CN108481311A - A kind of variation rigidity complaisant grasping device - Google Patents
A kind of variation rigidity complaisant grasping device Download PDFInfo
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- CN108481311A CN108481311A CN201810616196.5A CN201810616196A CN108481311A CN 108481311 A CN108481311 A CN 108481311A CN 201810616196 A CN201810616196 A CN 201810616196A CN 108481311 A CN108481311 A CN 108481311A
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- rigidity
- variation rigidity
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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Abstract
The invention discloses a kind of variation rigidity complaisant grasping devices, including two sliding blocks being slidably arranged in the linear guide, and sliding block is driven by an open and close movement motor and can make relatively close and separate movement.There are one the clamping jaws for capturing operation by the connection of variation rigidity flexible parallel mechanism for each sliding block, and variation rigidity flexible parallel mechanism is by a stiffness equivalent motor driving to adjust its rigidity.It in working condition, is driven by open and close movement motor, parallel clamping displacement of the control clamping jaw on open and close movement direction；It is driven by stiffness equivalent motor, clamping rigidity of the control clamping jaw in open and close movement.The present invention can continuously change the clamping rigidity on its open and close movement direction, adapt to the clamping operation to different shape, different quality object, it can be particularly suitable for the fields such as operation operation, the precision assembly in unstructured moving grids as the end effector of robot.
Description
Technical field
The present invention relates to the end executive devices for robot field, and in particular to a kind of variation rigidity complaisant grasping dress
It sets.
Background technology
In recent years, more and more machine person to person appear in together works in the workshop of factory, this namely institute
" man-machine collaboration " scene of meaning；However, during this process, must be sent out between people, robot and extraneous unstructured moving grids
Raw inevitably collision, therefore, safety will be as the important performance indexes of next-generation robot.Since robot end holds
Row device is machine person to person and the unique interface that objects outside is in direct contact, therefore, consider emphatically end effector of robot this
The safety of a key components and parts is most important.
For the angle for executing crawl and fittage, end effector of robot is broadly divided into rigid holder, soft
Property four major class of clamper, software clamper and multi-finger clever hand.
Traditional rigid holder is mainly for the purpose of it can clamp object, to limit the attribute of its clamped object
It is only hard objects.Although male gram of famous fixture company SCHUNK commercially produces a series of rigid holders,
Intricately crawl work can equally be executed and be used for man-machine collaboration, but the sensor etc. of its accurate actuation techniques and costliness
It is often relatively low that induction element largely results in its cost performance.
Flexible retainer is a kind of clamper based on compliant mechanism, in the scientific research process of early period, due to flexibility
The deformation of mechanism is small, precision is high and integrated design without friction, without assembly problem the advantages that, be often designed to miniature clamping
Device is for needing accurate operation, the operation of precision assembly and semicon industry field.Although it can by cleverly structure design
To realize variation rigidity function, however the clamper based on single flexible mechanism branched configuration, during clamping operation, there are tired
The labor service life is low, chucking power is small, can not complete the shortcomings that parallel clamping operation operation, also when it under unstructured moving grids into
When row clamping operation, be vulnerable to external interference, it is impossible to ensure that during its clamping operation clamping jaw stability, to cause it
The problem of system stability and fluency difference.
Software clamper is in the focus that current sphere of learning is the supreme arrogance of a person with great power, such as：Based on Jamming principles, base
In a series of software handgrips etc. of SMA, SMP driving principle, why they are paid close attention to by more scholars, both because it belongs to
The soft robot field in forward position, also due to the breakthrough of a new generation's science and technology such as 3D printing, intellectual material driving allows it to possess
The advantages that manufacturing cost is low, noiseless, stiffness variable, PLC technology, however due to its flexible degree of freedom and material stiffness
Limitation, stability during grasping and grasping precision receive certain influence, while its variation rigidity response speed
Often very slow and variation rigidity range is smaller, this equally limits it to by the adaptive ability of grabbing object.
