CN105388792B - Gripping performance regulator control system and its method for robot gripper - Google Patents
Gripping performance regulator control system and its method for robot gripper Download PDFInfo
- Publication number
- CN105388792B CN105388792B CN201510884839.0A CN201510884839A CN105388792B CN 105388792 B CN105388792 B CN 105388792B CN 201510884839 A CN201510884839 A CN 201510884839A CN 105388792 B CN105388792 B CN 105388792B
- Authority
- CN
- China
- Prior art keywords
- module
- robot gripper
- steering wheel
- corner
- instruction
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
A kind of gripping performance regulator control system for robot gripper, including：Information acquisition module, computing module, instruction module and servos control module, wherein：Information acquisition module gathers the corner information and opening information of the robot gripper in real time, and measures the structural information of obtained robot gripper, and input computing module carries out computing；The result that computing obtains is converted to the instruction that servos control module can identify by computing module by instruction module, and servos control module regulates and controls according to instruction to the chucking power of robot gripper and clamping speed, realizes chucking power and clamps the online programming of speed；The present invention is reasonable in design, simple in construction, not only realizes the online programming to robot gripper gripping performance, can also detect whether successfully grabbing workpiece, can reach the requirement of wisdom manufacture.
Description
Technical field
The present invention relates to a kind of technology of robot control field, specifically a kind of clamping for robot gripper
Performance regulator control system and its method.
Background technology
With the arrival in industrial 4.0 epoch, an especially important trend will be personalized large-scale production.For reality
Existing personalized production, factory must possess the ability of reply multi items part processing, therefore the repeatable programming of process unit
Property is essential.Extensive robot gripper same with robot application in the factory, it is most of be faced with it is the following
Deficiency：(1) folding can only be controlled；(2) clamp adjustable under the line of force but be unable to real-time online programming, as pneumatic gripping device can be online
Under the chucking power of handgrip adjusted by manual adjustment valve folding size, but can not be controlled in real time by computer programming
System；(3) clamping speed can not online programming；(4) in the case where not adding force snesor, do not possess power and feel perception, can not examine
Survey the clamping workpiece that whether succeeds.These deficiencies significantly limit the flexibility of robot gripper application, also to the entire production line
Bring the factors of instability.
Accordingly, it is desirable to provide one kind can realize chucking power perception, chucking power and the clamping adjustable robot gripper of speed, from
And meet the requirement of industrial 4.0 wisdom manufacture.
The content of the invention
The present invention is directed to deficiencies of the prior art, proposes that a kind of gripping performance for robot gripper regulates and controls
System and method, the clamping information of robot gripper is gathered in real time by information acquisition module, by computing module and instruction
Resume module, send and instruct to servos control module, realize that the gripping performance of robot gripper is adjustable online.
The present invention is achieved by the following technical solutions：
The present invention relates to a kind of gripping performance regulator control system for robot gripper, including：Information acquisition module, calculating
Module, instruction module and servos control module, wherein：Information acquisition module gathers the clamping letter of the robot gripper in real time
Breath, and input computing module and carry out computing；The result that computing module obtains computing is converted to servos control by instruction module
The instruction that module can identify, servos control module regulate and control according to instruction to the gripping performance of robot gripper.
Described gripping performance includes chucking power and clamping speed.
Described clamping information includes but is not limited to：Clamp aperture, clamping speed, chucking power, steering wheel temperature and current electricity
Pressure.
Described computing module and instruction module are ARM control panels.
Described computing module includes：Torsion unit, chucking power unit, aperture unit, steering wheel corner units and robot
Handgrip corner units, wherein：Torsion unit, chucking power unit, aperture unit, steering wheel corner units and robot gripper corner list
The clamping information of first combining information acquisition module obtains gripping performance and torsion, aperture, steering wheel corner and robot gripper corner
Between relation.
The present invention relates to a kind of gripping performance for robot gripper to regulate and control method, is got according to information acquisition module
The robot gripper clamping information and the width for being crawled workpiece that reads in real time, by computing module derive by
The width of grabbing workpiece and the relation of required gripping performance parameter, are changed so as to the ginseng to servos control module by instruction module
Number is regulated and controled, and realizes the online programming of robot gripper gripping performance.
