Touch sensitive skeletal assembly, robot and robot hand
By introducing touch-sensing skeletal components into the robot's dexterous hand, and utilizing the combination of an elastic trigger surface layer and a flexible sensing inner layer, the problem of inaccurate contact detection during the robot's dexterous hand's grasping process is solved, achieving higher touch detection accuracy and wider detection coverage.
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
- 2026-08-04
AI Technical Summary
During the grasping or manipulation process, the robot's dexterous hand has difficulty accurately determining whether the hand has made effective contact with the object being grasped, which affects the continuity of the initial judgment of the grasping action and subsequent operations.
The touch-sensitive skeleton component includes a skeleton matrix, a flexible sensing inner layer, and an elastic trigger surface layer. A sensing signal is generated by a sensing processing device, and the elasticity of the elastic trigger surface layer is used to maintain an appropriate distance from the flexible sensing inner layer, thereby reducing the probability of accidental touch.
It improves the accuracy of touch detection, reduces false triggers caused by environmental factors, expands the effective detection area, reduces detection blind spots, and ensures accurate contact determination between the robot's hand and the object.
Smart Images
Figure CN224588083U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robotics technology, and in particular to a touch-sensing skeletal assembly, 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, thereby 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: how to accurately determine whether the hand and the grasped object have achieved effective contact. This directly relates to 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 touch-sensing skeletal assembly, a robotic hand, and a robot to improve the accuracy of the touch-sensing skeletal assembly in determining effective contact with objects. The specific technical solution is as follows:
[0005] A touch-sensitive skeletal assembly, comprising:
[0006] Skeletal matrix, including tactile sensory areas;
[0007] A flexible sensing inner layer is disposed in the touch-sensitive area;
[0008] An elastic trigger surface layer covers the flexible sensing inner layer, wherein the outer edge of the elastic trigger surface layer is supported and connected to the bone matrix, 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 elastic triggering 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 bone matrix; 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.
[0011] In some embodiments, the elastic trigger surface layer is an integrated elastic trigger layer with piezoresistive characteristics, the outer edge of the elastic semiconductive surface layer is supported and connected to the bone matrix, and the inner surface of the elastic semiconductive surface layer 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.
[0012] 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.
[0013] In some embodiments, a receiving space is provided inside the shell wall of the bone matrix, and a wire-passing hole is provided in the shell wall of the bone matrix; 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 wire-passing hole.
[0014] In some embodiments, the shell wall includes a first half-shell and a second half-shell, which are detachably fastened together to form the receiving space.
[0015] In some embodiments, the flexible sensing inner layer is adhered to the touch-sensitive area by an adhesive backing.
[0016] In some embodiments, the outer edge of the elastic trigger surface is adhesively bonded to the bone matrix.
[0017] A robotic arm, comprising:
[0018] Palm-sized module; and,
[0019] Multiple finger modules, each finger module including: multiple knuckles; wherein at least the palm module and / or at least one knuckle includes the touch-sensitive skeletal component described above.
[0020] In some embodiments, each phalanx includes the touch-sensitive skeletal assembly described above; the skeletal matrix of each phalanx includes an inner wall, a first sidewall, and a second sidewall facing the gripping side of the robotic hand, the first sidewall and the second sidewall being located on both sides of the inner wall of the phalanx and both connected to the inner wall of the phalanx; a flexible sensing inner layer of each phalanx covers at least a portion of its first sidewall, at least a portion of its inner wall of the phalanx, and at least a portion of its second sidewall.
[0021] In some embodiments, the palm module includes the touch-sensing skeletal assembly described above; the skeletal matrix of the palm module includes an inner palm wall facing the gripping side of the robotic hand; and a flexible sensing inner layer of the palm module covers at least a portion of its inner palm wall.
[0022] A robot, comprising:
[0023] The aforementioned robotic arm.
[0024] This utility model provides a touch-sensitive skeletal assembly, a robotic hand, and a robot. The touch-sensitive skeletal assembly includes a skeletal substrate, a flexible sensing inner layer, an elastic triggering surface layer, and a sensing processing device. The skeletal substrate includes a touch-sensitive area; the flexible sensing inner layer is disposed in the touch-sensitive area; the elastic triggering surface layer covers the flexible sensing inner layer, and the outer edge of the elastic triggering surface layer is supported and connected to the skeletal substrate, such that the inner surface of the elastic triggering surface layer and the flexible sensing inner layer are spaced apart; the elastic triggering surface layer deforms to touch the flexible sensing inner layer under external force, and recovers its deformation after the external force disappears; the 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 triggering surface layer.