According to type of drive, Dextrous Hand is broadly divided into full driving Dextrous Hand and under-actuated delicacy hand, complete to drive Dextrous Hand most
Successful commercially produced product is the Shadow robot delicates of company of robot of Britain, but since its is complicated, to
It causes its system complex and volume is often huge, to cause its manufacturing cost expensive；The most successful quotient of under-actuated delicacy hand
Industry product is the robot gripper of Canadian Robotiq companies, although its cleverly driving structure, this greatly increases it
Adaptive ability, however for the end effector mechanism of such a under-actuated systems, its statics and dynamics problem
Urgent need to resolve at present, at the same its manufacturing cost compared to clamper for, it is still a little expensive.
In conclusion in view of in unstructured moving grids grasping operation and the operation operation in precision assembly field, have
There is an urgent need to not only can guarantee safety during clamping operation, but also can pass through its compliance with the clamper of power control function
And the characteristic of flexibility ensures the success rate of clamping operation.But the rigid holder with complicated and high-accuracy induction element is past
Expensive toward manufacturing cost, cost performance is low and operating efficiency is low；Although flexible retainer class end effector both has flexible machine
The advantages of structure, can also realize the function of its variation rigidity by dexterously designing, but since it is based on single flexible mechanism
Lateral buckling instability problem caused by the configuration of branch hunt effect existing during object is clamped still is deposited
, while it can not ensure during clamping operation parallel clamping object always, this phenomenon is for certain high-accuracy operations
Its success rate is often reduced for job task, in addition its there is also system stability and fluency problems；Software clamper class
Although it is simple to manufacture, is at low cost end effector, for precision assembly and the fields such as larger grasp force is needed to say, grabbed
Dynamic stability, grasping precision and maximum grip power during holding tend not to meet these high-accuracy mission requirements；And
Multi-finger clever hand class end effector, due to the complexity of its system, cost is often very high, and its abundant degree of freedom and
Flexibility does not need to actually for much clamping tasks.
Invention content
The object of the present invention is to provide a kind of variation rigidity complaisant grasping devices, by about X-axis, Y-axis, Z axis three dimensional symmetry
The method that formula designs flexible parallel mechanism, can not only ensure the two-way parallel clamping operation on its open and close movement direction, adapt to
To the clamping operation of different size objects；And can continuously change the clamping rigidity on its open and close movement direction, and simultaneously
It is constrained by the design symmetry of self structure, eliminates the hunt effect that it is not expected to during stiffness equivalent on direction
Occur, to adapt to the clamping operation to different shape, different quality object.
Technical solution is used by the present invention solves above-mentioned technical problem：A kind of variation rigidity complaisant grasping device, including
Two sliding blocks being slidably arranged in the linear guide, sliding block are driven by an open and close movement motor and can be made relatively close and separate
Movement.Each sliding block is by the connection of variation rigidity flexible parallel mechanism there are one the clamping jaw for capturing operation, and variation rigidity flexibility is simultaneously
Online structure is by a stiffness equivalent motor driving to adjust its rigidity.It when working condition, is driven, is controlled by open and close movement motor
Parallel clamping displacement of the clamping jaw on open and close movement direction；It is driven by stiffness equivalent motor, control clamping jaw is in open and close movement
Clamping rigidity.
Above-mentioned variation rigidity flexible parallel mechanism includes identical and parallel set on four between each sliding block and clamping jaw
Compliant mechanism branch, each square configuration arranged of compliant mechanism branch, every two adjacent compliant mechanism branches
Layout angle is about symmetrical perpendicular to the plane of sliding block presentation minute surface among it.This solves the base under different-stiffness state
In the lateral buckling problem of single flexible mechanism branched configuration, it ensure that variation rigidity flexible parallel mechanism under arbitrary rigidity state
Stability, while ensure that the working condition of parallel clamping operation in its clamping process.
Above-mentioned stiffness equivalent motor adjusts the distribution angle of each compliant mechanism branch to adjust by gear drive
The rigidity state of whole variation rigidity flexible parallel mechanism.
