CN110682315A - Manipulator with two-stage compliant power transmission and grabbing method thereof - Google Patents
Manipulator with two-stage compliant power transmission and grabbing method thereof Download PDFInfo
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- CN110682315A CN110682315A CN201910853367.0A CN201910853367A CN110682315A CN 110682315 A CN110682315 A CN 110682315A CN 201910853367 A CN201910853367 A CN 201910853367A CN 110682315 A CN110682315 A CN 110682315A
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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Abstract
The invention discloses a manipulator with two-stage compliant power transmission and a grabbing method thereof, and relates to a manipulator, which comprises a shell; a main motor; the adjusting mechanism comprises a torque adjusting motor; the transmission shaft is in power connection with the adjusting mechanism, and one end of the transmission shaft is connected with an output shaft of the main motor; one end of the transmission screw rod is connected with the other end of the transmission shaft; the transmission screw rod provides power for the paw; the vision sensor is used for acquiring the outline size of an object to be clamped; the control module is used for controlling the main motor and the torque adjusting motor; the invention does not depend on a design controller and an external force signal, determines the optimal clamping force on the premise of not changing the driving parameter of a motor, realizes the integration of two-stage positioning of grabbing operation and the adjustment function of the clamping force, simplifies the system structure and improves the torque adjustment efficiency while realizing flexible grabbing operation.
Description
Technical Field
The invention relates to a manipulator, in particular to a manipulator with two-stage compliant power transmission and a grabbing method thereof.
Background
The manipulator can imitate some action functions of human hand and arm, and can be used for grabbing, carrying article or operating automatic operation device of tool according to fixed program. The manipulator is the earliest industrial robot and the earliest modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate in harmful environment to protect personal safety, and has wide application space in the fields of industry, agriculture, medical treatment and the like.
In the prior art, the change of external load of mechanical equipment is mainly realized by changing the output torque of a transmission system through the adjustment of motor driving parameters, the method needs an adjustment process, and the change of the driving parameters easily causes the fluctuation of parameters such as system speed and the like, thereby increasing the difficulty of system stability control, influencing the stable motion of the system and even instability; on the other hand, in the process of adjusting the output torque of the transmission shaft, the traditional method is difficult to realize the buffering of the transmission mechanism. Therefore, the method for achieving the flexible operation of the manipulator by simply adjusting and changing the output torque through the motor driving parameters has obvious defects. On the other hand, taking fruit grabbing as an example, in order to avoid damaging fruits, a passive flexible control method is generally adopted in the prior art, the inner parts of fingers are all wrapped by rubber and nylon materials, and the method cannot realize active adjustment of clamping force.
The article 'fruit picking robot end effector compliance control research' designs a moment controller for compliance grabbing of objects, and the basic idea is that a pressure sensor is adopted to obtain real-time data of grabbing force in the grabbing process, when the actual grabbing moment is larger than a set system input reference moment, a control system can send an instruction to stop grabbing actions of an end effector, and the method needs adding of a force signal, so that complexity and control difficulty of the system are increased, the quality of the moment controller directly influences whether fruit picking compliance control can be achieved, and the control system has large deviation.
Disclosure of Invention
In view of the above, the present invention provides a manipulator with two-stage compliant power transmission and a grasping method thereof, which are independent of a design controller and an external force signal, and can determine an optimal gripping force without changing a motor driving parameter, so as to realize integration of two-stage positioning and gripping force adjusting functions of grasping operation, simplify a system structure and improve torque adjustment efficiency while realizing compliant grasping operation.
