CN107042525A - A kind of grip controllable type robot elastic paw - Google Patents

A kind of grip controllable type robot elastic paw Download PDF

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Publication number
CN107042525A
CN107042525A CN201710230451.8A CN201710230451A CN107042525A CN 107042525 A CN107042525 A CN 107042525A CN 201710230451 A CN201710230451 A CN 201710230451A CN 107042525 A CN107042525 A CN 107042525A
Authority
CN
China
Prior art keywords
paw
joint
flexible hinge
knuckle
elastic
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.)
Pending
Application number
CN201710230451.8A
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Chinese (zh)
Inventor
何福本
王瑞锋
梁延德
王克欣
王硕
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Dalian University of Technology
Original Assignee
Dalian University of Technology
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Dalian University of Technology filed Critical Dalian University of Technology
Priority to CN201710230451.8A priority Critical patent/CN107042525A/en
Publication of CN107042525A publication Critical patent/CN107042525A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/08Gripping heads and other end effectors having finger members
    • B25J15/10Gripping heads and other end effectors having finger members with three or more finger members

Abstract

The invention provides a kind of grip controllable type robot elastic paw, belong to robotic technology field.The present invention is made up of paw structure, drive device and the part of control system three.The paw structure is using three equally distributed forms of finger, it is essential characteristic structure based on flexible hinge, the elastic system based on single order, second order is constituted, combination forms an elastic paw with the low auxiliary driving of gapless, with certain flexibility and adaptivity.The drive device, as driving source, using compressed air as driving medium, the motion of whole elastic paw is driven by slide block connecting rod device using servo cylinder.The control system, pass through the foil gauge being embedded at flexible joint, the elastic paw knuckle shaped of detection becomes, the voltage signal of output is through data signal amplification module and analog-to-digital conversion module, STM32 type microcontrollers are fed back to be handled, so as to control throughput, the gripping dynamics of the elastic paw of adjustment reaches that submissiveization controls purpose.

