CN114193488A - Flexible self-adaptive touch sensor, clamping finger and mechanical claw - Google Patents
Flexible self-adaptive touch sensor, clamping finger and mechanical claw Download PDFInfo
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- CN114193488A CN114193488A CN202111420402.3A CN202111420402A CN114193488A CN 114193488 A CN114193488 A CN 114193488A CN 202111420402 A CN202111420402 A CN 202111420402A CN 114193488 A CN114193488 A CN 114193488A
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- 210000000078 claw Anatomy 0.000 title claims abstract description 74
- 238000000034 method Methods 0.000 claims description 18
- 230000003044 adaptive effect Effects 0.000 claims description 7
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 5
- 239000000741 silica gel Substances 0.000 claims description 5
- 229910002027 silica gel Inorganic materials 0.000 claims description 5
- 238000001514 detection method Methods 0.000 abstract description 6
- 241000227653 Lycopersicon Species 0.000 description 3
- 235000007688 Lycopersicon esculentum Nutrition 0.000 description 3
- 239000011521 glass Substances 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 238000003491 array Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 230000009956 central mechanism Effects 0.000 description 1
- 238000004512 die casting Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
- 230000003746 surface roughness Effects 0.000 description 1
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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
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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
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
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- Engineering & Computer Science (AREA)
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Abstract
The invention discloses a flexible self-adaptive touch sensor, a clamping finger and a mechanical claw. The tactile sensor includes a pressure sensor and a flexible circuit board. The flexible circuit board includes a middle jaw and two side jaws. The two side claws are respectively arranged at two sides of the middle claw. The inner ends of the two side claws are connected with the inner end of the middle claw. The middle claw is linear; the two side claws are bent, and the outer ends of the two side claws are bent to one side far away from the middle claw. A plurality of pressure sensors which are arranged in sequence are arranged on the middle claw and the two side claws. In use, the middle jaw and the two side jaws are wrapped on the end surfaces of the clamping fingers in a spherical shape. The distribution mode of the three-dimensional fingertip pressure sensor array can structurally detect the distribution condition of the reaction force of the tail end clamping structure. In addition, the invention detects the deformation condition of the object when the object is extruded by using the number of the pressure sensors with the detection values exceeding the threshold value, and further identifies the type of the clamped object.
Description
Technical Field
The invention belongs to the technical field of object type identification, and particularly belongs to a flexible self-adaptive touch sensor, a clamping finger and a mechanical claw.
A structure and a method applied to self-adaptively grabbing soft objects deformed to different degrees are designed, and particularly, a touch sensor formed based on a plurality of pressure sensor arrays and a self-adaptive grabbing system based on multi-touch information are designed, so that the flexible and easily-deformable objects can be grabbed in a self-adaptive mode, the applied force is guaranteed to be the minimum required force, and the deformation of the objects is minimized.
Background
A robotic hand at the end of a manipulator is typically used to perform various operational tasks, where the manipulator physically interacts with an object, i.e. when the manipulator grips an object, the end-effector is the most central mechanism of the manipulator's gripping ability. When the robot hand executes different grabbing tasks, a grabbing planner of the system designs a grabbing strategy in advance so as to effectively grab a target object. Currently, most of grabbing robots grab objects by using visual information provided by a visual system to identify target objects as important sensory information sources for identifying certain objects. However, intangible intrinsic properties of the object, such as softness, weight, fragility, surface roughness, etc., cannot be correctly identified using only visual information. Accordingly, the present application proposes a grasping system and a tactile sensor structure thereof that adaptively grasps a flexible and easily deformable object and ensures that the applied force is the minimum force required and that the deformation of the object is minimized.
Disclosure of Invention
The invention aims to provide a flexible self-adaptive touch sensor, a clamping finger and a mechanical claw.