Every above-mentioned compliant mechanism branch is connected by concatenated rubber universal joint, leaf spring flexible joint, intermediate rigidity respectively
Bar, leaf spring flexible joint, rubber universal joint composition, gear drive adjust the distribution angle of leaf spring flexible joint.
Above-mentioned gear drive includes the pinion gear rotated coaxially with each compliant mechanism branch, and each two is adjacent
The rotation direction of pinion gear is opposite.
One of pinion gear is the duplicate gear being made of two in-line gears on above-mentioned sliding block, duplicate gear with just
Degree adjusts motor-driven worm gear and is fixedly and coaxially connected, and duplicate gear is engaged with neighbouring pinion gear respectively.Duplicate gear
It is driven simultaneously with neighbouring pinion gear respectively again, to ensure the pinion gear on four transmission shafts at arranged position
It is staggered up and down, to form an open loop transmission, so as to avoid interfering between stiffness equivalent operation transmission link middle gear
Problem.
Above-mentioned stiffness equivalent motor passes through stiffness equivalent drive coordination belt wheel and stiffness equivalent drive coordination band driving one
A splined shaft rotation, splined shaft are equipped with left-hand worm and right-hand worm, left-hand worm and the dextrorotation snail of the axially free sliding of energy
Bar is rotated synchronously by spline and splined shaft.Left-hand worm and the left-handed worm wheel on left slider.Right-hand worm and the right side
Dextrorotation worm wheel on side slide.
Above-mentioned the linear guide side is equipped with the dextrorotation leading screw of open and close movement motor driving rotation and left-handed leading screw, dextrorotation silk
Thick stick and left-handed leading screw carry out threaded engagement with the nut on sliding block respectively.
Above-mentioned dextrorotation leading screw and left-handed leading screw are coaxially connected.Open and close movement motor passes through open and close movement drive coordination belt wheel
Dextrorotation leading screw and the rotation of left-handed screw synchronous are driven with open and close movement drive coordination band.
When every compliant mechanism branch rotates 0 °, two clamping jaws in left and right are in minimum rigidity state, when every flexible machine
When structure branch rotates 90 °, two clamping jaws in left and right are in maximum rigidity state.When frangible, light-weight articles are clamped, preferably use it is small just
Degree state is clamped, and when hard to be clamped, relatively large object, preferably use big rigidity state to be clamped.
Compared with existing identical variation rigidity principle art, the present invention passes through the three of double parallel quadrangle flexible parallel mechanism
The symmetrical configuration design of dimension, ensure that its clamping jaw being capable of parallel clamping operation during clamping movement；By four it is identical and
The Constraints of Equilibrium of parallel compliant mechanism branch eliminates hunt effect on its direction that is not expected to during stiffness equivalent
Occur, solves the lateral buckling instability problem based on single flexible mechanism branch clamper；By by single flexible machine
The both ends of structure branch are designed to symmetrical rubber universal joint, solve two transmission shafts during stiffness equivalent when not coaxial
The not smooth problem of transmission, improves the system performance of entire grabbing device.
Compared with existing other variation rigidity principle arts, the present invention has sufficiently large variation rigidity range, so as to
Adapt to larger range of crawl mission requirements；The variation rigidity principle of the present invention belongs to mechanically structure control principle, so as to
It is enough continuously and quickly to change rigidity；The present invention is crawled the big of object by the open and close movement of macroscopic level Shangdi to adapt to difference
It is small, it is operated by microcosmic degree Shangdi stiffness equivalent and is crawled the shape and quality of object to adapt to difference, and then be adapted to
Different crawl tasks；Since its open and close movement and stiffness equivalent operation are independently controlled respectively, to reduce control system
The complexity of system；Since its clamping jaw is directly embedded in the end of variation rigidity flexible parallel mechanism, so that the grabbing device
With very high energy efficiency and can rapidly it store and release energy.
