CN106568473A - Multi-functional bionic finger capable of detecting three-dimensional force - Google Patents
Multi-functional bionic finger capable of detecting three-dimensional force Download PDFInfo
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Abstract
本发明公开了一种可检测三维力的多功能仿生手指，包括指骨，指骨的前段由手指外皮包裹，并形成空腔；所述的指骨的后段由保护壳包裹；所述的指骨内部安装有通道；通道以及空腔内部充满填充介质；通道与压力传感器一端相连；压力传感器另一端与信号处理电路相连；信号处理电路上端连接外部通信电路，信号处理电路下端连接敏感元件信号传输电路；敏感元件信号传输电路的前段设置有电极以及温度敏感元件；所述的手指外皮的外部设置有仿生纹路；本发明仿生手指同时对温度、微振动、三维力等环境信息的感知，实时获取目标物体的形状、受力状态等物理特性，对实现机器人稳定、可控的抓握物体，对提高机器人的操作灵巧性具有重要意义。
The invention discloses a multifunctional bionic finger capable of detecting three-dimensional force, which comprises a phalanx, the front section of the phalanx is wrapped by the outer skin of the finger and forms a cavity; the back section of the phalanx is wrapped by a protective shell; the inside of the phalanx is installed There is a channel; the channel and the cavity are filled with filling medium; the channel is connected to one end of the pressure sensor; the other end of the pressure sensor is connected to the signal processing circuit; the upper end of the signal processing circuit is connected to the external communication circuit, and the lower end of the signal processing circuit is connected to the signal transmission circuit of the sensitive element; The front section of the component signal transmission circuit is provided with electrodes and temperature-sensitive components; the outer skin of the finger is provided with bionic lines; the bionic finger of the present invention simultaneously perceives environmental information such as temperature, micro-vibration, and three-dimensional force, and acquires the information of the target object in real time. The physical characteristics such as shape and force state are of great significance to realize the stable and controllable grasping of objects by the robot, and to improve the dexterity of the robot's operation.
Description
技术领域technical field
本发明涉及多功能仿生手指，具体讲一种可检测三维力的多功能仿生手指。The invention relates to a multifunctional bionic finger, in particular to a multifunctional bionic finger capable of detecting three-dimensional forces.
技术背景technical background
机器人灵巧操作是服务机器人顺利完成任务的关键技术之一，实时获取目标物体的温度、形状、材质、受力状态等物理特性，对稳定、可控的抓握物体，实现机器人灵巧操作十分重要。Robot dexterous operation is one of the key technologies for service robots to successfully complete tasks. Real-time acquisition of physical characteristics such as temperature, shape, material, and stress state of target objects is very important for stable and controllable grasping objects and realizing robot dexterous operation.
仿生手指可模拟人的触觉实时获取环境信息，目前存在的仿生手指已能检测温度、接触力大小、微振动等物理信息，实现了对目标物体的温度、材质、受力大小等参数的实时采集，但由于尚未能实现三维力的检测，无法获取物体的受力方向，因此，现有的仿生手指不能对所触碰物体的轮廓形状进行实时判断，无法确定物体与仿生手指的相对位置及姿态实时关系，机器人难以完成精确、可靠、稳定、高效的灵巧操作，尤其当目标物体为未知形态时，即操作环境为非结构化环境时，甚至无法完成操作任务；例如，在采用灵巧手抓握物体时，目前的仿生手指一般通过对目标物体进行标定来确定具体的抓握方式，该方式不仅需要大量的标定工作，而且当抓握对象为未知目标物体或目标物体姿态发生变化超出标定范围时，由于无法获取物体的形状特征，机器人无法确定抓握姿态、抓握力大小及抓握接触点位置等参数，导致抓握不稳定或失败。而在实际的机器人操作过程中，目标物体往往是未知且动态变化的，为此，提供一种可检测三维力的多功能仿生手指十分必要。The bionic finger can simulate the human sense of touch to obtain environmental information in real time. Currently, the bionic finger can detect physical information such as temperature, contact force, and micro-vibration, and realize the real-time collection of parameters such as the temperature, material, and force of the target object. , but because the detection of three-dimensional force has not yet been realized, the force direction of the object cannot be obtained. Therefore, the existing bionic finger cannot judge the contour shape of the touched object in real time, and cannot determine the relative position and position of the object and the bionic finger. It is difficult for the robot to complete accurate, reliable, stable, and efficient dexterous operations, especially when the target object is an unknown shape, that is, when the operating environment is an unstructured environment, it is even impossible to complete the operation task; for example, when using dexterous hand grasping When holding an object, the current bionic fingers generally determine the specific grasping method by calibrating the target object. At this time, because the shape characteristics of the object cannot be obtained, the robot cannot determine parameters such as the grasping posture, the magnitude of the grasping force, and the position of the grasping contact point, resulting in unstable or failed grasping. In the actual robot operation process, the target object is often unknown and dynamically changing. Therefore, it is necessary to provide a multifunctional bionic finger that can detect three-dimensional forces.
