finger back;

[0007] A groove matching the tactile sensor is provided on the back of the finger near the finger pad, and an opening matching the tactile sensor is provided on the finger pad. The tactile sensor is disposed in the groove and connected to the finger pad, and the opening is used to expose the sensing element at least partially relative to the finger pad.

[0008] In one specific embodiment, the tactile sensor further includes a shooting component disposed inside the finger in a region away from the external object; the shooting component is connected to the sensing element, and the shooting end of the shooting component faces the sensing element.

[0009] In one specific embodiment, the sensing element sequentially includes a transparent elastic layer, a pattern layer, a background layer, and a wear-resistant layer along the direction from the imaging component to the contact surface; the pattern layer includes one or more specific patterns, and the background layer and the wear-resistant layer are used for light shielding.

[0010] In one specific embodiment, the tactile sensor further includes a transparent element; one side of the transparent element is connected to the imaging assembly, and the other side of the transparent element is connected to the sensing element; the projection of the transparent element onto the sensing element is greater than or equal to the area of ​​the specific pattern formed on the pattern layer.

[0011] In one specific embodiment, the imaging component includes a lens; or,

[0012] The shooting component includes multiple lenses, which are arranged in an array, a ring, or an alternating pattern.

[0013] In one specific embodiment, the area of ​​the sensing element relative to the exposed portion of the finger includes 5 cm². 2 -10cm 2 .

[0014] In one specific embodiment, a connector is also included, one end of which is connected to the finger portion, and the other end of which is used to connect to an external device.

[0015] In its second part, this application also provides a bionic robotic hand, comprising the bionic robotic fingers described in the above technical solution.

[0016] Thirdly, this application also provides a bionic robotic arm, which includes the bionic robotic fingers described in the above technical solution.

[0017] Beneficial effects: This utility model provides a bionic mechanical finger and a bionic mechanical hand and a bionic mechanical arm having the same. A highly integrated tactile sensor is set on the finger part that simulates the shape of a human finger, and the sensing element on the tactile sensor is exposed relative to the finger part and forms a contact surface with the finger part for contacting external objects. Furthermore, the contact surface is designed as a curved surface to simulate the natural curvature of the human fingertip, realizing high-precision perception and flexible operation of the external environment. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model;

[0020] Figure 2 This is a schematic diagram of the specific structure of the tactile sensor of this utility model;

[0021] Figure 3 This is a schematic diagram of the specific structure of the finger part of this utility model;

[0022] Figure 4 This is a schematic diagram of the lens structure of the shooting component of this utility model.

[0023] The reference numerals in the attached diagram are as follows: 1-finger portion; 11-finger pad; 12-finger back; 2-tactile sensor; 21-sensing element; 211-elastic layer; 212-pattern layer; 213-background layer; 214-wear-resistant layer; 22-shooting component; 221-lens; 23-transparent component; 3-contact surface; 4-groove; 5-opening; 6-connector. Detailed Implementation

[0024] The following will describe the concept, specific structure and technical effects of this utility model clearly and completely with reference to the embodiments and accompanying drawings, so as to fully understand the purpose, features and effects of this utility model.

[0025] Various embodiments of the present invention will be described more fully below. The present invention may have various embodiments, and adjustments and changes may be made therein. However, it should be understood that there is no intention to limit the various embodiments of the present invention to the specific embodiments disclosed herein, but rather the present invention should be understood to cover all adjustments, equivalents, and / or alternatives falling within the spirit and scope of the various embodiments of the present invention.

[0026] In the following, the terms “comprising” or “may include”, which may be used in various embodiments of the present invention, indicate the presence of the disclosed functions, operations, or elements, and do not limit the addition of one or more functions, operations, or elements. Furthermore, as used in various embodiments of the present invention, the terms “comprising,” “having,” and their cognates are intended only to indicate a specific feature, number, step, operation, element, component, or combination of the foregoing, and should not be construed as primarily excluding the presence of one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing, or the possibility of adding one or more combinations of features, numbers, steps, operations, elements, components, or combinations of the foregoing.

[0027] In various embodiments of this utility model, the expression "or" or "at least one of A and / or B" includes any combination or all combinations of the words listed simultaneously. For example, the expression "A or B" or "at least one of A and / or B" may include A, may include B, or may include both A and B.

