A fingertip tactile sensor

Abstract

The utility model discloses a fingertip touch sensor relates to robot technical field, including the skin rubber coating and circuit board, the inside fixed connection of skin rubber coating has the framework, the cavity is left between skin rubber coating with the framework, the circuit board is fixed on the framework, a plurality of magnetic induction hall elements are connected with the bottom array of circuit board, second flexible filling layer is located in the cavity and is located below circuit board, the utility model discloses touch sensor perception dimension is many, can perceive six dimensional stress, has realized to three -dimensional space internal force's size, direction and the all -round capture of moment, compact structure simultaneously, small and exquisite, let sensor can easily integrate into the finger of robot dexterous hand little space etc, will not cause too much limit to the overall structure and the motion flexibility of dexterous hand, makes dexterous hand when performing various operation tasks, can keep good flexibility and agility.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a fingertip tactile sensor. Background Technology

[0002] In the continuous development of robotics technology, the dexterous hand, as a key execution component for robots to interact with the external environment, has extremely high requirements for tactile perception. A dexterous hand with precise and multi-dimensional tactile perception capabilities can grasp objects more flexibly and safely, and complete complex operation tasks. It has broad and important application prospects in many fields such as industrial automation and service robots.

[0003] Traditional tactile sensors currently have some shortcomings. They have a single force perception dimension, mostly only able to sense forces in one or a few directions, making it difficult to fully capture information about complex external forces. This causes robotic dexterity hands to be unable to accurately control the force and angle of grasping objects with complex shapes and textures, easily resulting in unstable grasping or even damage to the objects. At the same time, tactile sensors are large in size and have a rigid surface, making it difficult for them to adapt to the confined space and flexible movement requirements of robotic dexterity hands, limiting the dexterity hands' movement flexibility. Moreover, when in contact with objects, the surface is easily scratched. To address these issues, we propose a fingertip tactile sensor. Utility Model Content

[0004] The purpose of this invention is to address the shortcomings of existing technologies by proposing a fingertip tactile sensor. Its advantages lie in its multi-dimensional sensing capability, capable of detecting force in six dimensions. This enables comprehensive capture of the magnitude, direction, and torque of forces within three-dimensional space. Its compact structure and small size allow for easy integration into confined spaces such as the fingers of a robot's dexterous hand, without excessively restricting the overall structure and mobility of the hand. This allows the dexterous hand to maintain excellent flexibility and agility when performing various tasks.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A fingertip tactile sensor includes an outer sheath and a circuit board. A frame is fixedly connected inside the outer sheath, and a cavity is left between the outer sheath and the frame. The circuit board is fixed to the frame, and multiple magnetic Hall elements are arrayed at the bottom of the circuit board. A second flexible filling layer is disposed in the cavity and located below the circuit board. The cavity also contains a second flexible filling layer with multiple circular grooves at its bottom and the top of the second flexible filling layer is attached to the multiple magnetic Hall elements. Magnetic beads are connected inside each of the multiple circular grooves, and the multiple magnetic beads correspond to the multiple magnetic Hall elements. A shielding layer is provided at the opening of the multiple circular grooves. The cavity also contains a first flexible filling layer that covers the shielding layer.

[0006] The above technical solution allows for the sensing of changes in magnetic fields through multiple magnetic Hall elements, which can detect the magnetic fields of multiple magnetic beads. Simultaneously, multiple shielding layers can shield the external magnetic field, preventing interference from external magnetic fields. When an external force is applied to the multiple magnetic beads, the first and second flexible filling layers deform under pressure, causing a change in the position of the beads. This allows the magnetic sensing elements to detect the magnetic field change. A neural network algorithm can then be used to infer the magnitude and direction of the external force, thus achieving tactile functionality. The first and second flexible filling layers not only deform under external force, transmitting the force, but their flexible nature also better simulates the tactile sensation of human fingers, making the sensor's contact with objects more closely resemble the real human tactile experience.

[0007] The present invention is further configured such that the circuit board is fixed to the frame by screws, wherein the screws extend from the bottom of the circuit board to the frame and are located in the gaps between the plurality of magnetic induction Hall elements.

[0008] The above technical solution allows the circuit board to be fixedly connected to the frame using screws.