Description

A kind of grip controllable type robot elastic paw
Technical field
Present invention relates particularly to a kind of grip controllable type robot elastic paw, belong to robotic technology field.
Background technology
Robot hand is the part for gripping workpiece or object, is important executing agency in robot building system One of.Traditional robot hand, the main structure type connected using mechanical driving device and rotary joint, generally by motor Directly driven, but such a rigid method of clamping easily causes damage in the paw course of work to body surface, it is uncomfortable For frangible the object such as clamping such as glass, crystal and pickup.The folder of enhancing robot hand is all expected in some invention designs Hold accuracy and practicality, for example disclosed in Patent No. EP3098035AI it is a kind of can be with the paw of parallelly opening-and-closing, by pressing from both sides Oscillating rod is installed between the rigid element compositions such as tight body, a pair of lower jaw and piston, lower jaw, drives lower Hubei Province to enter by main piston Row disengaging movement, so that parallelly opening-and-closing is realized, but flexibility degree is not enough.Disclosed in Chinese patent CN105034016A A kind of elastic paw of material for being used to pick and place various structures pattern, mainly by controlling the direction of rotation at leading screw two ends, is controlled The pawl of left and right two is outwardly or inwardly moved simultaneously, to reduce or increase crawl scope, because the paw is using transmission nut, leading screw etc. Rigid mechanical structure, for error present in transmission process, it is impossible to be timely and effectively controlled to clamping dynamics.
In summary, there is certain restriction in the structure of existing robot hand, generally using rigid mechanical structure And direct drive mode, for robot hand driving error present in clamping process, flexible not enough, curable grip control not Precisely the problems such as, which can not do, timely corrects and feeds back, and only has a range of application adaptability, thus needs invention one Novel pressure relief controllable type robot elastic paw is planted to make up above mentioned problem.
The content of the invention
The shortcomings of for the driving error for solving most of robot hand, flexible deficiency, the present invention proposes a kind of grip Controllable type robot elastic paw is designed.
Technical scheme:
A kind of grip controllable type robot elastic paw, including paw structure, drive device and control system;
Described paw structure, is the structure of grip controllable type robot elastic paw;Paw structure using flexible hinge as Essential characteristic structure, the integral handgrip being made up of three fingers 1, drive surface 3 and fixed bottom plate 4, three structure identicals Finger 1 is distributed into 120 °;
Described finger 1 includes single order elastic system 8 and second order elasticity system 9, and single order elastic system 8 is by first knuckle 1- 1st, third knuckle 1-3 and the first flexible hinge joint composition, second order elasticity system 9 by second knuckle 1-2, third knuckle 1-3, 4th finger joint 1-4, the joint of the second flexible hinge and the 3rd flexible hinge joint composition, are essential characteristic based on flexible hinge The finger of single order elastic system 8 and second order elasticity system 9 the formation low auxiliary driving of gapless of structure;First knuckle 1-1 and fixation Bottom plate 4 connects, and is the joint of the first flexible hinge between first knuckle 1-1 and third knuckle 1-3, the joint of the first flexible hinge is One asymmetric flexible hinge of single shaft, and it is embedded in foil gauge 2 in joint;It is between second knuckle 1-2 and third knuckle 1-3 The joint of second flexible hinge, the joint of the second flexible hinge is an asymmetric flexible hinge of single shaft, second knuckle 1-2 with Drive surface 3 connects;It is the joint of the 3rd flexible hinge, the joint of the 3rd flexible hinge between third knuckle 1-3 and the 4th finger joint 1-4 It is the shaft flexible hinge of a parallel connection-collocated;By adjusting the 4th finger joint 1-4 shape, polymorphic object is realized Grip;
Described drive mechanism includes servo cylinder 5 and drive rod 6;The drag link end of servo cylinder 5 is fixed by drive rod 6 In drive surface 3, servo cylinder 5 is fixed on fixed bottom plate 4 by fixing screws 7;
It is micro- that described controlling organization includes strain detecting module, signal amplification module, analog-to-digital conversion module and STM32 types Controller, the throughput for controlling servo cylinder 5, the gripping dynamics of the elastic paw of adjustment reaches that submissiveization controls purpose.
Beneficial effects of the present invention:A kind of grip controllable type robot elastic paw, with without mechanical friction, gapless and The features such as compact conformation, and when gripping workpiece or target with certain compliance and adaptivity.Foil gauge is embedded in At flexible hinge, for detecting the deformation at flexible joint, by controlling circuit accurately to control gripping dynamics, its intelligence can be made Energyization and flexibility degree are higher.
Brief description of the drawings
Fig. 1 is a kind of dimensional structure diagram 1 of grip controllable type robot elastic paw.
Fig. 2 is a kind of dimensional structure diagram 2 of grip controllable type robot elastic paw.
Fig. 3 is a kind of grip controllable type robot elastic paw schematic block diagram.
Fig. 4 is that a kind of grip controllable type robot elastic paw controls schematic block diagram.