发明内容Contents of the invention
针对现有技术中存在的问题，本发明提供了一种可检测三维力的多功能仿生手指，能够指可同时采集压力、温度和填充介质的阻抗等信号，经信号处理电路处理后能同时感知微振动、环境温度、三维力等环境信息，还可以对物体的材质进行识别，可模拟人类触觉，对实现机器人稳定、可控的抓握物体具有重要意义。Aiming at the problems existing in the prior art, the present invention provides a multifunctional bionic finger capable of detecting three-dimensional force, which can simultaneously collect signals such as pressure, temperature and impedance of the filling medium, and can simultaneously perceive Environmental information such as micro-vibration, ambient temperature, and three-dimensional force can also identify the material of the object and simulate human touch, which is of great significance for the realization of stable and controllable grasping of objects by robots.
本发明是这样实现的，本发明提供了一种可检测三维力的多功能仿生手指，包括指骨，The present invention is achieved in this way. The present invention provides a multifunctional bionic finger capable of detecting three-dimensional forces, including phalanges,
所述的指骨的前段由手指外皮包裹，并形成空腔；所述的指骨的后段由保护壳包裹；The front section of the phalanx is wrapped by the outer skin of the finger and forms a cavity; the back section of the phalanx is wrapped by a protective shell;
所述的指骨内部安装有通道；所述的通道以及空腔内部充满填充介质；A channel is installed inside the phalanx; the channel and the cavity are filled with filling medium;
所述的通道的前端与空腔内部的填充介质相通，所述的通道的后端与压力传感器一端相连；所述的压力传感器另一端与信号处理电路相连，连接于信号处理电路的中间部位；The front end of the channel communicates with the filling medium inside the cavity, the rear end of the channel is connected to one end of the pressure sensor; the other end of the pressure sensor is connected to the signal processing circuit, and connected to the middle part of the signal processing circuit;
所述的信号处理电路上端连接有外部通信电路，所述的信号处理电路下端连接有敏感元件信号传输电路；所述的敏感元件信号传输电路安装在指骨的外表面，所述的敏感元件信号传输电路的前段设置有电极以及温度敏感元件。The upper end of the signal processing circuit is connected to an external communication circuit, and the lower end of the signal processing circuit is connected to a sensitive element signal transmission circuit; the sensitive element signal transmission circuit is installed on the outer surface of the phalanx, and the sensitive element signal transmission circuit The front section of the circuit is provided with electrodes and temperature sensitive elements.
进一步，所述的仿生手指的外皮的上端设置有指甲盖。Further, the upper end of the outer skin of the bionic finger is provided with a nail cap.
进一步，所述的指甲盖通过螺钉与外皮连接。Further, the nail cap is connected with the outer skin by screws.
进一步，所述手指外皮为柔性绝缘材料，柔性绝缘材料的使用优点在于：手指外皮可根据接触力的位置和大小变化产生相应的形变，进而使填充介质的压力及分布状态产生相应的变化，而其绝缘特性保护了手指内部不受外部静电等的干扰，同时避免其对填充介质的阻抗检测产生影响。Further, the skin of the finger is a flexible insulating material. The advantage of using the flexible insulating material is that the skin of the finger can be deformed according to the position and size of the contact force, and then the pressure and distribution state of the filling medium will be changed accordingly. Its insulating properties protect the inside of the finger from interference from external static electricity, etc., and at the same time avoid its influence on the impedance detection of the filling medium.