In a first aspect, the present invention provides a flexible adaptive tactile sensor comprising a pressure sensor and a flexible circuit board. The flexible circuit board includes a middle jaw and two side jaws. The two side claws are respectively arranged at two sides of the middle claw. The inner ends of the two side claws are connected with the inner end of the middle claw. The middle claw is linear; the two side claws are bent, and the outer ends of the two side claws are bent to one side far away from the middle claw. A plurality of pressure sensors which are arranged in sequence are arranged on the middle claw and the two side claws. In use, the middle jaw and the two side jaws are wrapped on the end surfaces of the clamping fingers in a spherical shape.
Preferably, the inner ends of the side jaws are tangent to the inner end of the middle jaw.
Preferably, the end surface of the clamping finger is a partial spherical surface with symmetrical circular arc edges at two sides. The radian of the side claws is
Wherein r is1Is the spherical radius of the end surface of the clamping finger; r is2The radius of the arc edges at the two sides of the tail end surface of the clamping finger. d is the width of the side jaw.
The radius of two side claws is R respectively1And R2. Wherein,
preferably, the flexible circuit board further comprises a base. The base part is connected with the inner end of the middle claw through a connecting section.
Preferably, the flexible circuit board is provided with a control module; each pressure sensor is connected with the control module.
In a second aspect, the invention provides a clamping finger based on tactile detection, which comprises a finger tip substrate, an elastic filling layer and the tactile sensor. The end of the finger tip base is partially spherical. The middle claw and the two side claws of the flexible circuit board are covered at the tail end of the finger end base body and are stuck and fixed; each pressure sensor is arranged outwards. The tail end of the finger end base body is provided with an elastic filling layer covering each pressure sensor.
Preferably, the material of the elastic filling layer is silica gel.
Preferably, the outside of the elastic filling layer is covered with an outer film.
In a third aspect, the present invention provides a mechanical jaw comprising a jaw body and gripping fingers mounted at the ends of two gripping portions of the jaw body. The mechanical clamping jaw is the type of an object to be clamped in the clamping process, and the specific process is as follows: when the pressure values detected by the pressure sensors on the two clamping fingers are larger than the preset lowest clamping force; detecting the number S of grip Sensorsn(ii) a Number of clamping sensors SnThe average value of the number of the pressure sensors with the detected pressure values exceeding the threshold value on the two clamping fingers is recorded as the number S of the clamping sensorsn. Is provided with three boundary values n which are increased in sequencea、nb、nc. If Sn＜naThen the clamping is considered to be unreliable, and the clamping force of the mechanical clamping jaw is increased, so that two clamping jaws are usedThe elastic filling layer on the clamping finger is deformed, and the number S of the sensors is clampednAnd is increased. If n isa≤Sn＜nbJudging that the target object belongs to a rigid object; if n isb≤Sn＜ncJudging that the target object belongs to the overall deformed object; if Sn≥ncThen the target object is determined to belong to the locally deformed object.
Preferably, n isa、nb、ncThe value taking method comprises the following steps: respectively clamping a rigid object, an integrally deformed object and a locally deformed object by using a mechanical clamping jaw, and respectively recording the quantity S of clamping sensorsnIs p1、p2、p3. Take na＝a·p1；nb＝b·(p1+p2)；nc＝c·(p2+p3). a. The value ranges of b and c are both 0.5-1.
The invention has the beneficial effects that:
1. the invention uses a three-dimensional fingertip pressure sensor array formed by a plurality of pressure sensors as a touch sensor, and the distribution mode of the three-dimensional fingertip pressure sensor array can structurally detect the distribution condition of the reaction force of the tail end clamping structure. In addition, the invention detects the deformation condition of the object when the object is extruded by using the number of the pressure sensors with the detection values exceeding the threshold value, and further identifies the type of the clamped object.
2. The invention can be applied to the tail end executing mechanism of the grabbing robot, and realizes grabbing of the flexible object with minimum deformation by identifying the type of the object and matching the corresponding clamping force.
