CN103317521B - Electric pushrod drives the flat spring skeleton flexibility paw controlled - Google Patents
Electric pushrod drives the flat spring skeleton flexibility paw controlled Download PDFInfo
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- CN103317521B CN103317521B CN201310306739.0A CN201310306739A CN103317521B CN 103317521 B CN103317521 B CN 103317521B CN 201310306739 A CN201310306739 A CN 201310306739A CN 103317521 B CN103317521 B CN 103317521B
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- electric pushrod
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Abstract
The present invention relates to electric pushrod and drive the flat spring skeleton flexibility paw controlled, paw is made up of a palm and three flexible fingers.One flexible finger 1 is installed at the left side symmetrical centre of rectangular palm 2, and other two flexible fingers 1 are respectively installed in the both sides of symmetrical centre on the right side of rectangular palm 2；Three flexible fingers 1 are respectively installed at three corresponding sides of hexagon palm 3.Each flexible finger structure is identical, is mainly made up of an electric pushrod and a flat spring；Flat spring as skeleton is divided into deformation section and captures section, and two segment length can relative accommodation；This multifinger hand pawl is applied to frangible brittle body, or the grasping of the Special-shaped object of shape, size variation, belongs to the applied technical field of robot, electromechanical integration；Couple with robot body, be particularly suited for food, agricultural product, the crawl of light industrial goods, sort and production and the logistics occasion such as packaging.
Description
Technical field:
The invention belongs to the technical field of robot, electromechanical integration, relate to a kind of electric pushrod and drive the flat spring skeleton controlled
Flexible paw, for food, agricultural product, the crawl of light industrial goods, sorts and production and the logistics occasion such as packaging.
Background technology:
For the large-scale production situation of light industry and food service industry, for meet raw material complex-shaped, that physical property is various, semi-finished product,
The logistics of finished product and the needs of packaging, for solving the problems such as high, the labor condition difference of the recruitment cost of simple work, need logistics to grab
Take paw.The kind of the complex object just captured: the most yielding soft object (bread, soft package article)；The most frangible
Brittle body (fowl egg, glass and ceramic product)；Object (melon fruits and vegetables) the most in irregular shape, size difference is big；④
Abnormity, location status is chaotic and difficulty is made in order object (bottle, bottle for cosmetics)；From the above, complex object material character,
The difference of geomery and location status is bigger.Traditional industry paw is clamp-type or parallel movable structure, can only capture shape
The rigid workpiece that size is identical, location status is consistent, will not be damaged.Humanoid dextrous hand needs the locus of perception complex object
And shape, need accurately to control motion and grasp force, otherwise can damage complex object or can not reliably capture, but apery spirit at present
Dab hand is still in the laboratory research stage.
The rigid bar that conventional rigid mechanism is connected by kinematic pair forms, and carries out moving, power or energy transmission or the machine of conversion
Tool device.Compliant mechanism (Compliant Mechanisms) also can transmit or converting motion, power or energy, but and rigid mechanism
Difference, compliant mechanism, not only by kinematic pair transmitting movement, the most at least obtains part motion from the deformation of its compliant member.Soft
The two big superioritys along mechanism: reduction cost (minimizing number of parts, minimizing are assembled, simplify manufacture, alleviated quality) and raising
Performance (improves precision, increase reliability, minimizing abrasion, reduces and safeguard).
The flexible finger of paw of the present invention is exactly a kind of compliant mechanism, and flat spring is the deformation element of compliant mechanism, is characterized in:
Have good flexible degree of freedom and shock-absorbing capacity to external applied load, when therefore capturing complex object, flexible adaptivity is good.
