Touch sensing glove and dexterous hand for a robot

Abstract

The embodiment of the application provides a touch sensing glove of a mechanical hand and a dexterous hand, the touch sensing glove of the mechanical hand comprises: each touch sensing component comprises: a supporting layer, a flexible sensing inner layer and an elastic trigger surface layer, the supporting layer is arranged at an opening of the glove, and an outer edge of the supporting layer is connected with an inner surface of a palm side of the glove. The flexible sensing inner layer is arranged on one side of an outer surface of the supporting layer towards the palm side, and the elastic trigger surface layer is arranged in a spaced mode with the flexible sensing inner layer, and an outer edge of the elastic trigger surface layer is connected with the supporting layer. The touch sensing glove of the mechanical hand integrates the touch sensing component in the glove, avoids complex bone structure modification, and is convenient to assemble, so that the production process difficulty is greatly reduced. Meanwhile, the supporting layer provides a stable mounting platform for the flexible sensing inner layer, so that the elastic trigger surface layer is not prone to displacement in the process of pressing the flexible sensing inner layer under stress, and the touch sensing glove has high signal acquisition accuracy.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to a touch-sensitive glove and dexterous hand for a robotic hand. Background Technology

[0002] As a robotic end effector that can highly mimic the functions of the human hand, the dexterous hand, with its high degree of freedom, high flexibility, and excellent biomimetic effect, is often integrated into the end of a robotic arm and is widely used in many key fields such as industrial precision assembly, electronic component operation, service robot interaction, and medical auxiliary diagnosis and treatment. It can accurately complete complex tasks such as object grasping, tool manipulation, and precision assembly, effectively breaking through the limitations of the single function of traditional robotic end effectors, greatly improving the robot's operational capabilities and environmental adaptability, and providing important technical support for the automation and intelligent upgrading of various industries.

[0003] However, existing technologies for achieving tactile sensing generally employ a method of directly implanting tactile sensors within the skeletal structure of the dexterous hand. This method requires precisely embedding the sensor into the complex geometry of the skeleton, involving high-precision positioning, multi-layer wiring, and integration with the skeleton material, resulting in a cumbersome manufacturing process and high production costs. Alternatively, flexible tactile sensors can be implanted into the inner layer of a simulated skin glove for the dexterous hand. However, when sensing objects, flexible tactile sensors are prone to displacement and deformation relative to the skeleton, affecting the accuracy of the dexterous hand's perception of object position. Utility Model Content

[0004] The purpose of this application is to provide a touch-sensitive glove and dexterous hand for robotic arms, which can accurately perceive the position of objects, is easy to assemble, and is suitable for mass production. The specific technical solution is as follows:

[0005] A touch-sensitive glove for a robotic hand, characterized in that it comprises:

[0006] The gloves have a touch-sensitive area on the palm side, and the touch-sensitive area is provided with an opening;

[0007] At least one touch-sensing component, each touch-sensing component including: a support layer, a flexible sensing inner layer, and an elastic trigger surface layer, wherein the support layer is disposed at the opening, and its outer edge is connected to the inner surface of the palm side of the glove; the flexible sensing inner layer is disposed on the outer surface of the support layer facing the palm side; the elastic trigger surface layer and the flexible sensing inner layer are spaced apart, and their outer edges are supported and connected to the support layer; under external force, the surface layer deforms and touches the flexible sensing inner layer.

[0008] 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.

[0009] In some embodiments, the elastic triggering surface layer includes: an elastic insulating surface layer and a semiconductive film layer, wherein the outer edge of the elastic insulating surface layer is connected to the support layer; the semiconductive film layer is disposed on the inner surface of the elastic insulating surface layer, and generates an electrical signal when in contact with the flexible sensing inner layer and transmits it to the sensing processing device.

[0010] The elastic insulating surface layer and the glove are an integral component.

[0011] In some embodiments, it also includes:

[0012] At least one bone positioning hole is provided, and each bone positioning hole is provided in the support layer.

[0013] In some embodiments, there are at least two bone positioning holes, which are distributed on the outer periphery of the flexible sensing inner layer.

[0014] In some embodiments, the outer edge of the support layer protrudes from the flexible sensing inner layer, and each bone positioning hole penetrates the outer edge of the support layer and passes through the integral component formed by the elastic insulating outer layer and the glove.

[0015] In some embodiments, the glove includes a palm area sleeve and a plurality of finger area sleeves, each finger area sleeve including a plurality of knuckle sub-areas;

[0016] The touch sensing components are multiple, and the multiple touch sensing components are respectively disposed in the palm area sleeve and each knuckle sub-sleeve of each finger area sleeve.

[0017] In some embodiments, the sensing processing device includes a processor disposed on the back side of the glove, located on the inner surface of the palm area; or,

[0018] The sensing processing device includes multiple finger sensing sub-processors and palm sensing sub-processors; the multiple finger sensing sub-processors are disposed on the back side of the glove, respectively located on the outer surface of the fingertip sub-sleeve in multiple knuckle sub-sleeves in each finger area sleeve; the palm sensing sub-processor is disposed on the back side of the glove, located on the inner surface of the palm area sleeve.

[0019] In some embodiments, it also includes:

[0020] Outer protective sleeve;

[0021] The outer protective sleeve is fitted over the outer surface of the glove, covering the plurality of finger sensor sub-processors, and the outer protective sleeve has an opening that exposes the elastic trigger surface.

[0022] A dexterous hand, characterized in that it comprises:

[0023] robotic arm skeleton;

[0024] The aforementioned touch-sensitive gloves for robotic arms;

[0025] The glove is fitted onto the skeleton of the robotic hand.

[0026] In some embodiments, the touch-sensitive glove of the robotic hand further includes: at least one skeletal positioning hole;

[0027] The elastic triggering surface layer includes: an elastic insulating surface layer and a semi-conductive film layer, the outer edge of the elastic insulating surface layer being connected to the support layer; the semi-conductive film layer is disposed on the inner surface of the elastic insulating surface layer, and the sensing processing device generates a sensing signal based on the situation where the flexible sensing inner layer is touched by the semi-conductive film layer.

