CN108115670A - Robot clever hand finger caliberating device and method - Google Patents
Robot clever hand finger caliberating device and method Download PDFInfo
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- CN108115670A CN108115670A CN201611057070.6A CN201611057070A CN108115670A CN 108115670 A CN108115670 A CN 108115670A CN 201611057070 A CN201611057070 A CN 201611057070A CN 108115670 A CN108115670 A CN 108115670A
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- sensor
- close
- forefinger
- thumb
- finger
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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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to robotic technology field, a kind of specific open palm dorsal shield, thumb section dress, forefinger portion dress, middle finger portion dress, cushion block, sensing of including is close to plate, sensor stand, sensor, connecting shaft；Thumb section dress, forefinger portion dress, middle finger portion dress be connecteds respectively with palm dorsal shield, and middle finger portion dress is pretended companys by connecting shaft and forefinger portion, the linkage for rotating drive middle finger portion and filling finger joint of forefinger portion dress finger joint；Thumb section fills and the forefinger portion loads onto and is respectively arranged with cushion block, sensor is fixedly installed on cushion block close to plate, sensor has boss structure close to plate, sensor is fixedly installed on palm dorsal shield；Thumb section shipment is dynamic, when making sensor close to the close boss of plate close to the sensor, and sensing, determines null positions.The zeroing fixture of the present invention have it is simple in structure, easy for installation, from external environment influence, Zero positioning mode is simple, precision is high, fast response time, the low advantageous effect of control difficulty.
Description
Technical field
The present invention relates to robot mechanical arm Zero positioning technical field, more particularly to a kind of robot clever hand finger mark
Determine device and method.
Background technology
The error of zero of robot delicate is to influence the principal element of Dextrous Hand absolute fix precision, the zero-bit of Dextrous Hand
Error refers to each joint physical location and deviation of theoretical position in initial position, and the purpose of Zero positioning is to the error of zero
It is recognized and is compensated.
The Zero positioning of robot, which is mainly used in industrial robot, such as OTC, KUKA, ABB etc., at present has oneself solely
Special Zero positioning method.The Zero-point Positioning of robot arm joint is also related to simultaneously, for example utilizes absolute-type position
Sensor determines the method for joint position, but this method cost is higher, and sensor can be only installed at joint, make machine
Structure complicates；The method that joint position is such as also determined using the signal of mechanical limit switch, but this method precision is not
Height, while vibration and abrasion can be generated.The method for also such as applying photoelectric switching signal, but its detection can be subject to water, greasy dirt
Deng influence.For joint of robot, clever hands are more compact, are unfavorable for realizing the zero-bit mark of clever hand finger
It is fixed.
The content of the invention
It is contemplated that overcoming, existing robot delicate Zero positioning device precision is low, complicated technological deficiency,
A kind of robot clever hand finger caliberating device and method are provided.
To achieve the above object, the present invention uses following technical scheme：
On the one hand, the present invention provides a kind of robot clever hand finger caliberating device, including palm dorsal shield, thumb section dress,
Forefinger portion dress, middle finger portion dress, cushion block, sensing are close to plate, sensor stand, sensor, connecting shaft；
The thumb section dress, forefinger portion dress, middle finger portion dress are connected respectively with the palm dorsal shield, the middle finger
Portion's dress is pretended companys by the connecting shaft and the forefinger portion, and the rotation drive middle finger portion of the forefinger portion dress finger joint, which fills, to be referred to
The linkage of section；
The thumb section dress and the forefinger portion load onto and are fixedly installed the cushion block respectively, are fixedly installed on the cushion block
There is sensor close to plate, the sensor has boss structure close to plate, sensor is fixedly installed on the palm dorsal shield；
The thumb section shipment is dynamic, makes the sensor close to the close boss of plate close to the sensor, and feels
At once, null positions are determined.
In some embodiments, the sensor is fixedly installed on by sensor stand on the palm dorsal shield.
