Sensor, finger structure and robot

Abstract

The present disclosure provides a sensor, a finger structure and a robot hand. The sensor comprises a support frame, an elastic body and an image collector. The elastic body is arranged on the support frame. The elastic body comprises a first face, a second face and a third face. The first face, the second face and the third face comprise preset marks. The image collector is located on a side of the support frame away from the elastic body and is configured to acquire images of the preset marks. The embodiments of the present disclosure are beneficial to improve the accuracy of the size and direction of the pressure acquired by the sensor.

Description

Technical Field

[0001] This disclosure relates to the field of robotic arm technology, and in particular to a sensor, finger structure, and robotic arm. Background Technology

[0002] Robotic arms are used in many fields due to their precision control, flexibility, and programmability. To improve the control precision of robotic arms or meet their usage requirements, multiple sensors for different functions are usually integrated into them. However, the low sensing accuracy of existing sensors limits the application range of robotic arms. As a special type of robotic arm with high degrees of freedom and capable of performing delicate and complex operations, the dexterous hand is the core end effector for general-purpose robots to achieve anthropomorphic and generalized dexterous operations. Although dexterous hands have made significant progress in mechanical execution, with their size continuously shrinking and degrees of freedom gradually approaching those of the human hand, they still cannot achieve truly universal operations. One widely recognized reason for this is their shortcomings in the "sensing" level. Therefore, improving the sensing capabilities of sensors is crucial. Utility Model Content

[0003] To address one or more deficiencies in the prior art, this disclosure provides a sensor, the sensor comprising: Support frame; An elastomer includes a first surface, a second surface, and a third surface; the first surface, the second surface, and the third surface include preset marks; the elastomer is disposed on a support frame; and An image acquisition device is located on the side of the support frame opposite to the elastomer and is configured to acquire an image of the preset mark.

[0004] Optionally, at least one of the first surface, the second surface, and the third surface is a curved surface.

[0005] Optionally, the second surface and the third surface are respectively connected to the first surface and located on both sides of the first surface.

[0006] Optionally, the elastomer further includes a fourth surface, which includes a preset mark; the fourth surface is connected to the first surface, the second surface and the third surface.

[0007] Optionally, the sensor further includes a light source, and the light source and the image acquisition device are located on the same side of the support frame.

[0008] Optionally, the sensor further includes: The circuit board, the image acquisition unit, and the light source are connected to the circuit board; and The rear shell, the support frame is fixedly connected to the rear shell, and the circuit board is located between the support frame and the rear shell.

[0009] Optionally, the sensor further includes a vibration sensor, which is disposed on any one of the circuit board, the rear shell, and the support frame.

[0010] Optionally, the sensor may include a plurality of the light sources.

[0011] Optionally, multiple light sources are disposed on both sides of the image acquisition device.

[0012] Optionally, the support frame is a light-transmitting structure; the elastomer is a light-transmitting structure; the sensor further includes a light-shielding layer, which covers the outside of at least one of the first surface, the second surface, and the third surface.

[0013] Optionally, the preset marker includes at least one of the following: Protruding structure; Depressed structure; or Graphic.

[0014] Optionally, this disclosure also includes a finger structure for a robotic hand, including the sensors described above.

[0015] Optionally, the sensor includes a rear housing, and at least a portion of the edge of the support frame or the rear housing protrudes beyond the edge of the elastomer.

[0016] Optionally, this disclosure also includes a robotic arm, said robotic arm comprising: Multiple finger structures as described above.

[0017] Compared with existing technologies, embodiments of this disclosure provide a sensor in which an elastic body deforms under pressure. An image acquisition device can acquire images of preset marks on the elastic body, and the deformation amount and direction of the elastic body can be determined based on the images of the preset marks. Furthermore, the magnitude and direction of the pressure applied to the elastic body can be determined based on the deformation amount and direction of the elastic body. In this disclosure, the elastic body includes a first surface, a second surface, and a third surface, providing a large multi-directional pressure-bearing surface, which is beneficial to improving the accuracy of the pressure magnitude and direction acquired by the sensor. Its application in robotic arms can expand the application range of robotic arms.

