CN102303316A - Multi-sensor feedback adaptive robot finger device and control method thereof - Google Patents
Multi-sensor feedback adaptive robot finger device and control method thereof Download PDFInfo
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- CN102303316A CN102303316A CN201110092373A CN201110092373A CN102303316A CN 102303316 A CN102303316 A CN 102303316A CN 201110092373 A CN201110092373 A CN 201110092373A CN 201110092373 A CN201110092373 A CN 201110092373A CN 102303316 A CN102303316 A CN 102303316A
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Abstract
The invention discloses a multi-sensor feedback adaptive robot finger device and a control method thereof, and belongs to the technical field of robot hands. The device comprises two finger sections, a joint shaft, a motor, three sensors, a control module and a motor driving module. The device is a robot finger device for comprehensively implementing parameter adjustment and program control by using multiple sensors for feeding back signals, the motor driving module, the control module and an adaptive grabbing control algorithm; the device can realize adaptive grabbing of objects of different shape and size, is easier to trigger the adaptive grabbing action, and is stable in grabbing, controllable in grabbing force and short in transmission chain; when the device is used for grabbing different objects, reprogramming is not needed; and the device is simple and convenient to use, meets requirement for grabbing of multiple objects, and can realize a robot hand with high flexibility and degree of freedom, high adaptability, low control difficulty and high reliability.
Description
Technical field
The invention belongs to the robot technical field, the design of particularly a kind of multisensor feedback adaptive robot finger apparatus and control method thereof.
Background technology
The anthropomorphic robot is the leading-edge field of robot research, and its most function needs the operation of mechanical hand to realize.Therefore, the design of hand structure is anthropomorphic robot's key for design technology.Self-adapting grasping has the characteristics of automatic adaptation body form, size, has reduced control difficulty and cost, becomes a focus of robot research.
Existing robot finger with self-adapting grasping characteristic is the mechanical type under-actuated finger, as utilizes the under-actuated finger (CN1289269C) of gear drive realization, the under-actuated finger (US5762390) that utilizes the connecting rod transmission to realize.Mechanical type under-actuated finger transmission chain length can produce idle running, gap and lose problem such as step in transmission process, make finger grasp performance and reduce.It is excessive that the owing of mechanical type under-actuated finger drives activation threshold value, and the degree of crook of under-actuated finger and object extruding degree be directly proportional, when first of finger root refer to section put on the object grasp force hour; Under-actuated finger can not be worked, when first refers to that the section grasp force is big, though under-actuated finger can be realized the self-adapting grasping action; But can cause the second finger section grasp force and first a finger section grasp force to compare very little; And both are certain ratio, refer to the section grasp force in order to improve second, have to increase by first and refer to the section grasp force; But first an excessive finger section grasp force can squeeze bad object; Therefore, concerning the extracting of many objects, mechanical type under-actuated finger Grasp Modes is very undesirable.
The Dextrous Hand of the ACTIVE CONTROL that is realized by motor and sensor also can realize the extracting to object; But the shortcoming of Dextrous Hand is that the shape of grabbing object, size are not had automatic adaptability; Need through a large amount of kinematics and dynamic (dynamical) complicated calculations; Also need carry out complicated program to current problem and reach multi-joint coordinated movement of various economic factors control, the reliable robust that is difficult to satisfy under the destructuring environment grasps this integrated application, compound movement and the dynamics calculation of a large amount of sensor informations and the technology of complicated control theory of depending on; Cost is expensive, operating personnel are required high deficiency, is difficult to extensive practicability for a long time.
Summary of the invention
The objective of the invention is the deficiency to prior art, a kind of multisensor feedback adaptive robot finger's cell arrangement and control method thereof are provided, this device is realized the self-adapting grasping of difformity, big wisp; Simultaneously a plurality of sections that refer to are separate and are easy to independent regulation control the grasp force of object; It is little to owe to drive activation threshold value: only need first a very little finger section grasp force just can make finger bend, simple in structure, driving-chain is short; Control easily; Grasp and stablize, reliability is high, wide accommodation.
