CN106695851A - Two-direction perception adaptive robot finger device with closed-ring flexible piece and control method of two-direction perception adaptive robot finger device - Google Patents
Two-direction perception adaptive robot finger device with closed-ring flexible piece and control method of two-direction perception adaptive robot finger device Download PDFInfo
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- CN106695851A CN106695851A CN201611151281.6A CN201611151281A CN106695851A CN 106695851 A CN106695851 A CN 106695851A CN 201611151281 A CN201611151281 A CN 201611151281A CN 106695851 A CN106695851 A CN 106695851A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
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Abstract
The invention relates to a two-direction perception adaptive robot finger device with a closed-ring flexible piece and a control method of the two-direction perception adaptive robot finger device. The two-direction perception adaptive robot finger device comprises a base, two finger sections, two joint shafts, a driver, a flexible transmission piece, a sensor, a control module, a motor driving module and the like. The two-direction perception adaptive robot finger device realizes four grabbing modes: (1) a mode that the two-way perception adaptive robot finger device performs forward-direction parallel clamping and grabbing; (2) a mode that the two-way perception adaptive robot finger device firstly performs forward-direction parallel clamping and then performs adaptive grabbing; (3) a mode that the two-way perception adaptive robot finger device performs reverse-direction parallel clamping and grabbing; and (4) a mode that the two-way perception adaptive robot finger device firstly performs reverse-direction clamping and then performs adaptive grabbing; therefore, the unidirection adaptive grabbing effect of a conventional perception adaptive finger is achieved, and the two-direction adaptive grabbing effect and the two-direction parallel clamping and grabbing effect, which are not achieved by the conventional perception adaptive finger, are also achieved by the two-direction perception adaptive robot finger device; the grabbing range is large, the grabbing process is stable, the grabbing force is controllable, and a transmission chain is short; when the two-direction perception adaptive robot finger device is used for grabbing different objects, reprogramming is not needed, and the two-direction perception adaptive robot finger device is simple and convenient to use; and the two-direction perception adaptive robot finger device can realize high dexterity, high adaptability, high reliability, high stability and low control difficulty, and is suitable for a robot hand.
Description
Technical field
The invention belongs to robot technical field, more particularly to a kind of handyman finger apparatus and its control method
Design.
Background technology
Robot can realize more operating function, and its most of function needs the operation of robot to come real
It is existing, thus hand structure design be Robot Design key technology.Current robot finger is divided into Dextrous Hand and drive lacking
The class of hand two, each of which has the advantages that itself, while also there is the weak point of itself.
The shortcoming of existing skillful finger is that do not have automatic adaptability to the shape of grabbed object, size, it is impossible to complete two-way
Crawl, therefore crawl narrow range, grasping movement are single, it is necessary to by substantial amounts of kinematics and dynamic (dynamical) complicated calculations, it is difficult to it is full
Under sufficient unstructured moving grids reliable robust crawl, and it is also costly, operating personnel are required with high deficiency, for a long time
Since be difficult to extensively it is practical.The advantage of existing Dextrous Hand is crawl process stabilization, and grasp force is controllable, and driving-chain is short, flexibility
Height, stability is high, and reliability is high.
The shortcoming of existing under-actuated finger is transmission chain length, idle running, gap can be produced in transmission process and step etc. is lost and asked
Topic, makes the reduction of finger grip performance so that when the grasp force that the first segment of finger root is put on object is smaller, owes to drive
Finger of starting can not work, when the first segment grasp force is larger, although under-actuated finger can realize that self-adapting grasping is acted,
It is that the second segment grasp force can be caused very small compared with the first segment grasp force, and both are in certain ratio, in order to improve the
Two segment grasp forces, it has to increase by the first segment grasp force, but the first excessive segment grasp force can squeeze bad object, because
This, for the crawl of many objects, under-actuated finger Grasp Modes are very undesirable, the drive lacking such as realized using gear drive
Finger (CN1289269C), using link transmission realize under-actuated finger (US5762390) these technical schemes all in difference
There is above-mentioned shortcoming and defect in degree.The advantage of existing under-actuated finger is few driver, simple structure, it is not necessary to carried out big
Amount kinematics and dynamic (dynamical) complicated calculations, it is not necessary to carry out complicated program, with the automatic spy for adapting to body form, size
Point.
The content of the invention
Weak point the invention aims to overcome prior art, there is provided a kind of two-way perception of closed loop flexible piece is certainly
Adapt to robot finger apparatus and control method.The device fully utilizes the design feature of Dextrous Hand and drive lacking hand, original creation
Property realize two-way crawl function, can be better achieved it is parallel clamping and self-adapting grasping function, can be according to object
Shape and the difference of position, can translation the second segment grip object, can also rotate successively the second segment and the first segment from
Adapt to the object of different shapes and sizes.Meanwhile, device crawl scope is big, captures process stabilization, and grasp force is controllable, driving-chain
It is short, need not be reprogramed when being captured to different objects, it is easy to use.
A kind of two-way perception self-adaption robot finger apparatus of closed loop flexible piece, for grasping object, it is characterised in that：Bag
Include pedestal, be arranged on the pedestal top the first segment and the second segment, nearly joint shaft, remote joint shaft, be arranged on pedestal
First motor and the second motor of bottom, first stop grabbing sensor, second stop grabbing sensor, the first feeler, second connect
Touch sensor, first park sensor, second park sensor, first level sensor, control module, motor operating motor
Drive module and the first transmission mechanism, the second transmission mechanism, the first drive, the second drive, flexible drive parts, the first electricity
Machine is fixedly connected with the bottom of pedestal, and the second motor is fixedly connected with the bottom of pedestal and is arranged side by side with the first motor, near to close
The diameter parallel of the axis of nodal axisn and remote joint shaft, control module is parked input, second parks input, first including first
Stop grabbing input, second stop grabbing input, the first contact input, the second contact input, initial position input, motor drive it is defeated
Go out end and reset terminal, wherein, nearly joint shaft is movably set in pedestal, and remote joint shaft is movably set in the first segment, and first
Segment is socketed on nearly joint shaft, and the second segment is socketed on remote joint shaft, and the first transmission mechanism is arranged in pedestal, the first electricity
The output shaft of machine is connected with the input of the first transmission mechanism, and the output end of the first transmission mechanism is socketed in one end of nearly joint shaft
On, the second transmission mechanism is arranged in pedestal and is arranged side by side with the first transmission mechanism, and the output shaft of the second motor and second is passed
The input of motivation structure is connected, and the output end of the second transmission mechanism is movably set on the other end of nearly joint shaft, the first transmission
Wheel is movably set on nearly joint shaft, and the second driving wheel tube is connected on remote joint shaft, flexible drive parts, the first drive and second
Coordinate between drive three and be driven, the transmission radius of the first drive are equal with the transmission radius of the second drive.
The two-way perception self-adaption robot finger apparatus of closed loop flexible piece that the present invention is provided, can also have such special
Levy, it is characterised in that：Flexible drive parts use transmission belt, tendon rope or chain, and corresponding first drive, the second drive are band
Any one in wheel, rope sheave and sprocket wheel.
