CN112284438A - Multifunctional finger sensor calibration tool - Google Patents
Multifunctional finger sensor calibration tool Download PDFInfo
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- CN112284438A CN112284438A CN202011169581.3A CN202011169581A CN112284438A CN 112284438 A CN112284438 A CN 112284438A CN 202011169581 A CN202011169581 A CN 202011169581A CN 112284438 A CN112284438 A CN 112284438A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D18/00—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
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Abstract
The invention provides a multifunctional finger sensor calibration tool which comprises an electric cylinder motor, an electric cylinder support, a calibration tool base, a two-degree-of-freedom mechanism, a bionic finger, a module motor, a calibration platform, a photoelectric switch, a module and a standard force sensor, wherein the electric cylinder motor is connected with the electric cylinder support; the module motor, the module and the photoelectric switch are fixed on the calibration tool base, the module motor is connected with the module through a coupler, and the photoelectric switch is fixedly installed on two sides of the module; the calibration platform is fixedly connected with the module, and the standard force sensor is arranged on the calibration platform; the electric cylinder motor, the electric cylinder support, the two-degree-of-freedom mechanism and the bionic finger are connected in series; the electric cylinder support is fixed on the calibration tool base; the module is responsible for the horizontal direction and removes, carries out data signal's collection to the bionic finger. The electric cylinder is responsible for the motion of numerical value direction, adjusts the pressure that multi-functional bionical finger bore. The double-freedom-degree joint can realize the angle adjustment in the pitching direction and the yawing direction.
Description
Technical Field
The invention belongs to the field of multifunctional bionic fingers and calibration tools, and particularly relates to a multifunctional finger sensor calibration tool.
Background
The sensor mainly comprises a resistance type sensor, a capacitance type sensor, a piezoelectric type sensor, an optical type sensor and the like. At present, the sensors mainly have the characteristics of single measurement signal type, poor structural size practicability, poor flexibility, easiness in damage, poor flexibility and the like, and the characteristics of plug and play, small envelope and simplicity in control on a dexterous hand are not satisfied. With the development of science and technology, the manufacturing process and the function of the bionic finger or the artificial manipulator or the artificial hand are more and more mature, great contribution is made to the medical treatment and the industry, and the touch sense is an important way for acquiring unknown environmental information of the bionic finger or the artificial hand, so that stable and flexible grabbing operation can be ensured. The finger sensor is a human finger-simulated touch sensor, and can be widely applied to the aspects of humanoid robots, medical diagnosis, artificial hands and the like.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a multifunctional finger sensor calibration tool. The technical scheme of the invention is as follows:
a multifunctional finger sensor calibration tool comprises an electric cylinder motor, an electric cylinder support, a calibration tool base, a two-degree-of-freedom mechanism, a bionic finger, a module motor, a calibration platform, a photoelectric switch, a module and a standard force sensor; wherein:
the module motor, the module and the photoelectric switch are fixed on the calibration tool base, the module motor is connected with the module through a coupler, and the photoelectric switch is fixedly installed on two sides of the module; the calibration platform is fixedly connected with the module, and the standard force sensor is arranged on the calibration platform; the electric cylinder motor, the electric cylinder support, the two-degree-of-freedom mechanism and the bionic finger are connected in series; the electric cylinder support is fixed on the calibration tool base;
the module is used for driving the calibration platform to move left and right along the X direction; the electric cylinder is used for driving the multifunctional finger to move up and down along the Z direction; the multi-degree-of-freedom mechanism is used for realizing angle adjustment of the bionic finger 7 in pitching and deflecting directions.
Optionally, the bionic finger further comprises: the finger nail comprises a finger bone, a finger skin, an electrode, a filling material, a temperature sensitive element, a nail cover, a channel, a signal transmission module, a pressure sensor, an interface, a protective shell, a clamp and a concave-convex sealing interface; wherein:
the front section of the finger phalanx is covered by finger skin to form a cavity, a channel is arranged in the cavity, filling materials are filled in the channel and the cavity, and the rear section of the finger phalanx is covered by a protective shell; the front end of the channel is connected with the cavity, and the rear end of the channel is connected with the pressure sensor; the tail ends of the pressure sensor and the signal transmission module are both in the protective shell, and the front end of the signal transmission module is connected with the temperature sensitive element through an electrode;
the electrode and the signal transmission module are arranged on the outer surface of the lower side of the finger bone, and the temperature sensing element is arranged at the front end of the finger bone; the upper end of the finger skin is provided with a nail cover; the signal transmission module is used for acquiring signals of the electrodes and sending the signals to the temperature sensitive element and the pressure sensor; the interface is connected with the double-freedom-degree mechanism.