[0018] Embodiments of this disclosure also provide a finger structure including the aforementioned sensor. Embodiments of this disclosure also provide a robotic hand including the aforementioned finger structure. Attached Figure Description

[0019] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the embodiments of the present disclosure to explain the disclosure and do not constitute a limitation thereof. In the drawings:

[0020] Figure 1 An exploded schematic diagram of an exemplary sensor consistent with some embodiments of this disclosure is shown; Figure 2 A schematic diagram of an exemplary sensor consistent with some embodiments of this disclosure is shown; Figure 3 A schematic cross-sectional view of an exemplary sensor consistent with some embodiments of this disclosure is shown; Figure 4 A schematic diagram of an exemplary finger structure consistent with some embodiments of this disclosure is shown; Figure 5 A schematic diagram of an exemplary robotic arm consistent with some embodiments of this disclosure is shown. Detailed Implementation

[0021] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this disclosure. Therefore, the drawings and description are to be considered exemplary in nature and not restrictive.

[0022] In the description of this disclosure, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this disclosure, "a plurality of" means two or more, unless otherwise explicitly and specifically defined.

[0023] In the description of this disclosure, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joint" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections, electrical connections, or connections that allow for communication; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0024] In this disclosure, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0025] The following disclosure provides numerous different embodiments or examples for implementing various structures of this disclosure. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of this disclosure. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, various specific examples of processes and materials are provided in this disclosure, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0026] The embodiments of this disclosure are described below with reference to the accompanying drawings. It should be understood that the embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0027] This disclosure provides a sensor. The sensor includes a support frame, an elastomer, and an image acquisition device. The elastomer is disposed on the support frame. The elastomer includes a first surface, a second surface, and a third surface. The first surface, the second surface, and the third surface include preset marks. The image acquisition device is located on the side of the support frame opposite to the elastomer and can acquire images of the preset marks.

[0028] The elastomer in this disclosure undergoes elastic deformation under pressure, and the preset marks on the first, second, and third surfaces shift or deform with the elastic deformation. An image acquisition device captures images of the preset marks, and based on the shift or deformation of the images, the deformation amount and direction of the elastomer can be determined. Furthermore, the image acquisition device or a processor connected to it can determine the magnitude and direction of the pressure applied to the elastomer based on the deformation amount and direction of the elastomer. The elastomer in this disclosure includes a first, second, and third surface, each with preset marks. The first, second, and third surfaces provide a large sensing area, and their orientations are different. This improves the sensor's sensing range and enhances its accuracy in sensing the magnitude and direction of the applied force. When applied to devices such as robotic arms, this improves the application range of the robotic arms, making them suitable for high-precision applications.

[0029] Figure 1 An exploded view of an exemplary sensor 100 consistent with some embodiments of this disclosure is shown.

[0030] See Figure 1 The sensor 100 includes a support frame 102, an elastic body 104, and an image acquisition unit 106. The elastic body 104 is disposed on the support frame 102, which supports and limits its position. In some embodiments, the support frame 102 has a rigid structure, keeping the position of the side of the elastic body 104 in contact with the support frame 102 fixed. In some embodiments, the side of the elastic body 104 in contact with the support frame 102 is in close contact with the support frame 102, and the side of the elastic body 104 away from the support frame 102 undergoes elastic deformation under pressure. The support frame 102 can limit the range of motion and deformation of the elastic body 104, which helps improve the detection accuracy of the sensor 100 and reduces errors caused by displacement of the elastic body 104.

[0031] The image acquisition unit 106 is located on the side of the support frame 102 opposite to the elastomer 104. For example... Figure 1 As shown, the elastic body 104 is located on the support frame 102. Figure 1 As shown above, the image acquisition device 106 is located on the support frame 102. Figure 1 As shown below.