Based on the aim, the invention provides a mechanical arm with two-stage compliant power transmission, which comprises
A housing;
a main motor fixed inside the housing;
the adjusting mechanism is fixed in the shell and comprises a torque adjusting motor;
the transmission shaft is in power connection with the adjusting mechanism, and one end of the transmission shaft is connected with an output shaft of the main motor through a coupler;
one end of the transmission screw rod penetrates through the shell and is connected with the other end of the transmission shaft through a coupler;
the middle part of the rear end part of the paw is provided with a driving part, the driving part is in threaded connection with the transmission screw rod, the middle part of the paw is provided with a fixing part, the fixing part is rotatably connected with the other end of the transmission screw rod, two sides of the end surface of the fixing part are respectively connected with the clamping part of the paw, and the driving part provides clamping power for the clamping part;
the vision sensor is fixed on the fixing piece and used for acquiring the outline size of the object to be clamped;
a control module comprising
The motion control module is used for controlling the main motor and the torque adjusting motor;
the technological parameter library module comprises a parameter input module and a parameter output module, wherein the parameter input module is used for inputting the attribute and the outline dimension parameters of the object to be clamped, and the parameter output module is used for outputting the optimal clamping force of the clamped object;
preferably, the adjusting mechanism further comprises
The bottom plate is fixed inside the shell, and the torque adjusting motor is fixed on the bottom plate;
the torque adjusting pinion is connected with an output shaft key of the torque adjusting motor;
the end part of the moment adjusting gearwheel is rotationally connected with the bottom plate, the moment adjusting gearwheel is meshed with the moment adjusting pinion, a sliding groove is formed in the end face of the moment adjusting gearwheel, and the transmission shaft penetrates through the central position of the moment adjusting gearwheel and is rotationally connected with the moment adjusting gearwheel;
a torque adjusting link comprising
At least one side of the end surface of the connecting block is provided with a mounting hole;
the power rod penetrates through one side of the connecting block, one end of the power rod is arranged in the sliding groove, and the end is connected with the sliding groove in a sliding manner;
the middle part of the moment adjustment output block is provided with a connecting hole, the position of the moment adjustment output block close to the edge is provided with a through hole, the other end of the power rod is matched with the connecting hole, and the shaft body of the transmission shaft is fixedly connected with the through hole;
a moment adjustment supporting unit located below the moment adjustment output block and including
The middle position of the supporting block is fixedly connected with the transmission shaft;
the two ends of the supporting rod are respectively fixed on the extending parts at the two ends of the supporting block;
the sliding blocks are connected with the corresponding supporting rods in a sliding mode, the sliding blocks are located above the connecting blocks, connecting columns are arranged on the lower end faces of the sliding blocks, and the connecting columns are rotatably connected with the corresponding mounting holes;
and the rigidity adjusting spring is sleeved on the support rod, one end of the rigidity adjusting spring is fixed on the sliding block, and the other end of the rigidity adjusting spring is fixedly connected with the extending part of the support block.
Preferably, two ends of the supporting block symmetrically extend towards two sides respectively to form an I shape, the supporting rods are symmetrically arranged at two sides of the supporting block, and the two moment adjusting connecting rods are in one-to-one correspondence with the supporting rods.
Preferably, the moment adjustment output block is U-shaped, and the through hole is located at two supporting legs of the U-shape.
Preferably, the number of the sliding grooves is two, and the two sliding grooves correspond to the power rods one to one.
Preferably, the chute is a spiral chute.
Preferably, the manipulator with two-stage compliant power transmission comprises a gripping method
The motion control module resets the adjusting mechanism;
the parameter input module acquires the outline size of an object to be clamped through a vision sensor;
inputting the attribute of the object to be clamped in a parameter input module;
the parameter output module outputs the optimal clamping force F of the object to be clamped according to the data of the parameter input module;
the motion control module determines a micro-positioning rotation angle theta of the torque adjusting motor according to the optimal clamping force F1；
The motion control module determines the angular displacement theta of the output shaft according to the outline size of the object, and further determines the initial positioning angular theta of the main motor0＝θ-θ1；
The motion control module sends out an instruction to control the main motor to rotate and simultaneously drives the output shaft to coaxially rotate; when the output shaft rotates to the initial positioning rotation angle theta0When the main motor stops rotating, the torque adjusting motor is started and rotates at the rotating speed n1The torque adjusting motor rotates to a micro positioning rotation angle theta through the torque adjusting output block and the torque adjusting support unit, and the torque adjusting motor rotates to the micro positioning rotation angle theta through the torque adjusting output block and the torque adjusting support unit1When the gripper obtains the optimal clamping force F and finishes grabbing and positioning, the torque adjusting motor is stoppedStopping rotation.
