CN103317520A - Electric push rod drive controlled gripper with tandem flexible hinge frameworks - Google Patents
Electric push rod drive controlled gripper with tandem flexible hinge frameworks Download PDFInfo
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- CN103317520A CN103317520A CN2013103067371A CN201310306737A CN103317520A CN 103317520 A CN103317520 A CN 103317520A CN 2013103067371 A CN2013103067371 A CN 2013103067371A CN 201310306737 A CN201310306737 A CN 201310306737A CN 103317520 A CN103317520 A CN 103317520A
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Abstract
The invention relates to an electric push rod drive controlled gripper with tandem flexible hinge frameworks. The gripper comprises a palm and three flexible fingers, wherein one flexible finger 1 is installed in the left symcenter of a rectangular palm 2 and the other two flexible fingers 1 are respectively installed on the two sides of the right symcenter of the rectangular palm 2; the three flexible fingers 1 are respectively installed on three corresponding edges of a hexagonal palm 3; each flexible finger has the same structure and mainly comprises an electric push rod and a tandem flexible hinge; the characteristic parameters of two hinge configurations of the tandem flexible hinge are optimally designed; the lowest end of the tandem flexible hinge is a curved surface section contacted with a gripped object. The multi-finger gripper is applied to gripping fragile objects or special-shaped objects with shapes and sizes varying and belongs to the technical fields of applications of robots and mechatronics. The gripper is connected with a robot body and is especially suitable for the production and logistics places for gripping, sorting and packaging food, agricultural products and light industrial products.
Description
Technical field:
The invention belongs to the technical field of robot, electromechanical integration, relate to the series connection flexible hinge skeleton paw that a kind of electric pushrod drives control, be used for production and the logistics occasions such as crawl, sorting and packing of food, agricultural product, light industrial goods.
Background technology:
Large-scale production situation for light industry and food service industry, the logistics of the raw material complex-shaped for satisfying, that physical property is various, semi-finished product, finished product and the needs of packing, the problem such as high for the recruitment cost that solves simple work, that working condition is poor needs logistics to grasp many finger paws.The kind of the complex object of crawl just: 1. yielding soft object (bread, soft package article); 2. frangible brittle body (birds, beasts and eggs, glass and ceramic product); 3. the object that in irregular shape, size differences is large (melon and fruit, vegetables); 4. abnormity, location status is chaotic and the difficult object (bottle, bottle for cosmetics) of making in order; As seen from upper, the difference of the material character of complex object, geomery and location status is larger.The many finger paws of traditional industry are clamp-type or parallel movable structure, can only grasp that shape size is identical, location status unanimously, can not damaged rigidity workpiece.Humanoid dextrous hand needs locus and the shape of perception complex object, needs accurate controlled motion and grasp force, otherwise can damage complex object or can not reliably grasp, but humanoid dextrous hand still is in the laboratory research stage at present.
Flexible finger of the present invention is exactly a kind of compliant mechanism, and the series connection flexible hinge is the deformation element of compliant mechanism, is characterized in: external applied load is had the good flexible free degree and shock-absorbing capacity, and when therefore grasping complex object, flexible adaptivity is good.
The critical component of the many finger paws of the present invention is flexible fingers, also is called flexible joint.Before the present invention, patent application (a kind of articulated flexible manipulator, 200810023616.5) a kind of rubber corrugated tube swelling loaded type Pneumatic artificial muscle flexible bending joint driver drives, the flexible hinge skeleton proposed, its shortcoming is: 1. the inner chamber pressure of rubber bellows Pneumatic artificial muscle driver is large not, by the effect of series connection flexible hinge, be returned to initial straight configuration; 2. the arm of force length of flexible hinge of connecting can not be regulated, and the versatility of crawl object is good not; 3. the deflection along with the series connection flexible hinge is larger, and the pressure increment of the artificial-muscle inner chamber that the unit increment of deflection is required is larger, the more difficult bending of series connection flexible hinge, that is the slope of curve of the angle of bend-air pressure of flexible finger is more and more less; 4. especially artificial-muscle drives lower, the tension that the series connection flexible hinge is subject to increases with artificial-muscle inner chamber pressure, need to increase series connection flexible hinge minimum cross-sectional area and could satisfy requirement of strength, and increase the difficulty of series connection flexible hinge distortion is increased, increase the artificial-muscle power output and made the active force part of series connection flexible hinge distortion, thereby reduced the grasp force of flexible joint output.
