CN107479404B - A kind of intelligence clamping device and its Active Control Method - Google Patents
A kind of intelligence clamping device and its Active Control Method Download PDFInfo
- Publication number
- CN107479404B CN107479404B CN201710861415.1A CN201710861415A CN107479404B CN 107479404 B CN107479404 B CN 107479404B CN 201710861415 A CN201710861415 A CN 201710861415A CN 107479404 B CN107479404 B CN 107479404B
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- Prior art keywords
- equivalent
- rotating ring
- mfc
- chucking power
- external gear
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Classifications
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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
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 intelligently adjust the size of chucking power in clamping process, and realization gently clamps caught object.The device can be according to actual demand, flexible design chucking power change curve.The present apparatus can also can design the outside diameter of rotating ring and the length of inside 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 fields, are related to structural mechanics principle and Automatic Control Theory.
Background technology
Existing clamping device generally 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, physical damage is easy to cause 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.
Invention content
To solve above-mentioned two classes technical problem, the present invention proposes a kind of intelligent clamping device and its Active Control Method,
It can realize the purpose that chucking power is intelligently adjusted, clamping dimension range is big.
As shown in Figure 1, intelligent clamping device by rotated with angular velocity omega outside rotating ring, three post MFC
The inside gripper jaw composition of (Macro-fiber composite) piezoelectric patches, rotating outside rotating ring to different directions can be real
Now to caught object promptly and unclamp.The control voltage of MFC piezoelectric patches is applied to by control to change gripper jaw in real time
Rigidity, so as to realize the gentle application of chucking power in promptly caught object.
Illustrate to clamp principle for 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 is are 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
Diameter 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 equations of MFC- beam models, the present invention
Core is caught object and chucking power at gripper jaw contact point (p points), and chucking power depends on the rigidity of gripper jaw, becomes 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 representedmIt represents external 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 that 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
It is 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 respectivelyWithwg
And FgIt can measure.To achieve the purpose that gently to apply chucking power, the equivalent chucking power-deformation curve of preferably following normalization comes
Target as piezoelectricity control
Wherein,σ represents the parameter of the control targe slope of curve.Fig. 3 (a) compared present invention preferably employs
Equivalent chucking power-deformation curve and equivalent chucking power-deformation curve (linear case) of conventional immutable clamping rigidity, Fig. 3
(b) illustrate that MFC piezoelectric patches provides equivalent active force in the curve.From Fig. 3 (a) it can be seen that smaller when deforming
When, chucking power very little, it is ensured that clamping initial stage can be accurately located by folder object；And further increasing with deformation,
Clamping rigidity increases rapidly so that determines being jammed rapidly and steadily 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 controls MFC piezoelectric patches, to reach
The purpose of equivalent chucking power-deformation curve specified to output.The control block diagram of feedforward control is as shown in Figure 4.W in figurelIt represents
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 can 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 voltage value for controlling MFC piezoelectric patches.The control block diagram of PID/feedback control is as shown in figure 5, utilize
The mode identical with feedforward control obtains target Equivalent directed force Ft, the equivalent restoring force F of beamrIt surveys to obtain by sensor
W and beam equivalent stiffness klIt obtains, F is compensated using PID controllertAnd FrBetween error obtain controlling MFC piezoelectricity
The voltage value of piece.
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 inside gripper jaws；
The outside rotating ring is internal gear, and can be turned under driving device effect around own axes with angular velocity omega
It is dynamic；
The inside gripper jaw is made 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
The external gear of inside gripper jaw with the interior tooth engagement of outside rotating ring, and is uniformly distributed respectively along outside rotating ring circumferencial direction,
When outside rotating ring is around own axis, three external gears can be driven around respective fixed center axis thereof；And three
The direction of a grip block is along same clockwise.
A kind of Active Control Method of the intelligent clamping device, it is characterised in that：Include the following steps：
Step 1：According to the rotary speed ω of outside rotating ring and outside rotating ring internal tooth and inside 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
Normalized target Equivalent chucking power is calculated in chucking power-deformation curve
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 control the voltage V, wherein k of MFC piezoelectric patcheslRepresent 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：Include the following steps：
Step 1：According to the rotary speed ω of outside rotating ring and outside rotating ring internal tooth and inside 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：According to the practical deformation w for measuring obtained grip block and clamped object contact point of sensor and wait
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 embodiment, 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.
Advantageous effect
The rigidity of 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 adjusted intelligently in clamping process
The size of chucking power, realization gently clamp caught object.The device can be according to actual demand, the variation 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 inside gripper jaw realizes 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
It obtains significantly or is recognized by the practice of the present invention.
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
Significantly and it is readily appreciated that, wherein：
Fig. 1：Intelligent clamping device schematic diagram；
Wherein：1st, outside rotating ring, 2, MFC piezoelectric patches, 3, inside 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.
Specific embodiment
The embodiment of the present invention is 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 Flexural cantilever model of the length and width for pasting MFC and high respectively 80mm, 40mm and 0.43mm
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), minimum and maximum operating voltage is respectively+1500V and -500V.Held object with
Gripper jaw contact point (i.e. p points) is at cantilever beam end 5mm, and with mass block 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 is deformed using KEYENCE LK-G150 sensor measurements, and control signal supplies MFC piezoelectricity after power amplifier
Piece.
Profit experimentally obtains required parameter, and be compared with analysis of finite element method result, such as table 1
It is shown.It should be noted that damped coefficient c is measured by experiment.
The parameter comparison that table 1 is experimentally obtained 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 mass blocks is used instead to simulate slow clamping process, obtained equivalent chucking power-deformation curve, can be with as shown in Fig. 7
Find out that the result of two kinds of control methods and aim curve coincide very well, demonstrate the validity of the method for the present invention.