[0028] The elastic insulating surface layer and the glove are an integral component;

[0029] At least one bone positioning hole is formed in the integral component consisting of the support layer, the elastic insulating surface layer, and the glove;

[0030] The robotic arm skeleton is provided with at least one positioning post, and at least one positioning post and at least one bone positioning hole are inserted one-to-one.

[0031] Beneficial effects of the embodiments in this application:

[0032] This application provides a touch-sensitive glove and dexterous hand for a robotic hand. The touch-sensitive glove includes a glove, at least one touch-sensing component, and a sensing processing device. The palm side of the glove has a touch-sensing area with an opening. Each touch-sensing component includes a support layer, a flexible sensing inner layer, and an elastic trigger surface layer. The support layer is located at the opening, and its outer edge is connected to the inner surface of the palm side of the glove. The flexible sensing inner layer is located on the outer surface of the support layer facing the palm side. The elastic trigger surface layer and the flexible sensing inner layer are spaced apart, and their outer edges are supported and connected to the support layer, allowing deformation under external force to contact the flexible sensing inner layer. The sensing processing device is electrically connected to the flexible sensing inner layer and generates a sensing signal based on the contact of the flexible sensing inner layer with the elastic trigger surface layer. The touch-sensing glove for robotic hands integrates tactile sensing functionality through an external wearable design, replacing the traditional method of implanting sensors inside the robotic hand skeleton. By integrating the touch-sensing components into the glove, complex modifications to the skeletal structure are avoided, and the assembly process is more convenient, significantly reducing the difficulty of manufacturing processes and providing a feasible solution for the large-scale application of dexterous hands. Simultaneously, the support layer provides a stable mounting platform for the flexible sensing inner layer, ensuring that the elastic trigger surface layer does not easily shift when pressing down on the flexible sensing inner layer. This allows the flexible sensing inner layer to maintain a good relative position to the robotic hand skeleton, remaining close to the actual contact area of ​​the robotic hand skeleton when sensing external objects, thus achieving high signal acquisition accuracy.

[0033] Of course, implementing any product or method of this application does not necessarily require achieving all of the advantages described above at the same time. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of this application 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 application. For those skilled in the art, other embodiments can be obtained based on these drawings.

[0035] Figure 1 This is a schematic diagram of the palm-side structure of a touch-sensitive glove for a robotic hand provided in Embodiment 1 of this application;

[0036] Figure 2 for Figure 1 The diagram shows the arrangement of the sensor processing devices on the back of the hand of the touch-sensitive glove of the robotic arm.

[0037] Figure 3 for Figure 1 A cross-sectional view of the finger area of ​​the touch-sensitive glove of the robotic arm shown.

[0038] Figure 4 for Figure 3 Enlarged view of A in the middle;

[0039] Figure 5 This is a schematic diagram showing another arrangement of the sensing processing device in a touch-sensitive glove for a robotic arm, as provided in Embodiment 1 of this application.

[0040] Figure 6 for Figure 5 A schematic diagram of the electrical connection structure of the touch-sensing glove of the robotic arm shown.

[0041] Figure 7 This is a schematic diagram of the arrangement structure of the touch-sensitive glove for a robotic hand, provided in Embodiment 2 of this application, for the sensing processing device on the back of the hand.

[0042] Figure 8 for Figure 7 A cross-sectional view of the finger area of ​​the touch-sensitive glove of the robotic arm shown.

[0043] Figure 9 for Figure 8 Enlarged view of B in the middle;

[0044] Figure 10 This is a schematic diagram showing a different arrangement of the sensing processing device in a touch-sensitive glove for a robotic arm, as provided in Embodiment 2 of this application.

[0045] The attached figures are labeled as follows:

[0046] Glove 1, opening 1B, palm area sleeve 11, finger area sleeve 12, knuckle area sleeve 121, fingertip area sleeve 1211, touch sensing component 2, support layer 21, flexible sensing inner layer 22, elastic trigger surface layer 23, elastic insulating surface layer 231, semi-conductive film layer 232, sensing processing device 3, finger sensing sub-processing device 31, palm sensing sub-processing device 32, bone positioning hole 4, outer protective sleeve 5, opening 51, flexible circuit board 6, robotic arm interface 7;

[0047] The robotic arm has a touch-sensitive glove 100, a robotic arm skeleton 200, and a positioning post 210. Detailed Implementation

[0048] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of this application.

[0049] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application.

[0050] 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 application 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 “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 indicated, 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” or “including” and similar terms mean that the element or object preceding “comprising” or “including” covers the element or object listed following “comprising” or “including” and its equivalents, and does not exclude other elements or objects. The terms “connected” or “linked” and similar terms are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect.

[0051] The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” 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.

[0052] In the development of robotic dexterous hands, the realization of tactile perception usually relies on implanting tactile sensors within the skeletal structure. This manufacturing process involves complex steps such as precise sensor positioning and circuit integration, significantly increasing the manufacturing difficulty and hindering the rapid deployment of dexterous hands.

[0053] Example 1

[0054] Figure 1 This is a schematic diagram of the palm-side structure of a touch-sensitive glove 100 for a robotic hand, provided in Embodiment 1 of this application. Figure 2 for Figure 1 The schematic diagram shows the arrangement of the sensing processing device 3 on the back side of the touch-sensing glove 100 of the robotic arm (schematic diagram of the back side structure of the touch-sensing glove 100 of the robotic arm). Figure 1 and Figure 2 As shown, a touch-sensitive glove 100 for a robotic arm includes: a glove 1, at least one touch-sensing component 2, and a sensing processing device 3.

