CN103395068A - Serially-connected hinge flexible paw driven and controlled by linear motor - Google Patents
Serially-connected hinge flexible paw driven and controlled by linear motor Download PDFInfo
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- CN103395068A CN103395068A CN2013103067475A CN201310306747A CN103395068A CN 103395068 A CN103395068 A CN 103395068A CN 2013103067475 A CN2013103067475 A CN 2013103067475A CN 201310306747 A CN201310306747 A CN 201310306747A CN 103395068 A CN103395068 A CN 103395068A
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Abstract
The invention relates to a serially-connected hinge flexible paw driven and controlled by linear motors and belongs to the technical field of robots and mechatronics. The serially-connected hinge flexible paw comprises a palm and three flexible fingers. The flexible finger 1 is mounted at the left symcenter of the rectangular palm 2, the other flexible fingers 1 are mounted on two sides of the right symcenter of the rectangular palm 2 respectively, and the three flexible fingers 1 are mounted at three corresponding edges of a hexagon palm 3 respectively. The flexible fingers are identical in structures, each flexible finger mainly comprises one linear motor and one serially-connected hinge, a torque spring is mounted on a hinge mandrel of each serially-connected hinge, and characteristic parameters and pre-tightening angles of the torque springs are optimally designed according to characteristics of an object to be grabbed. The serially-connected hinge flexible paw is applied to grabbing fragile objects or specially-shaped objects variable in shape and size, and is, when linked with a robot body, particularly applicable to production and logistical fields such as grabbing, sorting and packaging of food, agricultural products and light industrial products.
Description
Technical field:
The invention belongs to the technical field of robot, electromechanical integration, relate to a kind of linear electric motors and drive the flexible paw of the series connection leaf hinge of controlling, 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 meeting, that physical property is various, semi-finished product, finished product and the needs of packing,, for problems such as the recruitment cost that solves simple work are high, working condition is poor, need the logistics graping chaw.The kind of the complex object that just captures: 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 traditional industry paw is clamp-type or parallel movable structure, can only capture that shape size is identical, location status unanimously, rigidity workpiece that can not be damaged.Humanoid dextrous hand needs locus and the shape of perception complex object, need accurate controlled motion and grasp force, otherwise can damage complex object or can not reliably capture, but humanoid dextrous hand still is in the laboratory research stage at present.
The characteristics of the flexible finger of paw of the present invention are: external applied load is had the good flexible free degree and shock-absorbing capacity, and while therefore capturing complex object, flexible adaptivity is good.
The critical component of paw of the present invention is flexible finger, also is called flexible joint.Before the present invention, patent application (a kind of articulated flexible manipulator, 200810023616.5) proposed that a kind of rubber corrugated tube swelling loaded type Pneumatic artificial muscle is driver drives, the flexible bending joint leaf hinge skeleton, its shortcoming is: 1. the inner chamber pressure of rubber bellows Pneumatic artificial muscle driver is large not,, by the torsion spring effect, be returned to initial straight configuration; 2. the driving force position that acts on the leaf hinge skeleton can not be regulated, and the versatility that captures object is good not; 3. the stress of leaf hinge is bad, and artificial-muscle power output considerable part acts on torsion spring, makes it distortion, thereby has reduced the grasp force of flexible joint output, and along with the angular displacement of leaf hinge is larger, the power accounting that spends in the torsion spring distortion is larger; 4. under especially artificial-muscle drives, along with the angular displacement of leaf hinge is larger, the pressure increment of the artificial-muscle inner chamber that the unit increment of angular displacement is required is larger, the more difficult bending of leaf hinge, that is the slope of curve of the angular displacement-air pressure of flexible finger leaf hinge is more and more less, and even air pressure increases and can not continue to produce angular displacement, reduced angular displacement on the contrary.
Summary of the invention:
Linear electric motors of the present invention drive the flexible paw of the series connection leaf hinge of controlling, 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 a series connection leaf hinge and linear electric motors (being called again linear electric machine, linear motor, line motor, linear actuator), consists of; On the hinge axle of series connection leaf hinge, a torsion spring is installed all, the characterisitic parameter of torsion spring and pretension angle are according to the characteristics of crawled object and optimal design goes out; Drive to produce grasping force by linear electric motors, these many finger paws are 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, the many finger paws of the present invention have three flexible fingers, each flexible finger structure is identical, flexible finger adopts six-bar mechanism, six bars are respectively: drive rod (the mover 4a of linear electric motors, push away a 3a, guiding push rod 7a and hinge seat 9a form), three loose-leaf bars (upper loose-leaf with the series connection leaf hinge 10a of large torsion spring 8a and little torsion spring 11a, middle loose-leaf, lower loose-leaf), length-adjustable two power bars (left-hand thread hinge-rod 14a, thread bush 15a, right-hand thread hinge-rod 16a forms) and adjustable seat bar (the pressing plate 12a in position, rocker bar bearing 13a forms).