In some embodiments, the thumb section dress includes thumb motor, thumb mounting base, thumb finger joint and thumb gear,
The thumb motor is fixed in the thumb mounting base, and by the thumb gear engagement thumb finger joint is driven to turn
It is dynamic.
In some embodiments, the sensor is inductive proximity sensor, when the sensor enters close to plate boss
During the induction region of the inductive proximity sensor, the inductor sensor concussion attenuation, and switching signal is converted into, it drives
Move the thumb motor stalls.
In some embodiments, the cushion block is fixed on the gear of the thumb motor output shaft, to adjust the sensing
Device is close to the distance of reaction of plate and the sensor.
In some embodiments, the forefinger portion dress includes forefinger motor, forefinger mounting base, forefinger finger joint and forefinger gear,
The forefinger motor is fixed in the forefinger mounting base, and by the forefinger gear engagement forefinger finger joint is driven to turn
It is dynamic.
In some embodiments, the cushion block is fixed on the gear of the forefinger motor output shaft, to adjust the sensing
Device is close to the distance of reaction of plate and the sensor.
In addition, the invention also discloses a kind of robot clever hand finger scaling methods to use above-mentioned robot delicate
Finger caliberating device, comprises the following steps：
Determine the null positions of the robot clever hand finger, driving finger goes to theoretical null positions；
The cushion block and the sensor are adjusted close to plate, the boss is made to be located at the induction region of the sensor；
Detect whether the sensor senses close to plate and the sensor, if it is not, then readjusting the cushion block
With the sensor close to plate, the boss is made to be located at the induction region of the sensor；If so, determine Dextrous Hand actual zero
Position position, the robot delicate stop motion.
In some embodiments, detect the sensor close to plate and the sensor whether sense when, if finger turns
Null positions are moved, the sensor is transferred to the induction range of the sensor close to plate boss, in the gold of the sensor
Vortex is generated in belonging to, the sensor oscillation is caused to decay, and is transformed into switching signal and controls the robot clever hand finger
It shuts down.
In some embodiments, thumb and forefinger are in 90 °, and the position opened and stretched is as null positions.
The beneficial effects of the present invention are：
The present invention robot clever hand finger caliberating device have positioning accuracy it is high, it is compact-sized, be not easy by extraneous ring
The advantageous effect that border influences.
Description of the drawings
Fig. 1 is the structure diagram of one specific embodiment of robot clever hand finger Zero positioning device of the present invention；
Fig. 2 be robot clever hand finger Zero positioning device of the present invention in sensor close to plate structure diagram；
Fig. 3 is the flow chart of one specific embodiment of robot clever hand finger scaling method of the present invention.
Reference sign：
1 palm dorsal shield, 2 thumb section fills
3 forefinger portions fill 4 middle finger portions dress
5 cushion block, 6 sensor is close to plate
7 sensors are close to 8 sensor of plate
9 connecting shafts
Specific embodiment
In order to which those skilled in the art is made to more fully understand the present invention program, below in conjunction in the embodiment of the present invention
The technical solution in the embodiment of the present invention is clearly and completely described in attached drawing, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
Member's all other embodiments obtained without making creative work should all belong to the model that the present invention protects
It encloses.
Term " first ", " second ", " the 3rd " " in description and claims of this specification and above-mentioned attached drawing
The (if present)s such as four " are the objects for distinguishing similar, without being used to describe specific order or precedence.It should manage
The data that solution so uses can exchange in the appropriate case, so that the embodiments described herein can be with except illustrating herein
Or the order beyond the content of description is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that
Cover it is non-exclusive include, for example, containing the process of series of steps or unit, method, system, product or equipment need not limit
In those steps or unit for clearly listing, but may include not list clearly or for these processes, method, production
The intrinsic other steps of product or equipment or unit.
The present invention thinking be：Dextrous Hand of the present invention has four fingers, and thumb individually controls, and forefinger links with middle finger, has
Two motors and sensor.Control motor that finger is driven to rotate, an artificially definite zero-bit, such as the position that finger all opens.