Optionally, the finger phalanx is made of a rigid insulating material, the finger skin is made of a flexible insulating material, the filling material is conductive liquid, the signal transmission module is a flexible circuit board, and bionic grains are arranged on the outer side of the finger skin.
Optionally, the two-degree-of-freedom mechanism comprises a first rotating shaft and a second rotating shaft, and the first rotating shaft can drive the bionic finger to perform movement in a deflection direction, so as to realize rotation of the multifunctional bionic finger in an XY plane;
the second rotating shaft can drive the bionic finger to move in the pitching direction, so that the multifunctional bionic finger can rotate in a YZ plane, and the pitching angle of the finger can be adjusted;
a first through hole and a second through hole are respectively formed in two sides of the first rotating shaft, a first boss and a second boss are respectively arranged in two sides of the second rotating shaft, and the first boss and the second boss are respectively clamped in the first through hole and the second through hole; and a third boss is arranged at the tail end of the second rotating shaft and connected with the tail end of the bionic finger.
Optionally, the first through hole and the second through hole are both provided with saw teeth, and the first boss and the second boss respectively move in the first through hole and the second through hole through the saw teeth.
Optionally, mounting holes are uniformly distributed in the X direction and the Y direction on the calibration tool base and used for mounting the electric cylinder support and the module; the module can move along the X direction on the calibration tooling base.
Compared with the prior art, the invention has the following beneficial effects:
1. the multifunctional bionic finger has the capability of simultaneously measuring various physical quantities, such as a calibration tool for three-dimensional force, micro vibration, acting force and other physical quantities, can effectively solve the problem of inconvenient use of the multifunctional bionic finger, improves the identification accuracy of different kinds of objects, and realizes the functions of plug-and-play and accurate identification.
2. The bionic finger is subjected to acquisition of physical sensing data signals of an object through a calibration tool, can realize identification of object types after deep learning algorithm processing, can simulate human fingers, can realize plug and play in a dexterous hand of a multi-joint robot, can be used for rehabilitation or replacement of the fingers of disabled people, and has important significance for the grasping stability of the robot.
3. The finger skin can generate corresponding deformation according to the position and size change of the contact force, so that the pressure and the distribution state of the filling medium generate corresponding changes, and the insulation characteristic of the finger skin protects the inside of the finger from being interfered by external static electricity and the like.
4. According to the invention, fluid simulation is carried out on the finger phalange internal channel, so that the optimal internal channel parameter and the optimal conductive medium parameter are obtained, and thus, physical information obtained on the surface of the finger can be attenuated less when flowing through the inside of the finger.
5. The finger bone structure and the finger skin sealing effect of the invention are greatly improved compared with the prior art, and the acquisition of pressure data range and the improvement of precision are improved through the concave-convex connection and the silica gel sealing between the finger bone structure and the finger skin.
6. The finger has the advantages that the overall structure size is reduced, the interior of the finger is more fit with the force sensor, and the sensing precision of ambient temperature, micro vibration and three-dimensional force is improved.
7. The invention can realize the limit of the X movement direction of the module through the photoelectric switch on the calibration tool. The platform base is provided with a plurality of groups of holes, so that the change of the position of the module and the position of the electric cylinder in the X/Y direction can be realized, and the relative position has more flexibility.
8. The invention uses a double-freedom-degree mechanism at the installation and fixation position of the bionic finger, can realize the change of the pitching and the deflection poses of the finger, and improves the diversity of data acquisition.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a side view of a multifunctional finger sensor calibration fixture in accordance with an embodiment of the present invention;
FIG. 2 is a top view of a multifunctional finger sensor calibration fixture in accordance with an embodiment of the present invention;
FIG. 3 is a perspective view of a multifunctional finger sensor calibration tool according to an embodiment of the present invention;
FIG. 4 is a perspective view of a multiple degree of freedom structure in accordance with an embodiment of the present invention;
FIG. 5 is a cross-sectional view of a biomimetic finger in accordance with an embodiment of the present invention;
FIG. 6 is a side view of a biomimetic finger in accordance with an embodiment of the present invention;
fig. 7 is a perspective view of a bionic finger according to an embodiment of the invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in fig. 1 to fig. 3, the embodiment discloses a multifunctional finger sensor calibration tool, which includes an electric cylinder motor 1, an electric cylinder 2, an electric cylinder support 3, a calibration tool base 4, a two-degree-of-freedom mechanism, a bionic finger 7, a module motor 9, a calibration platform 10, a photoelectric switch 11, a module 12, and a standard force sensor 13; wherein:
the module motor 9, the module 12 and the photoelectric switch 11 are fixed on the calibration tool base 4, the module motor 9 is connected with the module 12 through a coupler, and the photoelectric switch 11 is fixedly installed on two sides of the module 12; the calibration platform 10 is fixedly connected with the module 12, and the standard force sensor 13 is arranged on the calibration platform 10; the electric cylinder motor 1, the electric cylinder 2, the electric cylinder support 3, the double-freedom-degree mechanism and the bionic finger 7 are connected in series; the electric cylinder support 3 is fixed on the calibration tool base 4; the calibration platform is provided with a circular groove, and the standard force sensor 13 is positioned in the circular groove.
