CN111015740B - Touch and slide sensation sensor, flexible finger grabbing system and grabbing method thereof - Google Patents
Touch and slide sensation sensor, flexible finger grabbing system and grabbing method thereof Download PDFInfo
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- CN111015740B CN111015740B CN201911278124.5A CN201911278124A CN111015740B CN 111015740 B CN111015740 B CN 111015740B CN 201911278124 A CN201911278124 A CN 201911278124A CN 111015740 B CN111015740 B CN 111015740B
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- 238000003062 neural network model Methods 0.000 claims abstract description 9
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- 230000004044 response Effects 0.000 claims description 2
- 238000004364 calculation method Methods 0.000 abstract description 8
- 238000006243 chemical reaction Methods 0.000 abstract description 6
- 230000005055 memory storage Effects 0.000 abstract description 2
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- 229910001018 Cast iron Inorganic materials 0.000 description 6
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 4
- 229910052782 aluminium Inorganic materials 0.000 description 4
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/028—Piezoresistive or piezoelectric sensing devices
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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
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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Abstract
The invention provides a tactile and slip sensation sensor, a flexible finger grabbing system and a grabbing method thereof, wherein through a magnetorheological elastomer induction curved surface and an induction curved surface voltage acquisition circuit in a tactile and slip sensation sensing unit, an object can apply pressure on the magnetorheological elastomer induction curved surface to be converted into a voltage signal, a relation between the voltage signal and pressure information is established, and the grabbed force information of the object can be obtained through conversion of the acquired voltage signal; the electric bridge circuit can convert the slip information of the object into a voltage signal through the rotatable transmission integrated rotating shaft, the stop block and the induction block, the relationship between the voltage signal and the slip information is established, the slip information of the object can be obtained through conversion of the acquired voltage signal, and the slip speed information can be obtained through combination with time; the touch and slip decoupling calculation principle is simple, and the calculation amount is relatively small; the material perception neural network model is combined for memory storage, corresponding pressure can be directly applied when the same type of object exists next time, and real-time performance, rapidity and stability of grabbing are guaranteed.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a tactile and slippery sensation sensor, a flexible finger grabbing system and a grabbing method thereof.
Background
With the rapid development of robot technology, there is an increasing demand for robots that can perform tasks in complex environments. Due to the complexity and the particularity of grabbing operation, the robot has low grabbing success rate and high damage rate, and flexible grabbing and clamping become a key technology for related robot research.
In the prior art, a multi-combination tactile and sliding sensor carries out flexible grabbing, but the existing tactile and sliding sensor at least has the following defects: the piezoresistive film structure is generally a micro structure, the structure is complex, the processing and the manufacturing are difficult, and the cost is high; the slip direction and the shear force of the object acting on the device cannot be judged; haptic and slippery information decoupling is difficult; the sensing principle is complex, calculation is not easy to carry out, and certain time delay exists in the aspect of information feedback. In addition, the gripping device and the slip sensation sensor of the robot system are separately manufactured and then integrated, resulting in poor conformity and adaptability.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, the present invention provides a tactile and tactile sensor and a flexible finger-gripping system with a novel structure, which is used to solve the above-mentioned technical problems.
To achieve the above and other related objects, the present invention provides a tactile-slip sensor comprising: the device comprises a tactile and sliding sensation sensing unit and a rack, wherein the tactile and sliding sensation sensing unit is arranged on the rack;
the slip sensation sensing unit comprises a transmission integrated rotating shaft, a magnetorheological elastomer induction curved surface, an induction curved surface voltage acquisition circuit, a slip sensation information transmission block, a magnetorheological elastomer induction block and an induction block bridge circuit; the transmission integrated rotating shaft is rotatably arranged on the rack; the magnetorheological elastomer induction curved surface is arranged on the side surface of the transmission integrated rotating shaft, and the induction curved surface voltage acquisition circuit is electrically connected with the magnetorheological elastomer induction curved surface; the transmission integrated rotating shaft comprises a stepped shaft, and the two slip sensation information conducting blocks are respectively arranged at two different recesses of the stepped shaft in the same radial direction; along the radial direction perpendicular to the stepped shaft, two sides of each sliding sense information guide block are respectively provided with one magnetorheological elastomer induction block, and the induction block bridge circuit is electrically connected with the four magnetorheological elastomer induction blocks;
the frame comprises a stop block which is used for limiting and blocking the sliding sense information transmission block and the magneto-rheological elastomer induction block.
Optionally, the slip sensation sensing unit further comprises a first bearing and a second bearing, wherein one end of the transmission integrated rotating shaft is arranged in an inner hole of the first bearing, and the other end of the transmission integrated rotating shaft is arranged in an inner hole of the second bearing; the rack also comprises a rack body, wherein a first bearing containing groove and a second bearing containing groove are formed in the rack body, the first bearing is arranged in the first bearing containing groove, and the second bearing is arranged in the second bearing containing groove, so that the transmission integrated rotating shaft can be rotatably arranged on the rack; the frame is still including being used for holding the platform that holds of smooth sense information conduction piece and magnetorheological elastomers response piece, two hold the platform setting and be in on the frame body, along the perpendicular to the radial direction of transmission integration pivot, every the both sides that hold the platform are equipped with one respectively the dog.
To achieve the above and other related objects, the present invention also provides a flexible finger grip system comprising:
a fixed placing rack on which the grabbed object is placed;
the linear slide rail lead screw transmission device at least comprises a lead screw and a connecting slide block sleeved on the lead screw, and is arranged on the fixed placing rack, and the axial direction of the lead screw is vertical to the plane of the object;
the connecting plate is connected with the connecting slide block;
the flexible finger grabbing device is used for grabbing the object, can feed back sliding information and grabbing force information in real time when the object is grabbed, and is connected with the connecting plate.
Optionally, linear slide rail lead screw transmission still includes slide rail, slide rail lead screw fixed bolster and slider lift drive motor, the slide rail with the lead screw is parallel to be set up on the slide rail lead screw fixed bolster, the one end setting of link block is in on the slide rail, other pot head establish on the lead screw, slider lift drive motor sets up the one end of slide rail lead screw fixed bolster just slider lift drive motor's pivot with screw connection, slider lift drive motor drives the lead screw rotates, the rotation of lead screw drives link block is in linear motion is done on the slide rail.