[0025] Because of its flexibility, the flexible sensing inner layer can be positioned within the folded touch-sensitive area, enabling more comprehensive contact detection of the skeletal matrix. Simultaneously, by utilizing the elasticity of the elastic trigger surface layer itself, and supporting its outer edge against the skeletal matrix, the distance between the inner surface of the elastic trigger surface layer and the flexible sensing inner layer can be maintained within an appropriate range. Specifically, in conventional technologies, the shape of the flexible semi-conductive film layer is difficult to control at bends, and its curved surface is difficult to match the shape of the flexible sensing layer bent at large angles, easily resulting in small gaps at bends and causing false touches. In this embodiment, the elasticity of the elastic trigger surface layer allows for easy shape retention, thus maintaining the distance between the elastic trigger surface layer and the flexible sensing inner layer within an appropriate range, reducing the probability of inaccurate touch detection caused by excessively small gaps between the inner surface of the elastic trigger surface layer and the flexible sensing inner layer.
[0026] 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
[0027] 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.
[0028] Figure 1 This is a schematic diagram of the structure of a touch-sensitive skeleton assembly provided in an embodiment of this application;
[0029] Figure 2 for Figure 1 A cross-sectional view of the touch-sensing skeletal assembly is shown.
[0030] Figure 3 for Figure 1 A schematic diagram of the electrical connection structure of the touch-sensing skeleton assembly is shown.
[0031] Figure 4A for Figure 1 The diagram shows the exploded structure of the touch-sensitive skeletal assembly. Figure 1 ;
[0032] Figure 4B for Figure 1 The diagram shows the exploded structure of the touch-sensitive skeletal assembly. Figure 2 ;
[0033] Figure 5 This is a partial structural diagram of a robotic arm provided in an embodiment of this application;
[0034] Figure 6A for Figure 5 Exploded view of one finger module of the robotic arm shown. Figure 1 ;
[0035] Figure 6B for Figure 5 Exploded view of one finger module of the robotic arm shown. Figure 2 ;
[0036] Figure 7 for Figure 5 An exploded view of the palm module of the robotic arm shown.
[0037] Figure 8 for Figure 5 The diagram shows the electrical connection structure of the robotic arm.
[0038] The attached figures are labeled as follows:
[0039] Touch-sensitive skeletal component 10;
[0040] 1. Skeletal substrate, 11. Touch-sensitive area, 12. Wire hole, 1A. First half shell, 1B. Flexible sensing inner layer, 2. Elastic trigger surface layer, 3. Outer edge, 311. Inner surface, 3a. Elastic insulating surface layer, 31. Semiconductor film layer, 32. Sensing processing device, 4. First flexible circuit board.
[0041] Palm module 100, palm inner wall 101, multiple finger modules 200, knuckles 210, knuckle inner wall 211, first side wall 212, second side wall 213, robotic arm controller 300. Detailed Implementation
[0042] 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.
[0043] The terminology used in this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention.
[0044] 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, the terms “a” or “one,” 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, the terms “front,” “rear,” “lower,” and / or “upper,” and similar terms are for illustrative purposes only and are not limited to a location or spatial orientation. The terms “comprising,” “including,” and similar terms mean that the element or object preceding “comprising,” encompasses the element or object listed following “comprising,” and its equivalents, but do not exclude other elements or objects. The terms “connected,” “linked,” and similar terms are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.
[0045] 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.
[0046] In touch sensing technology for robotic dexterous hands, conventional rigid sensors often struggle to comprehensively cover the curved surface, leading to blind spots and inaccurate contact detection. While conventional flexible sensors consist of a flexible semi-conductive film and a flexible sensing layer, requiring a suitable distance between them, their close proximity at large angles can cause false touches and inaccurate contact detection due to the significant curvature of the semi-conductive film.
[0047] In response, this application proposes a touch-sensitive skeletal assembly 10. Figure 1 This is a schematic diagram of the structure of a touch-sensitive skeleton assembly 10 provided in an embodiment of this application, as shown below. Figure 1 As shown, the touch-sensing skeletal assembly 10 is a schematic diagram of the fingertip structure of a robot, which is merely illustrative and does not limit the specific application scope of the touch-sensing skeletal assembly 10. For example, the touch-sensing skeletal assembly 10 can be applied to any one of the finger joints of the thumb module, index finger module, middle finger module, ring finger module, and little finger module of a robot's manipulator, or it can also be applied to the palm module of a robot's manipulator, etc. Of course, the touch-sensing skeletal assembly 10 is not limited to the application of the robot's manipulator, but can also be applied to other parts of the robot, such as the manipulator's foot.
