robotic finger, robotic hand, and robot
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- BEIJING JINGZHIGAN NEW MATERIALS CO LTD
- Filing Date
- 2025-08-18
- Publication Date
- 2026-07-21
Smart Images
Figure CN224527240U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robotics technology, and in particular to a robot's fingertip, a robotic hand, and a robot. Background Technology
[0002] In the wave of rapid development of modern robotics technology, the robot dexterous hand, as a robotic end effector capable of highly mimicking the functions of the human hand, has become a research hotspot and an important development direction in the field of robotics due to its high degree of freedom, high flexibility, and excellent biomimetic effect. In recent years, with the continuous advancement of mechanical manufacturing, sensing technology, and control algorithms, the performance of robot dexterous hands has been significantly improved, and their application scope has continued to expand. They are often integrated into the end effector of robotic arms and are widely used in various fields such as industrial assembly, precision operation, service robots, and medical assistance to complete complex tasks such as grasping objects, manipulating tools, and precision assembly, greatly enhancing the robot's operational capabilities and adaptability.
[0003] Robotic dexterous hands are typically composed of multiple independent finger modules. Each finger module achieves multi-joint movements through specific drive and transmission mechanisms, simulating the flexion, extension, and rotation of human fingers to adapt to the grasping needs of objects of different shapes, sizes, and materials. However, in the process of robotic grasping or manipulating, achieving precise and stable manipulation of the grasped object faces the following challenge: the fingertip's pad is curved; how to sensitively determine whether the fingertip has achieved effective contact with the grasped object directly affects the initiation judgment of the grasping action and the continuity of subsequent operations. Utility Model Content
[0004] The purpose of this utility model embodiment is to provide a robot's fingertip, a robotic hand, and a robot to improve the touch sensitivity of the robot's fingertip. The specific technical solution is as follows:
[0005] A robot's fingertip includes:
[0006] The fingertip bone has a fingertip surface, a finger pad surface, a first fingertip side surface, and a second fingertip side surface. Along the direction the robot's fingertip points, the finger pad surface sequentially includes a first sub-finger pad surface and a second sub-finger pad surface bent away from the robot's grasping side. The first fingertip side surface sequentially includes a first sub-finger side surface and a second sub-finger side surface bent away from the robot's grasping side. The second fingertip side surface sequentially includes a third sub-finger side surface and a fourth sub-finger side surface bent away from the robot's grasping side. The first sub-finger pad surface is connected to the first sub-finger side surface and the third sub-finger side surface on both sides. The second sub-finger pad surface is connected to the second sub-finger side surface and the fourth sub-finger side surface on both sides. The fingertip surface is connected to the second sub-finger pad surface, the second sub-finger side surface, and the fourth sub-finger side surface.
[0007] A flexible sensing inner layer is disposed on the first fingertip surface, the second fingertip surface, the first fingertip side surface, the second fingertip side surface, the third fingertip side surface, the fourth fingertip side surface, and the fingertip surface;
[0008] An elastic trigger surface layer covers the flexible sensing inner layer, wherein the outer edge of the elastic trigger surface layer is connected to the fingertip bone support, and the inner surface of the elastic trigger surface layer and the flexible sensing inner layer are spaced apart; the elastic trigger surface layer deforms to touch the flexible sensing inner layer under external force, and recovers its deformation after the external force disappears, so as to maintain the distance between the inner surface of the elastic trigger surface layer and the flexible sensing inner layer.
[0009] A sensing processing device is electrically connected to the flexible sensing inner layer, and the sensing processing device generates a sensing signal based on the situation where the flexible sensing inner layer is touched by the elastic trigger surface layer.
[0010] In some embodiments, the flexible sensing inner layer includes: a first sub-flexible sensing inner layer disposed on the surface of the first fingertip, a second sub-flexible sensing inner layer disposed on the surface of the second fingertip, a third sub-flexible sensing inner layer disposed on the side of the first fingertip, a fourth sub-flexible sensing inner layer disposed on the side of the second fingertip, a fifth sub-flexible sensing inner layer disposed on the side of the third fingertip, a sixth sub-flexible sensing inner layer disposed on the side of the fourth fingertip, and a seventh sub-flexible sensing inner layer disposed on the fingertip surface; wherein,
[0011] Along the direction pointed by the robot's fingertip, the first sub-flexible sensing inner layer, the second sub-flexible sensing inner layer, and the seventh sub-flexible sensing inner layer are connected in sequence; the third sub-flexible sensing inner layer and the fourth sub-flexible sensing inner layer are connected in sequence; the fifth sub-flexible sensing inner layer and the sixth sub-flexible sensing inner layer are connected in sequence.
[0012] The first flexible sensing inner layer is connected to the third flexible sensing inner layer and the fifth flexible sensing inner layer on both sides, respectively.
[0013] When the flexible sensing inner layer is unfolded into a plane, there is a first gap between the fourth sub-flexible sensing inner layer and the second sub-flexible sensing inner layer, and a second gap between the sixth sub-flexible sensing inner layer and the second sub-flexible sensing inner layer.
[0014] In some embodiments, the side of the first fingertip away from the first fingertip pad is bent inward toward the tip of the robot to form a first fold; and / or,
[0015] The side of the third fingertip, away from the side of the first fingertip, bends inward toward the tip of the robot to form a second fold.
[0016] In some embodiments, a receiving space is provided within the shell wall of the fingertip bone, and a through hole is provided in the shell wall of the fingertip bone; the sensing processing device is disposed in the receiving space, and the sensing processing device is electrically connected to the flexible sensing inner layer through a first flexible circuit board passing through the through hole.
