CN105415361A - Clamping force and clamping speed online controllable robot gripper - Google Patents

Clamping force and clamping speed online controllable robot gripper Download PDF

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Publication number
CN105415361A
CN105415361A CN201510884740.0A CN201510884740A CN105415361A CN 105415361 A CN105415361 A CN 105415361A CN 201510884740 A CN201510884740 A CN 201510884740A CN 105415361 A CN105415361 A CN 105415361A
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CN
China
Prior art keywords
connecting rod
gear
passive
robot gripper
steering wheel
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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.)
Granted
Application number
CN201510884740.0A
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Chinese (zh)
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CN105415361B (en
Inventor
曹其新
达兴鹏
梁爽
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Shanghai Jiaotong University
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Shanghai Jiaotong University
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Priority to CN201510884740.0A priority Critical patent/CN105415361B/en
Publication of CN105415361A publication Critical patent/CN105415361A/en
Application granted granted Critical
Publication of CN105415361B publication Critical patent/CN105415361B/en
Expired - Fee Related legal-status Critical Current
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams

Abstract

A clamping force and clamping speed online controllable robot gripper comprises steering engines, fingers, a bottom plate, a main substrate, an auxiliary substrate, driven connecting rods, a rotating shaft, a gear, sector-shaped gears, a gear shaft, driving connecting rods and a transverse plate. The gears are meshed with the sector-shaped gears, the sector-shaped gears are connected with the gear shaft, and a torsion spring is arranged between the sector-shaped gears and the gear shaft; driving connecting rods are located on the outer side of the main substrate and the outer side of the auxiliary substrate respectively, one ends of the driving connecting rods are connected with the two ends of the gear shaft respectively, and the other ends of the driving connecting rods are connected through the transverse plate; one ends of the driven connecting rods are connected with the two ends of the transverse plate respectively, and the other ends of the driven connecting rods are connected through the rotating shaft; and the steering engines are arranged in a bilateral symmetry manner and are fixedly arranged on the inner side of the main substrate. The steering engines output the rotating angle and the rotating angular speed to the fingers, the clamping force and the clamping speed of the gripper can be controlled in an online manner, and the robot gripper is simple in structure, reasonable in design and stable and flexible in work.