In figure:1 finger;1-1 first knuckles;1-2 second knuckles;1-3 third knuckles;The finger joints of 1-4 the 4th;2 foil gauges;3 Drive surface;4 fix bottom plate;5 servo cylinders;6 drive rods;7 fixing screws;8 single order elastic systems;9 second order elasticity systems.
Embodiment
Below in conjunction with accompanying drawing and technical scheme, the embodiment of the present invention is further illustrated.
A kind of grip controllable type robot elastic paw, including paw structure, drive device and control system;
Described paw structure, is the structure of grip controllable type robot elastic paw;Paw structure is by three fingers 1 The one that (including a single order elastic system 8 and a second order elasticity system 9), drive surface 3 and fixed bottom plate 4 are constituted grips knot Structure, three structure identical fingers are distributed into 120 °;
Described finger 1 includes single order elastic system 8 and second order elasticity system 9, and single order elastic system 8 is by first knuckle 1- 1st, third knuckle 1-3 and the first flexible hinge joint composition, second order elasticity system 9 by second knuckle 1-2, third knuckle 1-3, 4th finger joint 1-4, the joint of the second flexible hinge and the 3rd flexible hinge joint composition, are essential characteristic based on flexible hinge The finger of single order elastic system 8 and second order elasticity system 9 the formation low auxiliary driving of gapless of structure;First knuckle 1-1 and fixation Bottom plate 4 connects, and the joint of the first flexible hinge form is used between first knuckle 1-1 and third knuckle 1-3, it is characterised in that this is soft Property hinge be an asymmetric flexible hinge of single shaft, and joint be embedded in foil gauge 2;Second knuckle 1-2 and the 3rd refers to The joint of the second flexible hinge form is used between section 1-3, it is characterised in that the flexible hinge is an asymmetric flexibility of single shaft Hinge, second knuckle 1-2 connects with drive surface 3;The 3rd flexible hinge form is used between third knuckle 1-3 and the 4th finger joint 1-4 Joint, it is characterised in that the flexible hinge is the shaft flexible hinge of a parallel connection-collocated;By adjusting the 4th finger joint 1-4 shape, realizes the gripping of polymorphic object;In design, using finite element method, simulation analysis, its stress distribution are carried out As shown in Figure 3, its stress is mainly distributed at flexible hinge and smaller, consuming little energy, weakens the limit to its direction of motion System, meets design requirement.First knuckle 1-1 length is 35mm, and second knuckle 1-2 length is 21mm, third knuckle 1-3's Length is 30mm.For the ease of design, using the rigid body method of equal effect, flexible hinge is equivalent to traditional kinematic pair, gripped The calculating of power and driving force, the equivalent theory of mechanics schematic diagram of mechanism of whole elasticity paw as shown in Figure 4, by calculating, if driving Power is 10N, then the curable grip produced is about 16N.Elastic paw contains the curved-surface structure of labyrinth, it is difficult to using biography System method is processed, and 3D printing technique is the direct advanced manufacturing process towards three-dimensional data prototype, can be directed to demand Rapidly manufacture difficult processing part.Therefore, by 3D printing technique, elastic paw integration is manufactured, can be effectively Ensure elastic paw crudy, meet design requirement., can be with addition, 3D printing technique is a kind of digitized process technology Time and step are accurately controlled in process, therefore used foil gauge can be embedded in print procedure At flexible hinge, the integration manufacture of elastic paw is realized.
The driving method, the pneumatic apparatus of use is servo cylinder 5, using compressed air as energy source, knot Structure is compact reliable and with impact resistance, and servo cylinder 5 is fixed on fixed bottom plate 4, is fixed by four fixing screws 7, The drive rod 6 of servo cylinder 5 is arranged on the center of drive surface 3, for pulling drive surface 3 to do piston movement, realizes that elastic paw is held Hold action.
The force control method, foil gauge 2 is respectively embedded into the joint of the first flexible hinge form of each finger, this Foil gauge is full-bridge foil gauge, the deformation for detecting joint, and deformation is converted into voltage signal, using mechanical engineering The calculation formula of full-bridge foil gauge circuit, draws output voltage values in measuring technology.Its calculation formula is as follows:
In formula:UinFor input voltage, UoutFor output voltage, Δ RAB、ΔRBC、ΔRCD、ΔRADRespectively resistance RAB、RBC、 RCD、RADChanging value.
Foil gauge, which produces deformation, causes resistance value to change, 2 points of formation electrical potential differences of A, D, produces output voltage, voltage Signal amplifies by signal amplification module, and the signal after amplification then is passed into analog-to-digital conversion module carries out analog-to-digital conversion, its Conversion formula is as follows:
In formula:UoFor analog signal amount, URFEReference voltage, DnFor digital quantity.
The data signal of output is fed back into STM32 type microcontrollers to be handled, judges whether pressure meets setting Threshold value, and corresponding current pulse signal is exported, the flow and opening/closing time of pneumatic servo control valve are controlled, regulation is passed through servo Air capacity in cylinder, drives the motion of servo cylinder pull bar, and drives drive surface 3 to move by drive rod 6, so as to control Gripping dynamics of the elastic paw to object.