[0055] Specifically, the materials used to manufacture glove 1 can include, but are not limited to, organic materials such as fabrics, paper, silicone, and rubber, or organic polymer bases such as polyimide (PI), polyethylene terephthalate (PET), and polyethylene naphthalate (PEN) to conform to the curved surface of the hand. Glove 1 includes a palm area sleeve 11 and multiple finger area sleeves 12. The finger area sleeves 12 refer to the part of glove 1 that covers the fingers, and each finger area sleeve 12 includes multiple knuckle sub-sleeves 121. Specifically, there can be five finger area sleeves 12, namely, a little finger finger area sleeve, a ring finger finger area sleeve, a middle finger finger area sleeve, an index finger finger area sleeve, and a thumb finger area sleeve. There are multiple touch-sensing components 2, which are respectively disposed in the palm area sleeve 11 and each knuckle sub-sleeve 121 of each finger area sleeve 12 (three knuckles of the little finger finger area sleeve, three knuckles of the ring finger finger area sleeve, three knuckles of the middle finger finger area sleeve, three knuckles of the index finger finger area sleeve, and two knuckles of the thumb finger area sleeve). The palm area sleeve 11 refers to the part of the glove 1 that covers the palm.

[0056] Specifically, the sensing processing device 3 is disposed on the outer surface of the back of the hand of the glove 1. In practical applications, in some embodiments described above, the sensing processing device 3 includes a processor disposed on the outer surface of the back of the hand of the palm area sleeve 11, and electrically connected to a plurality of touch sensing components 2 disposed on the palm area sleeve 11 and each knuckle sub-sleeve 121 of each finger area sleeve 12. The sensing processing device 3 and each touch sensing component 2 are electrically connected via a flexible circuit board 6 disposed on the outer surface of the back of the hand of the glove 1. The touch sensing glove 100 of the robotic hand also includes a robotic hand interface 7 for connection with a dexterous hand, and the sensing processing device 3 and the robotic hand interface 7 are electrically connected via the flexible circuit board 6.

[0057] The robotic arm interface 7 can be located at the end of the cuff of glove 1 (e.g., Figure 2 As shown in the figure, it can also be set on the inner wall of the palm area sleeve 11 of the glove 1 (not shown). The embodiments of this application are not limited.

[0058] Figure 3 for Figure 1 The diagram shows a cross-sectional view of the finger area sleeve 12 of the touch-sensitive glove 100 of the robotic arm. Figure 3 The diagram is illustrated using a cross-sectional view of the index finger's finger sleeve as an example. Figure 4 for Figure 3 Enlarged view of A in the diagram, as shown Figure 3 and Figure 4 As shown, each touch sensing component 2 includes: a support layer 21, a flexible sensing inner layer 22, and an elastic trigger surface layer 23. The support layer 21 is disposed on the outer surface of the glove 1 on the palm side. Specifically, the two can be bonded together. Bonding means forming a firm connection between the support layer 21 and the outer surface of the glove 1 using an adhesive, which can be achieved using materials such as double-sided tape, hot melt adhesive, or epoxy resin. The flexible sensing inner layer 22 is disposed on the side of the support layer 21 away from the palm side of the glove 1. The elastic trigger surface layer 23 and the flexible sensing inner layer 22 are spaced apart, and their outer edges are supported and connected to the support layer 21. Under external force, the flexible sensing inner layer 22 is deformed and touched. The sensing processing device 3 is electrically connected to the flexible sensing inner layer 22. The sensing processing device 3 generates a sensing signal based on the situation where the flexible sensing inner layer 22 is touched by the elastic trigger surface layer 23.

[0059] In some embodiments, the distance between the inner surface of the elastic trigger layer 23 and the flexible sensing inner layer 22 can be between 0.1 mm and 0.2 mm.

[0060] In the production process of the touch-sensitive glove 100 for the robotic arm, the inside of the glove 1 can be first fitted onto a robotic arm mounting mold, and then the support layer 21, the flexible sensing inner layer 22, the elastic trigger surface layer 23, and the sensing processing device 3 can be installed in sequence.

[0061] In the production process of assembling the dexterous hand, it is only necessary to put the pre-made touch-sensitive glove 100 of the robotic hand onto the robotic hand skeleton 200 of the dexterous hand. Figure 3 (Only a partial structure of the robotic arm skeleton 200 is shown schematically in the image.)

[0062] After the dexterous hand is assembled, when an external force is applied to the elastic trigger surface 23, the elastic trigger surface 23 deforms and touches the flexible sensing inner layer 22. The sensing processing device 3 is electrically connected to the flexible sensing inner layer 22 and generates a sensing signal based on the touch condition of the flexible sensing inner layer 22, thereby determining that effective contact has occurred in the tactile area. After the external force disappears, the elastic trigger surface 23 returns to its original deformation and resumes its distance from the flexible sensing inner layer 22.

[0063] Therefore, the touch-sensing glove 100 of this robotic hand integrates tactile sensing function through an external wearable design, replacing the traditional method of implanting sensors inside the robotic hand skeleton 200. By integrating the touch-sensing component 2 into the glove 1, complex modifications to the skeleton structure are avoided, and the assembly process is more convenient, thus significantly reducing the difficulty of the manufacturing process and providing a feasible solution for the large-scale application of dexterous hands. At the same time, the support layer 21 provides a stable mounting platform for the flexible sensing inner layer 22, ensuring that the flexible sensing inner layer 22 is not easily displaced when the elastic trigger surface layer 23 presses down on it. This allows the flexible sensing inner layer 22 to maintain a good relative position with respect to the robotic hand skeleton 200 of the dexterous hand, and it remains close to the actual contact area of ​​the robotic hand skeleton 200 when sensing external objects, thus achieving high signal acquisition accuracy.

[0064] Among them, the support layer 21 refers to the structural support component fixed to the outer surface of the palm side of the glove 1. It can be made of rigid plastic or metal sheet, such as aluminum alloy plate. It is mainly used to provide a stable mounting platform to ensure that the sensing components remain in a fixed position relative to the robotic arm skeleton 200 during operation.

[0065] In practical applications, in some of the embodiments described above in this application, in order to further improve the positional accuracy of touch perception of the dexterous hand, this application further proposes that the touch-sensing glove 100 of the robotic hand also includes at least one bone positioning hole 4, each bone positioning hole 4 passing through the position of the glove 1 covered by the support layer 21 and penetrating into the support layer 21.

[0066] In specific implementations, the bone positioning hole 4 inserted into the support layer 21 can be a blind hole or a through hole, and the embodiments of this application are not limited thereto.