进一步，所述的指骨为刚性绝缘材料，刚性绝缘材料的使用使安装在指骨上的敏感元件信号传输电路保持固定形状，进而使电极以及温度敏感元件的相对空间位置保持不变，其绝缘特性避免了指骨对电极及敏感元件信号传输电路产生干扰。Further, the phalanx is a rigid insulating material, and the use of the rigid insulating material keeps the signal transmission circuit of the sensitive element installed on the phalanx in a fixed shape, thereby keeping the relative spatial position of the electrode and the temperature sensitive element unchanged, and its insulating properties avoid The phalanx interferes with the electrode and the signal transmission circuit of the sensitive element.
进一步，所述的填充介质为导电液体。Further, the filling medium is a conductive liquid.
进一步，所述的敏感元件信号传输电路以及外部通信电路为柔性电路板，以便使敏感元件信号传输电路贴在指骨上，使敏感元件信号传输电路上的电极以及温度敏感元件能根据指骨的形状保持固定空间相对位置，而外部通信电路则能在狭小空间内绕过信号处理电路与外部电路连接，避免了仿生手指体积过大。Further, the sensitive element signal transmission circuit and the external communication circuit are flexible circuit boards, so that the sensitive element signal transmission circuit can be pasted on the phalanx, so that the electrodes and temperature sensitive elements on the sensitive element signal transmission circuit can be maintained according to the shape of the phalanx. The relative position of the space is fixed, and the external communication circuit can bypass the signal processing circuit and connect to the external circuit in a small space, avoiding the excessive size of the bionic finger.
本发明还提供了一种可检测三维力的多功能仿生手指，所述的手指外皮的外部设置有仿生纹路。The present invention also provides a multifunctional bionic finger capable of detecting three-dimensional force, and the outer skin of the finger is provided with bionic lines.
本发明相对于现有技术的有益效果在于：本发明的仿生手指通过触碰物体后，手指外皮发生形变，继而使得内部填充的介质的发生变化，再通过内部电路识别、处理，最终获得获取目标物体的三维力；同时通过内部安装的温度敏感元件，实现同时感知目标物体温度，进而获取目标物体的温度、形状、材质、受力状态等物理特性；本发明还可以通过设置在手指外皮外部的仿生纹路，识别出所触碰物体的材质；本发明的多功能仿生手指同时对温度、微振动、三维力等环境信息的感知，尤其是对三维力的感知，能实时获取目标物体的形状、受力状态等物理特性，对实现机器人稳定、可控的抓握物体，提高机器人的操作灵巧性具有重要意义。The beneficial effect of the present invention compared with the prior art is that: after the bionic finger of the present invention touches an object, the outer skin of the finger deforms, and then the medium filled inside changes, and then is identified and processed by the internal circuit to finally obtain the acquisition target The three-dimensional force of the object; at the same time, through the temperature sensitive element installed inside, the temperature of the target object can be sensed at the same time, and then the physical characteristics such as temperature, shape, material, and force state of the target object can be obtained; The bionic texture can identify the material of the touched object; the multifunctional bionic finger of the present invention can simultaneously perceive environmental information such as temperature, micro-vibration, and three-dimensional force, especially the perception of three-dimensional force, and can obtain the shape of the target object in real time. The physical characteristics such as force state are of great significance to realize the stable and controllable grasping object of the robot and improve the dexterity of the robot's operation.
附图说明Description of drawings
图1为本发明一种可检测三维力的多功能仿生手指的主视剖视图；Fig. 1 is a front sectional view of a multifunctional bionic finger capable of detecting three-dimensional forces of the present invention;
图2为本发明一种可检测三维力的多功能仿生手指的去除手指外皮后的内核仰视图；Fig. 2 is a bottom view of the inner core of a multifunctional bionic finger capable of detecting three-dimensional force of the present invention after removal of the finger skin;
图3为本发明一种可检测三维力的多功能仿生手指的带有仿生纹路的仰视图。Fig. 3 is a bottom view with bionic lines of a multifunctional bionic finger capable of detecting three-dimensional force according to the present invention.