[0017] In some embodiments, the shell wall includes a fingertip back cover and a fingertip receiving groove, the fingertip back cover and the fingertip receiving groove being detachably fastened together to form the receiving space;
[0018] The first fingertip side and the second fingertip side are located on both sides of the fingertip receiving groove, the fingertip tip is located at one end of the fingertip receiving groove, and the finger pad is located at the bottom of the fingertip receiving groove.
[0019] In some embodiments, the elastic trigger surface layer includes: an elastic insulating surface layer and a semiconductive film layer; the outer edge of the elastic insulating surface layer is connected to the fingertip bone; the semiconductive film layer is disposed on the inner surface of the elastic insulating surface layer, the semiconductive film layer and the flexible sensing inner layer are spaced apart, and the sensing processing device generates a sensing signal according to the situation where the flexible sensing inner layer is touched by the semiconductive film layer.
[0020] In some embodiments, the elastic trigger surface is an integrated elastic trigger layer with piezoresistive characteristics, the outer edge of the elastic semiconductive surface is connected to the fingertip bone support, and the inner surface of the elastic semiconductive surface and the flexible sensing inner layer are spaced apart; the sensing processing device generates a sensing signal according to the situation where the flexible sensing inner layer is touched by the integrated elastic trigger layer.
[0021] In some embodiments, the flexible sensing inner layer includes a plurality of sensing points distributed at different locations on the flexible sensing inner layer; the sensing processing device generates a corresponding sensing signal based on the location where the flexible sensing inner layer is touched by the elastically triggered surface layer at the sensing point.
[0022] In some embodiments, the flexible sensing inner layer is adhered to the first fingertip surface, the second fingertip surface, the first fingertip side surface, the second fingertip side surface, the third fingertip side surface, the fourth fingertip side surface, and the fingertip surface by adhesive backing.
[0023] In some embodiments, the outer edge of the elastic trigger surface is glued to the fingertip bone.
[0024] A robotic arm, comprising:
[0025] Palm-sized module; and,
[0026] Multiple finger modules, each finger module including: the aforementioned fingertip.
[0027] A robot, comprising:
[0028] The aforementioned robotic arm.
[0029] This utility model provides a robot fingertip, a robotic hand, and a robot. The robot's fingertip includes: a fingertip skeleton, a flexible sensing inner layer, an elastic triggering outer layer, and a sensing processing device. The fingertip skeleton has a fingertip tip surface, a finger pad surface, a first fingertip side surface, and a second fingertip side surface. Along the direction the robot's fingertip points, the finger pad surface sequentially includes a first sub-finger pad surface and a second sub-finger pad surface bent away from the robot's grasping side. The first fingertip side surface sequentially includes a first sub-finger pad surface and a second sub-finger pad surface bent away from the robot's grasping side. The second fingertip side surface sequentially includes a third sub-finger pad surface and a fourth sub-finger pad surface bent away from the robot's grasping side. The first sub-finger pad surface is connected to the first sub-finger pad surface and the third sub-finger pad surface on both sides, respectively. The second sub-finger pad surface is connected to the second sub-finger pad surface and the fourth sub-finger pad surface on both sides, respectively. The fingertip tip surface is connected to the second sub-finger pad surface and the second sub-finger pad surface. The tip side is connected to the fourth sub-finger tip side; in embodiments of this application, the touch detection area of the fingertip bone is converted into at least 7 folds (first sub-finger pad surface, second sub-finger pad surface, first sub-finger tip side surface, second sub-finger tip side surface, third sub-finger tip side surface, fourth sub-finger tip side surface and fingertip tip surface) to simulate the complex curved surface of the fingertip. The flexible sensing inner layer is attached to each fold, and the outer edge of the elastic trigger surface is connected to the fingertip bone support, so that the inner surface of the elastic trigger surface and the flexible sensing inner layer are spaced apart; the sensing processing device is electrically connected to the flexible sensing inner layer, and contact sensing can be realized at the corresponding positions of each fold of the fingertip bone, thereby achieving more accurate sensing of the contact of each point on the complex curved surface of the fingertip, thereby improving the touch sensing sensitivity of the robot's fingertip.
[0030] Of course, any product implementing this utility model does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description
[0031] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings.
[0032] Figure 1 This application provides a schematic diagram of the structure of a robot's fingertip.
[0033] Figure 2 for Figure 1 A cross-sectional view of the robot's fingertip;
[0034] Figure 3 for Figure 1A schematic diagram of the electrical connection structure at the fingertips of the robot shown.
[0035] Figure 4A for Figure 1 The diagram shows the explosive structure at the fingertips of the robot. Figure 1 ;
[0036] Figure 4B for Figure 1 The diagram shows the explosive structure at the fingertips of the robot. Figure 2 ;
[0037] Figure 5 This is a schematic diagram of the structure of a robotic arm provided in an embodiment of this application;
[0038] Figure 6 for Figure 5 The diagram shows the electrical connection structure of the robotic arm.
[0039] The attached figures are labeled as follows:
[0040] Robot's Fingertips 10;
[0041] Fingertip bone 1, fingertip receiving groove 1A, fingertip back cover 1B, fingertip tip surface 11, finger pad surface 12, first sub-finger pad surface 121, second sub-finger pad surface 122, first fingertip side surface 13, first sub-finger tip side surface 131, first fold surface 1311, second sub-finger tip side surface 132, second fingertip side surface 14, third sub-finger tip side surface 141, second fold surface 1411, fourth sub-finger tip side surface 142, wire hole 15, flexible sensing inner layer 2, first sub-flexible sensing inner layer 21, second sub-flexible sensing inner layer 22, third sub-flexible sensing inner layer 23, fourth sub-flexible sensing inner layer 24, fifth sub-flexible sensing inner layer 25, sixth sub-flexible sensing inner layer 26, seventh sub-flexible sensing inner layer 27, elastic trigger surface layer 3, outer edge 311, inner surface 3a, elastic insulating surface layer 31, semi-conductive film layer 32, sensing processing device 4, first flexible circuit board 5;
[0042] 100 palm modules, 200 multiple finger modules, and 300 robotic arm controllers. Detailed Implementation
[0043] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art based on this application are within the protection scope of the present utility model.
