CN-122008273-A - Be applied to pressure sensor fingertip of smart hand

CN122008273ACN 122008273 ACN122008273 ACN 122008273ACN-122008273-A

Abstract

The invention relates to the technical field of smart hand sensing, and provides a pressure sensor fingertip applied to a smart hand, wherein when the outer surface of a finger belly soft shell of the pressure sensor fingertip is pressed, the pressure of the pressure sensor fingertip is respectively transmitted to a measuring electrode of a pressure distribution measuring layer on the upper layer of a film sensor along a convex force guiding structure on the inner side of the finger belly soft shell, so that the function of pressure distribution measurement is realized, meanwhile, a force value measuring layer is additionally arranged below the pressure distribution measuring layer, and a sensing area with a relatively large area is arranged on the force value measuring layer, so that the pressure is completely transmitted to a force value sensing point area of the force value measuring layer, the accuracy of force value sensing is greatly ensured, and the problem that the pressure distribution measurement and the force value measurement with higher accuracy are difficult to be realized simultaneously by the smart hand sensing fingertip is solved, and the accuracy and the grabbing performance of smart hand force sensing are improved.

Inventors

CHEN LIYANG
ZHOU LIWEI
ZHANG ZHIQIANG

Assignees

悟通感控(北京)科技有限公司
悟通感控(山东)科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260414

Claims (10)

1. The pressure sensor fingertip applied to the dexterous hand is characterized by comprising a finger belly soft shell and a fingertip bottom shell, wherein a semi-closed pressure sensing cavity is formed between the finger belly soft shell and the fingertip bottom shell, a flexible film sensor, a movable plate, a force guide column and a fixed plate are arranged in the pressure sensing cavity, and the movable plate is clamped on the inner side of the finger belly soft shell and can displace relative to the fixed plate along with the pressing of the finger belly soft shell; The flexible film sensor comprises a pressure distribution measuring layer and a force value measuring layer, wherein the pressure distribution measuring layer is arranged on the movable plate, the force value measuring layer is arranged on the fixed plate, and the force guide column is arranged between the movable plate and the force value measuring layer; The pressure distribution measuring layer comprises a plurality of measuring electrodes and is used for obtaining corresponding scattered pressure values fed back by the protruding force guiding structures, the force value measuring layer is provided with a force value measuring sensing area, one end of the force guiding column is in contact with the force value measuring sensing area, and the other end of the force guiding column is in contact with one side, away from the pressure distribution measuring layer, of the movable plate and is used for obtaining total pressure values fed back by the protruding force guiding structures.
2. The fingertip of the pressure sensor for the dexterous hand according to claim 1, wherein an upper fixing buckle is arranged on one side of the movable plate far away from the abdomen soft shell, a lower fixing buckle is arranged on the fixed plate, and the upper fixing buckle and the lower fixing buckle are mutually buckled; two sides of the movable plate extend to one side far away from the abdomen soft shell respectively to form a first rib plate connecting piece, and a positioning pin mounting hole is formed in the first rib plate connecting piece; The two sides of the fixed plate extend to one side far away from the movable plate respectively to form a second rib plate connecting piece, a locating pin movable hole is formed in the second rib plate connecting piece, the length direction of the locating pin movable hole is perpendicular to the fixed plate, and the locating pin mounting hole is aligned with the locating pin movable hole and connected through a locating pin, so that the movable plate is displaced relative to the fixed plate when the abdomen soft shell is pressed.
3. The finger tip of the pressure sensor for a dexterous hand according to claim 1, An upper fixing buckle is arranged on one side, away from the abdomen soft shell, of the movable plate, the upper fixing buckle is arranged at two ends of the movable plate, a lower fixing buckle is arranged at two ends of the fixing plate, and the upper fixing buckle and the lower fixing buckle are mutually buckled.
4. The finger tip of the pressure sensor for a dexterous hand according to claim 1, The two sides of the movable plate extend to one side far away from the abdomen soft shell respectively to form a first rib plate connecting piece, positioning pin mounting holes are formed in the first rib plate connecting piece, and the positioning mounting holes are formed in the two ends of the movable plate in the extending direction; the two sides of the fixed plate extend to one side far away from the movable plate respectively to form a second rib plate connecting piece, a positioning pin movable hole is formed in the second rib plate connecting piece, the length direction of the positioning pin movable hole is perpendicular to the fixed plate, and the two ends of the fixed plate along the length direction are provided with the positioning pin movable holes; the locating pin mounting hole is aligned with the locating pin movable hole and connected with the locating pin, so that the movable plate is displaced relative to the fixed plate when the abdomen soft shell is pressed.
5. The finger tip for a pressure sensor of a dexterous hand according to claim 1, wherein the fixed plate is hingedly connected to the movable plate, the hinged connection being located proximate a tip region of the abdomen soft shell and the finger tip bottom shell; The two sides of the fixed plate extend to one side far away from the movable plate to form a second rib plate connecting piece, the second rib plate connecting piece is provided with a locating pin movable hole, the length direction of the locating pin movable hole is perpendicular to the fixed plate, and the locating pin mounting hole is aligned with the locating pin movable hole and connected through a locating pin, so that the movable plate is displaced relative to the fixed plate when the finger belly soft shell is pressed.
6. The finger tip of the pressure sensor for the dexterous hand according to claim 2,4 or 5, wherein a bottom shell fixing structure is further arranged on one side of the fixing plate away from the movable plate, and a fixing hole is further arranged on the second rib plate connecting piece, and the bottom shell fixing structure is connected with the fixing hole through the connecting piece and is used for being fixedly connected with the inner side of the finger tip bottom shell.
7. The finger tip of any one of claims 1 to 5, wherein a plurality of fixing clamping grooves are formed in the inner side of the abdomen soft shell, and the edge of the movable plate is connected with the abdomen soft shell through the fixing clamping grooves; a pressure distribution measuring surface is arranged on one side of the movable plate, facing the abdomen soft shell, and the pressure distribution measuring layer is fixedly bonded with the pressure distribution measuring surface; The fixed plate is provided with a force value measuring surface towards one side of the movable plate, and the force value measuring layer is fixedly bonded with the force value measuring surface.
8. The finger tip of the pressure sensor for a dexterous hand according to any one of claims 1 to 5, wherein the flexible thin film sensor further comprises a component layer, a component fixing surface is arranged on one side of the fixing plate away from the movable plate, and the component layer is adhered and fixed with the component fixing surface.
9. The finger tip of the pressure sensor for a dexterous hand according to any one of claims 1 to 5, wherein a force guiding column mounting groove is formed on one side of the movable plate facing the fixed plate, and one end of the force guiding column far away from the fixed plate is embedded in the force guiding column mounting groove and is adhered and fixed with the force guiding column mounting groove.
10. The finger tip of the pressure sensor for a dexterous hand according to claim 9, wherein the force guiding column is a cylinder, and one end of the force guiding column, which is used for contacting with the force value measuring sensing area, is a convex cambered surface structure.