[0048] Figure 2 for Figure 1 The diagram shows a cross-sectional view of the touch-sensing skeletal assembly 10. Figure 3 for Figure 1 The schematic diagram of the electrical connection structure of the touch-sensing skeleton assembly 10 shown is as follows: Figure 1 , Figure 2 and Figure 3 As shown, the touch-sensitive skeleton assembly 10 includes a skeleton substrate 1, a flexible sensing inner layer 2, an elastic trigger surface layer 3, and a sensing processing device 4. The skeleton substrate 1 includes a touch-sensitive area 11; the flexible sensing inner layer 2 is disposed in the touch-sensitive area 11; the 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 supported and connected to the skeleton substrate 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 to touch the flexible sensing inner layer 2 under external force, and recovers its deformation after the external force disappears, so as to maintain the space 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.
[0049] 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.
[0050] The working process and principle of the embodiments of this application are as follows:
[0051] When no external force is applied, the elastic trigger surface layer 3 uses the elastic force of its own material to provide support and shape it to wrap the touch-sensitive area 11 of the bone matrix 1 and maintain a stable distance from the flexible sensing inner layer 2.
[0052] 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 touch-sensitive area 11. 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.
[0053] 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. This determines that the touch sensing area 11 has not made effective contact, which 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.
[0054] In the embodiments of this application, the flexible sensing inner layer 2, being flexible, can be disposed on the folded touch-sensitive area 11, thereby enabling more comprehensive contact detection of the bone substrate 1. Simultaneously, 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 bone substrate 1 in a supporting manner, ensuring that the distance between the inner surface 3a of the elastic trigger surface layer 3 and the flexible sensing inner layer 2 remains within a suitable range. Specifically, in conventional technology, the shape of the flexible semi-conductive film layer 32 is difficult to control at bends, making it difficult to match the shape of the flexible sensing layer with large-angle bends, easily leading to small gaps at bends and causing false touch problems. In the embodiments of this solution, utilizing the elasticity of the elastic trigger surface layer 3 itself, which easily maintains its shape, the distance between the elastic trigger surface layer 3 and the flexible sensing inner layer 2 can be kept within a suitable range, reducing the probability of inaccurate touch detection caused by excessively small gaps between the inner surface 3a of the elastic trigger surface layer 3 and the flexible sensing inner layer 2.
[0055] The bone matrix 1 can be made of metal or engineering plastic materials. Its surface can be provided with an arc-shaped touch-sensitive area 11 or a flat touch-sensitive area 11. The embodiments of this application are not limited, and the specific details can be determined according to the application scenario of the bone matrix 1.
[0056] Figure 4A for Figure 1 Schematic diagram of the explosion structure of the touch-sensitive skeletal assembly 10 shown. Figure 1 , Figure 4B for Figure 1 Schematic diagram of the explosion structure of the touch-sensitive skeletal assembly 10 shown. Figure 2 ,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 bone substrate 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.
[0057] 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.
[0058] 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. This embodiment does not limit the specific embodiment.
[0059] 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.
[0060] 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.
[0061] 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 supported and connected to the skeleton substrate 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.
[0062] 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.
[0063] 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.
[0064] 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.
[0065] 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.
[0066] 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.
[0067] 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.
[0068] If the sensing device 4 is directly placed on the surface of the bone matrix 1, the exposed circuitry may be susceptible to damage or occupy external space. If the sensing device 4 is embedded inside the bone matrix 1, the problems of difficult internal wiring and insufficient device stability need to be solved, while interference between the circuitry and the structure of the bone matrix 1 must be avoided. In some further embodiments proposed in this application, such as Figure 3 , Figure 4A and Figure 4B As shown, the shell wall of the bone matrix 1 has a receiving space, and the shell wall of the bone matrix 1 has a through hole 12; 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 12.
[0069] The accommodating space can be constructed as a cavity structure that matches the contour of the skeleton matrix 1, and the sensing processing device 4 can be completely disposed within the accommodating space inside the shell wall. The wiring hole 12 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.
[0070] The shell wall includes a first half-shell 1A and a second half-shell 1B, which are detachably fastened together to form an accommodating space.