[0044] The terminology used in this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention.
[0045] Unless otherwise defined, the technical or scientific terms used in this specification shall have the ordinary meaning understood by one of ordinary skill in the art to which this utility model pertains. The terms "first," "second," and similar terms used in this specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, "an" or "a" and similar terms do not indicate a quantity limitation, but rather indicate the presence of one. "A plurality" or "several" indicates two or more. Unless otherwise stated, terms such as "front," "rear," "lower," and / or "upper" are for illustrative purposes only and are not limited to a location or spatial orientation. Terms such as "comprising" or "including" indicate that the element or object preceding "comprising" encompasses the element or object listed following "comprising" or "including" and its equivalents, and do not exclude other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections and may include electrical connections, whether direct or indirect.
[0046] The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular forms “a,” “the,” and “the” as used in this specification and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.
[0047] In the fingertip touch sensing technology of robotic dexterous hands, a rigid sensor is installed inside the fingertip's pad surface. This rigid sensor includes a flat circuit board and a planar semi-conductive film layer. The circuit board has raised edges, and the semi-conductive film layer is positioned around these raised edges. When the outer layer of the fingertip is subjected to downward pressure, causing the semi-conductive film layer to touch the circuit board, effective contact can be determined. In practice, the fingertip also has side surfaces on both sides of the pad surface. However, since the rigid sensor is planar, it cannot be simultaneously positioned on both bent side surfaces. When the side surfaces are pressed, the fingertip cannot effectively sense contact, resulting in insufficient touch sensitivity.
[0048] In response, this application proposes a robot's fingertip 10, Figure 1 This is a schematic diagram of the structure of a robot's fingertip 10 provided in an embodiment of this application. Figure 2 for Figure 1 A cross-sectional view of the robot's fingertip 10 is shown. Figure 3 for Figure 1The diagram shows the electrical connection structure of the robot's fingertip 10. Figure 4A for Figure 1 The diagram shows the explosive structure of the robot's fingertip 10. Figure 1 , Figure 4B for Figure 1 The diagram shows the explosive structure of the robot's fingertip 10. Figure 2 ,like Figure 1 , Figure 2 , Figure 3 , Figure 4A and Figure 4B As shown,
[0049] A robot's fingertip 10 includes: fingertip bone 1, flexible sensing inner layer 2, elastic triggering surface layer 3, and sensing processing device 4.
[0050] The fingertip bone 1 has a fingertip surface 11, a finger pad surface 12, a first fingertip side surface 13, and a second fingertip side surface 14. Along the direction the robot's fingertip 10 points, the finger pad surface 12 sequentially includes a first sub-finger pad surface 121 and a second sub-finger pad surface 122 bent towards the grasping side of the fingertip 10 facing away from the robot. The first fingertip side surface 13 sequentially includes a first sub-finger side surface 131 and a second fingertip side surface 132 bent towards the grasping side of the fingertip 10 facing away from the robot. The second fingertip side surface 14 sequentially... It includes a third fingertip side 141 and a fourth fingertip side 142 that is bent on the grasping side of the fingertip 10 facing away from the robot; the two sides of the first fingertip surface 121 are respectively connected to the first fingertip side 131 and the third fingertip side 141; the two sides of the second fingertip surface 122 are respectively connected to the second fingertip side 132 and the fourth fingertip side 142; the fingertip surface 11 is connected to the second fingertip surface 122, the second fingertip side 132 and the fourth fingertip side 142 respectively;
[0051] The flexible sensing inner layer 2 is disposed on the first fingertip surface 121, the second fingertip surface 122, the first fingertip side surface 131, the second fingertip side surface 132, the third fingertip side surface 141, the fourth fingertip side surface 142 and the fingertip surface 11.
[0052] The elastic trigger surface layer 3 covers the flexible sensing inner layer 2. The outer edge 311 of the elastic trigger surface layer 3 is connected to the fingertip bone 1, so that the inner surface 3a of the elastic trigger surface layer 3 and the flexible sensing inner layer 2 are spaced apart. The elastic trigger surface layer 3 deforms and touches the flexible sensing inner layer 2 under external force, and recovers its deformation after the external force disappears, so as to maintain the distance between the inner surface 3a of the elastic trigger surface layer 3 and the flexible sensing inner layer 2.
[0053] The sensing processing device 4 is electrically connected to the flexible sensing inner layer 2. The sensing processing device 4 generates a sensing signal based on the situation where the flexible sensing inner layer 2 is touched by the elastically triggered surface layer 3.
[0054] In some embodiments, the distance between the inner surface 3a of the elastic trigger layer 3 and the flexible sensing inner layer 2 can be between 0.1 mm and 0.2 mm.
[0055] The working process and principle of the embodiments of this application are as follows:
[0056] When no external force is applied, the elastic triggering surface layer 3 utilizes the elasticity of its own material to provide support and shape it, wrapping the fingertip bone 1 with the fingertip surface 11, finger pad surface 12, first fingertip side surface 13 and second fingertip side surface 14, and maintaining a stable interval distance with the flexible sensing inner layer 2.