[0032] See Figure 1 The elastomer 104 includes a first surface 142, a second surface 144, and a third surface ( Figure 1(Not shown in the diagram). In some embodiments, the third surface may be located on the opposite side of the second surface 144. The first surface 142, the second surface 144, and the third surface represent the surfaces of the elastomer 104 that are not in contact with the support frame 102. In some embodiments, the first surface 143 includes a preset mark, which may be on the outer side of the first surface 143. For example, the outer surface of the first surface 142 is provided with a preset mark. When the elastomer 104 is subjected to force, the outer surface of the first surface 142 deforms, causing the preset mark provided on the first surface 142 to shift or deform. In some embodiments, the first surface 143 includes a preset mark, which may also be on the inner side of the first surface 144. For example, the inner side of the first surface 142 is provided with a preset mark. When the elastomer 104 is subjected to force, the outer surface of the first surface 142 deforms, causing the preset mark provided on the inner side of the first surface 142 to shift or deform.

[0033] The first side 142, the second side 144, and the third side include preset markings ( Figure 1 (Not shown in the image). The preset mark may include at least one of structural features or image features recognizable by the image acquisition device 106. In some embodiments, the preset mark includes at least one of a raised structure, a recessed structure, or a graphic. The shape of the raised structure, recessed structure, or graphic is not limited. For example, the preset mark may be a hemispherical raised structure disposed on the first surface 142. Another example is a triangular pyramidal recessed structure disposed on the second surface 144. Yet another example is a grid graphic disposed on the third surface.

[0034] In some embodiments, the preset mark may include a plurality of raised or recessed structures, which are distributed on the first surface 142, the second surface 144 and the third surface.

[0035] In some embodiments, the pattern formed on the surfaces of the first surface 142, the second surface 144, and the third surface may include one or more of dot matrix, grid, and color block. In some embodiments, the pattern may be printed or coated on the outer surfaces of the first surface 142, the second surface 144, and the third surface, or it may be located on the inner side of the first surface 142, the second surface 144, and the third surface.

[0036] In some embodiments, the types of preset marks on the first surface 142, the second surface 144, and the third surface may be the same or different. In some embodiments, the preset marks on the first surface 142, the second surface 144, and the third surface may be connected to each other or may be independent of each other.

[0037] The image acquisition device 106 can acquire images of preset marks on the first surface 142, the second surface 144, and the third surface. For example, in some embodiments, the support frame 102 is a light-transmitting structure, or the support frame 102 has a cutout at the position corresponding to the image acquisition device 106. The elastic body 104 is a light-transmitting structure, and the image acquisition device 106 can acquire images of the preset marks.

[0038] When the elastic body 104 is subjected to pressure, different magnitudes or directions of pressure will cause different elastic deformations in the elastic body 104. The preset marks on the first surface 142, the second surface 144, and the third surface change with the elastic deformation. Based on the image of the preset marks acquired by the image acquisition device 106, the elastic deformation of the elastic body 104 can be determined. According to Hooke's law or a pre-established deformation-pressure mapping model, the magnitude and direction of the pressure borne by the elastic body 104 can be determined based on the elastic deformation of the elastic body 104.

[0039] The embodiments of this disclosure utilize an image acquisition device 106 to acquire images of preset marks on the first surface 142, the second surface 144, and the third surface of the elastic body 104. Based on the images, the elastic deformation of the elastic body 104 can be determined, as well as the magnitude and direction of the pressure acting on the elastic body 104. The sensor provided in the embodiments of this disclosure can acquire the force conditions of at least three surfaces of the sensor (i.e., the first surface 142, the second surface 144, and the third surface), improving the force sensing accuracy of the sensor and enabling the sensor 100 to meet the needs of different application scenarios, thus expanding the application range of the sensor. For example, when the sensor 100 is applied to the finger structure of a robotic arm, it can improve the sensing accuracy of the robotic arm and expand its application range.

[0040] In some embodiments, the sensor 100 is applied in the finger structure of a robotic arm. When the finger structure of the robotic arm grasps irregularly shaped or small objects, the pressure distribution of the grasped object on the elastic body 104 is uneven or distributed within a small range. By using the image acquisition device 106 to acquire images with preset markings, a larger range can be covered, and the pressure distributed in different positions and ranges of the elastic body 104 can be identified, which helps to improve the accuracy of the sensor 100.

[0041] In some embodiments, the first surface 142, the second surface 144, and the third surface can face different directions, and the elastic body 104 can withstand pressure from different directions, enabling the sensor 100 to detect force conditions in different directions and expanding the applicability of the sensor 100.