Preferably, the resetting process of the adjusting mechanism is as follows:
the motion control module controls the main motor and the torque adjusting motor to rotate respectively, so that the end part of the power rod is in contact with the end part of the sliding groove, and the sliding block is located in the middle of the supporting rod.
Preferably, the micro-positioning angle θ1The determination steps are as follows:
acquiring a functional relation F ═ F (T) of the clamping force F and the output torque T of the output shaft, determining the output torque T required by the output shaft according to the clamping force F, and determining the T ═ T1+T2Wherein, T1Adjusting the output torque of the output block for torque, T2Adjusting the output torque of the support unit for the moment;
determining output torque of a torque regulated output blockWherein, P1Adjusting the power of the motor for torque, n1The rotating speed of the motor is adjusted for the moment, i is the transmission ratio between the small torque adjusting gear and the large torque adjusting gear, and eta is the transmission efficiency from the motor to the large torque adjusting gear;
determining the output torque T of a torque-regulated support unit2＝T-T1；
According to T2K is the rigidity of the stiffness adjusting spring, L is the distance between the support rods, and Delta x is the compression amount of the stiffness adjusting spring,
r is the length of the connecting piece, theta2The angle of rotation of the large gear wheel is adjusted for the moment, from which the angle of rotation theta of the large gear wheel can be determined2；
Rotation angle theta of torque adjusting motor1＝i×θ2。
The invention has the beneficial effects that: the manipulator with two-stage compliant power transmission and the grabbing method thereof have the following beneficial effects:
will snatch the location and combine together with the moment adjustment, can realize the primary localization and the little location of hand claw, the primary localization realizes moving on a large scale of hand claw, can provide required best clamping-force when realizing little location, can realize with the soft contact of object with gentle and agreeable operation of snatching, can realize the rational distribution of primary localization and little location, the integration of two-stage location and power regulation is integrated.
The grabbing manipulator and the grabbing method do not depend on a design controller and an external force signal, and can directly regulate and control the clamping force according to the relation between the clamping force and the micro-positioning corner of the torque adjusting motor on the premise of not changing the driving parameters of the motor, thereby greatly simplifying the system structure.
The torque adjusting output block and the torque adjusting support unit are coaxially fixed with the transmission shaft, and when the torque adjusting motor works, the torque adjusting output block and the torque adjusting support unit simultaneously output torque to the transmission shaft, so that the torque adjusting efficiency is improved compared with single torque output.
The invention combines the process parameter library module, can realize the requirement of objects with different attributes or the same attribute but different structural sizes on the optimal gripping force, and can obviously widen the flexible operation range.
According to the invention, the outline size of the object to be clamped can be accurately obtained through the vision sensor, so that the clamping force output by the parameter output module is more accurate.
Drawings
FIG. 1 is an overall block diagram of the present invention;
FIG. 2 is a view of the gripper assembly of the present invention;
FIG. 3 is a front view of the transmission module of the present invention;
FIG. 4 is an isometric view of the transmission module of the present invention;
FIG. 5 is a view of the main motor installation structure of the present invention;
FIG. 6 is a view showing the structure of the mounting of parts on the transmission shaft according to the present invention;
FIG. 7 is a sectional view of the drive shaft with parts installed in accordance with the present invention;
FIG. 8 is a block diagram of a torque adjustment bull gear of the present invention;
FIG. 9 is a block diagram of the power rod of the present invention;
FIG. 10 is a block diagram of the torque adjustment output block of the present invention;
FIG. 11 is a block diagram of the torque adjustment support unit of the present invention;
FIG. 12 is an installation configuration view of the power rod of the present invention;
FIG. 13 is a top view of the torque adjustment module of the present invention;
FIG. 14 is a control module diagram of the present invention;
FIG. 15 is a flow chart of the grabbing motion control of the present invention;
FIG. 16 is a schematic view of the starting position of the power rod of the present invention;
FIG. 17 is a schematic view of the starting position of the slider of the moment adjustment support unit of the present invention;
FIG. 18 is a schematic view of the rotational position of the power lever of the present invention;
fig. 19 is a schematic view showing a compression position of the slider of the moment adjustment support unit of the present invention.