[0067] Among them, the bone positioning hole 4 refers to the hole structure used to establish a precise positioning benchmark. It can be implemented using geometric shapes such as circular, elliptical or irregular holes, with the purpose of providing a stable physical fixation reference point for the support layer 21.

[0068] Specifically, the solution of this application precisely sets the bone positioning hole 4 at the location of the support layer 21. The bone positioning hole 4 allows the positioning post 210 of the dexterous hand's robotic skeleton 200 to be inserted to form a physical connection, thereby integrating the dexterous hand's robotic skeleton 200 and the support layer 21 into a co-force-bearing whole. When the elastic trigger surface 23 is subjected to external force, the robotic skeleton 200 and the support layer 21 can share the force together. When the dexterous hand performs grasping or touching actions, the support layer 21 and the robotic skeleton 200 maintain stable positions, ensuring that the flexible sensing inner layer 22 of the elastic trigger surface 23 is not prone to relative displacement with the robotic skeleton 200 under the action of external force, ultimately generating an accurate position sensing signal.

[0069] To further constrain the rotational freedom of the support layer 21 and improve the alignment accuracy and signal reliability of the touch sensing component 2, this application further proposes that there are at least two bone positioning holes 4, which are distributed on the outer periphery of the flexible sensing inner layer 22.

[0070] For example, there are four bone positioning holes 4, which are distributed around the flexible sensing inner layer 22.

[0071] Specifically, the solution of this application forms multi-point positioning by distributing at least two bone positioning holes 4 on the outer periphery of the flexible sensing inner layer 22. When the touch-sensing glove 100 of the robotic arm is fitted onto the robotic arm skeleton 200, the positioning post 210 is inserted into the bone positioning hole 4 in a one-to-one correspondence. Since multiple positioning holes are spatially distributed on the outer periphery of the flexible sensing inner layer 22, translational and rotational degrees of freedom can be constrained simultaneously, improving the certainty of the installation position of the flexible sensing inner layer 22 on the robotic arm skeleton 200.

[0072] As a specific implementation, the touch-sensing glove 100 of the robotic hand of this application includes two bone positioning holes 4 provided on the support layer 21. These two holes are distributed at the front and rear ends of the support layer 21 along the finger extension direction, which effectively prevents the touch-sensing glove 100 of the robotic hand from rotating and shifting, and ensures the precise alignment of the touch sensing component 2 with the robotic hand skeleton 200.

[0073] The elastic trigger surface layer 23 includes an elastic insulating surface layer 231 and a semi-conductive film layer 232. The outer edge of the elastic insulating surface layer 231 is connected to the support layer 21. The semi-conductive film layer 232 is disposed on the inner surface of the elastic insulating surface layer 231. When it comes into contact with the flexible sensing inner layer 22, it generates an electrical signal and transmits it to the sensing processing device 3, so that the sensing processing device 3 generates a sensing signal according to the situation where the flexible sensing inner layer 22 is touched by the semi-conductive film layer 232.

[0074] In some embodiments, the elastic insulating surface layer 231 is made of rubber material. In some embodiments, the elastic insulating surface layer 231 is made of silicone material. This embodiment does not limit the specific embodiment.

[0075] In some embodiments, the flexible sensing inner layer 22 corresponding to the semiconductive film layer 232 is an electrode array. When the semiconductive film layer 232 touches the electrode array, the sensing processing device 3 generates a sensing signal based on the situation where the electrode array is touched by the semiconductive film layer 232.

[0076] Specifically, the semiconductive film layer 232 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 3 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 23.

[0077] Specifically, the outer edge of the support layer 21 protrudes from the flexible sensing inner layer 22, and each bone positioning hole 4 penetrates the outer edge of the support layer 21 and extends into the elastic insulating surface layer 231.

[0078] The support layer 21 protruding beyond the flexible sensing inner layer 22 refers to the structural feature of the support layer 21 extending beyond the edge of the flexible sensing inner layer 22 in spatial layout. This can be achieved using an annular flange structure, with the purpose of reserving a drilling position for the bone positioning hole 4. In addition, the bone positioning hole 4 can penetrate the elastic insulating surface layer 231, that is, the bone positioning hole 4 can not penetrate the flexible sensing inner layer 22, thus protecting the integrity of the flexible sensing inner layer 22. It can extend from the outer edge of the support layer 21 to the interior of the elastic insulating surface layer 231, and can be achieved using a straight hole or a tapered hole structure.

[0079] When the touch-sensitive glove 100 of the robotic hand is fitted onto the robotic hand skeleton 200, the positioning post 210 is inserted into the skeleton positioning hole 4 one by one. The positioning post 210 can be inserted into the support layer 21 and the elastic insulating surface layer 231 at the same time, positioning the support layer 21 and the elastic insulating surface layer 231, thereby limiting their positions, improving the positional stability of the elastic insulating surface layer 231 and the support layer 21, and thus improving the working stability of the dexterous hand.

[0080] Unlike the layered design of the elastic trigger surface layer 23 in the above embodiments, in some other embodiments, the elastic trigger surface layer 23 may not employ a layered design, but rather a one-piece elastic trigger surface layer 23. In this implementation, the elastic trigger surface layer 23 is an integrated elastic trigger layer (not shown) with piezoresistive characteristics. Corresponding to the integrated elastic trigger layer, the flexible sensing inner layer 22 is an electrode array. When an external force is applied to the integrated elastic trigger layer, it deforms and contacts the flexible sensing inner layer 22, causing the sensing processing device 3 to generate a sensing signal based on the contact of the electrode array with the integrated elastic trigger layer.

[0081] In some embodiments, the flexible sensing inner layer 22 includes multiple sensing points distributed at different locations within the flexible sensing inner layer 22; the sensing processing device 3 generates a corresponding sensing signal based on the location where the flexible sensing inner layer 22 is touched by the elastically triggered surface layer 23. When an external force acts on the elastically triggered surface layer 23 and touches a specific sensing point, the sensing processing device 3 determines the specific location of the touch by detecting the position information of the specific sensing point.

[0082] Specifically, each bone positioning hole 4 penetrates the outer edge of the support layer 21 and extends into the integrated elastic trigger layer.