Drive rod does not rotatablely move, but the mover 4a of linear electric motors drives the rectilinear motion that pushes away a 3a, guiding push rod 7a and hinge seat 9a.By regulating two power pole lengths, the loose-leaf length of series connection leaf hinge can be regulated; Two power pole lengths are shorter, and loose-leaf length is shorter; Two power pole lengths are shorter, and the linear electric motors stroke is shorter, and during original state, two power bars are larger with the angle of the leaf hinge of connecting, and the bending effect of series connection leaf hinge is better.
Main solution of the present invention is achieved in that
As shown in accompanying drawing 1,2, a kind of structure of the many finger paws of the present invention: by three flexible fingers 1 and a rectangle palm 2, formed.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.
As shown in accompanying drawing 3,4, the another kind of structure of the many finger paws of the present invention: by three flexible fingers 1 and a hexagon palm 3, formed.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 small diameter objects and captures.
As shown in Figure 5, aforesaid flexible finger 1 is parts, its mounting structure is: the stator component 1a of linear electric motors is screwed and is referring on root plate 2a, in the stator component 1a of linear electric motors guiding with under driving, the mover 4a of linear electric motors moves up and down, push away the mover 4a that a 3a is screwed at linear electric motors, linear bearing 6a is fixed on L-square 5a with soket head cap screw; The upper end threaded portion of guiding push rod 7a adopts nut to connect with pushing away a 3a, and guiding push rod 7a passes the linear bearing 6a that play the guiding role, and guiding push rod 7a lower end threaded portion and hinge seat 9a thread connection also screws locking with nut; The upper loose-leaf of series connection leaf hinge 10a is fixed on and refers between root plate 2a and L-square 5a by bolt and nut, the lower loose-leaf of series connection leaf hinge 10a is fixed between pressing plate 12a and rocker bar bearing 13a by bolt and nut, the lower loose-leaf of series connection leaf hinge 10a be curved sections bottom, be convenient to contact crawled object, on two axles of series connection leaf hinge 10a, large torsion spring 8a and little torsion spring 11a are housed respectively; Hinge-coupled between the hinge seat 9a of guiding push rod 7a and right-hand thread hinge-rod 16a, hinge-coupled between rocker bar bearing 13a and left-hand thread hinge-rod 14a, left-hand thread hinge-rod 14a and right-hand thread hinge-rod 16a all are spun in thread bush 15a and screw locking with nut; Suitable, be rotated counterclockwise thread bush 15a, can make the relative distance between left-hand thread hinge-rod 14a and right-hand thread hinge-rod 16a 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 hexagon palm 3 by screw.
Compared with the prior art the present invention has the following advantages:
(1) flexible finger adopts linear electric motors to replace rubber bellows Pneumatic artificial muscle driver, and the driving force of generation grasp force large, that produce is large; By the linear electric motors 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, test and analytical calculation by crawl, regulate again two power bars act on the series connection leaf hinge lower loose-leaf on position, so not only guaranteed that flexibility reliably captured adaptively, but also can not damage, therefore the versatility of many finger paws is good.
(3) the leaf hinge stress is good, the less partial action of linear electric motors power output in torsion spring, make it distortion, thereby increased the grasp force of flexible joint output, along with the angular displacement of leaf hinge is larger, the power accounting that spends in the torsion spring distortion is less.
(4) especially due to the effect of force-increasing mechanism of the present invention, 7a constantly passes downwards along with the guiding push rod, because two power bars constantly increase with the angle of the leaf hinge of connecting, the component of series connection leaf hinge bending is constantly increased, and the series connection leaf hinge is more flexible; The deflection of series connection leaf 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-linear motor pushing force of flexible finger is increasing.