Technical scheme of the present invention is following:
Multisensor feedback adaptive robot finger cell arrangement of the present invention is characterized in that:
Comprise that first refers to that section, second refers to section, joint shaft, motor, triggering sensor, parks sensor, stops grabbing sensor, control module and motor drive module; Control module comprises parks input, stops grabbing input, triggers input, drive output and reset terminal; Described joint shaft is set in first and refers in the section, and the second finger section is socketed on the joint shaft and with joint shaft and links to each other, and motor and first refers to that section is affixed, and the output shaft of motor links to each other with joint shaft; The reset terminal of control module connects reset signal; The drive output of control module is connected with the input of motor drive module, and the output of motor drive module is connected with the lead-in wire of motor;
The signal exit of described triggering sensor is connected with the triggering input of control module; Described triggering sensor is fixedly mounted on the gripping surface of the first finger section, gathers the information that the object of grabbing touches the first finger section; When grabbing object contact first refers to section and reaches setting threshold, trigger sensor and produce triggering signal; When contacting first, grabbing object do not refer to section or contacts first refer to section but when not reaching setting threshold, trigger sensor and do not produce triggering signal;
The described signal exit of parking sensor is connected with the input of parking of control module; The described sensor of parking is fixedly mounted on the first finger section, the second finger section or the joint shaft, gathers the second finger section turns to certain set angle around joint shaft with respect to the first finger section information; When second refers to that section turns to this set angle, park the sensor generation and park signal; When second refers to that Duan Wei turns to this set angle, park sensor and do not produce and park signal;
The stopping of the described signal exit that stops grabbing sensor and control module grabs input and is connected; Describedly stop grabbing sensor and be fixedly mounted on first and refer to that section, second refers on section or the joint shaft, gather the information that the institute's object of grabbing contact second refers to section; When grabbing object contact second refers to section and reaches setting threshold, stop grabbing sensor generation stopping grabbing signal; Do not refer to section or contact second refer to section but when not reaching setting threshold when grabbing object contacts second, stop grabbing sensor and do not produce and stop grabbing signal;
Described control module operation control program is used to send instruction and rotate through the motor drive module drive motors from triggering sensor, stop grabbing sensor and parking the various signals of sensor, realizes function crooked or that stretch finger.
Multisensor feedback adaptive robot finger cell arrangement of the present invention is characterized in that: described triggering sensor adopts a plurality of and is arranged in arrays.
Multisensor feedback adaptive robot finger cell arrangement of the present invention is characterized in that: described triggering sensor adopts displacement transducer, pressure sensor or torque sensor.
Multisensor feedback adaptive robot finger cell arrangement of the present invention is characterized in that: described touching put sensor and adopted a plurality of and be arranged in arrays.
Multisensor feedback adaptive robot finger cell arrangement of the present invention is characterized in that: the described sensor of parking adopts displacement transducer, pressure sensor, torque sensor or current of electric detecting sensor.
Multisensor feedback adaptive robot finger cell arrangement of the present invention is characterized in that: describedly stop grabbing sensor and adopt a plurality of and be arranged in arrays.
Multisensor feedback adaptive robot finger cell arrangement of the present invention is characterized in that: describedly stop grabbing sensor and adopt displacement transducer, pressure sensor, torque sensor or current of electric detecting sensor.
Multisensor feedback adaptive robot finger cell arrangement of the present invention; It is characterized in that: one or more combination among described control module employing computer, PLD, CPLD, PLC, single-chip microcomputer, DSP and the FPGA, control module contains A/D conversion submodule.
A kind of self adaptation multi-joint finger apparatus that adopts said multisensor feedback adaptive robot finger cell arrangement provided by the invention is characterized in that: comprise a plurality of finger sections, a plurality of joint shaft, a plurality of motor, a plurality of displacement transducer, a plurality ofly park sensor, at least one stops grabbing sensor, control module and motor drive module.