[0028] The terms used in the various embodiments of this utility model (such as "first," "second," etc.) may modify various constituent elements in the various embodiments, but do not limit the corresponding constituent elements. For example, the above terms do not limit the order and / or importance of the elements. The above terms are only used for the purpose of distinguishing one element from other elements. For example, a first user device and a second user device refer to different user devices, although both are user devices. For example, without departing from the scope of the various embodiments of this utility model, a first element may be referred to as a second element, and similarly, a second element may be referred to as a first element.

[0029] It should be noted that, in this utility model, unless otherwise explicitly specified and defined, terms such as "installation," "connection," and "fixation" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0030] In this utility model, those skilled in the art should understand that the terms indicating orientation or positional relationship in the text are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0031] The terminology used in the various embodiments of this invention is for the purpose of describing particular embodiments only and is not intended to limit the various embodiments of this invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of this invention pertain. The terms (such as those defined in a generally used dictionary) are to be interpreted as having the same meaning as in the context of the relevant technical field and are not to be interpreted as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of this invention.

[0032] Example 1

[0033] This embodiment incorporates a highly integrated tactile sensor on a fingertip that mimics the shape of a human finger. The sensing element of the tactile sensor is exposed relative to the fingertip, forming a contact surface with the finger for contacting external objects. Furthermore, the contact surface is designed as a curved surface, simulating the natural curvature of a human fingertip, enabling high-precision perception and flexible operation of the external environment. The specific solution is as follows:

[0034] A bionic mechanical finger includes a finger portion 1 and a tactile sensor 2; the tactile sensor 2 is mounted on the finger portion 1, and the sensing element 21 of the tactile sensor 2 is at least partially exposed relative to the finger portion 1; the exposed portion of the sensing element 21 relative to the finger portion 1 and the side of the finger portion 1 near the sensing element 21 together form a contact surface 3 for contacting external objects, and the curvature of the contact surface 3 is not equal to 0 in at least one direction.

[0035] This embodiment provides a bionic mechanical finger, as shown in the attached figure. Figure 1 and attached Figure 2 As shown, it is designed to simulate the dexterity and sensory abilities of human fingers, and is mainly composed of two core components: the finger part 1 and the highly integrated tactile sensor 2.

[0036] The finger section 1 is the main structure of the mechanical finger. The tactile sensor 2, as a key component for realizing the tactile function of the bionic mechanical finger, is installed in a key position in the finger section 1 to ensure that changes in the external environment can be perceived in real time. Furthermore, in order to realize the tactile function, at least a portion of the sensing element 21 of the tactile sensor 2 is exposed relative to the outer surface of the finger section 1. The exposed portion of the sensing element 21 and the side of the finger section 1 that contacts the outside world together form the contact surface 3 for contacting external objects.

[0037] The contact surface 3 is designed as a curved surface according to the needs of actual application scenarios, which simulates the natural curvature of human fingertips, enhances the stability and comfort of holding objects, and enables the tactile sensor 2 to capture the subtle features of the object surface more comprehensively, such as texture and hardness, thereby giving the mechanical finger a richer tactile perception capability.

[0038] In one specific embodiment, the finger portion 1 includes a finger pad 11 and a finger back 12, with the finger pad 11 connected to the finger back 12;

[0039] A groove 4 matching the tactile sensor 2 is provided on the back of the finger 12 near the finger pad 11. An opening 5 matching the tactile sensor 2 is provided on the finger pad 11. The tactile sensor 2 is disposed in the groove 4 and connected to the finger pad 11. The opening 5 is used to expose the sensing element 21 at least partially relative to the finger pad 11.

[0040] In this embodiment, the finger part 1 includes two main parts: the finger pad 11 and the finger back 12. The finger pad 11 and the finger back 12 are connected and together form the main frame of the bionic mechanical finger.

[0041] A groove 4 matching the tactile sensor 2 is provided on the back of the finger 12 near the finger pad 11. The tactile sensor 2 is disposed in the groove 4 to prevent loosening or displacement during use. An opening 5 corresponding to the tactile sensor 2 is also provided on the finger pad 11. The opening 5 allows at least a part of the sensing element 21 of the tactile sensor 2 to be exposed relative to the finger pad 11, thereby giving the mechanical finger a richer tactile perception capability.

