CN102303316B - Multi-sensor feedback adaptive robot finger device and control method thereof - Google Patents

Abstract

A multi-sensor feedback adaptive robot finger device and a control method thereof belong to the technical field of robot hands. The device includes two finger segments, a joint shaft, a motor, three sensors, a control module and a motor drive module. The device uses multi-sensor feedback signals, motor drive and control modules, and adaptive grasping control algorithms to comprehensively realize a robot finger device with adjustable parameters and program control, which can realize adaptive grasping of objects of different shapes and sizes. It is easy to trigger the adaptive grasping action, the grasping is stable, the grasping force is controllable, the transmission chain is short, no need to reprogram when grasping different objects, it is simple and convenient to use, meets most grasping needs, and can achieve high dexterity and freedom, A robot hand with high adaptability, low control difficulty and high reliability.

Description

Multi-sensor feedback adaptive robot finger device and its control method

technical field

The invention belongs to the technical field of robot hands, and in particular relates to the design of a multi-sensor feedback adaptive robot finger device and a control method thereof. the

Background technique

Anthropomorphic robot is the cutting-edge field of robot research, and most of its functions need to be realized by the operation of the robot hand. Therefore, the design of hand structure is the key technology of humanoid robot design. Adaptive grasping has the characteristics of automatically adapting to the shape and size of objects, which reduces the difficulty and cost of control, and has become a hot spot in the research of robotic hands. the

The existing robotic fingers with adaptive grasping characteristics are all mechanical underactuated fingers, such as underactuated fingers realized by gear transmission (CN1289269C), and underactuated fingers realized by connecting rod transmission (US5762390). The mechanical underactuated finger transmission chain is long, and problems such as air travel, gaps and lost steps will occur during the transmission process, which will reduce the finger grasping performance. The underactuated trigger threshold of the mechanical underactuated finger is too large, and the degree of bending of the underactuated finger is proportional to the degree of object extrusion. It cannot work. When the grasping force of the first finger segment is large, although the underactuated finger can achieve adaptive grasping action, it will cause the grasping force of the second finger segment to be very small compared with the grasping force of the first finger segment. And the two are in a certain ratio. In order to improve the grasping force of the second finger segment, the grasping force of the first finger segment has to be increased, but the excessive grasping force of the first finger segment will crush the object. Therefore, for many objects Mechanical underactuated finger gripping is far from ideal for gripping. the

The dexterous hand that is actively controlled by motors and sensors can also grasp objects, but the disadvantage of the dexterous hand is that it does not automatically adapt to the shape and size of the grasped object, and requires a lot of complex kinematics and dynamics. Computing also requires complex programming for the current problem to achieve multi-joint coordinated motion control, which is difficult to meet the requirements of reliable and robust grasping in an unstructured environment. As well as the technology of complex control theory, it is expensive and has high requirements for operators, so it has been difficult to be widely used for a long time. the

Contents of the invention

The purpose of the present invention is to address the deficiencies in the prior art, to provide a multi-sensor feedback self-adaptive robot finger unit device and its control method, the device realizes the self-adaptive grasping of objects of different shapes and sizes, and simultaneously multiple finger segments The grasping force is independent of each other and easy to adjust and control independently. The trigger threshold of underactuation is small: only a small grasping force of the first finger segment can make the finger bend, the structure is simple, the transmission chain is short, the control is easy, and the grasping Stable, high reliability, wide adaptability. the

Technical scheme of the present invention is as follows:

The multi-sensor feedback adaptive robot finger unit device of the present invention is characterized in that:

Including the first finger section, the second finger section, the joint shaft, the motor, the trigger sensor, the parking sensor, the stop sensor, the control module and the motor drive module; the control module includes the parking input terminal, the stop grasp input terminal, the trigger input terminal, the drive output end and reset end; the joint shaft sleeve is set in the first finger segment, the second finger segment is sleeved on the joint shaft and connected with the joint shaft, the motor is fixedly connected to the first finger segment, and the output shaft of the motor is connected to the joint shaft The joint shaft is connected; the reset terminal of the control module is connected with the reset signal; the drive output terminal of the control module is connected with the input terminal of the motor drive module, and the output terminal of the motor drive module is connected with the lead wire of the motor;