[0042] In some embodiments, the first, second, and third surfaces are interconnected. The first surface can be a plane or a curved surface. When the first surface is curved, it can protrude away from the support frame or be recessed towards the support frame. The second surface can be a plane or a curved surface. When the second surface is curved, it can protrude away from the support frame or be recessed towards the support frame. The third surface can be a plane or a curved surface. It can protrude away from the support frame or be recessed towards the support frame.

[0043] In some embodiments, at least one of the first, second, or third surfaces of the elastomer is a curved surface. For example, at least one of the first, second, or third surfaces is a cylindrical surface, a spherical surface, or a freeform surface. In some embodiments, the shapes of the first, second, and third surfaces can be determined according to the usage requirements of the sensor or the device on which the sensor is mounted. For example, if the sensor is used in the finger structure of a bionic robotic hand, the shapes of the first, second, and third surfaces can approximate the shape of a human finger. For example, the first, second, and third surfaces approximate the shape of a human finger joint, or the first, second, and third surfaces approximate the shape of the pad of a human finger.

[0044] In some embodiments, the second and third surfaces are respectively connected to the first surface and located on opposite sides of the first surface. See also Figure 1 In some embodiments, the first surface 142 generally faces Figure 1 Above the first surface 142, the second surface 144 is located in front of the first surface 142, and the third surface is located behind the first surface 142.

[0045] Figure 2 Schematic diagrams of an exemplary sensor 200 consistent with some embodiments of this disclosure are shown at different viewing angles. See also Figure 2 The sensor 200 includes a support frame 202 and an elastic body 204. The structure of the support frame 202 is the same as or similar to the structure of the support frame 102 in the previous embodiment. The structure of the elastic body 204 is the same as or similar to the structure of the elastic body 104 in the previous embodiment.

[0046] See Figure 2 In some embodiments, the elastomer 204 includes a first surface 242, a second surface 244, a third surface 246, and a fourth surface 248. The structure of the first surface 242 is the same as or similar to the structure of the first surface 142 in the aforementioned embodiments; the structure of the second surface 244 is the same as or similar to the structure of the second surface 144 in the aforementioned embodiments; and the structure of the third surface 246 is the same as or similar to the structure of the third surface in the aforementioned embodiments. The fourth surface 248 includes a preset mark, which is the same as or similar to the preset mark in any of the aforementioned embodiments, and will not be described in detail here.

[0047] In some embodiments, the type of the preset mark on the fourth surface 248 may be the same as or different from the type of the preset mark on the first surface 242, the second surface 244, and the third surface 246. In some embodiments, the preset mark on the fourth surface 248 may be interconnected with or independent of the preset marks on the first surface 242, the second surface 244, and the third surface 246.

[0048] In some embodiments, such as Figure 2 As shown, the fourth surface 248 is connected to the first surface 242, the second surface 244, and the third surface 246. In some embodiments, the second surface 244 and the third surface 246 are located on opposite sides of the first surface 242, and the fourth surface 248 is connected to all three surfaces. The fourth surface 248 may be located on the front or rear side of the first surface 242.

[0049] In some embodiments, the shape of the elastomer 204 approximates the shape of the pad of a human finger. The first surface 242 is... Figure 2 As shown, the top surface, the second surface 242 and the third surface 246 are located on the left and right sides of the first surface 242, respectively, and the fourth surface 248 is located on the front side (fingertip side) of the first surface 242 and is connected to the first surface 242, the second surface 244 and the third surface 246.

[0050] In some embodiments, the connection points of the first surface 242, the second surface 244, the third surface 246, and the fourth surface 248 are all smooth curved surfaces, which helps to improve the surface consistency of the elastomer 204, reduce the problem of pressure displacement or concentration caused by abrupt changes in the surface edges or shape of the elastomer 204, and help to improve the accuracy of the sensor 200.

[0051] Figure 3 A cross-sectional view of an exemplary sensor 300 consistent with some embodiments of this disclosure is shown. Figure 3 In this embodiment, sensor 300 includes a support frame 302, an elastic body 304, and an image acquisition device 306. The structure of the support frame 302 is the same as or similar to that of the support frame 102 or support frame 202 in the previous embodiments. The structure of the elastic body 304 is the same as or approximately the same as that of the elastic body 104 or elastic body 204 in the previous embodiments. The image acquisition device 306 is the same as or similar to that of the image acquisition device 106 in the previous embodiments.