Summary of the invention:
Electric pushrod of the present invention drives the series connection flexible hinge skeleton paw of control, and paw is comprised of a palm and three flexible fingers, and palm has rectangle and two kinds of structures of hexagon; Each flexible finger structure is identical, mainly is comprised of a series connection flexible hinge and an electric pushrod (being called again electric cylinder, linear actuator, Linear actuator, linear actuator); Drive to produce grasping force by electric pushrod, this paw is applied to frangible brittle body, or the grasping of the Special-shaped object of shape, size variation.
The present invention has overcome above-mentioned deficiency, paw of the present invention has three flexible fingers, each flexible finger structure is identical, flexible finger adopts six-bar mechanism, and six bars are respectively: drive rod (electric pushrod 1a and hinge seat 5a form), series connection flexible hinge 4a, the adjustable seat bar (pressing plate 6a, rocker bar bearing 7a form) of length-adjustable two power bars (left-hand thread hinge-rod 8a, thread bush 9a, right-hand thread hinge-rod 10a form) and position.
Drive rod does not rotatablely move, but the rectilinear motion of electric pushrod 1a.By regulating two power pole lengths, the arm of force length of series connection flexible hinge can be regulated; Two power pole lengths are shorter, and arm of force length is shorter; Two power pole lengths are shorter, and the electric pushrod stroke is shorter, and two power bars are larger with the angle of the flexible hinge of connecting during original state, and the bending effect of series connection flexible hinge is better.
Main solution of the present invention is achieved in that
Shown in accompanying drawing 1,2, a kind of structure of the many finger paws of the present invention: formed by three flexible fingers 1 and a rectangle palm 2.A flexible finger 1 is installed in the symmetrical centre place, left side of rectangle palm 2, and other two flexible fingers 1 are installed in respectively the both sides of rectangle palm 2 right side symmetrical centre.
Shown in accompanying drawing 3,4, the another kind of structure of the many finger paws of the present invention: formed by three flexible fingers 1 and a hexagon palm 3.Three flexible fingers 1 are installed in respectively three corresponding sides places of hexagon palm 3.Wherein the inscribed circle radius of three corresponding sides is larger, is fit to the major diameter grasping body; The inscribed circle radius of three corresponding sides is less, is fit to the small diameter objects crawl.
As shown in Figure 5, aforesaid flexible finger 1 is parts, and its mounting structure is: the tailstock of electric pushrod 1a is screwed and is referring to that the head end of electric pushrod 1a and hinge seat 5a thread connection also screw locking on the root plate 2a with nut; The upper end of series connection flexible hinge 4a is fixed on by bolt and nut and refers between root plate 2a and the fixture block 3a, series connection flexible hinge 4a hypomere is fixed between pressing plate 6a and the rocker bar bearing 7a by bolt and nut, the curved sections bottom of series connection flexible hinge 4a is the crawl section, is convenient to contact crawled object; Hinge-coupled between the hinge seat 5a of electric pushrod 1a head end and the right-hand thread hinge-rod 10a, hinge-coupled between rocker bar bearing 7a and the left-hand thread hinge-rod 8a, left-hand thread hinge-rod 8a and right-hand thread hinge-rod 10a all are spun in the thread bush 9a and screw locking with nut; Suitable, be rotated counterclockwise thread bush 9a, can make the relative distance between left-hand thread hinge-rod 8a and the right-hand thread hinge-rod 10a increase or shorten.
The installation form of the many finger paws of the present invention is: for each identical flexible finger 1, it refers to that root plate 2a all is fixed on rectangle palm 2 or the hexagon palm 3 by screw.
Compared with the prior art the present invention has the following advantages:
(1) flexible finger adopts electric pushrod to replace rubber bellows Pneumatic artificial muscle driver, and the driving force of generation grasp force large, that produce is large; By the electric pushrod counter motion, and not by the torsion spring effect, be returned to initial straight configuration.
(2) complex object larger to the difference of material character, geomery and location status, by crawl experiment and analytical calculation, regulate again the position that two power bars act on the hypomere of series connection flexible hinge, so not only guaranteed adaptively reliably crawl of flexibility, but also can not damage, therefore the versatility of many finger paws is good.
(3) the flexible hinge stress is good, the less partial action of electric pushrod power output in flexible hinge, make it distortion, thereby increased the grasp force of flexible joint output, along with the angular displacement of flexible hinge is larger, the power accounting that spends in the torsion spring distortion is less.
(4) especially because the effect of force-increasing mechanism of the present invention along with electric pushrod 1a constantly passes, because two power bars constantly increase with the angle of the flexible hinge of connecting, constantly increases the component of series connection flexible hinge bending downwards, the series connection flexible hinge is more flexible; The deflection of series connection flexible hinge torsion spring is larger, and the required less increment of thrust of the unit increment of deflection is less, that is the slope of curve of the angle of bend of flexible finger-electric pushrod thrust is increasing.