Sensor and sensor are adjusted close to the position of plate, makes sensor opposite with sensor sensing position close to plate lug boss position, and
Distance meets the sensed conditions of sensor.When finger is in nonzero digit position, driving motor drives finger to be rotated to zero-bit, when
Sensor close to plate boss enter induction region when, sensor oscillation attenuation, this variation is converted into switching signal, driving motor
It stops operating, so as to fulfill the Zero positioning of finger.
Referring to Fig. 1, the structural representation of one specific embodiment of robot clever hand finger Zero positioning device of the present invention
Figure.Cushion block in the robot clever hand finger Zero positioning device of the present invention is not only provided at thumb section and loads onto, and is also disposed at
Forefinger portion loads onto, by setting the sensor of cushion block and sensor close to plate and on palm dorsal shield mutual on thumb, forefinger
Coordinate to realize clever hand finger Zero positioning.In the present embodiment, the cushion block structure loaded onto in thumb section, forefinger are illustrated only
Portion loads onto cushion block structure and pretends seemingly with the sensor engagement process on palm dorsal shield and thumb section, and details are not described herein again.
Robot delicate Zero positioning device in the present embodiment includes：Palm dorsal shield 1, thumb section fill 2, forefinger portion dress
3rd, middle finger portion fills 4, cushion block 5, sensor close to plate 6, sensor stand 7, sensor 8, connecting shaft 9.
There is threaded hole on palm dorsal shield 1, fill 2, forefinger portion and fill 3, middle finger portion for fixing thumb section and fill 4, sensor stand
7.Palm dorsal shield 1 can make different shapes, in order to be connected with arm or other components.
Thumb section fills 2 and is made of thumb motor, thumb mounting base, thumb finger joint, thumb gear etc..Thumb motor is fixed on
In thumb mounting base, the driving thumb gear engagement of thumb motor drives the rotation of thumb finger joint.Forefinger portion fills 3 and fills 1 with thumb section
There is similar structure.Middle finger portion, which fills 4 and fills 3 with forefinger portion by connecting shaft 9, to be connected, and the rotation that forefinger portion fills 3 finger joints drives middle finger
Portion fills the linkage of 4 finger joints, reduces number of motors and simplifies structure.
Cushion block 5 is fixed in by screw thread on the gear of thumb motor output shaft, and effect is that adjusting sensor is opposite close to plate 6
In the distance of sensor 8.Sensor is fixed in by screw 5 on cushion block close to plate 6.Referring to Fig. 2, dexterous robot of the present invention
Sensor has boss as the induction part with sensor 8 thereon close to the structure diagram of plate in hand finger Zero positioning device
Point.Projection shape is not limited to the shape in the present invention, can be other shapes.Sensor 8 is fixed in sensor by screw thread
On stent 7, sensor stand 7 is fixed in palm dorsal shield 1 close to sensor close to 6 one side of plate.Preferably, the sensing in the present invention
Device 8 is inductive proximity sensor.
The robot clever hand finger Zero positioning device of the present invention possesses advantages below：
The apparatus structure is simple, it is easy for installation, meet Dextrous Hand for compact-sized requirement；Non-contact Zero positioning,
It does not vibrate and wears, from external environment influences such as greasy dirt, water, light；Zero positioning mode is simple, fast response time, control
Difficulty is low.
In addition, present invention additionally comprises a kind of robot clever hand finger scaling methods, comprise the following steps：
Determine the null positions of the robot clever hand finger, driving finger goes to theoretical null positions.Described in adjusting
Cushion block and the sensor make the boss be located at the induction region of the sensor close to plate.The sensor is detected to approach
Whether plate senses with the sensor, if it is not, then readjusting the cushion block and the sensor close to plate, makes described convex
Platform is located at the induction region of the sensor.If so, determining the actual null positions of Dextrous Hand, the robot delicate stops
Movement.