A kind of employing provided by the invention is the control method of multisensor feedback adaptive robot finger cell arrangement according to claim 1, it is characterized in that: comprise the steps:
A) make that the reseting mark position is R, it is B that flag bit is parked in order, and it is F that order stops grabbing flag bit; During beginning, make reseting mark position R=0;
B) input of parking of control module receives the signal of parking of parking sensor, and then flag bit B=1 is parked in order; Otherwise flag bit B=0 is parked in order;
C) control module stop grab input receive stop grabbing sensor stop grabbing signal, then order stops grabbing flag bit F=1; Otherwise order stops grabbing flag bit F=0;
D) reset terminal of control module receives reset signal, then makes reseting mark position R=1, carries out step f); Otherwise carry out step e);
E) the triggering input of control module receives the triggering signal that triggers sensor, then carries out step j); Otherwise carry out step f);
F) if park flag bit B=1, then carry out step n); Otherwise carry out step g);
G) drive motors counter-rotating in predetermined minor time slice Δ t, effect are to make the second finger section rotate a low-angle around joint shaft to decontroling the object direction, carry out step h);
H) reset terminal of control module does not receive reset signal and reseting mark position R=1, then carries out step n); Otherwise carry out step I);
I) input of parking of control module receives the signal of parking of parking sensor, and then carries out step n); Otherwise carry out step g);
J) if stop grabbing flag bit F=1, then carry out step n); Otherwise carry out step k);
K) drive motors just changes in predetermined minor time slice Δ t, and effect is to make the second finger section rotate a low-angle around joint shaft to the grasping objects direction, carries out step l);
L) reset terminal of control module receives reset signal, then carries out step n); Otherwise carry out step m);
M) control module stop grab input receive stop grabbing sensor stop grabbing signal, then carry out step n); Otherwise carry out step k);
N) stop motor and rotate, carry out step a).
The present invention compared with prior art has the following advantages and the high-lighting effect:
The present invention utilizes the control method of multisensor feedback signal, motor-driven and control module and self-adapting grasping comprehensively to realize adjustable, the programme controlled a kind of robot finger apparatus of parameter, through gathering the object contact or leaving the information realization difformity of finger, the adaptive automatic extracting of big wisp.This device is compared with traditional mechanical formula self adaptation finger, and grip is more excellent, and first refers to that section, second refers to that section is separate to the grasp force of object, is convenient to stable the extracting; Grasp force is controlled, triggers the self-adapting grasping action more easily: when object touches the first finger section with less power, can realize that also second refers to the reliable rotation of section; Driving-chain is short, thereby has reduced drive gap and control dead band, and the extracting process is more stable, wide accommodation.This device is compared with traditional ACTIVE CONTROL skillful finger, has the characteristic of self-adapting grasping, need not to programme again when different objects is grasped, and is easy to use, satisfied most extracting needs.Utilize this device can realize the robot of the high dexterous free degree, high self adaptation, low control difficulty and high reliability.
Description of drawings
Fig. 1 is the side sectional view of a kind of embodiment of multisensor feedback adaptive robot finger cell arrangement of the present invention; Among this embodiment; First displacement transducer adopts capacitive displacement transducer, stops grabbing sensor and adopts capacitive displacement transducer, parks sensor and adopts switch.
Fig. 2 is a front section view embodiment illustrated in fig. 1.
Fig. 3 is a side outside drawing embodiment illustrated in fig. 1.
Fig. 4 is front appearance figure embodiment illustrated in fig. 1.
Fig. 5 is three-dimensional appearance figure embodiment illustrated in fig. 1.
Fig. 6 is a three-dimensional explosive view embodiment illustrated in fig. 1.
Fig. 7 is a circuit catenation principle sketch map embodiment illustrated in fig. 1.
Fig. 8 is the flow chart of the control method of employing multisensor feedback adaptive robot finger cell arrangement provided by the invention.
Fig. 9 is the side sectional view of the another kind of embodiment of multisensor feedback adaptive robot finger cell arrangement provided by the invention; Among this embodiment; First displacement transducer adopts switch arrays, stops grabbing sensor and adopts torque sensor, parks sensor and adopts switch.
Figure 10 is front appearance figure embodiment illustrated in fig. 9.
Figure 11 is the side sectional view of single switch in the used switch arrays embodiment illustrated in fig. 9.
Figure 12 is a three-dimensional explosive view embodiment illustrated in fig. 9.
Figure 13 is the circuit diagram of used capacitive displacement transducer embodiment illustrated in fig. 1, utilizes variable capacitance to change and has realized voltage respective change thereupon, thereby convert the displacement variable of finger surface the change in voltage output of circuit into.
Figure 14, Figure 15, Figure 16 and Figure 17 embodiment illustrated in fig. 1ly are pushed to object when contacting finger first and referring to section surface in external force, and this finger second refers to that section realizes the process sketch map of self-adapting grasping.
Figure 18, Figure 19, Figure 20 and Figure 21 embodiment illustrated in fig. 1ly initiatively drive when rotating in the joint at root, and finger first refers to that section initiatively contacts the process sketch map of realization self-adapting grasping behind the object.