[0083] To avoid direct exposure of electrical connection lines to the outer surface of glove 1, and to reduce direct friction from external objects and the influence of the atmospheric environment during mechanical operation, such as... Figure 1 , Figure 3 and Figure 4 As shown, the touch-sensitive glove 100 of the robotic arm also includes an outer protective sleeve 5 ( Figure 2 (Not shown in the image) The outer protective sleeve 5 is worn over the outer surface of the glove 1 and covers the flexible circuit board 6. The outer protective sleeve 5 is provided with an opening 51 for exposing the elastic trigger surface 23.

[0084] The outer protective sleeve 5 refers to the protective structure covering the outer surface of the glove 1. It can be made of an elastic polymer material, such as silicone, which is thinner than the glove 1, to provide protection against mechanical abrasion and environmental isolation, significantly improving the reliability and service life of the robotic arm's touch-sensing glove 100 in industrial operating environments. The opening 51 of the outer protective sleeve 5 refers to a specific area exposing the elastic trigger surface 23. It can be designed as a perforated structure that matches the contour of the elastic trigger surface 23 to ensure that the touch sensing function is not obstructed.

[0085] Specifically, in some embodiments, the outer protective sleeve 5 also covers the sensing processing device 3, thereby protecting the sensing processing device 3.

[0086] In some embodiments, the touch-sensitive glove 100 of the robotic hand further includes an inner protective sleeve disposed on the inner surface of the glove 1. When the touch-sensitive glove 100 of the robotic hand is assembled to the robotic hand skeleton 200 of the dexterous hand, the inner protective sleeve is located between the robotic hand skeleton 200 and the glove 1, thereby providing protection for the glove 1.

[0087] Figure 5 This is a schematic diagram of a different arrangement of the sensing processing device 3 in a touch-sensing glove 100 for a robotic hand, as provided in Embodiment 1 of this application (schematic diagram of the back side structure of the touch-sensing glove 100 for a robotic hand). Figure 5As shown, in specific implementations, the sensing processing device 3 is not limited to a single one. For example, this application further proposes that the sensing processing device 3 includes multiple finger sensing sub-processing devices 31 and palm sensing sub-processing devices 32; the multiple finger sensing sub-processing devices 31 are respectively disposed on the outer surface of the fingertip sub-sleeve 1211 of the multiple knuckle sub-sleeves 121 in each finger area sleeve 12; the palm sensing sub-processing device 32 is disposed on the outer surface of the palm area sleeve 11.

[0088] Figure 6 for Figure 5 The schematic diagram of the electrical connection structure of the touch-sensitive glove 100 of the robotic arm is shown below. Figure 6 As shown, there are five finger sensor sub-processors 31, which are respectively disposed on the outer surface of the fingertip sub-sleeve 1211 of the little finger finger area sleeve 12, the outer surface of the fingertip sub-sleeve 1211 of the ring finger finger area sleeve 12, the outer surface of the fingertip sub-sleeve 1211 of the middle finger finger area sleeve 12, the outer surface of the fingertip sub-sleeve 1211 of the index finger finger area sleeve 12, and the outer surface of the fingertip sub-sleeve 1211 of the thumb finger area sleeve 12. The five finger sensor sub-processors 31 and the palm sensor sub-processor 32 are electrically connected to the robotic arm interface 7.

[0089] On the one hand, multiple finger-sensing sub-processors 31 and palm-sensing sub-processors 32 can distribute signal processing functions by region, avoiding resource contention issues when a single processor processes multiple concurrent signals and improving the system's parallel processing capability. On the other hand, multiple finger-sensing sub-processors 31 and palm-sensing sub-processors 32 can distribute the processor's space, distributing the space across multiple fingers and palms, avoiding excessive space occupation in local areas from affecting the hand shape layout, and facilitating the simulation and shaping of the hand shape of the touch-sensing glove 100 of the robotic hand.

[0090] In specific implementations, the support layer 21 and the glove 1 are not limited to being bonded together. In this regard, this application further proposes that the touch sensing component 2 also includes an elastic band (not shown in this embodiment); the elastic band wraps around the back of the hand side of the glove 1, with its first end connected to the first side of the support layer 21 and its second end connected to the second side of the support layer 21.

[0091] Among them, the elastic band refers to a band-like structure with elasticity, which can be made of silicone or elastic fabric. Its purpose is to provide dynamic adaptability to maintain the function of the fixed support layer 21.

[0092] In the production process of assembling the dexterous hand, the support layer 21, the flexible sensing inner layer 22, and the elastic trigger surface layer 23 can be assembled first (e.g., the three are glued together) so that the touch sensing component 2 becomes a modular whole. The glove 1 is then put on the mechanical hand skeleton 200 of the dexterous hand. Then, the entire module is placed on the outer surface of the glove 1, and an elastic strap is used to wrap around the back of the hand of the glove 1. The first end of the elastic strap is connected to the first side of the support layer 21, and the second end of the elastic strap is connected to the second side of the support layer 21.

[0093] The connection between the elastic strap and the support layer 21 can be achieved by hot melt adhesive bonding or by perforation connection in the support layer 21. The first side and the second side of the support layer 21 refer to the opposite two edges of the support layer 21. The purpose is to form symmetrical connection points in the support layer 21 so as to securely mount the module on the glove 1.

[0094] In this embodiment of the solution, when any one of the touch sensing components 2 of the touch sensing glove 100 of the robotic arm is damaged, the elastic strap can be easily cut off to replace the damaged touch sensing component 2, thereby facilitating maintenance.

[0095] Specifically, the flexible circuit board 6 connecting the sensing processing device 3 and the touch sensing component 2 includes: a first flexible circuit strip, a second flexible circuit strip, a first detachable interface, and a second detachable interface. The first end of the first flexible circuit strip is electrically connected to the sensing processing device 3, and the second end of the first flexible circuit strip is electrically connected to the first detachable interface. The first end of the second flexible circuit strip is electrically connected to the touch sensing component 2, and the second end of the second flexible circuit strip is electrically connected to the second detachable interface. The first detachable interface and the second detachable interface are plugged into each other. When disassembling a damaged touch sensing component 2, simply separate the first detachable interface from the second detachable interface of the damaged touch sensing component 2. When installing a new touch sensing component 2, simply plug the first detachable interface into the second detachable interface of the new touch sensing component 2. The maintenance process is relatively convenient.