Specifically, the scaling method of robot clever hand finger Zero positioning device of the present invention is：
It determines the null positions of clever hand finger first, opens and stretch thumb and forefinger are in 90 ° in the present embodiment
Position is as null positions.Motor drives finger to definite theoretical null positions.The fixed sensor stand 7 of installation and sensor
8, make 8 sensitive surface of sensor towards hand inside.Cushion block 5 and sensor are installed close to plate 6, adjust fixed sensor close to the convex of plate 6
Platform is opposite with 8 sensitive surface of sensor, and distance of reaction is less than 0.8mm and does not interfere.Test sensor is close to plate 6 and sensor 8
No generation induction effect.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit may be referred to the corresponding process in preceding method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed system, apparatus and method can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
Division is only a kind of division of logic function, can there is other dividing mode, such as multiple units or component in actual implementation
It may be combined or can be integrated into another system or some features can be ignored or does not perform.It is another, it is shown or
The mutual coupling, direct-coupling or communication connection discussed can be the indirect coupling by some interfaces, device or unit
It closes or communicates to connect, can be electrical, machinery or other forms.
The unit illustrated as separating component may or may not be physically separate, be shown as unit
The component shown may or may not be physical location, you can be located at a place or can also be distributed to multiple
In network element.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also
That unit is individually physically present, can also two or more units integrate in a unit.Above-mentioned integrated list
The form that hardware had both may be employed in member is realized, can also be realized in the form of SFU software functional unit.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment is can
Relevant hardware to be instructed to complete by program, which can be stored in a computer readable storage medium, storage
Medium can include：Read-only memory (ROM, Read Only Memory), random access memory (RAM, Random
Access Memory), disk or CD etc..
A kind of robot clever hand finger caliberating device provided by the present invention and method are described in detail above,
For those of ordinary skill in the art, according to the thought of the embodiment of the present invention, in specific embodiments and applications
It will change, in conclusion this specification content should not be construed as limiting the invention.
Claims (10)
1. a kind of robot clever hand finger caliberating device, which is characterized in that including palm dorsal shield, thumb section dress, forefinger portion dress,
Middle finger portion dress, cushion block, sensing are close to plate, sensor stand, sensor, connecting shaft；
The thumb section dress, forefinger portion dress, middle finger portion dress are connected respectively with the palm dorsal shield, the middle finger portion dress
Pretended companys by the connecting shaft and the forefinger portion, the rotation of the forefinger portion dress finger joint drives the middle finger portion to fill finger joint
Linkage；
The thumb section dress and the forefinger portion load onto and are fixedly installed the cushion block respectively, and biography is fixedly installed on the cushion block
Sensor has boss structure close to plate, sensor is fixedly installed on the palm dorsal shield close to plate, the sensor；
The thumb section shipment is dynamic, when making the sensor close to the close boss of plate close to the sensor, and sensing,
Determine null positions.
2. robot clever hand finger caliberating device as described in claim 1, which is characterized in that the sensor passes through sensing
Device stent is fixedly installed on the palm dorsal shield.
3. robot clever hand finger caliberating device as described in claim 1, which is characterized in that the thumb section dress includes thumb
Refer to motor, thumb mounting base, thumb finger joint and thumb gear, the thumb motor is fixed in the thumb mounting base, and is led to
Crossing the thumb gear engagement drives the thumb finger joint to rotate.
4. robot clever hand finger caliberating device as claimed in claim 3, which is characterized in that the sensor is inductance type
Proximity sensor, when the sensor enters the induction region of the inductive proximity sensor close to plate boss, the electricity
The concussion attenuation of sensor sensor, and switching signal is converted into, drive the thumb motor stalls.
5. robot clever hand finger caliberating device as claimed in claim 3, which is characterized in that the cushion block is fixed on described
On the gear of thumb motor output shaft, to adjust the sensor close to plate and the distance of reaction of the sensor.
6. robot clever hand finger caliberating device as described in claim 1, which is characterized in that the forefinger portion dress includes food
Refer to motor, forefinger mounting base, forefinger finger joint and forefinger gear, the forefinger motor is fixed in the forefinger mounting base, and is led to
Crossing the forefinger gear engagement drives the forefinger finger joint to rotate.