Figure 22 is the embodiment that utilizes the self adaptation multi-joint finger apparatus of two series connection formations embodiment illustrated in fig. 1.
To be self adaptation multi-joint finger apparatus embodiment shown in Figure 22 be pushed to object when contacting finger first and referring to section surface in external force for Figure 23, Figure 24 and Figure 25, and this finger is realized the process sketch map of self-adapting grasping.
In Fig. 1 to Figure 25:
1-first refers to section, other joint shaft interfaces of 11-, and 2-second refers to section,
The 3-joint shaft, the 31-pin, the 32-bearing,
The 4-motor, the 41-decelerator, 42-first bevel gear,
43-second bevel gear, the 44-pin, the 45-screw,
5-triggers sensor (this embodiment adopts capacitive displacement transducer),
The 51-fixed pedestal, the 52-moved end, 53-spring spare,
The 54-flexible panel, 55-triggers sensor array (this embodiment adopts switch arrays),
6-parks sensor (this embodiment adopts switch),
7-stops grabbing sensor (this embodiment adopts capacitive displacement transducer),
The 71-fixed pedestal, the 72-moved end, 73-spring spare,
74-flexible panel, 75-stop grabbing sensor (this embodiment adopts torque sensor),
The 8-control module, 9-motor drive module, 10-object.
The specific embodiment
Content below in conjunction with accompanying drawing and embodiment further explain concrete structure of the present invention, operation principle.
A kind of embodiment of multisensor feedback adaptive robot finger cell arrangement of the present invention; Like Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 and shown in Figure 7, first refer to that section 1, second refers to section 2, joint shaft 3, motor 4, triggers sensor 5, parks sensor 6, stops grabbing sensor 7, control module 8 and motor drive module 9; Control module 8 comprises parks input, stops grabbing input, triggers input, drive output and reset terminal; Described joint shaft 3 is set in first through bearing 32 and refers in the section 1; The second finger section 2 is socketed on the joint shaft 3 and with joint shaft 3 and links to each other; Second refers to that section 2 31 is fixed on the joint shaft 3 through pinning; Motor 4 and first refers to that section 1 is affixed through screw 45, and the output shaft of motor 4 links to each other with joint shaft 3, and motor 4 passes through decelerator 41, first bevel gear 42, second bevel gear 43 and links to each other with joint shaft 3 in the present embodiment; The reset terminal of control module 8 connects reset signal, and reset signal is appreciated that to initiatively decontroling the signal of the object of grabbing; The drive output of control module 8 is connected with the input of motor drive module 9, and the output of motor drive module 9 is connected with the lead-in wire of motor 4.
The signal exit of described triggering sensor 5 is connected with the triggering input of control module 8; Described triggering sensor 5 is fixedly mounted on the gripping surface of the first finger section 1, gathers the information that the object of grabbing 10 touches the first finger section 1; When 10 contacts first of grabbing object refer to section 1 and reach setting threshold, trigger sensor 5 and produce triggering signal; When contacting first, grabbing object 10 do not refer to section 1 or contacts first refer to section 1 but when not reaching setting threshold, trigger sensor 5 and do not produce triggering signal.
The described signal exit of parking sensor 6 is connected with the input of parking of control module 8; The described sensor 6 of parking is fixedly mounted on the first finger section, 1, second finger section 2 or the joint shaft 3, gathers the second finger section 2 turns to certain set angle around joint shaft 3 with respect to the first finger section 1 information; When second refers to that section 2 turns to this set angle, park sensor 6 generations and park signal; When second refers to that section 2 does not turn to this set angle, park sensor 6 and do not produce and park signal.
The stopping of the described signal exit that stops grabbing sensor 7 and control module 8 grabs input and is connected; Describedly stop grabbing sensor 7 and be fixedly mounted on first and refer to that section 1, second refers on section 2 or the joint shaft 3, gather the object of grabbing and touch second and refer to sections 2 information; When grabbing object 10 touches the second finger section 2 and reaches setting threshold, stop grabbing sensor 7 generations and stop grabbing signal; Do not refer to section 2 or contact second refer to section 2 but when not reaching setting threshold when grabbing object 10 contacts second, stop grabbing sensor 7 and do not produce and stop grabbing signal.
Described control module 8 operation control programs are used to send instruction and rotate through motor drive module 9 drive motors 4 from triggering sensor 5, stopping the various signals of grabbing sensor 6 and parking sensor 7, realize function crooked or that stretch finger.