Optionally, the flexible finger gripping device comprises a first flexible finger, a second flexible finger, a third flexible finger, a first driving motor, a second driving motor and a third driving motor; the flexible finger first finger is rotatably arranged at one end of the connecting plate, the first driving motor is arranged on the connecting plate, and the first driving motor drives the flexible finger first finger to rotate; the flexible finger second finger is rotatably arranged at the other end of the connecting plate, the second driving motor is arranged on the connecting plate, the second driving motor drives the flexible finger second finger to rotate, the flexible finger third finger and one end, far away from the connecting plate, of the flexible finger second finger are rotatably connected, the third driving motor is arranged at the connecting position of the flexible finger third finger and the second flexible finger, and the third driving motor drives the flexible finger third finger to rotate.
Optionally, the flexible finger first finger comprises a first finger frame, the above-mentioned tactile and sliding sensation sensing unit, a bearing end cover, a first finger cap and a first dust cover;
the first finger rack comprises a first rack body and a first rotating shaft, the first rotating shaft is arranged at one end, close to the connecting plate, of the first rack body, and the first rotating shaft is connected with a rotating shaft of the first driving motor; the first finger frame body is provided with a first bearing containing groove and a second bearing containing groove, the first bearing is arranged in the first bearing containing groove, the second bearing is arranged in the second bearing containing groove, and the exposed sides of the first bearing containing groove and the second bearing containing groove are respectively provided with the bearing end covers;
the first finger rack further comprises containing tables and stop blocks, the two containing tables are arranged on the first rack body and contain the sliding sense information transmission block and the magneto-rheological elastomer induction block, the stop blocks are respectively arranged on two sides of each containing table along a radial direction perpendicular to the transmission integrated rotating shaft, and the stop blocks are used for limiting and stopping the sliding sense information transmission block and the magneto-rheological elastomer induction block;
the two first finger caps are respectively arranged on the first rack body and used for sealing and protecting the exposed sides of the third bearing containing groove and the fourth bearing containing groove;
the first dustproof cover is arranged on the first machine frame body and used for shielding and protecting the exposed side of the transmission integrated rotating shaft.
Optionally, the flexible finger second finger comprises a second finger frame, the tactile and sliding sensation sensing unit, a bearing end cover, a second finger cap and a second dust cover;
the second finger rack comprises a second rack body and a second rotating shaft, the second rotating shaft is arranged at one end, close to the connecting plate, of the second rack body, and the second rotating shaft is connected with a rotating shaft of the second driving motor; the tactile and sliding sense sensing unit is rotatably arranged on the second finger rack, a fifth bearing containing groove and a sixth bearing containing groove are formed in the second rack body, the first bearing is arranged in the fifth bearing containing groove, the second bearing is arranged in the sixth bearing containing groove, and the exposed sides of the fifth bearing containing groove and the sixth bearing containing groove are respectively provided with the bearing end covers;
the second finger rack further comprises containing tables and stop blocks, the two containing tables are arranged on the second rack body and contain the sliding sense information transmission block and the magneto-rheological elastomer induction block, the stop blocks are respectively arranged on two sides of each containing table along the radial direction perpendicular to the transmission integrated rotating shaft, and the stop blocks are used for limiting and stopping the sliding sense information transmission block and the magneto-rheological elastomer induction block;
the two second finger caps are respectively arranged on the second rack body and are used for sealing and protecting the exposed sides of the fifth bearing containing groove and the sixth bearing containing groove;
the second dustproof cover is arranged on the second rack body and used for shielding and protecting the exposed side of the transmission integrated rotating shaft;
and a rotating shaft placing groove is formed in one end, far away from the connecting plate, of the second rack body and used for placing a rotating shaft of the third driving motor.
Optionally, the flexible finger third finger comprises a third finger frame, the sliding touch sensing unit, a bearing end cover, a third finger cap and a third dust hood;
the third finger rack comprises a third rack body and a motor shaft fixer, the motor shaft fixer is arranged at one end of the third rack body close to the second finger of the flexible finger, and the motor shaft fixer is used for fixing a rotating shaft of the third driving motor so that the third driving motor can drive the third rack body to rotate; the third frame body is provided with a seventh bearing containing groove and an eighth bearing containing groove, the first bearing is arranged in the seventh bearing containing groove, the second bearing is arranged in the eighth bearing containing groove, and the exposed sides of the seventh bearing containing groove and the eighth bearing containing groove are respectively provided with the bearing end covers;
the third finger rack further comprises containing tables and stop blocks, the two containing tables are arranged on the third rack body and contain the sliding sense information transmission block and the magneto-rheological elastomer induction block, the stop blocks are respectively arranged on two sides of each containing table along a radial direction perpendicular to the transmission integrated rotating shaft, and the stop blocks are used for limiting and stopping the sliding sense information transmission block and the magneto-rheological elastomer induction block;
the two third finger caps are respectively arranged on the third rack body and are used for sealing and protecting the exposed sides of the seventh bearing containing groove and the eighth bearing containing groove;
and the third dust hood is arranged on the third rack body and used for shielding and protecting the exposed side of the transmission integrated rotating shaft.
Optionally, flexible finger grasping system still includes host computer, controller, speech recognition module and goes out the touch-sensitive screen, the host computer respectively with controller, speech recognition module and touch-sensitive screen are connected, the controller respectively with slider lift driving motor, first driving motor, second driving motor and third driving motor are connected, the touch-sensitive screen sets up fixedly place in the frame, host computer, controller and speech recognition module set up the back of touch-sensitive screen, the touch-sensitive screen provides man-machine interface.
Optionally, a material sensing neural network model is integrated in the controller, and the touch and slide feeling information and the material attribute information of the grabbed object are sensed and memorized.
In addition, to achieve the above and other related objects, the present invention provides a grasping method of a flexible finger grasping system, including the steps of:
providing the flexible finger grip system;
starting a touch screen, and selecting a control mode through the human-computer interaction interface;
controlling the flexible finger gripping device to move to a designated gripping position;
controlling the flexible finger gripping device to grip an object, feeding back sliding information and gripping force information in real time in the gripping process, and adjusting the gripping force according to the sliding information;
controlling the flexible fingers to grab the object, moving to a specified height, and staying for a specified time;
inputting tactile and slippery sensation information fed back in the grabbing process and tactile and slippery sensation information fed back after grabbing is stable into a trained material perception neural network model to obtain material attribute information of the object;
controlling the flexible finger to replace the object.