The two-way perception self-adaption robot finger apparatus of closed loop flexible piece that the present invention is provided, can also have such special
Levy, it is characterised in that：Wherein, the reset terminal of control module is used to connect reset signal, the motor drive output of control module
Be connected with the input of motor drive module, the output end of motor drive module respectively with the first motor, the lead of the second motor
Connection, the signal exit of the first feeler is connected with the first contact input of control module, the first feeler
Being fixedly mounted on the positive gripping surface of the first segment is used to gather the information that object touches the first segment forward direction of grabbing, and second connects
The signal exit for touching sensor is connected with the second contact input of control module, and the second feeler is fixedly mounted on the
Object being grabbed for collection and touching the reverse information of the first segment, first stops grabbing the letter of sensor on the reverse gripping surface of one segment
Number exit stops grabbing input and is connected with the first of control module, and first stops grabbing the forward direction that sensor is fixedly mounted on the second segment
Be used to gather on gripping surface and grab object and touch the positive information of second segment, second stop grabbing the signal exit of sensor and
The second of control module stops grabbing input connection, and second stops grabbing sensor to be fixedly mounted on the reverse gripping surface of the second segment and use
Object being grabbed in collection and touching the reverse information of second segment, first parks the signal exit and control module of sensor
First parks input connection, and first parks sensor is fixedly mounted on pedestal for gathering the first segment relative to the pedestal
The information of the angle rotated forward around nearly joint shaft, second parks the signal exit of sensor parks with the second of control module
Input is connected, and second parks sensor is fixedly mounted on pedestal for gathering the first segment relative to pedestal around nearly joint shaft
The information of counter-rotational angle, just the signal exit of level sensor be connected with the initial position input of control module, initial position pass
Sensor is fixedly mounted on the intermediate plate of pedestal is used for the information for gathering the second segment and the upright position of pedestal, and control module connects
The various signals from above-mentioned sensor are received, and sends instructions to motor drive module and drive the first motor, the second motor
Rotate, realize the first segment, the bending of the second segment or stretch.
The two-way perception self-adaption robot finger apparatus of closed loop flexible piece that the present invention is provided, can also have such special
Levy, it is characterised in that：Wherein, the first transmission mechanism includes the first decelerator, intermeshing first bevel gear and the second cone tooth
Wheel, transition axis, the first belt wheel, the second belt wheel and the first transmission belt, the input of the output shaft of the first motor and the first decelerator
Axle is connected, and first bevel gear is fixed by socket on the output shaft of the first decelerator, and second bevel gear is fixed by socket in First Transition
On axle, First Transition axle sleeve is located in pedestal, and the socket of first band wheel is fixed on First Transition axle, and the second belt wheel is fixed by socket
On nearly joint shaft, the first transmission belt connection the first belt wheel and the second belt wheel, three form belt wheel transmission relation.
The two-way perception self-adaption robot finger apparatus of closed loop flexible piece that the present invention is provided, can also have such special
Levy, it is characterised in that：Wherein, the second transmission mechanism includes the second decelerator, intermeshing third hand tap gear and the 4th cone tooth
Wheel, the second transition axis, the 3rd belt wheel, the 4th belt wheel and the second transmission belt, the output shaft of the second motor are defeated with the second decelerator
Enter axle to be connected, third hand tap gear is fixed by socket on the output shaft of the second decelerator, and the 4th bevel gear is fixed by socket in the second mistake
Cross on axle, the second transition axis is set in pedestal, the 3rd belt wheel is fixed by socket on First Transition axle, the 4th belt wheel pivot bush unit
On nearly joint shaft, the second transmission belt connection the 3rd belt wheel and the 4th belt wheel, three form belt wheel transmission relation.
The two-way perception self-adaption robot finger apparatus of closed loop flexible piece that the present invention is provided, can also have such special
Levy, it is characterised in that：Wherein, the first feeler, the second feeler, first stop grabbing sensor, second stop grabbing sensing
Device, first are parked sensor, second park sensor and first level sensor is to be arranged in array using multiple pedestal sensors
Obtained from sensor combinations, pedestal sensor be displacement transducer, pressure sensor and torque sensor in it is any one
Kind.
The two-way perception self-adaption robot finger apparatus of closed loop flexible piece that the present invention is provided, can also have such special
Levy, it is characterised in that：Wherein, control module using the one kind in computer, PLD, CPLD, PLC, single-chip microcomputer, DSP and FPGA or
Several combinations, control module is contained within A/D change-over circuits.
The two-way perception self-adaption robot finger apparatus of closed loop flexible piece that the present invention is provided, can also have such special
Levy, it is characterised in that：Wherein, flexible drive parts, the first transmission belt, the second transmission belt are in " O " font.
The present invention also provides a kind of control method of the two-way perception self-adaption robot finger apparatus of closed loop flexible piece, and it is special
Levy and be, have steps of：
1) it is R, to make reseting mark position, makes first to stop grabbing flag bit for A, makes second to stop grabbing flag bit for B, makes the first contact
Flag bit is C, and it is D to make the second contact mark position, makes first to park flag bit for E, makes second to park flag bit for F, makes initial position
Flag bit is G, during beginning, makes reseting mark position R=0；
2), first when control module stops grabbing input and receives first and stop grabbing the first of sensor and stop grabbing signal, then make
First stops grabbing flag bit A=1, and otherwise order stops grabbing flag bit A=0；
3), second when control module stops grabbing input and receives second and stop grabbing the second of sensor and stop grabbing signal, then make
Second stops grabbing flag bit B=1, and otherwise order stops grabbing flag bit B=0；
4), when the first contact input of control module receives the first activation signal of the first feeler, then make
First contact mark position C=1, otherwise makes the first contact mark position C=0；
5), when the second contact input of control module receives the second activation signal of the second feeler, then make
Second contact mark position D=1, otherwise makes the second contact mark position D=0；
6), first when control module is parked input and receives first and park the first of sensor and park signal, then made
First parks flag bit E=1, and flag bit E=0 is parked in otherwise order；
7), second when control module is parked input and receives second and park the second of sensor and park signal, then made
Second parks flag bit F=1；Flag bit F=0 is parked in otherwise order；
8), when the initial position input of control module receives the initial position signal of just level sensor, then initial position flag bit G=is made
1, flag bit G=0 is parked in otherwise order,
9), when the reset terminal of control module receives reset signal, then reseting mark position R=1 is made, and carry out step 11),
Otherwise carry out step 10)；
10), when the first contact input of control module receives the first activation signal, i.e. the first contact mark position C=
1, then carry out step 12), otherwise carry out step 13)；
11), when the initial position input of control module receives initial position signal, i.e. initial position flag bit G=1, then step is carried out
25) step 26, is otherwise carried out)；
12), control module controls the stalling of the first motor, stops grabbing input and receives first and stop grabbing when the first of control module
Signal, i.e., first stop grabbing flag bit A=1, then carry out step 22), otherwise carry out step 23)；
13), first when control module stops grabbing input and receives first and stop grabbing signal, i.e., first stops grabbing flag bit A=
1, then carry out step 12), otherwise carry out step 14)；
14), first when control module is parked input and receives first and park signal, i.e., first parks flag bit E=
1, then carry out step 15), otherwise carry out step 16)；
15), in predetermined small time period ⊿ t, control module drives the first motor to rotate forward so that the first segment is around nearly pass