The signal lead-out end of the trigger sensor is connected to the trigger input end of the control module; the trigger sensor is fixedly installed on the grasping surface of the first finger segment, and collects the information that the grasped object touches the first finger segment; When the object touches the first finger segment and reaches the set threshold, the trigger sensor generates a trigger signal; when the grasped object does not touch the first finger segment or touches the first finger segment but does not reach the set threshold, the trigger sensor does not generate a trigger signal;

The signal lead-out end of the parking sensor is connected to the parking input end of the control module; the parking sensor is fixedly installed on the first finger section, the second finger section or the joint shaft, and collects the relative position of the second finger section relative to the first finger section. segment rotates around the joint axis to a certain set angle; when the second finger segment rotates to the set angle, the parking sensor generates a parking signal; when the second finger segment does not rotate to the set angle, the parking sensor does not generate a parking signal;

The signal lead-out end of the stop-grab sensor is connected to the stop-grab input end of the control module; the stop-grab sensor is fixedly installed on the first finger segment, the second finger segment or the joint shaft, and collects the grasped object touching the second finger segment. Finger segment information; when the grasped object touches the second finger segment and reaches the set threshold, the stop sensor generates a stop grasp signal; when the grasped object does not touch the second finger segment or touches the second finger segment but does not reach the set threshold , the stop sensor does not generate a stop signal;

The control module runs the control program, uses various signals from the trigger sensor, the stop sensor and the parking sensor to issue instructions to drive the motor to rotate through the motor drive module, so as to realize the function of bending or straightening the finger. the

The multi-sensor feedback self-adaptive robotic finger unit device of the present invention is characterized in that the trigger sensors are multiple and arranged in an array. the

The multi-sensor feedback self-adaptive robotic finger unit device of the present invention is characterized in that the trigger sensor is a displacement sensor, a pressure sensor or a torque sensor. the

The multi-sensor feedback self-adaptive robotic finger unit device of the present invention is characterized in that the trigger sensors are multiple and arranged in an array. the

The multi-sensor feedback self-adaptive robotic finger unit device of the present invention is characterized in that the parking sensor is a displacement sensor, a pressure sensor, a torque sensor or a motor current detection sensor. the

The multi-sensor feedback self-adaptive robotic finger unit device of the present invention is characterized in that the stop and grasp sensors are multiple and arranged in an array. the

The multi-sensor feedback self-adaptive robot finger unit device of the present invention is characterized in that the stop sensor adopts a displacement sensor, a pressure sensor, a torque sensor or a motor current detection sensor. the

The multi-sensor feedback adaptive robot finger unit device of the present invention is characterized in that: the control module adopts one or more combinations of computers, PLDs, CPLDs, PLCs, single-chip microcomputers, DSPs and FPGAs. Contains A/D conversion sub-module. the

The present invention provides an adaptive multi-joint finger device using the multi-sensor feedback adaptive robot finger unit device, which is characterized in that it includes multiple finger segments, multiple joint axes, multiple motors, multiple displacement sensors, A plurality of parking sensors, at least one parking sensor, a control module and a motor drive module. the

A control method of the multi-sensor feedback self-adaptive robot finger unit device provided by the present invention is characterized in that: comprising the following steps:

a) Let the reset flag be R, let the parking flag be B, let the stop grab flag be F; at the beginning, let the reset flag R=0;

b) When the parking input terminal of the control module receives the parking signal from the parking sensor, the parking flag B=1; otherwise, the parking flag B=0;

c) The stop-grab input terminal of the control module receives the stop-grab signal from the stop-grab sensor, then set the stop-grab flag F=1; otherwise, set the stop-grab flag F=0;

d) When the reset terminal of the control module receives the reset signal, set the reset flag bit R=1, and proceed to step f); otherwise, proceed to step e);

e) When the trigger input terminal of the control module receives the trigger signal of the trigger sensor, proceed to step j); otherwise, proceed to step f);

f) If the parking flag B=1, proceed to step n); otherwise, proceed to step g);