The module is responsible for the horizontal direction and removes, carries out data signal's collection to multi-functional bionic finger. The electric cylinder is responsible for the motion of numerical value direction, adjusts the pressure that multi-functional bionical finger bore. The double-freedom-degree joint can realize the angle adjustment in the pitching direction and the yawing direction.
The module 12 is used for driving the calibration platform 10 to move left and right along the X direction; the electric cylinder 2 is used for driving the multifunctional finger 7 to move up and down along the Z direction; the multi-degree-of-freedom mechanism is used for realizing angle adjustment of the bionic finger 7 in pitching and deflecting directions.
The X direction, Y direction, and Z direction are set as follows: a plane parallel to the calibration tool base is a horizontal plane, the left-right direction is an X direction, and the front-back direction is a Y direction; the direction perpendicular to the horizontal plane is the Z direction.
The driving direction of the module motor 9 is the horizontal direction of the calibration platform, i.e. the X direction, and the driving direction of the electric cylinder motor 1 is the lifting direction of the electric cylinder, i.e. the Z direction.
The object to be measured is located on the calibration platform 10. The electric cylinder 2 moves in the Z direction to adjust the position to change the stress of the multifunctional bionic finger, the module 12 drives the calibration platform 10 to move in the X direction, and a measured object is positioned under the bionic finger and is contacted with the bionic finger. The module 12 drives the measured object to move at a constant speed, and the bionic finger collects the related data of the measured object.
In this embodiment, the module 12 is an integrated mechanism of a stepping motor and a ball screw and a coupling, and may be a device similar to a conveyor belt. Such transmission devices are well known in the art and will not be described in detail herein. And an installation positioning hole fixedly connected with the calibration platform is arranged above the module.
Mounting holes are uniformly distributed on the upper surface of the calibration tool base 4 in the X and Y directions and used for mounting the electric cylinder support 3 and the module 12; the module 12 can be moved in the X direction on the calibration fixture base 4.
As shown in fig. 4, the two-degree-of-freedom mechanism includes a first rotating shaft 5 and a second rotating shaft 14, and the first rotating shaft 5 can drive the bionic finger 7 to perform a motion in a deflection direction, so as to realize rotation of the multifunctional bionic finger 7 in an XY plane; the second rotating shaft 14 can drive the bionic finger 7 to move in the pitching direction, so that the multifunctional bionic finger 7 can rotate in a YZ plane, and the pitching angle of the finger can be adjusted.
A first through hole 51 and a second through hole 52 are respectively formed in two sides of the first rotating shaft 5, a first boss 141 and a second boss are respectively arranged in two sides of the second rotating shaft 14, and the first boss and the second boss are respectively clamped in the first through hole and the second through hole; the end of the second rotating shaft 14 is provided with a third boss 143, and the third boss 143 is connected with the end of the bionic finger 7.
The first through hole and the second through hole are provided with sawteeth, and the first boss and the second boss move in the first through hole and the second through hole through the sawteeth respectively. The shapes of the first boss and the second boss are matched with the shapes of the sawteeth.