Description of drawings:
Fig. 1 is A-A master's cutaway view that the linear electric motors of rectangle palm drive the flexible paw of series connection leaf hinge of controlling
Fig. 2 is the top view that the linear electric motors of rectangle palm drive the flexible paw of series connection leaf hinge of controlling
Fig. 3 is B-B master's cutaway view that the linear electric motors of hexagon palm drive the flexible paw of series connection leaf hinge of controlling
Fig. 4 is the top view that the linear electric motors of hexagon palm drive the flexible paw of series connection leaf hinge of controlling
Fig. 5 is the front view that linear electric motors drive the flexible finger of the flexible paw of series connection leaf hinge of controlling
The specific embodiment:
Be below operation principle of the present invention and the course of work:
Under series connection leaf hinge 10a, loose-leaf is curved sections bottom, and the contact position of crawl complex object is the curved sections of loose-leaf under series connection leaf hinge 10a just.After the characterisitic parameter and pretension angle and optimizing of large torsion spring 8a and little torsion spring 11a, the coordination of totally four angular displacements at two hinge places of two hinges (bearing), series connection leaf hinge 10a, for flexible self-adapting grasping provides the foundation.
The linear electric motors energising, its mover 4a band action-oriented push rod 7a moves downward, thereby drive two power bars (left-hand thread hinge-rod 14a, thread bush 15a, right-hand thread hinge-rod 16a form), overcome the elastic force of large torsion spring 8a and little torsion spring 11a, series connection leaf hinge 10a is rotated, and under series connection leaf hinge 10a, object is grabbed in the curved sections contact of loose-leaf; Linear motor rotor 4a continues motion, and large torsion spring 8a and little torsion spring 11a distortion increase, and grasp force also increases; When meeting the requirements of grasp force, between two power bars and guiding push rod 7a, just in time in the self-locking scope, the linear electric motors outage, do not move on guiding push rod 7a does not also understand, and keeps grasp force constant.
1. original state is regulated
To aforementioned special object, grab minimum, the maximum crawl object that captures 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.
To concrete complex object, grab minimum, the maximum crawl object that captures object or crawl object in irregular shape or the stressed variation of material size, angle between the fine adjustment while necessary assurance two power bars of structure original state and the push rod of driving is at self-locking state, like this when keeping grasp force, linear electric motors cut off the power supply, rather than " stall " state of linear electric motors is in order to avoid burn linear electric motors.
The fine adjustment of structure original state: as shown in Figure 1, 2, according to complex object microscler, rectangle, after experimental study and theory analysis, regulate the length of two power bars (left-hand thread hinge-rod 14a, thread bush 15a, right-hand thread hinge-rod 16a form), then adjust pressing plate 12a and rocker bar bearing 13a and be fixed on the appropriate location of loose-leaf under series connection leaf hinge 10a.As shown in Fig. 3,4, the complex object of circle, short cylindrical shape,, equally according to above-mentioned steps, regulate after experimental study and 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 leaf hinge skeleton of connecting has the self-adapting flexible structure.Paw meets the demands as follows: the contact variation of 1. grabbing minimum, maximum crawl object is as far as possible little, to meet safety, captures minimum crawl object and does not damage the maximum force request that captures object, and crawl object in irregular shape is also had adaptivity; 2. linear motor direct drive, drive system is without feedback; 3. paw structure, driving control system are simple and reliable; While 4. capturing, on the paw height, location is constant all the time, and supporting robot body is controlled convenient.
, to concrete complex object, first according to the Elasticity of structure, estimate; The crawl object of selecting again minimum to capture size, maximum crawl size is tested, final definite the selection: adopt the concrete displacement parameter of linear electric motors displacement control or the concrete driving force parameter that linear motor pushing force is controlled.
To concrete complex object, the concrete driving force parameter that the concrete displacement parameter that the linear electric motors displacement of selecting is previously controlled or linear motor pushing force are controlled is well-determined in application, starts to set, and no longer change, so control system is simple and reliable.
3. motor control method
The present invention adopts the miniature linear of DC driven, and in the occasion that needs speed to control, speed is controlled the switch power element that adopts full-control type and carried 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 efficiency advantages of higher.
Because the connect structure of the flexible paw of leaf hinge skeleton of the present invention has self-adapting flexible, 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 driving force Detection ﹠ Controling of the unable sensor of winding inductance variation characteristic.