g) Drive the motor to reverse within the predetermined small time period ⊿t, the effect is to make the second finger segment rotate a small angle around the joint axis to release the object, and proceed to step h);

h) The reset terminal of the control module does not receive a reset signal and the reset flag R=1, then proceed to step n); otherwise, proceed to step i);

i) The parking input terminal of the control module receives the parking signal of the parking sensor, then proceed to step n); otherwise, proceed to step g);

j) If the stop flag F=1, proceed to step n); otherwise, proceed to step k);

k) Drive the motor to rotate forward within the predetermined small time period ⊿t, the effect is to make the second finger segment rotate a small angle around the joint axis to grab the object, and proceed to step l);

l) The reset terminal of the control module receives a reset signal, then proceed to step n); otherwise, proceed to step m);

m) The stop grab input terminal of the control module receives the stop grab signal from the stop grab sensor, then proceed to step n); otherwise, proceed to step k);

n) Stop the motor and proceed to step a). the

Compared with the prior art, the present invention has the following advantages and outstanding effects:

The present invention utilizes multi-sensor feedback signals, motor drive and control modules, and self-adaptive grasping control methods to comprehensively realize a robot finger device with adjustable parameters and program control. By collecting information about objects touching or leaving fingers, different shapes, Adaptive automatic grabbing of large and small objects. Compared with traditional mechanical self-adaptive fingers, this device has a better grasping effect. The grasping force of the first finger segment and the second finger segment are independent of each other, which is convenient for stable grasping; the grasping force is controllable and more Easy to trigger adaptive grasping action: when the object touches the first finger segment with a small force, it can also realize the reliable rotation of the second finger segment; the transmission chain is short, thereby reducing the transmission gap and controlling the dead zone, and the grasping process It is more stable and has a wide range of adaptation. Compared with the traditional active control dexterous fingers, the device has the characteristics of adaptive grasping, no need to reprogram when grasping different objects, simple and convenient to use, and meets most grasping needs. The device can be used to realize a robot hand with high dexterity degree of freedom, high self-adaptation, low control difficulty and high reliability. the

Description of drawings

Fig. 1 is a side sectional view of an embodiment of the multi-sensor feedback adaptive robot finger unit device of the present invention, in this embodiment, the first displacement sensor adopts a capacitive displacement sensor, and the stop sensor adopts a capacitive displacement sensor, The parking sensor uses a switch. the

Fig. 2 is a front sectional view of the embodiment shown in Fig. 1 . the

Fig. 3 is a side appearance view of the embodiment shown in Fig. 1 . the

Fig. 4 is a front appearance view of the embodiment shown in Fig. 1 . the

Fig. 5 is a three-dimensional appearance view of the embodiment shown in Fig. 1 . the

Fig. 6 is a three-dimensional exploded view of the embodiment shown in Fig. 1 . the

FIG. 7 is a schematic diagram of the circuit connection principle of the embodiment shown in FIG. 1 . the

Fig. 8 is a flow chart of the control method of the multi-sensor feedback self-adaptive robot finger unit provided by the present invention. the

Fig. 9 is a side sectional view of another embodiment of the multi-sensor feedback adaptive robot finger unit device provided by the present invention, in this embodiment, the first displacement sensor adopts a switch array, the stop sensor adopts a torque sensor, and the parking sensor adopts a switch . the

Fig. 10 is a front appearance view of the embodiment shown in Fig. 9 . the

FIG. 11 is a side cross-sectional view of a single switch in the switch array used in the embodiment shown in FIG. 9. FIG. the

Fig. 12 is a three-dimensional exploded view of the embodiment shown in Fig. 9 . the

Fig. 13 is a circuit diagram of the capacitive displacement sensor used in the embodiment shown in Fig. 1. The variable capacitance is used to realize the corresponding voltage change, thereby converting the displacement change of the finger surface into the voltage change output of the circuit. the

Fig. 14, Fig. 15, Fig. 16 and Fig. 17 are schematic diagrams of the embodiment shown in Fig. 1, when the external force pushes the object to touch the surface of the first segment of the finger, the second segment of the finger realizes the process of adaptive grasping. the