Compared with traditional rigid crawl technology, the present invention is operated by introducing stiffness equivalent, realizes Cont rol Method of Precise Force control work(
Can, to need to can only carry out the crawl to different attribute object by a clamper, avoid conventional rigid clamper consumption
When and heavy replace end grabbing device process；And for the precision assembly process in factory, stiffness equivalent behaviour
The compliance and flexibility ratio in assembling process are increased, to greatly increase the success rate of assembling link.
Description of the drawings
Fig. 1 is the two isogonism axonometric drawing of left and right of grabbing device of the embodiment of the present invention.
Fig. 2 is the two isogonism axonometric drawing up and down of grabbing device of the embodiment of the present invention.
Fig. 3 is stereoscopic schematic diagram of the grabbing device of the embodiment of the present invention under minimum rigidity state.
Fig. 4 is stereoscopic schematic diagram of the grabbing device of the embodiment of the present invention under intermediate rigidity state.
Fig. 5 is stereoscopic schematic diagram of the grabbing device of the embodiment of the present invention under maximum rigidity state.
Specific implementation mode
It is described in further details in 5 pairs of the preferred embodiment of the present invention below in conjunction with attached drawing 1, to be more clearly understood that
The purpose of the present invention, feature and advantage.It should be understood that embodiment shown in the drawings does not limit the scope of the present invention,
And simply to illustrate that the connotation of technical solution of the present invention.
Fig. 1 to Fig. 5 is the dimensional structure diagram of variation rigidity complaisant grasping device in the present embodiment, reference numeral therein
For：Flange terminal pad 1, shell 2, dextrorotation worm gear 3, pinion gear 4, sliding block 5, the linear guide 6, leaf spring flexible joint 7,8,9,10,
Rubber universal joint 11,12,13,14, clamping jaw 15, dextrorotation leading screw 16, left-handed leading screw 17, left-handed worm gear 18, stiffness equivalent transmission are together
Walk band 19, open and close movement drive coordination band 20, stiffness equivalent motor 21, open and close movement motor 22, spline 23, left-hand worm 24,
Right-hand worm 25, stiffness equivalent drive coordination belt wheel 26, open and close movement drive coordination belt wheel 27.
Variation rigidity complaisant grasping device in institute's embodiment of the present invention by the end of flange terminal pad 1 and robot it
Between fixation is bolted, shell is fixedly connected between 2 inside by screw, wherein open and close movement motor 22 and stiffness equivalent
Motor 21 is fixed on by two supporting plates on shell 2 respectively, that is to say, that motor is static relative to shell 2 during the motion
, this also avoids in motion process wire intertwist into the generation of this dangerous situation in motion.
Open and close movement direction in the present embodiment refers to what clamping jaw 15 moved during object is clamped in the present invention
Direction, this direction are two-way, not only can inwardly be clamped but also can be clamped outward.
It is fixed with open and close movement drive coordination belt wheel 27 on the main shaft of open and close movement motor 22, is driven by open and close movement same
It walks band 20 to be driven, torque is driven to dextrorotation leading screw 16 and left-handed leading screw 17, dextrorotation leading screw 16 and left-handed leading screw 17 are in succession
Connect the entirety being fixed together.The nut of dextrorotation leading screw 16 and dextrorotation sliding block 5 carries out threaded engagement, left-handed lead screw 17 and left-handed cunning
The nut of block 5 carries out threaded engagement, by worm drive so that two sliding blocks 5 carry out open and close movement along the linear guide 6, in turn
Clamping jaw 15 is driven to carry out open and close movement by variation rigidity flexible parallel mechanism.Variation rigidity flexible parallel mechanism is by stiffness equivalent motor
21 drivings are to adjust its rigidity.
Variation rigidity flexible parallel mechanism in the present invention is made of four identical and parallel compliant mechanism branches, in sliding block
Square configuration arranged, upper and lower ends are connected to sliding block 5 and clamping jaw 15 by bearing respectively in 5 planes.Every soft
Property mechanism branch be respectively from top to bottom rubber universal joint 11,12,13,14, leaf spring flexible joint 7,8,9,10, intermediate rigidity connects
Bar, leaf spring flexible joint 7,8,9,10, rubber universal joint 11,12,13,14, and about the mid-plane of intermediate rigid link at
Minute surface is symmetrical.The effect of leaf spring flexible joint 7,8,9,10 is equivalent to the revolute pair in rigid joint, four flexible machines
Structure branch forms the parallel architecture of double parallel quadrilateral-shaped configuration, to ensure that two clamping jaws 15 in mutual open and close movement direction and
The depth of parallelism on off-axis movement direction.