[0052] In some embodiments, the elastomer 304 and the support frame 302 are shaped to match, and the elastomer 304 is attached to the support frame 302. See also Figure 3In some embodiments, the support frame 302 is recessed towards the elastic body 304 at the position corresponding to the image acquisition unit 306. This avoids the image acquisition unit 306, which helps to reduce the size of the sensor, reduce structural interference between individual components of the sensor, and simplify assembly. The recess in the support frame 302 at the corresponding position of the image acquisition unit 306 prevents the support frame 302 from squeezing the image acquisition unit 306, reduces the risk of displacement of the image acquisition unit 306, and improves the stability of the sensor 300.

[0053] See also Figure 1 In some embodiments, sensor 100 also includes a light source 108. The light source 108 and image acquisition unit 106 are located on the same side of support frame 102, for example... Figure 1 The light source 108 and the image acquisition device 106 are located on the lower side of the support frame 102. The light source 108 can emit a light beam to the elastic body 104, and the image acquisition device 106 can preset marked images under preset lighting conditions. In some embodiments, the light source 108 can be controlled to turn on or off, providing different lighting conditions for the image acquisition device 106. The image acquisition device 106 acquires images of preset marks under different lighting conditions, which helps to improve the accuracy of the sensor 100.

[0054] In some embodiments, the support frame 102 and the elastomer 104 are both light-transmitting structures. The sensor 100 also includes a light-shielding layer (not shown in the figure). The light-shielding layer covers the outer side of at least one of the first surface 142, the second surface 144, and the third surface. The light-shielding layer can reduce the influence of ambient light on the acquisition results of the image acquisition device 106, reduce the interference of changes in ambient light intensity on the image acquisition results, and improve the accuracy of the sensor's sensing results. In addition, the light-shielding layer can also make the outer appearance of the elastomer 104 consistent, improving the appearance of the sensor 100.

[0055] See Figure 1 In some embodiments, the sensor 100 further includes a circuit board 110. The image acquisition unit 106 and the light source 108 can be connected to the circuit board 110. In some embodiments, the circuit board 110 can supply power to the image acquisition unit 106 and the light source 108, transmit control signals, and receive image signals of preset markers acquired by the image acquisition unit 106.

[0056] In some embodiments, the image acquisition unit 106 and the light source 108 can be positioned using a circuit board 110. For example, the circuit board 110 is an integrated circuit board. By using the circuit board 110 to keep the position of the light source 108 relative to the image acquisition unit 106 fixed, it is beneficial to the miniaturization of the sensor 100 and can also improve the accuracy of the sensor detection results.

[0057] In some embodiments, the circuit board 110 may integrate a processing system. The processing system may process the image of the preset marker acquired by the image acquisition unit 106. For example, it may preprocess the image of the preset marker, or output the magnitude or direction of the pressure exerted on the elastomer 104 based on the image of the preset marker.

[0058] See also Figure 1 In some embodiments, the sensor 100 includes multiple light sources 108. The multiple light sources 108 can illuminate the elastomer 104 from different directions, reducing blind spots and increasing light intensity.

[0059] In some embodiments, multiple light sources 108 may be positioned on either side of the image acquisition unit 106. For example... Figure 1 As shown, the circuit board 110 has a roughly three-section bent structure, with the image acquisition unit 106 connected in the middle of the three-section bent structure. Multiple light sources 108 can be divided into two groups, connected to the two side structures of the three-section bent structure. Each group of light sources 108 can include one or more light sources 108. This improves the uniformity of the photomask and enhances the detection accuracy of the image acquisition unit 106.

[0060] In some embodiments, the shape of the circuit board and the position of the light source relative to the image acquisition device can be adjusted according to the shape and size of the elastomer. In some embodiments, the elastomer includes a first surface, a second surface, and a third surface, which generally form a semi-cylindrical shape, with the second and third surfaces located on either side of the first surface. The circuit board can be generally flat, and the position of the image acquisition device can generally correspond to the first surface. Multiple light sources are divided into two groups, disposed on either side of the image acquisition device, and generally corresponding to the second and third surfaces, respectively.