Described robot gripper includes：Finger, the steering wheel being sequentially connected, steering wheel gear, sector gear, gear shaft, one
To drive connecting rod, transverse slat, a pair of follower links and rotary shaft, wherein：Transverse slat is horizontally disposed with, and finger vertical is arranged on transverse slat
Side；Steering wheel is symmetrical arranged, and the both ends of gear shaft are connected with a pair of drive connecting rods respectively；Rotary shaft parallel pinion shaft is set, and
The both ends of rotary shaft are connected with a pair of follower links respectively；One end of drive connecting rod is connected with transverse slat, the other end and gear shaft phase
Even；One end of follower link is connected with transverse slat, and the other end is connected with rotary shaft；The drive connecting rod of homonymy and the two of follower link
End line, drive connecting rod and follower link form parallelogram.
Torque spring is provided between described sector gear and gear shaft.
Described chucking power F0Relational expression with the corner φ of steering wheel is：
Wherein：S0To be crawled work
The width of part, speed reducing ratio of the i between steering wheel gear and sector gear, c are tie point of the follower link on transverse slat to finger
The vertical range at medial surface center, k are the stiffness coefficient of torque spring, and L is the length of follower link, and θ is turning for follower link
Angle, D are the distance between two rotary shafts, and b is horizontal range of tie point of the follower link on transverse slat to facies digitales mediales manus,
φ0The corner of steering wheel when being crawled workpiece but powerless effect for finger contact.
Described follower link rotational angle theta and steering wheel corner φ relation are represented by：θ=i φ.
The clamping speed v of described finger and the rotational angular velocity of steering wheelRelation be represented by：Its
In：L is follower link length, and speed reducing ratio of the i between steering wheel gear and sector gear, θ is the corner of follower link.
The clamping speed v of described finger is component of the speed in folding direction of finger.
Technique effect
Compared with prior art, the present invention is reasonable in design, not only real by the unique design of robot gripper specific structure
Now to the online programming of robot gripper gripping performance, grabbing workpiece can also be detected whether successfully, wisdom manufacture can be reached
Requirement.
Brief description of the drawings
Fig. 1 is control system schematic diagram；
Fig. 2 is control method schematic diagram；
Fig. 3 is robot gripper structural representation；
1 and 2 be substrate, and 3 be base, and 4 be steering wheel, and 5 be steering wheel gear, and 6 be sector gear, and 7 be torque spring, and 8 be tooth
Wheel shaft, 9 be bearing block, and 10 be drive connecting rod, and 11 be follower link, and 12 be transverse slat, and 13 be finger, and 14 be rotary shaft.
Embodiment
Embodiments of the invention are elaborated below, the present embodiment is carried out lower premised on technical solution of the present invention
Implement, give detailed embodiment and specific operating process, but protection scope of the present invention is not limited to following implementation
Example.
Embodiment 1
As shown in figure 1, the present embodiment is related to the gripping performance regulator control system for robot gripper, including：Information gathering
Module, computing module, instruction module and servos control module, wherein：Information acquisition module gathers the robot gripper in real time
Clamping information, and input computing module carry out computing；The result that computing module obtains computing is converted to by instruction module
The instruction that servos control module can identify, servos control module are adjusted according to instruction to the gripping performance of robot gripper
Control.
Described gripping performance includes chucking power and clamping speed.
Described clamping information includes but is not limited to：Clamp aperture, clamping speed, chucking power, steering wheel temperature and current electricity
Pressure.
Described computing module and instruction module are ARM control panels.
Described computing module includes：Torsion unit, chucking power unit, aperture unit, steering wheel corner units and robot
Handgrip corner units, wherein：Torsion unit, chucking power unit, aperture unit, steering wheel corner units and robot gripper corner list
The clamping information of first combining information acquisition module obtains gripping performance and torsion, aperture, steering wheel corner and robot gripper corner
Between relation.
This implementation is related to the regulation and control method of above-mentioned regulator control system, comprises the following steps：
Step 1, the real-time clamping information by information acquisition module collection robot gripper.
