CN102282972A - Under-actuated end effector with sensing function - Google Patents
Under-actuated end effector with sensing function Download PDFInfo
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- CN102282972A CN102282972A CN2011101925415A CN201110192541A CN102282972A CN 102282972 A CN102282972 A CN 102282972A CN 2011101925415 A CN2011101925415 A CN 2011101925415A CN 201110192541 A CN201110192541 A CN 201110192541A CN 102282972 A CN102282972 A CN 102282972A
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Abstract
The invention discloses an under-actuated end effector with a sensing function. One ends of a first finger section and a second finger section of each finger are hinged with each other through a first joint. The other end of the second finger section is hinged with a palm upper connecting plate through a second joint. A motor on a base is coaxially connected with a movable plate. One ends of two movable pushrods are respectively fixed at the two ends of the movable plate. The other ends of the two movable pushrods are respectively hinged with one ends of respective coupling connecting rods. The two sides of the palm upper connecting plate and the palm lower connecting plate of a palm are respectively connected by using round rods. The middle hole of the triangular drive rod of each finger is hinged with the base through the other end of the respective coupling connecting rod. The motor on the base is fixedly connected with the palm lower connecting plate. Each finger is hinged with the palm through the second joint of the finger and the palm upper connecting plate. An under-actuated mechanism is integrated between the first joint and the second joint. Slip and tactile sensors are arranged on the internal sides of the first finger section and the second finger section. The under-actuated end effector with the sensing function has the advantages that the number of drivers is small, the control is simple and the shape-adaptive gripping of objects can be realized.
Description
Technical field
The present invention relates to a kind of end effector, specifically relate to a kind of have a sensation owe to drive end effector.
Background technology
End effector is the important component part of fruit and vegetable picking robot, compare with the end effector of industrial robot, because tender property, scrambling and the property feature complicated and changeable of its manipulating object and environment, the end effector of picking robot has the intelligent requirements of tangible particularity and Geng Gao.The epidermis of general fruits and vegetables fruit and fruit itself all compare fragile and soft usually, and this has proposed to compare higher requirement to the extracting dynamics control of plucking fruit.
End effector has played huge contribution to agricultural development, but also exists some defectives: the fruits and vegetables appearance is damaged in (1) extracting process.The weak easily broken characteristic of fruit causes being easy to damage fruit with the rigid body extracting.Although the holding finger of the end effector that all are developed all selects for use rigid body or contacting fruit one side to be stained with the rigid body of sponge, rubber, and substantially all be the single-minded a certain fruit variety that is used for, but the distortion adaptive capacity of rigid body that is stained with sponge, rubber is very limited.(2) versatility is not strong.The basic structure of end effector depends on concrete target characteristic and working method.In the crops production system, the fruits and vegetables body is widely different, even same kind, its individual size and shape are also incomplete same.Therefore, picking robot can only be gathered in the crops a kind of fruit, and fruit should size, shape is more or less the same, the main cause that causes picking robot efficient to be difficult to improve also is the bottleneck of restriction picking robot future development and application.
Summary of the invention
In order to overcome outside the deficiencies in the prior art, the purpose of this invention is to provide a kind of activation lacking mechanical hand with sensation, have that load capacity is strong, driving element is few, control is simple, picking efficiency and the adaptive device of grasp force.
For achieving the above object, the technical solution used in the present invention is:
The present invention includes hand two the identical fingers of structure, base and metacarpus branches; One end of the first knuckle of each finger part and second knuckle is hinged by first joint, and the other end of second knuckle and palm upper junction plate are hinged by second joint; The motor of base portion is installed in the palm lower connecting plate, and motor shaft and movable plate coaxial threaded are in transmission connection, and an end of two mobile putters is separately fixed at the two ends of movable plate; The other end of two mobile putters is hinged with an end of coupled links separately; The palm upper junction plate of palm portion connects with being connected round bar respectively with palm lower connecting plate both sides; Be connected between the interstitial hole of the triangle driving rod of each finger and the base is that the other end by coupled links separately is hinged; The motor of base and the lower connecting plate of palm pass through bolt; Each finger is hinged by the second joint and the palm upper junction plate of finger with palm; It is characterized in that: integrated lack of driven structure between first joint and the second joint, motor is by the folding of two fingers of difference mechanism driving, and first knuckle and second knuckle inboard are provided with contacting feeling sensor, sliding feeling sensor.
Integrated lack of driven structure between two dactylus of described each finger, it gets mechanism and envelope grasping mechanism composition by accurately pinching.