[0009] The present invention is further configured to include an interface board, which is located at the tail end of the frame and welded to the circuit board at an angle. The interface board includes connectors.

[0010] Through the above technical solutions: the interface board is pre-fixed by engaging with the positioning holes at the tail end of the frame through positioning pins, and the interface board is welded to the circuit board at an angle. The connector can realize the transmission of signals and power between the sensor and the external control system.

[0011] The present invention is further provided that the interface board and the circuit board are provided with semi-hole-shaped grooves at the welding connection.

[0012] The above technical solution allows for the direct soldering of corresponding solder points on the interface board and the circuit board by using a semi-hollow groove stamp hole solder pad.

[0013] The present invention is further configured such that the interface of the connector protrudes from the tail end of the frame, and the tail end of the frame is provided with a chamfer and a groove for clearance.

[0014] The above technical solution, through the combination of chamfered clearance and recessed clearance, provides sufficient space for the soldering iron to be inserted and operated during soldering, ensuring the smooth progress of the soldering process.

[0015] The present invention is further provided that a flange is provided on one side of the outer skin coating, and an overflow groove is provided on the flange.

[0016] The above technical solution involves a flange on one side of the outer sheath, with an overflow groove on the flange. The flange on the outer sheath allows for positioning relative to the frame, and together with the flange, it achieves double fixation of the outer sheath. The overflow groove allows material to overflow when the flange is clamped by the flange. The overflow groove absorbs deformation, prevents the sheath from bulging, effectively maintains the regularity of the sensor's shape, and avoids appearance defects and performance impact caused by deformation.

[0017] The present invention is further configured such that the front end of the skeleton is provided with an arc-shaped protrusion, and the arc-shaped protrusion is disposed opposite to the front end of the circuit board.

[0018] The above technical solution protects the circuit board from damage caused by bumps and knocks through the arc-shaped protrusions.

[0019] The present invention is further configured such that a flange is installed on one side of the frame, and the flange has an opening and a mounting hole.

[0020] The above technical solution, by creating mounting holes and openings on the flange, makes it extremely convenient to install the sensor onto a finger and to plug and unplug external cables, thus enhancing the sensor's practicality and maintainability.

[0021] The present invention is further configured such that the connector extends through the opening to one side of the flange.

[0022] The above technical solutions ensure that the connectors are exposed for easy cable connection, while also preventing dust and liquid from entering the sensor through gaps, thus improving protection performance.

[0023] The present invention is further configured such that the first flexible filling layer, the second flexible filling layer and the outer skin coating are integrally formed by segmented casting.

[0024] The above technical solution ensures the integrity of the magnetic induction Hall element and the first flexible filling layer with the outer coating, making the sensor structure more robust, transmitting external force more evenly, and improving the accuracy of tactile perception.

[0025] The beneficial effects of this utility model are as follows: 1. A fingertip tactile sensor, which has multiple sensing dimensions and can sense forces in six dimensions, realizing the all-round capture of the magnitude, direction and torque of forces in three-dimensional space.

[0026] 2. A fingertip tactile sensor with a compact structure and small size, which allows the sensor to be easily integrated into the narrow space of the robot's dexterous hand, such as the fingers, without causing too many restrictions on the overall structure and movement flexibility of the dexterous hand, so that the dexterous hand can maintain good flexibility and agility when performing various operation tasks.

[0027] 3. A fingertip tactile sensor, through its biomimetic design, highly simulates the shape and tactile characteristics of human fingers, making it more suitable for applications of embodied intelligence and dexterous hands. It can more naturally simulate the tactile perception and movement behavior of human hands, improving the robot's interaction experience and adaptability with the environment.

[0028] 4. A fingertip tactile sensor, wherein the outer skin is coated with a flexible material, which makes the flexible material have good integrity and makes the overall structure of the sensor more robust. At the same time, the flexible material is soft and can effectively avoid scratching the surface of the object when in contact with it.

[0029] 5. A fingertip tactile sensor employing magnetic shielding technology can effectively isolate interference from external magnetic fields, ensuring that the sensor's internal Hall element and other magnetic sensing components can accurately sense changes in the magnetic field generated by the small magnet due to external force, greatly improving the accuracy and stability of tactile perception, and can also work normally in complex environments with strong magnetic fields. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the overall structure of a fingertip tactile sensor proposed in this utility model; Figure 2 This is a cross-sectional structural schematic diagram of a fingertip tactile sensor proposed in this utility model; Figure 3 This is a schematic diagram showing the location of the air-cushioning groove; Figure 4 This is a schematic diagram showing the location of the stamp hole solder joints.