4. According to the invention, the pressure sensors and the flexible circuit board are sealed by casting the silica gel, and the reaction force of the grabbed object can be transmitted to the plurality of pressure sensors in a distributed manner by utilizing the elasticity of the silica gel. And the distributed reaction force detected by each pressure sensor is different, so that the touch sensor and the self-adaptive system thereof can be effectively applied.
Drawings
Fig. 1 is a schematic structural view of a tactile sensor provided in embodiment 1 of the present invention;
fig. 2 is a schematic structural view of a clamping finger provided in embodiment 2 of the present invention;
FIG. 3 is a schematic cross-sectional view of a clamping finger provided in embodiment 2 of the present invention;
FIG. 4 is a schematic illustration of a mechanical jaw provided in embodiment 3 of the present invention for gripping different types of objects;
fig. 5 is a flow chart of the operation of the mechanical gripper of the present invention.
Detailed Description
Example 1
As shown in fig. 1, a flexible adaptive tactile sensor includes a pressure sensor 3 and a flexible circuit board 6. The flexible circuit board 6 is in a three-claw shape and comprises a base part, a middle claw 6-1 and two side claws 6-2. The inner end of the middle claw 6-1 is connected with the base part through a connecting section. The two side claws 6-2 are respectively arranged at two sides of the middle claw 6-1. The inner ends of the two side claws 6-2 are connected with the inner end of the middle claw 6-1. The middle claw 6-1 adopts a rectangular flexible circuit board, and five pressure sensors 3 which are sequentially arranged at intervals are arranged on the rectangular flexible circuit board. The two side claws 6-2 are both in a bent shape, and the outer ends of the two side claws are both bent to one side far away from the middle claw 6-1. The surface of the tail end of each clamping finger is a partial spherical surface with symmetrical circular arc edges at two sides. The planes of the arc edges at the two sides of the tail end of the clamping finger are parallel to each other. The inner end of the side claw 6-2 is tangent with the inner end of the middle claw 6-1, and the radian of the side claw 6-2 is
Wherein r is1Is the spherical radius of the end surface of the clamping finger; r is2The radius of the arc edges at the two sides of the surface of the tail end of the clamping finger; d is the width of the side jaw. The radius of two side claws is R respectively1And R2. Wherein,
therefore, under the condition, the side claws can better fit the cambered surface of the hemispherical finger tip base body 1, so that the detection efficiency of the sensor is improved.
The base is provided with a control module 7; the control module 7 is a signal transmission and processing circuit built by commercial components, and a controller in the control module 7 in the embodiment adopts a single chip microcomputer. Three pressure sensors 3 which are sequentially arranged at intervals are arranged on the two side claws 6-2. The control module 7 is connected with the pressure sensors 3 on the middle claw 6-1 and the side claws 6-2 through flexible circuits respectively. When the flexible circuit board 6 is covered on the hemispherical holder, the outwardly bent side claws 6-2 allow the pressure sensors 3 covered on the hemispherical holder to be uniformly arranged. Among the eleven pressure sensors 3, five pressure sensors 3 are distributed in the middle area of the curved surface of the hemispherical clamping piece, and the other six pressure sensors are respectively distributed in the two side areas of the curved surface to form a three-dimensional fingertip pressure sensor array structure, so that the omnibearing detection of the pressure conditions of different positions of the clamping piece is realized.
Example 2
As shown in fig. 2 and 3, a gripping finger based on tactile detection for mounting on a mechanical jaw comprises a finger tip base body 2, an elastic filling layer 4 and a tactile sensor as described in embodiment 1. The tail end of the finger end base body 2 is in a hemispherical shape, and the whole body is in a finger-like tail end shape. The middle claw 6-1 and the two side claws 6-2 of the flexible circuit board 6 are covered at the tail end of the finger end base body 2 and are stuck and fixed; each pressure sensor is arranged outwards. The end of the finger tip base body 2 is provided with an elastic filling layer 4 covering each pressure sensor. The elastic filling layer 4 is made of silica gel and is manufactured by die casting. In this embodiment, the elastic filling layer 4 covers the flexible circuit board 6, the pressure sensor 3, and the finger tip base 2 all without a gap, and is formed to have a certain thickness. The elastic filling layer 4 has characteristics of compressibility and isotropy; thereby transmitting the reaction force generated during the grasping process to the respective pressure sensors 3 at the different positions inside. The elastic filling layer 4 is covered with an outer film 5 on the outside to protect the elastic filling layer 4.