Accurately pinch and get mechanism, constitute parallelogram linkage, be arranged between two dactylus by first knuckle pivoted lever, one or two dactylus revolution coupling bar, second knuckle pivoted lever and second knuckle; First joint of second knuckle and an end of first knuckle pivoted lever are hinged, one end of the other end of first knuckle pivoted lever and one or two dactylus revolution coupling bar is hinged, the other end of one or two dactylus revolution coupling bar and an end of second knuckle pivoted lever are hinged, and the other end of second knuckle pivoted lever and the second joint of second knuckle are hinged.
The envelope grasping mechanism, constitute quadric chain by first knuckle pivoted lever, one or two dactylus couple drive bars, triangle driving rod and second knuckle, be arranged between two dactylus, first joint of second knuckle and an end of first knuckle pivoted lever are hinged, one end of the other end of first knuckle pivoted lever and one or two dactylus couple drive bars is hinged, the other end of one or two dactylus couple drive bars and the apertura lateralis of triangle driving rod are hinged, and the inboard aperture of driving rod and the second joint of second knuckle are hinged.
Described motor is installed in the palm lower connecting plate, the direct drive installation of motor output shaft on movable plate, described two coupled links be fixed on the movable plate two mobile putters and form moving sets, the difference mechanism that realizes the folding of two fingers of a motor-driven.
Described wiping feels that feedback circuit comprises charge conversion circuit, low-pass filter circuit, power frequency trap circuit, gain adjusting circuit, A/D sample circuit; The signal of PVDF piezoelectric transducer is connected with the controller input behind charge conversion circuit, low-pass filter circuit, power frequency trap circuit, gain adjusting circuit and A/D sample circuit.
Described PVDF piezoelectric transducer; comprise the PVDF piezoelectric transducer of forming by PVDF film and the copper sheet that is attached to PVDF film both sides; draw positive and negative electrode; PVDF piezoelectric transducer two sides is stained with electro-insulating rubber epidermis protective layer respectively; electro-insulating rubber epidermis protective layer with plane is attached to each dactylus surface, has zigzag electro-insulating rubber epidermis protective layer towards grasping thing.
The beneficial effect that the present invention has is:
The present invention is simple in structure, highly versatile, the driver number is few, cost is low, control is simple, reliability is high, volume is little and can realize characteristics such as self-adapting grasping to body form.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is a base portion structural representation of the present invention;
Fig. 3 is a under-actuated finger principle schematic of the present invention;
Fig. 4 is a wiping feel feedback principle schematic diagram of the present invention;
Fig. 5 is a sensor construction schematic diagram of the present invention;
Fig. 6 is a sensor handling principle schematic diagram of the present invention;
Fig. 7 is a sensor treatment circuit schematic diagram of the present invention;
Among the figure: 1, first knuckle, 2, first joint, 3, second knuckle; 4, second joint, 5, connect round bar, 6, coupled links; 7, palm upper junction plate; 8, accurately pinch and get mechanism, 9, the envelope grasping mechanism, 10, limiting plate; 11, mobile putter; 12, motor, 13, the palm lower connecting plate, 14, movable plate; 15, first knuckle pivoted lever; 16, one or two dactylus revolution coupling bar, 17 second knuckle pivoted levers, 18,1 dactylus couple drive bars; 19, triangle driving rod; 20, electro-insulating rubber epidermis protective layer, 21, copper sheet, 22, the PVDF film.
Embodiment
The present invention will be further described below in conjunction with drawings and Examples.
As shown in Figure 1, the present invention includes hand two the identical fingers of structure, base and metacarpus branches; The first knuckle 1 of each finger part is hinged by first joint 2 with an end of second knuckle 3, and the other end of second knuckle 3 and palm upper junction plate 7 are hinged by second joint 4; The motor 12 of base portion is installed in palm lower connecting plate 13, and motor shaft and movable plate 14 coaxial threaded are in transmission connection, and an end of two mobile putters 11 is separately fixed at the two ends of movable plate; The other end of two mobile putters 11 is hinged with an end of coupled links 6 separately; The palm upper junction plate 7 of palm portion connects with being connected round bar 5 respectively with palm lower connecting plate 13 both sides; Be connected between the interstitial hole of the triangle driving rod 19 of each finger and the base is that the other end by coupled links 6 separately is hinged; The motor 12 of base passes through bolt with the lower connecting plate 13 of palm; Each finger is hinged with palm upper junction plate 7 by the second joint 4 of finger with palm; It is characterized in that: integrated lack of driven structure between first joint 2 and the second joint 4, motor 12 is by the folding of two fingers of difference mechanism driving, and first knuckle 1 is provided with contacting feeling sensor, sliding feeling sensor with second knuckle 3 inboards.