As shown in Figures 2 and 3, described robot gripper includes：Finger 13, the steering wheel 4 being sequentially connected, steering wheel gear 5,
Sector gear 6, gear shaft 8, a pair of drive connecting rods 10, transverse slat 12, a pair of follower links 11 and rotary shaft 14, wherein：Transverse slat 12
Horizontally disposed, finger 13 is vertically installed in the top of transverse slat 12；Steering wheel 4 is symmetrical arranged, the both ends of gear shaft 8 respectively with a pair actively
Connecting rod 10 is connected；The parallel pinion shaft 8 of rotary shaft 14 is set, and the both ends of rotary shaft 14 respectively with a pair of phases of follower link 11
Even；One end of drive connecting rod 10 is connected with transverse slat 12, and the other end is connected with gear shaft 8；One end of follower link 11 and transverse slat 12
It is connected, the other end is connected with rotary shaft 8；The drive connecting rod 10 of homonymy and two end lines, drive connecting rods of follower link 11
10 and follower link 11 form parallelogram.
Torque spring 7 is provided between described sector gear 6 and gear shaft 8.
Described steering wheel gear 5 is fixedly installed on steering wheel 4.
Described gear shaft 8 is fixedly installed on substrate 1 by bearing block 9.
Described substrate 1,2 is parallel, and is vertically installed in the both sides of base 3.
Described a pair of links 10 and a pair of follower links 11 is located at the outside of substrate 1 and 2.
Described clamping information includes but is not limited to：Clamp aperture, clamping speed, chucking power, steering wheel temperature and current electricity
Pressure.
Step 2, the speed reducing ratio known between the stiffness coefficient k of torque spring 7, steering wheel gear 5 and sector gear 6
I, the tie point of the length L of follower link 11 and the obtained follower link 11 of measurement on transverse slat 12 is to the medial surface center of finger 13
Vertical range c, the distance between two rotary shafts 8 D, tie point of the follower link 11 on transverse slat 12 to the medial surface of finger 13
Horizontal range b, grabbed by the torsion unit of computing module, chucking power unit, aperture unit, steering wheel corner units and robot
Hand corner units obtain chucking power with clamping the relation of speed and each parameter.
The relation that described torsion unit is obtained between the relative rotation Δ θ of torsion τ and sector gear 6, gear shaft 8 is：τ
=k Δ θ, wherein：Δ θ=θ1- θ, wherein：θ be follower link 11 corner, θ1For the corner of sector gear 6.
The chucking power F that described chucking power unit obtains robot gripper and can be provided out is：
The relation that described aperture unit is obtained between the aperture S of robot gripper and follower link rotational angle theta is：S=D+
2L cosθ-2b。
The relation that described steering wheel corner units are obtained between follower link rotational angle theta and steering wheel corner φ is：θ=i φ-Δ
θ。
Described robot gripper corner units obtain follower link rotational angle theta and are crawled the S of the width of workpiece0Relation
For：
When robot gripper contact is crawled workpiece but when not having chucking power, now Δ θ=0, then steering wheel corner
Described chucking power F0Relational expression with the corner φ of steering wheel is：
The clamping speed v of described robot gripper and the rotational angular velocity of steering wheel 4Relation be represented by：
The clamping speed v of described machine handgrip is component of the speed in folding direction of finger 13.
The information that step 3, instruction module obtain computing module is converted to the instruction that servos control module can identify, leads to
Cross servos control module and PID/feedback control is carried out to robot gripper, realize chucking power and clamp the online programming of speed.
Claims (6)
- A kind of 1. gripping performance regulator control system for robot gripper, it is characterised in that including：Information acquisition module, calculating Module, instruction module and servos control module, wherein：Information acquisition module gathers the clamping letter of the robot gripper in real time Breath, and input computing module and carry out computing；The result that computing module obtains computing is converted to servos control by instruction module The instruction that module can identify, servos control module regulate and control according to instruction to the gripping performance of robot gripper；Described gripping performance includes chucking power and clamping speed；Described computing module includes：Torsion unit, chucking power unit, aperture unit, steering wheel corner units and robot gripper Corner units, wherein：Torsion unit, chucking power unit, aperture unit, steering wheel corner units and robot gripper corner units knot The clamping information for closing information acquisition module is obtained between gripping performance and torsion, aperture, steering wheel corner and robot gripper corner Relation.
