CN107479404A - A kind of intelligent clamping device and its Active Control Method - Google Patents
A kind of intelligent clamping device and its Active Control Method Download PDFInfo
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- CN107479404A CN107479404A CN201710861415.1A CN201710861415A CN107479404A CN 107479404 A CN107479404 A CN 107479404A CN 201710861415 A CN201710861415 A CN 201710861415A CN 107479404 A CN107479404 A CN 107479404A
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- chucking power
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- 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
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
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- Automation & Control Theory (AREA)
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Abstract
The present invention proposes a kind of intelligent clamping device and its Active Control Method, and the rigidity of intelligent gripping apparatus grips pawl can be controlled according to contact point deformation, and MFC beam models are controlled it is achieved thereby that the designability of the rigidity of gripper jaw using piezoelectricity.The device can be realized with the size of Intelligent adjustment chucking power and gently clamped caught object in clamping process.The device can according to the actual requirements, flexible design chucking power change curve.The present apparatus can also can design the outside diameter of rotating ring and the length of inner side gripper jaw, realize the gentle clamping to different size caught objects according to the size of caught object.
Description
Technical field
The invention belongs to electromechanical engineering field, is related to structural mechanics principle and Automatic Control Theory.
Background technology
Existing clamping device typically using mechanical connection, gripper jaw rigidity be it is fixed, chucking power and bite
It is deformed into linear relationship, it is impossible to realize the gentle application of chucking power, easily cause physical damage when particularly clamping brittle body.
And existing clamping device is typically that can not be considered outside clamping object geometry by folder object designs for specific dimensions
The uncertainty of shape, applicability are poor.
The content of the invention
To solve above-mentioned two classes technical problem, the present invention proposes a kind of intelligent clamping device and its Active Control Method,
The big purpose of chucking power Intelligent adjustment, clamping dimension scope can be realized.
As shown in figure 1, intelligent clamping device by rotated with angular velocity omega outside rotating ring, three post MFC (Macro-
Fiber composite) piezoelectric patches inner side gripper jaw composition, rotating outside rotating ring to different directions can realize to being pressed from both sides
Object promptly and unclamp.The control voltage of MFC piezoelectric patches is applied to by controlling come the real-time rigidity for changing gripper jaw, so that
The gentle application of chucking power can be realized in promptly caught object.
Illustrate to clamp principle exemplified by clamping cylindrical object shown in Fig. 1.Each gripper jaw for posting MFC piezoelectric patches can
To be reduced to the MFC- beam models of cantilever, as shown in Figure 2.A points are gripper jaw and the contact point of rotary shaft in figure, and p points are to be pressed from both sides
Object and gripper jaw contact point, the length and width of beam model and high respectively L, b and h, the distance of p points to A is lp, caught object is straight
Footpath is φp, the deformation of MFC- beam models and active force are respectively w at p pointsgAnd Fg。
Using linear piezoelectric conservation equation (reference papers Zhang S Q, Li Y X, Schmidt R., Modeling and
simulation of macro-fiber composite layered smart structures,Composite
Structures, 126 (2015) 89-100) and linear beam assume to establish the motion control equation of MFC- beam models, the present invention
Core is caught object and gripper jaw contact point (p points) place's chucking power, and chucking power depends on the rigidity of gripper jaw, become at contact point
Shape and the voltage for being applied to MFC piezoelectric patches.The governing equation deformed at p points can represent as follows：
Wherein, m represents equivalent mass, and c represents equivalent damping, Fr(w) the equivalent restoring force of beam, F are representedmRepresent outside to make
Firmly, FMFCRepresent the equivalent action power of MFC piezoelectric patches.
Based on Euler-Bernoulli Jacob's beam theory, the equivalent restoring force of beam can be expressed as the linear function of deformation, i.e.,
Fr(w)=klw (2)
Wherein, klRepresent equivalent stiffness.And the equivalent action power of MFC piezoelectric patches can also be expressed as voltage (V) at p points
Linear function, i.e.,
FMFC=klkMFCV (3)
Wherein, kMFCRepresent deformation-voltage coefficient of MFC piezoelectric patches.