Claims (1)

1. a kind of grip controllable type robot elastic paw, it is characterised in that described grip controllable type robot elastic paw Including paw structure, drive device and control system;
Described paw structure, is the structure of grip controllable type robot elastic paw;Paw structure is basic using flexible hinge Feature structure, the integral handgrip being made up of three fingers (1), drive surface (3) and fixed bottom plate (4), three structures are identical Finger 1 into 120 ° distribution;
Described finger (1) includes single order elastic system (8) and second order elasticity system (9), and single order elastic system (8) is referred to by first Save (1-1), the joint of third knuckle (1-3) and the first flexible hinge is constituted, second order elasticity system (9) by second knuckle (1-2), Third knuckle (1-3), the 4th finger joint (1-4), the joint composition of the joint of the second flexible hinge and the 3rd flexible hinge, based on soft Property hinge for essential characteristic structure the formation of single order elastic system (8) and second order elasticity system (9) with the low auxiliary driving of gapless Finger (1);First knuckle (1-1) connects with fixed bottom plate (4), is first between first knuckle (1-1) and third knuckle (1-3) The joint of flexible hinge, the joint of the first flexible hinge is an asymmetric flexible hinge of single shaft, and in joint insertion Foil gauge (2);It is the joint of the second flexible hinge, the pass of the second flexible hinge between second knuckle (1-2) and third knuckle (1-3) Section is an asymmetric flexible hinge of single shaft, and second knuckle (1-2) connects with drive surface (3);Third knuckle (1-3) and the 4th It is the joint of the 3rd flexible hinge between finger joint (1-4), the joint of the 3rd flexible hinge is that the twin shaft of a parallel connection-collocated is soft Property hinge;By adjusting the shape of the 4th finger joint (1-4), the gripping of polymorphic object is realized;
Described drive mechanism includes servo cylinder (5) and drive rod (6);The drag link end of servo cylinder (5) passes through drive rod (6) It is fixed in drive surface (3), servo cylinder (5) is fixed on fixed bottom plate (4) by fixing screws (7);
Described controlling organization includes strain detecting module, signal amplification module, analog-to-digital conversion module and STM32 type microcontrollers Device, the throughput for controlling servo cylinder (5), the gripping dynamics of the elastic paw of adjustment reaches that submissiveization controls purpose.
CN201710230451.8A 2017-04-11 2017-04-11 A kind of grip controllable type robot elastic paw Pending CN107042525A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109927068A (en) * 2019-03-05 2019-06-25 清华大学 Flexible facies palmaris adaptively quickly grabs robot hand device
CN110928236A (en) * 2019-11-21 2020-03-27 珠海格力智能装备有限公司 Robot stress data detection method, device and system

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103317520A (en) * 2013-07-22 2013-09-25 江南大学 Electric push rod drive controlled gripper with tandem flexible hinge frameworks
CN203557396U (en) * 2013-09-18 2014-04-23 中国电器科学研究院有限公司 Mechanical paw

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103317520A (en) * 2013-07-22 2013-09-25 江南大学 Electric push rod drive controlled gripper with tandem flexible hinge frameworks
CN203557396U (en) * 2013-09-18 2014-04-23 中国电器科学研究院有限公司 Mechanical paw

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109927068A (en) * 2019-03-05 2019-06-25 清华大学 Flexible facies palmaris adaptively quickly grabs robot hand device
CN109927068B (en) * 2019-03-05 2020-07-28 清华大学 Flexible palm surface self-adaptive rapid grabbing robot hand device
CN110928236A (en) * 2019-11-21 2020-03-27 珠海格力智能装备有限公司 Robot stress data detection method, device and system

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