Nodal axisn to a low-angle is rotated forward, when the second contact input of control module receives the second activation signal, i.e., second
Contact mark position D=1, then carry out step 17), otherwise carry out step 18)；
16), in predetermined small time period ⊿ t, control module drives the first motor reversal so that the first segment is around nearly pass
Nodal axisn to rotating backward a low-angle, when the reset terminal of control module receives reset signal, i.e. reseting mark position R=1, then
Carry out step 10), otherwise carry out step 11)；
17), control module controls the stalling of the first motor, stops grabbing input and receives second and stop grabbing when the second of control module
Signal, i.e., second stop grabbing flag bit B=1, then carry out step 22), otherwise carry out step 24)；
18), second when control module stops grabbing input and receives second and stop grabbing signal, i.e., second stops grabbing flag bit B=
1, then carry out step 17)；Otherwise carry out step 19)；
19), second when control module is parked input and receives second and park signal, i.e., second parks flag bit F=
1, then carry out step 20), otherwise carry out step 21)；
20), control module controls the stalling of the first motor, carries out step 1)；
21), when the reset terminal of control module receives reset signal, i.e. reseting mark position R=1, then step 11 is carried out),
Otherwise carry out step 15)；
22), control module controls the stalling of the second motor, carries out step 1)；
23), in predetermined small time period ⊿ t, control module drives the second motor reversal so that the second segment is gone the long way round pass
Nodal axisn to rotating backward a low-angle, when the reset terminal of control module receives reset signal, i.e. reseting mark position R=1, then
Carry out step 11), otherwise carry out step 12)；
24), in predetermined small time period ⊿ t, control module drives the second motor to rotate forward so that the second segment is gone the long way round pass
Nodal axisn to rotating forward a low-angle, when the reset terminal of control module receives reset signal, i.e. reseting mark position R=1, then
Carry out step 11), otherwise carry out step 25)；
25), second when control module stops grabbing input and receives second and stop grabbing signal, i.e., second stops grabbing flag bit B=
1, then carry out step 22), otherwise carry out step 24)；
26), control module controls the stalling of the second motor, when the second contact input of control module receives the second contact
Signal, i.e. the second contact mark position D=1, then carry out step 30)；Otherwise carry out step 31)；
27), first when control module stops grabbing input and receives first and stop grabbing signal, i.e., first stops grabbing flag bit A=
1, then carry out step 28), otherwise carry out step 29)；
28), in predetermined small time period ⊿ t, control module drives the second motor to rotate forward so that the second segment is gone the long way round pass
Nodal axisn to rotating forward a low-angle, when the reset terminal of control module receives reset signal, i.e. reseting mark position R=1, then
Carry out step 27), otherwise carry out step 10)；
29), in predetermined small time period ⊿ t, control module drives the second motor reversal so that the second segment is gone the long way round pass
Nodal axisn to rotating backward a low-angle, when the reset terminal of control module receives reset signal, i.e. reseting mark position R=1, then
Carry out step 11), otherwise carry out step 10)；
30), in predetermined small time period ⊿ t, control module drives the first motor reversal so that the first segment is around nearly pass
Nodal axisn parks input and receives first and park signal, i.e., first to rotating backward a low-angle, when the first of control module
Flag bit E=1 is parked, then carries out step 20), otherwise carry out step 33)；
31), second when control module is parked input and receives second and park signal, i.e., second parks flag bit F=
1, then carry out step 20), otherwise carry out step 32)；
32), in predetermined small time period ⊿ t, control module drives the first motor to rotate forward so that the first segment is around nearly pass
Nodal axisn to rotating forward a low-angle, when the reset terminal of control module receives reset signal, i.e. reseting mark position R=1, then
Carry out step 34), otherwise carry out step 10)；
33), when the reset terminal of control module receives reset signal, i.e. reseting mark position R=1, then step 34 is carried out),
Otherwise carry out step 10)；
34), when the second contact input of control module receives the second activation signal, i.e. the second contact mark position D=
1, then carry out step 30)；Otherwise carry out step 31)；
35), when control module receives off signal, terminate, otherwise carry out step 1).
Invention effect and effect
According to the two-way perception self-adaption robot finger apparatus of closed loop flexible piece provided by the present invention, due to using double electricity
The control method of machine driving, flexible drive parts, multisensor feedback signal, control module and self-adapting grasping, it is originally real
Two-way crawl function is showed, and has contacted or left the information of finger by gathering object, comprehensively realized to different shape and big
Small object carries out the automatic crawl function of parallel clamping, perception and self adaptation.
Compared with traditional under-actuated finger, crawl effect is more excellent, the crawl of the first segment, the second segment to object for the device
Power is separate, is easy to stabilization crawl, and grasp force is controllable, and driving-chain is short, so as to reduce drive gap and controlling dead error,
Crawl process is more stable, and accommodation is wider.
Compared with traditional active control skillful finger, not only innovative two-way crawl function, also has the device
There are parallel clamping and self-adapting grasping, need not be reprogramed when being captured to different objects, it is easy to use.Utilize
The device can realize the robot of the dexterity free degree high, self adaptation high, low control difficulty and high reliability.
So, the two-way perception self-adaption robot finger apparatus of closed loop flexible piece provided by the present invention are fully utilized
The design feature of Dextrous Hand and drive lacking hand, originally realizes two-way crawl function, and parallel clamping can be better achieved
And the function of self-adapting grasping, can according to target object shape and the difference of position, can translation the second segment grip object,
The object of the second segment and the first segment self adaptation different shapes and sizes can successively be rotated.Meanwhile, device crawl scope is big,
Crawl process stabilization, grasp force is controllable, and driving-chain is short, need not be reprogramed when being captured to different objects, easy to use.
Brief description of the drawings
Fig. 1 is the schematic perspective view of the two-way perception self-adaption robot finger apparatus of closed loop flexible piece of present invention design；
Fig. 2 is the front view of Fig. 1；
Fig. 3 is the side view of embodiment illustrated in fig. 1；
Fig. 4 is the A-A sectional views of Fig. 2；
Fig. 5 is the B-B sectional views of Fig. 2；
Fig. 6 is the inside three-dimensional view that Fig. 1 is observed from an angle (part is not drawn into)；
Fig. 7 is that the front appearance figure of Fig. 1 (is not drawn into pedestal foreboard, base-plates surface plate, the first segment foreboard, the first triggering
Sensor)；
Fig. 8 is Fig. 1 when the second segment keeps vertical with pedestal, the 4th belt wheel and the signal of pedestal intermediate plate relative position
Figure, wherein a is side view, and b is the C-C of a to sectional view；
Fig. 9 is Fig. 1 in the second segment forward direction self-adapting grasping, and the 4th belt wheel is illustrated with pedestal intermediate plate relative position
Figure, wherein a is side view, and b is the D-D of a to sectional view；
Figure 10 be Fig. 1 in the reverse self-adapting grasping of the second segment, the 4th belt wheel and pedestal intermediate plate relative position are illustrated
Figure, wherein a is side view, and b is the E-E of a to sectional view；
Figure 11 is the circuit catenation principle schematic diagram in Fig. 1；
Figure 12 is the controlling party of the two-way perception self-adaption robot finger apparatus of use closed loop flexible piece that the present invention is provided
The flow chart of method；
Figure 13 is the explosive view of embodiment illustrated in fig. 1.
Figure 14 to Figure 17 is that embodiment illustrated in fig. 1 is carrying out the schematic diagram of positive parallel clamping process；
Figure 18 to Figure 22 is that embodiment illustrated in fig. 1 is carrying out the schematic diagram of positive self-adapting grasping process；
Figure 23 to Figure 29 is that embodiment illustrated in fig. 1 is carrying out the schematic diagram of reverse self-adapting grasping process；And
Figure 30 to Figure 35 is that embodiment illustrated in fig. 1 is carrying out the schematic diagram of antiparallel clamping process.