[0096] Example 2

[0097] Figure 7 This is a schematic diagram of the arrangement of the sensing processing device 3 on the back side of the hand of a touch-sensing glove 100 for a robotic arm provided in Embodiment 2 of this application (schematic diagram of the internal structure of the back side of the touch-sensing glove 100 for a robotic arm). Figure 8 for Figure 7 This is a cross-sectional view of the finger area sleeve 12 of the touch-sensitive glove 100 of the robotic arm. Figure 9 for Figure 8 Enlarged view of B in the image, as shown Figure 7 , Figure 8 and Figure 9As shown, the touch-sensitive glove 100 of the robotic arm includes: a glove 1, at least one touch-sensing component 2, and a sensing processing device 3.

[0098] Unlike Embodiment 1, in this embodiment, the support layer 21 is not disposed on the outer surface of the palm side of the glove 1, but on the inner surface of the palm side of the glove 1. In this second embodiment, the solution in Embodiment 1 can be applied to this second embodiment without departing from the purpose of this utility model application.

[0099] In this second embodiment, the palm side of the glove 1 has a touch-sensing area with an opening 1B. Each touch-sensing component 2 includes a support layer 21, a flexible sensing inner layer 22, and an elastic trigger surface layer 23. The support layer 21 is located at the opening 1B, and its outer edge is connected to the inner surface of the palm side of the glove 1. Specifically, the two can be bonded together. Bonding means forming a firm connection between the support layer 21 and the inner surface of the glove 1 using an adhesive, such as double-sided tape, hot melt adhesive, or epoxy resin. The flexible sensing inner layer 22 is located on the outer surface of the support layer 21 facing the palm side. The elastic trigger surface layer 23 and the flexible sensing inner layer 22 are spaced apart, and their outer edges are supported and connected to the support layer 21. Under external force, the flexible sensing inner layer 22 is deformed and touched. The sensing processing device 3 is electrically connected to the flexible sensing inner layer 22, and the sensing processing device 3 generates a sensing signal based on the situation where the flexible sensing inner layer 22 is touched by the elastic trigger surface layer 23.

[0100] In the production process of the touch-sensitive glove 100 for the robotic arm, the glove 1 can be flipped over so that the inside faces out and the outside faces in, and then it can be fitted onto a robotic arm mounting mold. After that, the elastic trigger surface layer 23, the flexible sensing inner layer 22, and the support layer 21 can be installed.

[0101] In the production process of assembling the dexterous hand, it is only necessary to put the pre-made touch-sensitive glove 100 of the robotic hand onto the robotic hand skeleton 200 of the dexterous hand. Figure 7 and Figure 8 (Only a partial structure of the robotic arm skeleton 200 is shown schematically in the image.)

[0102] After the dexterous hand is assembled, when an external force is applied to the elastic trigger surface 23, the elastic trigger surface 23 deforms and touches the flexible sensing inner layer 22. The sensing processing device 3 is electrically connected to the flexible sensing inner layer 22 and generates a sensing signal based on the contact of the flexible sensing inner layer 22, thereby determining that effective contact has occurred in the touch sensing area. After the external force disappears, the elastic trigger surface 23 returns to its original deformation and resumes its distance from the flexible sensing inner layer 22.

[0103] Therefore, the touch-sensing glove 100 of this robotic hand integrates tactile sensing function through an external wearable design, replacing the traditional method of implanting sensors inside the robotic hand skeleton 200. By integrating the touch-sensing component 2 into the glove 1, complex modifications to the skeleton structure are avoided, and the assembly process is more convenient, thus significantly reducing the difficulty of the manufacturing process and providing a feasible solution for the large-scale application of dexterous hands. At the same time, the support layer 21 provides a stable mounting platform for the flexible sensing inner layer 22, ensuring that the elastic trigger surface layer 23 does not easily shift when pressing the flexible sensing inner layer 22 under force. This allows the flexible sensing inner layer 22 to maintain a good relative position with respect to the robotic hand skeleton 200 of the dexterous hand, and it remains close to the actual contact area of ​​the robotic hand skeleton 200 when sensing external objects, thus achieving high accuracy in signal acquisition.

[0104] In the embodiments of this application, the elastic trigger surface layer 23 can adopt the non-layered integrated elastic trigger layer design in Embodiment 1, or it can adopt a layered design scheme. The elastic trigger surface layer 23 includes: an elastic insulating surface layer 231 and a semi-conductive film layer 232.

[0105] In the layered design scheme, the elastic insulating surface layer 231 and the glove 1 can be a single integrated component, with no gaps between them, thereby improving the overall sealing performance. The elastic insulating surface layer 231 and the glove 1 being a single integrated component means that they are formed into a whole structure through an integration process, which can be achieved by using injection molding to bond the elastic material to the glove 1 substrate.

[0106] In practical applications, in some of the embodiments described above in this application, in order to further improve the positional accuracy of touch perception of the dexterous hand, this application further proposes that the touch-sensing glove 100 of the robotic hand also includes at least one bone positioning hole 4, each bone positioning hole 4 being formed in the support layer 21.

[0107] Among them, the bone positioning hole 4 refers to the hole structure used to establish a precise positioning benchmark. It can be implemented using geometric shapes such as circular, elliptical or irregular holes, with the purpose of providing a stable physical fixation reference point for the support layer 21.

[0108] Specifically, the solution of this application precisely sets the bone positioning hole 4 at the location of the support layer 21. The bone positioning hole 4 allows the positioning post 210 of the dexterous hand's robotic skeleton 200 to be inserted to form a physical connection, thereby integrating the dexterous hand's robotic skeleton 200 and the support layer 21 into a co-force-bearing whole. When the elastic trigger surface 23 is subjected to external force, the robotic skeleton 200 and the support layer 21 can share the force together. When the dexterous hand performs grasping or touching actions, the support layer 21 and the robotic skeleton 200 maintain stable positions, ensuring that the flexible sensing inner layer 22 of the elastic trigger surface 23 is not prone to relative displacement with the robotic skeleton 200 under the action of external force, ultimately generating an accurate position sensing signal.