The gentle of caught object is firmly grasped to ensure to realize in clamping process, it is desirable to which MFC- beam models are at p points
Equivalent chucking power Ft(w)-deformation wgRelation curve has designability, can be expressed as：
Ft(w)=kl(w-kMFCV) (4)
Then equation (1) can be re-written as
Represented in order to facilitate formula, here using maximum distortion wgWith maximum equivalent chucking power FgTo the deformation w at p points with
Equivalent chucking power FtIt is normalized, i.e., normalized deformation and equivalent chucking power are respectivelyWith
wgAnd FgIt can measure.To reach the gentle purpose for applying chucking power, the equivalent chucking power-deformation curve of normalization being preferably as follows
It is used as the target of piezoelectricity control
Wherein,σ represents the parameter of the control targe slope of curve.Fig. 3 (a) compared for present invention preferably employs
Equivalent chucking power-deformation curve and equivalent chucking power-deformation curve (linear case) of conventional immutable clamping rigidity, Fig. 4
(b) illustrate the MFC piezoelectric patches in the curve and equivalent active force is provided.From Fig. 3 (a) it can be seen that to when deformation is smaller
When, chucking power very little, it is ensured that clamping can position by folder object initial stage exactly；And with the further increase of deformation,
Clamping rigidity increases rapidly so that determines can rapidly and being stably jammed by folder object for clip position.Adjustment type (6)
Middle parameter σ, you can change changing rule of the clamping rigidity with clamping point deformation according to the needs of caught object.
Feed-forward control algorithm is respectively adopted in the present invention and PID/feedback control algolithm is controlled to MFC piezoelectric patches, with up to
The purpose for the equivalent chucking power-deformation curve specified to output.The control block diagram of feedforward control is as shown in Figure 4.W in figurelRepresent
Opened loop control linearly deforms, and can be obtained by the gearratio of rotary speed ω and Fig. 1 middle gear of outside rotating ring, then right
wlBeing normalized to obtain, and then target Equivalent directed force F is obtained according to formula (6)t, next utilize MFC- beams
The inversion model of model obtains the magnitude of voltage for controlling MFC piezoelectric patches.The control block diagram of PID/feedback control is as shown in figure 5, utilize
Target Equivalent directed force F is obtained with identical mode in feedforward controlt, the equivalent restoring force F of beamrSurvey to obtain by sensor
W and beam equivalent stiffness klObtain, F is compensated using PID controllertAnd FrBetween error obtain be used for control MFC piezoelectric patches
Magnitude of voltage.
Based on above-mentioned principle, the technical scheme is that：
A kind of intelligent clamping device, it is characterised in that：Including outside rotating ring and three inner side gripper jaws；
The outside rotating ring is internal gear, and can be turned under drive device effect around own axes with angular velocity omega
It is dynamic；
The inner side gripper jaw is made up of external gear, grip block and MFC piezoelectric patches；The grip block is fixed on external gear
On one tooth, and plane where grip block crosses external gear central axis；The MFC piezoelectric patches is attached on the grip block；Three
Internal tooth of the external gear of inner side gripper jaw respectively with outside rotating ring engages, and is uniformly distributed along outside rotating ring circumferencial direction,
When outside rotating ring is around own axis, three external gears can be driven around the center axis thereof of each self-retaining；And three
The sensing of individual grip block is along same clockwise.
A kind of Active Control Method of the intelligent clamping device, it is characterised in that：Comprise the following steps：
Step 1：According to the rotary speed ω of outside rotating ring, and outside rotating ring internal tooth and inner side gripper jaw external gear
Gearratio, opened loop control is calculated and linearly deforms wl；
Step 2：Utilize maximum distortion wgAccording to formulaOpened loop control after being normalized linearly deforms
Step 3：Opened loop control after the normalization obtained using step 2 is linearly deformedIt is equivalent according to the normalization of design
Chucking power-deformation curve, normalized target Equivalent chucking power is calculated
Step 4：Utilize maximum equivalent chucking power FgAccording to formulaObtain target Equivalent chucking power Ft；
Step 5：According to formula Ft=kl(wl-kMFCV) reverse obtains the control voltage V of MFC piezoelectric patches, wherein klRepresent etc.
Imitate rigidity, kMFCRepresent deformation-voltage coefficient of MFC piezoelectric patches.
A kind of Active Control Method of the intelligent clamping device, it is characterised in that：Comprise the following steps：
Step 1：According to the rotary speed ω of outside rotating ring, and outside rotating ring internal tooth and inner side gripper jaw external gear
Gearratio, opened loop control is calculated and linearly deforms wl；
Step 2：Utilize maximum distortion wgAccording to formulaOpened loop control after being normalized linearly deforms
Step 3：Opened loop control after the normalization obtained using step 2 is linearly deformedNormalization according to design etc.
Chucking power-deformation curve is imitated, normalized target Equivalent chucking power is calculated
Step 4：Utilize maximum equivalent chucking power FgAccording to formulaObtain target Equivalent chucking power Ft；
Step 5：The deformation w of obtained grip block and clamped object contact point is measured according to sensor is actual, and is waited
Imitate rigidity kl, utilize formula Fr=klEquivalent restoring force F is calculated in wr,
Step 6：F is compensated using PID controllertAnd FrBetween error obtain the control voltage V of MFC piezoelectric patches.