Description

The robot gripper that chucking power is controlled online with clamping speed
Technical field
What the present invention relates to is a kind of technology of robot building field, specifically a kind of chucking power and the controlled online robot gripper of clamping speed.
Background technology
Along with the arrival in industrial 4.0 epoch, the trend of a particular importance will be personalized large-scale production.In order to realize personalized production, factory must possess the ability of reply multi items part processing, and therefore the overprogram of process unit is absolutely necessary.Widely robot gripper same with robot application in the factory, great majority are faced with the following deficiency: (1) can only control folding; (2) can not real-time online programming but adjustable under the clamping line of force, as pneumatic gripping device can online under to be regulated the chucking power of handgrip by manual adjustment valve folding size, but do not control in real time by computer programming; (3) clamping speed can not online programming; (4) when not added force sensor, do not possess power and feel perception, whether successful holding workpiece can not be detected.These deficiencies significantly limit the flexibility of robot gripper application, bring the factors of instability also to whole production line.
Therefore, need to provide a kind of chucking power perception, chucking power and clamping speed of can realizing can the robot gripper of online programming, thus meet the requirement that industrial 4.0 wisdom manufacture.
Through finding the retrieval of prior art, Chinese patent literature CN104772769A, publication date 2015.7.15, disclose a kind of gear-driven robot gripper, comprise the support be connected with robot movable section, the gear drive be erected on support, the drive unit be connected with gear drive and at least two motion bars; Described motion bar is connected with gear drive, and motion bar described in every bar can opening and closing campaign.But this technology regulates the gearratio of gear drive to adapt to clamp the moment of torsion required for different workpieces under needing line, clamping speed needs manual adjustment, the operating efficiency of restriction robot gripper and flexibility.
Chinese patent literature CN101766510A, open (bulletin) day 2010.07.07 discloses a kind of haptic device and dynamics Discrete control method of the mechanical prosthetic hand based on myoelectricity control, two electromyographic signal collection electrode pastes are set and are combined in human body deformed limb the muscles of the arm behaviour area body surface, gather the finger that is directly proportional to the tight degree of muscle respectively to open and close electromyographic signal and input single-chip microcomputer and vary in size by amplitude and carry out segment quantization, export different block signals, DC micromotor is driven by motor-drive circuit, the rotation of DC micromotor exports the segmentation speed value corresponding to the segment quantization of fingerhold dynamics through motive gear structure, simultaneously, at the thumb finger tip of doing evil through another person, force-touch sensor is set, when pointing closed, the force-touch sensor power output haptic signal that is squeezed feeds back to single-chip microcomputer and carries out corresponding comparison with the dynamics segment quantization value of program setting, according to comparative result, single-chip microcomputer constantly adjusts the signal that it exports to motor-drive circuit, drives the rotating speed respective change of DC micromotor, finger is opened and the closed corresponding change of speed, until reach the affiliated segmentation clamping dynamics meeting setting and require.This technology utilizes the positive drive of gear, the convert rotational motion realizing motor is the open and close movement of finger, its grasp force is Discrete control, the segmentation that can only realize grasp force is controlled, the continuously adjustabe of grasp force can not be realized, and in order to realize grasp force feedback, this handgrip at the extra sensor installation seat of finger tips and force-touch sensor, must make overall structure complex redundancy more.
Summary of the invention
The present invention is directed to prior art above shortcomings, a kind of chucking power and the controlled online robot gripper of clamping speed are proposed, a torque spring is added in transmission system, and pass through the corner and the rotational angular velocity that control steering wheel, realize chucking power adjustable with clamping speed on-line continuous, rational in infrastructure, work flexibly.
The present invention is achieved by the following technical solutions:
The present invention includes: finger, the steering wheel be connected successively, gear drive, gear shaft, a pair drive connecting rod, transverse slat, a pair passive connecting rod and rotating shaft, wherein: transverse slat is horizontally disposed with, finger vertical is arranged at above transverse slat; Steering wheel is symmetrical arranged, and the two ends of gear shaft are connected with a pair drive connecting rod respectively; Rotating shaft parallel pinion shaft arrange, and the two ends of rotating shaft respectively connecting rod passive with a pair be connected; One end of drive connecting rod is connected with transverse slat, and the other end is connected with gear shaft; One end of passive connecting rod is connected with transverse slat, and the other end is connected with rotating shaft; The drive connecting rod of homonymy and two end lines of passive connecting rod, drive connecting rod and passive connecting rod form parallelogram.
Described gear drive comprises: meshed gears and sector gear.
Described gear is fixedly installed on corresponding steering wheel.
Described sector gear is connected with gear shaft.
Torque spring is provided with between described sector gear and gear shaft.
The chucking power F that described finger provides 0be expressed as with the relation of the corner φ of steering wheel:
φ = 1 i [ F 0 ( c + L s i n θ ) k + arccos ( S 0 - D + 2 b 2 L ) ] = 1 i F 0 ( c + L s i n θ ) k + φ 0 , Wherein: i is the speed reducing ratio between gear and sector gear, c is the vertical range of the tie point of passive connecting rod on transverse slat to facies digitales mediales manus center, k is the stiffness coefficient of torque spring, L is the length of passive connecting rod, θ is the corner of passive connecting rod, D is the distance between two rotating shafts, and b is the horizontal range of the tie point of passive connecting rod on transverse slat to facies digitales mediales manus, φ 0for the crawled workpiece of finger contact but unable effect time the corner of steering wheel, S 0for the width of crawled workpiece.
Described passive connecting rod rotational angle theta and the relation of steering wheel corner φ can be expressed as: θ=i φ.
The clamping speed v of described finger and the rotational angular velocity of steering wheel relation can be expressed as: wherein: L is passive length of connecting rod, i is the speed reducing ratio between gear and sector gear, and θ is the corner of passive connecting rod.
The clamping speed v of described finger is the component of speed in folding direction of finger.
Technique effect
Compared with prior art, the present invention controls corner and rotational angular velocity in real time by steering wheel, judges whether successfully holding workpiece when not added force sensor, realizes the controlled online of chucking power and clamping speed, captures flexibly, working stability.
Accompanying drawing explanation
Fig. 1 is schematic diagram of the present invention;
Fig. 2 is profile of the present invention;
In figure: 1 is main substrate, 2 is assisting base plate, and 3 is base plate, and 4 is steering wheel, and 5 is gear, and 6 is sector gear, and 7 is torque spring, and 8 is gear shaft, and 9 is bearing block, and 10 is drive connecting rod, and 11 is passive connecting rod, and 12 is transverse slat, and 13 is finger, and 14 is rotating shaft.
Detailed description of the invention
Elaborate to embodiments of the invention below, the present embodiment is implemented under premised on technical solution of the present invention, give detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
Embodiment 1
As shown in Figure 1, the present embodiment comprises: supporting construction, finger 13, the steering wheel 4 be connected successively, gear drive, gear shaft 8, a pair drive connecting rod 10, transverse slat 12, a pair passive connecting rod 11 and rotating shaft 14, wherein: transverse slat 12 is horizontally disposed with, pointing 13 is vertically installed in above transverse slat 12; Steering wheel 4 is symmetricly set in supporting construction, and the two ends of gear shaft 8 are connected with a pair drive connecting rod 10 respectively; Rotating shaft 14 parallel pinion shaft 8 is arranged, and the two ends of rotating shaft 14 respectively connecting rod 11 passive with a pair be connected; 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 passive connecting rod 11 is connected with transverse slat 12, and the other end is connected with rotating shaft 14; The drive connecting rod 10 of homonymy forms parallelogram with two end lines of passive connecting rod 11, drive connecting rod 10 and passive connecting rod 11.
Described supporting construction comprises: base plate 3, be set in parallel in main substrate 1 and the assisting base plate 2 of base plate 3 both sides perpendicular to base plate 3.
Described steering wheel 4 is fixedly installed on the inner side of main substrate 1.
Described gear drive comprises: meshed gears 5 and sector gear 6.
Described gear shaft 8 is parallel to base plate 3, and one end of gear shaft 8 is connected with sector gear, and the other end is fixedly installed on the inner side of main substrate 1 by bearing block 9.
Torque spring 7 is provided with between described sector gear 6 and gear shaft 8.
Described gear 5 is fixedly installed on the output flange of corresponding steering wheel 4 by screw.
Described drive connecting rod 10 and passive connecting rod 11 are positioned at the outside of main substrate 1 and assisting base plate 2.
As shown in Figure 2, the width of known crawled workpiece is S 0, required chucking power F 0, then required chucking power F 0can be expressed as with the relation of the corner φ of steering wheel 4:
φ = 1 i [ F 0 ( c + L sin θ ) k + arccos ( S 0 - D + 2 b 2 L ) ] = 1 i F 0 ( c + L sin θ ) k + φ 0 , Wherein: i is the speed reducing ratio between gear 5 and sector gear 6, c is the vertical range of the tie point of passive connecting rod 11 on transverse slat 12 to finger 13 medial surface center, k is the stiffness coefficient of torque spring 7, L is the length of passive connecting rod 11, θ is the corner of passive connecting rod 11, D is the distance between two rotating shafts 14, and b is the horizontal range of the tie point of passive connecting rod 11 on transverse slat 12 to finger 13 medial surface, φ 0for point the crawled workpiece of 13 contact but unable effect time the corner of steering wheel 4.
The relation of the rotational angle theta of described passive connecting rod 11 and the corner φ of steering wheel 4 can be expressed as: θ=i φ.
The clamping speed v of described finger 13 and the rotational angular velocity of steering wheel 4 relation can be expressed as: wherein: L is the length of passive connecting rod 11, and i is the speed reducing ratio between gear 5 and sector gear 6, θ is the corner of passive connecting rod 11.
Described clamping speed v is the component of speed in folding direction of finger 13.
When crawled workpiece size is unknown, the current output torque fed back by steering wheel 4 and work as front hook, is carried out PID control, can realize chucking power controlled.
By controlling the parallelogram sturcutre that steering wheel 4 turns over identical angle and described drive connecting rod 10, cross bar 12, passive connecting rod 11 are formed with gear shaft 8, always folding abreast between guarantee finger 13 simultaneously.