[0042] In one specific embodiment, the tactile sensor 2 further includes a shooting component 22, which is disposed inside the finger portion 1 in a region away from external objects; the shooting component 22 is connected to the sensing element 21, and the shooting end of the shooting component 22 faces the sensing element 21.

[0043] In this embodiment, the tactile sensor 2 also integrates a camera assembly 22. The camera assembly 22 is disposed inside the finger portion 1, with its camera end facing the sensing element 21, so that when the sensing element 21 comes into contact with an external object or senses a change in the environment, the camera assembly 22 can capture and record the event instantly. By combining the direct tactile feedback from the sensing element 21 with the visual recording from the camera assembly 22, the bionic mechanical finger achieves high-precision perception of the external environment.

[0044] In one specific embodiment, the sensing element 21 includes, in sequence along the direction from the self-portrait assembly 22 to the contact surface 3, a transparent elastic layer 211, a pattern layer 212, a background layer 213, and a wear-resistant layer 214; the pattern layer 212 includes one or more specific patterns, and the background layer 213 and the wear-resistant layer 214 are used for light blocking.

[0045] In this embodiment, the sensing element 21 includes a multi-layer structure along the direction from the self-portrait assembly 22 to the contact surface 3.

[0046] Specifically, the layer in direct contact with the object is the wear-resistant layer 214, which effectively resists wear and scratches during daily use and protects the inner structure. The inner layer of the wear-resistant layer 214 is the background layer 213. The background layer 213 and the wear-resistant layer 214 are designed with efficient light-shielding to reduce the interference of ambient light on image capture and improve detection accuracy. The inner layer of the background layer 213 is the pattern layer 212, which is a key information carrier. It has fine and specific patterns designed to produce recognizable deformations in response to touch actions, which can then be captured and analyzed by the imaging component. The inner layer of the pattern layer 212 is the elastic layer 211, which is a transparent material used for buffering and conduction, ensuring that changes on the pattern layer 212 can be clearly transmitted to the imaging component.

[0047] In one specific embodiment, the tactile sensor 2 further includes a transparent element 23; one side of the transparent element 23 is connected to the imaging component 22, and the other side of the transparent element 23 is connected to the sensing element 21; the projection of the transparent element 23 onto the sensing element 21 is greater than or equal to the area of ​​a specific pattern formed on the pattern layer 212.

[0048] In this embodiment, as shown in the appendix Figure 3 As shown, the tactile sensor 2 integrates not only the sensing element 21 and the imaging component 22, but also a transparent element 23. One side of the transparent element 23 is connected to the imaging component 22 and is made of a highly transparent material, so that the imaging component 22 can clearly capture and record the image information transmitted through the transparent element 23; meanwhile, the other side of the transparent element 23 is connected to the sensing element 21.

[0049] Furthermore, the projected area of ​​the transparent element 23 on the sensing element 21 is greater than or equal to the area of ​​the specific pattern formed on the pattern layer 212, ensuring that the imaging component 22 can completely capture the image on the sensing element 21 through the transparent element 23.

[0050] In one specific embodiment, the capturing component 22 includes a lens 221; or,

[0051] The shooting component 22 includes multiple lenses 221, which are arranged in an array, a ring, or an alternating pattern.

[0052] As attached Figure 4 As shown, the design of the shooting component 22 demonstrates a high degree of flexibility and versatility to meet shooting needs in different scenarios. Specifically, the shooting component 22 may adopt a single lens 221 configuration. Depending on actual needs, the shooting component 22 also supports more complex multi-lens configurations, with multiple lenses 221 forming an array, surround, or staggered distribution pattern, etc., depending on the actual application.

[0053] In one specific embodiment, the area of ​​the sensing element 21 relative to the exposed portion of the finger 1 includes 5 cm². 2 -10cm 2 In this embodiment, to ensure that the tactile sensor 2 can accurately and sensitively capture the tactile information of external objects, while not affecting the overall structural strength and aesthetics of the finger 1 due to excessive exposed area, the area of ​​the sensing element 21 relative to the exposed part of the finger 1 is set at 5cm. 2 Up to 10cm 2 between.