In Fig. 1 to Figure 35：
1- pedestals, 111- pedestal foreboard 112- pedestal back plates, 113- pedestal left plates, 114- pedestal right plates,
115- base-plates surface plates, 116- pedestal bottom plates, 117- pedestal intermediate plates；
The segments of 2- first, 221- the first segment left plates, 222- the first segment intermediate plates, the segments of 223- first right side
Plate, 224- the first segment foreboards, 225- the first segment back plates, 226- the first segment hone lamellas；
The segments of 3- second；The nearly joint shafts of 4-；The remote joint shafts of 5-；The drives of 6- first；The drives of 7- second；
8- flexible drive parts, 83- bearings, 84- sleeves, 85- screws, 86- pins；
121- control modules, 122- motor drive modules；
The motors of 14- first, the decelerators of 141- first, 142- first bevel gears, 143- second bevel gears, 144-
One transition axis, the belt wheels of 145- first, the belt wheels of 146- second, the transmission belts of 147- first；
The motors of 15- second, the decelerators of 151- second, 152- third hand tap gears, the bevel gears of 153- the 4th, 154-
Two transition axises, the belt wheels of 155- the 3rd, the belt wheels of 156- the 4th, the transmission belts of 157- second；
161- first stops grabbing sensor (this embodiment uses pressure sensor), and 162- second stops grabbing sensor (this implementation
Example uses pressure sensor), the trigger sensors of 163- first (this embodiment uses pressure sensor), the triggering sensings of 164- second
Device (this embodiment uses pressure sensor), 165- first parks sensor (this embodiment uses pressure sensor), 166-
Two park sensor (this embodiment uses pressure sensor), the first level sensors of 167- (this embodiment uses pressure sensor).
17- objects.
Specific embodiment
In order that technological means, creation characteristic, reached purpose and effect that the present invention is realized are easy to understand, it is real below
Apply structure, principle, control of the example combination accompanying drawing to the two-way perception self-adaption robot finger apparatus of closed loop flexible piece of the invention
Method, technique effect are specifically addressed.
Embodiment
A kind of embodiment of the two-way perception self-adaption robot finger apparatus of closed loop flexible piece of present invention design, such as Fig. 1
Shown in Figure 11, the two-way perception self-adaption robot finger apparatus of closed loop flexible piece include pedestal 1, the first segment 2, the second segment
3rd, nearly joint shaft 4, remote joint shaft 5, the first motor 14, the second motor 15, first stop grabbing sensor 161, second stop grabbing sensor
162nd, the first feeler 163, the second feeler 164, first park sensor 165, second park sensor 166,
First level sensor 167, control module 121 and motor drive module 122, the first transmission mechanism, the second transmission mechanism, the first transmission
The 6, second drive 7 of wheel, flexible drive parts 8.
First motor 14 is affixed with pedestal 1, and the second motor 15 is affixed with pedestal 1, axis and the remote joint shaft of nearly joint shaft 4
5 diameter parallel.
Control module 121 is parked input, second parks input, first stops grabbing input, second stops grabbing including first
Input, the first contact input, the second contact input, initial position input, motor drive output and reset terminal.
Nearly joint shaft 4 is movably set in pedestal 1, and remote joint shaft 5 is movably set in the first segment 2, the first 2 sets of segment
It is connected on nearly joint shaft 4, the second segment 3 is socketed on remote joint shaft 5, and the first transmission mechanism is arranged in pedestal 1, the first motor
14 output shaft is connected with the input of the first transmission mechanism, and the output end of the first transmission mechanism is socketed on nearly joint shaft 4.
Second transmission mechanism is arranged in pedestal 1, the output shaft of the second motor 15 and the input phase of the second transmission mechanism
Even, the output end of the second transmission mechanism is movably set on nearly joint shaft 4.
First drive 6 is movably set on nearly joint shaft 4, and the second drive 7 is socketed on remote joint shaft 5.
, using transmission belt, tendon rope or chain, the first drive 6 is using belt wheel, rope sheave or sprocket wheel, second for flexible drive parts 8
Drive 7 is using belt wheel, rope sheave or sprocket wheel, flexible drive parts 8 connection the first drive 6 and the second drive 7, flexible drive parts
8th, belt wheel transmission relation, rope sheave drive connection or chain gear transmission are cooperatively formed between the first drive 6 and the three of the second drive 7
Relation.
Flexible drive parts 8 form " O " font.
The transmission radius of the first drive 6 are equal with the transmission radius of the second drive 7.
The side that definition outwards captures object 17 is the two-way perception self-adaption robot finger apparatus of the closed loop flexible piece
Forward direction, relative opposite side is that side of inwardly crawl object 17 is the reverse of the device.
In the present embodiment, the reset terminal connection reset signal of control module 121, the motor of control module 121 drives output
End is connected with the input of motor drive module 122.
Lead of the output end of motor drive module 122 respectively with the first motor 14, the second motor 15 is connected.First contact
The signal exit of sensor 163 is connected with the first contact input of control module 121, and the first feeler 163 is fixed
On the positive gripping surface of the first segment 2, the information that object 17 touches the forward direction of the first segment 2 is grabbed in collection.
The signal exit of the second feeler 164 is connected with the second contact input of control module 121.Second connects
Touch sensor 164 to be fixedly mounted on the reverse gripping surface of the first segment 2, the body of thing 17 is grabbed in collection, and to touch the first segment 2 reverse
Information.
First stops grabbing the signal exit of sensor 161 and the first of control module 121 stops grabbing input and is connected.First stops
Grab sensor 161 to be fixedly mounted on the positive gripping surface of the second segment 3, collection is grabbed object 17 and touches the forward direction of the second segment 3
Information.
Second stops grabbing the signal exit of sensor 162 and the second of control module 121 stops grabbing input and is connected.Second stops
Grab sensor 162 to be fixedly mounted on the reverse gripping surface of the second segment 3, object 17 is grabbed in collection, and to touch the second segment 3 reverse
Information.
First parks the signal exit of sensor 165 parks input and is connected with the first of control module 121；First stops
Put sensor 165 to be fixedly mounted on pedestal 1, the first segment 2 of collection rotates forward certain relative to pedestal 1 around nearly joint shaft 4
The information of individual set angle.
Second parks the signal exit of sensor 166 parks input and is connected with the second of control module 121.Second stops
Put sensor 166 to be fixedly mounted on pedestal 1, the first segment 2 of collection rotates backward certain relative to pedestal 1 around nearly joint shaft 4
The information of individual set angle.
The first signal exit of level sensor 167 is connected with the initial position input of control module 121；First level sensor 167
It is fixedly mounted on the intermediate plate of pedestal 1, the information of the second segment of collection 3 and the upright position of pedestal 1.
Control module 121 runs control program, using the various signals from sensor, sends instruction and is driven by motor
The motor of module 122 is rotated, and is realized bending or is stretched the function of finger.
In the present embodiment, the first transmission mechanism include the first decelerator 141, first bevel gear 142, second bevel gear 143,
Transition axis 144, the first belt wheel 145, the second belt wheel 146 and the first transmission belt 147.
The output shaft of the first motor 14 is connected with the input shaft of the first decelerator 141, and first bevel gear 142 is fixed in first
On the output shaft of decelerator 141, second bevel gear 143 is fixed on First Transition axle 144, and first bevel gear 142 and second is bored
Gear 143 is engaged.