Stiffness equivalent motor 21 adjusts the distribution angle of each compliant mechanism branch by gear drive and is become with adjusting
The rigidity state of rigidity flexible parallel mechanism.Gear drive includes the small tooth rotated coaxially with each compliant mechanism branch
The rotation direction of wheel 4, the adjacent pinion gear of each two 4 is opposite.Gear drive adjusts point of leaf spring flexible joint 7,8,9,10
Cloth angle.One of pinion gear 4 is the duplicate gear being made of two in-line gears, duplicate gear and rigidity on sliding block 5
The worm gear that adjustment motor 21 drives is fixedly and coaxially connected, and duplicate gear is engaged with neighbouring pinion gear 4 respectively.
Left-handed worm gear 18 and dextrorotation worm gear 3 are circumferentially fixed on active flexible mechanism branch by flat key in embodiment,
And then it is fixed on sliding block 5 by bearing.When sliding block 5 along the linear guide 6 carry out open and close movement and stiffness equivalent motor 21 does not have
When having startup, due to the characteristic that the reverse self-locking of worm and gear is driven, left-handed worm gear 18 and dextrorotation worm gear 3 are left-handed from keyed respectively
Worm screw 24 and right-hand worm 25, to allow left-hand worm 24 and right-hand worm 25 to carry out sliding fortune along splined shaft by spline 23
Dynamic, the drive motion that so links ensure that open and close movement and stiffness equivalent operation are decouplings, to reduce entire become just
Spend the control complexity of complaisant grasping apparatus system.
Stiffness equivalent motor 21 in the present embodiment is driven again by stiffness equivalent drive coordination band 19, and torque is passed
It moves to left-hand worm 24 and right-hand worm 25, and then drives the rotation of active flexible mechanism branch by Worm Wheel System, into
And by the duplicate gear on active flexible mechanism branch, the circumferential fixed pinion gear on neighbouring compliant mechanism branch successively
4 transmissions, it is to ensure that the drive motion between pinion gear 4 is open loop to arrange the purpose of 4 positional configuration of pinion gear in this way, to ingenious
Ground avoids and interferes with each other problem between closed loop gear drive, and due to the reason of gear clearance, closed loop gear drive is also possible to deposit
Occur in locked situation.
The transmission of pinion gear 4 in the present embodiment belongs to external gear pump transmission, thus each two in its four pinion gears 4
The transmission direction of adjacent gear is opposite, to ensure that the parallel branch of four compliant mechanisms in rotation process, each two
Adjacent compliant mechanism branch form is all about open and close movement direction and off-axis rigidity direction at axisymmetric, in arbitrary rigidity
Symmetrical configuration under state eliminates the lateral buckling instability problem based on single flexible mechanism branched configuration clamper,
Namely eliminate hunt effect based on single flexible mechanism configuration clamper on off-axis rigidity direction.Again because of its variation rigidity
Principle is the structural form by controlling compliant mechanism itself, and then it is rigid on open and close movement direction to change compliant mechanism
Degree, such mechanical variation rigidity principle realization method is easier to realize, and variation rigidity response speed is very fast.
The end positions of single flexible mechanism branch in the present embodiment be respectively a rubber universal joint 11,12,13,
14, which is connect with sliding block 5 and clamping jaw 15 by bearing respectively, when clamping jaw 15 just touches object
When body, two rubber universal joints, 11,12,13,14 axis of every compliant mechanism branch is parallel, however when sliding block 5 after
When reforwarding is moved, the axis of the two rubber universal joints 11,12,13,14 is just deviateed at this time, and if wanting to pass through rotation at this time
Compliant mechanism branch changes clamping jaw 15 in the rigidity on open and close movement direction, the configuration arrangement of this double Hooke's joint transmission,
Just dexterously solve the problems, such as that transmission of two transmission shafts when not coaxial be not smooth, to ensure that variation rigidity flexible parallel connection machine
The stability configuration of structure, and then improve the stability and fluency of entire variation rigidity complaisant grasping apparatus system.