The device comprises a 10-object, a 60-paw, a 70-shell, a 1-control module, a 90-vision sensor, a 101-main motor, a 102-torque adjusting motor, a 210-bottom plate, a 300-transmission shaft, a 420-torque adjusting pinion, a 421-torque adjusting bull gear, a 430-torque adjusting connecting rod, a 431-torque adjusting output block, a 440-torque adjusting support unit, a 501-transmission screw rod, a 4301-power rod, a 4302-connecting block, a 4303-mounting hole, a 4311-connecting hole, a 4312-through hole, a 4401-supporting block, a 4402-supporting rod, a 4403-sliding block and a 4404-stiffness adjusting spring.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to specific embodiments and the accompanying drawings.
In view of the above objects, a first aspect of the present invention provides a manipulator with two-stage compliant power transmission and an embodiment of a grasping method thereof, as shown in fig. 1 to 15, including
A housing 70;
a main motor 101, the main motor 101 being fixed inside the case 70;
an adjustment mechanism, fixed inside the housing 70, comprising a torque adjustment motor 102;
the transmission shaft 300 is in power connection with the adjusting mechanism, and one end of the transmission shaft 300 is connected with an output shaft of the main motor 101 through a coupler;
one end of the transmission screw rod 501 penetrates through the shell 70 and is connected with the other end of the transmission shaft 300 through a coupler;
the middle part of the rear end part of the paw 60 is provided with a driving part, the driving part is in threaded connection with the transmission screw rod 501, the middle part of the paw 60 is provided with a fixing part, the fixing part is rotatably connected with the other end of the transmission screw rod 501, two sides of the end surface of the fixing part are respectively connected with the clamping part of the paw 60, and the driving part provides clamping power for the clamping part;
the vision sensor 90 is fixed on the fixing piece and used for acquiring the outline dimension of the object 10 to be clamped;
a control module 1, the control module 1 comprising
A motion control module 11 for controlling the main motor 101 and the torque adjustment motor 102;
the technological parameter library module 12 comprises a parameter input module 121 and a parameter output module 122, wherein the parameter input module 121 is used for inputting the attribute and the outline dimension parameters of the object to be gripped, and the parameter output module 122 is used for outputting the optimal gripping force of the gripping object 10.
When the visual sensor 90 acquires the outline dimension of an object to be clamped, the parameter of the outline dimension is input into the parameter input module 121, the attribute of the object to be clamped is input into the parameter input module 121, the parameter output module 122 outputs the optimal clamping force for clamping the object 10 according to the parameters in the parameter input module 121, the main motor 101 rotates according to the optimal clamping force to drive the transmission shaft 300 to rotate, so that the transmission screw rod 501 rotates, the gripper 60 acts through the driving part when the transmission screw rod 501 rotates, in the process, the adjusting mechanism continuously adjusts the angular displacement of the output shaft 300 to realize the exercise-level flexible driving, the invention combines the grabbing positioning and the torque adjustment, can realize the primary positioning and the micro positioning of the gripper, realizes the large-range movement of the gripper by the primary positioning, can provide the required optimal clamping force while realizing the micro positioning, and can realize the soft contact and flexible grabbing operation with the object 10, the reasonable distribution of initial positioning and micro positioning can be realized, the integration of two-stage positioning and force adjustment is realized, the outline size of the object 10 to be clamped can be accurately acquired through the visual sensor 90, and the clamping force output by the parameter output module is more accurate.