As Fig. 1, Fig. 2, shown in Figure 3, integrated lack of driven structure between two dactylus of described each finger, it gets mechanism 8 and envelope gripper 9 structures composition by accurately pinching.
Accurately pinch and get mechanism 8, constitute parallelogram linkage, be arranged between two dactylus by first knuckle pivoted lever 15,1 dactylus revolution coupling bar 16, second knuckle pivoted lever 17 and second knuckle 2; First joint 2 of second knuckle is hinged with an end of first knuckle pivoted lever 15, one end of the other end of first knuckle pivoted lever 15 and one or two dactylus revolution coupling bar 16 is hinged, the other end of one or two dactylus revolution coupling bar 16 and an end of second knuckle pivoted lever 17 are hinged, and the other end of second knuckle pivoted lever 17 and the second joint of second knuckle 4 are hinged.
Envelope grasping mechanism 9, constitute quadric chain by first knuckle pivoted lever 15,1 dactylus couple drive bars 18, triangle driving rod 19 and second knuckle 2, be arranged between two dactylus, first joint 2 of second knuckle is hinged with an end of first knuckle pivoted lever 15, one end of the other end of first knuckle pivoted lever 15 and one or two dactylus couple drive bars 18 is hinged, the other end of one or two dactylus couple drive bars 18 and the apertura lateralis of triangle driving rod 19 are hinged, and the inboard aperture of triangle driving rod 19 and the second joint of second knuckle 4 are hinged.
As shown in Figure 2, described motor 12 is installed in palm lower connecting plate 13, the direct drive installation of motor output shaft is on movable plate 14, described two coupled links be fixed on the movable plate 14 two mobile putters 11 and form moving sets, realize the difference mechanism of the folding of two fingers of a motor-driven, palm lower connecting plate bolt limiting plate 10 is with the movement travel of restriction movable plate.
As shown in Figure 4, the people sends control instruction by the people when grasping object, and control system is analyzed to discern to make to signal and owed to drive the quick folder of end effector to object.After referring to the thing contact, owe to drive end effector with a less initial clamping force clamping object, the PVDF touch sensor sends own activation signal, owes to drive end effector this moment and holds the next action of beginning in stopping.When owing to drive end effector and mention object, can guarantee to mention object, then refer to not have relatively between the thing and slide that PVDF tactile and slip sense sensor does not have the sliding signal of feeling, owe to drive end this moment and hold the thing process and finish if refer to the contact force between the thing; If refer to that contact force is big inadequately between the thing at this moment, referring to must have relative slip between thing, place this moment and owe to drive tactile and slip sense sensor that end effector refers to the first knuckle place and detect and slidingly feel that signal and control owes to drive end effector and hold in continuing, owe to drive end system and increase clamping force until referring to not have slip relatively between thing, it is stable to hold thing, hold the thing process and finish, realized the Self Adaptive Control of grip.
As shown in Figure 5; described PVDF piezoelectric transducer assembly; comprise the PVDF piezoelectric transducer of forming by PVDF film 22 and the copper sheet 21 that is attached to PVDF film both sides; draw positive and negative electrode; PVDF piezoelectric transducer two sides is stained with electro-insulating rubber epidermis protective layer 20 respectively; electro-insulating rubber epidermis protective layer with plane is attached to each dactylus surface, has zigzag electro-insulating rubber epidermis protective layer towards grasping thing.
As shown in Figure 6, described wiping feels that feedback circuit comprises charge conversion circuit, low-pass filter circuit, power frequency trap circuit, gain adjusting circuit, A/D sample circuit; The signal of PVDF piezoelectric transducer is connected with the controller input behind charge conversion circuit, low-pass filter circuit, power frequency trap circuit, gain adjusting circuit and A/D sample circuit.
Signal processing circuit is gathered signal process, and when the sensor contact object of finger, or object is when sliding on its surface, sensor output charge signal.Adopt charge amplifier that charge signal is converted to voltage and amplification, must carry out LPF then.There is tangible power frequency to disturb in the output signal, increases the notch filter of one-level 50Hz again.Filtering signal is amplified and analog-to-digital conversion.
As shown in Figure 7, be the hardware realization of Fig. 6 wiping feel feedback principle.