When every compliant mechanism branch rotates 0 °, two clamping jaws 15 in left and right are in minimum rigidity state, when every flexibility
When mechanism branch rotates 90 °, two clamping jaws 15 in left and right are in maximum rigidity state.Minimum rigidity state, intermediate rigidity state, most
" rigidity state " in big rigidity state, all refers to that clamping jaw 15 is rigid on open and close movement direction in variation rigidity complaisant grasping device
Spend size.
Variation rigidity complaisant grasping device in the present embodiment preferably selects figure when capturing the object of frangible, lighter attribute
The rigidity state between intermediate rigidity state in minimum rigidity state in 3 and Fig. 4 is captured.And when crawl hard, compared with
When the object of weight attribute, preferably select rigidity state between the highest rigidity state in the intermediate rigidity state in Fig. 4 and Fig. 5 into
Row crawl.
For crawl strategy, can first pass through control open and close movement motor 22 makes clamping jaw 15 translate a certain distance,
Then change rigidity state of the clamping jaw 15 on open and close movement direction by controlling stiffness equivalent motor 21 again, such operation is real
It is equivalent to first apply a smaller power on being crawled object on border, then slowly be reinforced on being crawled object again, directly
It is crawled until object is enough to be clamped by clamping jaw 15 to this.It can also be rigid by controlling first according to the requirement of clamping task
Degree adjustment motor 21, suitable rigidity state is selected for clamping jaw 15 on open and close movement direction, then again by controlling folding fortune
Dynamic motor 22, makes clamping jaw 15 translate enough distances, is crawled until object is enough to be clamped by clamping jaw 15 until this, this behaviour
It is uniformly to be reinforced on being crawled object with faster speed to make practical first-class effect.For practical operation operation, work as needs
When Cont rol Method of Precise Force control is assembled, it should select the first clamping strategy to carry out assembly manipulation, with improve the compliance of assembling link with
Flexibility ratio.When we need to pick when being crawled object of different attribute, it should second of clamping strategy be selected to be captured
Operation, it is therefore an objective to it is crawled the attribute of object according to difference, selects suitable rigidity state to improve the adaptability of clamping jaw 15,
To improve the success rate of grasping, and certain operation activity duration is saved, and then improves the efficiency of operation operation.
Technical scheme of the present invention is described in detail in embodiment described above, it is understood that described above
Only specific embodiments of the present invention are not intended to restrict the invention, it is all done in the spirit of the present invention any repair
Change, supplement or similar fashion substitute etc., these equivalent forms also fall within the scope of the appended claims of the present application
Within.
Claims (10)
1. a kind of variation rigidity complaisant grasping device, it is characterised in that：Including two sliding blocks being slidably arranged in the linear guide (6)
(5), the sliding block (5) is driven by an open and close movement motor (22) and can make relatively close and separate movement；It is each described
Sliding block (5) by the connection of variation rigidity flexible parallel mechanism, there are one for capturing variation rigidity described in the clamping jaw (15) of operation
Flexible parallel mechanism is by stiffness equivalent motor (21) driving to adjust its rigidity.
2. variation rigidity complaisant grasping device according to claim 1, it is characterised in that：The variation rigidity flexible parallel connection machine
Structure includes four identical and parallel compliant mechanism branches being set between each sliding block (5) and clamping jaw (15), each flexible machine
The square configuration arranged of structure branch, the layout angles of every two adjacent compliant mechanism branches about among it perpendicular to
It is symmetrical that minute surface is presented in the plane of sliding block (5).