In this embodiment, the adjusting mechanism further comprises
A base plate 210, wherein the base plate 210 is fixed inside the housing 70, and the torque adjustment motor 102 is fixed on the base plate 210;
a torque adjustment pinion 420, the torque adjustment pinion 420 being keyed to an output shaft of the torque adjustment motor 102;
the end of the moment adjusting gearwheel 421 is rotatably connected with the bottom plate 210, the moment adjusting gearwheel 421 is engaged with the moment adjusting pinion 420, a sliding groove is formed in the end face of the moment adjusting gearwheel 421, and the transmission shaft 300 passes through the center of the moment adjusting gearwheel 421 and is rotatably connected with the moment adjusting gearwheel 421;
a moment adjustment link 430, the moment adjustment link 430 comprising
The connecting block 4302 is provided with a mounting hole 4303 on at least one side of the end face of the connecting block 4302;
the power rod 4301 penetrates through one side of the connecting block 4302, one end of the power rod 4301 is in the sliding groove, and the end is connected with the sliding groove in a sliding manner;
the moment adjustment output block 431 is provided with a coupling hole 4311 in the middle, a through hole 4312 is formed in the position, close to the edge, of the moment adjustment output block 431, the other end of the power rod 4301 is matched with the coupling hole 4311, and the shaft body of the transmission shaft 300 is fixedly connected with the through hole 4312;
a moment adjustment support unit 440, the moment adjustment support unit 440 is located below the moment adjustment output block 431, and the moment adjustment support unit 440 includes
The middle position of the supporting block 4401 is fixedly connected with the transmission shaft 300;
at least one supporting rod 4402, wherein two ends of the supporting rod 4402 are respectively fixed on the extending parts at two ends of the supporting block 4401;
the sliding block 4403 is in sliding connection with the corresponding supporting rod 4402, the sliding block 4403 is located above the connecting block 4302, a connecting column is arranged on the lower end face of the sliding block 4403, and the connecting column is rotatably connected with the corresponding mounting hole 4303;
and at least one rigid adjusting spring 4404, wherein the rigid adjusting spring 4404 is sleeved on the supporting rod 4402, one end of the rigid adjusting spring 4404 is fixed on the sliding block 4403, and the other end of the rigid adjusting spring 4404 is fixedly connected with the extending part of the supporting block 4401.
Preferably, both ends of supporting shoe 4401 extend to bilateral symmetry respectively, form "worker" font, bracing piece 4402 symmetry sets up in the both sides of supporting shoe 4401, moment adjusting link 430 is equipped with two, and it and bracing piece 4402 one-to-one.
Preferably, the moment adjustment output block 431 has a U-shape, and the through holes 4312 are located at two legs of the U-shape.
Preferably, two sliding grooves are formed and correspond to the power rods 4301 one to one.
Preferably, the chute is a spiral chute.
As another embodiment of the present invention, as shown in fig. 16 to 19, the above-mentioned robot with two-stage compliant power transmission comprises a gripping method
The motion control module 11 resets the adjusting mechanism;
the parameter input module 121 acquires the outline size of the object to be clamped through the vision sensor 90;
inputting the attribute of the object to be clipped in the parameter input module 121;
the parameter output module 122 outputs the optimal clamping force F of the object to be clamped according to the data of the parameter input module 121;
a motion control module 11 according toDetermining the micro-positioning rotation angle theta of the torque adjusting motor 102 by the optimal clamping force F1；
The motion control module 11 determines the angular displacement theta of the output shaft 300 according to the outline dimension of the object 10, and further determines the initial positioning angular theta of the main motor 1010＝θ-θ1；
The motion control module 11 sends out an instruction to control the main motor 101 to rotate and simultaneously drive the output shaft 300 to coaxially rotate; when the output shaft 300 rotates to the initial positioning rotation angle theta0At this time, the main motor 101 stops rotating, and the torque adjusting motor 102 is started at the rotation speed n1The torque adjusting motor 102 rotates to a micro-positioning rotation angle theta through the torque adjusting output block 431 and the torque adjusting support unit 440, and the torque adjusting output block 431 and the torque adjusting support unit 440 output torque to the output shaft 300 simultaneously in the process that the torque adjusting motor 102 rotates to the micro-positioning rotation angle theta1At this time, the gripper 60 obtains the optimum gripping force F and finishes the gripping positioning, and the torque adjustment motor 102 stops rotating.