As described above, the tactile and slip sensation sensor of the present invention has the following advantageous effects:
the pressure applied to the magnetorheological elastomer induction curved surface by an object when the object is grabbed can be converted into the change of a resistance signal of the magnetorheological elastomer induction curved surface through the magnetorheological elastomer induction curved surface and the induction curved surface voltage acquisition circuit in the touch and slide sensing unit, and then the changed resistance signal is converted into a voltage signal, so that the relation between the voltage signal and the pressure information is established, and the grabbed force information of the object can be obtained through conversion of the acquired voltage signal; the system comprises a touch-slip sensation sensing unit, a rotatable transmission integrated rotating shaft, two slip sensation information guide blocks, four magnetorheological elastomer induction blocks, an induction block bridge circuit and a stop block on a rack, wherein the rotatable transmission integrated rotating shaft and the stop block can transmit the slip information (slippage and slip direction) of an object to the magnetorheological elastomer induction blocks subjected to extrusion deformation to change resistance signals of the object, and then the resistance signals changed by the magnetorheological elastomer induction blocks can be converted into voltage signals through a bridge formed by the four magnetorheological elastomer induction blocks and the induction block bridge circuit, so that the relation between the voltage signals and the slippage and the slip direction is established, the acquired voltage signals can be converted into the slippage and the slip direction information of the object, and the slip speed information can be obtained by combining time; the tactile and sliding sense sensor is simple in structure, simple in touch sense (grabbing force information) and slip sense (sliding information) decoupling calculation principle and relatively small in calculation amount.
Drawings
Fig. 1-2 are schematic structural diagrams of a tactile and slippery sensation sensor according to an embodiment of the present invention.
Fig. 3-12 are schematic diagrams illustrating a flexible finger grip system according to an embodiment of the present invention.
FIG. 13 is a flowchart illustrating a grasping method of the flexible finger grasping system according to the embodiment of the present invention.
FIG. 14 is a flowchart illustrating the control of the flexible finger grip system in accordance with an embodiment of the present invention.
Detailed Description
As mentioned in the background, the inventor has found that the multi-joint tactile-slip sensor in the existing robot system performs flexible grabbing, but the existing tactile-slip sensor has at least the following disadvantages: the piezoresistive film structure is generally a micro structure, the structure is complex, the processing and the manufacturing are difficult, and the cost is high; the slip direction and the shearing force of the object acting on the device cannot be judged; haptic and slippery information decoupling is difficult; the sensing principle is complex, calculation is not easy to carry out, and certain time delay exists in the aspect of information feedback. In addition, the gripping device and the slip sensation sensor of the robot system are manufactured independently and integrated, so that the conformity and the adaptability are not good; when snatching the product of the same model or the same material, no material recognition function, the material attribute can not be judged in time, still snatch according to frequent feedback processing mode, it is time-consuming.
Based on this, the invention provides a tactile and slippery sensation sensor and a flexible finger grabbing system with a brand-new structure, wherein in the tactile and slippery sensation sensor: the pressure applied by the object to the magnetorheological elastomer induction curved surface is converted into the change of a resistance signal of the magnetorheological elastomer induction curved surface through the magnetorheological elastomer induction curved surface and the induction curved surface voltage acquisition circuit, and then the changed resistance signal is converted into a voltage signal, so that the relation between the voltage signal and the pressure information is established, and the acquired voltage signal can be converted to obtain the grasping force information of the object; the sliding information (slippage and sliding direction) of an object is transmitted to the magnetorheological elastomer induction block which is extruded and deformed through the rotatable transmission integrated rotating shaft and the stop block, so that resistance signals of the magnetorheological elastomer induction block are changed, the changed resistance signals of the magnetorheological elastomer induction block can be converted into voltage signals through an electric bridge formed by the four magnetorheological elastomer induction blocks and an induction block electric bridge circuit, therefore, the relation between the voltage signals and the slippage and the sliding direction is established, the slippage and the sliding direction information of the object can be obtained through conversion of the collected voltage signals, and the sliding speed information can be obtained through combination with time.
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention.
Please refer to fig. 1 to 14. It should be noted that the drawings provided in the present embodiment are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated. The structures, proportions, sizes, and other dimensions shown in the drawings and described in the specification are for understanding and reading the present disclosure, and are not intended to limit the scope of the present disclosure, which is defined in the following claims, and are not intended to be exhaustive or to limit the present disclosure. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.
As shown in fig. 1 to 2, the present invention provides a tactile-slip sensor including: the device comprises a tactile and sliding sense sensing unit 1 and a rack 2, wherein the tactile and sliding sense sensing unit 1 is arranged on the rack 2;
as shown in fig. 1, the tactile and slip sensation sensing unit 1 comprises a transmission integrated rotating shaft 1-1, a magnetorheological elastomer induction curved surface 1-2, an induction curved surface voltage acquisition circuit (not shown in the figure), a slip sensation information sensing block 1-3, a magnetorheological elastomer induction block 1-4 and an induction block bridge circuit (not shown in the figure); the transmission integrated rotating shaft 1-1 is rotatably arranged on the frame 2; the magnetorheological elastomer induction curved surface 1-2 is arranged on the side surface of the transmission integrated rotating shaft 1-1, and the induction curved surface voltage acquisition circuit is electrically connected with the magnetorheological elastomer induction curved surface 1-2; the transmission integrated rotating shaft 1-1 comprises a stepped shaft, and two sliding information transmission blocks 1-3 are respectively arranged at two different recesses of the stepped shaft in the same radial direction; the two sides of each sliding sense information transmission block 1-3 are respectively provided with a magnetorheological elastomer induction block 1-4 in a radial direction perpendicular to the stepped shaft, and an induction block bridge circuit is electrically connected with the four magnetorheological elastomer induction blocks 1-4;
the frame 2 comprises a stop block 2-3, and the stop block 2-3 limits and blocks the sliding sense information transmission block 1-3 and the magneto-rheological elastomer induction block 1-4.
In detail, as shown in fig. 1, the tactile and sliding sense sensing unit 1 further comprises a first bearing 1-5 and a second bearing 1-6, wherein one end of the transmission integrated rotating shaft 1-1 is arranged in an inner hole of the first bearing 1-5, and the other end is arranged in an inner hole of the second bearing 1-6; as shown in fig. 2, the frame 2 further includes a frame body 2-1, the frame body 2-1 is provided with a first bearing containing groove 2-a and a second bearing containing groove 2-B, the first bearing 1-5 is disposed in the first bearing containing groove 2-a, and the second bearing 1-6 is disposed in the second bearing containing groove 2-B, so that the transmission integrated rotating shaft 1-1 is rotatably disposed on the frame 2; the frame 2 further comprises holding platforms 2-2 for holding the sliding sense information guide blocks 1-3 and the magnetorheological elastomer induction blocks 1-4, as shown in fig. 2, the two holding platforms 2-2 are independently arranged on the frame body 2-1, and two stop blocks 2-3 are respectively arranged on two sides of each holding platform 2-2 along a radial direction perpendicular to the transmission integrated rotating shaft 1-1.
