CN106078691A - Flexible coding system wrist device and control method - Google Patents
Flexible coding system wrist device and control method Download PDFInfo
- Publication number
- CN106078691A CN106078691A CN201610599775.4A CN201610599775A CN106078691A CN 106078691 A CN106078691 A CN 106078691A CN 201610599775 A CN201610599775 A CN 201610599775A CN 106078691 A CN106078691 A CN 106078691A
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- China
- Prior art keywords
- end plate
- telescopic rod
- driving telescopic
- rods
- rod group
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Flexible coding system wrist device and control method, including the wrist device being made up of big end plate, rods, two driving telescopic rod groups, little end plates, flexible by the active of two driving telescopic rod groups and utilize the cooperation of elastic bending of rods, it is achieved little end plate is relative to the displacement of big end plate and angular turn.By solving the triangular pyramid ABCa that the fixing point triangle ABC on big end plate and rods another end points a is formed, can be accurately obtained expansion link group length and rods end points to the vector corner between distance, rods both ends of the surface normal direction angle and the little end plate of big end plate and big end plate, control method is simple and reliable.The flexible coding system wrist device of the present invention is simple and compact for structure, it is easy to manufactures, install and safeguards, and lightweight, rigidity is high, it is adaptable to the wrist portion of robot or shoulder connect；Rods is made hollow structure, it is possible to the finger tip as paint-spray robot uses.
Description
Technical field
The present invention relates to wrist device and the control method thereof of robot, be specifically related to the wrist dress of flexible coding system
Put and control method, especially in the occasion using spray robot.
Background technology
Robot is widely used in the middle of the life of commercial production, armarium and people.Existing robot
System mainly has serial manipulator, parallel robot and the robot system of connection in series-parallel mixing, and substantially uses motor
Gear drive is driven to realize the determination of robot locus.It is known that along with the increase of driving-chain, system cumulative error
Increase, therefore, along with robot motion being required the raising of especially positioning precision, to related drive element precision used and
The requirement of its servosystem improves further.Existing robot wrist's rotational freedom (including spraying robot human wrist) is basic
On use gear drive to complete, the accuracy of manufacture requires height, and structure is complicated；Though parallel manipulator human wrist can be accurately positioned,
But power original paper is many, control combination requires higher；Insufficient DOF wrist force element is few, but uses restriction bigger；Flexible waist
It is based on passive adaptation, and action does not possess uniqueness；Modes such as using motion coupling is also had to realize robot wrist's fortune
Dynamic, etc..In sum, how to reach to utilize lightweight, rigidity is big, precision the is high advantage of parallel robot, simultaneously drive unit
Part is few, and control method is simple and reliable, mainly drives element to drive at a distance, reduces robotic end-of-arm further
Weight, is the problem that must solve in the development of current robot.
Summary of the invention
For the deficiency existing for domestic and international existing robot wrist device and control method thereof, the invention provides flexibility
Parallel robot wrist device and control method, have elasticity by two groups of driving elements that can the most actively stretch and one
The fixing flexible bar of large deformation ability, is built into the flexible waist of parallel robot, utilizes the flexural property of rods, it is achieved little
End plate is relative to the displacement of big end plate and rotational angle.Another by solving the fixing point triangle ABC on big end plate and rods
The triangular pyramid ABCa that end point a is formed, can be accurately obtained expansion link group length and the distance of rods end points to big end plate, soft
Property bar both ends of the surface normal direction angle and little end plate and big end plate between vector corner, control method is simple and reliable.
For reaching above-mentioned purpose, the technical solution adopted in the present invention is:
The flexible coding system wrist device of the present invention and control method, including: big end plate (1), rods (2), active are stretched
Contracting bar group I (3), driving telescopic rod group II (4), little end plate (5), driving telescopic rod (21) and ball pivot (22)；Described flexibility
Bar (2), driving telescopic rod group I (3), the two ends correspondence respectively of driving telescopic rod group II (4) are fixed on A, B, C of big end plate (1)
On a, b, c point of point and little end plate (5)；Described driving telescopic rod group I (3), driving telescopic rod group II (4) are by expansion link (21)
And ball pivot (22) installation at two ends is constituted, collapsing length independently controls；Described rods (2) can use spring or other
Possesses the elastic material of moderate finite deformation ability；On the described fixing point triangle ABC on big end plate (1), little end plate (6)
Fixing point triangle abc is acute triangle, and triangle ABC is similar to triangle abc.