3. variation rigidity complaisant grasping device according to claim 2, it is characterised in that：The stiffness equivalent motor (21)
The distribution angle of each compliant mechanism branch is adjusted to adjust the rigidity of variation rigidity flexible parallel mechanism by gear drive
State.
4. variation rigidity complaisant grasping device according to claim 3, it is characterised in that：Compliant mechanism branch described in every
Respectively by concatenated rubber universal joint (11,12,13,14), leaf spring flexible joint (7,8,9,10), intermediate rigid link, leaf spring
Flexible joint (7,8,9,10), rubber universal joint (11,12,13,14) composition, it is flexible that the gear drive adjusts leaf spring
The distribution angle in joint (7,8,9,10).
5. variation rigidity complaisant grasping device according to claim 4, it is characterised in that：The gear drive includes
The pinion gear (4) rotated coaxially with each compliant mechanism branch, the rotation direction of the adjacent pinion gear of each two (4) are opposite.
6. variation rigidity complaisant grasping device according to claim 5, it is characterised in that：Therein one on the sliding block (5)
A pinion gear (4) is the duplicate gear being made of two in-line gears, and the duplicate gear drives with stiffness equivalent motor (21)
Dynamic worm gear is fixedly and coaxially connected, and duplicate gear is engaged with neighbouring pinion gear (4) respectively.
7. variation rigidity complaisant grasping device according to claim 6, it is characterised in that：The stiffness equivalent motor (21)
A splined shaft rotation is driven by stiffness equivalent drive coordination belt wheel (26) and stiffness equivalent drive coordination band (19), it is described
Splined shaft is equipped with left-hand worm (24) and right-hand worm (25), the left-hand worm (24) and the right side of the axially free sliding of energy
Worm screw (25) is revolved to rotate synchronously by spline (23) and splined shaft；The left-hand worm (24) and the left side on left slider (5)
Rotation worm gear (18) matches；The right-hand worm (25) is matched with the dextrorotation worm gear (3) on right side sliding block (5).
8. variation rigidity complaisant grasping device according to claim 1, it is characterised in that：Described the linear guide (6) side
Equipped with open and close movement motor (22) driving rotation dextrorotation leading screw (16) and left-handed leading screw (17), the dextrorotation leading screw (16) and
Left-handed leading screw (17) carries out threaded engagement with the nut on sliding block (5) respectively.
9. variation rigidity complaisant grasping device according to claim 8, it is characterised in that：The dextrorotation leading screw (16) and a left side
It is coaxially connected to revolve leading screw (17)；The open and close movement motor (22) is transported by open and close movement drive coordination belt wheel (27) and folding
Dynamic drive coordination band (20) driving the dextrorotation leading screw (16) and left-handed leading screw (17) rotate synchronously.
10. the variation rigidity complaisant grasping device according to claim 2 to 7 any claim, it is characterised in that：When every
When compliant mechanism branch rotates 0 °, two clamping jaws (15) in left and right are in minimum rigidity state, when every compliant mechanism branch rotates
At 90 °, two clamping jaws (15) in left and right are in maximum rigidity state.
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| CN112894868A (en) * | 2021-05-07 | 2021-06-04 | 中国科学院宁波材料技术与工程研究所 | Variable-rigidity clamping device and industrial robot |
| CN113427505A (en) * | 2021-07-15 | 2021-09-24 | 湖南金开智造科技有限责任公司 | Clamping device and robot |
| CN113601542A (en) * | 2021-08-24 | 2021-11-05 | 南京航空航天大学 | Variable-rigidity flexible manipulator based on bionic adhesion |
| CN113601542B (en) * | 2021-08-24 | 2022-07-01 | 南京航空航天大学 | Variable-rigidity flexible manipulator based on bionic adhesion |
| CN113696032A (en) * | 2021-10-26 | 2021-11-26 | 江苏雅驹新材料实业有限公司 | Automatic measuring grinding and cutting device for display production and manufacturing |
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| CN116141357A (en) * | 2023-04-18 | 2023-05-23 | 成都川哈工机器人及智能装备产业技术研究院有限公司 | Adjustable self-adaptive clamp |
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