A robot dexterous finger and a pressure detection device thereof

Abstract

The embodiment of the present disclosure provides a robot dexterous finger and a pressure detection device thereof, the detection device comprising a cantilever beam structure and a pressure sensor; a fixed end of the cantilever beam structure is used for fixed connection with a knuckle connector of the finger, and a free end of the cantilever beam structure is used for being inserted into a finger pulp of the finger; the cantilever beam structure has a first surface towards a finger pulp pressing part and a second surface away from the finger pulp pressing part along a thickness direction of the cantilever beam structure; the first surface of the cantilever beam structure is used for being provided with a finger pulp material body, and the second surface of the cantilever beam structure is provided with the pressure sensor. Wherein, when the finger pulp pressing part is pressed, the cantilever beam structure is also pressed and deformed, and the corresponding pressure sensor is also deformed to generate a pressure signal, and then the pressure detection of the finger pulp is realized. The service life of the pressure detection device is long and the stability is high.

Description

Technical Field

[0001] This disclosure pertains to the field of pressure sensing technology, specifically relating to a robotic dexterous finger and its pressure detection device. Background Technology

[0002] A robot's dexterous hand is the end effector of a humanoid robot, enabling it to mimic complex hand movements. A dexterous hand typically consists of a palm and multiple mechanical fingers. To enhance its end-effector sensing capabilities, pressure sensors can be placed on the knuckles. When the dexterous hand grasps an object, the pressure sensors detect pressure signals, and the system analyzes and processes these signals to generate appropriate feedback actions.

[0003] In some existing robotic fingers, pressure sensors are directly applied to the surface of the knuckle to detect contact with objects. However, direct contact makes the pressure sensors susceptible to friction damage. In other existing robotic fingers, the sensing material is located inside the fingertip, with the outer layer pressing against the sensing material to achieve pressure detection. However, this direct pressure method results in a shorter lifespan and lower stability.

[0004] To address the aforementioned problems, it is necessary to propose a well-designed robotic dexterous finger and its pressure detection device that can effectively improve these issues. Utility Model Content

[0005] The present disclosure aims to at least solve one of the technical problems existing in the prior art, and to provide a robot dexterous finger and its pressure detection device.

[0006] A first aspect of this disclosure provides a robot dexterous finger pressure detection device, including a cantilever beam structure and a pressure sensor; The fixed end of the cantilever beam structure is used to be fixedly connected to the finger joint connector, and the free end of the cantilever beam structure is used to be inserted into the fingertip. The cantilever beam structure has a first surface facing the fingertip pressing part and a second surface away from the fingertip pressing part along its thickness direction; The first surface of the cantilever beam structure is provided with a fingertip material, and the second surface of the cantilever beam structure is provided with the pressure sensor.

[0007] Optionally, the pressure sensor is positioned near the fixed end of the cantilever beam structure.

[0008] Optionally, the device may further include a cantilever support; The cantilever support is disposed on the finger joint connector and is disposed opposite to the second surface of the cantilever beam structure.

[0009] Optionally, the cantilever support is integrally formed with the knuckle connector.

[0010] Optionally, the length of the cantilever support is the same as the length of the cantilever beam structure.

[0011] Optionally, the cantilever support is made of metal.

[0012] Optionally, the cantilever beam structure is formed from elastic steel sheets or carbon fiber materials.

[0013] Optionally, the pressure sensor may include a piezoresistive pressure sensor, a piezoelectric sensor, or a strain gauge pressure sensor.

[0014] Another aspect of this disclosure provides a robotic dexterous finger, including a fingertip, a knuckle connector, a fingertip material body, and the pressure detection device described above. The fixed end of the cantilever beam structure is fixed to the finger joint connector, and the free end of the cantilever beam structure is inserted into the fingertip; The fingertip material is disposed on the first surface of the cantilever beam structure, and the pressure sensor is disposed on the second surface of the cantilever beam structure.

[0015] Optionally, the fingertip material is respectively adhered to the first surface of the cantilever beam structure and the inner surface of the fingertip.

[0016] This disclosure discloses a robotic dexterous finger and its pressure detection device. The detection device includes a cantilever beam structure and a pressure sensor. The fixed end of the cantilever beam structure is fixedly connected to the finger joint connector, and the free end of the cantilever beam structure is inserted into the fingertip. The cantilever beam structure has a first surface facing the fingertip pressing part and a second surface away from the fingertip pressing part along its thickness direction. The first surface of the cantilever beam structure is used to provide the fingertip material, and the second surface of the cantilever beam structure is provided with the pressure sensor. When the fingertip pressing part is pressed, the cantilever beam structure also deforms under pressure, and the corresponding pressure sensor also deforms to generate a pressure signal, thereby realizing the pressure detection of the fingertip. This pressure detection device has a long service life and high stability. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of a robot dexterous finger pressure detection device according to one embodiment of the present disclosure; Figure 2 This is a schematic diagram of the structure of a robot dexterous finger pressure detection device according to another embodiment of this disclosure. Detailed Implementation

[0018] To enable those skilled in the art to better understand the technical solutions of the embodiments of this disclosure, the embodiments of this disclosure will be further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0019] The typical pressure-sensing structure at the tip of a dexterous finger consists of a layer of sensing material placed at the fingertip, or a layer of elastomer directly pressing against the sensing material. This type of structure has a relatively low lifespan and stability.