Description of drawings:
Fig. 1 is A-A master's cutaway view that the electric pushrod of rectangle palm drives the series connection flexible hinge skeleton paw of control
Fig. 2 is the top view that the electric pushrod of rectangle palm drives the series connection flexible hinge skeleton paw of control
Fig. 3 is B-B master's cutaway view that the electric pushrod of hexagon palm drives the series connection flexible hinge skeleton paw of control
Fig. 4 is the top view that the electric pushrod of hexagon palm drives the series connection flexible hinge skeleton paw of control
Fig. 5 is the front view that electric pushrod drives the flexible finger of the series connection flexible hinge skeleton paw of controlling
The specific embodiment:
The below is operation principle of the present invention and the course of work:
Series connection flexible hinge 4a's is curved sections bottom, and the crawl of complex object just contacts the curved sections bottom at series connection flexible hinge 4a.After the characterisitic parameter optimal design of two hinge configurations of series connection flexible hinge 4a, the coordination of totally four angular displacements at two hinge places of two hinges (bearing), series connection flexible hinge 6a is for flexible self-adapting grasping provides the foundation.
Electric pushrod 1a energising, its push rod moves downward, thereby drive two power bars (left-hand thread hinge-rod 8a, thread bush 9a, right-hand thread hinge-rod 10a form), overcome the elastic force of series connection flexible hinge 4a, make series connection flexible hinge 4a crooked, object is grabbed in series connection flexible hinge 4a curved sections contact bottom; Electric pushrod 1a continues motion, and series connection flexible hinge 4a distortion increases, and grasp force also increases; When meeting the requirements of grasp force, electric pushrod 1a outage, the self-locking of electric pushrod 1a internal screw nut body keeps grasp force constant.
1. original state is regulated
To aforementioned special object, grab the crawl object of minimum, maximum crawl object or crawl object in irregular shape or the stressed variation of material size, need flexible adaptive structure, more need to carry out the fine adjustment of structure original state.
The fine adjustment of structure original state: as shown in Figure 1, 2, according to complex object microscler, rectangle, behind experimental study and the theory analysis, regulate the two power bars length of (left-hand thread hinge-rod 8a, thread bush 9a, right-hand thread hinge-rod 10a form), adjust again the appropriate location that pressing plate 6a and rocker bar bearing 7a are fixed on series connection flexible hinge 4a hypomere.Shown in Fig. 3,4, the complex object of circle, short cylindrical shape equally according to above-mentioned steps, is regulated behind experimental study and the theory analysis.
2. duty calibration
Because the difference of material character, geomery and the location status of aforementioned complex object is larger, the present invention's flexible paw of flexible hinge skeleton of connecting adopts and has the self-adapting flexible structure.Flexible paw meets the demands as follows: the contact of 1. grabbing minimum, maximum crawl object changes as far as possible little, to satisfy the minimum force request that grasps object and do not damage maximum crawl object of safety crawl, crawl object in irregular shape also there is adaptivity; 2. electric pushrod directly drives, and drive system is without feedback; 3. paw structure, driving control system are simple and reliable; When 4. grasping, the location is constant all the time on the paw height, and supporting robot body control is convenient.
To concrete complex object, estimate according to the Elasticity of structure first; Select again the crawl object of minimum crawl size, maximum crawl size to test, final definite the selection: to adopt the concrete displacement parameter of electric pushrod displacement control or the concrete driving force parameter of electric pushrod thrust (direct current generator output torque) control.
To concrete complex object, the concrete displacement parameter of the electric pushrod displacement control of selecting previously or the concrete driving force parameter of electric pushrod thrust control are well-determined in application, begin to set, and no longer change, so control system are simple and reliable.
3. motor control method
The present invention adopts the miniature electromotive handspike of direct drive, and in the occasion that needs speed control, speed control adopts the switch power element of full-control type to carry out pulsewidth modulation (pulse width modulation is called for short PWM).This speed regulating method has that the switching frequency high, low speed is stable, dynamic property is good, the efficient advantages of higher.
The structure of the flexible paw of flexible hinge skeleton has self-adapting flexible because the present invention connects, and the control accuracy of grasp force is less demanding, and its straightforward procedure has two kinds: 1. based on position probing and the control of the position-sensor-free of line voltage difference; 2. based on line voltage or based on the moment of torsion Detection ﹠ Controling of the unable sensor of winding inductance variation characteristic.