The course of work of the present invention grasps and accurately pinches and get for being divided into envelope:
Envelope grasps the course of work: motor 12 drives leading screw just to be changeed, leading screw drives movable plate 14 and moves upward, movable plate drives mobile putter 11 and moves up, coupled links 6 accompany movements, drive finger near grasping thing, second knuckle 3 touches object and is limited motion, motor continues just to change, first knuckle 1 continues motion, last first knuckle 1 contacts with object, and after referring to the thing contact, the PVDF touch sensor sends own activation signal, charge amplifier is converted to voltage with charge signal and amplifies, and must carry out LPF then.Have tangible power frequency to disturb in the output signal, increase the notch filter of one-level 50Hz again, filtering signal is amplified and analog-to-digital conversion, signal is passed to controller, the controller identification signal is owed to drive end effector and is held the next action of beginning in stopping.When owing to drive end effector and mention object, can guarantee to mention object, then refer to not have relatively between the thing and slide that PVDF tactile and slip sense sensor does not have the sliding signal of feeling, owe to drive end this moment and hold the thing process and finish if refer to the contact force between the thing; If refer to that contact force is big inadequately between the thing at this moment, referring to must have relative slip between thing, place this moment and owe to drive tactile and slip sense sensor that end effector refers to the first knuckle place and detect and slidingly feel that signal and control owes to drive end effector and hold in continuing, owe to drive end system and increase clamping force until referring to not have slip relatively between thing, it is stable to hold thing, hold the thing process and finish, finish envelope and grasp process.
Accurately pinch and get the course of work: motor 12 drives leading screw just to be changeed, leading screw drives movable plate and moves upward, movable plate 12 drives mobile putter 11 and moves up, the coupled links accompany movement, drive first knuckle 1 and second knuckle 3 translations near object, motor continues just to change, first finger 1 and second knuckle 3 continue motion, last first knuckle 1 contacts with object, after referring to the thing contact, the PVDF touch sensor sends own activation signal, and charge amplifier is converted to voltage with charge signal and amplifies, and must carry out LPF then.Have tangible power frequency to disturb in the output signal, increase the notch filter of one-level 50Hz again, filtering signal is amplified and analog-to-digital conversion, signal is passed to controller, the controller identification signal is owed to drive end effector and is held the next action of beginning in stopping.When owing to drive end effector and mention object, can guarantee to mention object, then refer to not have relatively between the thing and slide that PVDF tactile and slip sense sensor does not have the sliding signal of feeling, owe to drive end this moment and hold the thing process and finish if refer to the contact force between the thing; If refer to that contact force is big inadequately between the thing at this moment, referring to must have relative slip between thing, place this moment and owe to drive tactile and slip sense sensor that end effector refers to the first knuckle place and detect and slidingly feel that signal and control owes to drive end effector and hold in continuing, owe to drive end system and increase clamping force until referring to not have slip relatively between thing, it is stable to hold thing, hold the thing process and finish, finish the process of getting of accurately pinching.
Claims (5)
- One kind have a sensation owe to drive end effector, comprise hand two the identical fingers of structure, base and metacarpus branches; The first knuckle of each finger part (1) is hinged by first joint (2) with an end of second knuckle (3), and the other end of second knuckle (3) and palm upper junction plate (7) are hinged by second joint (4); The motor of base portion (12) is installed in palm lower connecting plate (13), and motor shaft and movable plate (14) coaxial threaded is in transmission connection, and an end of two mobile putters (11) is separately fixed at the two ends of movable plate; The other end of two mobile putters (11) is hinged with an end of coupled links (6) separately; The palm upper junction plate (7) of palm portion connects with being connected round bar (5) respectively with palm lower connecting plate (13) both sides; Be connected between the interstitial hole of the triangle driving rod (19) of each finger and the base is that the other end by coupled links (6) separately is hinged; The motor of base (12) passes through bolt with the lower connecting plate (13) of palm; Each finger is hinged with palm upper junction plate (7) by the second joint (4) of finger with palm; It is characterized in that: integrated lack of driven structure between first joint (2) and the second joint (4), motor (12) is by the folding of two fingers of difference mechanism driving, and first knuckle (1) is provided with contacting feeling sensor, sliding feeling sensor with second knuckle (3) inboard.