When the clamping finger extrudes objects with different characteristics, the pressure sensors at different positions detect pressure values with different sizes, and the characteristics of the extruded objects can be analyzed according to the pressure values detected by the pressure sensors, so that the effect of simulating touch is achieved.
Example 3
A mechanical clamping jaw comprises a clamping jaw body and clamping fingers arranged at the tail ends of two clamping parts of the clamping jaw body. The structure of the gripping fingers is as described in example 2. The clamping jaw body adopts the existing clamping jaw, and can carry out clamping action under the driving of the power element.
In the working process of the mechanical clamping jaw, the touch sensor is used for acquiring pre-identification information as described in embodiment 1; the controller preprocesses the collected information. The principle of recognizing the clamped object by using the touch sensor is as follows: three different objects are gripped by a manipulator of the tactile sensor mechanism of the present invention, namely, an integrally deformed object 9 (e.g., a paper cup) in which the overall shape of a rigid object 8 (e.g., a glass cup) is easily deformed but the surface is hard, and a locally deformed object 10 (e.g., a sponge, a tomato) in which the overall shape and the surface of the object are easily deformed.
When gripping the rigid object 8, the tactile sensor 1 of the present invention is subjected to the reaction force only at the contact point; when gripping the whole of the deformed object 9, the position of the reaction force to which the tactile sensor 10 is subjected is concentrated in the area around the contact point. When grasping the locally deformed object 10, the positions of the reaction forces to which the tactile sensor 1 is subjected are dispersed over the entire area or most of the area of the tactile sensor 1.
As shown in fig. 4, according to the grasping principle, a threshold parameter is first set for the distributed eleven pressure sensors 3, that is, when the pressure sensors reach the threshold, the pressure sensors can be regarded as detecting the reaction force in the grasping process. Then, the tactile sensor 1 of the present invention is subjected to information collection, and when a rigid object 8 (shown in a part a of fig. 4) is grabbed, the number of distributed pressure sensors 3 reaching a threshold value is naWhen an object 9 (shown in part b of fig. 4) which is easy to deform as a whole and has a relatively hard contact surface is grabbed, the number of distributed pressure sensors 3 reaching the threshold value is nbWhen grabbing a flexible object 10 (shown in part c of fig. 4) which is extremely easy to deform both in the whole and in the contact position, the number of distributed pressure sensors 3 reaching the threshold value is nc。
As shown in fig. 5, the specific process of grabbing and identifying the target object by the gripper is as follows:
firstly, the robot drives a mechanical clamping jaw on a tail end executing mechanism to be close to a target object and clamps the target object.
And step two, the self-adaptive grabbing control system detects whether the pressure value detected by the pressure sensor 3 is larger than the preset lowest clamping force. If the pressure values of the two clamping fingers on the mechanical clamping jaw are larger than the pressure sensor 3 with the lowest clamping force, entering the step three; otherwise, the mechanical jaws need only be tightened for clamping.