Description

Be applied to pressure sensor fingertip of smart hand Technical Field The invention relates to the technical field of smart hand sensing, in particular to a finger tip of a pressure sensor applied to a smart hand. Background The smart hand is used as a core component of the robot technology, and the precision operation capability of the humanization is realized through the fusion of precise transmission, multi-mode perception and intelligent algorithms. As the dexterous hand can realize fine grabbing actions, the device has application potential in fields of industrial precise assembly (such as single-hand operation mobile phone), medical operation (such as endoscope robot ‌), home service and the like, is particularly used in the medical operation field, and can assist a surgeon or independently perform accurate and efficient operation. In order to achieve accurate operation in the above application fields, the smart hand finger needs to have a certain force sensing function. The smart finger tips with force sensing function are generally in the following modes: The first part and the inside part are provided with a sensor which can accurately measure force value, and the flexible shell is provided, so that the force applied to the finger abdomen can be fed back, but the specific pressing force position and direction cannot be determined. The second, the inside has a multi-point film force sensor, is equipped with flexible shell, can measure the atress distribution condition of each position of finger abdomen, but because each position area is less, and the dynamics can disperse each sensing point position when finger abdomen atress, makes dynamics measurement accuracy relatively poor. And thirdly, one or more cameras are arranged in the flexible shell, a plurality of mark points are arranged in the flexible shell, and the deformation of the shell when the cameras detect compression causes the displacement of the mark points in the interior to detect the condition of the compression of the finger abdomen. Although the deformation condition of the shell can be fed back more accurately, the required space is larger, each camera needs to be equipped, and training needs to be carried out on different flexible shells respectively, so that the cost of software and hardware is at a higher level. In addition, the deformation amount is actually fed back by the sensor, so that the shell of the sensor needs to be made of softer materials, and the force applied by the sensor cannot be fed back accurately. Disclosure of Invention The invention aims to provide a pressure sensor fingertip applied to a smart hand, which solves the problem that the existing smart fingertip is difficult to realize measurable pressure distribution and has high pressure value sensing feedback precision. The invention provides a pressure sensor fingertip applied to a dexterous hand, which comprises a finger belly soft shell and a fingertip bottom shell, wherein a semi-closed pressure sensing cavity is formed between the finger belly soft shell and the fingertip bottom shell, a flexible film sensor, a movable plate, a force guide column and a fixed plate are arranged in the pressure sensing cavity, the movable plate is clamped on the inner side of the finger belly soft shell and can displace relative to the fixed plate along with the pressing of the finger belly soft shell, the flexible film sensor comprises a pressure distribution measuring layer and a force value measuring layer, the pressure distribution measuring layer is arranged on the movable plate, the force value measuring layer is arranged on the fixed plate, the force guide column is arranged between the movable plate and the force value measuring layer, a plurality of convex force guide structures are arranged on the inner side of the finger belly soft shell, the pressure distribution measuring layer comprises a plurality of measuring electrodes and is used for acquiring a corresponding dispersed pressure value fed back by the convex force guide structures, the force value measuring layer is provided with a force value measuring sensing area, the force value measuring layer is arranged on one end of the force distribution measuring layer, which is far from the pressure distribution measuring layer, and the other end of the force distribution measuring layer is used for acquiring a total force fed back by the convex force guide structure. The movable plate is characterized in that an upper fixing buckle is arranged on one side, away from the abdomen soft shell, of the movable plate, a lower fixing buckle is arranged on the fixing plate, the upper fixing buckle and the lower fixing buckle are mutually buckled, two sides of the movable plate extend to one side, away from the abdomen soft shell, of the movable plate respectively to form a first rib plate connecting piece, a locating pin mounting hole is formed in the first rib plate connecting piece, two sides of the fixed plate extend