Claims (1)
1. electric pushrod drives the series connection flexible hinge skeleton paw of control, it is characterized in that: the tailstock of electric pushrod (1a) is screwed and is referring to that the head end of electric pushrod (1a) and hinge seat (5a) thread connection also screw locking on the root plate (2a) with nut; The upper end of series connection flexible hinge (4a) is fixed on by bolt and nut and refers between root plate (2a) and the fixture block (3a), series connection flexible hinge (4a) hypomere is fixed between pressing plate (6a) and the rocker bar bearing (7a) by bolt and nut, the curved sections bottom of series connection flexible hinge (4a) is the crawl section, is convenient to contact crawled object; Hinge-coupled between the hinge seat (5a) of electric pushrod (1a) head end and the right-hand thread hinge-rod (10a), hinge-coupled between rocker bar bearing (7a) and the left-hand thread hinge-rod (8a), left-hand thread hinge-rod (8a) and right-hand thread hinge-rod (10a) all are spun in the thread bush (9a) and screw locking with nut; Suitable, be rotated counterclockwise thread bush (9a), can make the relative distance between left-hand thread hinge-rod (8a) and the right-hand thread hinge-rod (10a) increase or shorten; Aforesaid these parts consist of flexible finger (1), and for each identical flexible finger (1), it refers to that root plate (2a) all is fixed on rectangle palm (2) or the hexagon palm (3) by screw; A flexible finger (1) is installed in the symmetrical centre place, left side of rectangle palm (2), and other two flexible fingers (1) are installed in respectively the both sides of rectangle palm (2) right side symmetrical centre, and this is a kind of version; Three flexible fingers (1) are installed in respectively three corresponding sides places of hexagon palm (3), and this is another kind of version.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310306737.1A CN103317520B (en) | 2013-07-22 | 2013-07-22 | Electric pushrod drives the series connection flexible hinge framework paw controlled |
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| CN201310306737.1A CN103317520B (en) | 2013-07-22 | 2013-07-22 | Electric pushrod drives the series connection flexible hinge framework paw controlled |
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| CN103317520A true CN103317520A (en) | 2013-09-25 |
| CN103317520B CN103317520B (en) | 2016-12-28 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107042525A (en) * | 2017-04-11 | 2017-08-15 | 大连理工大学 | A kind of grip controllable type robot elastic paw |
| CN107065618A (en) * | 2017-05-10 | 2017-08-18 | 东北大学 | A kind of pneumatic software hand control system and its control method |
| CN109048983A (en) * | 2018-10-25 | 2018-12-21 | 赵洪清 | A kind of software self-locking manipulator fixing seat |
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| CN1365311A (en) * | 2000-03-28 | 2002-08-21 | 精工爱普生株式会社 | Pump-integrated flexible actuator |
| CN101554730A (en) * | 2008-04-11 | 2009-10-14 | 江南大学 | Articulated flexible manipulator |
| CN102689309A (en) * | 2012-05-29 | 2012-09-26 | 江南大学 | Compliant passive gripper drawn by pneumatic ropes and provided with bent plate spring skeleton |
| KR101187599B1 (en) * | 2010-09-07 | 2012-10-04 | 한국과학기술연구원 | Finger drive device of robot |
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| CN203380902U (en) * | 2013-07-22 | 2014-01-08 | 江南大学 | Series flexible hinge framework claw driven and controlled by electric push rods |
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| JPS63144985A (en) * | 1986-12-09 | 1988-06-17 | 工業技術院長 | Gripping mechanism |
| CN1365311A (en) * | 2000-03-28 | 2002-08-21 | 精工爱普生株式会社 | Pump-integrated flexible actuator |
| CN101554730A (en) * | 2008-04-11 | 2009-10-14 | 江南大学 | Articulated flexible manipulator |
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| CN203380902U (en) * | 2013-07-22 | 2014-01-08 | 江南大学 | Series flexible hinge framework claw driven and controlled by electric push rods |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107042525A (en) * | 2017-04-11 | 2017-08-15 | 大连理工大学 | A kind of grip controllable type robot elastic paw |
| CN107065618A (en) * | 2017-05-10 | 2017-08-18 | 东北大学 | A kind of pneumatic software hand control system and its control method |
| CN109048983A (en) * | 2018-10-25 | 2018-12-21 | 赵洪清 | A kind of software self-locking manipulator fixing seat |
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| CN103317520B (en) | 2016-12-28 |
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Effective date of registration: 20200827 Address after: 225700 Dai Nan science and Technology Park, Xinghua, Taizhou, Jiangsu Patentee after: Xinghua Juxin Stainless Steel Co.,Ltd. Address before: 1800 No. 214122 Jiangsu city of Wuxi Province Li Lake Avenue Patentee before: Jiangnan University |