Further preferred scheme, a kind of Active Control Method of intelligent clamping device, it is characterised in that：Normalization
Equivalent chucking power-deformation curve equation is：
Whereinσ represents the parameter of the control targe slope of curve.
Beneficial effect
The rigidity for the intelligent gripping apparatus grips pawl invented can be controlled according to contact point deformation, utilize voltage control
MFC- beam models processed are it is achieved thereby that the designability of the rigidity of gripper jaw.The device, can be with Intelligent adjustment in clamping process
The size of chucking power, realization gently clamp caught object.The device can according to the actual requirements, the change of flexible design chucking power
Curve.
The intelligent clamping device invented can according to the size of caught object, can design outside rotating ring diameter and
The length of inner side gripper jaw, realize the gentle clamping to different size caught objects.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become in the description from combination accompanying drawings below to embodiment
Substantially and it is readily appreciated that, wherein：
Fig. 1：Intelligent clamping device schematic diagram；
Wherein：1st, outside rotating ring, 2, MFC piezoelectric patches, 3, inner side gripper jaw, 4, caught object；
Fig. 2：The simplification MFC- beam models of gripper jaw；A is front view, and b is side view；
Wherein：5th, the contact point A of gripper jaw and rotary shaft, 6, the contact point p of caught object and gripper jaw；
Fig. 3：Equivalent chucking power and the equivalent action power of MFC piezoelectric patches are with the changing rule for clamping point deformation；
Fig. 4：The control block diagram of feedforward control；
Fig. 5：The control block diagram of PID/feedback control；
Fig. 6：Experiment block diagram in embodiment 1；
Fig. 7：Experiment measures equivalent chucking power-deformation curve with control targe；
Fig. 8：The acceleration responsive of held object.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is exemplary, it is intended to for explaining this
Invention, and be not considered as limiting the invention.
Example one：
The present invention is represented using the length and width for pasting MFC and high respectively 80mm, 40mm and 0.43mm Flexural cantilever model
In gripper jaw.The density of material of beam is 8110kg/m3, Young's modulus 200GPa, Poisson's ratio 0.3.Using d33-type
(M-5628-P1) type MFC piezoelectric patches (Smart Material Corp.http://www.smart-material.com/MFC-
Product-main.html), its minimum and maximum operating voltage is respectively+1500V and -500V.Held object and gripper jaw
Contact point (i.e. p points) is located at cantilever beam end 5mm, and with mass come simulating contact load.
Block diagram is tested as shown in fig. 6, being carried out using Simulink softwares in half Real-time Control Simulation Systems in kind of dSPACE
Control, measured and deformed using KEYENCE LK-G150 sensors, control signal supplies MFC piezoelectric patches after power amplifier.
Profit experimentally obtains required parameter, and compared with analysis of finite element method result, such as the institute of table 1
Show.It should be noted that damped coefficient c is measured by experiment.
The parameter comparison that table 1 experimentally obtains with finite element method
The maximum distortion w of p points can be estimated out in experimentgFor 3mm, corresponding maximum equivalent power FgFor 1.967N.In experiment
Different masses is used instead to simulate slow clamping process, obtained equivalent chucking power-deformation curve is as shown in fig. 7, can be with
The result and aim curve for finding out two kinds of control methods are coincide very well, demonstrate the validity of the inventive method.
Example two：
Example two is realized by emulating, when applying chucking power to caught object by single gripper jaw, gripper jaw contact
Point acceleration changes to reflect the change of chucking power.Using the experimental model in example one as object, it is assumed that outside rotating ring with
Angular velocity omega is rotated, and the deformation at p points linearly changes to w from 0 in 2sg, obtained using finite element method in table 1
Parameter carries out numerical simulation checking.In order to illustrate the effect of the invention gently clamped, with fixing (i.e. linear feelings using clamping rigidity
Condition) the acceleration responsives (acceleration i.e. in caught object clamping process) of gripper jaw p points in this process contrasted.Before
It is as shown in Figure 8 to present control result, it can be seen that the acceleration responsive that linear clamp holds in the case of rigidity is about 5m/s2(Fig. 8 (b)),
And the acceleration responsive of feedforward control is less than 0.01m/s2(Fig. 8 (c)), and control voltage is also in the work electricity of MFC piezoelectric patches
In the range of pressure (Fig. 8 (d)).It can be seen that gentle clamping can be realized using apparatus of the present invention.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art is not departing from the principle and objective of the present invention
In the case of above-described embodiment can be changed within the scope of the invention, change, replace and modification.