In the present embodiment; Described triggering sensor 5 adopts capacitive displacement transducer; Be called first displacement transducer; The frame for movement of described first displacement transducer comprises fixed pedestal 51, moved end 52 and spring spare 53; The fixed pedestal 51 of described first displacement transducer is fixedly mounted on first and refers in the section 1; The moved end 52 of described first displacement transducer is arranged in first and refers to grasping objects 10 1 sides of section 1 and refer to section 1 protrusion from first, and the moved end of described first displacement transducer is embedded in the fixed pedestal 51 and along protrusion and recessed direction perpendicular to finger surface and slides, and the spring spare of described first displacement transducer 53 connection moved ends and fixed pedestal 51 also make moved end 52 rely on first all the time to refer to section 1 outer surface, one side; The principle of capacitive displacement transducer can be equivalent to a variable capacitance, and a kind of testing circuit principle of known variable capacitance displacement transducer is shown in figure 13.In the present embodiment, first refers to that section 1 surface coverage has flexible panel 54, and flexible panel 54 will trigger sensor 5 and hide in the first finger section 1.
In the circuit that Figure 13 describes, there is following functional relation U in input and output voltage
o=-(C
x/ C
f) U
i, C wherein
xBe tested variable capacitance Cx=ε S/d, ε is a dielectric Constant, and S is the pole plate area, and d is a distance between two-plate.In the present embodiment, dielectric adopts rubber.Because rubber itself has elasticity, so it has also played the effect of spring spare in the displacement transducer physical arrangement described in claims simultaneously.In the present embodiment, the motion of the moved end 52 of displacement transducer causes the change of d, thereby causes U
oChange.
Triggering sensor of the present invention can adopt a plurality of and be arranged in arrays.Described triggering sensor can adopt displacement transducer, pressure sensor or torque sensor.For example Fig. 9, Figure 10, Figure 11 and another embodiment shown in Figure 12 have adopted a plurality of triggering sensors, are specially switch arrays 55.
The sensor of parking of the present invention can adopt a plurality of and is arranged in arrays.The described sensor of parking can adopt displacement transducer, pressure sensor, torque sensor or current of electric detecting sensor.Among the embodiment shown in Figure 1, park sensor 6 and adopt switch.
Of the present invention stop grabbing trigger sensor and can adopt a plurality of and be arranged in arrays.For example, stopping grabbing sensor also can adopt switch arrays to realize.Describedly stop grabbing sensor 7 and can adopt displacement transducer, pressure sensor, torque sensor or current of electric detecting sensor.Among the embodiment shown in Figure 9, stop grabbing sensor and adopt torque sensor 75.
When stopping grabbing the sensor adopts pressure sensor, described pressure sensor be fixedly mounted on second refer to the surface of section and be positioned at second refer to section grasping objects one side, when the force value of pressure sensor surpassed predetermined threshold P1, pressure sensor sent and stops grabbing signal.
When stopping grabbing sensor employing torque sensor; Described torque sensor is fixedly mounted between output shaft and the joint shaft of motor or torque sensor is installed between joint shaft and second refers to section; When the moment values of torque sensor surpassed predetermined threshold M1, torque sensor sent and stops grabbing signal.
When stopping grabbing sensor employing current of electric detecting sensor, when detected motor input current value surpassed predetermined threshold I1, the current of electric detection module sent and stops grabbing signal.
In the embodiment shown in fig. 1; Describedly stop grabbing sensor 7 and adopt displacement transducers; This scales is second displacement transducer; The frame for movement of described second displacement transducer comprises fixed pedestal 71, moved end 72 and spring spare 73; The fixed pedestal 71 of described second displacement transducer is fixedly mounted on second and refers in the section 2; The moved end 72 of described second displacement transducer is arranged in second and refers to grasping objects 10 1 sides of section 2 and refer to section 2 protrusions from second, and the moved end of described second displacement transducer is embedded in the fixed pedestal 71 and along protrusion and recessed direction and slides, and the spring spare of described second displacement transducer 73 connection moved ends 72 also make moved end 72 rely on second all the time with fixed pedestal 71 to refer to section outer surface one side; When the displacement of the moved end 72 of second displacement transducer surpassed predetermined threshold T2, second displacement transducer 7 sent and stops grabbing signal.In the present embodiment, second refers to that section 2 surface coverage have flexible panel 74, and flexible panel 74 will stop to grab sensor 7 and hide in the second finger section 2.