The magnetorheological elastomer is a piezoresistive sensing unit and mainly converts pressure into deformation of the magnetorheological elastomer so as to change the resistance of the magnetorheological elastomer; the magnetorheological elastomer induction curved surface 1-2 is a curved surface film with a certain thickness manufactured on the basis of a magnetorheological elastomer, a layer of protrusions are required to be manufactured on the surface during manufacturing, the surface of the curved surface needs to be frosted, and the roughness of the magnetorheological elastomer induction curved surface 1-2 is ensured to enhance the friction force between the magnetorheological elastomer induction curved surface 1-2 and a grabbed object; optionally, the magnetorheological elastomer induction curved surface 1-2 is fixed on the side surface of the transmission integrated rotating shaft 1-1 by adopting super glue, so that the connection firmness is ensured, and the sliding sense information can be smoothly transmitted; the magnetorheological elastomer sensing block 1-4 is a cuboid small block (such as a cuboid small block with the specification of 3mmx5mmx2 mm) manufactured on the basis of a magnetorheological elastomer, and sliding information is acquired through sliding information transmitted by the magnetorheological elastomer sensing curved surface 1-2, the transmission integrated rotating shaft 1-1 and the sliding information transmission block 1-3.
In detail, the sensing principle of the tactile and slip sensor is as follows:
1. acquisition of grip information
In the tactile and sliding sense sensing unit 1, the magnetorheological elastomer is used for sensing the piezoresistive effect of the curved surface 1-2, pressure is applied to the magnetorheological elastomer through an object, the magnetorheological elastomer can sense the deformation of the curved surface 1-2 to cause the resistance change of the curved surface, and then a voltage acquisition circuit of the sensed curved surface is combined to convert a changed resistance signal into voltage information, so that the relation between the acquired voltage signal and the pressure information is established, and the acquired voltage signal can be converted to obtain the grasping force information (tactile information).
2. Acquisition of slip direction information, slip amount information, and slip speed information
In the housing 2, the housing body 2-1 provides a rigid structure to which other components can be attached; the first bearing containing groove 2-A is used for containing a first bearing 1-5 in the slip sensation sensing unit 1, and the second bearing containing groove 2-B is used for containing a second bearing 1-6 in the slip sensation sensing unit 1; the holding table 2-2 is used for holding the sliding sense information guide block 1-3 and the magneto-rheological elastomer sensing block 1-4, the stop block 2-3 is used for stopping the movement of the sliding sense information guide block 1-3 and the magneto-rheological elastomer sensing block 1-4, when the sliding sense sensing unit 1 contacts an object, the friction force received by the object can enable the transmission integrated rotating shaft 1-1 to rotate to drive the sliding sense information guide block 1-3 and the magneto-rheological elastomer sensing block 1-4, the fixed stop block 2-3 can stop the movement of the sliding sense information guide block 1-3 and the magneto-rheological elastomer sensing block 1-4, so that the magneto-rheological elastomer sensing block 1-4 is acted by force to generate deformation and generate a piezoresistive effect, as shown in figure 3 (the magneto-rheological elastomer sensing block 1-4 is equivalent to a resistor in figure 3), and then the induction block bridge circuit is electrically connected with the four magnetorheological elastomer induction blocks 1-4 to form a bridge, so that resistance signals changed by the magnetorheological elastomer induction blocks 1-4 are converted into voltage signals, the relationship between the voltage signals and the slippage direction is established, the slippage and the slippage direction information of an object can be obtained by converting the collected voltage signals, and the slippage speed information can be obtained by combining time.
In detail, the transmission integrated rotating shaft 1-1, the slip sense information guide block 1-3 and the stop block 2-3 are utilized to convert the slip amount information of an object into pressure information applied to the magnetorheological elastomer induction block 1-4, so that the deformation amount information of the magnetorheological elastomer induction block 1-4 can be obtained (the deformation amount information of the elastomer induction block 1-4 can be obtained through the resistance change of the magnetorheological elastomer induction block 1-4), and further the relational expression of the deformation amount delta x and the slip amount l of the magnetorheological elastomer induction block 1-4 is obtained; then, the induction block electric bridge circuit is connected with four magneto-rheological elastomer induction blocks 1-4 to form a half-bridge double-arm circuit shown in figure 4, and a measured resistance signal is converted into a voltage signal which can be collected; finally, the relation between the slippage l and the collected voltage signal can be obtained, and slippage information is obtained; obtaining slip speed information from the timing time; the information of the slip direction can be judged through the half-bridge double-arm circuit.
In more detail, as shown in fig. 4-5, the relationship between the slip amount l and the collected voltage signal is derived as follows:
wherein e isyThe voltage value of the power supply voltage Ui of the bridge is an electric signal collected between C, D points;
when e isyWhen the bridge is equal to 0, the bridge is balanced, and the following conditions should be satisfied:
R3R4＝R1R2
if the resistance of each bridge arm slightly changes, delta R1、ΔR2、ΔR3、ΔR4Then, the bridge is out of balance, and the output voltage at this time is:
we use an equal arm bridge with four equal arm resistances, i.e. R1＝R2＝R3＝R4＝R
If at this time at least two tactile and slip sensors are used to fix and lift the object, i.e. the transmission integrated rotating shaft 1-1 rotates reversely, as shown in fig. 5, slides downwards:
ΔR1＝ΔR2＝ΔR，ΔR3＝ΔR4＝0
because of the fact that
R (F) is the resistance value of the magnetorheological elastomer induction blocks 1-4 after being subjected to the force of F;
R0the resistance value of the magnetorheological elastomer induction block in the initial state is 1-4;
h is the thickness of the magnetorheological elastomer induction block 1-4;
l is the length of the magnetorheological elastomer induction block 1-4;
m is the width of the magnetorheological elastomer induction block 1-4;
delta h is the compression amount of the magnetorheological elastomer induction blocks 1-4 after being subjected to the force of F;
d0The minimum gap distance between the conductive particles under zero pressure;
d is the particle size of the nickel powder;
phi is the volume fraction filled with nickel powder, and the invention adopts 15 percent.