Fig. 18, Fig. 19, Fig. 20 and Fig. 21 are schematic diagrams of the process of realizing adaptive grasping after the first segment of the finger actively touches the object when the root active joint is driven to rotate in the embodiment shown in Fig. 1 . the

Fig. 22 is an embodiment of an adaptive multi-joint finger device constructed by using two embodiments shown in Fig. 1 in series. the

Fig. 23, Fig. 24 and Fig. 25 are schematic diagrams of the self-adaptive grasping process of the finger in the embodiment of the self-adaptive multi-joint finger device shown in Fig. 22 when an external force pushes an object to touch the surface of the first segment of the finger. the

In Figures 1 to 25:

1-First finger section,          11-Other joint axis interfaces, 2-Second finger section, 

3-joint shaft, 31-pin, 32-bearing,

4-motor, 41-reducer, 42-the first bevel gear,

43-second bevel gear, 44-pin, 45-screw,

5- Trigger sensor (this embodiment uses a capacitive displacement sensor),

51-fixed base, 52-moving end, 53-spring,

54 - Flexible panel, 55 - Trigger sensor array (this embodiment uses switch array),

6- park sensor (this embodiment uses a switch),

7- Stop grab sensor (this embodiment uses capacitive displacement sensor),

71-fixed base, 72-moving end, 73-spring,

74-flexible panel, 75-stop grab sensor (this embodiment adopts torque sensor),

8-Control module, 9-Motor drive module, 10-Object. the

Detailed ways

The content of the specific structure and working principle of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. the

An embodiment of the multi-sensor feedback adaptive robot finger unit device of the present invention, as shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 7, the first finger segment 1, Second finger segment 2, joint shaft 3, motor 4, trigger sensor 5, parking sensor 6, stop grabbing sensor 7, control module 8 and motor drive module 9; control module 8 includes parking input end, stop grabbing input end, trigger input end, drive output end and reset end; the joint shaft 3 is sleeved in the first finger segment 1 through the bearing 32, the second finger segment 2 is sleeved on the joint shaft 3 and connected with the joint shaft 3, the second finger segment Section 2 is fixedly connected to joint shaft 3 by pin 31, motor 4 is fixedly connected to first finger segment 1 by screw 45, and the output shaft of motor 4 is connected to joint shaft 3. In this embodiment, motor 4 is connected through reducer 41, the first A bevel gear 42 and a second bevel gear 43 are connected to the joint shaft 3; the reset terminal of the control module 8 is connected to the reset signal, and the reset signal can be understood as a signal to actively release the grasped object; the drive output terminal of the control module 8 is connected to the motor drive The input end of the module 9 is connected, and the output end of the motor drive module 9 is connected with the lead wire of the motor 4 . the

The signal lead-out end of the trigger sensor 5 is connected to the trigger input end of the control module 8; the trigger sensor 5 is fixedly installed on the grasping surface of the first finger segment 1, and the captured object 10 touches the first finger segment 1; when the grasped object 10 contacts the first finger segment 1 and reaches the set threshold, the trigger sensor 5 generates a trigger signal; when the grasped object 10 does not touch the first finger segment 1 or touches the first finger segment 1 but does not reach the set threshold When the threshold is set, the trigger sensor 5 does not generate a trigger signal. the

The signal lead-out end of the parking sensor 6 is connected to the parking input end of the control module 8; the parking sensor 6 is fixedly installed on the first finger segment 1, the second finger segment 2 or the joint shaft 3, and collects the second finger segment. Section 2 rotates to a certain set angle relative to the first finger section 1 around the joint axis 3; when the second finger section 2 rotates to the set angle, the parking sensor 6 generates a parking signal; when the second finger section 2 When not turning to the set angle, the parking sensor 6 does not generate a parking signal. the

The signal lead-out end of described stop grasping sensor 7 is connected with the stop grasping input end of control module 8; Described stop grasping sensor 7 is fixedly installed on the first finger section 1, the second finger section 2 or the joint shaft 3, collects The information that the grasped object touches the second finger segment 2; when the grasped object 10 touches the second finger segment 2 and reaches the set threshold, the stop sensor 7 generates a stop signal; when the grasped object 10 does not touch the second finger segment 2 or when touching the second finger section 2 but not reaching the set threshold, the stop sensor 7 does not generate a stop signal. the