[0061] See Figure 1 In some embodiments, the sensor 100 further includes a rear housing 112. The support frame 102 and the rear housing 112 are fixedly connected, and the circuit board 110 is located between the support frame 102 and the rear housing 112. In some embodiments, the support frame 102 and the rear housing 112 can be fixedly connected by fasteners, snap-fits, adhesives, or other means. In some embodiments, the rear housing 112 may have an inwardly recessed cavity 122, within which the image acquisition device 106, the light source 108, and the circuit board 110 are accommodated.

[0062] In some embodiments, the circuit board 110 can be fixedly connected to the rear cover 112, for example, the circuit board 110 can be fixed to the rear cover 112 by fasteners or by adhesive.

[0063] See also Figure 1In some embodiments, the rear housing 112 has a recess 124 located near the support frame 102. The circuit board 110 has a bent ribbon cable 126 that can extend from the recess 124 beyond the area of ​​the rear housing 112 and the support frame 102. The ribbon cable 126 can be used to enable data transmission between the circuit board 110 and the outside.

[0064] In some embodiments, the sensor further includes a vibration sensor. The vibration sensor can acquire at least one of the amplitude or frequency of vibration generated when a physical structure is subjected to an impact force. The vibration sensor in the sensor is disposed on any one of a circuit board, a rear housing, or a support frame. In the sensor, the circuit board, rear housing, or support frame can be a rigid structure, and the vibration sensor can acquire the vibration of the circuit board, rear housing, or support frame.

[0065] See also Figure 1 In some embodiments, sensor 100 includes a vibration sensor 114. Vibration sensor 114 is mounted on circuit board 110, facilitating data transmission and simplifying communication line design and assembly. In some embodiments, circuit board 110, rear housing 112, and support frame 102 are fixedly connected, and elastic body 104 is connected to support frame 102. Vibration of sensor 100 can propagate among elastic body 104, support frame 102, circuit board 110, and rear housing 112. Vibration sensor 114 is mounted on circuit board 110, allowing vibration of rear housing 112, support frame 102, or elastic body 104 to be transmitted to vibration sensor 114 on circuit board 110.

[0066] In some embodiments, sensor 100 is applied to the finger structure of a robotic hand. The finger structure experiences different forces when grasping, pressing, or contacting different objects. Vibration sensor 114 can be used to acquire the vibration frequency or amplitude generated by circuit board 110, back cover 112, or support frame 102, and the surface characteristics of the object, such as surface hardness, coefficient of friction, and roughness, can be determined based on the vibration frequency or amplitude acquired by vibration sensor 114. In some embodiments, the object type can be determined based on the object's surface characteristics.

[0067] Embodiments of this disclosure also include a finger structure for a robotic hand. Figure 4 The structure of an exemplary finger structure 400 for a robotic hand, similar to some embodiments of this disclosure, is shown. See also Figure 4 The finger structure 400 includes a sensor 410. The sensor 410 has the same or similar structure as the sensor 100, sensor 200 or sensor 300 in the foregoing embodiments.

[0068] In some embodiments, the finger structure 400 is similar in structure to a human hand finger, including one or more knuckles. A sensor 410 is disposed at the fingertip position within the finger structure 400. When the robotic arm operates, the finger structure 400 grasps, presses, or contacts objects through the fingertip position. The sensor 410, located at the fingertip position, can better sense the force applied, meeting the application requirements of the robotic arm.

[0069] In some embodiments, the sensor may also be located at other locations on the finger structure, such as at the knuckles. When the robotic hand grasps an object, the sensor can detect the pressure applied at the knuckles. In some embodiments, the finger structure may include multiple sensors as described above, which may be located at different locations on the finger structure and respectively detect the pressure applied at those different locations.

[0070] In some embodiments, the sensor in the finger structure includes a back cover. At least a portion of the edge of at least one of the back cover or the support frame in the sensor protrudes beyond the edge of the elastomer. At least one of the support frame or the back cover can protect the edge of the elastomer, reducing the risk of the elastomer being subjected to lateral compression and dislodging or shifting relative to the support frame.