[0031] In the diagram: 1. Outer sheath; 2. Frame; 3. Circuit board; 4. Magnetic induction Hall element; 5. First flexible filling layer; 6. Second flexible filling layer; 7. Magnetic bead; 8. Shielding layer; 9. Interface board; 10. Flange; 11. Connector; 12. Arc-shaped protrusion. Detailed Implementation

[0032] The technical solution of this patent will be further described in detail below with reference to specific embodiments.

[0033] The embodiments of this patent are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this patent, and should not be construed as limiting this patent.

[0034] In the description of this patent, it should be understood that the terms “center,” “upper,” “lower,” “front,” “back,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” and “outer,” etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this patent 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. Therefore, they should not be construed as limitations on this patent.

[0035] In the description of this patent, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection or setting, a detachable connection or setting, or an integral connection or setting. Those skilled in the art can understand the specific meaning of the above terms in this patent according to the specific circumstances.

[0036] Reference Figure 1-4A fingertip tactile sensor includes an outer sheath 1 and a circuit board 3. The outer sheath 1 has a frame 2 fixedly connected inside, with a cavity between the outer sheath 1 and the frame 2. The circuit board 3 is fixed to the frame 2, and multiple magnetic Hall elements 4 are arrayed at the bottom of the circuit board 3. A second flexible filling layer 6 is disposed within the cavity and located below the circuit board 3. The cavity also contains the second flexible filling layer 6, with multiple circular grooves at its bottom and its top abutting against the multiple magnetic Hall elements 4. Each of the circular grooves contains a magnetic bead 7, which corresponds to a magnetic Hall element 4. A shielding layer 8 is provided at the opening of each circular groove. The cavity also contains a first flexible filling layer 5, which covers the shielding layer 8. The sensor operates via multiple magnetic Hall elements 4 mounted on the circuit board 3. Under its influence, multiple magnetic induction Hall elements 4 can sense changes in the magnetic field. At the same time, multiple magnetic induction Hall elements 4 can sense the magnetic field of multiple magnetic beads 7, and the setting of multiple shielding layers 8 can shield the external magnetic field and prevent external magnetic fields from interfering with the Hall elements. When an external force is applied to multiple magnetic beads 7, the first flexible filling layer 5 and the second flexible filling layer 6 will be compressed and deformed. At this time, the position of multiple magnetic beads 7 also changes. The magnetic induction element detects the change in the magnetic field and can infer the magnitude and direction of the external force through a neural network algorithm, thereby realizing the tactile function. The first flexible filling layer 5 and the second flexible filling layer 6 can not only deform when subjected to external force and transmit the force, but the flexible characteristics of the first flexible filling layer 5 and the second flexible filling layer 6 can also better simulate the touch of human fingers, making the sensor more closely resemble the real human tactile experience when in contact with objects.

[0037] Specifically, the circuit board 3 is fixed to the frame 2 by screws, wherein the screws pass through the bottom of the circuit board 3 to the frame 2, and the circuit board 3 can be fixedly connected to the frame 2 by the screws.

[0038] Specifically, it also includes an interface board 9, which is located at the tail end of the frame 2 and welded to the circuit board 3 at an angle. The interface board 9 includes a connector 11. The interface board 9 is pre-fixed by engaging with the positioning hole at the tail end of the frame 2 through a positioning pin. At the same time, the interface board 9 is welded to the circuit board 3 at an angle. The connector 11 can realize the transmission of signals and power between the sensor and the external control system.

[0039] Specifically, the interface board 9 and the circuit board 3 are provided with semi-hole-shaped grooves at the welding connection points. The corresponding solder points on the interface board 9 and the circuit board 3 can be directly welded together by setting the stamp hole solder pad with a semi-hollow groove shape.

[0040] Specifically, the interface of the connector 11 protrudes from the tail end of the frame 2. The tail end of the frame 2 is provided with a chamfer and a slot. The chamfer and the slot provide sufficient space for the soldering iron to be inserted and operated during soldering, ensuring that the soldering process proceeds smoothly.