[0057] When an external force is applied to the elastic trigger surface 3, the elastic trigger surface 3 deforms and touches the flexible sensing inner layer 2. The sensing processing device 4 is electrically connected to the flexible sensing inner layer 2 and generates a sensing signal based on the contact of the flexible sensing inner layer 2, thereby determining that effective contact has occurred in the tactile sensing area. After the external force disappears, the elastic trigger surface 3 returns to its original deformation and resumes its distance from the flexible sensing inner layer 2.
[0058] When an external force presses down on the elastic trigger surface 3 or external factors cause the elastic trigger surface 3 to deform, but it does not touch the flexible sensing inner layer 2, the sensing processing device 4 does not generate a sensing signal, thereby determining that no effective contact has occurred in the touch sensing area. This can effectively filter out invalid deformation events of the elastic trigger surface 3 (such as minor deformations of the elastic trigger surface 3 caused by wind, shaking, vibration, etc.), reducing false triggering caused by environmental factors.
[0059] In the embodiments of this application, the touch detection area of the fingertip bone 1 is converted into at least 7 folds (first sub-finger pad surface 121, second sub-finger pad surface 122, first sub-finger tip side surface 131, second sub-finger tip side surface 132, third sub-finger tip side surface 141, fourth sub-finger tip side surface 142 and fingertip surface 11) to simulate the complex curved surface of the fingertip. The flexible sensing inner layer 2 is attached to each fold, thereby enabling more accurate sensing of the contact of each point on the complex curved surface of the fingertip 10.
[0060] Because the flexible sensing inner layer 2 is flexible, it can be placed in the folded touch-sensitive area, thereby enabling more comprehensive contact detection of the fingertip bone 1. At the same time, by utilizing the elasticity of the elastic trigger surface layer 3 itself, the outer edge 311 of the elastic trigger surface layer 3 is connected to the fingertip bone 1 in a way that allows the inner surface 3a of the elastic trigger surface layer 3 and the flexible sensing inner layer 2 to maintain a distance between them.
[0061] Furthermore, in related technologies, because the outer surface of the fingertip's pad is curved, while the semiconductive film layer is flat, to maintain the distance between the inner surface of the fingertip's outer layer and the semiconductive film layer within a certain range, some areas of the fingertip's outer layer are thicker than others, resulting in a significant difference in thickness. This leads to different deformations in areas with varying thicknesses under the same external force. Specifically, thicker areas are less prone to deformation, requiring greater pressure for the semiconductive film layer to contact the circuit board, while thinner areas require less pressure for the semiconductive film layer to contact the circuit board. This also results in insufficient sensitivity in the touch sensing of the thicker areas of the robot's dexterous hand's fingertip.
[0062] Along the direction pointed to by the robot's fingertip 10, the fingertip surface 12 sequentially includes a first sub-fingertip surface 121 and a second sub-fingertip surface 122 bent towards the gripping side of the fingertip 10 facing away from the robot. The fingertip surface 12 forms a bent surface towards the gripping side of the fingertip 10 facing away from the robot. The surface shape of the fingertip surface 12 and the surface shape of the elastic triggering surface 3 can be approximated, thus making the thickness of the elastic triggering surface 3 and the surface of the fingertip surface 12 approximated. The first fingertip side surface 13 sequentially includes a first sub-fingertip side surface 131 and a second sub-fingertip side surface 132 bent towards the gripping side of the fingertip 10 facing away from the robot. The first fingertip side surface 13 forms a bent surface towards the gripping side of the fingertip 10 facing away from the robot. The surface shape of the first fingertip side surface 13 and the surface shape of the elastic triggering surface 3 can be approximated, thus making the thickness of the elastic triggering surface 3 and the surface of the first fingertip side surface 13 approximated. The second fingertip side 14 sequentially includes a third sub-fingertip side 141 and a fourth sub-fingertip side 142 bent towards the gripping side of the fingertip 10 facing away from the robot; the second fingertip side 14 forms a bent surface of the fingertip 10 facing away from the robot. The surface shape of the second fingertip side 14 and the surface shape of the elastic trigger surface 3 can be approximated, so that the thickness of the surface of the elastic trigger surface 3 corresponding to the surface of the second fingertip side 14 is approximated. Since the thickness of the surface of the elastic trigger surface 3 corresponding to the surface of the fingertip 12, the surface of the first fingertip side 13, and the surface of the second fingertip side 14 is approximated, the overall touch sensitivity of the elastic trigger surface 3 can be improved.
[0063] In addition, in the embodiments of this solution, the shape of the inner surface 3a of the elastic triggering surface 3 is easily maintained, so that the distance between the elastic triggering surface 3 and the flexible sensing inner layer 2 is kept within a suitable range. This reduces the probability of inaccurate effective touch detection caused by the distance between the inner surface 3a of the elastic triggering surface 3 and the flexible sensing inner layer 2 being too small, thereby improving the accuracy of the robot's fingertip in determining effective contact with the object.
[0064] The fingertip bone 1 can be made of metal or engineering plastic materials. The embodiments of this application are not limited to this, and the specific method can be determined according to the application scenario of the fingertip bone 1.
[0065] In some embodiments, the angle between the first fingertip surface 121 and the second fingertip surface 122 can be between 120 degrees and 150 degrees, the angle between the first fingertip side surface 131 and the second fingertip side surface 132 can be between 120 degrees and 150 degrees, and the angle between the third fingertip side surface 141 and the fourth fingertip side surface 142 can be between 120 degrees and 150 degrees, depending on the application scenario of the fingertip bone 1. The embodiments of this application do not limit this.