[0020] In response to the above problems, such as Figure 1 As shown, one aspect of this disclosure provides a robot dexterous finger pressure detection device 100, which can identify information such as the hardness or softness of an object contacted by the dexterous hand. The robot dexterous finger pressure detection device 100 includes a cantilever beam structure 110 and a pressure sensor 120.

[0021] The fixed end of the cantilever beam structure 110 is used to be fixedly connected to the finger joint connector 220, and the free end of the cantilever beam structure 110 is used to be inserted into the fingertip 210.

[0022] In this embodiment, the fixed end of the cantilever beam structure 110 is fixed to the finger joint connector 220, so that the cantilever root of the cantilever beam structure 110 remains relatively fixed when the fingertip is subjected to force.

[0023] The cantilever beam structure 110 has a first surface 111 facing the fingertip pressing part and a second surface 112 away from the fingertip pressing part along its thickness direction. The fingertip pressing part refers to the position where the fingertip contacts the object.

[0024] Specifically, such as Figure 1 As shown, the left surface of the cantilever beam structure 110 is its first surface, and the right surface of the cantilever beam structure 110 is its second surface.

[0025] The first surface of the cantilever beam structure 110 is provided with a fingertip material body, and the second surface of the cantilever beam structure 110 is provided with a pressure sensor 120.

[0026] Specifically, when the fingertip is pressed, the cantilever beam structure 110 deforms under pressure, and the corresponding pressure sensor 120 also deforms accordingly, thereby generating a pressure signal, which can realize the pressure detection function of the fingertip.

[0027] This embodiment of the robotic dexterous finger pressure detection device includes a cantilever beam structure and a pressure sensor. The fixed end of the cantilever beam structure is fixedly connected to a finger joint connector, and the free end of the cantilever beam structure is inserted into the fingertip. The cantilever beam structure has a first surface facing the fingertip pressing part and a second surface away from the fingertip pressing part along its thickness direction. The first surface of the cantilever beam structure is provided with a fingertip material, and the second surface of the cantilever beam structure is provided with a pressure sensor. When the fingertip pressing part is pressed, the cantilever beam structure also deforms under pressure, and the corresponding pressure sensor also deforms to generate a pressure signal, thereby realizing the pressure detection of the fingertip. This pressure detection device can realize the pressure detection when a robotic finger contacts an object to determine the characteristics of the contacting object; the pressure sensor does not directly contact the object, is not easily damaged by friction, and has a long service life; by pressing the fingertip material to deform the cantilever beam structure, it has high stability.

[0028] For example, such as Figure 1 As shown, the pressure sensor 120 is positioned near the fixed end of the cantilever beam structure 110. That is, the pressure sensor 120 is located at the root of the cantilever of the cantilever beam structure 110, where the deformation of the cantilever beam structure 110 is relatively large, thereby improving the pressure detection sensitivity of the pressure sensor 120.

[0029] For example, such as Figure 2 As shown, the robot's dexterous finger pressure detection device 100 also includes a cantilever support 130; the cantilever support 130 is disposed on the knuckle connector 220 and is disposed opposite to the second surface of the cantilever beam structure 110.

[0030] Specifically, the cantilever support 130 can be welded and fixed to the finger joint connector 220; of course, the cantilever support 130 and the finger joint connector 220 can be integrally formed. For example... Figure 2 As shown, the cantilever support 130 is located on the right side of the cantilever beam structure 110 and is arranged opposite to the cantilever beam structure 110.

[0031] In this embodiment, the cantilever support member 130 can support the cantilever beam structure 110 and prevent the cantilever beam structure 110 from being deformed by overpressure.

[0032] For example, such as Figure 2 As shown, in this embodiment, the length of the cantilever support 130 is the same as the length of the cantilever beam structure 110, so as to better support the cantilever beam structure 110.

[0033] For example, in this embodiment, the cantilever support 130 can be made of metal material. This embodiment does not specifically limit the specific metal material and can select it according to actual needs.