The critical component of paw of the present invention is flexible finger, also known as flexible joint.Before the present invention, granted patent (flat spring
Skeleton hydraulic pneumatic formula flexible bending joint, ZL200410065130.X) propose a kind of rubber corrugated pneumatic people of tube swelling loaded type
Work muscle driver drives, the flexible bending joint of flat spring skeleton, its shortcoming is: 1. rubber bellows Pneumatic artificial muscle
The inner chamber pressure of driver is big not, and backup plate spring effect is returned to initial straight configuration；2. flat spring sweep (i.e. becomes
Shape section) length can not regulate, capture object versatility the best；3. the biggest along with the deflection of flat spring, deflection
The pressure increment of the artificial-muscle inner chamber needed for unit increment is the biggest, and flat spring is more difficult to bend, that is the angle of bend of flexible finger-
The slope of curve of air pressure is more and more less；Under the most especially artificial-muscle drives, the tension that flat spring is subject to is with artificial-muscle inner chamber
Pressure increases and increases, and needs to increase flat spring area of section and could meet requirement of strength, and while increasing flat spring sectional area
The difficulty that can make again flat spring large deformation increases, and artificial-muscle power output adds the active force making flat spring deform, and reduces soft
Property joint output grasp force.
Summary of the invention:
Electric pushrod of the present invention drives the flat spring skeleton flexibility paw controlled, and paw is made up of a palm and three flexible fingers,
Palm has rectangle and two kinds of structures of hexagon；Each flexible finger structure is identical, mainly by a flat spring and an electric pushrod
(being also called electric cylinder, linear actuator, Linear actuator, linear actuator) forms；Flat spring as skeleton is divided into
Deformation section and crawl section, two segment length can relative accommodation；Driving by electric pushrod and produce grasping force, this multifinger hand pawl is applied to easily
Broken brittle body, or the grasping of the Special-shaped object of shape, size variation.
Instant invention overcomes above-mentioned deficiency, multifinger hand pawl of the present invention has three flexible fingers, and each flexible finger structure is identical, soft
Property finger use submissive four-bar mechanism, four bars respectively: drive rod (electric pushrod 1a and hinge seat 5a composition), rods (plate
Spring 4a), length-adjustable two power bars (left-hand thread hinge-rod 8a, thread bush 9a, right-hand thread hinge-rod 10a form) and position
Put adjustable seat bar (pressing plate 6a, rocker bar bearing 7a form).
Drive rod is not rotary motion, but electric pushrod 1a and the linear motion of hinge seat 5a.By regulating two power pole lengths,
The length making flat spring sweep (i.e. deformation section) can regulate；Two power pole lengths are the shortest, and flat spring 4a sweep is (i.e.
Deformation section) length the shortest；Two power pole lengths are the shortest, and electric pushrod 1a stroke is the shortest, two power bar and flat spring during original state
Angle the biggest, the bending effect of flat spring is the best.
The primary solutions of the present invention is achieved in that
As shown in accompanying drawing 1,2, a kind of structure of multifinger hand pawl of the present invention: by three flexible fingers 1 and rectangular palm 2 groups
Become.One flexible finger 1 is installed at the left side symmetrical centre of rectangular palm 2, and other two flexible fingers 1 are pacified respectively
It is contained in the both sides of symmetrical centre on the right side of rectangular palm 2.
As shown in accompanying drawing 3,4, the another kind of structure of multifinger hand pawl of the present invention: by three flexible fingers 1 and a hexagon palm
3 compositions.Three flexible fingers 1 are respectively installed at three corresponding sides of hexagon palm 3.Wherein three corresponding sides is interior
Circle of contact radius is relatively big, is suitable for major diameter grasping body；The inscribed circle radius of three corresponding sides is less, is suitable for small diameter objects and captures.
As shown in Figure 5, aforesaid flexible finger 1 is parts, and its mounting structure is: the tailstock spiral shell of electric pushrod 1a
Nail is fixed on finger root plate 2a, and electric pushrod 1a head end and hinge seat 5a thread connection are the most locking with nut；Flat spring
The upper end of 4a is screwed between finger root plate 2a and fixture block 3a, and the centre of flat spring 4a is bolted nut and is fixed on pressing plate
Between 6a and rocker bar bearing 7a, the curved surface of flat spring 4a bottom is to capture section and crawled object contact；Electric pushrod 1a
It is hinge-coupled between the hinge seat 5a and right-hand thread hinge-rod 10a of head end, between rocker bar bearing 7a and left-hand thread hinge-rod 8a
It is interior and locking with nut that hinge-coupled, left-hand thread hinge-rod 8a and right-hand thread hinge-rod 10a are all spun on thread bush 9a；
Rotation thread bush 9a suitable, counterclockwise, relative distance between left-hand thread hinge-rod 8a and right-hand thread hinge-rod 10a can be made to increase or
Shorten.