Further, the string after the fixing point AB of big end plate (1), the fixing point ab of little end plate (5) deform with rods (2)
The length of long Aa and driving telescopic rod group I (3) constitutes tetragon ABba, if the AB length of side of triangle ABC is LB, triangle abc
The ab length of side be Lb, a length of H of rods (2), then the length of driving telescopic rod group I (3) is at (LB - Lb- 0.9H) ~
(LB - Lb+ 0.9H) between variable, the computational methods of driving telescopic rod group II (4) are identical with driving telescopic rod group I (3).
Further, expansion link (21) can use the dynamical elements such as flexible, the hydraulic cylinder of screw thread linear drives, spool to realize
Flexible；Described ball pivot (22) can use the connected modes such as universal joint；Described triangle abc can be reduced into a point.
Further, control method is by accurately changing driving telescopic rod group I (3), the length of driving telescopic rod group II (4)
Degree, utilizes the elastic bending characteristic of rods (2), accurately controls little end plate (5) relative to the displacement of big end plate (1) and vector
Corner.
Visible, the flexible coding system wrist device of the present invention and control method, its operation principle is: the flexibility of fixed length
Bar its neutral line length when stress bends is constant, the both ends of the surface normal direction angle of rods and the central angle phase of the arc formed
Deng, chord change, the expansion link that control independent with two constitutes variable triangular pyramid, by actively controlling two ribs in triangular pyramid
Length, coordinates flexible rib, reaches to control triangular pyramid summit to distance and the purpose of rods end face normal angles boring baseplane.
Use method of geometry to solve triangular pyramid, the distance of expansion link group length and rods end points to big end plate plane can be accurately obtained
And the vector angle between the normal direction of rods end face and big end plate plane, may determine that simultaneously the normal direction of small end board plane with
The vector angle of big end plate plane, completes rotation and the control thereof of wrist.Present configuration is the compactest, and strength and stiffness are high,
Control method is simple and reliable, it is adaptable to the wrist portion of all kinds robot or shoulder connect；Rods is made hollow structure,
Also can be as the finger tip of paint-spray robot.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention.
Fig. 2 is fundamental diagram of the present invention.
Fig. 3 is embodiments of the invention structural representation.
In figure:
The 1 big end plate 2 rods 3 little end plate of driving telescopic rod group I 4 driving telescopic rod group II 5
21 driving telescopic rod 22 ball pivot 23 universal joints.
Detailed description of the invention
Below in conjunction with the accompanying drawings the detailed description of the invention of the present invention is described in further detail.
As it is shown in figure 1, the flexible coding system wrist device of the present invention and control method, including big end plate (1), flexibility
Bar (2), driving telescopic rod group I (3), driving telescopic rod group II (4), little end plate (5), wherein, rods (2), driving telescopic rod
Group I (3), the two ends correspondence respectively of driving telescopic rod group II (4) be fixed on A, B, C point of big end plate (1) and a of little end plate (5),
On b, c point；Driving telescopic rod group I (3), driving telescopic rod group II (4) employing hydraulic cylinder is as expansion link (21), at expansion link
(21) ball pivot (22) is installed at two ends, and employing spring is as rods (2), and is fixed on big end with the securing member such as packing ring, nut
On plate (1) and little end plate (5)；Fixing point triangle on big end plate (1), little end plate (6) uses equilateral triangle.