As shown in fig. 5 to 7, the bionic finger 7 further includes: the finger nail comprises a finger bone 6, a finger skin 15, an electrode 16, a filling material 17, a temperature sensitive element 18, a nail cover 19, a channel 21, a signal transmission module 22, a pressure sensor 23, an interface 24, a protective shell 26, a clamp 27 and a concave-convex sealing interface 28; wherein:
the front section of the finger phalange 6 is covered by finger skin 15 to form a cavity, a channel 21 is arranged in the cavity, the channel 21 and the cavity are filled with filling materials 17, and the rear section of the finger phalange 6 is covered by a protective shell 26; the front end of the channel 21 is connected with the cavity, and the rear end is connected with the pressure sensor 23; the pressure sensor 23 and the tail end of the signal transmission module 22 are both arranged in the protective shell 26, and the front end of the signal transmission module 22 is connected with the temperature sensitive element 18 through the electrode 16;
the electrode 16 and the signal transmission module 22 are arranged on the outer surface of the lower side of the finger bone, and the temperature sensitive element 18 is arranged at the front end of the finger bone; the upper end of the finger skin is provided with a nail cover 19; the signal transmission module 22 is used for collecting the signals of the electrodes and sending the signals to the temperature sensitive elements and the pressure sensors. The interface 24 is connected to the second shaft 14.
The signal transmission module 22 is configured to acquire a signal and process the signal, so as to obtain information about where the bionic finger is deformed. The functional implementation of the signal transmission module 22 is a common technique in the art and is not specifically developed here.
The finger phalanx 6 is made of rigid insulating materials, the finger skin 15 is made of flexible insulating materials, the filling materials 17 are conductive liquid, the signal transmission module 22 is a flexible circuit board, and bionic grains are arranged on the outer side of the finger skin 15.
The module is fixed on the base, holes need to be uniformly punched in the X/Y direction of the fixed base in order to realize the position movement of the mobile platform in the X/Y direction, the movement of the module in any direction can be realized, the calibration platform is fixedly arranged on the module and moves at a constant speed under the driving of a module motor, the displacement limitation is carried out by a photoelectric switch in order to prevent the movement of the calibration platform from exceeding the specified displacement, and more accurate and uniform data can be obtained when the bionic fingers are calibrated; the bionic finger is driven by the electric cylinder motor in the vertical direction to realize the change of vertical displacement, so that the stress of the bionic finger in the vertical direction is changed, meanwhile, the force data can be calibrated on the standard force sensor, when the bionic finger data is acquired, the pitching angle and the deflection angle of the bionic finger can be changed through the two-degree-of-freedom mechanism, and the movement and the data acquisition of the bionic finger in any direction can be realized.
The module is a stepping motor, ball screw and coupling integrated mechanism, and an installation positioning hole fixedly connected with the calibration platform is arranged above the module, so that the movement in the X direction can be realized.
The electric cylinder structure is composed of a stepping motor, a ball screw and an electric cylinder support, and the bionic finger can be lifted up and down in the Z direction.
The double-degree-of-freedom mechanism is composed of two rotating mechanisms marked with scales, and can respectively realize the movement in the pitching direction and the deflecting direction, so that the pose of the bionic finger is changed.
The upper end of the signal processing circuit is connected with an external communication circuit, and the lower end of the signal processing circuit is connected with a sensitive element signal transmission circuit. The external communication circuit is a subsequent finger data acquisition and processing circuit.
The calibrating tool of the embodiment has the following advantages:
compared with the traditional tool, the calibration tool has more degrees of freedom and higher rigidity, the base frequency generated in the motion process of the motor module is smaller, the generated resonance noise is very small, the moving platform is controlled by the motor, the displacement, the speed and the contact force of the platform relative to the bionic finger are adjusted, the texture and roughness information under different working condition environments can be collected, the standard force sensor on the platform is calibrated, and the temperature sensor can realize the calibration of the force, the temperature and other data of the bionic finger.