The installation form of multifinger hand pawl of the present invention is: for each identical flexible finger 1, and it refers to that root plate 2a is all screwed
In rectangular palm 2 or hexagon palm 3.
Compared with the prior art the present invention has the advantage that
(1) flexible finger uses electric pushrod to replace rubber bellows heat payload, and driving force is big, grasp force is big；
By electric pushrod adverse movement, and not backup plate spring effect, it is returned to initial straight configuration.
(2) complex object bigger to the difference of material character, geomery and location status, is tested by crawl and analysis meter
Calculate, then the length of adjustable plate spring bending part (i.e. deformation section), the most not only ensure that flexibility the most reliably capture, but also
Will not damage crawl object, therefore the versatility of multifinger hand pawl is good.
(3) elapse downwards along with the push rod of electric pushrod 1a, owing to the angle of two power bars with flat spring constantly increases, make
The component of flat spring bending is continuously increased, and flat spring is the most flexible；The deflection of flat spring is the biggest, the unit increment institute of deflection
Need thrust the least, that is the slope of curve of the angle of bend of flexible finger-electric pushrod thrust is increasing.
(4) tension that especially flat spring is subject to increases with electric pushrod thrust and reduces, can be while meeting requirement of strength
Reduce flat spring sectional area, and while reducing flat spring sectional area, be prone to make flat spring large deformation, reduce electric pushrod and push away
Power makes the active force part that flat spring deforms, thus adds the grasp force of flexible joint output.
Accompanying drawing illustrates:
Fig. 1 is the main sectional view of A-A of the flat spring skeleton flexibility paw of the electric pushrod driving control of rectangular palm
Fig. 2 is the top view of the flat spring skeleton flexibility paw of the electric pushrod driving control of rectangular palm
Fig. 3 is the main sectional view of B-B of the flat spring skeleton flexibility paw of the electric pushrod driving control of hexagon palm
Fig. 4 is the top view of the flat spring skeleton flexibility paw of the electric pushrod driving control of hexagon palm
Fig. 5 is the front view that electric pushrod drives the flexible finger of the flat spring skeleton flexibility paw controlled
Detailed description of the invention:
It is operation principle and the work process of the present invention below:
One section (referring to arrive below at root plate 2a and fixture block 3a clamping more than at pressing plate 6a and rocker bar bearing 7a clamping) of flat spring 4a
It is deformation section, bears electric pushrod and drive and produce large deformation；On the downside of the flat spring 4a of pressing plate 6a and rocker bar bearing 7a clamping
Lower end be curved surface be capture section, the crawl contact site of complex object just flat spring 4a crawl section.
Electric pushrod 1a be energized, its push rod moves downward, thus drive two power bars (left-hand thread hinge-rod 8a, thread bush 9a,
Right-hand thread hinge-rod 10a forms), overcome elastic force to make flat spring 4a bend, flat spring 4a captures section contact and is grabbed object；Electricity
Dynamic push rod 1a continues motion, and flat spring 4a deforms increase, and grasp force also increases；When reaching the grasp force of requirement, electronic push away
Bar 4a power-off, electric pushrod 4a internal screw nut body self-locking, keep grasp force constant.
1. original state regulation
To aforementioned special object, grab minimum, maximum crawl object or crawl object in irregular shape or material size stress
The crawl object of change, needs flexible adaptive structure, with greater need for the accurate regulation carrying out structure original state.