Claims (4)
- A kind of 1. intelligent clamping device, it is characterised in that：Including outside rotating ring and three inner side gripper jaws；The outside rotating ring is internal gear, and can be rotated under drive device effect around own axes with angular velocity omega；The inner side gripper jaw is made up of external gear, grip block and MFC piezoelectric patches；The grip block is fixed on one of external gear On tooth, and plane where grip block crosses external gear central axis；The MFC piezoelectric patches is attached on the grip block；Three inner sides Internal tooth of the external gear of gripper jaw respectively with outside rotating ring engages, and is uniformly distributed along outside rotating ring circumferencial direction, when outer When sidespin change is around own axis, three external gears can be driven around the center axis thereof of each self-retaining；And three folders The sensing of plate is held along same clockwise.
- A kind of 2. Active Control Method of intelligent clamping device described in claim 1, it is characterised in that：Comprise the following steps：Step 1：According to the rotary speed ω of outside rotating ring, and the biography of outside rotating ring internal tooth and inner side gripper jaw external gear Dynamic ratio, is calculated opened loop control and linearly deforms wl；Step 2：Utilize maximum distortion wgAccording to formulaOpened loop control after being normalized linearly deformsStep 3：Opened loop control after the normalization obtained using step 2 is linearly deformedAccording to the equivalent clamping of the normalization of design Power-deformation curve, normalized target Equivalent chucking power is calculatedStep 4：Utilize maximum equivalent chucking power FgAccording to formulaObtain target Equivalent chucking power Ft；Step 5：According to formula Ft=kl(wl-kMFCV) reverse obtains the control voltage V of MFC piezoelectric patches, wherein klRepresent equivalent firm Degree, kMFCRepresent deformation-voltage coefficient of MFC piezoelectric patches.
- A kind of 3. Active Control Method of intelligent clamping device described in claim 1, it is characterised in that：Comprise the following steps：Step 1：According to the rotary speed ω of outside rotating ring, and the biography of outside rotating ring internal tooth and inner side gripper jaw external gear Dynamic ratio, is calculated opened loop control and linearly deforms wl；Step 2：Utilize maximum distortion wgAccording to formulaOpened loop control after being normalized linearly deformsStep 3：Opened loop control after the normalization obtained using step 2 is linearly deformedAccording to the equivalent clamping of the normalization of design Power-deformation curve, normalized target Equivalent chucking power is calculatedStep 4：Utilize maximum equivalent chucking power FgAccording to formulaObtain target Equivalent chucking power Ft；Step 5：The deformation w of the grip block and clamped object contact point that are obtained according to the actual measurement of sensor, and it is equivalent firm Spend kl, utilize formula Fr=klEquivalent restoring force F is calculated in wr,Step 6：F is compensated using PID controllertAnd FrBetween error obtain the control voltage V of MFC piezoelectric patches.
- A kind of 4. Active Control Method of intelligent clamping device according to Claims 2 or 3, it is characterised in that：Normalization etc. Imitating chucking power-deformation curve equation is：<mrow> <msub> <mover> <mi>F</mi> <mo>&OverBar;</mo> </mover> <mi>t</mi> </msub> <mo>=</mo> <mfrac> <mn>1</mn> <mn>2</mn> </mfrac> <mo>&lsqb;</mo> <mn>1</mn> <mo>+</mo> <mi>tanh</mi> <mrow> <mo>(</mo> <mfrac> <mrow> <mn>2</mn> <mrow> <mo>(</mo> <mn>2</mn> <mover> <mi>w</mi> <mo>&OverBar;</mo> </mover> <mo>-</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow> <msup> <mrow> <mo>&lsqb;</mo> <mn>4</mn> <mover> <mi>w</mi> <mo>&OverBar;</mo> </mover> <mrow> <mo>(</mo> <mn>1</mn> <mo>-</mo> <mover> <mi>w</mi> <mo>&OverBar;</mo> </mover> <mo>)</mo> </mrow> <mo>&rsqb;</mo> </mrow> <mi>&sigma;</mi> </msup> </mfrac> <mo>)</mo> </mrow> <mo>&rsqb;</mo> </mrow>Whereinσ represents the parameter of the control targe slope of curve.
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| CN201710861415.1A CN107479404B (en) | 2017-09-21 | 2017-09-21 | A kind of intelligence clamping device and its Active Control Method |
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| CN201710861415.1A CN107479404B (en) | 2017-09-21 | 2017-09-21 | A kind of intelligence clamping device and its Active Control Method |
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| CN107479404B CN107479404B (en) | 2018-07-03 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117416735A (en) * | 2023-10-27 | 2024-01-19 | 中山市四海智能装备有限公司 | Transfer method and device for blade battery module |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117416735A (en) * | 2023-10-27 | 2024-01-19 | 中山市四海智能装备有限公司 | Transfer method and device for blade battery module |
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