[0071] The connection between the first half-shell 1A and the second half-shell 1B can be achieved by one of the following methods: snap-fit structure, plug-in connection, or slide rail type plug-in connection. The embodiments of this application do not limit this method.
[0072] 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 12, the first half-shell 1A and the second half-shell 1B are fastened together, placing the sensing device 4 in the receiving space. When it is necessary to inspect the sensing device 4 in the receiving space, the first half-shell 1A and the second half-shell 1B can be separated. Furthermore, the two separated half-shells expose the receiving space, at which point the first flexible circuit board 5 passing through the wiring hole 12 can be maintained or replaced. Through the above technical solution, this application achieves a detachable shell structure, facilitating the installation, maintenance, or replacement of the sensing device 4 in the receiving space. Simultaneously, the fastening structure ensures the integrity and sealing of the receiving space, protecting the internal sensing device 4.
[0073] like Figure 2 , Figure 4A and Figure 4BAs shown, the flexible sensing inner layer 2 is adhered to the touch-sensitive area 11 by adhesive backing.
[0074] The adhesive can be double-sided tape or liquid adhesive. When using double-sided tape, adhere one side of the tape to the flexible sensing inner layer 2, peel off the protective film on the other side, and finally adhere the other side of the tape to the surface of the touch-sensitive area 11. If using liquid adhesive, apply a thin, even layer of adhesive to the surface of the touch-sensitive area 11. Once the adhesive reaches the appropriate viscosity, slowly adhere and press the flexible sensing inner layer 2 firmly.
[0075] Through the above technical solution, the adhesive backing process enables the flexible sensing inner layer 2 to completely adhere to the touch-sensitive area 11 on the surface of the bone matrix 1. In addition, the adhesive backing simplifies the assembly process and improves installation efficiency, making it particularly suitable for installation scenarios involving curved or irregularly shaped touch-sensitive areas 11.
[0076] Specifically, the outer edge 311 of the elastic trigger surface 3 is glued to the bone matrix 1.
[0077] 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 problem of adhesive layer cracking caused by 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. After touching the flexible sensing inner layer 2, the elastic recovery force of the adhesive layer allows for a relatively durable reset, improving durability.
[0078] 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 touch-sensing bone assembly 10 in humid environments.
[0079] Figure 5 This is a partial structural diagram of a robotic arm provided in an embodiment of this application, as shown below. 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: a plurality of knuckles 210; wherein, at least the palm module 100 and / or at least one knuckle 210 include the touch-sensing skeletal assembly 10 described above.
[0080] Specifically, there are five finger modules 200: 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 210: the fingertip and the proximal phalanx. The index, middle, ring, and little finger modules each have three phalanges 210: the fingertip, the middle phalanx, and the proximal phalanx. That is, at least one phalanx 210 of the thumb, index, middle, ring, and little finger modules includes the aforementioned touch-sensitive skeletal component 10.
[0081] In the embodiments of this solution, the touch detection accuracy of the touch-sensing skeleton component 10 is relatively high. By setting the touch-sensing skeleton component 10 at any position of the knuckle 210 in the palm module 100, thumb module, index finger module, middle finger module, ring finger module, and little finger module, the touch detection accuracy of the robotic hand can be improved.
[0082] In practice, 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 1 of the palm module 100 through their respective finger movement control mechanisms.
[0083] Figure 6A for Figure 5 Exploded view of one finger module of the robotic arm shown. Figure 1 , Figure 6B for Figure 5 Exploded view of one finger module of the robotic arm shown. Figure 2 ,like Figure 6A and Figure 6B As shown, each phalanx 210 includes the touch-sensitive skeletal assembly 10 described above; the skeletal matrix 1 of each phalanx 210 includes an inner wall 211, a first sidewall 212, and a second sidewall 213 facing the gripping side of the robotic hand, the first sidewall 212 and the second sidewall 213 being located on both sides of the inner wall 211 and both connected to the inner wall 211; the flexible sensing inner layer 2 of each phalanx 210 covers at least a portion of its first sidewall 212, at least a portion of its inner wall 211, and at least a portion of its second sidewall 213.