Preferably, the resetting process of the adjusting mechanism is as follows:
the motion control module 11 controls the main motor 101 and the torque adjusting motor 102 to rotate respectively, so that the end of the power rod 4301 contacts with the end of the sliding slot, and the sliding block 4403 is located at the middle position of the supporting rod 4402.
Preferably, the micro-positioning angle θ1The determination steps are as follows:
acquiring a functional relation F ═ F (T) between the clamping force F and the output torque T of the output shaft 300, determining the output torque T required by the output shaft 300 according to the clamping force F, and determining the T ═ T1+T2Wherein, T1Adjusting the output torque, T, of output block 431 for torque2Adjusting the output torque of the support unit 440 for the moment;
determining output torque of torque adjustment output block 431Wherein, P1Adjusting the power of the electric machine 102 for torque, n1The rotation speed of the torque adjusting motor 102 is determined, i is the transmission ratio between the torque adjusting pinion 420 and the torque adjusting bull gear 421, and η is the transmission efficiency between the torque adjusting motor 102 and the torque adjusting bull gear 421;
determining the output torque T of the moment adjustment support unit 4402＝T-T1；
According to T2Where k is the stiffness of the stiffness adjusting spring 4404, L is the distance between the support bars 4402, Δ x is the amount of compression of the stiffness adjusting spring 4404,
r is the length of the connection block 4302, θ2The angle of rotation θ of the torque adjustment gearwheel 421 can be determined by adjusting the angle of rotation of the torque adjustment gearwheel 421 for the torque adjustment2；
The rotation angle theta of the torque adjusting motor 1021＝i×θ2。
In the embodiment, the clamping force can be directly regulated and controlled according to the relation between the clamping force and the micro-positioning corner of the torque adjusting motor on the premise of not changing the driving parameters of the motor without depending on a design controller and an external force signal, and the system structure is greatly simplified.
The moment adjustment output block 431 and the moment adjustment supporting unit 430 of the invention are coaxially fixed with the transmission shaft 300, when the moment adjustment motor 102 works, the moment adjustment output block 431 and the moment adjustment supporting unit 430 simultaneously output the moment to the transmission shaft 300, and compared with single moment output, the efficiency of moment adjustment is improved.
The invention combines the process parameter library module, can realize the requirement of objects with different attributes or the same attribute but different structural sizes on the optimal gripping force, and can obviously widen the flexible operation range.
The key parts of the invention are all modularized parts, which are easy to assemble and replace, and the end part of the manipulator is provided with a flange structure which can be directly connected with a motion carrier, thereby realizing the expanded application of the grabbing operation.
Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, is limited to these examples; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity. Therefore, any omissions, modifications, substitutions, improvements and the like that may be made without departing from the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (9)
1. A manipulator with two-stage compliant power transmission is characterized in that: comprises that
A housing (70);
a main motor (101), the main motor (101) being fixed inside the housing (70);
an adjustment mechanism fixed inside the housing (70) and comprising a torque adjustment motor (102);
the transmission shaft (300) is in power connection with the adjusting mechanism, and one end of the transmission shaft (300) is connected with an output shaft of the main motor (101) through a coupler;
one end of the transmission screw rod (501) penetrates through the shell (70) and is connected with the other end of the transmission shaft (300) through a coupler;
the middle part of the rear end part of the paw (60) is provided with a driving part, the driving part is in threaded connection with the transmission screw rod (501), the middle part of the paw (60) is provided with a fixing part, the fixing part is rotationally connected with the other end of the transmission screw rod (501), two sides of the end surface of the fixing part are respectively connected with the clamping part of the paw (60), and the driving part provides clamping power for the clamping part;
the vision sensor (90) is fixed on the fixing piece and used for acquiring the outline dimension of the object (10) to be clamped;
a control module (1), the control module (1) comprising
A motion control module (11) for controlling the main motor (101) and the torque adjustment motor (102);
the technological parameter library module (12) comprises a parameter input module (121) and a parameter output module (122), wherein the parameter input module (121) is used for inputting the attribute and the outline dimension parameters of the object to be clamped, and the parameter output module (122) is used for outputting the optimal clamping force of the clamped object (10).