Example two：
Example two is realized by emulating, when applying chucking power to caught object by single gripper jaw, gripper jaw contact
The variation changed to reflect chucking power of point acceleration.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 verification.In order to illustrate the effect that the present invention gently clamps, 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 compared.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 also in the work of MFC piezoelectric patches electricity
In the range of pressure (Fig. 8 (d)).As it can be seen that it can realize gentle clamping using apparatus of the present invention.
Although the embodiments of the present invention has 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, those of ordinary skill in the art are not departing from the principle of the present invention and objective
In the case of can make changes, modifications, substitutions and variations to the above described embodiments within the scope of the invention.
Claims (4)
1. a kind of Active Control Method of intelligence clamping device, it is characterised in that：The intelligence clamping device is rotated including outside
Ring and three inside gripper jaws；
The outside rotating ring is internal gear, and can be rotated under driving device effect around own axes with angular velocity omega；
The inside gripper jaw is made 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 insides
The external gear of gripper jaw with the interior tooth engagement of outside rotating ring, and is uniformly distributed respectively along outside rotating ring circumferencial direction, when outer
When sidespin change is around own axis, three external gears can be driven around respective fixed center axis thereof；And three folders
The direction of plate is held along same clockwise；
Method includes the following steps：
Step 1：According to the biography of the rotary speed ω of outside rotating ring and outside rotating ring internal tooth and inside 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 deforms
Step 3：Opened loop control after the normalization obtained using step 2 is linearly deformedAccording to the equivalent clamping of the normalization of design
Normalized target Equivalent chucking power is calculated in power-deformation curve
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 control the voltage V, wherein k of MFC piezoelectric patcheslRepresent equivalent firm
Degree, kMFCRepresent deformation-voltage coefficient of MFC piezoelectric patches.
2. a kind of Active Control Method of intelligent clamping device according to claim 1, it is characterised in that：Normalize equivalent folder
Holding force-deformation curve equation is：
Whereinσ represents the parameter of the control targe slope of curve.
3. a kind of Active Control Method of intelligence clamping device, it is characterised in that：The intelligence clamping device is rotated including outside
Ring and three inside gripper jaws；
The outside rotating ring is internal gear, and can be rotated under driving device effect around own axes with angular velocity omega；
The inside gripper jaw is made 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 insides
The external gear of gripper jaw with the interior tooth engagement of outside rotating ring, and is uniformly distributed respectively along outside rotating ring circumferencial direction, when outer
When sidespin change is around own axis, three external gears can be driven around respective fixed center axis thereof；And three folders
The direction of plate is held along same clockwise；
Method includes the following steps：
Step 1：According to the biography of the rotary speed ω of outside rotating ring and outside rotating ring internal tooth and inside 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 deforms
Step 3：Opened loop control after the normalization obtained using step 2 is linearly deformedAccording to the equivalent clamping of the normalization of design
Normalized target Equivalent chucking power is calculated in power-deformation curve
Step 4：Utilize maximum equivalent chucking power FgAccording to formulaObtain target Equivalent chucking power Ft；
Step 5：According to the practical deformation w for measuring obtained grip block and clamped object contact point of sensor and it is equivalent just
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.
4. a kind of Active Control Method of intelligent clamping device according to claim 3, it is characterised in that：Normalize equivalent folder
Holding force-deformation curve equation is：
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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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0901881A2 (en) * | 1997-09-02 | 1999-03-17 | OTTO BILZ Werkzeugfabrik GmbH & Co. | Tool or tool holder |
| CN201895280U (en) * | 2010-11-16 | 2011-07-13 | 吴江市金茂五金有限公司 | Sensing spanner |
| CN104931176A (en) * | 2015-04-16 | 2015-09-23 | 大连理工大学 | Piezoelectric type three jaw chuck clamping force measurement device |
| CN105270865A (en) * | 2015-10-27 | 2016-01-27 | 芜湖市泰能电热器具有限公司 | Annular bar rotating and clamping device |
| CN105598723A (en) * | 2016-01-08 | 2016-05-25 | 哈尔滨工业大学 | Centering type locking mechanism based on piezoelectric motor drive |
| CN106346510A (en) * | 2016-10-11 | 2017-01-25 | 佛山科学技术学院 | Flexible three-finger clamp holder having touch sensing function |
-
2017
- 2017-09-21 CN CN201710861415.1A patent/CN107479404B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0901881A2 (en) * | 1997-09-02 | 1999-03-17 | OTTO BILZ Werkzeugfabrik GmbH & Co. | Tool or tool holder |
| CN201895280U (en) * | 2010-11-16 | 2011-07-13 | 吴江市金茂五金有限公司 | Sensing spanner |
| CN104931176A (en) * | 2015-04-16 | 2015-09-23 | 大连理工大学 | Piezoelectric type three jaw chuck clamping force measurement device |
| CN105270865A (en) * | 2015-10-27 | 2016-01-27 | 芜湖市泰能电热器具有限公司 | Annular bar rotating and clamping device |
| CN105598723A (en) * | 2016-01-08 | 2016-05-25 | 哈尔滨工业大学 | Centering type locking mechanism based on piezoelectric motor drive |
| CN106346510A (en) * | 2016-10-11 | 2017-01-25 | 佛山科学技术学院 | Flexible three-finger clamp holder having touch sensing function |
Non-Patent Citations (1)
| Title |
|---|
| 飞机结构件机械加工柔性夹具系统;王细洋;《航空制造技术》;20120915;第45-49页 * |
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