- A kind of 2. regulation and control method of regulator control system according to claim 1, it is characterised in that comprise the following steps：Step 1, the real-time clamping information by information acquisition module collection robot gripper；Step 2, the information collected according to information acquisition module, pass through the torsion unit, chucking power unit, aperture of computing module Unit, steering wheel corner units and robot gripper corner units obtain chucking power with clamping the relation of speed and each parameter；The information that step 3, instruction module obtain computing module is converted to the instruction that servos control module can identify, passes through rudder Machine control module carries out PID/feedback control to robot gripper, realizes chucking power and clamps the online programming of speed.
- 3. regulation and control method according to claim 2, it is characterized in that, described robot gripper includes：Finger, it is sequentially connected Steering wheel, steering wheel gear, sector gear, gear shaft, a pair of links, transverse slat, a pair of follower links and rotary shaft, wherein：Transverse slat Horizontally disposed, finger vertical is arranged above transverse slat；Steering wheel is symmetrical arranged, the both ends of gear shaft respectively with a pair of drive connecting rod phases Even；Rotary shaft parallel pinion shaft is set, and the both ends of rotary shaft are connected with a pair of follower links respectively；One end of drive connecting rod It is connected with transverse slat, the other end is connected with gear shaft；One end of follower link is connected with transverse slat, and the other end is connected with rotary shaft；Together The drive connecting rod of side and the two of follower link end lines, drive connecting rod and follower link form parallelogram.
- 4. regulation and control method according to claim 3, it is characterized in that, torsion is provided between described sector gear and gear shaft Spring.
- 5. regulation and control method according to claim 4, it is characterized in that, the chucking power F that described step 2 obtains0With turning for steering wheel Angle φ relational expression is：Wherein：S0 To be crawled the width of workpiece, speed reducing ratio of the i between steering wheel gear and sector gear, c is company of the follower link on transverse slat Contact to facies digitales mediales manus center vertical range, k be torque spring stiffness coefficient, L be follower link length, θ be from The corner of dynamic connecting rod, D are the distance between two rotary shafts, and b is tie point of the follower link on transverse slat to facies digitales mediales manus Horizontal range, φ be steering wheel corner, steering wheel corner
- 6. regulation and control method according to claim 4, it is characterized in that, the clamping speed v of described finger and the rotation of steering wheel Angular speedRelation be represented by：Wherein：L is follower link length, and i is steering wheel gear and sector Speed reducing ratio between wheel, θ are the corner of follower link,For rotational angular velocity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510884839.0A CN105388792B (en) | 2015-12-04 | 2015-12-04 | Gripping performance regulator control system and its method for robot gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510884839.0A CN105388792B (en) | 2015-12-04 | 2015-12-04 | Gripping performance regulator control system and its method for robot gripper |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105388792A CN105388792A (en) | 2016-03-09 |
| CN105388792B true CN105388792B (en) | 2017-11-10 |
Family
ID=55421183
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510884839.0A Expired - Fee Related CN105388792B (en) | 2015-12-04 | 2015-12-04 | Gripping performance regulator control system and its method for robot gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105388792B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110018644B (en) * | 2018-01-10 | 2021-05-04 | 上银科技股份有限公司 | Control method for adaptive clamping |
| CN112896472A (en) * | 2021-02-07 | 2021-06-04 | 中国船舶科学研究中心 | AUV recovery device and method based on vision |
| CN117961946A (en) * | 2024-03-19 | 2024-05-03 | 清华大学深圳国际研究生院 | Self-sensing three-mode rigid-flexible coupling handle |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0532892A1 (en) * | 1991-08-16 | 1993-03-24 | Wernicke & Co. GmbH | Equipment for grinding the optical surfaces and/or the edges of spectacle glasses |