The control module 8 runs a control program, and uses various signals from the trigger sensor 5, the stop sensor 6 and the parking sensor 7 to issue instructions to drive the motor 4 to rotate through the motor drive module 9, so as to realize the function of bending or straightening the finger. the

In this embodiment, the trigger sensor 5 adopts a capacitive displacement sensor, which is called the first displacement sensor. The mechanical structure of the first displacement sensor includes a fixed base 51, a moving end 52 and a spring 53. The fixed base 51 of the first displacement sensor is fixedly installed in the first finger section 1, and the moving end 52 of the first displacement sensor is located at the side of the grasping object 10 of the first finger section 1 and from the first finger section 1, the moving end of the first displacement sensor is embedded in the fixed base 51 and slides along the convex and concave directions perpendicular to the surface of the finger, and the spring member 53 of the first displacement sensor is connected The moving end and the fixed base 51 make the moving end 52 lean against the outer surface of the first finger section 1 all the time; the principle of the capacitive displacement sensor can be equivalent to a variable capacitance, a known variable capacitance displacement sensor The detection circuit principle is shown in Figure 13. In this embodiment, the surface of the first finger section 1 is covered with a flexible panel 54 , and the flexible panel 54 covers the trigger sensor 5 in the first finger section 1 . the

In the circuit described in Figure 13, the input and output voltages have the following functional relationship U _o =-(C _x /C _f )U _i , where C _x is the measured variable capacitance Cx=εS/d, ε is the dielectric constant of the dielectric, S is the area of the plates, and d is the distance between the two plates. In this embodiment, rubber is used as the dielectric. Since the rubber itself is elastic, it also acts as a spring in the physical structure of the displacement sensor. In this embodiment, the movement of the moving end 52 of the displacement sensor results in a change in d, thereby causing a change _{in Uo} .

The trigger sensors described in the present invention may be multiple and arranged in an array. The trigger sensor can be a displacement sensor, a pressure sensor or a torque sensor. Another embodiment such as shown in FIGS. 9 , 10 , 11 and 12 employs a plurality of trigger sensors, specifically a switch array 55 . the

The parking sensors described in the present invention may be multiple and arranged in an array. The parking sensor can be a displacement sensor, a pressure sensor, a torque sensor or a motor current detection sensor. In the embodiment shown in FIG. 1 , the parking sensor 6 adopts a switch. the

The stop sensor of the present invention can adopt multiple and be arranged in an array. For example, a grip sensor can also be implemented using an array of switches. The stop sensor 7 can be a displacement sensor, a pressure sensor, a torque sensor or a motor current detection sensor. In the embodiment shown in FIG. 9 , the torque sensor 75 is used as the stop sensor. the

When the stop sensor adopts a pressure sensor, the pressure sensor is fixedly installed on the surface of the second finger segment and is located on the side of the grasping object of the second finger segment. When the pressure value of the pressure sensor exceeds the predetermined threshold P1, the pressure sensor Give a stop signal. the

When the stop sensor adopts a torque sensor, the torque sensor is fixedly installed between the output shaft of the motor and the joint shaft or the torque sensor is installed between the joint shaft and the second finger segment, when the torque value of the torque sensor exceeds a predetermined threshold At M1, the torque sensor sends out a stop signal. the

When the stop sensor uses a motor current detection sensor, when the detected motor input current value exceeds a predetermined threshold I1, the motor current detection module sends a stop signal. the

In the embodiment shown in Fig. 1, described stop grasping sensor 7 adopts displacement sensor, and this sensor is called the second displacement sensor, and the mechanical structure of described second displacement sensor comprises fixed base 71, movable end 72 and Spring 73, the fixed base 71 of the second displacement sensor is fixedly installed in the second finger section 2, and the moving end 72 of the second displacement sensor is located on the side of the grasping object 10 of the second finger section 2 And protrude from the second finger section 2, the moving end of the second displacement sensor is embedded in the fixed base 71 and slides along the convex and concave directions, the spring part 73 of the second displacement sensor Connect the movable end 72 and the fixed base 71 so that the movable end 72 is always close to the outer surface of the second finger section; when the displacement of the movable end 72 of the second displacement sensor exceeds the predetermined threshold T2, the second displacement sensor 7 sends stop signal. In this embodiment, the surface of the second finger section 2 is covered with a flexible panel 74 , and the flexible panel 74 covers the stop sensor 7 in the second finger section 2 . the