[0071] In some embodiments, the structure of the sensor in the finger structure is similar to... Figure 2 The sensor 200 shown has the same or similar structure. (Combined) Figure 2 The sensors in the finger structure are explained. See also Figure 2 The sensor 200 includes a rear housing 212, the structure of which is similar to... Figure 1 The structure of the rear shell 112 shown is the same or similar.

[0072] See Figure 2 In some embodiments, the front end (near the fingertip) of at least one of the support frame 202 or the rear shell 212 protrudes beyond the edge of the elastomer 204. A stepped structure is formed between the support frame 202 or the rear shell 212 and the elastomer 204. In some embodiments, the sensor 200 is disposed at the fingertip position of the finger structure, and the stepped structure between the support frame 202 or the rear shell 212 and the elastomer 204 can form a structure similar to a fingernail. The stepped structure between the support frame 202 or the rear shell 212 and the elastomer 204 can realize some of the functions of a fingernail, such as assisting in grasping or prying small structures, enriching the practical functions of the robotic hand.

[0073] Embodiments of this disclosure also include a robotic arm. Figure 5 The structure of the robotic arm 500 in some embodiments of this disclosure is shown. See also Figure 5The robotic hand 500 includes multiple finger structures 510. Each finger structure 510 can be the finger structure 400 described in the preceding embodiments. In some embodiments, the finger structures 510 in the robotic hand 500 can have different sizes and numbers of phalanges. For example, the robotic hand 500 may include five finger structures, each corresponding to one of the five fingers of a human hand, enabling the robotic hand 500 to perform some of the functions of a human hand, enriching the functionality of the robotic hand 500, and expanding the adaptability range of the robotic hand 500 in replacing the human hand.

[0074] Finally, it should be noted that the above descriptions are merely embodiments of this disclosure and are not intended to limit this disclosure. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the protection scope of this disclosure.

Claims

1. A sensor, characterized by The sensor includes: Support frame; An elastomer includes a first surface, a second surface, and a third surface; the first surface, the second surface, and the third surface include preset marks; the elastomer is disposed on a support frame; and An image acquisition device is located on the side of the support frame opposite to the elastomer and is configured to acquire an image of the preset mark.

2. The sensor of claim 1, wherein, At least one of the first surface, the second surface, and the third surface is a curved surface.

3. The sensor of claim 2, wherein, The second surface and the third surface are respectively connected to the first surface and are located on both sides of the first surface.

4. The sensor of claim 3, wherein, The elastomer further includes a fourth surface, which includes a preset mark; the fourth surface is connected to the first surface, the second surface and the third surface.

5. The sensor of claim 1, wherein, The sensor also includes a light source, and the light source and the image acquisition device are located on the same side of the support frame.

6. The sensor of claim 5, wherein, Also includes: A circuit board, wherein the image acquisition device and the light source are connected to the circuit board; and The rear shell, the support frame is fixedly connected to the rear shell, and the circuit board is located between the support frame and the rear shell.

7. The sensor of claim 6, wherein, The sensor also includes a vibration sensor, which is disposed on any one of the circuit board, the rear shell, and the support frame.

8. The sensor of claim 5, wherein, The sensor includes multiple light sources.

9. The sensor of claim 8, wherein, Multiple light sources are positioned on both sides of the image acquisition device.

10. The sensor according to any one of claims 5-9, characterized in that, The support frame is a light-transmitting structure; the elastomer is a light-transmitting structure; the sensor also includes a light-shielding layer, which covers the outside of at least one of the first surface, the second surface, and the third surface.

11. The sensor of any one of claims 1-9, wherein, The preset marker includes at least one of the following: Protruding structure; Depressed structure; or Graphic.

12. A finger structure for a robot hand, characterized by Includes the sensor as described in any one of claims 1-11.

13. The finger structure of claim 12, wherein The sensor includes a rear housing, and at least a portion of the edge of the support frame or the rear housing protrudes from the edge of the elastomer.

14. A robot, characterized in that include: Multiple finger structures as described in claim 12 or 13.

Images