其中，1-指骨，2-手指外皮，3-电极，4-填充介质，5-温度敏感元件，6-指甲盖，7-螺钉，8-通道，9-敏感元件信号传输电路，10-压力传感器，11-信号处理电路，12-外部通信电路，13-保护壳，14-仿生纹路。Among them, 1-phalange, 2-finger skin, 3-electrode, 4-filling medium, 5-temperature sensitive element, 6-nail cover, 7-screw, 8-channel, 9-sensitive element signal transmission circuit, 10-pressure Sensor, 11-signal processing circuit, 12-external communication circuit, 13-protective shell, 14-bionic texture.
具体实施方式detailed description
本发明提供一种可检测三维力的多功能仿生手指，为使本发明的技术方案及效果更加清楚，明确，以及参照附图并举实例对本发明进一步详细说明。应当理解，此处所描述的具体实施仅用以解释本发明，并不用于限定本发明。The present invention provides a multifunctional bionic finger capable of detecting three-dimensional force. In order to make the technical solution and effect of the present invention clearer and clearer, the present invention will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific implementations described here are only used to explain the present invention, not to limit the present invention.
如图1~2所示，本发明设计的一种可检测三维力的多功能仿生手指，包括：指骨1、手指外皮2、电极3、填充介质4、温度敏感元件5、指甲盖6、螺钉7、通道8、敏感元件信号传输电路9、压力传感器10、信号处理电路11、外部通信电路12、保护壳13、仿生纹路14。As shown in Figures 1 and 2, a multifunctional bionic finger designed by the present invention that can detect three-dimensional force includes: phalanx 1, finger skin 2, electrode 3, filling medium 4, temperature sensitive element 5, nail cover 6, screw 7. Channel 8, sensitive element signal transmission circuit 9, pressure sensor 10, signal processing circuit 11, external communication circuit 12, protective shell 13, bionic texture 14.
具体的连接关系为：指骨1的前段由手指外皮2包裹，并形成空腔，空腔内部充满填充介质4；所述的指骨1内部安装有通道8，通道8与所述的空腔相通，空腔内部充满所述填充介质4，所述的指骨1的后段由保护壳13包裹；The specific connection relationship is as follows: the front section of the phalanx 1 is wrapped by the finger skin 2, and forms a cavity, and the inside of the cavity is filled with a filling medium 4; a channel 8 is installed inside the phalanx 1, and the channel 8 communicates with the cavity. The inside of the cavity is filled with the filling medium 4, and the rear section of the phalanx 1 is wrapped by a protective shell 13;
所述的通道8在前端与空腔内部的填充介质4相通，所述的通道8的后端与压力传感器10一端相连；所述的压力传感器10另一端与信号处理电路11相连；压力传感器10以及信号处理电路11均设置在保护壳13内部。所述的信号处理电路11上端连接有外部通信电路12的一端，外部通信电路12的另一端设置在保护壳13的外部，所述的信号处理电路11下端与敏感元件信号传输电路9的一端相连接；如图2所示，敏感元件信号传输电路9安装在指骨1的外表面，所述的敏感元件信号传输电路9的前段，即敏感元件信号传输电路9另一端设置有电极3以及温度敏感元件5，其中温度敏感元件5位于仿生手指的指尖位置。The front end of the channel 8 communicates with the filling medium 4 inside the cavity, and the rear end of the channel 8 is connected to one end of the pressure sensor 10; the other end of the pressure sensor 10 is connected to the signal processing circuit 11; the pressure sensor 10 And the signal processing circuit 11 is arranged inside the protective shell 13 . The upper end of the signal processing circuit 11 is connected to one end of the external communication circuit 12, the other end of the external communication circuit 12 is arranged outside the protective case 13, and the lower end of the signal processing circuit 11 is connected to one end of the sensitive element signal transmission circuit 9. Connection; as shown in Figure 2, the sensitive element signal transmission circuit 9 is installed on the outer surface of the phalanx 1, the front section of the sensitive element signal transmission circuit 9, that is, the other end of the sensitive element signal transmission circuit 9 is provided with electrodes 3 and temperature sensitive The element 5, wherein the temperature sensitive element 5 is located at the fingertip of the bionic finger.