7. robot clever hand finger caliberating device as claimed in claim 6, which is characterized in that the cushion block is fixed on described
On the gear of forefinger motor output shaft, to adjust the sensor close to plate and the distance of reaction of the sensor.
8. a kind of robot clever hand finger scaling method, which is characterized in that will using such as claim 1-7 any one right
The robot clever hand finger caliberating device is sought, is comprised the following steps：
Determine the null positions of the robot clever hand finger, driving finger goes to theoretical null positions；
The cushion block and the sensor are adjusted close to plate, the boss is made to be located at the induction region of the sensor；
Detect whether the sensor senses close to plate and the sensor, if it is not, then readjusting the cushion block and institute
Sensor is stated close to plate, the boss is made to be located at the induction region of the sensor；If so, determine the actual zero-bit position of Dextrous Hand
It puts, the robot delicate stop motion.
9. robot clever hand finger scaling method as claimed in claim 8, which is characterized in that detect the sensor and approach
When whether plate senses with the sensor, if finger turns to null positions, the sensor is transferred to close to plate boss
The induction range of the sensor generates vortex in the metal of the sensor, and the sensor oscillation is caused to decay, and turns
Becoming switching signal controls the robot clever hand finger to shut down.
10. robot clever hand finger scaling method as claimed in claim 8, which is characterized in that thumb and forefinger are in 90 °,
The position opened and stretched is as null positions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611057070.6A CN108115670B (en) | 2016-11-26 | 2016-11-26 | Robot dexterous hand finger calibration device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611057070.6A CN108115670B (en) | 2016-11-26 | 2016-11-26 | Robot dexterous hand finger calibration device and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108115670A true CN108115670A (en) | 2018-06-05 |
| CN108115670B CN108115670B (en) | 2020-06-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611057070.6A Active CN108115670B (en) | 2016-11-26 | 2016-11-26 | Robot dexterous hand finger calibration device and method |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001277175A (en) * | 2000-03-30 | 2001-10-09 | Hiroshima Pref Gov | Multi-fingered movable robot hand and its gripping control method |
| CN101574809A (en) * | 2009-06-16 | 2009-11-11 | 北京华凯汇信息科技有限公司 | Zero-point positioning system, method and device for joint of robot |
| CN101648381A (en) * | 2009-09-09 | 2010-02-17 | 北京航空航天大学 | Multi-joint linked multi-finger dexterous hand |
| CN102717395A (en) * | 2011-03-30 | 2012-10-10 | 北京理工大学 | A Hall-switch-based system for accurately positioning the initial position of the joint of a robot |
| CN104772654A (en) * | 2015-04-30 | 2015-07-15 | 中工科安科技有限公司 | Tool storage cutter spacing detecting and positioning device and method of numerically-controlled machine tool |
-
2016
- 2016-11-26 CN CN201611057070.6A patent/CN108115670B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001277175A (en) * | 2000-03-30 | 2001-10-09 | Hiroshima Pref Gov | Multi-fingered movable robot hand and its gripping control method |
| CN101574809A (en) * | 2009-06-16 | 2009-11-11 | 北京华凯汇信息科技有限公司 | Zero-point positioning system, method and device for joint of robot |
| CN101648381A (en) * | 2009-09-09 | 2010-02-17 | 北京航空航天大学 | Multi-joint linked multi-finger dexterous hand |
| CN102717395A (en) * | 2011-03-30 | 2012-10-10 | 北京理工大学 | A Hall-switch-based system for accurately positioning the initial position of the joint of a robot |
| CN104772654A (en) * | 2015-04-30 | 2015-07-15 | 中工科安科技有限公司 | Tool storage cutter spacing detecting and positioning device and method of numerically-controlled machine tool |
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| Publication number | Publication date |
|---|---|
| CN108115670B (en) | 2020-06-02 |
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