G is the compression modulus of the magnetorheological elastomer induction blocks 1-4;
R(0)＝R
ΔR＝R(0)-R(σ)
as shown in fig. 5, when the radius of the transmission integrated rotating shaft 1-1 is r and the slip amount is l, and the pressure is converted, the deformation amount of the magnetorheological elastomer sensing block 1-4 is Δ x, the transmission integrated rotating shaft 1-1 rotates by θ (radian), the thickness of the magnetorheological elastomer sensing block 1-4 is h, and the actual stress σ iszAnd the actual positive stress is sigma, then:
Δx＝r sinθ
l＝rθ
here, the compression amount Δ x is Δ h
If the transmission integrated rotating shaft 1-1 rotates forwards and slides upwards, the principle is the same.
Meanwhile, the present invention also provides a flexible finger-gripping system using the above-mentioned tactile and slippery sensation sensor, as shown in fig. 6, which includes:
a fixed placing frame 3 on which a grabbed object is placed;
the linear slide rail lead screw transmission device 4 at least comprises a lead screw 4-1 and a connecting slide block 4-2 sleeved on the lead screw 4-1, and is arranged on the fixed placing rack 3, and the axial direction of the lead screw 4-1 is vertical to the plane of an object;
the connecting plate 5 is connected with the connecting slide block 4-2;
the flexible finger grabbing device 6 is used for grabbing objects, can feed back sliding information and grabbing force information in real time when grabbing the objects, and is connected with the connecting plate 5.
In detail, as shown in fig. 6, the fixed placing frame 3 mainly includes: the device comprises an aluminum profile framework 3-1 processed by an alloy aluminum profile, a cast iron platform 3-2 used for placing grabbed objects, and a cast iron vertical plane 3-3 used for fixing a lead screw sliding rail device 4, wherein the aluminum profile framework 3-1 is connected with the cast iron platform 3-2, and the aluminum profile framework 3-1 is connected with the cast iron vertical plane 3-3 through bolts.
In detail, as shown in fig. 6, the linear slide rail screw transmission device 4 is fixed on a cast iron vertical plane 3-3, the linear slide rail screw transmission device 4 further comprises a slide rail 4-3, a slide rail screw fixing support 4-4 and a slide block lifting driving motor 4-5, the slide rail screw fixing support 4-4 is arranged on the cast iron vertical plane 3-3, the slide rail 4-3 and the screw 4-1 are arranged on the slide rail screw fixing support 4-4 in parallel, one end of a connecting slide block 4-2 is arranged on the slide rail 4-3, the other end is sleeved on the screw 4-1, the slide block lifting driving motor 4-5 is arranged at one end of the slide rail screw fixing support 4-4, a rotating shaft of the slide block lifting driving motor 4-5 is connected with the screw 4-1, the slide block lifting driving motor 4-5 drives the screw 4-1 to rotate, the rotation of the screw rod 4-1 drives the connecting slide block 4-2 to do linear motion on the slide rail 4-3.
In detail, as shown in fig. 7, the connection plate 5 mainly includes: the motor driving shaft is characterized by comprising a rotating shaft placing groove 5-1, a motor connecting hole 5-2, a motor containing groove 5-3 and a sliding block connecting hole 5-4, wherein the rotating shaft placing groove 5-1 is designed to facilitate the installation of the motor driving shaft and can be directly placed in the motor driving shaft; the motor connecting hole 5-2 is used for fixing the motor on the connecting plate 5; the motor is placed in the motor containing groove 5-3, so that the transmission of the motor is more stable; the connecting plate 5 is connected with the connecting slide block 4-2 through the slide block connecting hole 5-4 by adopting a bolt.
In detail, as shown in fig. 8, the flexible finger grip device 6 comprises a first flexible finger 6-1, a second flexible finger 6-2, a third flexible finger 6-3, a first driving motor 6-4, a second driving motor 6-5 and a third driving motor 6-6; the flexible finger first finger 6-1 is rotatably arranged at one end of the connecting plate 5, the first driving motor 6-4 is arranged in the motor containing groove 5-3 at one end of the connecting plate 5, and the first driving motor 6-4 drives the flexible finger first finger 6-1 to rotate; the flexible finger second finger 6-2 is rotatably arranged at the other end of the connecting plate 5, the second driving motor 6-5 is arranged in the motor containing groove 5-3 at the other end of the connecting plate 5, the second driving motor 6-5 drives the flexible finger second finger 6-2 to rotate, the flexible finger third finger 6-6 is rotatably connected with one end, far away from the connecting plate 5, of the flexible finger second finger 6-5, the third driving motor 6-6 is arranged at the connecting position of the flexible finger third finger 6-3 and the flexible finger second finger 6-2, and the third driving motor 6-6 drives the flexible finger third finger 6-3 to rotate.
In more detail, as shown in fig. 1 and 9-10, the first flexible finger 6-1 comprises a first finger frame 6-11, a touch and slide sensing unit 6-12, a bearing end cover 6-13, a first finger cap 6-14 and a first dust cover 6-15;
the first finger rack 6-11 comprises a first rack body 6-111 and a first rotating shaft 6-112, the first rotating shaft 6-112 is arranged at one end of the first rack body 6-111 close to the connecting plate 5, and the first rotating shaft 6-112 is connected with a rotating shaft of a first driving motor 6-4; the tactile and sliding sense sensing unit 6-12 is rotatably arranged on the first finger rack 6-11, a third bearing containing groove 6-11A and a fourth bearing containing groove 6-11B are arranged on the first rack body 6-111, the structure of the tactile and sliding sense sensing unit 6-12 is the same as that of the tactile and sliding sense sensing unit 1 shown in figure 1, a first bearing of the tactile and sliding sense sensing unit 6-12 is arranged in the third bearing containing groove 6-11A, a second bearing of the tactile and sliding sense sensing unit 6-12 is arranged in the fourth bearing containing groove 6-11B, and exposed sides of the third bearing containing groove 6-11A and the fourth bearing containing groove 6-11B are respectively provided with bearing end covers 6-13;
similarly, as with the rack in fig. 2, the first finger rack 6-11 further comprises holding platforms 6-113 and stoppers 6-114, the two holding platforms 6-113 are arranged on the first rack body 6-111, the holding platforms 6-113 hold the slide sensation information guide blocks and the magneto-rheological elastomer sensing blocks in the slide sensation sensing units 6-12, the holding platforms are perpendicular to the radial direction of the transmission integrated rotating shaft in the slide sensation sensing units 6-12, both sides of each holding platform 6-113 are respectively provided with a stopper 6-114, and the stoppers 6-114 limit and block the slide sensation information guide blocks and the magneto-rheological elastomer sensing blocks;
the two first finger caps 6-14 are respectively arranged on the first frame body 6-111, one exposed side of the third bearing containing groove 6-11A and one exposed side of the fourth bearing containing groove 6-11B are hermetically protected, the first finger caps 6-14 are closed spaces, dust is prevented from entering the interior of the first finger 6-1 of the flexible finger, original parts in the first finger are prevented from being damaged smoothly, the bearing is prevented from slipping off, and the aesthetic feeling of the flexible finger is improved; the first dustproof cover 6-15 is arranged on the first frame body 6-111 and used for shielding and protecting the exposed side of the transmission integrated rotating shaft in the sliding sense sensing unit 6-12, and the first dustproof cover 6-15 is used for preventing dust and improving aesthetic feeling.