2. The manipulator of claim 1, wherein the manipulator is configured to transfer two-stage compliant power to the manipulator: the adjusting mechanism further comprises
The bottom plate (210), the bottom plate (210) is fixed inside the shell (70), and the torque adjusting motor (102) is fixed on the bottom plate (210);
a torque adjustment pinion (420), the torque adjustment pinion (420) being keyed to an output shaft of a torque adjustment motor (102);
the end part of the moment adjusting large gear (421) is rotatably connected with the bottom plate (210), the moment adjusting large gear (421) is meshed with the moment adjusting small gear (420), a sliding groove is formed in the end face of the moment adjusting large gear (421), and the transmission shaft (300) penetrates through the center of the moment adjusting large gear (421) and is rotatably connected with the moment adjusting large gear (421);
a torque adjusting link (430), the torque adjusting link (430) comprising
The connecting block (4302), at least one side of the terminal surface of the said connecting block (4302) has mounting holes (4303);
the power rod (4301) penetrates through one side of the connecting block (4302), one end of the power rod (4301) is arranged in the sliding groove, and the end is connected with the sliding groove in a sliding manner;
the moment adjustment output block (431), the middle part of the moment adjustment output block (431) is provided with a connecting hole (4311), the position of the moment adjustment output block (431) close to the edge is provided with a through hole (4312), the other end of the power rod (4301) is matched with the connecting hole (4311), and the shaft body of the transmission shaft (300) is fixedly connected with the through hole (4312);
a moment adjustment support unit (440), the moment adjustment support unit (440) being located below the moment adjustment output block (431), and the moment adjustment support unit (440) including
The middle position of the supporting block (4403) is fixedly connected with the transmission shaft (300);
the supporting device comprises at least one supporting rod (4402), wherein two ends of the supporting rod (4402) are respectively fixed on extending parts at two ends of a supporting block (4401);
the sliding block (4403) is in sliding connection with the corresponding supporting rod (4402), the sliding block (4403) is located above the connecting block (4302), a connecting column is arranged on the lower end face of the sliding block (4403), and the connecting column is rotatably connected with the corresponding mounting hole (4303);
at least one transfers just spring (4404), it cup joints in bracing piece (4402) to transfer just spring (4404), transfers just spring (4404) one end to be fixed in slider (4403), transfers just spring (4404) other end and supporting shoe (4401) extension fixed connection.
3. The robot having a two-stage compliant power transfer of claim 2, wherein: the both ends of supporting shoe (4401) extend to bilateral symmetry respectively, form "worker" font, bracing piece (4402) symmetry sets up in the both sides of supporting shoe (4401), moment adjusting connecting rod (430) is equipped with two, and its and bracing piece (4402) one-to-one.
4. The robot having a two-stage compliant power transfer of claim 3, wherein: the moment adjustment output block (431) is U-shaped, and the through holes (4312) are positioned at two supporting legs of the U-shape.
5. The robot having a two-stage compliant power transfer of claim 3, wherein: the sliding grooves are two and correspond to the power rods (4301) one by one.
6. The robot having a two-stage compliant power transfer of claim 5, wherein: the sliding groove is a spiral sliding groove.