Claims (1)
1. linear electric motors drive the flexible paw of the series connection leaf hinge of controlling, it is characterized in that: the stator component of linear electric motors (1a) is screwed and is referring on root plate (2a), in the stator component (1a) of linear electric motors guiding with under driving, the mover (4a) of linear electric motors moves up and down, push away seat (3a) and be screwed mover (4a) at linear electric motors, linear bearing (6a) is fixed on L-square (5a) with soket head cap screw; The guiding push rod (7a) the upper end threaded portion with push away the seat (3a) employing a nut connect, guiding push rod (7a) passes the linear bearing (6a) that play the guiding role, and guiding push rod (7a) lower end threaded portion and hinge seat (9a) thread connection also screws locking with nut; The upper loose-leaf of series connection leaf hinge (10a) is fixed on and refers between root plate (2a) and L-square (5a) by bolt and nut, the lower loose-leaf of series connection leaf hinge (10a) is fixed between pressing plate (12a) and rocker bar bearing (13a) by bolt and nut, the lower loose-leaf of series connection leaf hinge (10a) be curved sections bottom, be convenient to contact crawled object, on two axles of series connection leaf hinge (10a), large torsion spring (8a) and little torsion spring (11a) are housed respectively; Hinge-coupled between the hinge seat (9a) of guiding push rod (7a) and right-hand thread hinge-rod (16a), hinge-coupled between rocker bar bearing (13a) and left-hand thread hinge-rod (14a), left-hand thread hinge-rod (14a) and right-hand thread hinge-rod (16a) all are spun in thread bush (15a) and screw locking with nut; Suitable, be rotated counterclockwise thread bush (15a), can make the relative distance between left-hand thread hinge-rod (14a) and right-hand thread hinge-rod (16a) increase or shorten; Aforementioned these parts form 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 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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| CN201310306747.5A CN103395068B (en) | 2013-07-22 | 2013-07-22 | The flexible paw of series connection leaf hinge of linear electric motors drived control |
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| CN201310306747.5A CN103395068B (en) | 2013-07-22 | 2013-07-22 | The flexible paw of series connection leaf hinge of linear electric motors drived control |
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| CN103395068A true CN103395068A (en) | 2013-11-20 |
| CN103395068B CN103395068B (en) | 2016-03-02 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112476473A (en) * | 2020-11-18 | 2021-03-12 | 南京林业大学 | Flexible mechanical gripper |
| CN113427515A (en) * | 2021-06-11 | 2021-09-24 | 五邑大学 | Soft body gripper, soft body gripping robot and control method |
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| JPH08309685A (en) * | 1995-05-12 | 1996-11-26 | Komatsu Ltd | Indefinite form object clamping device |
| CN101554730A (en) * | 2008-04-11 | 2009-10-14 | 江南大学 | Articulated flexible manipulator |
| JP2011073099A (en) * | 2009-09-30 | 2011-04-14 | Kyushu Institute Of Technology | Gripping device |
| CN102092046A (en) * | 2010-12-09 | 2011-06-15 | 江南大学 | Pneumatic single tow rope multi-joint flexible manipulator with damping |
| CN203380906U (en) * | 2013-07-22 | 2014-01-08 | 江南大学 | Serial loose-leaf hinge type flexible gripper driven and controlled by linear motor |
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2013
- 2013-07-22 CN CN201310306747.5A patent/CN103395068B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08309685A (en) * | 1995-05-12 | 1996-11-26 | Komatsu Ltd | Indefinite form object clamping device |
| CN101554730A (en) * | 2008-04-11 | 2009-10-14 | 江南大学 | Articulated flexible manipulator |
| JP2011073099A (en) * | 2009-09-30 | 2011-04-14 | Kyushu Institute Of Technology | Gripping device |
| CN102092046A (en) * | 2010-12-09 | 2011-06-15 | 江南大学 | Pneumatic single tow rope multi-joint flexible manipulator with damping |
| CN203380906U (en) * | 2013-07-22 | 2014-01-08 | 江南大学 | Serial loose-leaf hinge type flexible gripper driven and controlled by linear motor |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112476473A (en) * | 2020-11-18 | 2021-03-12 | 南京林业大学 | Flexible mechanical gripper |
| CN113427515A (en) * | 2021-06-11 | 2021-09-24 | 五邑大学 | Soft body gripper, soft body gripping robot and control method |
| CN113427515B (en) * | 2021-06-11 | 2022-06-24 | 五邑大学 | Soft body gripper, soft body gripping robot and control method |
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| CN103395068B (en) | 2016-03-02 |
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Effective date of registration: 20200826 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 |
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