Optionally, the first finger caps 6-14 and the first dust covers 6-15 are connected with the first frame body 6-111 through bolts; the tactile and sliding sense sensing units 6-12 are main components and are also effective components for acquiring tactile and sliding sense information, namely acquiring sliding direction information, sliding amount information, sliding speed information and grabbing force information, and feeding the information back to the controller for effective control and identification; the bearing end caps 6-13 mainly prevent the bearing from slipping.
In detail, as shown in fig. 8, the flexible finger second finger 6-2 includes a second finger housing 6-21, a tactile and slippery sensation sensing unit, a bearing end cap, a second finger cap (not shown in the figure), and a second dust cover;
in more detail, as shown in fig. 11, the second finger frame 6-21 includes a second frame body 6-211 and a second rotating shaft 6-212, the second rotating shaft 6-212 is disposed at one end of the second frame body 6-211 close to the connecting plate 5, and the second rotating shaft 6-212 is connected to a rotating shaft of the second driving motor 6-5; the tactile and sliding sense sensing unit is rotatably arranged on the second finger rack 6-21, a fifth bearing containing groove 6-21A and a sixth bearing containing groove 6-21B are arranged on the second rack body 6-211, a first bearing in the tactile and sliding sense sensing unit is arranged in the fifth bearing containing groove 6-21A, a second bearing in the tactile and sliding sense sensing unit is arranged in the sixth bearing containing groove 6-21B, and bearing end covers are respectively arranged on exposed sides of the fifth bearing containing groove 6-21A and the sixth bearing containing groove 6-21B;
the second finger rack 6-21 also comprises a holding platform 6-213 and a stop block 6-214, the function and the position of the second finger rack are the same as those of the first finger rack 6-11, and the description is omitted; similarly, the two second finger caps are respectively arranged on the second rack body 6-211 to seal and protect the exposed sides of the fifth bearing containing groove 6-21A and the sixth bearing containing groove 6-21B; the second dustproof cover is arranged on the second rack body 6-211 and shields and protects the exposed side of the transmission integrated rotating shaft in the touch and slide sensing unit.
In more detail, as shown in fig. 11, one end of the second housing body 6-211, which is away from the connection plate 5, is provided with a rotation shaft placing groove 6-21C for placing a rotation shaft accommodating the third driving motor 6-6.
In detail, as shown in fig. 8, the third finger 6-3 of the flexible finger comprises a third finger frame 6-31, a slip sensation sensing unit 6-32, a bearing end cover (not shown in the figure), a third finger cap 6-34 and a third dust hood;
as shown in fig. 12, the third finger rack 6-31 includes a third rack body 6-311 and a motor shaft fixer 6-314, the motor shaft fixer 6-314 is disposed at an end of the third rack body 6-311 close to the flexible finger second finger 6-2, the motor shaft fixer 6-314 is used for fixing a rotating shaft of the third driving motor 6-6, so that the third driving motor 6-6 can drive the third rack body 6-31 to rotate; the third finger rack body 6-311 is provided with a seventh bearing containing groove 6-31A and an eighth bearing containing groove 6-31B, a first bearing in the third finger rack body 6-311 is arranged in the seventh bearing containing groove 6-31A, a second bearing in the third finger rack body is arranged in the eighth bearing containing groove 6-31B, and exposed sides of the seventh bearing containing groove 6-31A and the eighth bearing containing groove 6-31B are respectively provided with a bearing end cover; the third finger rack 6-31 also comprises a holding platform 6-312 and a stop block 6-313, the function and position of which are arranged as the first finger rack 6-11, which is not described again; the two third finger caps are respectively arranged on the third rack body 6-311 to seal and protect the exposed sides of the seventh bearing containing groove 6-31A and the eighth bearing containing groove 6-31B; the third dust hood is arranged on the third rack bodies 6-311 and shields and protects the exposed side of the transmission integrated rotating shaft in the slip sensation sensing unit.
In detail, the whole flexible finger grabbing system further comprises an upper computer, a controller, a voice recognition module and a touch screen (not shown in the figure), wherein the upper computer is respectively connected with the controller, the voice recognition module and the touch screen, the controller is respectively connected with a slider lifting drive motor 4-5, a first drive motor 6-4, a second drive motor 6-5 and a third drive motor 6-6, the touch screen is arranged on the fixed placing rack 3, the upper computer, the controller and the voice recognition module are arranged on the back of the touch screen, and the touch screen provides a man-machine interaction interface.
In detail, a material perception neural network model is integrated in the controller, and the tactile and slippery sensation information and the material attribute information of the grabbed object A are perceived and memorized.
In addition, as shown in fig. 13, the present invention further provides a grasping method of the above flexible finger grasping system, including the steps of:
s1, providing the flexible finger grabbing system;
s2, starting a touch screen, and selecting a control mode through a human-computer interaction interface;
s3, controlling the flexible finger gripping device to move to the designated gripping position;
s4, controlling the flexible finger gripping device to grip an object, feeding back slip information and gripping force information in real time in the gripping process, and adjusting the gripping force according to the slip information;
s5, controlling the flexible fingers to grab the object and then move to a specified height, and staying for a specified time;
s6, inputting the tactile and slippery sensation information fed back in the grabbing process and the tactile and slippery sensation information fed back after grabbing stability into a trained material perception neural network model to obtain material attribute information of the object;
and S7, controlling the flexible finger to put the object back in place.