| CN1771114A (en) * | 2003-07-29 | 2006-05-10 | 松下电器产业株式会社 | Robot arm control method and control device |
| EP1854418B1 (en) * | 2006-05-12 | 2009-04-29 | Terumo Kabushiki Kaisha | Manipulator |
| CN101766510A (en) * | 2009-12-18 | 2010-07-07 | 东南大学 | Force touch sensation feedback and force intensity control method of mechanical artificial hand based on myoelectric control |
| CN104626148A (en) * | 2013-11-14 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Orthopaedic manipulator system based on pneumatic control of force |
| CN104890002A (en) * | 2015-03-20 | 2015-09-09 | 重庆交通大学 | Self-adaptive mechanical arm device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6646405B2 (en) * | 2000-03-10 | 2003-11-11 | Iowa State University Research Foundation, Inc. | System and method for using joint torque feedback to prevent oscillation in a flexible robotic manipulator |
-
2015
- 2015-12-04 CN CN201510884839.0A patent/CN105388792B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0532892A1 (en) * | 1991-08-16 | 1993-03-24 | Wernicke & Co. GmbH | Equipment for grinding the optical surfaces and/or the edges of spectacle glasses |
| CN1771114A (en) * | 2003-07-29 | 2006-05-10 | 松下电器产业株式会社 | Robot arm control method and control device |
| EP1854418B1 (en) * | 2006-05-12 | 2009-04-29 | Terumo Kabushiki Kaisha | Manipulator |
| CN101766510A (en) * | 2009-12-18 | 2010-07-07 | 东南大学 | Force touch sensation feedback and force intensity control method of mechanical artificial hand based on myoelectric control |
| CN104626148A (en) * | 2013-11-14 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Orthopaedic manipulator system based on pneumatic control of force |
| CN104890002A (en) * | 2015-03-20 | 2015-09-09 | 重庆交通大学 | Self-adaptive mechanical arm device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105388792A (en) | 2016-03-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105388792B (en) | Gripping performance regulator control system and its method for robot gripper | |
| CN101497196B (en) | Translational clamping mechanical claw with uniform speed | |
| JP5766235B2 (en) | Robot arm | |
| CN105213154B (en) | interactive upper limb rehabilitation robot and control method | |
| CN104526685B (en) | Containing the redundant drive plane two-degree-of-freedoparallel parallel manipulator of parallelogram side chain | |
| CN106346486B (en) | Six axis of one kind cooperation robot multiloop control system and its control method | |
| CN107571246A (en) | A kind of component assembly system and method based on tow-armed robot | |
| CN107297399A (en) | A kind of method of robot Automatic-searching bending position | |
| CN106826839A (en) | Control to robot | |
| CN104552247B (en) | A kind of Three-freedom-degree hybrid robot mechanism | |
| CN102662351B (en) | Three-axis linkage contour error compensation control method for cylinder cam machining | |
| CN105929791B (en) | The direct contour outline control method of plane rectangular coordinates kinematic system | |
| Zhang et al. | Study of the workspace of a class of universal joints | |
| CN102764929B (en) | Elliptical orbit directional tangential line constant-speed welding robot device | |
| CN102371505B (en) | Method for detecting singular area in five-axis machining | |
| CN105945496B (en) | The multi-point flexibly clamping device welded for spatial special pipeline | |
| CN106020125B (en) | One kind being based on the continuous industrial robot kinematics algorithm of speed | |
| CN105171744A (en) | Movement control method for five-freedom-degree rotary chain type stacking manipulator | |
| CN102126154A (en) | Screw guide rail driving device for twin-screw driving machine tool | |
| CN105446262A (en) | Free pendulum control system with interference suppression function | |
| CN112975960B (en) | Method for establishing robot tail end fine control model and calibrating parameters | |
| CN107253180B (en) | Object posture adjusting device and method based on industrial robot | |
| CN104227434A (en) | Two-translation-and-three-turning parallel mechanism used for virtual machine tool | |
| CN204525458U (en) | A kind of robot Bidirectional power module | |
| CN208628886U (en) | A kind of novel six freedom platform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171110 Termination date: 20211204 |