The displacement sensor can be a resistive displacement sensor, an inductive displacement sensor, a capacitive displacement sensor, a photoelectric displacement sensor, an ultrasonic displacement sensor, a Hall displacement sensor, a gyroscope displacement sensor or a switch. the

In the device of the present invention, the control module adopts one or more combinations of computer, PLD, CPLD, PLC, single-chip microcomputer, DSP and FPGA, and the control module contains an A/D conversion sub-module. In this embodiment, the control module 8 is realized by a single-chip microcomputer with an A/D conversion sub-module. the

An adaptive multi-joint finger device using the multi-sensor feedback self-adaptive robot finger unit device described in the present invention includes multiple finger segments, multiple joint shafts, multiple motors, multiple displacement sensors, multiple parking A sensor, at least one stop sensor, a control module and a motor drive module. the

Fig. 22 is an embodiment of the self-adaptive multi-joint finger device, specifically a self-adaptive grasping two-joint finger device, which has two finger units installed in series, including three finger segments: lower finger segment, Middle finger section and upper finger section, 2 joint axes, 2 motors, 2 displacement sensors, 2 parking sensors, 1 stop sensor, control module and motor drive module. Wherein, the displacement sensor on the middle finger section has not only served as the stop sensor of the lower finger unit, but also is the trigger sensor of the upper finger unit at the same time. Fig. 23 to Fig. 25 are the action processes thereof, and no further description is given. the

In this embodiment, a control method of the multi-sensor feedback adaptive robot finger unit device provided by the present invention, as shown in Figure 8, includes the following steps:

a) Let the reset flag be R, let the parking flag be B, let the stop grab flag be F; at the beginning, let the reset flag R=0;

b) The parking input terminal of the control module 8 receives the parking signal from the parking sensor, then the parking flag B=1; otherwise, the parking flag B=0;

c) The stop-grab input terminal of the control module 8 receives the stop-grab signal from the stop-grab sensor 6, then the stop-grab flag F=1; otherwise, the stop-grab flag F=0;

d) The reset terminal of the control module 8 receives a reset signal, then set the reset flag R=1, and proceed to step f); otherwise, proceed to step e);

e) The trigger input terminal of the control module 8 receives the trigger signal of the trigger sensor 5, then proceed to step j); otherwise, proceed to step f);

f) If the parking flag B=1, proceed to step n); otherwise, proceed to step g);

g) Drive the motor 4 to reverse within the predetermined small time period ⊿t, the effect is to make the second finger segment 2 rotate a small angle around the joint axis 3 in the direction of releasing the object, and proceed to step h);

h) The reset terminal of the control module 8 does not receive a reset signal and the reset flag R=1, then proceed to step n); otherwise, proceed to step i);

i) The parking input terminal of the control module 8 receives the parking signal of the parking sensor 7, then proceed to step n); otherwise, proceed to step g);

j) If the stop flag F=1, proceed to step n); otherwise, proceed to step k);

k) Drive the motor 4 to rotate forward within the predetermined small time period ⊿t, the effect is to make the second finger segment 2 rotate a small angle around the joint axis 3 in the direction of grabbing the object, and proceed to step l);

l) The reset terminal of the control module 8 receives a reset signal, then proceed to step n); otherwise, proceed to step m);

m) The stop grab input terminal of the control module 8 receives the stop grab signal of the stop grab sensor 6, then proceed to step n); otherwise, proceed to step k);

n) Stop the rotation of the motor 4 and proceed to step a). the

The working principle of this embodiment, in conjunction with Figure 14 to Figure 21, is described as follows:

This embodiment can realize adaptive grasping of objects in two situations:

(a1) The first situation is that the object 10 to be grasped is pushed to the surface of the first finger segment 1 by an external force, so that the trigger sensor 5 sends a trigger signal, and the control module 8 drives the motor 4 to transfer the second finger segment 2 to bend to realize grasping , regardless of the shape and size of the object 10 , the second finger segment 2 can touch the object 10 . When the second finger segment 2 touches the object 10, the stop sensor 7 sends a stop signal, and the control module 8 stops the motor 4 from rotating, realizing the self-adaptive grab function, as shown in Fig. 14 to Fig. 17 . the

When the object 10 is released, the object 10 leaves the finger under the action of an external force and no longer squeezes the first finger section 1, and the trigger sensor 5 no longer gives a trigger signal. At this time, the control module 8 drives the motor 4 and transfers the second Finger segment 2 is straightened to restore the original straight position. the

(a2) The second situation is that the other joint shaft interface 11 at the lower part of the first finger segment 1 is installed on the active joint shaft. When the active joint rotates, the first finger segment 1 rotates around the active joint axis, and the first finger segment 1. Touch the object 10 to make the trigger sensor 5 send a trigger signal, and the control module 8 drives the motor 4 to transfer the second finger segment 2 to bend to realize grasping. The second finger segment 2 can touch the object regardless of the shape and size of the object 10. When the second finger segment 2 touches the object, the stop sensor 7 sends a stop signal, and the control module 8 stops the motor 4 from rotating, realizing the self-adaptive grab function, as shown in Fig. 18 to Fig. 21 . the

When the object 10 is released, the active joint reverses, so that the object 10 leaves the finger and no longer squeezes the first finger section 1, and the trigger sensor 5 no longer gives a trigger signal. At this time, the control module 8 drives the motor 4 to transfer The second finger segment 2 is straightened to restore the original straightened position. the

The parking sensor 6 detects whether the finger has been straightened (or some other initial bending angle), and when the finger returns to the initial angle, such as a straightened state, the parking sensor 6 sends a parking signal, and the control module 8 will stop the motor 4 from rotating, realizing finger bending. reset. the

In addition, in some cases, the reset signal can be used to reset the finger device according to needs, and the finger is straightened and rotated to the initial position. the

The present invention uses multi-sensor feedback signals, motor drive and control modules and self-adaptive grasping control algorithms to comprehensively realize a robot finger device with adjustable parameters and program control, and realizes different shapes and sizes by collecting information about objects touching or leaving fingers Adaptive Grasping of Objects. Compared with traditional mechanical self-adaptive fingers, this device has a better grasping effect. The grasping force of the first finger segment and the second finger segment are independent of each other, which is convenient for stable grasping; the grasping force is controllable and more Easy to trigger adaptive grasping: when the object touches the first finger segment with a small force, the reliable rotation of the second finger segment can also be realized; the transmission chain is short, thereby reducing the transmission gap and controlling the dead zone, and the grasping process is easier Stablize. Compared with traditional active control dexterous fingers, the device has adaptive grasping characteristics, does not need to be reprogrammed when grasping different objects, is simple and convenient to use, and meets most grasping needs. The device can be used to realize a robot hand with high dexterity degree of freedom, high self-adaptation, low control difficulty and high reliability. the

Claims (10)