所述的仿生手指的外皮2的上端设置有指甲盖6，指甲盖6通过螺钉7与手指外皮2连接，使得甲盖6压在所述手指外皮2上，所述的螺钉7上端与指甲盖6连接，螺钉7下端穿过手指外皮2，并与指骨1连接。所述的指骨1为刚性绝缘材料；所述手指外皮2为柔性绝缘材料；所述的填充介质4为导电液体；所述的敏感元件信号传输电路9以及外部通信电路12均为柔性电路板。The upper end of the skin 2 of the bionic finger is provided with a nail cover 6, and the nail cover 6 is connected with the finger skin 2 by a screw 7, so that the nail cover 6 is pressed on the finger skin 2, and the upper end of the screw 7 is connected with the finger skin 2. 6 connection, the lower end of the screw 7 passes through the finger skin 2 and connects with the phalanx 1. The phalanx 1 is a rigid insulating material; the finger skin 2 is a flexible insulating material; the filling medium 4 is a conductive liquid; the sensitive element signal transmission circuit 9 and the external communication circuit 12 are both flexible circuit boards.
如图3所示，所述的手指外皮2的外部设置有仿生纹路14。As shown in FIG. 3 , the outer part of the finger skin 2 is provided with bionic textures 14 .
本发明的一种可检测三维力的多功能仿生手指的工作原理是：仿生手指触碰物体后，手指外皮2发生形变，使仿生手指内部填充介质4的分布和压力发生变化，于此同时，填充介质4的热能与所触碰的物体发生交换，使其温度也同时发生变化。分布的电极3采集填充介质4各点的阻抗，经敏感元件信号传输电路9送至信号处理电路11，由信号处理电路11解析处理后输出手指外皮2的形变特征及所受的三维力；压力传感器10采集填充介质4的压力，经信号处理电路11解析处理后输出仿生手指的受力大小；温度敏感元件5采集填充介质4的温度值。信号处理电路11综合上述各类参数，识别所触碰物体的形状、受力状态和温度。其中的导电介质4的成分包括聚乙二醇、蒸馏水、溴化钠，加入聚乙二醇可以使液体在发生微小变形时能产生较大的阻抗变化；导电液的成分还可以选用丙二醇加生理盐水；如果手指内腔够大，填充介质4也可以采用一般的生理盐水；通过电极3测量液体阻抗来更加准确的获取手指接触力的位置和方向。The working principle of the multifunctional bionic finger capable of detecting three-dimensional force of the present invention is: after the bionic finger touches an object, the finger skin 2 is deformed, so that the distribution and pressure of the filling medium 4 inside the bionic finger change, and at the same time, The thermal energy of the filling medium 4 is exchanged with the object it touches, so that its temperature also changes at the same time. The distributed electrodes 3 collect the impedance of each point of the filling medium 4, and send it to the signal processing circuit 11 through the sensitive element signal transmission circuit 9, and the signal processing circuit 11 outputs the deformation characteristics and the three-dimensional force of the finger skin 2 after analysis and processing; pressure The sensor 10 collects the pressure of the filling medium 4 , and outputs the force of the bionic finger after analysis and processing by the signal processing circuit 11 ; the temperature sensitive element 5 collects the temperature value of the filling medium 4 . The signal processing circuit 11 integrates the above-mentioned various parameters to identify the shape, force state and temperature of the touched object. The composition of the conductive medium 4 includes polyethylene glycol, distilled water, and sodium bromide. Adding polyethylene glycol can make the liquid produce a large impedance change when it is slightly deformed; the composition of the conductive liquid can also be selected from propylene glycol plus physiological Saline; if the inner cavity of the finger is large enough, the filling medium 4 can also be normal saline; the position and direction of the finger contact force can be obtained more accurately by measuring the liquid impedance through the electrode 3.
此外，手指外皮2上还设置有仿生纹路14，当仿生手指14在所触碰物体表面上滑动时，会产生微振动，使填充介质4的压力发生变化，压力传感器10采集相应的压力变化信号送至信号处理电路11，信号处理电路11解析压力变化的规律识别出所触碰物体的材质。In addition, the finger skin 2 is also provided with bionic lines 14. When the bionic finger 14 slides on the surface of the touched object, micro-vibrations will be generated to change the pressure of the filling medium 4, and the pressure sensor 10 collects corresponding pressure change signals. The signal is sent to the signal processing circuit 11, and the signal processing circuit 11 analyzes the law of pressure change to identify the material of the touched object.
Claims (8)
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