When driving telescopic rod group I (3), driving telescopic rod group II (4) shorten, under force, rods (2) will continue
Continuous bending.Knowable to the mechanics of materials: prismatic cantilever beam is when end points stress or moment of torsion, and cantilever beam will produce circular arc deformation,
Its end points will deflect and displacement, and therefore, the distance between the active endpoint of rods (2) to big end plate (1) will diminish, simultaneously
Vector angle between the axis of the movable end face of the rods (2) of bending and big end plate (1) diminishes；When driving telescopic rod group I (3) is stretched
When long, driving telescopic rod group II (4) is constant, under force, rods (2) will be to quarter butt lateral bend, so that bending
Vector angle change between the axis of the movable end face of rods (2) and big end plate (1)；Therefore, change driving telescopic rod group I (3),
The length of driving telescopic rod group II (4), it is possible to change the angle between little end plate (5) and big end plate (1) and distance, complete hands
The function of wrist.
As in figure 2 it is shown, for ease of calculating, the initial point of rectangular coordinate system xyz is located at A point, triangle ABC and x/y plane weight
Closing, y-axis is the angular bisector of angle A in triangle ABC, and a point is an end points of arc Aa, and D point is the throwing in plane ABC of a point
Shadow, α is the projection angle with y-axis of Aa, and β is the angle of arc Aa end points tangent line, and aD is a point distance to plane ABC.If triangle
In shape ABC, the AB length of side is LB, in triangle abc, the ab length of side is Lb, the length of a length of H(rods of arc Aa), L1For Bb line
Length (length of expansion link I), L2Length (length of expansion link II) for Cc line.
From tetragon ABba, when b point overlaps with Ba line, define triangle ABa, if now β=90 °, rods
Producing flexural deformation under force, the arc Aa formed is quadrant, therefore A point to a point distance (i.e. arc Aa's
Chord length) be: Aa=2 √H/π≈0.9H
By triangle formation condition, it is not difficult to draw: L1＞ LB – Lb - 0.9H
In like manner, when β=-90 °, can obtain: L1＜ LB – Lb + 0.9H
That is: the length of driving telescopic rod group I is at (LB - Lb - 0.9H) ~ (LB - Lb+ 0.9H) between.
Calculated by tetragon ACca is similar, it can be deduced that L2The constant interval of (i.e. driving telescopic rod group II).
In triangular pyramid ABCa, triangle ABC, flexible rib length (i.e. the length of arc Aa) are it has been determined that according to elastic bending
Set, it is clear that triangle abc and arc Aa is vertical at the tangent line of a point, is not difficult to draw L from Fig. 21、L2And the relation between α, β and H
Formula.
As it is shown on figure 3, use universal joint (23) as being rotationally connected pair in the present embodiment, rods (2) uses elastic gum
Rod, installs and convenient fixing, and in the case of not producing interference, the variable-angle of little end plate increases.
Although the preferred embodiments of the present invention being described in detail and illustrate, but the present invention not limiting to
In this.It should be known that those skilled in the art can be carried out under conditions of without departing substantially from spirit and principles of the present invention multiple
Modifications and variations, the protection scope of the present invention being defined by the claims without deviating from it.
Claims (4)
1. flexible coding system wrist device and control method, including: big end plate (1), rods (2), driving telescopic rod group I
(3), driving telescopic rod group II (4), little end plate (5), driving telescopic rod (21) and ball pivot (22), it is characterised in that: rods
(2), driving telescopic rod group I (3), the two ends correspondence respectively of driving telescopic rod group II (4) are fixed on A, B, C point of big end plate (1)
With on a, b, c point of little end plate (5)；Described driving telescopic rod group I (3), driving telescopic rod group II (4) by expansion link (21) and
The ball pivot (22) at its two ends is installed and is constituted, and collapsing length independently controls；Described rods (2) can use spring or other tool
The elastic material of standby moderate finite deformation ability；Consolidating on the described fixing point triangle ABC on big end plate (1), little end plate (6)
Fixed point triangle abc is acute triangle, and triangle ABC is similar to triangle abc.
Flexible coding system wrist device the most according to claim 1 and control method, it is characterised in that: described
The big fixing point AB of end plate (1), the fixing point ab of little end plate (5) deform with rods (2) after chord length Aa and driving telescopic rod
The length of group I (3) constitutes tetragon ABba, if the AB length of side of triangle ABC is LB, the ab length of side of triangle abc is Lb, flexible
The a length of H of bar (2), then the length of driving telescopic rod group I (3) is at (LB - Lb- 0.9H) ~ (LB - Lb+ 0.9H) it
Between variable, the computational methods of driving telescopic rod group II (4) are identical with driving telescopic rod group I (3).