Described displacement transducer can be resistance-type displacement transducer, inductive displacement transducer, capacitive displacement transducer, optical displacement sensor, ultrasonic type displacement transducer, Hall displacement transducer, gyro ceremony displacement transducer or switch.
In the device of the present invention, one or more combination among described control module employing computer, PLD, CPLD, PLC, single-chip microcomputer, DSP and the FPGA, control module contains A/D conversion submodule.In the present embodiment, control module 8 adopts chip microcontroller, and this single-chip microcomputer has A/D conversion submodule.
A kind of self adaptation multi-joint finger apparatus that adopts said multisensor feedback adaptive robot finger cell arrangement of the present invention comprises a plurality of finger sections, a plurality of joint shaft, a plurality of motor, a plurality of displacement transducer, a plurality ofly parks sensor, at least one stops grabbing sensor, control module and motor drive module.
Figure 22 is a kind of embodiment of this self adaptation multi-joint finger apparatus; Be specially a kind of self-adapting grasping two joint finger apparatus; Have two finger units and series system be installed and constitute, comprise that 3 refer to section: refer to down section, middle finger section and with upwarding finger section, 2 joint shafts, 2 motors, 2 displacement transducers, 2 park sensor, 1 and stop grabbing sensor, control module and motor drive module.Wherein, what the displacement transducer on the middle finger section had both served as the bottom finger unit stops grabbing sensor, also is the triggering sensor of top finger unit simultaneously.Figure 23 to Figure 25 is its course of action, repeats no more.
In the present embodiment, a kind of employing provided by the invention is the control method of multisensor feedback adaptive robot finger cell arrangement according to claim 1, and is as shown in Figure 8, comprises the steps:
A) make that the reseting mark position is R, it is B that flag bit is parked in order, and it is F that order stops grabbing flag bit; During beginning, make reseting mark position R=0;
B) input of parking of control module 8 receives the signal of parking of parking sensor, and then flag bit B=1 is parked in order; Otherwise flag bit B=0 is parked in order;
C) control module 8 stop grab input receive stop grabbing sensor 6 stop grabbing signal, then order stops grabbing flag bit F=1; Otherwise order stops grabbing flag bit F=0;
D) reset terminal of control module 8 receives reset signal, then makes reseting mark position R=1, carries out step f); Otherwise carry out step e);
E) the triggering input of control module 8 receives the triggering signal that triggers sensor 5, then carries out step j); Otherwise carry out step f);
F) if park flag bit B=1, then carry out step n); Otherwise carry out step g);
G) drive motors 4 counter-rotatings in predetermined minor time slice Δ t, effect are to make the second finger section 2 rotate a low-angle around joint shaft 3 to decontroling the object direction, carry out step h);
H) reset terminal of control module 8 does not receive reset signal and reseting mark position R=1, then carries out step n); Otherwise carry out step I);
I) input of parking of control module 8 receives the signal of parking of parking sensor 7, and then carries out step n); Otherwise carry out step g);
J) if stop grabbing flag bit F=1, then carry out step n); Otherwise carry out step k);
K) drive motors 4 is just changeing in predetermined minor time slice Δ t, and effect is to make the second finger section 2 rotate a low-angle around joint shaft 3 to the grasping objects direction, carries out step l);
L) reset terminal of control module 8 receives reset signal, then carries out step n); Otherwise carry out step m);
M) control module 8 stop grab input receive stop grabbing sensor 6 stop grabbing signal, then carry out step n); Otherwise carry out step k);
N) stop motor 4 and rotate, carry out step a).
The operation principle of present embodiment, in conjunction with Figure 14 to Figure 21, narrate as follows:
Present embodiment can be realized the self-adapting grasping to object under two kinds of situation:
(a1) first kind of situation is to wait to grab object 10 to be pushed to the first finger section, 1 surface by external force; Make triggering sensor 5 send triggering signal, control module 8 drive motors 4 are just being transferred the possession of second and are being referred to section 2 bendings, realize grasping; No matter object 10 shapes, size, second refers to that section 2 all can contact object 10.When second refers to section 2 contact objects 10, to stop grabbing sensor 7 and send and stop grabbing signal, control module 8 stops motor 4 rotates, and has realized the self-adapting grasping function, like Figure 14 to Figure 17.