1. A multi-sensor feedback adaptive robot finger unit device, characterized in that: Including the first finger section (1), the second finger section (2), the joint shaft (3), the motor (4), the trigger sensor (5), the parking sensor (6), the parking sensor (7), the control module ( 8) and a motor drive module (9); the control module includes a parking input terminal, a stop grabbing input terminal, a trigger input terminal, a drive output terminal and a reset terminal; the joint shaft is sleeved in the first finger segment, and the second finger The segment is socketed on the joint shaft and connected with the joint shaft, the motor is fixedly connected with the first finger segment, and the output shaft of the motor is connected with the joint shaft; the reset terminal of the control module is connected with the reset signal; the drive output terminal of the control module is connected with the motor drive module The input terminal of the motor drive module is connected to the lead wire of the motor; The signal lead-out end of the trigger sensor is connected to the trigger input end of the control module; the trigger sensor is fixedly installed on the grasping surface of the first finger segment, and collects information that the grasped object touches the first finger segment; The signal lead-out end of the parking sensor is connected to the parking input end of the control module; the parking sensor is fixedly installed on the first finger section, the second finger section or the joint shaft, and collects the relative position of the second finger section relative to the first finger section. The segment rotates around the joint axis to a certain set angle; The signal lead-out end of the stop-grab sensor is connected to the stop-grab input end of the control module; the stop-grab sensor is fixedly installed on the first finger segment, the second finger segment or the joint shaft, and collects the grasped object touching the second finger segment. refers to segment information; The control module runs the control program, uses various signals from the trigger sensor, the stop sensor and the parking sensor to issue instructions to drive the motor to rotate through the motor drive module, so as to realize the function of bending or straightening the finger. 2. The multi-sensor feedback adaptive robot finger unit device according to claim 1, characterized in that: the trigger sensors are multiple and arranged in an array. 3. The multi-sensor feedback self-adaptive robot finger unit device according to claim 1 or 2, characterized in that: the trigger sensor is a displacement sensor, a pressure sensor or a torque sensor. 4. The multi-sensor feedback adaptive robot finger unit device according to claim 1, characterized in that: the parking sensors are multiple and arranged in an array. 5. The multi-sensor feedback self-adaptive robot finger unit device according to claim 1 or 4, wherein the parking sensor is a displacement sensor, a pressure sensor, a torque sensor or a motor current detection sensor. 6. The multi-sensor feedback self-adaptive robot finger unit device according to claim 1, characterized in that: said stopping and grasping sensors are arranged in a plurality of arrays. 7. The multi-sensor feedback self-adaptive robot finger unit device according to claim 1 or 6, characterized in that: the stop sensor adopts a displacement sensor, a pressure sensor, a torque sensor or a motor current detection sensor. 8. multi-sensor feedback self-adaptive robot finger unit device as claimed in claim 1, is characterized in that: described control module adopts the combination of one or more in computer, PLD, CPLD, PLC, single-chip microcomputer, DSP and FPGA , the control module contains an A/D conversion sub-module. 9. An adaptive multi-joint finger device adopting multi-sensor feedback adaptive robot finger unit device as claimed in claim 1, characterized in that: comprising a plurality of finger segments, a plurality of joint shafts, a plurality of motors, a plurality of displacements A sensor, a plurality of parking sensors, at least one parking sensor, a control module, and a motor drive module. 10. A control method that adopts multi-sensor feedback self-adaptive robot finger unit device as claimed in claim 1, is characterized in that: comprises the steps: A) making the reset flag is R, making the parking flag be B, making the stop and grabbing the flag to be F; at the beginning, making the reset flag R=0; b) The parking input terminal of the control module receives the parking signal of the parking sensor, then makes the parking flag B=1; otherwise makes the parking flag B=0; c) the stop grab input terminal of the control module receives the stop grab signal of the stop grab sensor, then make stop grab flag F=1; otherwise make stop grab flag F=0; d) the reset terminal of the control module receives the reset signal, then make the reset flag R=1, and proceed to step f); otherwise, proceed to step e); e) the trigger input terminal of the control module receives the trigger signal of the trigger sensor, then proceed to step j); otherwise, proceed to step f); f) If the parking flag B=1, then proceed to step n); otherwise proceed to step g); g) within the predetermined small time period Δt, the drive motor is reversed, the effect is to make the second finger segment rotate a small angle around the joint axis to release the object, and then proceed to step h); h) The reset terminal of the control module does not receive a reset signal and the reset flag bit R=1, then proceed to step n); otherwise proceed to step i); i) the parking input terminal of the control module receives the parking signal of the parking sensor, then proceed to step n); otherwise, proceed to step g); j) if stop grabbing flag F=1, then proceed to step n); otherwise proceed to step k); k) Drive the motor to rotate forward within the predetermined small time period Δt, the effect is to make the second finger segment rotate a small angle around the joint axial direction to grasp the object, and then proceed to step 1); l) the reset terminal of the control module receives a reset signal, then proceed to step n); otherwise, proceed to step m); m) the stop grab input terminal of the control module receives the stop grab signal of the stop grab sensor, then proceed to step n); otherwise, proceed to step k); n) stop the motor, and proceed to step a).

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