[0034] For example, in this embodiment, the cantilever beam structure 110 can be formed of elastic steel sheet or carbon fiber material. Of course, the cantilever beam structure 110 can also be formed of other metal materials. It should be noted that the material of the cantilever beam structure 110 is not specifically limited and can be selected according to actual needs.

[0035] For example, in this embodiment, the pressure sensor 120 may include a piezoresistive pressure sensor, a piezoelectric sensor, or a strain gauge pressure sensor, etc. It should be noted that this embodiment does not specifically limit the specific type of pressure sensor 120, and it can be selected according to actual needs.

[0036] Another aspect of this disclosure provides a robotic dexterous finger 200, including a fingertip 210, a knuckle connector 220, a fingertip material body, and the robotic dexterous finger pressure detection device 100 described above. The structural features of the robotic dexterous finger pressure detection device 100 have been described in detail above and will not be repeated here.

[0037] The fixed end of the cantilever beam structure 110 is fixed to the finger joint connector 220, and the free end of the cantilever beam structure 110 is inserted into the fingertip 210.

[0038] The fingertip material is disposed on the first surface of the cantilever beam structure 110, and the pressure sensor 120 is disposed on the second surface of the cantilever beam structure 110. That is, the fingertip material and the pressure sensor 120 are located on opposite sides of the cantilever beam structure 110.

[0039] Specifically, when the fingertip 210 of the robot's dexterous finger 200 is pressed, the pressing part of the fingertip comes into contact with the object, and the fingertip material inside the fingertip 210 is subjected to pressure, causing the cantilever beam structure 110 to deform under pressure. The corresponding pressure sensor 120 also deforms accordingly, thereby generating a pressure signal, which can realize the pressure detection function of the fingertip.

[0040] For example, in this embodiment, the fingertip material can be glued to the first surface of the cantilever beam structure 110 and the inner surface of the fingertip 210 respectively.

[0041] For example, in this embodiment, the fingertip material can be made of rubber. Of course, the fingertip material can also be made of other wear-resistant materials with a certain degree of elasticity.

[0042] It should be noted that, in this embodiment, the specific material of the fingertip material is not specifically limited, and can be selected according to actual needs.

[0043] The robot dexterous finger of this disclosure adopts the robot dexterous finger pressure detection device described above, which makes the robot dexterous finger have a long service life and high stability.

[0044] It is understood that the above embodiments are merely exemplary implementations used to illustrate the principles of the embodiments of this disclosure, and the embodiments of this disclosure are not limited thereto. For those skilled in the art, various modifications and improvements can be made without departing from the spirit and essence of the embodiments of this disclosure, and these modifications and improvements are also considered to be within the protection scope of the embodiments of this disclosure.

Claims

1. A robot dexterous finger pressure detection device, characterized in that, Includes cantilever beam structure and pressure sensor; The fixed end of the cantilever beam structure is used to be fixedly connected to the finger joint connector, and the free end of the cantilever beam structure is used to be inserted into the fingertip. The cantilever beam structure has a first surface facing the fingertip pressing part and a second surface away from the fingertip pressing part along its thickness direction; The first surface of the cantilever beam structure is provided with a fingertip material, and the second surface of the cantilever beam structure is provided with the pressure sensor.

2. The apparatus according to claim 1, characterized in that, The pressure sensor is positioned near the fixed end of the cantilever beam structure.

3. The apparatus according to claim 1, characterized in that, The device also includes a cantilever support; The cantilever support is disposed on the finger joint connector and is disposed opposite to the second surface of the cantilever beam structure.

4. The apparatus according to claim 3, characterized in that, The cantilever support is integrally formed with the knuckle connector.

5. The apparatus according to claim 3, characterized in that, The length of the cantilever support is the same as the length of the cantilever beam structure.

6. The apparatus according to claim 3, characterized in that, The cantilever support is made of metal.

7. The apparatus according to any one of claims 1 to 6, characterized in that, The cantilever beam structure is made of elastic steel sheets or carbon fiber materials.

8. The apparatus according to any one of claims 1 to 6, characterized in that, The pressure sensor includes a piezoresistive pressure sensor, a piezoelectric sensor, or a strain gauge pressure sensor.

9. A robotic dexterous finger, characterized in that, Includes a fingertip, a knuckle connector, a fingertip material body, and the pressure detection device according to any one of claims 1 to 8; The fixed end of the cantilever beam structure is fixed to the finger joint connector, and the free end of the cantilever beam structure is inserted into the fingertip; The fingertip material is disposed on the first surface of the cantilever beam structure, and the pressure sensor is disposed on the second surface of the cantilever beam structure.

10. The robotic dexterous finger according to claim 9, characterized in that, The fingertip material is respectively adhered to the first surface of the cantilever beam structure and the inner surface of the fingertip.

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