Step three, taking the average value of the number of the pressure sensors 3 with the detected pressure values exceeding the threshold value on the two clamping fingers, and recording the average value as the number S of the clamping sensorsn. The threshold value is smaller than the lowest clamping force and is used for judging whether the position corresponding to each pressure sensor 3 participates in the clamping of the target object; self-adaptive grabbing control system for recording number S of clamping sensorsn。
Step four, the self-adaptive grabbing control system is provided with three boundary values n which are sequentially increaseda、nb、nc. If Sn＜naThe clamping is not reliable, the clamping force of the mechanical clamping jaw is increased, the elastic filling layers 4 on the two clamping fingers are deformed, and the number S of the clamping sensors is increasednAnd is increased. If n isa≤Sn＜nbThen the target object is determined to belong to the rigid object 8; if n isb≤Sn＜ncThen, the target object is judged to belong to the overall deformed object 9; if Sn≥ncThen it is determined that the target object belongs to the locally deformed object 10.
na、nb、ncThe specific numerical value of (2) adopts one of the following two value-taking methods:
method one, using mechanical clamping jaws to respectively clamp concrete examples (glass, paper cup, tomato) of a rigid object 8, an integrally deformed object 9 and a locally deformed object 10, and respectively recording the quantity S of clamping sensorsnIs p1、p2、p3. Take na＝p1；nb＝p2；nc＝p3。
Method I, respectively clamping rigid objects 8 by using mechanical clamping jaws and integrally changingSpecific examples of the shaped object 9, the locally deformed object 10 (glass, paper cup, tomato) and the number of grip sensors S are recorded separatelynIs p1、p2、p3. Take na＝0.5·p1；nb＝0.5·(p1+p2)；nc＝0.5·(p2+p3)。
And fifthly, loosening the target object which is carried by the mechanical clamping jaw and clamped to the target position. During the clamping and conveying process of the mechanical clamping jaw, the clamping force and the conveying speed are adjusted according to the type of the target object (the rigid object 8, the overall deformation object 9 or the local deformation object 10) recognized by the mechanical clamping jaw, so that the possibility of damage to the target object is reduced.
In addition, through the preset setting, the robot can also classify the target objects according to the type of the identified target objects, and convey different types of target objects to corresponding specified positions.
Claims (10)
1. A flexible adaptive tactile sensor comprising a pressure sensor (3) and a flexible circuit board (6); the method is characterized in that: the flexible circuit board (6) comprises a middle claw (6-1) and two side claws (6-2); the two side claws (6-2) are respectively arranged at two sides of the middle claw (6-1); the inner ends of the two side claws (6-2) are connected with the inner end of the middle claw (6-1); the middle claw (6-1) is linear; the two side claws (6-2) are bent, and the outer ends of the two side claws are bent to one side far away from the middle claw (6-1); a plurality of pressure sensors (3) which are arranged in sequence are arranged on the middle claw (6-1) and the two side claws (6-2); in use, the middle claw (6-1) and the two side claws (6-2) are wrapped on the end surface of the spherical clamping finger.
2. A flexible adaptive tactile sensor according to claim 1, wherein: the inner end of the side claw (6-2) is tangent to the inner end of the middle claw (6-1).
3. A flexible adaptive tactile sensor according to claim 1, wherein: the surface of the tail end of the clamping finger is a circular arc with two symmetrical sidesA partial spherical surface of the edge; the radian of the side claw (6-2) is
Wherein r is1Is the spherical radius of the end surface of the clamping finger; r is2The radius of the arc edges at the two sides of the surface of the tail end of the clamping finger; d is the width of the side claw;
the radius of two side claws is R respectively1R2; wherein,
4. a flexible adaptive tactile sensor according to claim 1, wherein: the flexible circuit board further comprises a base part; the base part is connected with the inner end of the middle claw (6-1) through a connecting section.
5. A flexible adaptive tactile sensor according to claim 1, wherein: a control module (7) is arranged on the flexible circuit board (6); each pressure sensor (3) is connected with the control module (7).
6. A gripping finger comprising a finger end base (2); the method is characterized in that: further comprising an elastic filling layer (4) and a tactile sensor according to any of claims 1-5; the tail end of the finger tip base body (2) is partially spherical; a middle claw (6-1) and two side claws (6-2) of the flexible circuit board (6) are covered at the tail end of the finger end base body (2) and are stuck and fixed; each pressure sensor is arranged outwards; the tail end of the finger end base body (2) is provided with an elastic filling layer (4) covering each pressure sensor.