First Transition axle 144 is set in pedestal 1, and the first belt wheel 145 is fixed on First Transition axle 144, the second belt wheel
146 are fixed on nearly joint shaft 4, the first transmission belt 147 connection the first belt wheel 145 and the second belt wheel 146, the first transmission belt 147,
First belt wheel 145 and the second belt wheel 147 form belt wheel transmission relation, and transmission belt is in " O " font.
In the present embodiment, the second transmission mechanism include the second decelerator 151, third hand tap gear 152, the 4th bevel gear 153,
Second transition axis 154, the 3rd belt wheel 155, the 4th belt wheel 156 and the second transmission belt 157.
The output shaft of the second motor 15 is connected with the input shaft of the second decelerator 151, and third hand tap gear 152 is fixed in second
On the output shaft of decelerator 151, the 4th bevel gear 153 is fixed on the second transition axis 154, and third hand tap gear 152 and the 4th is bored
Gear 153 is engaged.
Second transition axis 154 is set in pedestal 1, and the 3rd belt wheel 155 is fixed on First Transition axle 154, the 4th belt wheel
156 are actively socketed on nearly joint shaft 4, the second transmission belt 157 connection the 3rd belt wheel 155 and the 4th belt wheel 156, the second transmission belt
157th, the 3rd belt wheel 155 and the 4th belt wheel 156 form belt wheel transmission relation, and transmission belt is in " O " font.
In the present embodiment, the first feeler 163, the second feeler 164, first stop grabbing sensor 161, second
Stop grabbing sensor 162, first park sensor 165, second park sensor 166 and just level sensor 167 using multiple displacements
Sensor, pressure sensor or torque sensor and in array arrange.
In the present embodiment, control module 121 is using a kind of in computer, PLD, CPLD, PLC, single-chip microcomputer, DSP and FPGA
Or several combinations, control module 121 is contained within A/D transform subblocks.
In the present embodiment, it is a kind of using such as the two-way perception self-adaption machine of claim 1 closed loop flexible piece that the present invention is provided
The control method of device finger device, as shown in figure 12, comprises the following steps：
1) it is R, to make reseting mark position, makes first to stop grabbing flag bit for A, makes second to stop grabbing flag bit for B, makes the first contact
Flag bit is C, and it is D to make the second contact mark position, makes first to park flag bit for E, makes second to park flag bit for F, makes initial position
Flag bit is G, during beginning, makes reseting mark position R=0；
2), first when control module stops grabbing input and receives first and stop grabbing the first of sensor and stop grabbing signal, then make
First stops grabbing flag bit A=1, and otherwise order stops grabbing flag bit A=0；
3), second when control module stops grabbing input and receives second and stop grabbing the second of sensor and stop grabbing signal, then make
Second stops grabbing flag bit B=1, and otherwise order stops grabbing flag bit B=0；
4), when the first contact input of control module receives the first activation signal of the first feeler, then make
First contact mark position C=1, otherwise makes the first contact mark position C=0；
5), when the second contact input of control module receives the second activation signal of the second feeler, then make
Second contact mark position D=1, otherwise makes the second contact mark position D=0；
6), first when control module is parked input and receives first and park the first of sensor and park signal, then made
First parks flag bit E=1, and flag bit E=0 is parked in otherwise order；
7), second when control module is parked input and receives second and park the second of sensor and park signal, then made
Second parks flag bit F=1；Flag bit F=0 is parked in otherwise order；
8), when the initial position input of control module receives the initial position signal of just level sensor, then initial position flag bit G=is made
1, flag bit G=0 is parked in otherwise order,
9), when the reset terminal of control module receives reset signal, then reseting mark position R=1 is made, and carry out step 11),
Otherwise carry out step 10)；
10), when the first contact input of control module receives the first activation signal, i.e. the first contact mark position C=
1, then carry out step 12), otherwise carry out step 13)；
11), when the initial position input of control module receives initial position signal, i.e. initial position flag bit G=1, then step is carried out
25) step 26, is otherwise carried out)；
12), control module controls the stalling of the first motor, stops grabbing input and receives first and stop grabbing when the first of control module
Signal, i.e., first stop grabbing flag bit A=1, then carry out step 22), otherwise carry out step 23)；
13), first when control module stops grabbing input and receives first and stop grabbing signal, i.e., first stops grabbing flag bit A=
1, then carry out step 12), otherwise carry out step 14)；
14), first when control module is parked input and receives first and park signal, i.e., first parks flag bit E=
1, then carry out step 15), otherwise carry out step 16)；
15), in predetermined small time period ⊿ t, control module drives the first motor to rotate forward so that the first segment is around nearly pass
Nodal axisn to a low-angle is rotated forward, when the second contact input of control module receives the second activation signal, i.e., second
Contact mark position D=1, then carry out step 17), otherwise carry out step 18)；
16), in predetermined small time period ⊿ t, control module drives the first motor reversal so that the first segment is around nearly pass
Nodal axisn to rotating backward a low-angle, when the reset terminal of control module receives reset signal, i.e. reseting mark position R=1, then
Carry out step 10), otherwise carry out step 11)；
17), control module controls the stalling of the first motor, stops grabbing input and receives second and stop grabbing when the second of control module
Signal, i.e., second stop grabbing flag bit B=1, then carry out step 22), otherwise carry out step 24)；
18), second when control module stops grabbing input and receives second and stop grabbing signal, i.e., second stops grabbing flag bit B=
1, then carry out step 17)；Otherwise carry out step 19)；
19), second when control module is parked input and receives second and park signal, i.e., second parks flag bit F=
1, then carry out step 20), otherwise carry out step 21)；
20), control module controls the stalling of the first motor, carries out step 1)；
21), when the reset terminal of control module receives reset signal, i.e. reseting mark position R=1, then step 11 is carried out),
Otherwise carry out step 15)；
22), control module controls the stalling of the second motor, carries out step 1)；
23), in predetermined small time period ⊿ t, control module drives the second motor reversal so that the second segment is gone the long way round pass
Nodal axisn to rotating backward a low-angle, when the reset terminal of control module receives reset signal, i.e. reseting mark position R=1, then
Carry out step 11), otherwise carry out step 12)；
24), in predetermined small time period ⊿ t, control module drives the second motor to rotate forward so that the second segment is gone the long way round pass
Nodal axisn to rotating forward a low-angle, when the reset terminal of control module receives reset signal, i.e. reseting mark position R=1, then
Carry out step 11), otherwise carry out step 25)；
25), second when control module stops grabbing input and receives second and stop grabbing signal, i.e., second stops grabbing flag bit B=
1, then carry out step 22), otherwise carry out step 24)；
26), control module controls the stalling of the second motor, when the second contact input of control module receives the second contact
Signal, i.e. the second contact mark position D=1, then carry out step 30)；Otherwise carry out step 31)；
27), first when control module stops grabbing input and receives first and stop grabbing signal, i.e., first stops grabbing flag bit A=
1, then carry out step 28), otherwise carry out step 29)；
28), in predetermined small time period ⊿ t, control module drives the second motor to rotate forward so that the second segment is gone the long way round pass
Nodal axisn to rotating forward a low-angle, when the reset terminal of control module receives reset signal, i.e. reseting mark position R=1, then
Carry out step 27), otherwise carry out step 10)；
29), in predetermined small time period ⊿ t, control module drives the second motor reversal so that the second segment is gone the long way round pass
Nodal axisn to rotating backward a low-angle, when the reset terminal of control module receives reset signal, i.e. reseting mark position R=1, then
Carry out step 11), otherwise carry out step 10)；
30), in predetermined small time period ⊿ t, control module drives the first motor reversal so that the first segment is around nearly pass
Nodal axisn parks input and receives first and park signal, i.e., first to rotating backward a low-angle, when the first of control module
Flag bit E=1 is parked, then carries out step 20), otherwise carry out step 33)；
31), second when control module is parked input and receives second and park signal, i.e., second parks flag bit F=
1, then carry out step 20), otherwise carry out step 32)；
32), in predetermined small time period ⊿ t, control module drives the first motor to rotate forward so that the first segment is around nearly pass
Nodal axisn to rotating forward a low-angle, when the reset terminal of control module receives reset signal, i.e. reseting mark position R=1, then
Carry out step 34), otherwise carry out step 10)；
33), when the reset terminal of control module receives reset signal, i.e. reseting mark position R=1, then step 34 is carried out),
Otherwise carry out step 10)；
34), when the second contact input of control module receives the second activation signal, i.e. the second contact mark position D=
1, then carry out step 30)；Otherwise carry out step 31)；
35), when control module receives off signal, terminate, otherwise carry out step 1).