In step S6, the tactile and slippery sensation information fed back during the grabbing process and the tactile and slippery sensation information fed back after the grabbing is stabilized are input into the trained material perception neural network model to obtain the attribute information of the grabbed material, so that the corresponding pressure can be directly applied when the same type of object is present next time, and the real-time performance, rapidity and stability of grabbing are ensured.
The overall control block diagram of the flexible finger-gripping system can be seen in fig. 14, and details are not repeated here.
In summary, in the tactile and slip sense sensor and the flexible finger grasping system provided by the invention, the pressure applied by an object to the magnetorheological elastomer induction curved surface when the object is grasped can be converted into the change of the resistance signal of the magnetorheological elastomer induction curved surface through the magnetorheological elastomer induction curved surface and the induction curved surface voltage acquisition circuit in the tactile and slip sense sensing unit, and then the changed resistance signal is converted into the voltage signal, so that the relationship between the voltage signal and the pressure information is established, and the grasping force information of the object can be obtained through conversion of the acquired voltage signal; slip information (slippage and slip direction) of an object can be transmitted to the magnetorheological elastomer induction blocks subjected to extrusion deformation through the rotatable transmission integrated rotating shaft and the stop blocks in the touch-slip sensing unit, so that resistance signals of the magnetorheological elastomer induction blocks are changed, the resistance signals changed by the magnetorheological elastomer induction blocks can be converted into voltage signals through an electric bridge formed by four magnetorheological elastomer induction blocks and an induction block electric bridge circuit, therefore, the relation between the voltage signals and the slippage and the slip direction is established, the slippage and the slip direction information of the object can be obtained through conversion of the acquired voltage signals, and the slip speed information can be obtained through combination of time; the touch and slide sensation sensor is simple in structure, the decoupling calculation principle of touch sensation (grabbing force information) and slide sensation (sliding information) is simple, and the calculation amount is relatively small; and then the material perception neural network model is combined for memory storage, so that corresponding pressure can be directly applied when the same type of object exists next time, and the real-time performance, rapidity and stability of grabbing are ensured.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which may be accomplished by those skilled in the art without departing from the spirit and scope of the present invention as set forth in the appended claims.
Claims (11)
1. A tactile sensation sensor, comprising: the device comprises a tactile and sliding sensation sensing unit and a rack, wherein the tactile and sliding sensation sensing unit is arranged on the rack;
the slip sensation sensing unit comprises a transmission integrated rotating shaft, a magnetorheological elastomer induction curved surface, an induction curved surface voltage acquisition circuit, a slip sensation information transmission block, a magnetorheological elastomer induction block and an induction block bridge circuit; the transmission integrated rotating shaft is rotatably arranged on the rack; the magnetorheological elastomer induction curved surface is arranged on the side surface of the transmission integrated rotating shaft, and the induction curved surface voltage acquisition circuit is electrically connected with the magnetorheological elastomer induction curved surface; the transmission integrated rotating shaft comprises a stepped shaft, and the two slip sensation information conducting blocks are respectively arranged at two different recesses of the stepped shaft in the same radial direction; along the radial direction perpendicular to the stepped shaft, two sides of each sliding sense information guide block are respectively provided with one magnetorheological elastomer induction block, and the induction block bridge circuit is electrically connected with the four magnetorheological elastomer induction blocks;
the frame comprises a stop block, and the stop block is used for limiting and stopping the sliding sense information guide block and the magnetorheological elastomer induction block.
2. The tactile-slip sensor according to claim 1, wherein the tactile-slip sensing unit further comprises a first bearing and a second bearing, one end of the transmission-integrated rotating shaft is disposed in an inner hole of the first bearing, and the other end of the transmission-integrated rotating shaft is disposed in an inner hole of the second bearing; the rack also comprises a rack body, wherein a first bearing containing groove and a second bearing containing groove are formed in the rack body, the first bearing is arranged in the first bearing containing groove, and the second bearing is arranged in the second bearing containing groove, so that the transmission integrated rotating shaft is rotatably arranged on the rack; the frame still including be used for holding the platform that holds of smooth sense information conduction piece and magnetic current becomes elastomer response piece, two hold the platform and set up on the frame body, along the perpendicular to the radial direction of transmission integration pivot, every the both sides that hold the platform are equipped with one respectively the dog.
3. A flexible finger grip system, comprising:
a fixed placing frame on which a grabbed object is placed;
the linear slide rail lead screw transmission device at least comprises a lead screw and a connecting slide block sleeved on the lead screw, and is arranged on the fixed placing rack, and the axial direction of the lead screw is vertical to the plane of the object;
the connecting plate is connected with the connecting slide block;
the flexible finger grabbing device is used for grabbing the object, can feed back sliding information and grabbing force information when the object is grabbed in real time, and is connected with the connecting plate;
the flexible finger gripping device acquires the sliding information and the gripping force information of the object by using the tactile and sliding sense sensing unit according to claim 2, and realizes flexible gripping of the object based on the feedback of the sliding information and the gripping force information of the object.
4. The flexible finger gripping system according to claim 3, wherein the linear slide rail lead screw transmission device further comprises a slide rail, a slide rail lead screw fixing support and a slider lifting driving motor, the slide rail and the lead screw are arranged on the slide rail lead screw fixing support in parallel, one end of the connecting slider is arranged on the slide rail, the other end of the connecting slider is sleeved on the lead screw, the slider lifting driving motor is arranged at one end of the slide rail lead screw fixing support, a rotating shaft of the slider lifting driving motor is connected with the lead screw, the slider lifting driving motor drives the lead screw to rotate, and the rotation of the lead screw drives the connecting slider to do linear motion on the slide rail.
5. The flexible finger grip system of claim 4 wherein said flexible finger grip means comprises a flexible finger first finger, a flexible finger second finger, a flexible finger third finger, a first drive motor, a second drive motor and a third drive motor; the flexible finger first finger is rotatably arranged at one end of the connecting plate, the first driving motor is arranged on the connecting plate, and the first driving motor drives the flexible finger first finger to rotate; the flexible finger second finger is rotatably arranged at the other end of the connecting plate, the second driving motor is arranged on the connecting plate, the second driving motor drives the flexible finger second finger to rotate, the flexible finger third finger and one end, far away from the connecting plate, of the flexible finger second finger are rotatably connected, the third driving motor is arranged at the connecting position of the flexible finger third finger and the flexible finger second finger, and the third driving motor drives the flexible finger third finger to rotate.