The accurate regulation of structure original state: as shown in Figure 1, 2, according to elongated, the complex object of rectangle, experimentation and reason
After opinion is analyzed, regulate the length of two power bars (left-hand thread hinge-rod 8a, thread bush 9a, right-hand thread hinge-rod 10a form), then
Adjust pressing plate 6a and rocker bar bearing 7a and be fixed on the position in the middle of flat spring 4a.As shown in Figure 3,4, circular, short cylindrical shape
Complex object, after same experimentation and theory analysis, be adjusted according to above-mentioned steps.
2. duty calibration
Owing to the difference of material character, geomery and the location status of aforementioned complex object is relatively big, flat spring skeleton of the present invention is soft
Property paw has self-adapting flexible structure.It is as follows that flexible paw meets requirement: 1. grabs minimum, the maximum contact pressure capturing object
Change the least, capture minimum with satisfied safety and capture object and do not damage the maximum force request capturing object, to shape
Irregular crawl object (such as agricultural product such as Fructus Mali pumilaes) also has adaptivity；2. electric pushrod directly drives, and drive system is without instead
Feedback；3. paw structure, driving control system are simple and reliable；When 4. capturing, paw height position the most constant, building machine
Device human body is easy to control.
To concrete complex object, first estimate according to the Elasticity of structure；Reselection minimum captures size, maximum crawl chi
Very little crawl object is tested, and finally determines selection: use concrete displacement parameter or the electric pushrod of electric pushrod Bit andits control
The concrete driving force parameter that thrust (direct current generator output moment of torsion) controls.
Concrete complex object, the concrete displacement parameter of the electric pushrod Bit andits control above selected or electric pushrod thrust are controlled
Concrete driving force parameter is well-determined in the application, starts to set, no longer changes, and therefore control system is simple and reliable.
3. electric pushrod motor control method
The present invention uses miniature electric pushrod, for DC motor Driver, is needing the occasion of speed controlling, and speed controlling uses
The switch power element of full-control type carries out pulsewidth modulation (pulse width modulation is called for short PWM).This speed regulating method has
Have that switching frequency high, low speed is stable, dynamic property is excellent, efficiency advantages of higher.
Owing to the structure of flat spring skeleton flexibility paw of the present invention has self-adapting flexible, the required precision that grasp force controls is the highest,
Its straightforward procedure has two kinds: the 1. position Detection & Controling of position-sensor-free based on line voltage difference；2. based on line voltage or
The moment of torsion Detection & Controling without force transducer based on winding inductance variation characteristic.
Claims (1)
1. electric pushrod drives the flat spring skeleton flexibility paw controlled, and it is characterized in that: the tailstock screw of electric pushrod (1a)
Being fixed on finger root plate (2a), the upper end of flat spring (4a) is screwed between finger root plate (2a) and fixture block (3a),
The centre of flat spring (4a) is bolted nut and is fixed between pressing plate (6a) and rocker bar bearing (7a), flat spring (4a)
Bottom is curved surface, is easy to contact crawled object；The hinge seat (5a) of electric pushrod (1a) head end and right-hand thread hinge-rod
(10a) it is hinge-coupled between, hinge-coupled between rocker bar bearing (7a) and left-hand thread hinge-rod (8a), left-hand thread hinge
It is interior and locking with nut that bar (8a) and right-hand thread hinge-rod (10a) are all spun on thread bush (9a)；Suitable, revolve counterclockwise
Turn thread bush (9a), the relative distance between left-hand thread hinge-rod (8a) and right-hand thread hinge-rod (10a) can be made to increase or contracting
Short；Aforesaid electric pushrod (1a), refer to root plate (2a), fixture block (3a), flat spring (4a), hinge seat (5a), pressing plate (6a),
Rocker bar bearing (7a), left-hand thread hinge-rod (8a), thread bush (9a), right-hand thread hinge-rod (10a) these parts constitute soft
Property finger (1), for each identical flexible finger (1), it refers to that root plate (2a) is all screwed on rectangular palm (2)