Flexible coding system wrist device the most according to claim 1 and control method, it is characterised in that: described stretches
Contracting bar (21) can use the dynamical elements such as flexible, the hydraulic cylinder of screw thread linear drives, spool to realize flexible；Described ball pivot (22)
The connected modes such as universal joint can be used；Described triangle abc can be reduced into a point.
4. according to the flexible coding system wrist device described in claim 1-3 and control method, it is characterised in that: described
Control method be by accurately changing driving telescopic rod group I (3), the length of driving telescopic rod group II (4), utilizing rods
(2) elastic bending characteristic, accurately controls little end plate (5) relative to the displacement of big end plate (1) and vector corner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610599775.4A CN106078691B (en) | 2016-07-28 | 2016-07-28 | Flexible coding system wrist device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610599775.4A CN106078691B (en) | 2016-07-28 | 2016-07-28 | Flexible coding system wrist device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106078691A true CN106078691A (en) | 2016-11-09 |
| CN106078691B CN106078691B (en) | 2018-11-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610599775.4A Active CN106078691B (en) | 2016-07-28 | 2016-07-28 | Flexible coding system wrist device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108743227A (en) * | 2018-06-12 | 2018-11-06 | 西安交通大学 | A kind of flexible exoskeleton wrist functional rehabilitation device based on spring leaf driving |
| CN109764188A (en) * | 2019-02-19 | 2019-05-17 | 长沙学院 | It is flexibly connected adjuster |
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| US4712969A (en) * | 1983-08-29 | 1987-12-15 | Kabushiki Kaisha Toshiba | Expandable and contractable arms |
| CN2926061Y (en) * | 2006-03-17 | 2007-07-25 | 北京阳光之路特种车辆技术有限公司 | Carrier tray device with adjusting pitch and sided-tilt position |
| CN101850554A (en) * | 2010-04-30 | 2010-10-06 | 东南大学 | Low-noise humanoid robot head system |
| CN203045724U (en) * | 2012-12-17 | 2013-07-10 | 广州中国科学院先进技术研究所 | Two-degree-freedom space parallel mechanism |
| CN205996958U (en) * | 2016-07-28 | 2017-03-08 | 长沙学院 | Flexible coding system wrist device |
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2016
- 2016-07-28 CN CN201610599775.4A patent/CN106078691B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4712969A (en) * | 1983-08-29 | 1987-12-15 | Kabushiki Kaisha Toshiba | Expandable and contractable arms |
| CN2926061Y (en) * | 2006-03-17 | 2007-07-25 | 北京阳光之路特种车辆技术有限公司 | Carrier tray device with adjusting pitch and sided-tilt position |
| CN101850554A (en) * | 2010-04-30 | 2010-10-06 | 东南大学 | Low-noise humanoid robot head system |
| CN203045724U (en) * | 2012-12-17 | 2013-07-10 | 广州中国科学院先进技术研究所 | Two-degree-freedom space parallel mechanism |
| CN205996958U (en) * | 2016-07-28 | 2017-03-08 | 长沙学院 | Flexible coding system wrist device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108743227A (en) * | 2018-06-12 | 2018-11-06 | 西安交通大学 | A kind of flexible exoskeleton wrist functional rehabilitation device based on spring leaf driving |
| CN109764188A (en) * | 2019-02-19 | 2019-05-17 | 长沙学院 | It is flexibly connected adjuster |
| CN109764188B (en) * | 2019-02-19 | 2024-05-07 | 长沙学院 | Flexible connection regulator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106078691B (en) | 2018-11-20 |
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Effective date of registration: 20211220 Address after: 410206 room 519, building B2, Lugu science and technology innovation and entrepreneurship Park, No. 1698, Yuelu West Avenue, Changsha high tech Development Zone, Changsha City, Hunan Province Patentee after: Yunnongfu (Hunan) Intelligent Technology Co.,Ltd. Address before: 410011 No. 98, Hongshan Road, Kaifu District, Changsha City, Hunan Province Patentee before: CHANGSHA University |
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