[0066] like Figure 4A and Figure 4B As shown, the flexible sensing inner layer 2 includes: a first flexible sensing inner layer 21 disposed on the first fingertip surface 121, a second flexible sensing inner layer 22 disposed on the second fingertip surface 122, a third flexible sensing inner layer 23 disposed on the side surface 131 of the first fingertip, a fourth flexible sensing inner layer 24 disposed on the side surface 132 of the second fingertip, a fifth flexible sensing inner layer 25 disposed on the side surface 141 of the third fingertip, a sixth flexible sensing inner layer 26 disposed on the side surface 142 of the fourth fingertip, and a sixth flexible sensing inner layer 26 disposed on the fingertip. The seventh sub-flexible sensing inner layer 27 of the end face 11; wherein, along the direction pointed by the robot's fingertip 10, the first sub-flexible sensing inner layer 21, the second sub-flexible sensing inner layer 22 and the seventh sub-flexible sensing inner layer 27 are connected in sequence; the third sub-flexible sensing inner layer 23 and the fourth sub-flexible sensing inner layer 24 are connected in sequence; the fifth sub-flexible sensing inner layer 25 and the sixth sub-flexible sensing inner layer 26 are connected in sequence; the third sub-flexible sensing inner layer 23 and the fifth sub-flexible sensing inner layer 25 are respectively connected to the two sides of the first sub-flexible sensing inner layer 21.
[0067] When the flexible sensing inner layer 2 is unfolded into a plane, there is a first gap between the fourth sub-flexible sensing inner layer 24 and the second sub-flexible sensing inner layer 22, and a second gap between the sixth sub-flexible sensing inner layer 26 and the second sub-flexible sensing inner layer 22.
[0068] The flexible sensing inner layer 2 is a single unit. Before installation, it is a flexible planar body. A first gap exists between the fourth sub-flexible sensing inner layer 24 and the second sub-flexible sensing inner layer 22, and a second gap exists between the sixth sub-flexible sensing inner layer 26 and the second sub-flexible sensing inner layer 22. During installation, the flexible sensing inner layer 2 is assembled by connecting each sub-flexible sensing inner layer to its corresponding counterpart, such as by gluing. Assembly is relatively quick and convenient.
[0069] like Figure 4A and Figure 4BAs shown, in some embodiments, the side of the first fingertip 131 away from the first finger pad 121 bends into the inside of the robot's fingertip 10 to form a first fold surface 1311, which makes the overall width of the side of the first fingertip 131 away from the first finger pad 121 of the robot's fingertip 10 narrower and more consistent with the shape of the human fingertip, which helps to improve the simulation effect of the human fingertip.
[0070] In some embodiments, the side of the third fingertip 141 away from the first fingertip 121 bends into the inside of the robot's fingertip 10 to form a second fold 1411, so that the overall width of the side of the third fingertip 141 away from the first fingertip 121 of the robot's fingertip 10 becomes narrower and tends to be consistent with the shape of the human fingertip, which is conducive to improving the simulation effect of the human fingertip.
[0071] In the embodiments of this application, the touch detection area of the fingertip bone 1 is converted into nine folds (first sub-finger pad surface 121, second sub-finger pad surface 122, first sub-finger tip side surface 131, first fold 1311, second sub-finger tip side surface 132, third sub-finger tip side surface 141, second fold 1411, fourth sub-finger tip side surface 142 and fingertip surface 11) to simulate the complex curved surface of the fingertip. The flexible sensing inner layer 2 is attached to each fold, thereby enabling more accurate sensing of the contact of each point on the complex curved surface of the fingertip 10.
[0072] Please combine Figure 3 As shown, the shell wall of the fingertip bone 1 has a receiving space, and the shell wall of the fingertip bone 1 has a through hole 15; the sensing processing device 4 is disposed in the receiving space, and the sensing processing device 4 is electrically connected to the flexible sensing inner layer 2 through the first flexible circuit board 5 passing through the through hole 15.
[0073] The accommodating space can be constructed as a cavity structure that matches the contour of the fingertip bone 1, and the sensing processing device 4 can be completely housed within the accommodating space inside the shell wall. The wiring hole 15 is located on the shell wall near the flexible sensing inner layer 2, thereby facilitating the shortening of the wiring path of the first flexible circuit board 5.
[0074] The shell wall includes a fingertip back cover 1B and a fingertip receiving groove 1A. The fingertip back cover 1B and the fingertip receiving groove 1A are detachably fastened together to form a receiving space. The first fingertip side 13 and the second fingertip side 14 are located on both sides of the fingertip receiving groove 1A. The fingertip tip surface 11 is located at one end of the fingertip receiving groove 1A, and the finger pad surface 12 is located at the bottom of the fingertip receiving groove 1A.
[0075] The connection between the fingertip receiving groove 1A and the fingertip back cover 1B can be one of a snap-fit structure, a plug-in connection, or a slide rail type plug-in connection. The embodiments of this application are not limited to this.
[0076] In application, when assembly is required, the first flexible circuit board 5 and the sensing device 4 are connected. After the first flexible circuit board 5 passes through the wiring hole 15, the fingertip receiving groove 1A and the fingertip back cover 1B are fastened together, placing the sensing device 4 in the receiving space. When it is necessary to repair the sensing device 4 in the receiving space, the fingertip receiving groove 1A and the fingertip back cover 1B can be separated. In addition, the two half-shells after separation expose the receiving space, at which time the first flexible circuit board 5 passing through the wiring hole 15 can also be maintained or replaced. Through the above technical solution, this application realizes a detachable shell structure, which facilitates the installation, maintenance or replacement of the sensing device 4 in the receiving space. At the same time, the fastening structure ensures the integrity and sealing of the receiving space, protecting the internal sensing device 4.