[0084] The skeletal matrix 1 of the knuckle 210 is constructed as a three-dimensional contact surface comprising the inner wall 211, the first sidewall 212, and the second sidewall 213, which are connected by a continuous curved surface or folded surface to form a grasping area. By extending the detection area from a single plane to a three-dimensional curved surface, the contact signals of the inner wall 211, the first sidewall 212, and the second sidewall 213 can all be captured when the knuckle 210 grasps a cylinder, thereby eliminating the blind spot that cannot be detected by lateral contact in traditional solutions and improving the spatial coverage and accuracy of contact determination.
[0085] Figure 7 for Figure 5 The exploded structural diagram of the palm module of the robotic arm shown is as follows: Figure 7 As shown, the palm module 100 includes the touch-sensing skeletal assembly 10 described above; the skeletal matrix 1 of the palm module 100 includes an inner palm wall 101 facing the gripping side of the robotic hand; the flexible sensing inner layer 2 of the palm module 100 covers at least a portion of its inner palm wall 101.
[0086] In some embodiments, the inner wall 101 of the palm module 100 is processed into a curved surface or a flat surface.
[0087] Figure 8 for Figure 5 The schematic diagram of the electrical connection structure of the robotic arm shown is as follows: Figure 8 As shown, the palm module 100 and the touch-sensing skeletal components 10 in all fifteen finger joints 210 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 touch-sensing skeletal component 10 in real time. When the robotic arm performs a grasping action, the touch-sensing skeletal components 10 distributed in different finger joints 210 and the palm 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.
[0088] Specifically, the multiple phalanges 210 of each finger module 200 are electrically connected in sequence via a second flexible circuit board and then electrically connected to the robotic arm controller 300.
[0089] A robot comprising: the aforementioned robotic arm.
[0090] In this embodiment, the touch-sensing skeletal assembly 10 employs a structure with an elastic trigger surface layer 3 and a flexible sensing inner layer 2 spaced apart, reducing false triggers caused by environmental factors and improving the accuracy of touch detection. Simultaneously, the flexible structure can adapt to curved surfaces, expanding the effective detection area and reducing blind spots. During the robot's gripping or manipulation process, it can more accurately determine whether the hand and the grasped object have achieved effective contact.
[0091] 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 touch sensitive skeletal assembly (10) characterized by, include: The skeletal matrix (1) includes a tactile sensory area (11); A flexible sensing inner layer (2) is disposed in the touch-sensitive area (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 supported and connected to the bone matrix (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 conditions, 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 touch sensitive skeleton assembly (10) according to claim 1, characterized in that The elastic triggering 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 bone matrix (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).
3. The touch sensitive skeletal assembly (10) 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 bone matrix (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.
4. The touch sensitive skeletal assembly (10) 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).
5. The touch sensitive skeleton assembly (10) according to any one of claims 1 to 4, characterized in that The shell wall of the bone matrix (1) is provided with a receiving space, and the shell wall of the bone matrix (1) is provided with a through hole (12); 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 (12).
6. The touch sensitive skeleton assembly (10) according to claim 5, characterized in that The shell wall includes a first half-shell (1A) and a second half-shell (1B), which are detachably fastened together to form the receiving space.
7. The touch sensitive skeleton assembly (10) according to any one of claims 1 to 4, characterized in that The flexible sensing inner layer (2) is adhered to the touch-sensitive area (11) by adhesive backing.
8. The touch sensitive skeleton assembly (10) according to any one of claims 1 to 4, characterized in that The outer edge (311) of the elastic trigger surface (3) is glued to the bone matrix (1).
9. A robot, characterized in that include: Palm Module (100); as well as, Multiple finger modules (200), each finger module (200) comprising: multiple knuckles (210); wherein at least the palm module (100) and / or at least one knuckle (210) comprises the touch-sensitive skeletal component (10) according to any one of claims 1 to 8.
10. The robot of claim 9, wherein, The skeletal matrix (1) of each phalanx (210) includes an inner wall (211), a first sidewall (212), and a second sidewall (213) facing the gripping side of the robotic hand. The first sidewall (212) and the second sidewall (213) are located on both sides of the inner wall (211) and are connected to the inner wall (211). The flexible sensing inner layer (2) of each phalanx (210) covers at least a portion of its first sidewall (212), at least a portion of its inner wall (211), and at least a portion of its second sidewall (213).
11. The robot of claim 9, wherein, The skeletal matrix (1) of the palm module (100) includes an inner palm wall (101) facing the gripping side of the robotic hand; a flexible sensing inner layer (2) of the palm module (100) covers at least a portion of its inner palm wall (101).
12. A robot, characterized in that include: The robotic arm according to any one of claims 9 to 11.