When relieving object 10, object 10 leaves finger under external force and no longer pushes the first finger section 1, will trigger sensor 5 and no longer provide triggering signal, and at this moment, 4 counter-rotatings of control module 8 drive motors let the second finger section 2 stretch, and realization recovers initially to stretch the position.
(a2) second kind of situation be first refer to section 1 bottom other joint shaft interfaces 11 be installed in initiatively on the joint shaft, when this initiatively during joint rotation, making wins refers to that section 1 rotates around the active joint shaft; First refers to section 1 contact object 10; Make triggering sensor 5 send triggering signal, control module 8 drive motors 4 are just being transferred the possession of second and are being referred to section 2 bendings, realize grasping; No matter object 10 shapes, size, second refers to that section 2 all can contact object.When second refers to section 2 contact objects, stop grabbing sensor 7 and send and stop grabbing signal, control module 8 stops motor 4 rotates, and has realized the self-adapting grasping function, like Figure 18 to shown in Figure 21.
When decontroling object 10, initiatively joint counter-rotating makes object 10 leave and points and no longer push the first finger section 1; To trigger sensor 5 and no longer provide triggering signal; At this moment, 4 counter-rotatings of control module 8 drive motors let the second finger section 2 stretch, and realize recovering initially to stretch the position.
In addition, in some cases, can adopt reset signal to carry out resetting of finger apparatus as required, finger stretches and turns to initial position.
The present invention utilizes multisensor feedback signal, motor-driven and control module and self-adapting grasping control algolithm comprehensively to realize adjustable, the programme controlled a kind of robot finger apparatus of parameter, through gathering the object contact or leaving the information realization difformity of finger, the self-adapting grasping of big wisp.This device is compared with traditional mechanical formula self adaptation finger, and grip is more excellent, and first refers to that section, second refers to that section is separate to the grasp force of object, is convenient to stable the extracting; Grasp force is controlled, triggers self-adapting grasping more easily: when object touches the first finger section with less power, can realize that also second refers to the reliable rotation of section; Driving-chain is short, thereby has reduced drive gap and control dead band, and the extracting process is more stable.This device is compared with traditional ACTIVE CONTROL skillful finger, has the self-adapting grasping characteristic, need not to programme again when different objects is grasped, and is easy to use, satisfied most extracting needs.Utilize this device can realize the robot of the high dexterous free degree, high self adaptation, low control difficulty and high reliability.
Claims (10)
1. multisensor feedback adaptive robot finger cell arrangement is characterized in that:
Comprise first refer to that section (1), second refers to section (2), a joint shaft (3), motor (4), triggers sensor (5), parks sensor (6), stops grabbing sensor (7), control module (8) and motor drive module (9); Control module comprises parks input, stops grabbing input, triggers input, drive output and reset terminal; Described joint shaft is set in first and refers in the section, and the second finger section is socketed on the joint shaft and with joint shaft and links to each other, and motor and first refers to that section is affixed, and the output shaft of motor links to each other with joint shaft; The reset terminal of control module connects reset signal; The drive output of control module is connected with the input of motor drive module, and the output of motor drive module is connected with the lead-in wire of motor;
The signal exit of described triggering sensor is connected with the triggering input of control module; Described triggering sensor is fixedly mounted on the gripping surface of the first finger section, gathers the information that the object of grabbing touches the first finger section;
The described signal exit of parking sensor is connected with the input of parking of control module; The described sensor of parking is fixedly mounted on the first finger section, the second finger section or the joint shaft, gathers the second finger section turns to certain set angle around joint shaft with respect to the first finger section information;
The stopping of the described signal exit that stops grabbing sensor and control module grabs input and is connected; Describedly stop grabbing sensor and be fixedly mounted on first and refer to that section, second refers on section or the joint shaft, gather the information that the institute's object of grabbing contact second refers to section;
Described control module operation control program is used to send instruction and rotate through the motor drive module drive motors from triggering sensor, stop grabbing sensor and parking the various signals of sensor, realizes function crooked or that stretch finger.
2. multisensor feedback adaptive robot finger cell arrangement as claimed in claim 1 is characterized in that: described triggering sensor adopts a plurality of and is arranged in arrays.
3. according to claim 1 or claim 2 multisensor feedback adaptive robot finger cell arrangement, it is characterized in that: described triggering sensor adopts displacement transducer, pressure sensor or torque sensor.