[0109] To further constrain the rotational freedom of the support layer 21 and improve the alignment accuracy and signal reliability of the touch sensing component 2, this application further proposes that there are at least two bone positioning holes 4, which are distributed on the outer periphery of the flexible sensing inner layer 22.

[0110] Specifically, the solution of this application forms multi-point positioning by distributing at least two bone positioning holes 4 on the outer periphery of the flexible sensing inner layer 22. When the touch-sensing glove 100 of the robotic arm is fitted onto the robotic arm skeleton 200, the positioning post 210 is inserted into the bone positioning hole 4 in a one-to-one correspondence. Since multiple positioning holes are spatially distributed on the outer periphery of the flexible sensing inner layer 22, translational and rotational degrees of freedom can be constrained simultaneously, improving the certainty of the installation position of the flexible sensing inner layer 22 on the robotic arm skeleton 200.

[0111] As a specific implementation, the touch-sensing glove 100 of the robotic hand in this application has two bone positioning holes 4 on the support layer 21. These two holes are distributed at the front and rear ends of the support layer 21 along the finger extension direction, which effectively prevents the touch-sensing glove 100 of the robotic hand from rotating and shifting, and ensures the precise alignment of the touch sensing component 2 and the robotic hand skeleton 200.

[0112] Specifically, the outer edge of the support layer 21 protrudes from the flexible sensing inner layer 22, and each bone positioning hole 4 penetrates the outer edge of the support layer 21 and passes through the integral component formed by the elastic insulating surface layer 231 and the glove 1.

[0113] For example, the bone positioning hole 4 penetrates the outer edge of the support layer 21 and is inserted into the elastic insulating surface layer 231 alone; or, the bone positioning hole 4 penetrates the outer edge of the support layer 21 and is inserted into the glove 1 alone; or, the bone positioning hole 4 penetrates the outer edge of the support layer 21 and is inserted into both the elastic insulating surface layer 231 and the glove 1.

[0114] Specifically, glove 1 includes a palm area sleeve 11 and multiple finger area sleeves 12, each finger area sleeve 12 including multiple knuckle sub-sleeves 121; multiple touch sensing components 2 are respectively disposed on the palm area sleeve 11 and each knuckle sub-sleeve 121 of each finger area sleeve 12. The sensing processing device 3 includes a processor, which is disposed on the back side of glove 1, located on the inner surface of the palm area sleeve 11, so that the flexible circuit board 6 can easily electrically connect the sensing processing device 3 and the touch sensing components 2.

[0115] Figure 10 This is a schematic diagram of a different arrangement of the sensing processing device 3 in a touch-sensitive glove 100 for a robotic hand according to Embodiment 2 of this application (schematic diagram of the back side structure of the touch-sensitive glove 100 for a robotic hand). Figure 10 As shown, the sensing processing device 3 includes multiple finger sensing sub-processors 31 and palm sensing sub-processors 32. The multiple finger sensing sub-processors 31 are disposed on the back side of the glove 1, respectively located on the outer surface of the fingertip sub-sleeve 1211 of the multiple knuckle sub-sleeves 121 in each finger area sleeve 12. The palm sensing sub-processors 32 are disposed on the back side of the glove 1, located on the inner surface of the palm area sleeve 11. The flexible sensing inner layer 22 of the multiple touch sensing components 2 inside each finger area sleeve 12 is electrically connected to the finger sensing sub-processors 31 of the fingertip sub-sleeve 1211 of that finger area sleeve 12.

[0116] On the one hand, multiple finger-sensing sub-processors 31 and palm-sensing sub-processors 32 can distribute signal processing functions by region, avoiding resource contention issues when a single processor processes multiple concurrent signals and improving the system's parallel processing capability. On the other hand, multiple finger-sensing sub-processors 31 and palm-sensing sub-processors 32 can distribute the processor's space, distributing the space across multiple fingers and palms, avoiding excessive space occupation in local areas from affecting the hand shape layout, and facilitating the simulation and shaping of the hand shape of the touch-sensing glove 100 of the robotic hand.

[0117] To avoid direct exposure of electrical connection lines to the outer surface of glove 1, and to reduce direct friction from external objects and the influence of the atmospheric environment during mechanical operation, such as... Figure 10 As shown, the touch-sensitive glove 100 of the robotic arm also includes an outer protective sleeve 5; the outer protective sleeve 5 is worn over the outer surface of the glove 1 and covers multiple finger sensor sub-processors 31, and the outer protective sleeve 5 is provided with an opening 51 for exposing the elastic trigger surface 23.

[0118] The outer protective sleeve 5 refers to the protective structure covering the outer surface of the glove 1. It can be made of an elastic polymer material, such as silicone, which is thinner than the glove 1, to provide protection against mechanical abrasion and environmental isolation, significantly improving the reliability and service life of the finger sensor sub-processor 31 of the robotic arm's touch-sensing glove 100 in industrial operating environments. The opening 51 of the outer protective sleeve 5 refers to a specific area exposing the elastic trigger surface 23. It can be designed as a perforated structure that matches the contour of the elastic trigger surface 23 to ensure that the touch sensing function is not obstructed.

[0119] In some embodiments, the touch-sensing glove 100 of the robotic hand further includes an inner protective sleeve disposed on the inner surface of the glove 1, covering the touch-sensing component 2, the flexible circuit board 6, and the palm sensor sub-processor 32. When the touch-sensing glove 100 of the robotic hand is assembled into the robotic hand skeleton 200 of the dexterous hand, the inner protective sleeve is located between the robotic hand skeleton 200 and the flexible circuit board 6 and the palm sensor sub-processor 32, thereby protecting the touch-sensing component 2, the flexible circuit board 6, and the palm sensor sub-processor 32.

[0120] Example 3

[0121] A dexterous hand includes: a robotic hand skeleton 200 and a touch-sensitive glove 100 of the robotic hand according to Embodiment 1 or Embodiment 2 above; the glove 1 is fitted onto the robotic hand skeleton 200.