[0077] like Figure 2 , Figure 4A and Figure 4B As shown, the elastic trigger surface layer 3 includes: an elastic insulating surface layer 31 and a semi-conductive film layer 32; the outer edge 311 of the elastic insulating surface layer 31 is connected to the fingertip bone 1; the semi-conductive film layer 32 is disposed on the inner surface 3a of the elastic insulating surface layer 31, and the semi-conductive film layer 32 and the flexible sensing inner layer 2 are disposed at intervals; the sensing processing device 4 generates a sensing signal according to the situation where the flexible sensing inner layer 2 is touched by the semi-conductive film layer 32.
[0078] In this embodiment, the elastic trigger surface layer 3 adopts a layered design. The semi-conductive film layer 32 is used to contact the flexible sensing inner layer 2, causing the sensing processing device 4 to generate a sensing signal. The elastic insulating surface layer 31 serves as a supporting component for the semi-conductive film layer 32, defining the shape of the semi-conductive film layer 32. This allows for matching between the semi-conductive film layer 32 and the flexible sensing inner layer 2 with its folded shape, maintaining each position of the semi-conductive film layer 32 and the flexible sensing inner layer 2 within a suitable distance, thereby reducing the problem of accidental touch control.
[0079] In some embodiments, the elastic insulating surface layer 31 is made of rubber material. In some embodiments, the elastic insulating surface layer 31 is made of silicone material. The embodiments of this solution are not limited.
[0080] In some embodiments, the flexible sensing inner layer 2 corresponding to the semiconductive film layer 32 is an electrode array. When the semiconductive film layer 32 touches the electrode array, the sensing processing device 4 generates a sensing signal based on the situation where the electrode array is touched by the semiconductive film layer 32.
[0081] Specifically, the semiconductive film layer 32 can be a piezoresistive film. When the piezoresistive film touches the electrode array, the electrode array is electrically connected at the position touched by the piezoresistive film. Under pressure, the resistance of the piezoresistive film will decrease as the pressure increases. The sensing processing device 4 can calculate the pressure on the piezoresistive film based on the magnitude of the current generated by the electrical connection at the position touched by the electrode array, thereby determining the pressure on the elastic trigger surface layer 3.
[0082] Unlike the layered design of the elastic trigger surface layer 3 in the above embodiments, in some other embodiments, the elastic trigger surface layer 3 may not adopt a layered design, but instead adopt an integrated elastic trigger surface layer 3. In implementation, the elastic trigger surface layer 3 is an integrated elastic trigger layer (not shown) with piezoresistive characteristics. The outer edge 311 of the integrated elastic trigger layer is connected to the fingertip bone 1, so that the inner surface 3a of the elastic trigger surface layer 3 and the flexible sensing inner layer 2 are spaced apart; the sensing processing device 4 generates a sensing signal according to the situation where the flexible sensing inner layer 2 is touched by the integrated elastic trigger layer.
[0083] The integrated elastic trigger layer can be made of materials already available in the technology. This material can be a carbon-based varistor or a non-carbon-based varistor, as long as the sensing processing device 4 can generate a sensing signal based on the contact of the flexible sensing inner layer 2 with the integrated elastic trigger layer. For example, the varistor film layer can be a semi-conductive silicone layer or a semi-conductive rubber layer with varistor properties.
[0084] Corresponding to the integrated elastic trigger layer, the flexible sensing inner layer 2 is an electrode array. Specifically, when an external force is applied to the integrated elastic trigger layer, it deforms and contacts the flexible sensing inner layer 2, causing the sensing processing device 4 to generate a sensing signal based on the contact of the electrode array with the integrated elastic trigger layer. Specifically, the integrated elastic trigger layer contacts the electrode array, causing the contact points of the electrode array to be electrically connected. Furthermore, the integrated elastic trigger layer, possessing piezoresistive characteristics, experiences a decrease in resistance as pressure increases. The sensing processing device 4 can calculate the pressure on the integrated elastic trigger layer based on the magnitude of the current generated by the electrical connection at the contact points of the electrode array, thereby determining the pressure on the elastic trigger surface layer 3.
[0085] In this embodiment, since the elastic semiconductive surface layer is not designed in layers but is a whole, its overall stability is strong, and it is easy to maintain a suitable spacing between the integrated elastic trigger layer and the flexible sensing inner layer 2.
[0086] In some embodiments, the flexible sensing inner layer 2 includes a plurality of sensing points, which are distributed at different positions of the flexible sensing inner layer 2; the sensing processing device 4 generates a corresponding sensing signal based on the position of the sensing point touched by the elastically triggered surface layer 3 of the flexible sensing inner layer 2.
[0087] The flexible sensing inner layer 2 is divided into multiple independent sensing points, each corresponding to a different region on the flexible sensing inner layer 2. The sensing points can be distributed uniformly, for example, in a grid or array arrangement. For example, in some embodiments, the spacing between adjacent sensing points can be 0.5 mm to 5 mm, but is not limited thereto.
[0088] When an external force is applied to the elastic trigger surface 3 and touches a specific sensing point, the sensing processing device 4 determines the specific location where the touch occurred by detecting the position information of the specific sensing point.
[0089] like Figure 2 , Figure 4A and Figure 4B As shown, the flexible sensing inner layer 2 is adhered to the first fingertip surface 121, the second fingertip surface 122, the first fingertip side surface 131, the second fingertip side surface 132, the third fingertip side surface 141, the fourth fingertip side surface 142 and the fingertip surface 11 by adhesive backing.
[0090] The adhesive can be double-sided tape or liquid adhesive. When using double-sided tape, attach one side of the tape to the flexible sensing inner layer 2, peel off the protective film on the other side, and finally attach the other side of the tape to the surface of the touch-sensitive area. If using liquid adhesive, apply a thin, even layer of adhesive to the surface of the touch-sensitive area. Once the adhesive reaches the appropriate viscosity, slowly attach and press the flexible sensing inner layer 2 firmly.