- 2. according to claim 1 a kind of have a sensation owe to drive end effector, it is characterized in that: integrated lack of driven structure between two dactylus of described each finger, it gets mechanism (8) and envelope gripper (9) structure is formed by accurately pinching;Accurately pinch and get mechanism (8), constitute parallelogram linkage, be arranged between two dactylus by first knuckle pivoted lever (15), one or two dactylus revolution coupling bar (16), second knuckle pivoted lever (17) and second knuckle (2); First joint (2) of second knuckle is hinged with an end of first knuckle pivoted lever (15), one end of the other end of first knuckle pivoted lever (15) and one or two dactylus revolution coupling bars (16) is hinged, the other end of one or two dactylus revolution coupling bars (16) and an end of second knuckle pivoted lever (17) are hinged, and the second joint (4) of the other end of second knuckle pivoted lever (17) and second knuckle is hinged;Envelope grasping mechanism (9), by first knuckle pivoted lever (15), one or two dactylus couple drive bars (18), triangle driving rod (19) and second knuckle (2) constitute quadric chain, be arranged between two dactylus, first joint (2) of second knuckle is hinged with an end of first knuckle pivoted lever (15), one end of the other end of first knuckle pivoted lever (15) and one or two dactylus couple drive bars (18) is hinged, the apertura lateralis of the other end of one or two dactylus couple drive bars (18) and triangle driving rod (19) is hinged, and the second joint (4) of the inboard aperture of triangle driving rod (19) and second knuckle is hinged.
- 3. according to claim 1 described a kind of have a sensation owe to drive end effector, it is characterized in that: described motor (12) is installed in palm lower connecting plate (13), the direct drive installation of motor output shaft is on movable plate (14), described two coupled links be fixed on last two mobile putters of movable plate (14) (11) and form moving sets, the difference mechanism that realizes the folding of two fingers of a motor-driven.
- 4. according to claim 1 have a sensation owe to drive end effector, it is characterized in that: described wiping feels that feedback circuit comprises charge conversion circuit, low-pass filter circuit, power frequency trap circuit, gain adjusting circuit, A/D sample circuit; The signal of PVDF piezoelectric transducer is connected with the controller input behind charge conversion circuit, low-pass filter circuit, power frequency trap circuit, gain adjusting circuit and A/D sample circuit.
- 5. according to claim 4 have a sensation owe to drive end effector; it is characterized in that: described PVDF piezoelectric transducer; comprise by PVDF film (22) and be attached to the PVDF piezoelectric transducer that the copper sheet (21) of PVDF film both sides is formed; draw positive and negative electrode; PVDF piezoelectric transducer two sides is stained with electro-insulating rubber epidermis protective layer (20) respectively; electro-insulating rubber epidermis protective layer with plane is attached to each dactylus surface, has zigzag electro-insulating rubber epidermis protective layer towards grasping thing.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011101925415A CN102282972A (en) | 2011-07-11 | 2011-07-11 | Under-actuated end effector with sensing function |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011101925415A CN102282972A (en) | 2011-07-11 | 2011-07-11 | Under-actuated end effector with sensing function |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104782325A (en) * | 2015-04-30 | 2015-07-22 | 浙江海洋学院 | Under-actuated dexterous mechanical hand for picking fruits and vegetables |
| CN104798538A (en) * | 2015-04-20 | 2015-07-29 | 东北农业大学 | Self-adaptive push-out type fruit and vegetable capturing end executer |
| CN108401674A (en) * | 2018-05-30 | 2018-08-17 | 湖北第二师范学院 | Fruit picker is cut from the electronic fruit of trigger-type |
| CN112273053A (en) * | 2020-11-27 | 2021-01-29 | 南宁学院 | Flexible passion fruit picking manipulator end effector |
| CN114714385A (en) * | 2022-04-21 | 2022-07-08 | 西安交通大学 | Mechanical gripper based on five-rod mechanism and under-actuated form |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104798538A (en) * | 2015-04-20 | 2015-07-29 | 东北农业大学 | Self-adaptive push-out type fruit and vegetable capturing end executer |
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| CN108401674A (en) * | 2018-05-30 | 2018-08-17 | 湖北第二师范学院 | Fruit picker is cut from the electronic fruit of trigger-type |
| CN108401674B (en) * | 2018-05-30 | 2023-11-03 | 湖北第二师范学院 | Self-triggering electric fruit-shearing fruit picking device |
| CN112273053A (en) * | 2020-11-27 | 2021-01-29 | 南宁学院 | Flexible passion fruit picking manipulator end effector |
| CN114714385A (en) * | 2022-04-21 | 2022-07-08 | 西安交通大学 | Mechanical gripper based on five-rod mechanism and under-actuated form |
| CN114714385B (en) * | 2022-04-21 | 2023-12-05 | 西安交通大学 | Mechanical gripper based on five-rod mechanism and under-actuated mode |
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Application publication date: 20111221 |