Figure 11, Figure 12 and Figure 14 to Figure 35 illustrate the two-way sense of closed loop flexible piece of the present embodiment below in conjunction with the accompanying drawings
Know different mode during adaptive robot finger apparatus crawl different objects：
1) positive parallel clamping grasp mode；
2) positive first parallel clamping, then self-adapting grasping pattern；
3) antiparallel clamping grasp mode；
4) reversely first parallel clamping, then self-adapting grasping pattern；
Detailed process, be described below：
Figure 14 to Figure 17 is that embodiment illustrated in fig. 1 is carrying out the schematic diagram of positive parallel clamping process.
The initial position of the present embodiment is the finger inwardly state tightened up, as shown in figure 14, now the second segment 3 relative to
Pedestal 1 is in straight configuration, and the first segment 2 is the level of state relative to pedestal 1.
When parallel clamping object 17 positive using the present embodiment (positive parallel clamping grasp mode), such as Figure 14 extremely schemes
Shown in 17, the first motor 14 is rotated forward by control module 121 and motor drive module 122, by the first transmission mechanism,
The first segment 2 is driven to rotate forward an angle around the axis of nearly joint shaft 4, now the second segment 3 keeps and original state
Near object 17, when the second segment 3 touches object 17, the first of the surface of the second segment 3 stops grabbing sensor parallel attitude
161 will receive signal, and the first motor 14 is stalled by control module 121 and motor drive module 122, complete positive parallel
Clamping process.
Figure 18 to Figure 22 is that embodiment illustrated in fig. 1 is carrying out the schematic diagram of positive self-adapting grasping process.
When using the positive first parallel clamping of the present embodiment, then during self-adapting grasping object 17 (positive first parallel clamping, then
Self-adapting grasping pattern), as shown in Figure 18 to Figure 22, the first motor 14 is made by control module 121 and motor drive module 122
Rotate forward, by the first transmission mechanism, drive the first segment 2 to rotate forward an angle around the axis of nearly joint shaft 4, this
When the second segment 3 keep the close object 17 of the attitude parallel with original state, when the first segment 2 touches object 17, first
First feeler 163 on the surface of segment 2 will receive signal, and is made by control module 121 and motor drive module 122
One motor 14 is stalled, and rotates forward the second motor 15, by the second transmission mechanism, drives the second segment 3 around remote joint
The axis of axle 5 rotates forward an angle.Now, i.e., the first segment 2 is stopped, and the second motor 15 drives the second segment 3 to object
17 are close to, and when the second segment 3 touches object 17, the first of the surface of the second segment 3 stops grabbing sensor 161 and will receive letter
Number, stall the second motor 15 by control module 121 and motor drive module 122, i.e., the second segment 3 is stopped, and completes positive
First parallel clamping, then self-adapting grasping process.
Figure 23 to Figure 29 is that embodiment illustrated in fig. 1 is carrying out the schematic diagram of reverse self-adapting grasping process.
When using the present embodiment reversely first parallel clamping, then (antiparallel clamping crawl during self-adapting grasping object 17
Pattern), as shown in Figure 23 to Figure 29, the first motor 14 is rotated forward by control module 121 and motor drive module 122,
By the first transmission mechanism, the first segment 2 is driven to rotate forward an angle around the axis of nearly joint shaft 4, now second refers to
The attitude that section 3 keeps parallel with original state is close to object 17, and when the first segment 2 reaches direct limit position, first stops
Putting sensor 165 will receive signal, the firstth motor 14 is reversely turned by control module 121 and motor drive module 122
It is dynamic, by the first transmission mechanism, drive the first segment 2 to rotate backward an angle around the axis of nearly joint shaft 4, now second
The attitude that segment 3 keeps parallel with original state is close to object 17, when the first segment 2 touches object 17, the table of the first segment 2
Second feeler 164 in face will receive signal, and the first motor is made by control module 121 and motor drive module 122
14 stallings, and the second motor 15 is rotated backward, by the second transmission mechanism, the second segment 3 is driven around the axle of remote joint shaft 5
Line rotates backward an angle.Now, i.e., the first segment 2 is stopped, and the second motor 15 drives the second segment 3 to be close to object 17,
When the second segment 3 touches object 17, the second of the surface of the second segment 3 stops grabbing sensor 162 and will receive signal, by control
Molding block 121 and motor drive module 122 stall the second motor 15, i.e., the second segment 3 is stopped, and complete reversely first parallel folder
Hold, then self-adapting grasping process.
Figure 30 to Figure 35 is that embodiment illustrated in fig. 1 is carrying out the schematic diagram of antiparallel clamping process.
(the reversely first parallel clamping, then self-adapting grasping mould when clamping object 17 antiparallel using the present embodiment
Formula), as shown in Figure 30 to Figure 35, the first motor 14 is rotated forward by control module 121 and motor drive module 122, lead to
The first transmission mechanism is crossed, drives the first segment 2 to rotate forward an angle around the axis of nearly joint shaft 4, now the second segment 3
The attitude parallel with original state is kept to be close to object 17, when the first segment 2 reaches direct limit position, first parks biography
Sensor 165 will receive signal, and the firstth motor 14 is rotated backward by control module 121 and motor drive module 122, lead to
The first transmission mechanism is crossed, drives the first segment 2 to rotate backward an angle around the axis of nearly joint shaft 4, now the second segment 3
The attitude parallel with original state is kept to be close to object 17, when the second segment 3 touches object 17, the surface of the second segment 3
Second stops grabbing sensor 162 and will receive signal, and the first motor 14 is stopped by control module 121 and motor drive module 122
Turn, complete antiparallel clamping process.
When using the present embodiment decontrol object 17 when, the present embodiment can automatic detection current position state, then by control
Molding block 121 and motor drive module 122 drive the first motor 14 and the second motor 15 to rotate so that finger is gradually distance from object
17 recover initial position so as to realize finger, and detailed process is similar with crawl process.
Additionally, in some cases, can carry out the reset of finger apparatus using reset signal as needed, finger will turn
Move initial position.
The effect of embodiment and beneficial effect
According to the two-way perception self-adaption robot finger apparatus of closed loop flexible piece that the present embodiment is provided, due to using double
The control method of motor driving, flexible drive parts, multisensor feedback signal, control module and self-adapting grasping, originally
Realize two-way crawl function, and contact or leave the information of finger by gathering object, comprehensively realize to different shape and
The object of size carries out the automatic crawl function of parallel clamping, perception and self adaptation.