[0091] Through the above technical solution, the adhesive backing process enables the flexible sensing inner layer 2 to completely adhere to the tactile area on the surface of the fingertip bone 1. Furthermore, the adhesive backing simplifies the assembly process and improves installation efficiency, making it particularly suitable for installation on curved or irregularly shaped tactile areas.
[0092] Specifically, the outer edge 311 of the elastic trigger surface 3 and the fingertip bone 1 are glued together.
[0093] In practice, the adhesive bonding covers the entire circumferential area of the outer edge 311 of the elastic trigger surface layer 3, forming a continuous closed adhesive interface. This continuous closed adhesive interface allows the elastic trigger surface layer 3 to maintain a stable recovery trajectory during repeated deformation, reducing the risk of adhesive layer cracking due to localized stress concentration. Specifically, when an external force is applied to the elastic trigger surface layer 3, the adhesively fixed outer edge 311 acts as a deformation constraint boundary, causing the central region of the trigger surface layer to undergo inward elastic bending. Upon contact with the flexible sensing inner layer 2, the elastic recovery force of the adhesive layer allows for a relatively durable reset, improving durability.
[0094] In addition, the adhesive connection covers the entire circumferential area of the outer edge 311 of the elastic trigger surface 3, achieving a full-circumferential sealing structure, which significantly improves the working stability of the robot's fingertip 10 in a humid environment.
[0095] Figure 5 This application provides a schematic diagram of the structure of a robotic arm, as shown in the embodiment. Figure 5 As shown, an embodiment of this application provides a robotic hand, including: a palm module 100 and a plurality of finger modules 200, each finger module 200 including: the fingertip 10 of the robot described above.
[0096] Specifically, there are five finger modules 200 in total: a thumb module, an index finger module, a middle finger module, a ring finger module, and a little finger module. The thumb module has two phalanges: the fingertip and the proximal phalanx. The index, middle, ring, and little finger modules each have three phalanges: the fingertip, the middle phalanx, and the proximal phalanx. That is, at least one fingertip from the thumb, index, middle, ring, and little finger modules includes the aforementioned fingertip 10 of the robot.
[0097] In this embodiment of the solution, the touch detection sensitivity of the robot's fingertip 10 is high. By using the robot's fingertip 10 in the thumb module, index finger module, middle finger module, ring finger module, and little finger module, the touch detection sensitivity of the robotic hand can be improved.
[0098] In practice, each fingertip includes the aforementioned robot fingertip 10, thereby improving the spatial coverage and accuracy of contact detection.
[0099] Five independent finger modules 200 (thumb module, index finger module, middle finger module, ring finger module, and little finger module) are connected to the skeletal matrix of the palm module 100 through their respective finger motion control mechanisms.
[0100] Figure 6 for Figure 5 The schematic diagram of the electrical connection structure of the robotic arm shown is as follows: Figure 6As shown, the palm module 100 and the fingertips 10 of all fifteen phalanges of the robot are connected to the robotic arm controller 300 via flexible wires. The robotic arm controller 300 is configured to collect the sensing signals output by each robot's fingertips 10 in real time. When the robotic arm performs a grasping action, the fingertips 10 distributed across different robots synchronously detect the contact state. The robotic arm controller 300 adjusts the motion control mechanism of each finger according to the detected contact state, thereby achieving accurate grasping of objects.
[0101] A robot comprising: the aforementioned robotic arm.
[0102] In the embodiments of this solution, the touch detection sensitivity of the robot's fingertip 10 is high. By using the robot's fingertip 10 in the fingertips of the thumb module, index finger module, middle finger module, ring finger module, and little finger module, the touch detection sensitivity of the robot's fingertip 10 can be improved.
[0103] The above description is merely a preferred embodiment of this utility model and is not intended to limit the scope of protection of this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model are included within the scope of protection of this utility model.
Claims
1. A robot's fingertip (10), characterized in that, include: The fingertip bone (1) has a fingertip surface (11), a finger pad surface (12), a first fingertip side surface (13), and a second fingertip side surface (14). Along the direction pointed by the fingertip (10) of the robot, the finger pad surface (12) sequentially includes a first sub-finger pad surface (121) and a second sub-finger pad surface (122) bent away from the gripping side of the fingertip (10) of the robot. The first fingertip side surface (13) sequentially includes a first sub-finger pad surface (131) and a second sub-finger pad surface (132) bent away from the gripping side of the fingertip (10) of the robot. The second fingertip side surface (14) sequentially includes a third sub-finger pad surface (121). The fingertip side (141) and the fourth sub-fingert side (142) which is bent on the grasping side of the fingertip (10) facing away from the robot; the first sub-fingert pad (121) is connected to the first sub-fingert side (131) and the third sub-fingert side (141) on both sides respectively; the second sub-fingert pad (122) is connected to the second sub-fingert side (132) and the fourth sub-fingert side (142) on both sides respectively; the fingertip surface (11) is connected to the second sub-fingert pad (122), the second sub-fingert side (132) and the fourth sub-fingert side (142) respectively; A flexible sensing inner layer (2) is disposed on the first fingertip surface (121), the second fingertip surface (122), the first fingertip side surface (131), the second fingertip side surface (132), the third fingertip side surface (141), the fourth fingertip side surface (142), and the fingertip surface (11); An elastic trigger surface layer (3) covers the flexible sensing inner layer (2), wherein the outer edge (311) of the elastic trigger surface layer (3) is connected to the fingertip bone (1) for support, so that the inner surface (3a) of the elastic trigger surface layer (3) and the flexible sensing inner layer (2) are spaced apart; the elastic trigger surface layer (3) deforms and touches the flexible sensing inner layer (2) under external force, and recovers its deformation after the external force disappears, so as to maintain the distance between the inner surface (3a) of the elastic trigger surface layer (3) and the flexible sensing inner layer (2); The sensing processing device (4) is electrically connected to the flexible sensing inner layer (2), and the sensing processing device (4) generates a sensing signal according to the situation where the flexible sensing inner layer (2) is touched by the elastic trigger surface layer (3).