Or on hexagon palm (3)；One flexible finger (1) is installed at the left side symmetrical centre of rectangular palm (2), additionally
Two flexible fingers (1) are respectively installed in the both sides of rectangular palm (2) right side symmetrical centre, and this is a kind of version；
At three limits that inscribed circle radius that three flexible fingers (1) are respectively installed in hexagon palm (3) is equal, wherein three
The inscribed circle radius of corresponding sides is relatively big, is suitable for major diameter grasping body, and the inscribed circle radius of three corresponding sides is less, be suitable for little directly
Footpath grasping body, this is another kind of version；Described electric pushrod is DC motor Driver, is needing the occasion of speed controlling,
Speed controlling uses the switch power element of full-control type to carry out pulsewidth modulation；This flexibility paw structure has self-adapting flexible, captures
The control accuracy of power is less demanding, and linear electric motors control method has two kinds: the 1. position of position-sensor-free based on line voltage difference
Put Detection & Controling；2. based on line voltage or the moment of torsion Detection & Controling without force transducer based on winding inductance variation characteristic.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310306739.0A CN103317521B (en) | 2013-07-22 | 2013-07-22 | Electric pushrod drives the flat spring skeleton flexibility paw controlled |
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|---|---|---|---|
| CN201310306739.0A CN103317521B (en) | 2013-07-22 | 2013-07-22 | Electric pushrod drives the flat spring skeleton flexibility paw controlled |
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| CN103317521B true CN103317521B (en) | 2016-08-10 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104626175A (en) * | 2013-11-12 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Hugging type box clamping mechanism |
| CN104802179B (en) * | 2015-05-12 | 2017-05-10 | 江南大学 | Elastic corrugated pipe single-acting cylinder-driven serial plate spring framework manipulator |
| CN105904479B (en) * | 2016-06-14 | 2018-09-28 | 罗芳芳 | A kind of mechanical grip for egg type object to be clamped |
| CN106826798B (en) | 2017-04-06 | 2019-03-08 | 江南大学 | The double drive crank block parallel institution palm-type manipulator of finger displacement and indexing |
| CN106926265B (en) | 2017-04-26 | 2019-03-15 | 江南大学 | The double drive crank rocker sliding block parallel institution palm-type manipulator of finger displacement and indexing |
| CN108108560B (en) * | 2017-12-21 | 2021-09-07 | 大连大华中天科技有限公司 | Finger position arrangement method of multi-finger dexterous hand |
| CN108890677B (en) * | 2018-08-06 | 2021-06-01 | 江南大学 | Flexible underactuated manipulator cooperatively driven by finger root joint and finger tip joint |
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| US5538305A (en) * | 1991-11-27 | 1996-07-23 | Microscience Group, Inc. | Microgripper |
| CN102092046A (en) * | 2010-12-09 | 2011-06-15 | 江南大学 | Pneumatic single tow rope multi-joint flexible manipulator with damping |
| 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 |
| EP2502714A1 (en) * | 2011-03-23 | 2012-09-26 | Festo AG & Co. KG | Holding device for fixing objects |
| CN102699925A (en) * | 2012-05-29 | 2012-10-03 | 江南大学 | Flexible passive catcher with serial bent flexible hinge framework tracked by pneumatic rope |
| CN203380904U (en) * | 2013-07-22 | 2014-01-08 | 江南大学 | Leaf spring framework flexible claw driven and controlled by electric push rods |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004181585A (en) * | 2002-12-04 | 2004-07-02 | Seiko Epson Corp | Robot hand |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0534778A2 (en) * | 1991-09-25 | 1993-03-31 | University Of Bristol | Controlled flexure element |
| US5538305A (en) * | 1991-11-27 | 1996-07-23 | Microscience Group, Inc. | Microgripper |
| CN102092046A (en) * | 2010-12-09 | 2011-06-15 | 江南大学 | Pneumatic single tow rope multi-joint flexible manipulator with damping |
| EP2502714A1 (en) * | 2011-03-23 | 2012-09-26 | Festo AG & Co. KG | Holding device for fixing objects |
| 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 |
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| CN203380904U (en) * | 2013-07-22 | 2014-01-08 | 江南大学 | Leaf spring framework flexible claw driven and controlled by electric push rods |
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| CN103317521A (en) | 2013-09-25 |
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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 |