Compared with traditional under-actuated finger, crawl effect is more excellent, the crawl of the first segment, the second segment to object for the device
Power is separate, is easy to stabilization crawl, and grasp force is controllable, and driving-chain is short, so as to reduce drive gap and controlling dead error,
Crawl process is more stable, and accommodation is wider.
Compared with traditional active control skillful finger, not only innovative two-way crawl function, also has the device
There are parallel clamping and self-adapting grasping, need not be reprogramed when being captured to different objects, it is easy to use.Utilize
The device can realize the robot of the dexterity free degree high, self adaptation high, low control difficulty and high reliability.
So, the two-way perception self-adaption robot finger apparatus of closed loop flexible piece that the present embodiment is provided, comprehensive utilization
The design feature of Dextrous Hand and drive lacking hand, originally realizes two-way crawl function, and parallel folder can be better achieved
Hold and self-adapting grasping function, can according to target object shape and the difference of position, can translation the second segment grip object,
Also the object of the second segment and the first segment self adaptation different shapes and sizes can successively be rotated.Meanwhile, device crawl scope
Greatly, process stabilization is captured, grasp force is controllable, and driving-chain is short, need not be reprogramed when being captured to different objects, uses simple side
Just.
Claims (9)
1. two-way perception self-adaption robot finger apparatus of a kind of closed loop flexible piece, for grasping object, it is characterised in that：Including
Pedestal, the first segment, the second segment, nearly joint shaft, remote joint shaft, the first motor, the second motor, first stop grabbing sensor,
Two stop grabbing sensor, the first feeler, the second feeler, first park sensor, second park sensor, initial position
Sensor, control module, motor drive module and the first transmission mechanism, the second transmission mechanism, the first drive, the second transmission
Wheel, flexible drive parts,
First motor is fixedly connected with the bottom of the pedestal, and second motor is fixedly connected with the bottom of the pedestal
And be arranged side by side with first motor, the diameter parallel of the axis of the nearly joint shaft and the remote joint shaft, the control
Module is parked input, second parks input, first stops grabbing input, second stops grabbing input, the first contact including first
Input, the second contact input, initial position input, motor drive output and reset terminal,
Wherein, the nearly joint shaft is slidingly connected in the susceptor,
The remote joint shaft is movably set in first segment,
First segment is socketed on the nearly joint shaft, and second segment is socketed on the remote joint shaft,
First transmission mechanism is set in the susceptor, the output shaft of first motor and first transmission mechanism
Input is connected, and the output end of first transmission mechanism is socketed on one end of the nearly joint shaft,
Second transmission mechanism is arranged in pedestal and is arranged side by side with first transmission mechanism, second motor it is defeated
Shaft is connected with the input of second transmission mechanism, and the output end of second transmission mechanism is movably set in the nearly pass
On the other end of nodal axisn,
First drive is movably set on the nearly joint shaft, and second driving wheel tube is connected on the remote joint shaft
On,
Coordinate between the flexible drive parts, the first drive and the second drive three and be driven, first drive
Transmission radius it is equal with the transmission radius of second drive.
2. two-way perception self-adaption robot finger apparatus of closed loop flexible piece according to claim 1, it is characterised in that：
Wherein, the flexible drive parts use transmission belt, tendon rope or chain, and corresponding first drive, described second pass
Driving wheel is any one in belt wheel, rope sheave and sprocket wheel.
3. two-way perception self-adaption robot finger apparatus of closed loop flexible piece according to claim 1, it is characterised in that：
Wherein, the reset terminal of the control module is used to receive reset signal,
The motor drive output of the control module is connected with the input of the motor drive module, and the motor drives mould
Lead of the output end of block respectively with first motor, second motor is connected,
The signal exit of first feeler is connected with the first contact input of the control module,
First feeler is fixedly mounted on the positive gripping surface of first segment to be used to gather and grabs object and touch
The positive information of first segment is touched,
The signal exit of second feeler is connected with the second contact input of the control module,
Second feeler is fixedly mounted on the reverse gripping surface of first segment to be used to gather and grabs object and touch
The reverse information of first segment is touched,
Described first stops grabbing the signal exit of sensor and the first of the control module stops grabbing input and is connected, and described first
Stop grabbing sensor and be fixedly mounted on the positive gripping surface of second segment to be used to gather and grab object and touch second segment
Positive information,
Described second stops grabbing the signal exit of sensor and the second of the control module stops grabbing input and is connected, and described
Two stop grabbing sensor is fixedly mounted on the reverse gripping surface of second segment to be used to gather and grabs object and touch second finger
The information of Duan Fanxiang,
Described first parks the signal exit of sensor parks input and is connected with described the first of the control module, described
First parks sensor is fixedly mounted on the pedestal for gathering first segment relative to the pedestal around the nearly pass
The information of the angle that nodal axisn is rotated forward,
Described second parks the signal exit of sensor parks input and is connected with the second of the control module, and described
Two park sensor and are fixedly mounted on pedestal and are used to gather first segment and rotated backward around nearly joint shaft relative to pedestal
Angle information,
The just signal exit of level sensor is connected with the initial position input of the control module, and the just level sensor is consolidated
Dingan County is used to gather second segment and the information of the upright position of the pedestal on the intermediate plate of the pedestal,
The control module receives the various signals from above-mentioned sensor, and sends instructions to the motor drive module
Drive first motor, second motor to rotate, realize first segment, the bending of the second segment or stretch.
4. two-way perception self-adaption robot finger apparatus of closed loop flexible piece according to claim 1, it is characterised in that：
Wherein, first transmission mechanism includes the first decelerator, intermeshing first bevel gear and second bevel gear, transition
Axle, the first belt wheel, the second belt wheel and the first transmission belt,
The output shaft of first motor is connected with the input shaft of first decelerator,
The first bevel gear is fixed by socket on the output shaft of first decelerator,
The second bevel gear is fixed by socket on the First Transition axle,
The First Transition axle sleeve is set in the susceptor, and the first band wheel socket is fixed on the First Transition axle,
Second belt wheel is fixed by socket on the nearly joint shaft,
First transmission belt connects first belt wheel and second belt wheel, and three forms belt wheel transmission relation.
5. two-way perception self-adaption robot finger apparatus of closed loop flexible piece according to claim 1, it is characterised in that：
Wherein, second transmission mechanism includes the second decelerator, intermeshing third hand tap gear and the 4th bevel gear, second
Transition axis, the 3rd belt wheel, the 4th belt wheel and the second transmission belt,
The output shaft of second motor is connected with the input shaft of the second decelerator,
The third hand tap gear is fixed by socket on the output shaft of the second decelerator,
4th bevel gear is fixed by socket on the second transition axis,
Second transition axis is arranged in the susceptor,
3rd belt wheel is fixed by socket on First Transition axle, and the 4th belt wheel is actively socketed on the nearly joint shaft,
Second transmission belt connects the 3rd belt wheel and the 4th belt wheel, and three forms belt wheel transmission relation.
6. two-way perception self-adaption robot finger apparatus of closed loop flexible piece according to claim 1, it is characterised in that：
Wherein, first feeler, the second feeler, first stop grabbing sensor, second stop grabbing sensor, first
Park sensor, second park sensor and first level sensor is obtained from being arranged in array using multiple pedestal sensors
Sensor combinations,
The pedestal sensor is any one in displacement transducer, pressure sensor and torque sensor.