[0054] Too small an exposed area may limit the sensing range and sensitivity of the sensor, making it impossible to fully capture subtle changes on the object's surface; while too large an exposed area may increase interference from the external environment, and also affect the overall appearance and durability of the finger area 1. Therefore, 5cm 2 Up to 10cm 2 The exposed area range ensures that the sensing element 21 can fully contact the external object to achieve efficient and accurate tactile perception, while also taking into account the structural integrity and aesthetics of the finger part 1, so that the entire bionic mechanical finger achieves a balance between functionality and practicality.

[0055] In one specific embodiment, a connector 6 is also included, one end of which is connected to the finger portion 1, and the other end of which is used to connect to an external device.

[0056] In this embodiment, a connector 6 is also included, which enables a secure connection between the finger part 1 and the external device. One end of the connector 6 is connected to the finger part 1, while the other end adopts a flexible and adaptable interface design, aiming to achieve efficient and convenient connection with a variety of external devices.

[0057] The design of connector 6 enhances the functional expandability of finger part 1 and provides users with greater flexibility, allowing users to choose appropriate external devices for connection according to actual needs, thereby meeting the application needs in different scenarios.

[0058] Example 2

[0059] This embodiment provides a bionic robotic hand, including the bionic robotic fingers mentioned in Embodiment 1.

[0060] Example 3

[0061] This embodiment provides a bionic robotic arm, including the bionic robotic fingers mentioned in Embodiment 1.

[0062] This invention provides a bionic mechanical finger and a bionic mechanical hand and arm having the same. A highly integrated tactile sensor is set on the finger part, which simulates the shape of a human finger, and the sensing element on the tactile sensor is exposed relative to the finger part and forms a contact surface with the finger part for contacting external objects. Furthermore, the contact surface is designed as a curved surface, simulating the natural curvature of the human fingertip, realizing high-precision perception and flexible operation of the external environment.

[0063] The above is a detailed description of the preferred embodiments of the present utility model. However, the present utility model is not limited to the embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present utility model. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A bionic mechanical finger, characterized in that, Including fingertips and tactile sensors; The tactile sensor is mounted on the finger, and the sensing element of the tactile sensor is at least partially exposed relative to the finger. The portion of the sensing element exposed relative to the finger and the side of the finger closest to the sensing element together form a contact surface for contacting external objects, and the curvature of the contact surface is not equal to 0 in at least one direction.

2. The bionic mechanical finger according to claim 1, characterized in that, The finger portion includes the finger pad and the finger back, with the finger pad connected to the finger back; A groove matching the tactile sensor is provided on the back of the finger near the finger pad, and an opening matching the tactile sensor is provided on the finger pad. The tactile sensor is disposed in the groove and connected to the finger pad, and the opening is used to expose the sensing element at least partially relative to the finger pad.

3. The bionic mechanical finger according to claim 1, characterized in that, The tactile sensor also includes a camera assembly disposed inside the finger in a region away from the external object; the camera assembly is connected to the sensing element, and the camera end of the camera assembly faces the sensing element.

4. The bionic mechanical finger according to claim 3, characterized in that, The sensing element comprises, in sequence along the direction from the imaging component to the contact surface, a transparent elastic layer, a pattern layer, a background layer, and a wear-resistant layer; the pattern layer includes one or more specific patterns, and the background layer and the wear-resistant layer are used for light blocking.

5. A bionic mechanical finger according to claim 4, characterized in that, The tactile sensor also includes a transparent element; one side of the transparent element is connected to the imaging assembly, and the other side of the transparent element is connected to the sensing element; the projection of the transparent element onto the sensing element is greater than or equal to the area of ​​the specific pattern formed on the pattern layer.

6. A bionic mechanical finger according to claim 3, characterized in that, The imaging component includes a lens; or, The shooting component includes multiple lenses, which are arranged in an array, a ring, or an alternating pattern.

7. A bionic mechanical finger according to claim 1, characterized in that, The area of ​​the sensing element relative to the exposed portion of the finger includes 5 cm². 2 -10cm 2 .

8. A bionic mechanical finger according to claim 1, characterized in that, It also includes a connector, one end of which is connected to the finger and the other end of which is used to connect to an external device.

9. A bionic robotic hand, characterized in that, Including the bionic mechanical finger as described in any one of claims 1-8.

10. A bionic robotic arm, characterized in that, Including the bionic mechanical finger as described in any one of claims 1-8.

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