[0041] Specifically, one side of the outer sheath 1 has a flange with an overflow groove. The flange on the outer sheath 1 enables positioning relative to the frame 2, and together with the flange 10, it achieves double fixation of the outer sheath 1. The overflow groove allows material to overflow when the flange 10 clamps the flange. The overflow groove can absorb deformation, prevent the sheath from bulging, effectively maintain the regularity of the sensor's shape, and avoid appearance defects and performance impact caused by deformation.

[0042] Specifically, the front end of the frame 2 is provided with an arc-shaped protrusion 12, which is positioned opposite to the front end of the circuit board 3. The arc-shaped protrusion 12 can protect the circuit board 3 and prevent it from being damaged by bumps.

[0043] Specifically, a flange 10 is installed on one side of the frame 2, and the flange 10 has openings and mounting holes. By opening mounting holes and openings on the flange 10, it is extremely convenient to install the sensor on the finger and to plug and unplug external cables, which enhances the practicality and maintainability of the sensor.

[0044] Specifically, connector 11 extends through the opening to one side of flange 10, ensuring that connector 11 is exposed for easy cable connection, while also preventing dust and liquid from entering the sensor through the gap, thus improving protection performance.

[0045] Specifically, the first flexible filling layer 5, the second flexible filling layer 6, and the outer sheath 1 are made into a whole by segmented casting. This manufacturing process ensures the integrity of the magnetic induction Hall element 4, the first flexible filling layer 5, and the outer sheath 1, making the sensor structure more robust, able to transmit external force more evenly, and improving the accuracy of tactile perception.

[0046] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A fingertip tactile sensor, comprising an outer sheath (1) and a circuit board (3), characterized in that, The outer skin (1) is fixedly connected to the skeleton (2), and there is a cavity between the outer skin (1) and the skeleton (2). The circuit board (3) is fixed on the skeleton (2), and multiple magnetic induction Hall elements (4) are arrayed at the bottom of the circuit board (3). The second flexible filling layer (6) is disposed in the cavity and located below the circuit board (3). The bottom of the second flexible filling layer (6) is provided with multiple circular grooves, the top of the second flexible filling layer (6) is attached to multiple magnetic induction Hall elements (4), the interior of each of the multiple circular grooves is connected with a magnetic bead (7), and the multiple magnetic beads (7) are respectively corresponding to the multiple magnetic induction Hall elements (4), and a shielding layer (8) is provided at the opening of the multiple circular grooves. The cavity is further provided with a first flexible filling layer (5), which covers the shielding layer (8).

2. A fingertip tactile sensor according to claim 1, characterized in that, The circuit board (3) is fixed to the frame (2) by screws, wherein the screws extend from the bottom of the circuit board (3) to the frame (2) and are located in the gaps between the plurality of magnetic induction Hall elements (4).

3. A fingertip tactile sensor according to claim 1, characterized in that, It also includes an interface board (9), which is located at the tail end of the frame (2) and welded at an angle to the circuit board (3). The interface board (9) includes a connector (11).

4. A fingertip tactile sensor according to claim 3, characterized in that, The interface board (9) and the circuit board (3) are both provided with semi-hole-shaped grooves at the welding connection.

5. A fingertip tactile sensor according to claim 3, characterized in that, The interface of the connector (11) protrudes from the tail end of the skeleton (2), and the tail end of the skeleton (2) is provided with a chamfer and a groove to prevent air leakage.

6. A fingertip tactile sensor according to claim 1, characterized in that, The outer skin (1) has a flange on one side, and an overflow groove is provided on the flange.

7. A fingertip tactile sensor according to claim 1, characterized in that, The front end of the frame (2) is provided with an arc-shaped protrusion (12), which is positioned opposite to the front end of the circuit board (3).

8. A fingertip tactile sensor according to claim 1, characterized in that, A flange (10) is installed on one side of the frame (2), and the flange (10) has openings and mounting holes.

9. A fingertip tactile sensor according to claim 3, characterized in that, The connector (11) extends through the opening to one side of the flange (10).

10. A fingertip tactile sensor according to claim 7, characterized in that, The first flexible filling layer (5), the second flexible filling layer (6) and the outer skin coating (1) are made into a whole by segmented casting.

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