2. The fingertip (10) of the robot according to claim 1, characterized in that, The flexible sensing inner layer (2) includes: a first sub-flexible sensing inner layer (21) disposed on the first sub-finger pad surface (121), a second sub-flexible sensing inner layer (22) disposed on the second sub-finger pad surface (122), a third sub-flexible sensing inner layer (23) disposed on the first sub-finger tip side surface (131), a fourth sub-flexible sensing inner layer (24) disposed on the second sub-finger tip side surface (132), a fifth sub-flexible sensing inner layer (25) disposed on the third sub-finger tip side surface (141), a sixth sub-flexible sensing inner layer (26) disposed on the fourth sub-finger tip side surface (142), and a seventh sub-flexible sensing inner layer (27) disposed on the fingertip surface (11); wherein, Along the direction pointed by the robot's fingertip (10), the first sub-flexible sensing inner layer (21), the second sub-flexible sensing inner layer (22), and the seventh sub-flexible sensing inner layer (27) are connected in sequence; the third sub-flexible sensing inner layer (23) and the fourth sub-flexible sensing inner layer (24) are connected in sequence; and the fifth sub-flexible sensing inner layer (25) and the sixth sub-flexible sensing inner layer (26) are connected in sequence. The first sub-flexible sensing inner layer (21) is connected to the third sub-flexible sensing inner layer (23) and the fifth sub-flexible sensing inner layer (25) on both sides respectively; When the flexible sensing inner layer (2) is unfolded into a plane, there is a first gap between the fourth sub-flexible sensing inner layer (24) and the second sub-flexible sensing inner layer (22), and there is a second gap between the sixth sub-flexible sensing inner layer (26) and the second sub-flexible sensing inner layer (22).
3. The fingertip (10) of the robot according to claim 1, characterized in that, The side of the first fingertip (131) away from the first fingertip (121) bends inward toward the tip (10) of the robot to form a first fold (1311); and / or, The side of the third fingertip (141) away from the first fingertip (121) bends into the inside of the robot's fingertip (10) to form a second fold (1411).
4. The fingertip (10) of the robot according to claim 1, characterized in that, The shell wall of the fingertip bone (1) is provided with a receiving space, and the shell wall of the fingertip bone (1) is provided with a through hole (15); the sensing processing device (4) is disposed in the receiving space, and the sensing processing device (4) is electrically connected to the flexible sensing inner layer (2) through a first flexible circuit board (5) passing through the through hole (15).
5. The fingertip (10) of the robot according to claim 4, characterized in that, The shell wall includes a fingertip back cover (1B) and a fingertip receiving groove (1A), which are detachably fastened together to form the receiving space; The first fingertip side (13) and the second fingertip side (14) are located on both sides of the fingertip receiving groove (1A), the fingertip tip surface (11) is located at one end of the fingertip receiving groove (1A), and the finger pad surface (12) is located at the bottom of the fingertip receiving groove (1A).
6. The fingertip (10) of the robot according to claim 1, characterized in that, The elastic trigger surface layer (3) includes: an elastic insulating surface layer (31) and a semi-conductive film layer (32); the outer edge (311) of the elastic insulating surface layer (31) is connected to the fingertip bone (1); the semi-conductive film layer (32) is disposed on the inner surface (3a) of the elastic insulating surface layer (31), the semi-conductive film layer (32) and the flexible sensing inner layer (2) are spaced apart, and the sensing processing device (4) generates a sensing signal according to the situation where the flexible sensing inner layer (2) is touched by the semi-conductive film layer (32).
7. The fingertip (10) of the robot according to claim 1, characterized in that, The elastic trigger surface layer (3) is an integrated elastic trigger layer with piezoresistive characteristics. The outer edge (311) of the elastic semiconductive surface layer is supported and connected to the fingertip bone (1), so that the inner surface (3a) of the elastic semiconductive surface layer and the flexible sensing inner layer (2) are spaced apart. The sensing processing device (4) generates a sensing signal according to the situation where the flexible sensing inner layer (2) is touched by the integrated elastic trigger layer.
8. The fingertip (10) of the robot according to claim 1, characterized in that, The flexible sensing inner layer (2) includes multiple sensing points, which are distributed at different positions of the flexible sensing inner layer (2); the sensing processing device (4) generates a corresponding sensing signal based on the position of the sensing point touched by the elastic trigger surface layer (3) of the flexible sensing inner layer (2).
9. The fingertip (10) of the robot according to any one of claims 1 to 8, characterized in that, The flexible sensing inner layer (2) is adhered to the first fingertip surface (121), the second fingertip surface (122), the first fingertip side surface (131), the second fingertip side surface (132), the third fingertip side surface (141), the fourth fingertip side surface (142), and the fingertip surface (11) by adhesive backing.
10. The fingertip (10) of the robot according to any one of claims 1 to 8, characterized in that, The outer edge (311) of the elastic trigger surface (3) is glued to the fingertip bone (1).
11. A robotic arm, characterized in that, include: Palm Module (100); as well as, Multiple finger modules (200), each finger module (200) comprising: a fingertip (10) as described in any one of claims 1 to 10 above.
12. A robot, characterized in that, include: The robotic arm as described in claim 11.