When the bionic finger is in contact with an object, the finger skin 15 deforms, so that the distribution pressure of the internal filling material 17 changes, the temperature can be transmitted through the internal material, the electrodes 16 distributed on the outer surface of the finger bones 6 can sense the impedance of each point, signals are transmitted through the signal transmission module 22 and are analyzed to obtain finger deformation characteristics and three-dimensional force, the pressure sensor 23 and the temperature sensitive element 18 obtain the stress magnitude and the temperature value of the bionic finger through the signal transmission module 22, the main components of the filling material 17 are distilled water, sodium chloride and ethanol, and the position and the direction of the finger contact force can be more accurately obtained through the electrodes 3. After the bionic finger is in contact with an object, the outer skin of the finger deforms, internal substances change, the three-dimensional force of the target object is finally obtained through recognition and processing of internal circuits, physical characteristics such as temperature, shape and stress of the target object are further obtained through distribution of internal temperature sensitive elements and electrodes, recognition of the material type of the object is achieved through training and learning of data through a deep learning algorithm, stability of the robot for grabbing the object is improved, and the bionic finger has important significance for training and rehabilitation of fingers of disabled people.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (6)
1. A multifunctional finger sensor calibration tool is characterized by comprising an electric cylinder motor, an electric cylinder support, a calibration tool base, a two-degree-of-freedom mechanism, a bionic finger, a module motor, a calibration platform, a photoelectric switch, a module and a standard force sensor; wherein:
the module motor, the module and the photoelectric switch are fixed on the calibration tool base, the module motor is connected with the module through a coupler, and the photoelectric switch is fixedly installed on two sides of the module; the calibration platform is fixedly connected with the module, and the standard force sensor is arranged on the calibration platform; the electric cylinder motor, the electric cylinder support, the two-degree-of-freedom mechanism and the bionic finger are connected in series; the electric cylinder support is fixed on the calibration tool base;
the module is used for driving the calibration platform to move left and right along the X direction; the electric cylinder is used for driving the multifunctional finger to move up and down along the Z direction; the multi-degree-of-freedom mechanism is used for realizing angle adjustment of the bionic finger 7 in pitching and deflecting directions.
2. The tooling of claim 1, wherein the simulated finger further comprises:
the finger nail comprises a finger bone, a finger skin, an electrode, a filling material, a temperature sensitive element, a nail cover, a channel, a signal transmission module, a pressure sensor, an interface, a protective shell, a clamp and a concave-convex sealing interface; wherein:
the front section of the finger phalanx is covered by finger skin to form a cavity, a channel is arranged in the cavity, filling materials are filled in the channel and the cavity, and the rear section of the finger phalanx is covered by a protective shell; the front end of the channel is connected with the cavity, and the rear end of the channel is connected with the pressure sensor; the tail ends of the pressure sensor and the signal transmission module are both in the protective shell, and the front end of the signal transmission module is connected with the temperature sensitive element through an electrode;
the electrode and the signal transmission module are arranged on the outer surface of the lower side of the finger bone, and the temperature sensing element is arranged at the front end of the finger bone; the upper end of the finger skin is provided with a nail cover; the signal transmission module is used for acquiring signals of the electrodes and sending the signals to the temperature sensitive element and the pressure sensor; the interface is connected with the double-freedom-degree mechanism.
3. The tool according to claim 2, wherein the finger bones are made of rigid insulating materials, the finger skins are made of flexible insulating materials, the filling materials are conductive liquid, the signal transmission module is a flexible circuit board, and bionic lines are arranged on the outer sides of the finger skins.
4. The tool according to claim 1, wherein the two-degree-of-freedom mechanism comprises a first rotating shaft and a second rotating shaft, the first rotating shaft can drive the bionic finger to move in a deflection direction, and the multifunctional bionic finger can rotate in an XY plane;
the second rotating shaft can drive the bionic finger to move in the pitching direction, so that the bionic finger can rotate in a YZ plane, and the pitching angle of the finger can be adjusted;
a first through hole and a second through hole are respectively formed in two sides of the first rotating shaft, a first boss and a second boss are respectively arranged in two sides of the second rotating shaft, and the first boss and the second boss are respectively clamped in the first through hole and the second through hole; and a third boss is arranged at the tail end of the second rotating shaft and connected with the tail end of the bionic finger.
5. The tool according to claim 4, wherein the first through hole and the second through hole are provided with sawteeth, and the first boss and the second boss move in the first through hole and the second through hole respectively through the sawteeth.
6. The tool according to claim 1, wherein mounting holes are uniformly arranged on the upper surface of the calibration tool base in the X and Y directions and used for mounting an electric cylinder support and a module; the module can move along the X direction on the calibration tooling base.
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| CN202011169581.3A CN112284438A (en) | 2020-10-27 | 2020-10-27 | Multifunctional finger sensor calibration tool |
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| CN202011169581.3A CN112284438A (en) | 2020-10-27 | 2020-10-27 | Multifunctional finger sensor calibration tool |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113340332A (en) * | 2021-05-27 | 2021-09-03 | 西安交通大学 | Photoelectric sensor calibration device and method |
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| US20090133508A1 (en) * | 2007-05-18 | 2009-05-28 | University Of Southern California | Biomimetic Tactile Sensor for Control of Grip |
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| CN113340332A (en) * | 2021-05-27 | 2021-09-03 | 西安交通大学 | Photoelectric sensor calibration device and method |
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Application publication date: 20210129 |