7. A gripping finger according to claim 1, characterised in that: the elastic filling layer (4) is made of silica gel.
8. A gripping finger according to claim 1, characterised in that: the outer side of the elastic filling layer (4) is covered with an outer film (5).
9. A gripper comprising a jaw body; the method is characterized in that: further comprising the gripping fingers of claim 7 mounted on the ends of the two gripping portions of the jaw body; the mechanical clamping jaw is the type of an object to be clamped in the clamping process, and the specific process is as follows: when the pressure values detected by the pressure sensors (3) on the two clamping fingers are larger than the preset lowest clamping force; detecting the number S of grip Sensorsn(ii) a Number of clamping sensors SnThe average value of the number of the pressure sensors (3) with the detected pressure values exceeding the threshold value on the two clamping fingers is recorded as the number S of the clamping sensorsn(ii) a Is provided with three boundary values n which are increased in sequencea、nb、nc(ii) a If Sn＜naThe clamping is not reliable, the clamping force of the mechanical clamping jaw is increased, the elastic filling layers (4) on the two clamping fingers are deformed, and the number S of the clamping sensors is increasednIncreasing; if n isa≤Sn＜nbJudging that the target object belongs to a rigid object; if n isb≤Sn＜ncJudging that the target object belongs to the overall deformed object; if Sn≥ncThen the target object is determined to belong to the locally deformed object.
10. A gripper according to claim 9, wherein: n isa、nb、ncThe value taking method comprises the following steps: respectively clamping a rigid object, an integrally deformed object and a locally deformed object by using a mechanical clamping jaw, and respectively recording the quantity S of clamping sensorsnIs p1、p2、p3(ii) a Take na＝a·p1；nb＝b·(p1+p2)；nc＝c·(p2+p3) (ii) a a. The value ranges of b and c are both 0.5-1.
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| CN202111420402.3A CN114193488A (en) | 2021-11-26 | 2021-11-26 | Flexible self-adaptive touch sensor, clamping finger and mechanical claw |
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| CN202111420402.3A CN114193488A (en) | 2021-11-26 | 2021-11-26 | Flexible self-adaptive touch sensor, clamping finger and mechanical claw |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01312437A (en) * | 1988-06-13 | 1989-12-18 | Agency Of Ind Science & Technol | Wound type contact force sensor |
| CN101231200A (en) * | 2008-02-29 | 2008-07-30 | 合肥工业大学 | Touch sensor based on flexible pressure-sensitive conductive rubber |
| CN105666506A (en) * | 2014-11-18 | 2016-06-15 | 鸿富锦精密工业（深圳）有限公司 | Robot finger |
| US20210100499A1 (en) * | 2019-10-08 | 2021-04-08 | Unlimited Tomorrow, Inc. | Biometric Sensor Array |
-
2021
- 2021-11-26 CN CN202111420402.3A patent/CN114193488A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01312437A (en) * | 1988-06-13 | 1989-12-18 | Agency Of Ind Science & Technol | Wound type contact force sensor |
| CN101231200A (en) * | 2008-02-29 | 2008-07-30 | 合肥工业大学 | Touch sensor based on flexible pressure-sensitive conductive rubber |
| CN105666506A (en) * | 2014-11-18 | 2016-06-15 | 鸿富锦精密工业（深圳）有限公司 | Robot finger |
| US20210100499A1 (en) * | 2019-10-08 | 2021-04-08 | Unlimited Tomorrow, Inc. | Biometric Sensor Array |
Non-Patent Citations (1)
| Title |
|---|
| SUNGWOO PARK 等: "Softness-Adaptive Pinch-Grasp Strategy Using Fingertip Tactile Information of Robot Hand", 《 IEEE ROBOTICS AND AUTOMATION LETTERS》, vol. 6, no. 4, pages 6370 - 6377, XP011867230, DOI: 10.1109/LRA.2021.3092770 * |
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