6. The flexible finger grip system of claim 5 wherein said flexible finger first finger includes a first finger housing, said tactile-slip sensing unit, a bearing end cap, a first finger cap and a first dust cover;
the first finger rack comprises a first rack body and a first rotating shaft, the first rotating shaft is arranged at one end, close to the connecting plate, of the first rack body, and the first rotating shaft is connected with a rotating shaft of the first driving motor; the first finger frame body is provided with a first bearing containing groove and a second bearing containing groove, the first bearing is arranged in the first bearing containing groove, the second bearing is arranged in the second bearing containing groove, and the exposed sides of the first bearing containing groove and the second bearing containing groove are respectively provided with the bearing end covers;
the first finger rack further comprises containing tables and stop blocks, the two containing tables are arranged on the first rack body and contain the sliding sense information transmission block and the magneto-rheological elastomer induction block, the stop blocks are respectively arranged on two sides of each containing table along a radial direction perpendicular to the transmission integrated rotating shaft, and the stop blocks are used for limiting and stopping the sliding sense information transmission block and the magneto-rheological elastomer induction block;
the two first finger caps are respectively arranged on the first rack body and used for sealing and protecting the exposed sides of the third bearing containing groove and the fourth bearing containing groove;
the first dustproof cover is arranged on the first machine frame body and shields and protects the exposed side of the transmission integrated rotating shaft.
7. The flexible finger grip system of claim 5, wherein said flexible second finger comprises a second finger housing, said tactile-slip sensing unit, a bearing end cap, a second finger cap, and a second dust cover;
the second finger rack comprises a second rack body and a second rotating shaft, the second rotating shaft is arranged at one end, close to the connecting plate, of the second rack body, and the second rotating shaft is connected with a rotating shaft of the second driving motor; the tactile and sliding sense sensing unit is rotatably arranged on the second finger rack, a fifth bearing containing groove and a sixth bearing containing groove are formed in the second rack body, the first bearing is arranged in the fifth bearing containing groove, the second bearing is arranged in the sixth bearing containing groove, and the exposed sides of the fifth bearing containing groove and the sixth bearing containing groove are respectively provided with the bearing end covers;
the second finger rack further comprises containing tables and stop blocks, the two containing tables are arranged on the second rack body and contain the sliding sense information transmission block and the magneto-rheological elastomer induction block, the stop blocks are respectively arranged on two sides of each containing table along the radial direction perpendicular to the transmission integrated rotating shaft, and the stop blocks are used for limiting and stopping the sliding sense information transmission block and the magneto-rheological elastomer induction block;
the two second finger caps are respectively arranged on the second rack body and are used for sealing and protecting the exposed sides of the fifth bearing containing groove and the sixth bearing containing groove;
the second dustproof cover is arranged on the second rack body and shields and protects the exposed side of the transmission integrated rotating shaft;
and a rotating shaft placing groove is formed in one end, far away from the connecting plate, of the second rack body and used for placing a rotating shaft of the third driving motor.
8. The flexible finger grip system of claim 5, wherein said flexible finger third finger includes a third finger housing, said tactile and tactile sensation sensing unit, a bearing end cap, a third finger cap, and a third dust shield;
the third finger rack comprises a third rack body and a motor shaft fixer, the motor shaft fixer is arranged at one end of the third rack body close to the second finger of the flexible finger, and the motor shaft fixer is used for fixing a rotating shaft of the third driving motor so that the third driving motor can drive the third rack body to rotate; the third frame body is provided with a seventh bearing containing groove and an eighth bearing containing groove, the first bearing is arranged in the seventh bearing containing groove, the second bearing is arranged in the eighth bearing containing groove, and the exposed sides of the seventh bearing containing groove and the eighth bearing containing groove are respectively provided with the bearing end covers;
the third finger rack further comprises containing tables and stop blocks, the two containing tables are arranged on the third rack body and contain the sliding sense information transmission block and the magneto-rheological elastomer induction block, the stop blocks are respectively arranged on two sides of each containing table along a radial direction perpendicular to the transmission integrated rotating shaft, and the stop blocks are used for limiting and stopping the sliding sense information transmission block and the magneto-rheological elastomer induction block;
the two third finger caps are respectively arranged on the third rack body and are used for sealing and protecting the exposed sides of the seventh bearing containing groove and the eighth bearing containing groove;
and the third dust hood is arranged on the third rack body and used for shielding and protecting the exposed side of the transmission integrated rotating shaft.
9. The flexible finger grabbing system according to claim 5, further comprising an upper computer, a controller, a voice recognition module and a touch screen, wherein the upper computer is connected with the controller, the voice recognition module and the touch screen respectively, the controller is connected with the slider lifting driving motor, the first driving motor, the second driving motor and the third driving motor respectively, the touch screen is arranged on the fixed placing rack, the upper computer, the controller and the voice recognition module are arranged on the back of the touch screen, and the touch screen provides a man-machine interaction interface.
10. The flexible finger gripping system according to claim 9, wherein a material sensing neural network model is integrated in the controller for sensing and memorizing the tactile and sliding sense information and the material attribute information of the gripped object.
11. A method of controlling a flexible finger grip system, comprising the steps of:
providing the flexible finger grip system of claim 10;
starting a touch screen, and selecting a control mode through the human-computer interaction interface;
controlling the flexible finger gripping device to move to a designated gripping position;
controlling the flexible finger gripping device to grip an object, feeding back sliding information and gripping force information in real time in the gripping process, and adjusting the gripping force according to the sliding information;
controlling the flexible fingers to grab the object, moving to a specified height, and staying for a specified time;
inputting tactile and slippery sensation information fed back in the grabbing process and tactile and slippery sensation information fed back after grabbing is stable into a trained material perception neural network model to obtain material attribute information of the object;
controlling the flexible finger to replace the object.
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| CN111618912A (en) * | 2020-06-28 | 2020-09-04 | 威海华菱光电股份有限公司 | Tactile sensor |
| CN112621791B (en) * | 2020-12-08 | 2022-07-08 | 中国科学院重庆绿色智能技术研究院 | Cylinder clamping device with force sensing capability |
| CN113396840A (en) * | 2021-06-16 | 2021-09-17 | 福州木鸡郎智能科技有限公司 | Robot is patrolled and examined in chicken of dying of illness judgement |
| CN113267292A (en) * | 2021-06-25 | 2021-08-17 | 中国科学院重庆绿色智能技术研究院 | Sliding sense sensing characteristic testing method and device based on magnetic effect |
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