7. A grabbing method with two-stage compliant power transmission is characterized in that: the robot with two-stage compliant power transfer of claims 1-6, wherein the gripping method comprises
The motion control module (11) resets the adjusting mechanism;
the parameter input module (121) acquires the outline size of the object to be clamped through the vision sensor (90);
inputting the attribute of the object to be clipped in a parameter input module (121);
the parameter output module (122) outputs the optimal clamping force F of the object to be clamped according to the data of the parameter input module (121);
the motion control module (11) determines the micro-positioning rotation angle theta of the torque adjusting motor (102) according to the optimal clamping force F1；
The motion control module (11) determines the angular displacement theta of the output shaft 300 according to the outline dimension of the object (10), and further determines the initial positioning angular theta of the main motor 1010＝θ-θ1；
The motion control module (11) sends out an instruction to control the main motor (101) to rotate and simultaneously drives the output shaft (300) to coaxially rotate; when the output shaft (300) rotates to the initial positioning rotation angle theta0When the main motor (101) stops rotating, the torque adjusting motor (102) is started and rotates at the rotating speed n1The torque adjusting motor rotates reversely, meanwhile, the small power moment adjusting gear (420) rotates reversely, the large power moment adjusting gear (421) is driven to rotate continuously along the original rotation direction through gear meshing, at the moment, the power rod (4301) slides reversely in the spiral sliding groove relative to the large power moment adjusting gear (421), the sliding block (4403) compresses the stiffness adjusting spring (4404), in the process, the torque adjusting output block (431) and the torque adjusting support unit (440) output torque to the output shaft (300) simultaneously, and when the torque adjusting motor (102) rotates to a micro-positioning rotation angle theta1When the gripper (60) obtains the optimal clamping force F and finishes grabbing and positioning, the torque adjusting motor (102) stops rotating.
8. The method of claim 7, wherein the method comprises: the resetting process of the adjusting mechanism is as follows:
the motion control module (11) controls the main motor (101) and the torque adjusting motor (102) to rotate respectively, so that the end part of the power rod (4301) is in contact with the end part of the sliding groove, and the sliding block (4403) is located in the middle of the supporting rod (4402).
9. The method of claim 7, wherein the method comprises: the micro-positioning corner theta1The determination steps are as follows:
acquiring a functional relation F ═ F (T) between the clamping force F and the output torque T of the output shaft 300, determining the output torque T required by the output shaft (300) according to the clamping force F, and determining T ═ T1+T2Wherein, T1Adjusting the output torque, T, of an output mass (431) for a torque2Adjusting the output torque of the support unit (440) for the moment;
determining the output torque of a torque-regulated output block (431)
Wherein, P1Adjusting the power of the electric machine (102) for torque, n1The rotating speed of the torque adjusting motor 102 is set, i is the transmission ratio between the torque adjusting pinion gear (420) and the torque adjusting bull gear (421), and eta is the transmission efficiency between the torque adjusting motor (102) and the torque adjusting bull gear (421);
determining an output torque T of a moment-adjusted support unit (440)2＝T-T1；
According to T2K is the rigidity of the stiffness adjusting spring (4404), L is the distance between the support rods (4402), and deltax is the compression amount of the stiffness adjusting spring (4404),
r is the length of the connecting block (4302) and theta2The angle of rotation of the large torque adjustment gear (421) can be determined by adjusting the angle of rotation theta of the large torque adjustment gear (421)2；
The rotational angle theta of the torque-regulated motor (102)1＝i×θ2。
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| CN112869778A (en) * | 2021-01-11 | 2021-06-01 | 北京航空航天大学 | Variable rigidity throat swab holder |
| CN113511551A (en) * | 2021-04-25 | 2021-10-19 | 深圳技术大学 | Manipulator for packaging and assembling linear flexible body |
| CN113635331A (en) * | 2021-08-11 | 2021-11-12 | 北京工业大学 | Clamping mechanism and flexible manipulator |
| CN114056687A (en) * | 2021-11-16 | 2022-02-18 | 广东水利电力职业技术学院（广东省水利电力技工学校） | Allowance type fruit grabbing manipulator and method |
| CN114101121A (en) * | 2020-08-27 | 2022-03-01 | 株式会社日立制作所 | Robot hand and picking system |
| WO2023202722A1 (en) * | 2023-04-21 | 2023-10-26 | 广东省科学院智能制造研究所 | Robot gripper having rigid-flexible coupling |
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