Claims (8)

1. the robot gripper that a chucking power is controlled online with clamping speed, it is characterized in that, comprise: finger, the steering wheel be connected successively, gear drive, gear shaft, a pair drive connecting rod, transverse slat, a pair passive connecting rod and rotating shaft, wherein: transverse slat is horizontally disposed with, finger vertical is arranged at above transverse slat; Steering wheel is symmetrical arranged, and the two ends of gear shaft are connected with a pair drive connecting rod respectively; Rotating shaft parallel pinion shaft arrange, and the two ends of rotating shaft respectively connecting rod passive with a pair be connected; One end of drive connecting rod is connected with transverse slat, and the other end is connected with gear shaft; One end of passive connecting rod is connected with transverse slat, and the other end is connected with rotating shaft; The drive connecting rod of homonymy and two end lines of passive connecting rod, drive connecting rod and passive connecting rod form parallelogram.
2. robot gripper according to claim 1, is characterized in that, described gear drive comprises: meshed gears and sector gear.
3. robot gripper according to claim 2, is characterized in that, described gear is fixedly installed on corresponding steering wheel.
4. robot gripper according to claim 2, is characterized in that, described sector gear is connected with gear shaft, and is provided with torque spring between sector gear and gear shaft.
5. robot gripper according to claim 4, is characterized in that, the chucking power F that described finger provides 0can be expressed as with the relation of the corner φ of steering wheel: φ = 1 i [ F 0 ( c + L s i n θ ) k + a r c c o s ( S 0 - D + 2 b 2 L ) ] = 1 i F 0 ( c + L s i n θ ) k + φ 0 , Wherein: i is the speed reducing ratio between gear and sector gear, c is the vertical range of the tie point of passive connecting rod on transverse slat to facies digitales mediales manus center, k is the stiffness coefficient of torque spring, L is the length of passive connecting rod, θ is the corner of passive connecting rod, D is the distance between two rotating shafts, and b is the horizontal range of the tie point of passive connecting rod on transverse slat to facies digitales mediales manus, φ 0for the crawled workpiece of finger contact but unable effect time the corner of steering wheel, S 0for the width of crawled workpiece.
6. robot gripper according to claim 5, is characterized in that, described passive connecting rod rotational angle theta and the relation of steering wheel corner φ can be expressed as: θ=i φ.
7. robot gripper according to claim 4, is characterized in that, the clamping speed v of described finger and the rotational angular velocity of steering wheel relation can be expressed as: wherein: L is passive length of connecting rod, i is the speed reducing ratio between gear and sector gear, and θ is the corner of passive connecting rod.
8. robot gripper according to claim 7, is characterized in that, the clamping speed v of described finger is the component of speed in folding direction of finger.
CN201510884740.0A 2015-12-04 2015-12-04 Chucking power and the online controllable robot gripper of clamping speed Expired - Fee Related CN105415361B (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106076934A (en) * 2016-06-28 2016-11-09 徐香庭 A kind of underground railway track special intelligent cleaning machine
CN106076933A (en) * 2016-06-28 2016-11-09 徐香庭 A kind of motor-car track intelligence cleans device
CN107187761A (en) * 2017-07-27 2017-09-22 深圳爱索特工业器材有限公司 A kind of radiation-resource intelligent operating system and its application method
CN109677470A (en) * 2018-12-29 2019-04-26 天津森雅医疗设备科技有限公司 It is a kind of intelligently to send medicine terminal
CN115078989A (en) * 2022-07-20 2022-09-20 山东省产品质量检验研究院 Circuit breaker service life test control method and system

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JP2006263832A (en) * 2005-03-22 2006-10-05 Sharp Corp Control device of robot
CN101648380A (en) * 2009-09-09 2010-02-17 北京航空航天大学 Gripper with heavy load and wide range
CN102554922A (en) * 2012-02-06 2012-07-11 北京联合大学 Method for operating numerical-control manipulator with five degrees of freedom
CN203818150U (en) * 2014-04-30 2014-09-10 杨帆 Gear-rack horizontal-moving connecting rod type clamp holder
CN204414105U (en) * 2015-02-09 2015-06-24 郭启 A kind of medical bone surgery auxiliary manipulator
CN104972478A (en) * 2014-04-04 2015-10-14 东南大学 Controllable three-finger manipulator and control method thereof

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006263832A (en) * 2005-03-22 2006-10-05 Sharp Corp Control device of robot
CN101648380A (en) * 2009-09-09 2010-02-17 北京航空航天大学 Gripper with heavy load and wide range
CN102554922A (en) * 2012-02-06 2012-07-11 北京联合大学 Method for operating numerical-control manipulator with five degrees of freedom
CN104972478A (en) * 2014-04-04 2015-10-14 东南大学 Controllable three-finger manipulator and control method thereof
CN203818150U (en) * 2014-04-30 2014-09-10 杨帆 Gear-rack horizontal-moving connecting rod type clamp holder
CN204414105U (en) * 2015-02-09 2015-06-24 郭启 A kind of medical bone surgery auxiliary manipulator

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106076934A (en) * 2016-06-28 2016-11-09 徐香庭 A kind of underground railway track special intelligent cleaning machine
CN106076933A (en) * 2016-06-28 2016-11-09 徐香庭 A kind of motor-car track intelligence cleans device
CN106076934B (en) * 2016-06-28 2018-06-19 绍兴集知汇信息科技有限公司 A kind of underground railway track special intelligent cleaning machine
CN107187761A (en) * 2017-07-27 2017-09-22 深圳爱索特工业器材有限公司 A kind of radiation-resource intelligent operating system and its application method
CN109677470A (en) * 2018-12-29 2019-04-26 天津森雅医疗设备科技有限公司 It is a kind of intelligently to send medicine terminal
CN109677470B (en) * 2018-12-29 2023-05-09 天津森雅医疗设备科技有限公司 Intelligent medicine dispensing terminal
CN115078989A (en) * 2022-07-20 2022-09-20 山东省产品质量检验研究院 Circuit breaker service life test control method and system

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