4. multisensor feedback adaptive robot finger cell arrangement as claimed in claim 1 is characterized in that: the described sensor of parking adopts a plurality of and is arranged in arrays.
5. like claim 1 or 4 described multisensor feedback adaptive robot finger cell arrangements, it is characterized in that: the described sensor of parking adopts displacement transducer, pressure sensor, torque sensor or current of electric detecting sensor.
6. multisensor feedback adaptive robot finger cell arrangement as claimed in claim 1 is characterized in that: describedly stop grabbing sensor and adopt a plurality of and be arranged in arrays.
7. like claim 1 or 6 described multisensor feedback adaptive robot finger cell arrangements, it is characterized in that: describedly stop grabbing sensor and adopt displacement transducer, pressure sensor, torque sensor or current of electric detecting sensor.
8. multisensor feedback adaptive robot finger cell arrangement as claimed in claim 1; It is characterized in that: one or more combination among described control module employing computer, PLD, CPLD, PLC, single-chip microcomputer, DSP and the FPGA, control module contains A/D conversion submodule.
9. one kind is adopted the self adaptation multi-joint finger apparatus of multisensor feedback adaptive robot finger cell arrangement according to claim 1, it is characterized in that: comprise a plurality of finger sections, a plurality of joint shaft, a plurality of motor, a plurality of displacement transducer, a plurality ofly park sensor, at least one stops grabbing sensor, control module and motor drive module.
10. one kind is adopted the control method of multisensor feedback adaptive robot finger cell arrangement according to claim 1, it is characterized in that: comprise the steps:
A) make that the reseting mark position is R, it is B that flag bit is parked in order, and it is F that order stops grabbing flag bit; During beginning, make reseting mark position R=0;
B) input of parking of control module receives the signal of parking of parking sensor, and then flag bit B=1 is parked in order; Otherwise flag bit B=0 is parked in order;
C) control module stop grab input receive stop grabbing sensor stop grabbing signal, then order stops grabbing flag bit F=1; Otherwise order stops grabbing flag bit F=0;
D) reset terminal of control module receives reset signal, then makes reseting mark position R=1, carries out step f); Otherwise carry out step e);
E) the triggering input of control module receives the triggering signal that triggers sensor, then carries out step j); Otherwise carry out step f);
F) if park flag bit B=1, then carry out step n); Otherwise carry out step g);
G) drive motors counter-rotating in predetermined minor time slice Δ t, effect are to make the second finger section rotate a low-angle around joint shaft to decontroling the object direction, carry out step h);
H) reset terminal of control module does not receive reset signal and reseting mark position R=1, then carries out step n); Otherwise carry out step I);
I) input of parking of control module receives the signal of parking of parking sensor, and then carries out step n); Otherwise carry out step g);
J) if stop grabbing flag bit F=1, then carry out step n); Otherwise carry out step k);
K) drive motors just changes in predetermined minor time slice Δ t, and effect is to make the second finger section rotate a low-angle around joint shaft to the grasping objects direction, carries out step l);
L) reset terminal of control module receives reset signal, then carries out step n); Otherwise carry out step m);
M) control module stop grab input receive stop grabbing sensor stop grabbing signal, then carry out step n); Otherwise carry out step k);
N) stop motor and rotate, carry out step a).
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| CN103895024A (en) * | 2012-12-25 | 2014-07-02 | 财团法人工业技术研究院 | Clamping jaw device and control method thereof |
| CN105798938A (en) * | 2016-05-19 | 2016-07-27 | 清华大学 | Parallel-clamping perception self-adaptation robot finger device and control method thereof |
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| CN112720467A (en) * | 2020-12-17 | 2021-04-30 | 大连理工大学 | Five-finger manipulator humanoid grabbing finite element modeling and analyzing method |
| CN112894861A (en) * | 2021-01-29 | 2021-06-04 | 内蒙古工业大学 | Weak-voltage triggering cooperative power-assisted coupling self-adaptive robot finger device |
| CN113084846A (en) * | 2021-03-31 | 2021-07-09 | 东莞市伟创动力科技有限公司 | Robot, full-drive hand and finger module |
| CN114789438A (en) * | 2022-03-30 | 2022-07-26 | 中国科学院合肥物质科学研究院 | Interactive robot movement unit |
| CN114789438B (en) * | 2022-03-30 | 2023-08-29 | 中国科学院合肥物质科学研究院 | Interactive robot motion unit |
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