7. two-way perception self-adaption robot finger apparatus of closed loop flexible piece according to claim 1, it is characterised in that：
Wherein, the control module is using one or more in computer, PLD, CPLD, PLC, single-chip microcomputer, DSP and FPGA
Combination,
Control module is contained within A/D change-over circuits.
8. two-way perception self-adaption robot finger apparatus of closed loop flexible piece according to claim 1, it is characterised in that：
Wherein, the flexible drive parts, first transmission belt, second transmission belt are in " O " font.
9. the control method of the two-way perception self-adaption robot finger apparatus of a kind of closed loop flexible piece, it is characterised in that with
Lower step：
1) it is R, to make reseting mark position, makes first to stop grabbing flag bit for A, makes second to stop grabbing flag bit for B, makes the first contact mark
Position is C, makes the second contact mark for D, makes first to park flag bit for E, makes second to park flag bit for F, the first bit flag of order
Position is G, during beginning, makes reseting mark position R=0；
2), first when control module stops grabbing input and receives first and stop grabbing the first of sensor and stop grabbing signal, then make first
Stop grabbing flag bit A=1, otherwise order stops grabbing flag bit A=0；
3), second when control module stops grabbing input and receives second and stop grabbing the second of sensor and stop grabbing signal, then make second
Stop grabbing flag bit B=1, otherwise order stops grabbing flag bit B=0；
4), when the first contact input of control module receives the first activation signal of the first feeler, then first is made
Contact mark position C=1, otherwise makes the first contact mark position C=0；
5), when the second contact input of control module receives the second activation signal of the second feeler, then second is made
Contact mark position D=1, otherwise makes the second contact mark position D=0；
6), first when control module is parked input and receives first and park the first of sensor and park signal, then make first
Flag bit E=1 is parked, flag bit E=0 is parked in otherwise order；
7), second when control module is parked input and receives second and park the second of sensor and park signal, then make second
Park flag bit F=1；Flag bit F=0 is parked in otherwise order；
8), when the initial position input of control module receives the initial position signal of just level sensor, then initial position flag bit G=1 is made, it is no
Flag bit G=0 is parked in then order,
9), when the reset terminal of control module receives reset signal, then reseting mark position R=1 is made, and carry out step 11), otherwise
Carry out step 10)；
10), when the first contact input of control module receives the first activation signal, i.e. the first contact mark position C=1, then
Carry out step 12), otherwise carry out step 13)；
11), when the initial position input of control module receives initial position signal, i.e. initial position flag bit G=1, then step 25 is carried out),
Otherwise carry out step 26)；
12), control module controls the stalling of the first motor, stops grabbing input and receives first and stop grabbing letter when the first of control module
Number, i.e., first stops grabbing flag bit A=1, then carry out step 22), otherwise carry out step 23)；
13), first when control module stops grabbing input and receives first and stop grabbing signal, i.e., first stops grabbing flag bit A=1, then
Carry out step 12), otherwise carry out step 14)；
14), first when control module is parked input and receives first and park signal, i.e., first parks flag bit E=1, then
Carry out step 15), otherwise carry out step 16)；
15), in predetermined small time period ⊿ t, control module drives the first motor to rotate forward so that the first segment is around nearly joint shaft
To a low-angle is rotated forward, when the second contact input of control module receives the second activation signal, i.e., the second contact
Flag bit D=1, then carry out step 17), otherwise carry out step 18)；
16), in predetermined small time period ⊿ t, control module drives the first motor reversal so that the first segment is around nearly joint shaft
To a low-angle is rotated backward, when the reset terminal of control module receives reset signal, i.e. reseting mark position R=1, then carry out
Step 10), otherwise carry out step 11)；
17), control module controls the stalling of the first motor, stops grabbing input and receives second and stop grabbing letter when the second of control module
Number, i.e., second stops grabbing flag bit B=1, then carry out step 22), otherwise carry out step 24)；
18), second when control module stops grabbing input and receives second and stop grabbing signal, i.e., second stops grabbing flag bit B=1, then
Carry out step 17), otherwise carry out step 19)；
19), second when control module is parked input and receives second and park signal, i.e., second parks flag bit F=1, then
Carry out step 20), otherwise carry out step 21)；
20), control module controls the stalling of the first motor, carries out step 1)；
21), when the reset terminal of control module receives reset signal, i.e. reseting mark position R=1, then step 11 is carried out), otherwise
Carry out step 15)；
22), control module controls the stalling of the second motor, carries out step 1)；
23), in predetermined small time period ⊿ t, control module drives the second motor reversal so that the second segment is gone the long way round joint shaft
To a low-angle is rotated backward, when the reset terminal of control module receives reset signal, i.e. reseting mark position R=1, then carry out
Step 11), otherwise carry out step 12)；
24), in predetermined small time period ⊿ t, control module drives the second motor to rotate forward so that the second segment is gone the long way round joint shaft
To a low-angle is rotated forward, when the reset terminal of control module receives reset signal, i.e. reseting mark position R=1, then carry out
Step 11), otherwise carry out step 25)；
25), second when control module stops grabbing input and receives second and stop grabbing signal, i.e., second stops grabbing flag bit B=1, then
Carry out step 22), otherwise carry out step 24)；
26), control module controls the stalling of the second motor, when the second contact input of control module receives the second contact letter
Number, i.e. the second contact mark position D=1 then carries out step 30)；Otherwise carry out step 31)；
27), first when control module stops grabbing input and receives first and stop grabbing signal, i.e., first stops grabbing flag bit A=1, then
Carry out step 28), otherwise carry out step 29)；
28), in predetermined small time period ⊿ t, control module drives the second motor to rotate forward so that the second segment is gone the long way round joint shaft
To a low-angle is rotated forward, when the reset terminal of control module receives reset signal, i.e. reseting mark position R=1, then carry out
Step 27), otherwise carry out step 10)；
29), in predetermined small time period ⊿ t, control module drives the second motor reversal so that the second segment is gone the long way round joint shaft
To a low-angle is rotated backward, when the reset terminal of control module receives reset signal, i.e. reseting mark position R=1, then carry out
Step 11), otherwise carry out step 10)；
30), in predetermined small time period ⊿ t, control module drives the first motor reversal so that the first segment is around nearly joint shaft
To rotating backward a low-angle, when the first of control module parks input and receive first and park signal, i.e., first parks
Flag bit E=1, then carry out step 20), otherwise carry out step 33)；
31), second when control module is parked input and receives second and park signal, i.e., second parks flag bit F=1, then
Carry out step 20), otherwise carry out step 32)；
32), in predetermined small time period ⊿ t, control module drives the first motor to rotate forward so that the first segment is around nearly joint shaft
To a low-angle is rotated forward, when the reset terminal of control module receives reset signal, i.e. reseting mark position R=1, then carry out
Step 34), otherwise carry out step 10)；
33), when the reset terminal of control module receives reset signal, i.e. reseting mark position R=1, then step 34 is carried out), otherwise
Carry out step 10)；
34), when the second contact input of control module receives the second activation signal, i.e. the second contact mark position D=1, then
Carry out step 30)；Otherwise carry out step 31)；
35), when control module receives off signal, terminate, otherwise carry out step 1).
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| CN113386115A (en) * | 2021-07-14 | 2021-09-14 | 董尹凯 | Connecting rod type three-path parallel linear parallel clamping self-adaptive robot finger device |
| CN113400289A (en) * | 2021-07-14 | 2021-09-17 | 董尹凯 | Series-parallel connection connecting rod linear parallel clamping self-adaptive robot finger device |
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