[0122] Specifically, the robotic arm skeleton 200 is provided with at least one positioning post 210, and at least one positioning post 210 and at least one skeleton positioning hole 4 are inserted one-to-one.

[0123] By fully integrating the tactile sensing function (touch sensing component 2, sensing processing device 3) into the external wearable glove 1, rather than directly implanting it inside the robotic arm skeleton 200, the manufacturing process is fundamentally simplified, achieving the effects of reducing production difficulty and cost, and improving the feasibility of large-scale mass production. The touch-sensing glove 100 of the robotic arm independently realizes the tactile sensing function, and its installation method adopts a detachable design, realizing rapid assembly and separation from the robotic arm skeleton 200, significantly shortening the assembly time and improving production flexibility.

[0124] In some embodiments described above in this application, a skeleton positioning hole 4 is proposed to assist in the alignment and positioning of the touch-sensing glove 100 of the robotic hand and the robotic hand skeleton 200. This can accurately and quickly position the robotic hand skeleton 200 and the touch-sensing glove 100 of the robotic hand, while reducing the risk of relative displacement of the glove 1 during operation, thereby improving the stability of the sensing signal and enhancing the reliability of the dexterous hand in performing precision operations.

[0125] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A touch-sensitive glove for a robotic hand, characterized in that, include: Glove (1) has a touch-sensing area on the palm side, and the touch-sensing area is provided with an opening (1B); At least one touch sensing component (2), each touch sensing component (2) includes: a support layer (21), a flexible sensing inner layer (22), and an elastic trigger surface layer (23). The support layer (21) is disposed at the opening (1B), and its outer edge is connected to the inner surface of the palm side of the glove (1). The flexible sensing inner layer (22) is disposed on the outer surface of the support layer (21) facing the palm side. The elastic trigger surface layer (23) and the flexible sensing inner layer (22) are spaced apart, and their outer edges are supported and connected to the support layer (21). Under external force conditions, the flexible sensing inner layer (22) is deformed and touches the flexible sensing inner layer (22). The sensing processing device (3) is electrically connected to the flexible sensing inner layer (22), and the sensing processing device (3) generates a sensing signal according to the situation where the flexible sensing inner layer (22) is touched by the elastic trigger surface layer (23).

2. The touch-sensitive glove for a robotic hand according to claim 1, characterized in that, The elastic trigger surface layer (23) includes an elastic insulating surface layer (231) and a semi-conductive film layer (232). The outer edge of the elastic insulating surface layer (231) is connected to the support layer (21). The semi-conductive film layer (232) is disposed on the inner surface of the elastic insulating surface layer (231) and generates an electrical signal when it comes into contact with the flexible sensing inner layer (22), which is then transmitted to the sensing processing device (3). The elastic insulating surface layer (231) and the glove (1) are an integral component.

3. The touch-sensitive glove for a robotic hand according to claim 2, characterized in that, Also includes: At least one bone positioning hole (4) is provided in the support layer (21).

4. The touch-sensitive glove for a robotic hand according to claim 3, characterized in that, There are at least two bone positioning holes (4), and at least two bone positioning holes (4) are distributed on the outer periphery of the flexible sensing inner layer (22).

5. The touch-sensitive glove for a robotic hand according to claim 4, characterized in that, The outer edge of the support layer (21) protrudes from the flexible sensing inner layer (22), and each bone positioning hole (4) penetrates the outer edge of the support layer (21) and enters the integral component formed by the elastic insulating outer layer (231) and the glove (1).

6. The touch-sensitive glove for a robotic hand according to claim 1, characterized in that, The glove (1) includes a palm area sleeve (11) and multiple finger area sleeves (12), each finger area sleeve (12) including multiple knuckle sub-areas (121); The touch sensing components (2) are multiple, and the multiple touch sensing components (2) are respectively disposed in the palm area sleeve (11) and each knuckle sub-sleeve (121) of each finger area sleeve (12).

7. The touch-sensitive glove for a robotic hand according to claim 6, characterized in that, The sensing processing device (3) includes a processor disposed on the back side of the glove (1), located on the inner surface of the palm area sleeve (11); or, The sensing processing device (3) includes multiple finger sensing sub-processors (31) and palm sensing sub-processors (32); the multiple finger sensing sub-processors (31) are disposed on the back side of the glove (1) and are respectively located on the outer surface of the fingertip sub-sleeve (1211) of multiple knuckle sub-sleeves (121) in each finger area sleeve (12); the palm sensing sub-processor (32) is disposed on the back side of the glove (1) and is disposed on the inner surface of the palm area sleeve (11).

8. The touch-sensitive glove for a robotic hand according to claim 7, characterized in that, Also includes: Outer protective sleeve (5); The outer protective sleeve (5) is worn over the outer surface of the glove (1) and covers the plurality of finger sensor sub-processors (31). The outer protective sleeve (5) is provided with an opening (51) that exposes the elastic trigger surface (23).

9. A dexterous hand, characterized in that, include: Robotic arm skeleton (200); The touch-sensitive glove (100) of the robotic hand according to any one of claims 1 to 8; The glove (1) is fitted onto the robotic arm skeleton (200).

10. The dexterous hand according to claim 9, characterized in that, The touch-sensitive glove (100) of the robotic hand also includes: at least one bone positioning hole (4); The elastic trigger surface layer (23) includes an elastic insulating surface layer (231) and a semi-conductive film layer (232). The outer edge of the elastic insulating surface layer (231) is connected to the support layer (21). The semi-conductive film layer (232) is disposed on the inner surface of the elastic insulating surface layer (231). The sensing processing device (3) generates a sensing signal according to the situation where the flexible sensing inner layer (22) is touched by the semi-conductive film layer (232). The elastic insulating surface layer (231) and the glove (1) are an integral component; At least one bone positioning hole (4) is formed in the integral component consisting of the support layer (21), the elastic insulating surface layer (231) and the glove (1); The robotic arm skeleton (200) is provided with at least one positioning post (210), and at least one positioning post (210) and at least one skeleton positioning hole (4) are inserted one-to-one.

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